Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance

In this work it is presented a complete kinematic analysis of the 3PSS-1S parallel mechanism for its implementation as a spherical wrist for a needle insertion guidance robot. The spherical 3PSS-1S mechanism is a low weight and reduced dimension parallel mechanism that allows spherical movements providing the requirements needed for the serial–parallel robotic arm for needle insertion guidance. The solution of its direct kinematic is computed with a numerical method based on the Newton–Raphson formulation and a constraint function of the mechanism. The input–output velocity equation is obtained with the use of screw theory. Three types of singular postures are identified during simulations and verified in the real prototype. The 3PSS-1S can perform pure rotations of ±45°±45°, ±40°±40°, ±60°±60° along the View the MathML sourcex, View the MathML sourcey, View the MathML sourcez axes respectively.

Diseño y ensayos en tierra de paneles solares para un satélite de órbita baja = Design and testing procedures of a Low Earth Orbit (LEO) satellite solar panels

Debido al reciente incremento de conflictos en el mundo árabe y dado el interés nacional de España en dicha zona, se propone en este proyecto un estudio inicial para el diseño y desarrollo de un microsatélite que ayude al gobierno de España a mantener esa zona bajo observación constante. En el presente trabajo se abarcan todos los subsistemas del satélite, haciéndose un estudio más detallado del subsistema de potencia

Diseño y ensayos en tierra de las baterías para un satélite de órbita baja = Design and testing procedures of a Low Earth Orbit (LEO) satellite battery

Este proyecto consiste en el estudio y dimensionado inicial del sistema de potencia de un satélite de observación, que sirva de ayuda a otros sistemas de mayor precisión a la hora de detectar posibles terremotos y actividad volcánica mediante el análisis de señales electromagnéticas presentes en la ionosfera. Para ello el satélite incorpora, entre otros elementos sensores eléctricos, un analizador de plasma, y un detector de partículas. Con esta instrumentación se pretenden detectar los cambios que se producen en el campo electromagnético terrestre como consecuencia del movimiento de las placas tectónicas, y descubrir así las posibles anomalías que preceden a un seísmo. Para no sobrepasar el presupuesto con el que se ha ideado el proyecto se utilizarán sistemas que permitan la lectura de datos de la forma más simple, pudiendo ocurrir que los datos recogidos no se transmitan al control de Tierra en tiempo real, impidiendo a los científicos analizar los datos recogidos hasta unos días después, de ahí que este satélite experimental deba emplearse, en principio, como apoyo a programas de detención de terremotos más sofisticados y con mayores medios técnicos. Evidentemente, con este sistema también se podrán recoger datos tras los seísmos y examinarlos posteriormente. La órbita del satélite será una órbita LEO (Low Earth Orbit) de una altitud aproximada de 670 Km, estimándose el tiempo de vida del satélite en 5 años. Intentando emplear la mayor parte de los recursos económicos en el equipamiento científico, la estructura será la más simple posible, esto es, un paralelepípedo de dimensiones compactas con un peso aproximado de 185 kg, contando con paneles solares desplegables y en su interior con baterías que proporcionarán potencia al satélite durante la fase de lanzamiento y en momentos concretos.

Diseño y ensayos en tierra de paneles solares y baterías para un satélite de órbita baja = Design and testing procedures of a Low Earth Orbit (LEO) satellite power subsystem (solar panels and battery)

Las principal conclusión que se puede obtener tras el estudio es que el satélite, tal y como se ha tenido en cuenta, es perfectamente funcional desde el punto de vista eléctrico. Por la parte de la generación de potencia, los paneles son capaces de ofreces una cantidad tal como para que aproximadamente la mitad (en el caso de funcionamiento normal) de esta potencia sea destinada a la carga útil. Además, incluso en los modos de fallo definidos, el valor de potencia dedicada a la carga útil, es suficientemente alta como para que merezca la pena mantener el satélite operativo. Respecto de las baterías, se puede observar por su comportamiento que están, sobredimensionadas y por ello actúan como un elemento regulador del sistema completo, ya que tiene un amplio margen de trabajo por el cual se puede modificar el funcionamiento general. Y esto se demuestra no sólo en cuanto al estado de carga, que para el perfil de consumo constante y el de cuatro pulsos de 120 W por día se mantiene siempre por encima del 99%, si no también en términos de charging rate, el cual se está siempre dentro de los límites establecidos por el fabricante, asegurando una vida operativa acorde con la nominal. Por último, sobre el propio método de simulación se puede extraer que aun no siendo la mejor plataforma donde estudiar estos comportamientos. Presenta el inconveniente de que, en ciertas partes, restringe la flexibilidad a la hora de cambiar múltiples condiciones al mismo tiempo, pero a cambio permite un estudio bastante amplio con un requisito de conocimientos y de complejidad bajo, de manera que habilita a cualquier estudiante a llevar a cabo estudios similares.

