Diseño de un controlador por convergencia de estado para un sistema teleoperado no lineal con retardo de comunicación

En este artículo se presenta el modelado y análisis de un sistema de teloperación bilateral no lineal de n grados de libertad controlado por convergencia de estado. Se considera que el operador humano aplica una fuerza constante sobre el manipulador local mientras realiza la tarea. Además, la interacción entre el manipulador remoto y el entorno se considera pasiva. La comunicación entre el sitio local y remoto se realiza mediante un canal de comunicación con retardo de tiempo. El análisis presentado en este artículo considerada que éste es variable. En este artículo también se demuestra la estabilidad del sistema utilizando la teoría de Lyapunov-Krasovskii demostrándose que el esquema de control por convergencia de estado para el caso con retardo de tiempo variable asegura la estabilidad del sistema de teleoperación no lineal. También se muestra experimentalmente que, para el caso de protocolos de comunicación fiables, el esquema propuesto garantiza que se logra la coordinación posición local-remoto.

State Convergence Theory Applied to a Delayed Teleoperation System

State convergence is a control strategy that was proposed in the early 2000s to ensure stability and transparency in a teleoperation system under specific control gains values. This control strategy has been implemented for a linear system with or without time delay. This paper represents the first attempt at demonstrating, theoretically and experimentantally, that this control strategy can also be applied to a nonlinear teleoperation system with n degrees of freedom and delay in the communication channel. It is assumed that the human operator applies a constant force on the local manipulator during the teleoperation. In addition, the interaction between the remote manipulator and the environment is considered passive. Communication between the local and remote sites is made by means of a communication channel with variable time delay. In this article the theory of Lyapunov-Krasovskii was used to demonstrate that the local-remote teleoperation system is asymptotically stable.

Advanced Control Strategies for a 6 DoF Hydraulic Parallel Robot Based on the Dynamic Model

Nowadays robots have made their way into real applications that were prohibitive and unthinkable thirty years ago. This is mainly due to the increase in power computations and the evolution in the theoretical field of robotics and control. Even though there is plenty of information in the current literature on this topics, it is not easy to find clear concepts of how to proceed in order to design and implement a controller for a robot. In general, the design of a controller requires of a complete understanding and knowledge of the system to be controlled. Therefore, for advanced control techniques the systems must be first identified. Once again this particular objective is cumbersome and is never straight forward requiring of great expertise and some criteria must be adopted. On the other hand, the particular problem of designing a controller is even more complex when dealing with Parallel Manipulators (PM), since their closed-loop structures give rise to a highly nonlinear system. Under this basis the current work is developed, which intends to resume and gather all the concepts and experiences involve for the control of an Hydraulic Parallel Manipulator. The main objective of this thesis is to provide a guide remarking all the steps involve in the designing of advanced control technique for PMs. The analysis of the PM under study is minced up to the core of the mechanism: the hydraulic actuators. The actuators are modeled and experimental identified. Additionally, some consideration regarding traditional PID controllers are presented and an adaptive controller is finally implemented. From a macro perspective the kinematic and dynamic model of the PM are presented. Based on the model of the system and extending the adaptive controller of the actuator, a control strategy for the PM is developed and its performance is analyzed with simulation.

Modeling and Simulation of Upper Brachial Plexus Injury

This article presents the first musculoskeletal model and simulation of upper plexus brachial injury. From this model is possible to analyse forces and movement ranges in order to develop a robotic exoskeleton to improve rehabilitation. The software that currently exists for musculoskeletal modeling is varied and most have advanced features for proper analysis and study of motion simulations. Whilst more powerful computer packages are usually expensive, there are other free and open source packages available which offer different tools to perform animations and simulations and which obtain forces and moments of inertia. Among them, Musculoskeletal Modeling Software was selected to construct a model of the upper limb, which has 7 degrees of freedom and 10 muscles. These muscles are important for two of the movements simulated in this article that are part of the post-surgery rehabilitation protocol. We performed different movement animations which are made using the inertial measurement unit to capture real data from movements made by a human being. We also performed the simulation of forces produced in elbow flexion-extension and arm abduction-adduction of a healthy subject and one with upper brachial plexus injury in a postoperative state to compare the force that is capable of being produced in both cases.

On the Velocity and Acceleration Estimation from Discrete Time-Position Sensors

In this work is addressed the topic of estimation of velocity and acceleration from digital position data. It is presented a review of several classic methods and implemented with real position data from a low cost digital sensor of a hydraulic linear actuator. The results are analyzed and compared. It is shown that static methods have a limited bandwidth application, and that the performance of some methods may be enhanced by adapting its parameters according to the current state.

