Herramienta de interacción persona-ordenador para la operación de vehículos aéreos no tripulados

En la presente memoria se describe el trabajo de diseño de una herramienta de interacción persona-ordenador (HMI) para la operación y supervisión de vehículos aéreos no tripulados (UAV). En primer lugar se hace una introducción a los tipos de UAVs y aplicaciones más comunes, describiendo sus características técnicas y los componentes que integra en el sistema. Mediante la revisión y análisis de los diferentes niveles de autonomía y las diferentes soluciones de presentación existentes en el mercado, se identifican los modos de operación y componentes principales de la interfaz. A continuación se describe el diseño final del software de la interfaz y el proceso de desarrollo de la misma, para ello se hace un análisis previo del software robótico sobre el que opera el sistema abordo del UAV y se establecen los enlaces de comunicación entre cada uno de los componentes y los requisitos de integración con el sistema. Finalmente, se muestran las pruebas que se han realizado para validar la construcción de la herramienta. This report outlines the design and construction of a human-machine interface (HMI), designed to facilitate the supervision and operation with unmanned aerial vehicles (UAV). First, it is described an introduction to UAVs classification and application fields, reviewing the hardware features and software integration components. In order to define the basic components and operation modes in the general design, a brief review of the different presentation solutions and autonomous levels is described. As a result, it is presented the final software design, the components details and the system integration requirements. Finally, it is also concluded with some of the tests that have been conducted to validate the design and construction of the human-machine interface

Arquitectura modal o ensamblaje de repertorios, procesos y disposiciones

En muchas ocasiones se ha establecido una crítica sobre la excesiva disposicionalidad estética del arquitecto: el abuso subjetivista, un innatismo desligado del entorno socioambiental o su desafección hacia las necesidades y los requerimientos pertinentes del usuario final, buscando, principalmente, la objetivación cultural como expresión personal e individualista. Criticas que responden a un malestar persistente, que subyace a la práctica arquitectónica. En otras ocasiones se han ideado y propuesto tentativas o aproximaciones para la corrección y regulación de dicho “exceso”. En busca de la “pretendida objetividad”, éstas han recurrido a un pasado prístino, a una tradición inconsciente, colectiva e impersonal, a la ausencia de autoría, a lo artesanal y a lo vernáculo. También hacia un futuro tecnocrático: al mesianismo basado en la máquina, la ciencia, los métodos y el progreso tecnológico. La búsqueda de un lenguaje compartido, de un diseño sistemático y de una adecuación funcional han establecido nuevos excesos –repertoriales-, relegando la creatividad y la concepción estética a un plano casi inexistente, subordinándolo a variables de diseño externas a la autoría y la expresión subjetiva del diseñador. Esta tensión se ha saldado en una pugna de binomios categoriales que reducen la realidad a un dualismo aporético y contrapuesto, difícilmente superable. El propósito articulatorio de dichas posturas, en modelos ontológicos integrales, permite la incorporación de dichas categorías bajo estructuras y ensamblajes que despliegan los modos de relación, mediación y producción arquitectónicas. Estos ensamblajes combinan los distintos agentes –disposicionalidades- y sus repertorios en cada una de las fases del proceso arquitectónico, construyendo modos de acción y relación en base a los acoplamientos diferenciales, que devienen en técnicas y dinámicas de producción arquitectónica. Cada modo integrará diversas variables en base a los modelos propuestos -estratos, períodos y polos- y a la elección intencional –“situada”- de cada práctica: la Autonomía Modal Arquitectónica. El producto final de cada modo –o ensamblaje- será inconmensurable, estableciendo sistemas y métodos diversos para la práctica estética, sin que por ello esté garantizado el valor o éxito del resultado. ABSTRACT On many occasions an aesthetic criticism of the excessive disposition of the architect´s subjectivist abuse, innate posture detached from socioenvironmental issues or disaffection regarding the needs and requirements of who -or what- will finally use it has been brought up mainly in pursuit of a cultural objectification as a personal expression and an individualistic one. It is a criticism which goes hand in hand with a persistent uneasiness which is interwoven in the architectural practice. On other occasions we have seen ideas, attempts and approaches developed and proposed in order to correct, improve or adjust that so-called “excess”. In the search for this " expected objectivity" theorists have resorted to delving into a pristine past, an unconscious tradition both collective and personal, to the absence of authorship, regarding craft and vernacular. The pursuit of a common language, a systematic design and a functional adequacy has established new excesses -repertoires-, leaving behind creativity and aesthetic conception at an almost nonexistent level and subordinating it to variables outside the authoring design and subjective expression of the designer. This tension has resulted in a conflict between categorical binomial, which reduces reality to an aporetic and opposed dualism which is not easily overcome. The purpose of such articulatory positions in comprehensive ontological modals allows for the incorporation of those categories under structures and assemblies which display and unfold different models of relationship, mediation and production of architecture. These assemblies combine different agents - disposition - and their repertoires in each of the phases of the architectural process, building actions and relational modes based on the differential couplings, which become techniques and dynamics in architectural production. Each mode will integrate several variables within the proposed ontological models - strata, periods and poles - based on an intentional choice –“situated knowledge”- of each practice: Architectural Modal Autonomy. The final product of each mode -or assembly- will be immeasurable, establishing different systems and methods for aesthetic practice without the value or success of the outcome ever being guaranteed.