Diseño y ensayos en tierra de paneles solares para un satélite de órbita baja = Design and testing procedures of a Low Earth (LEO)satellite solar panels

El Proyecto Fin De Carrera presentado a continuación contiene una descripción del prediseño del microsatélite de observación terrestre Gaia, particularizando ésta especialmente en el sistema de potencia del mismo. En el presente capítulo se describen los objetivos de la misión expuesta y los requerimientos del satélite objeto de este proyecto.

Design and technical evaluation of an enhanced location-awareness service enabler for spatial disorientation management of elderly with mild cognitive impairment

The progressive ageing of population has turned the mild cognitive impairment (MCI) into a prevalent disease suffered by elderly. Consequently, the spatial disorientation has become a significant problem for older people and their caregivers. The ambient-assisted living applications are offering location-based services for empowering elderly to go outside and encouraging a greater independence. Therefore, this paper describes the design and technical evaluation of a location-awareness service enabler aimed at supporting and managing probable wandering situations of a person with MCI. Through the presence capabilities of the IP multimedia subsystem (IMS) architecture, the service will alert patient's contacts if a hazardous situation is detected depending on his location. Furthermore, information about the older person's security areas has been included in the user profile managed by IMS. In doing so, the service enabler introduced contribute to “context-awareness” paradigm allowing the adaptation and personalization of services depending on user's context and specific conditions or preferences.

Synthetic genes for glycoprotein design and the elucidation of hydroxyproline-O-glycosylation codes

Design of hydroxyproline (Hyp)-rich glycoproteins (HRGPs) offers an approach for the structural and functional analysis of these wall components, which are broadly implicated in plant growth and development. HRGPs consist of multiple small repetitive “glycomodules” extensively O-glycosylated through the Hyp residues. The patterns of Hyp-O-glycosylation are putatively coded by the primary sequence as described by the Hyp contiguity hypothesis, which predicts contiguous Hyp residues to be attachment sites of small arabinooligosaccharides (1–5 Ara residues/Hyp); while clustered, noncontiguous Hyp residues are sites of arabinogalactan polysaccharide attachment. As a test, we designed two simple HRGPs as fusion proteins with green fluorescent protein. The first was a repetitive Ser-Hyp motif that encoded only clustered noncontiguous Hyp residues, predicted polysaccharide addition sites. The resulting glycoprotein had arabinogalactan polysaccharide O-linked to all Hyp residues. The second construct, based on the consensus sequence of a gum arabic HRGP, contained both arabinogalactan and arabinooligosaccharide addition sites and, as predicted, gave a product that contained both saccharide types. These results identify an O-glycosylation code of plants.

Role of aromatic residues in stabilization of the [Fe4S4] cluster in high-potential iron proteins (HiPIPs): physical characterization and stability studies of Tyr-19 mutants of Chromatium vinosum HiPIP.

The functional role of residue Tyr-19 of Chromatium vinosum HiPIP has been evaluated by site-directed mutagenesis experiments. The stability of the [Fe4S4] cluster prosthetic center is sensitive to side-chain replacements. Polar residues result in significant instability, while nonpolar residues (especially with aromatic side chains) maintain cluster stability. Two-dimensional NMR data of native and mutant HiPIPs are consistent with a model where Tyr-19 serves to preserve the structural rigidity of the polypeptide backbone, thereby maintaining a hydrophobic barrier for exclusion of water from the cluster cavity. Solvent accessibility results in more facile oxidation of the cluster by atmospheric oxygen, with subsequent rapid hydrolysis of the [Fe4S4]3+ core.

Functional and developmental studies of the peripheral arterial chemoreceptors in rat: effects of nicotine and possible relation to sudden infant death syndrome.

