MSISpIC: A Probabilistic Scan Matching Algorithm Using a Mechanical Scanned Imaging Sonar

This paper compares two well known scan matching algorithms: the MbICP and the pIC. As a result of the study, it is proposed the MSISpIC, a probabilistic scan matching algorithm for the localization of an Autonomous Underwater Vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), and the robot displacement estimated through dead-reckoning with the help of a Doppler Velocity Log (DVL) and a Motion Reference Unit (MRU). The proposed method is an extension of the pIC algorithm. Its major contribution consists in: 1) using an EKF to estimate the local path traveled by the robot while grabbing the scan as well as its uncertainty and 2) proposing a method to group into a unique scan, with a convenient uncertainty model, all the data grabbed along the path described by the robot. The algorithm has been tested on an AUV guided along a 600m path within a marina environment with satisfactory results

Use of NIR spectroscopy and multivariate process spectra calibration methodology for pharmaceutical solid samples analysis

Accomplish high quality of final products in pharmaceutical industry is a challenge that requires the control and supervision of all the manufacturing steps. This request created the necessity of developing fast and accurate analytical methods. Near infrared spectroscopy together with chemometrics, fulfill this growing demand. The high speed providing relevant information and the versatility of its application to different types of samples lead these combined techniques as one of the most appropriated. This study is focused on the development of a calibration model able to determine amounts of API from industrial granulates using NIR, chemometrics and process spectra methodology.

Indústria, mineria i artesania en toponímia rural: el cas del municipi d’Osor (la Selva)

The study presented is interdisciplinary names: the presence of place names related with industrial, artisanal or mining activities in rural areas. The main hypothesis refers to this fact; the uniqueness of industrial, mining or craft in a rural area is an important reason to influence their names, a fact that gives archaeological value, remembering economic activities now disappeared. The methodology used for the study has been usually applied in onomastic studies: compilation of names from field work, oral interviews, archival work, revision of ancient documents and revision of works and studies related to the cartography of Osor. The final conclusion is that, as proposed in the hypothesis, in a rural area as the studied, the low presence of industrial, artisanal or mining activities have generated place names that have helped in keeping the memory of economic activities now disappeared

Recursos energètics i crisi : la fi de 200 anys irrepetibles

Els recursos de la natura són finits, especialment les energies no renovables, un fet que no sembla que tinguin en compte molts dels responsables polítics i empresarials. L’autor es pregunta si serà possible mantenir el sistema de desenvolupament industrial iniciat ara fa 200 anys, amb l’explotació del carbó i, més tard, del petroli, del gas natural i de l’urani.Aquesta anàlisi es basa en dades de les grans agències de l’energia (l’Energy Information Administration, EIA, del Govern dels Estats Units, i l’Agència Internacional de l’Energia, IEA-AIE, de l’OCDE), com també en altres fonts estadístiques reconegudes a escala internacional, convenientment contrastades i reelaborades.Els resultats contradiuen moltes argumentacions oficials. Mostren que la crisi energètica serà profunda i que es manifestarà ja en la dècada actual: els recursos no s’acabaran immediatament, però l’escassetat de l’oferta davant de l’augment de la demanda qüestionarà el paradigma del creixement continu. Se suggereix que la crisi financera n’ha estat un preludi. La reducció energètica començarà amb el petroli, fet que comportarà la crisi del transport, el fre de les produccions globalitzades i, en darrera instància, la crisi alimentària (també als països desenvolupats!). El canvi climàtic –imparable, segons les tendències analitzades– serà una dificultat afegida a les readaptacions necessàries.Quin paper podria fer Europa en el futur, amb els recursos energètics ja exhaurits?

Automation in clinical bacteriology: what system to choose?

With increased activity and reduced financial and human resources, there is a need for automation in clinical bacteriology. Initial processing of clinical samples includes repetitive and fastidious steps. These tasks are suitable for automation, and several instruments are now available on the market, including the WASP (Copan), Previ-Isola (BioMerieux), Innova (Becton-Dickinson) and Inoqula (KIESTRA) systems. These new instruments allow efficient and accurate inoculation of samples, including four main steps: (i) selecting the appropriate Petri dish; (ii) inoculating the sample; (iii) spreading the inoculum on agar plates to obtain, upon incubation, well-separated bacterial colonies; and (iv) accurate labelling and sorting of each inoculated media. The challenge for clinical bacteriologists is to determine what is the ideal automated system for their own laboratory. Indeed, different solutions will be preferred, according to the number and variety of samples, and to the types of sample that will be processed with the automated system. The final choice is troublesome, because audits proposed by industrials risk being biased towards the solution proposed by their company, and because these automated systems may not be easily tested on site prior to the final decision, owing to the complexity of computer connections between the laboratory information system and the instrument. This article thus summarizes the main parameters that need to be taken into account for choosing the optimal system, and provides some clues to help clinical bacteriologists to make their choice.