Active materiality : the agency of matter from the phenomenological perspective = Materialidad activa : la operatividad de la materia desde el punto de vista fenomenológico

The role of matter has remained central to the making and the thinking of architecture, yet many attempts to capture its essence have been trapped in a dialectic tension between form and materiality, between material consistency and immaterial modes of perception, between static states and dynamic processes, between the real and the virtual, thus advancing an increasing awareness of the perplexing complexity of the material world. Within that complexity, the notion of agency – emerging from and within ecological, politico-economic and socio-cultural processes – calls for a reconceptualization of matter, and consequently processes of materialisation, offering a new understanding of context and space, approached as a field of dynamic relationships. In this context, cutting across boundaries between architectural discourse and practice as well as across the vast trans-disciplinary territory, this dissertation aims to illustrate a variety of design methodologies that have derived from the relational approach. More specifically, the intention is to offer new insights into spatial epistemologies embedded within the notion of atmosphere – commonly associated with the so-called New Phenomenology – and to reflect upon its implications for architectural production. In what follows, the intended argumentation has a twofold dimension. First, through a scrutiny of the notion of atmosphere, the aim is to explore ways of thinking and shaping reality through relations, thus acknowledging the aforementioned complexity of the material universe disclosed through human and non-human as well as material and immaterial forces. Secondly, despite the fact that concerns for atmospherics have flourished over the last few decades, the objective is to reveal that the conceptual foundations and procedures for the production of atmosphere might be found beneath the surface of contemporary debates. Hence, in order to unfold and illustrate previously advocated assumptions, an archaeological approach is adopted, tracing a particular projective genealogy, one that builds upon an atmospheric awareness. Accordingly, in tracing such an atmospheric awareness the study explores the notoriously ambiguous nature and the twofold dimension of atmosphere – meteorological and aesthetic – and the heterogeneity of meanings embedded in them. In this context, the notion of atmosphere is presented as parallactic. It transgresses the formal and material boundaries of bodies. It calls for a reevaluation of perceptual experience, opening a new gap that exposes the orthodox space-bodyenvironment relationships to questioning. It offers to architecture an expanded domain in which to manifest itself, defining architectural space as a contingent construction and field of engagement, and presenting matter as a locus of production/performance/action. Consequently, it is such an expanded or relational dimension that constitutes the foundation of what in the context of this study is to be referred to as affective tectonics. Namely, a tectonics that represents processual and experiential multiplicity of convergent time and space, body and environment, the material and the immaterial; a tectonics in which matter neither appears as an inert and passive substance, nor is limited to the traditionally regarded tectonic significance or expressive values, but is presented as an active element charged with inherent potential and vitality. By defining such a relational materialism, the intention is to expand the spectrum of material attributes revealing the intrinsic relationships between the physical properties of materials and their performative, transformative and affective capacities, including effects of interference and haptic dynamics – i.e. protocols of transmission and interaction. The expression that encapsulates its essence is: ACTIVE MATERIALITY RESUMEN El significado de la materia ha estado desde siempre ligado al pensamiento y el quehacer arquitectónico. Sin embargo, muchos intentos de capturar su esencia se han visto sumergidos en una tensión dialéctica entre la forma y la materialidad, entre la consistencia material y los modos inmateriales de la percepción, entre los estados estáticos y los procesos dinámicos, entre lo real y lo virtual, revelando una creciente conciencia de la desconcertante complejidad del mundo material. En esta complejidad, la noción de la operatividad o capacidad agencial– que emerge desde y dentro de los procesos ecológicos, políticos y socio-culturales– requiere de una reconceptualización de la materia y los procesos inherentes a la materialización, ofreciendo una nueva visión del contexto y el espacio, entendidos como un campo relacional dinámico. Oscilando entre el discurso arquitectónico y la práctica arquitectónica, y atravesando un extenso territorio trans-disciplinar, el objetivo de la presente tesis es ilustrar la variedad de metodologías proyectuales que emergieron desde este enfoque relacional. Concretamente, la intención es indagar en las epistemologías espaciales vinculadas a la noción de la atmósfera– generalmente asociada a la llamada Nueva Fenomenología–, reflexionando sobre su impacto en la producción arquitectónica. A continuación, el estudio ofrece una doble línea argumental. Primero, a través del análisis crítico de la noción de atmósfera, el objetivo es explorar maneras de pensar y dar forma a la realidad a través de las relaciones, reconociendo la mencionada complejidad del universo material revelado a través de fuerzas humanas y no-humanas, materiales e inmateriales. Segundo, a pesar de que el interés por las atmósferas ha florecido en las últimas décadas, la intención es demostrar que las bases conceptuales y los protocolos proyectuales de la creación de atmósferas se pueden encontrar bajo la superficie de los debates contemporáneos. Para corroborar e ilustrar estas hipótesis se propone una metodología de carácter arqueológico, trazando una particular genealogía de proyectos– la que se basa en una conciencia atmosférica. Asimismo, al definir esta conciencia atmosférica, el estudio explora tanto la naturaleza notoriamente ambigua y la dimensión dual de la atmósfera– meteorológica y estética–, como la heterogeneidad de significados derivados de ellas. En este contexto, la atmósfera se entiende como un concepto detonante, ya que sobrepasa los limites formales y materiales de los cuerpos, llevando a la re-evaluación de la experiencia perceptiva y abriendo a preguntas la ortodoxa relación espacio- cuerpo-ambiente. En consecuencia, la noción de la atmósfera ofrece a la arquitectura una dimensión expandida donde manifestarse, definiendo el espacio como una construcción contingente, performativa y afectiva, y presentando la materia como locus de producción/ actuación/ acción. Es precisamente esta dimensión expandida relacional la que constituye una base para lo que en el contexto del presente estudio se define como una tectónica afectiva. Es decir, una tectónica que representa una multiplicidad procesual y experiencial derivada de la convergencia entre el tiempo y el espacio, el cuerpo y el entorno, lo material y lo inmaterial; una tectónica en la que la materia no aparece como una substancia pasiva e inerte, ni es limitada al significado considerado tradicionalmente constructivo o a sus valores expresivos, sino que se presenta como elemento activo cargado de un potencial y vitalidad inherentes. A través de la definición de este tipo de materialismo afectivo, la intención es expandir el espectro de los atributos materiales, revelando las relaciones intrínsecas entre las propiedades físicas de los materiales y sus capacidades performativas, transformativas y afectivas, incluyendo efectos de interferencias y dinámicas hápticas– o dicho de otro modo, protocolos de transmisión e interacción. Una expresión que encapsula su esencia vendría a ser: MATERIALIDAD ACTIVA

