Influência dos parâmetros de processamento por RTM no volume de vazios em compósitos carbono/epóxi

Pós-graduação em Engenharia Mecânica - FEG

Comparação da umidade e temperatura dos gases inalados com alto ou baixo fluxo de gases frescos e com ou sem permutador de calor e umidade em anestesia pediátrica

Pós-graduação em Anestesiologia - FMB

Interferência da redução no volume de aplicação sobre o controle da mancha preta (Guignardia citricarpa Kiely) em frutos de laranja 'Valência'

The chemical control of the causal agent of citrus black spot (CBS) has been highlighted for the excessive required number of sprayings, considerably increasing citrus production costs. Improvements in the spray efficiency and reductions in the quantity of phytosanitary products have already been searched, but the results of that practice are not consistent yet for its use at commercial scale. Thus, the aim of the present study was to evaluate the interference of reduced spray volumes in black spot control in citrus fruits. The experiment was carried out in commercial citrus orchard with 16-year-old plants of 'Valencia' variety, during 2007 agricultural season. Treatments consisted of three spray volumes: 3.5; 4.5 and 8.5 liters.plant-1, applied with Arbus 2000/Export airblast sprayer with special manifold of hydraulic nozzles, using fungicides and periods recommended for the disease control, totaling four sprayings plus a control treatment (without spray). The disease incidence and severity were evaluated by visual diagrammatic scale of notes in two different periods (preharvest and harvest), at three plant heights (low, middle and top) and three horizontal sections (entrance, frontal and exit) in two sides of the plant. The fallen fruits were counted every fifteen days, for previously selected plants, from the beginning of maturation to harvest, and the production was quantified (kg.plant-1). The disease incidence and severity were significantly lower when sprayings were done with 8.5 liters.plant-1 in the first evaluation period (pre-harvest), but in the harvest period there were not differences between the same parameters when 4.5 or 8.5 liters.plant-1 were sprayed. None of those treatments reduced the disease on the top section of plants, compared to control. The plant sections with fruits more exposed to sun rays, top and right side of the plant, demonstrated higher disease incidence and severity. The volume reduction from 8.5 to 4.5 liters.plant-1 can be adopted for citrus orchards without damaging the CBS control level.

Avaliação de um pulverizador e volume ultra baixo e de adjuvantes em caldas fitossanitárias na cultura dos citros

Pós-graduação em Agronomia (Produção Vegetal) - FCAV

Herbicidas no alto rio Poxim, Sergipe e os riscos de contaminação dos recursos hídricos

A crescente atividade agrícola em áreas de mananciais tem causado preocupações quanto à contaminação por herbicidas em áreas agrícolas. O problema se torna mais importante quando a contaminação pode afetar a água para uso humano, como ocorre com a água do Rio Poxim, que abastece a cidade de Aracaju, capital do Estado de Sergipe. O objetivo do estudo foi avaliar o risco de contaminação de águas superficiais e subterrâneas por herbicidas no alto da Sub-bacia do Rio Poxim e detectar a presença dos princípios ativos Diuron e Ametrina, à montante das plantações de cana-de-açúcar. A análise de risco foi realizada mediante critérios da Environmental Protection Agency (EPA), índice de GUS e método de GOSS. Observou-se que vários princípios ativos sofrem risco de lixiviação, demonstrando a importância do monitoramento do rio para controle tanto da qualidade da água como da frequência e volume de herbicidas aplicado na região. A partir do resultado, foi realizado um monitoramento bimensal de julho de 2009 a julho de 2010, em dois pontos de amostragem. As amostras de água foram analisadas em laboratório, onde se, constatou a presença de Diuron e Ametrina. A qualidade da água na Sub-bacia do Rio Poxim está sendo influenciada pelo uso de herbicidas na região. Ocorreu um aumento nas concentrações dos herbicidas na água superficial, durante o período chuvoso, provocado possivelmente pelo escoamento superficial.

Sviluppo di un sistema di misura ottico per la valutazione accurata del volume ematico durante il trattamento emodialitico.