Control d'un sistema de marcatge làser de caixes

RESUM Avui en dia, l’alta competitivitat que existeix al mercat, fa que les empreses hagin d’esprémer al màxim les seves possibilitats per no quedar-se enrere. Un dels processos en que aquest fet hi és més present és el productiu. L’empresa JCM Technologies també engloba aquest camp i és en un dels seus processos productius on aquest projecte pren part. L’objectiu d’aquest projecte final de carrera ha estat desenvolupar un sistema per poder marcar caixes mitjançant un làser de CO2 i un automatisme manipulador de caixes. D’aquesta manera aquest procés productiu té una durada molt inferior a l’antic procés, que consistia en enganxar una etiqueta al lloc on ara és marcat pel làser. Per satisfer els objectius, s’ha creat una aplicació de Windows que per mitjà d’una interfície gràfica, permet a l’usuari realitzar els passos necessaris per fer el marcatge. Primerament es recullen les dades procedents de la comanda; seguidament es seleccionen les que s’han de marcar a les caixes i s’envien al làser mitjançant comunicació sèrie; una vegada aquesta inicialització ha finalitzat correctament, s’engega la seqüència de marcatge de les caixes, que en marcarà la quantitat indicada. Aquest procés de marcatge consisteix en supervisar l’estat en que es troben certes senyals, procedents de l’automatisme i del làser, i depenent d’aquestes generar-ne unes altres. Aconseguint així realitzar el procés de marcatge de cada caixa. Com a conclusions cal dir, que els objectius s’han complert, ja que s’ha aconseguit un procés de marcatge ràpid i robust. També s’ha aconseguit que les parts de configuració de l’aplicació, i de les caixes siguin de fàcil manipulació. Per tant, amb l’acompliment dels objectius d’aquest projecte, aconseguim completar el sistema de marcatge, i permetre que les caixes siguin marcades de forma correcta, ràpida i eficient.

Adquiridor de dades analògiques

L’empresa TER és una empresa dedicada al disseny i la construcció de projectes electrònics. La necessitat de comprovar el funcionament dels seus dissenys ha motivat a realitzar un projecte capaç de recollir dades significatives de diferents àmbits com pressió, voltatge, intensitat, temperatura etc. En el mercat les dos maneres més freqüents de recollir aquestes dades són per sensors que donen una equivalència d’un paràmetre físic a un rang de voltatge (0 a 10v) o per corrent (4 a 20mA). Aquestes dades seran adquirides i processades periòdicament per un microcontrolador que les emmagatzemarà una a una per posteriorment visualitzar-les en un LCD o en un programa fet per Visual Basic capaç de generar un document que guardi les dades en Excel. Com a conclusions es pot dir que s’han assolit els objectius, tant els personals com els proposats, per tal de tenir un prototip funcional

Análisis y mejora de los procesos excepcionales de una multinacional del sector de la electrónica utilizando la metodología Business Process Management

El presente documento ilustra la aplicación de la metodología Business Process Managementpara el caso de una empresa multinacional del sector de la electrónica. Para ello se han tomado los procesos excepcionales de Supply Chain Operations en el área EMEA (Europa, Oriente Medio y África). Se ha analizado la situación inicial, donde la aparición de incidencias de calidad en productos terminados y listos para entregar a clientes generaba una serie de acciones descoordinadas y con resultados insatisfactorios. Todos los departamentos implicados comprometían recursos, tiempo y esfuerzo, sin estar alineados entre sí. A partir de la aplicación sistemática de la metodología BPM definida en 10 fases, se ha desarrollado una solución completa para los procesos excepcionales. El documento describe con detalle en proceso de Reflash y la documentación necesaria para poner el proceso bajo control y en mejora continua.

Identification of geometrically consistent interest points for 3D scene reconstruction

We propose an algorithm that extracts image features that are consistent with the 3D structure of the scene. The features can be robustly tracked over multiple views and serve as vertices of planar patches that suitably represent scene surfaces, while reducing the redundancy in the description of 3D shapes. In other words, the extracted features will off er good tracking properties while providing the basis for 3D reconstruction with minimum model complexity

Robotic Gait Training Is not Superior to Conventional Treadmill Training in Parkinson Disease: A Single-Blind Randomized Controlled Trial.

BACKGROUND: The use of robots for gait training in Parkinson disease (PD) is growing, but no evidence points to an advantage over the standard treadmill. METHODS: In this randomized, single-blind controlled trial, participants aged <75 years with early-stage PD (Hoehn-Yahr <3) were randomly allocated to 2 groups: either 30 minutes of gait training on a treadmill or in the Lokomat for 3 d/wk for 4 weeks. Patients were evaluated by a physical therapist blinded to allocation before and at the end of treatment and then at the 3- and 6-month follow-up. The primary outcome measure was the 6-minute walk test. RESULTS: Of 334 screened patients, the authors randomly allocated 30 to receive gait training with treadmill or the Lokomat. At baseline, the 2 groups did not differ. At the 6-month follow-up, both groups had improved significantly in the primary outcome measure (treadmill: mean = 490.95 m, 95% confidence interval [CI] = 448.56-533.34, P = .0006; Lokomat: 458.6 m, 95% CI = 417.23-499.96, P = .01), but no significant differences were found between the 2 groups (P = .53). DISCUSSION: Robotic gait training with the Lokomat is not superior to treadmill training in improving gait performance in patients with PD. Both approaches are safe, with results maintained for up to 6 months.

Regional integration and specialisation patterns in Spain

The aim of this paper is to analyse how economic integration in Europe has affected industrial geographical concentration in Spain and explain what the driving forces behind industry location are. Firstly, we construct regional specialisation and geographical concentration indices for Spanish 50 provinces and 30 industrial sectors in 1979, 1986 and 1992. Secondly, we carry out an econometric analysis of the determinants of geographical concentration of industries. Our main conclusion is that there is no evidence of increasing specialisation in Spain between 1979 and 1992 and that the most important determinant of Spain¿s economic geography is scale economies. Furthermore, traditional trade theory has no effects in explaining the pattern of industrial concentration

AMADEUS: advanced manipulation for deep underwater sampling

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory `blind grasping¿. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase I1 is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.