Semirational design of active tumor suppressor p53 DNA binding domain with enhanced stability

We have designed a p53 DNA binding domain that has virtually the same binding affinity for the gadd45 promoter as does wild-type protein but is considerably more stable. The design strategy was based on molecular evolution of the protein domain. Naturally occurring amino acid substitutions were identified by comparing the sequences of p53 homologues from 23 species, introducing them into wild-type human p53, and measuring the changes in stability. The most stable substitutions were combined in a multiple mutant. The advantage of this strategy is that, by substituting with naturally occurring residues, the function is likely to be unimpaired. All point mutants bind the consensus DNA sequence. The changes in stability ranged from +1.27 (less stable Q165K) to −1.49 (more stable N239Y) kcal mol−1, respectively. The changes in free energy of unfolding on mutation are additive. Of interest, the two most stable mutants (N239Y and N268D) have been known to act as suppressors and restored the activity of two of the most common tumorigenic mutants. Of the 20 single mutants, 10 are cancer-associated, though their frequency of occurrence is extremely low: A129D, Q165K, Q167E, and D148E are less stable and M133L, V203A and N239Y are more stable whereas the rest are neutral. The quadruple mutant (M133LV203AN239YN268D), which is stabilized by 2.65 kcal mol−1 and Tm raised by 5.6°C is of potential interest for trials in vivo.

Forced expression of tropomyosin 2 or 3 in v-Ki-ras-transformed fibroblasts results in distinct phenotypic effects.