L’insufficienza renale cronica è una malattia di grande impatto sulla sanità pubblica. Il punto di approdo per la maggior parte dei pazienti, alternativo al trapianto renale, è il trattamento dialitico che rappresenta una cura ad alto costo sia sociale che economico. Il rene artificiale è il dispositivo attraverso il quale si effettua la terapia, ed è frutto di un costante sviluppo che mira a sostituire la funzione renale in quanto sottosistema dell’organismo umano. Per questo è sempre più importante dotarlo di un adeguato set di sensori che permettano di monitorare l’efficacia del trattamento. L’emodialisi prevede la rimozione dei liquidi in eccesso accumulati nel periodo che intercorre tra due trattamenti successivi, per questo un parametro molto importante da monitorare è la variazione relativa del volume ematico (RBV, Relative Blood Volume Variation). A questo scopo gli attuali dispositivi per dialisi in commercio utilizzano tecnologie ad ultrasuoni o ottiche: è stata però recentemente evidenziata la sensibilità indesiderata di questa seconda tecnica ai cambiamenti di osmolarità del sangue sotto analisi. Lo studio presentato in questa tesi è volto a migliorare l’accuratezza con la quale effettuare la stima del RBV nel corso del trattamento dialitico, attraverso un sistema di misura ottico sperimentale. Il prototipo realizzato prevede di aumentare le informazioni raccolte sia aumentando la distribuzione spaziale dei sensori ottici che allargando la banda di lunghezze d’onda alla quale i dati vengono acquisiti. La stima del RBV è gestita attraverso algoritmi basati sulle combinazioni lineari, sulle reti neurali e su modelli autoregressivi.

Variación de la concentración de nitratos en un suelo franco limoso del Alto Valle de Río Negro.

La abundancia y bajo costo del recurso hídrico en el Alto Valle de Río Negro combinados con un manejo ineficiente del mismo, principalmente durante la primera parte de la primavera, época en la que los productores riegan con mayor frecuencia para luchar pasivamente contra las probables heladas tardías, permiten inferir que los nitratos presentes en el suelo, así como el aportado por los fertilizantes nitrogenados, están sujetos al lixiviado durante una gran parte del ciclo productivo. En la actualidad no existen estudios regionales que ilustren la variación estacional de la concentración de nitratos en la zona de exploración radical de frutales, por lo que se inició el presente trabajo con el propósito de: a) medir la concentración de los nitratos en el perfil del suelo cultivado con manzanos, desde el período de floración hasta el inicio de caída de hojas, con fertilización nitrogenada en dos dosis y sin fertilización a distintas profundidades de extracción; b) determinar la eficiencia del riego a manto de dicho monte. Se ensayaron dos concentraciones de nitrógeno, adicionado como nitrato de amonio en dos oportunidades: el 50% a la caída de los pétalos y el 50% restante cercano a la cosecha, correspondiendo a dosis de 100 kg ha-1 (N1), 200 kg ha-1 (N2) y un testigo sin agregado de N (N0), durante el período 2004-2005 y 2005-2006. Para determinar los niveles de N en el suelo, expresado como nitratos, se extrajeron muestras del mismo a tres profundidades 0-30; 30-60; 60-90 cm, al inicio de floración, antes del primer riego y después de cada riego. La lámina de agua empleada para el riego a manto osciló entre 1712 y 2400 mm, con un aprovechamiento a campo del 30%. La concentración de nitratos fue baja cuando no se fertilizó, manteniéndose alrededor de 22 mg kg-1 en superficie y reduciéndose a la mitad a la profundidad de 30-60 cm, durante el período de muestreo. En ambas dosis empleadas, el contenido de nitratos del suelo fue mayor llegando a 175 y 300 mg kg-1, respectivamente. Estos valores se igualan a los del testigo a los 30 días en el caso de N1 y a los 60 días para N2. Los resultados permiten inferir que la concentración de nitratos fue efímera en el perfil del suelo y mejoró la eficiencia de riego, principalmente durante la primavera con el fin de minimizar pérdidas de nitrógeno.