A friendly online C compiler to improve programming skills based on student self-assessment

This paper presents an online C compiler designed so that students can program their practical assignments in Programming courses. What is really innovative is the self-assessment of the exercises based on black-box tests and train students’ skill to test software. Moreover, this tool lets instructors, not only proposing and classifying practical exercises, but also evaluating automatically the efforts dedicated and the results obtained by the students. The system has been applied to the 1st-year students at the Industrial Engineering specialization at the Universidad Politecnica de Madrid. Results show that the students obtained better academic performance, reducing the failure rate in the practical exam considerably with respect to previous years, in addition that an anonymous survey proved that students are satisfied with the system because they get instant feedback about their programs.

ESPÍRITOS DO UNIVERSO RESPONSÁVEIS PELO DESTINO: ESTUDO EXEGÉTICO EM COLOSSENSES 2.8-3.4

Esta dissertação de mestrado analisará a expressão grega ta. stoicei/a tou/ ko,smou, “os elementos do mundo”, que ocorre na carta de Colossenses nos versículos 8 e 20 do segundo capítulo. Será feito um estudo exegético na perícope bíblica 2.8-3.4 da referida carta, bem como uma análise histórica especificamente do termo stoicei/a. O estudo desta expressão é importante para poder se compreender a filosofia colossense mencionada em Cl 2.8. A igreja cristã na cidade de Colossos estava inserida em um contexto social religioso sincrético. Esse sincretismo é percebido claramente em textos de magia como os Papiros Mágicos Gregos, muito comuns na região da Ásia Menor, a mesma onde a igreja colossense estava situada. O sincretismo religioso, envolvendo crenças judaicas e pagãs, reflete as bases dessa filosofia. O autor da carta aos Colossenses refuta a crença nos “elementos do mundo”, bem como a subserviência aos mesmos. Dentre outras crenças, acreditava-se que esses “elementos” poderiam influenciar os acontecimentos sobre a terra e o destino das pessoas. Questões que envolvem práticas acéticas, adoração a anjos e observância de calendário litúrgico, dão os contornos dessa filosofia. O autor da carta enfatiza o senhorio de Cristo, bem como as obras dele em favor dos cristãos colossenses, que proporcionavam a eles, segurança quanto a terem um bom destino. E, além disso, é assegurada uma liberdade aos cristãos colossenses que não podia lhes ser cerceada por quaisquer outras crenças religiosas. Então, as obras de Cristo, bem como o seu senhorio, são os principais argumentos utilizados pelo autor da carta, a fim de afirmar aos cristãos em Colossos que eles não precisam mais temer o destino e nem se submeter aos “elementos do mundo”.

Impact of Spatial Soil and Climate Input Data Aggregation on Regional Yield Simulations

This work was financially supported by the German Federal Ministry of Food and Agriculture (BMEL) through the Federal Office for Agriculture and Food (BLE), (2851ERA01J). FT and RPR were supported by FACCE MACSUR (3200009600) through the Finnish Ministry of Agriculture and Forestry (MMM). EC, HE and EL were supported by The Swedish Research Council for Environment, Agricultural Sciences and Spatial Planning (220-2007-1218) and by the strategic funding ‘Soil-Water-Landscape’ from the faculty of Natural Resources and Agricultural Sciences (Swedish University of Agricultural Sciences) and thank professor P-E Jansson (Royal Institute of Technology, Stockholm) for support. JC, HR and DW thank the INRA ACCAF metaprogramm for funding and Eric Casellas from UR MIAT INRA for support. CB was funded by the Helmholtz project “REKLIM—Regional Climate Change”. CK was funded by the HGF Alliance “Remote Sensing and Earth System Dynamics” (EDA). FH was funded by the German Research Foundation (Deutsche Forschungsgemeinschaft, DFG) under the Grant FOR1695. FE and SS acknowledge support by the German Science Foundation (project EW 119/5-1). HH, GZ, SS, TG and FE thank Andreas Enders and Gunther Krauss (INRES, University of Bonn) for support. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.