Transformation of cells in tissue culture results in a variety of cellular changes including alterations in cell growth, adhesiveness, motility, morphology, and organization of the cytoskeleton. Morphological and cytoskeletal changes are perhaps the most readily apparent features of transformed cells. Although a number of studies have documented a decrease in the expression of specific tropomyosin (TM) isoforms in transformed cells, it remains to be determined if the suppression of TM synthesis is essential in the establishment and maintenance of the transformed pheno-type. To address the roles of different TM isoforms in transformed cells we have examined the effects of expressing specific TM isoforms in transformed cells using a Kirsten virus-transformed cell line (ATCC NRK1569) as a model system. In contrast to normal fibroblasts, the NRK 1569 cells contain reduced levels of TM-1 and undetectable levels of TM-2 and TM-3. These cells have a rounded morphology and are devoid of stress fibers. Employing expression plasmids for TM-2 and TM-3, stable cell lines were established from the NRK 1569 cells that express these isoforms individually. We demonstrate that expression of TM-2 or TM-3 leads to increased cell spreading accompanied by the formation of identifiable microfilament bundles, as well as significant restoration of well-defined vinculin-containing focal adhesion plaques, although expression of each isoform exhibited distinct properties. In addition, cells expressing TM-2, but not TM-3, exhibited contact-inhibited cell growth and a requirement for serum.

Avaliação de métodos numéricos de análise linear de estabilidade para perfis de aço formados a frio.

Para o projeto de estruturas com perfis de aço formados a frio, é fundamental a compreensão dos fenômenos da instabilidade local e global, uma vez que estes apresentam alta esbeltez e baixa rigidez à torção. A determinação do carregamento crítico e a identificação do modo de instabilidade contribuem para o entendimento do comportamento dessas estruturas. Este trabalho avalia três metodologias para a análise linear de estabilidade de perfis de aço formados a frio isolados, com o objetivo de determinar os carregamentos críticos elásticos de bifurcação e os modos de instabilidade associados. Estritamente, analisa-se perfis de seção U enrijecido e Z enrijecido isolados, de diversos comprimentos e diferentes condições de vinculação e carregamento. Determinam-se os carregamentos críticos elásticos de bifurcação e os modos de instabilidade globais e locais por meio de: (i) análise com o Método das Faixas Finitas (MFF), através do uso do programa computacional CUFSM; (ii) análise com elementos finitos de barra baseados na Teoria Generalizada de Vigas (MEF-GBT), via uso do programa GBTUL; e (iii) análise com elementos finitos de casca (MEF-cascas) por meio do uso do programa ABAQUS. Algumas restrições e ressalvas com relação ao uso do MFF são apresentadas, assim como limitações da Teoria Generalizada de Viga e precauções a serem tomadas nos modelos de cascas. Analisa-se também a influência do grau de discretização da seção transversal. No entanto, não é feita avaliação em relação aos procedimentos normativos e tampouco análises não lineares, considerando as imperfeições geométricas iniciais, tensões residuais e o comportamento elastoplástico do material.

Koala: sistema para integração de métodos de predição e análise de estruturas de proteína

A Biologia Computacional tem desenvolvido algoritmos aplicados a problemas relevantes da Biologia. Um desses problemas é a Protein Structure Prediction (PSP). Vários métodos têm sido desenvolvidos na literatura para lidar com esse problema. Porém a reprodução de resultados e a comparação dos mesmos não têm sido uma tarefa fácil. Nesse sentido, o Critical Assessment of protein Structure Prediction (CASP), busca entre seus objetivos, realizar tais comparações. Além disso, os sistemas desenvolvidos para esse problema em geral não possuem interface amigável, não favorecendo o uso por não especialistas da computação. Buscando reduzir essas dificuldades, este trabalho propões o Koala, um sistema baseado em uma plataforma web, que integra vários métodos de predição e análises de estruturas de proteínas, possibilitando a execução de experimentos complexos com o uso de fluxos de trabalhos. Os métodos de predição disponíveis podem ser integrados para a realização de análises dos resultados, usando as métricas RMSD, GDT-TS ou TM-Score. Além disso, o método Sort by front dominance (baseado no critério de optimalidade de Pareto), proposto nesse trabalho, consegue avaliar predições sem uma estrutura de referência. Os resultados obtidos, usando proteínas alvo de artigos recentes e do CASP11, indicam que o Koala tem capacidade de realizar um conjunto relativamente grande de experimentos estruturados, beneficiando a determinação de melhores estruturas de proteínas, bem como o desenvolvimento de novas abordagens para predição e análise por meio de fluxos de trabalho.