The drive on respiration mediated by the peripheral arterial chemoreceptors was assessed by the hyperoxic test in 3-day-old rat pups. They accounted for 22.5 +/- 8.8% during control conditions, but only for 6.9 +/- 10.0% after nicotine exposure, an effect counteracted by blockade of peripheral dopamine type 2 receptors (DA2Rs). Furthermore, nicotine reduced dopamine (DA) content and increased the expression of tyrosine hydroxylase (TH) in the carotid bodies, further suggesting that DA mediates the acute effect of nicotine on arterial chemoreceptor function. During postnatal development TH and DA2R mRNA levels in the carotid bodies decreased. Thus, nicotine from smoking may also interfere with the postnatal resetting of the oxygen sensitivity of the peripheral arterial chemoreceptors by increasing carotid body TH mRNA, as well as DA release in this period. Collectively these effects of nicotine on the peripheral arterial chemoreceptors may increase the vulnerability to hypoxic episodes and attenuate the protective chemoreflex response. These mechanisms may underlie the well-known relation between maternal smoking and sudden infant death syndrome.

Controversy between curriculum design and curriculum development of online "highly specialized" education in the field of construction

Nowadays, on a global level, the Higher Education System has a complex and broad horizon of curricular tools to use in the teaching and learning process. In addition to these new educational instruments, full of possibilities, we face specific socio-economic conditions that affect in a significantly way the Curriculum Development in certain knowledge areas (areas traditionally built on a methodology based on a physical presence of students in the classroom). Some areas such as Restoration, Rehabilitation or Construction Pathologies, and the construction sector in general, require very defined and particular knowledge that only a small number of experts claim as specialized training. All these aspects condition the teaching methodology performed in a physical classroom at a university campus (the only option used until recent years) and made us consider the integration of online teaching in these areas too. The present work shows the teaching methodology used for the development of two online courses, where we offer distance learning for "highly specialized" formation in the Edification area (an area where traditionally there was only classroom training). At the beginning, both courses were designed by classroom training, but got a really small number of applications due to the specialized topic proposed. Later, we proposed a "Curriculum Redesign" of the contents, offering an online modality, which implied a significant demand both within and outside the university area. A notable feature of this educational experience is the great spectrum opened for attendees of both courses in the online version. This situation improved significantly the "Curriculum Development" for the student and implied an interesting new proposal on the offered contents and materials (what would have been really difficult to get in a face to face classroom). In conclusion, the absence of certain types of specialized contents in the academic university curricula makes essential to raise new methodologies to save the gap in this area through additional training courses as those analyzed in this paper. Thus, our experience opens a debate on the appropriateness of implementing online training in relation to the face to face training in constructive content subjects and, especially, presents a new scheme, not without controversy, for the curriculum design.

Geochemical and Microbiological Studies of Nitrous Oxide Variations within the New NEEM Greenland Ice Core During the Last Glacial Period

Deep polar ice cores provide atmospheric records of nitrous oxide (N₂O) and other trace gases reflecting climate history along with a parallel archive of microbial cells transported with mineral dust, marine and volcanic aerosols from around the globe. Our interdisciplinary study of 32 samples from different depths of the recently drilled NEEM Greenland ice core addressed the question whether the identified microorganisms were capable of post-depositional biological production of N₂O in situ. We used high-resolution geochemical and microbiological approaches to examine the N₂O concentrations, the quantitative distributions of dust, Ca⁺², NH₄⁺ and NO₃⁻ ¡ons related to N cycle pathways, the microbial abundance and diversity at specific NEEM core depths from 1758 m to 1867.8 m. Results showed varying concentrations of N₂O (220 –271.5 ppb). Microbial abundance fluctuated between 3.3 x 10⁴ and 3.3 x 10⁶ cells mL⁻¹ in direct correlation with dust and Ca²⁺ concentrations with higher cell numbers deposited during colder periods. The average values of NH₄⁺ and NO₃⁻ indicated that substrates were available for the microorganisms capable of utilizing them. PCR amplification of selected functional genes involved in bacterial and archaeal nitrification and denitrification was not successful. Sanger and Illumina MiSeq sequence analyses of SSU rRNA genes showed variable representation of Alpha-, Beta- and Gammaproteobacteria, Firmicutes, Actinobacteria, chloroplasts and fungi. The metabolic potential of the dominant genera of Proteobacteria and Firmicutes as possible N₂O producers suggested that denitrification activity may have led to in-situ production and accumulation of N₂O.

Design and cost analysis of truck-trailer rear underride guards. Final report.

National Highway Traffic Safety Administration, Washington, D.C.