Key residues revealed in a major conformational epitope of the U1-70K protein

Epitopes depending on three-dimensional folding of proteins have during recent years been acknowledged to be main targets for many autoantibodies. However, a detailed resolution of conformation-dependent epitopes has to date not been achieved in spite of its importance for understanding the complex interaction between an autoantigen and the immune system. In analysis of immunodominant epitopes of the U1-70K protein, the major autoantigen recognized by human ribonucleoprotein (RNP)-positive sera, we have used diversely mutated recombinant Drosophila melanogaster 70K proteins as antigens in assays for human anti-RNP antibodies. Thus, the contribution of individual amino acids to antigenicity could be assayed with the overall structure of the major antigenic domain preserved, and analysis of how antigenicity can be reconstituted rather than obliterated was enabled. Our results reveal that amino acid residue 125 is situated at a crucial position for recognition by human anti-RNP autoantibodies and that flanking residues at positions 119–126 also appear to be of utmost importance for recognition. These results are discussed in relation to structural models of RNA-binding domains, and tertiary structure modeling indicates that the residues 119–126 are situated at easily accessible positions in the end of an α-helix in the RNA binding region. This study identifies a major conformation-dependent epitope of the U1-70K protein and demonstrates the significance of individual amino acids in conformational epitopes. Using this model, we believe it will be possible to analyze other immunodominant regions in which protein conformation has a strong impact.

Junções moleculares e agregados de nanobastões de ouro: um estudo SERS

A Espectroscopia Raman Intensificada pela Superfície (SERS) é um efeito de intensificação da intensidade Raman de uma molécula adsorvida numa superfície metálica nanoestruturada. Esta característica permite a utilização do SERS na caracterização vibracional de sistemas como junções moleculares (JM) (JM são sistemas constituídos de fios moleculares sintetizados em junções do tipo metal|fiomolecular|metal) e, no entendimento de quais características morfológicas de agregados metálicos mais influenciariam no sinal SERS obtido. Portanto, esta tese apresenta os seguintes objetivos: (a) síntese e caracterização de substratos SERS ativos, nanoesferas (AuNE) e nanobastões (AuNB) de ouro e eletrodo de ouro ativado eletroquimicamente; (b) síntese e caracterização SERS de fios moleculares em JM; (c) estudo do acoplamento plasmônico entre as superfícies metálicas em JM; (d) correlação entre SERS - morfologia de agregados individuais de AuNB. Os fios moleculares estudados foram os da família das oligofeniliminas (OPI) e, no melhor do nosso entendimento, esta foi a primeira vez que fios moleculares desta família foram caracterizados por Raman e SERS. As JM apresentaram um comportamento SERS não esperado. Enquanto para o modo vibracional, v(CS), a intensidade da banda se apresentou constante com o aumento do espaçamento entre as nanoestruturas metálicas (para distâncias de até 5 nm), o modo vibracional, β(CH), teve a intensidade de sua banda aumentada. Este comportamento foi explicado considerando a diferente natureza da interação dos plasmons nas JM, sendo estas interações do tipo, ressonância de plasmon de superfície (LSPR) - dipolo imagem, para ambos os modos. No entanto, para o modo β(CH) existe também uma intensificação extra devido ao aumento da polarizabilidade dos fios moleculares com o aumento do número de unidades. A correlação SERS - morfologia dos agregados de AuNB indicam que, para agregados onde predominam interações ponta a ponta, os espectros SERS apresentavam uma maior intensidade quando comparados com aqueles em que interações lado a lado predominavam. No entanto, este comportamento não foi observado para agregados contendo mais do que cinco nanopartículas onde estes dois tipos de interações ocorrem indicando que deve existir um acoplamento dos plasmons destes dois tipos de interações contribuindo para maiores valores de intensidade SERS.

Kriegstagebuch eines kriegsfreiwilligen; 100 gedichte über und aus dem deutschen krieg, 1914,

"Buchschmuck und redaktion von Elisabet Roediger-Waechtler."

Petri Angelii Bargaei Commentarius de Obelisco ad sanctiss. et beatiss. d. n. d. Xystum V. pont. max. Huc accesserunt aliquot poetarum carmina, quorum partim ad idem argumentum, partim ad eiusdem summi Pont. laudem pertinent.

Edit16,

Die Religiöse seite der grossen Pythien.

At head of title: Zur öffentlichen Prüfung aller Classen des Elisabet-gymnasiums am 6. und 7. April und zur Entlassung der Abiturienten am 8. April 1870 ...

Poésies inédites de Marguerite Élénore Clotilde de Vallon et Chalys, depuis Madame de Surville, poëte français du 15e siècle,

The auhtorship of these poems has been ascribed to the Marquis de Surville by G. Paris and others. [First collection was publ. by Viconite de Vanderbourg in 1803 (later eds in 1804 and 1824).- cf. Revue critique, J. Année (1873), 8. Aunée, 1874 and P. Cottin, Bulletins du bibliophile, 1894.]