La comprensión de la aproximación a un número en el acceso al significado de límite de una función en un punto

Esta investigación estudia la influencia de la comprensión de la aproximación a un número y de los modos de representación en la construcción de la concepción dinámica del límite en estudiantes de Bachillerato. El análisis de realizó usando el análisis implicativo (Gras, Suzuki, Guillet y Spagnolo, 2008). Los resultados indican que la construcción paulatina de la concepción dinámica del límite se realiza mediante procesos diferenciados de aproximación en el dominio y en el rango, y, dentro de estos últimos, aquellos en los que las aproximaciones laterales coinciden de las que no coinciden. Además, nuestros resultados indican que el modo numérico o el modo algebraico-numérico desempeñan un papel relevante en el desarrollo de la comprensión de la concepción dinámica de límite.

Missing mixed mode: elemental structures

One of the main concerns is the nature of the missing values. Let’s consider extremes for simplicity. If missing at random we have not to care about. But if missing shows structures that covariate with substantive variables we have to make decisions. There are, in fact, several options to take. We are speaking about one country, one mode. But if you go cross-cultural (or more precisely, cross-state nations) and mixed modes many questions raise. For example, the simple one. What are we comparing? Reports and books usually go straight into variables distributions and coefficient comparisons. This is possible because the annalist presume "tabula rasa" effect from data collections procedures. But this is not, frequently, the real situation. This paper will expose the mixed missing mode imprint in international surveys. This will help to evaluate how deal with this problem. Also, to consider the real meaning of observed cross-national differences.

(Table 1) Age determination of western North Atlantic sediment cores

Foraminiferal abundance, 14C ventilation ages, and stable isotope ratios in cores from high deposition rate locations in the western subtropical North Atlantic are used to infer changes in ocean and climate during the Younger Dryas (YD) and Last Glacial Maximum (LGM). The d18O of the surface dwelling planktonic foram Globigerinoides ruber records the present-day decrease in surface temperature (SST) of ~4°C from Gulf Stream waters to the northeastern Bermuda Rise. If during the LGM the modern d18O/salinity relationship was maintained, this SST contrast was reduced to 2°C. With LGM to interglacial d18O changes of at least 2.2 per mil, SSTs in the western subtropical gyre may have been as much as 5°C colder. Above ~2.3 km, glacial d13C was higher than today, consistent with nutrient-depleted (younger) bottom waters, as identified previously. Below that, d13C decreased continually to -0.5 per mil, about equal to the lowest LGM d13C in the North Pacific Ocean. Seven pairs of benthic and planktonic foraminiferal 14C dates from cores >2.5 km deep differ by 1100 ± 340 years, with a maximum apparent ventilation age of ~1500 years at 4250 m and at ~4700 m. Apparent ventilation ages are presently unavailable for the LGM < 2.5 km because of problems with reworking on the continental slope when sea level was low. Because LGM d13C is about the same in the deep North Atlantic and the deep North Pacific, and because the oldest apparent ventilation ages in the LGM North Atlantic are the same as the North Pacific today, it is possible that the same water mass, probably of southern origin, flowed deep within each basin during the LGM. Very early in the YD, dated here at 11.25 ± 0.25 (n = 10) conventional 14C kyr BP (equal to 12.9 calendar kyr BP), apparent ventilation ages <2.3 km water depth were about the same as North Atlantic Deep Water today. Below ~2.3 km, four YD pairs average 1030 ± 400 years. The oldest apparent ventilation age for the YD is 1600 years at 4250 m. This strong contrast in ventilation, which indicates a front between water masses of very different origin, is similar to glacial profiles of nutrient-like proxies. This suggests that the LGM and YD modes of ocean circulation were the same.

Construction management.

This manual supercedes TM 5-333, 8 September 1967, and TM 5-333-1, 25 November 1969.

Operator's manual : Army model OH-58A/C helicopter.

Includes index.

Operator's manual for mortar, 81-mm, M29A1, (1015-00-999-7794).

Includes index.

Operator's manual : power station, guided missile system, AN/TJQ-9 (1450-00-383-5265) : (Pershing 1a Field Artillery Missile System).

Includes index.

5-ton, 6x6, M39 series trucks (multifuel) : model, chassis, M40A2C ... NSN without winch, 2320-00-969-4114 ... NSN with winch, 2320-00-965-0321 ....

Includes index.