Comportamiento hidrológico de cuencas de media montaña españolas: efectos de los procesos de acumulación / fusión de nieve en terrenos permeables sobre la infiltración y régimen de caudales Alto Tajo

La infiltración de agua en el suelo y la recarga profunda del agua subterránea contenida en los acuíferos es un proceso lento en relación con otros fenómenos hidrológicos. La redacción de esta tesis ha pretendido contribuir al estudio de la influencia que el almacenamiento de la precipitación sólida en forma de manto de nieve y su eventual fusión puedan tener sobre dicho proceso en áreas de media montaña (1.000 – 2.000 m.) en las que con gran frecuencia se sitúan las cabeceras de los ríos peninsulares. Para ello se ha partido del análisis de las diferentes variables intervinientes durante un determinado periodo temporal y sobre un espacio geográfico concreto, por lo que su metodología es de naturaleza empírica. La extensión del periodo (2002/03 a 2010/11) ha venido condicionada por la disponibilidad de los valores de algunas de sus principales variables, como han sido el equivalente en agua de la nieve acumulada y los caudales procedentes de su fusión. Éstos se han obtenido como resultado de la aplicación del modelo ASTER, desarrollado en el programa de Evaluación de los Recursos Hídricos procedentes de la Innivación (ERHIN), calibrado – entre otros- con datos de precipitaciones, temperatura y caudales provenientes a su vez del Sistema Automático de Información Hidrológica (SAIH). Ambos programas fueron implantados por la Administración en las diferentes Confederaciones Hidrográficas y en determinados Organismos de cuenca actuales, en cuyo desarrollo participó el autor de esta tesis. En cuanto a la zona de estudio se ha procedido a su elección considerando las posibles áreas de media montaña en las que la presencia de la nieve fuera hidrológicamente significativa y estuvieran constituidas litológicamente por afloramientos permeables que no impidieran la infiltración en el terreno y la formación de acuíferos de cierta relevancia. El interés se centró discrecionalmente en la cuenca del Tajo, tanto por el carácter estratégico de la misma -como suministradora en la actualidad de excedentes a otras cuencas deficitarias- como por el valor representativo de sus condiciones climáticas y orográficas en relación con otras cuencas hidrográficas peninsulares. Para ello se partió de las cabeceras de ríos identificadas por el programa ERHIN por su interés nivológico para la implantación del modelo ASTER y de las Masas de Agua Subterráneas MASb (antes Unidades Hidrogeológicas UUHH) definidas en los planes hidrológicos. La intersección en el territorio de ambos criterios condujo, finalmente, a la zona del Alto Tajo, en la que se cumplen ambos requisitos. El tramo quedó concretado en el comprendido entre las cabeceras de los ríos Tajo y Guadiela y la cola de los embalses de Entrepeñas y Buendía respectivamente, puntos de cierre para la calibración llevada a cabo en la modelización ASTER. Gran parte de éste discurre, en su parte alta, sobre rocas carbonatadas (calizas y dolomías del Jurásico y Cretácico), relacionados con las MASb de Tajuña-Montes Universales, Molina de Aragón y Sigüenza-Maranchón. Los valores diarios de las reservas de agua en forma de nieve, evapotranspiración y caudales procedentes de la fusión se han obtenido a partir de los resultados del mencionado modelo, procediéndose al cálculo de la infiltración por balance hídrico durante el periodo de estudio considerado, teniendo en cuenta los valores de precipitación, evapotranspiración y aportaciones de caudales. Esto ha requerido el estudio previo de las condiciones hidrogeológicas de la zona seleccionada con objeto de conocer las posibles interconexiones subterráneas que pudieran alterar los saldos entre las variables intervinientes anteriormente citadas. Para ello se ha llevado a cabo la recopilación y análisis de la información hidrogeológica correspondiente a la documentación de los planes hidrológicos del Tajo (Plan Hidrológico de la cuenca del Tajo RD 1664/1998 y el actual Plan Hidrológico de la parte española de la Demarcación Hidrográfica del Tajo RD 270/2014) y de los estudios previos realizados por el organismo de cuenca y el Instituto Geológico y Minero de España (lGME) fundamentalmente. En relación con la MASb Tajuña-Montes Universales -cuya extensión supera la zona seleccionada- dichos estudios consideran su estructura geológica y distribución litológica, con intercalaciones impermeables que actúan como barreras, dividiendo a éstas en Subunidades e identificando las zonas de drenaje de sus respectivos acuíferos. También se ha considerado la documentación y estudios previos del Plan Hidrológico Nacional sobre las Unidades Hidrogeológicas compartidas entre ámbitos geográficos de diferentes planes hidrológicos. Se concluye que las divisorias hidrográficas de las cabeceras son sensiblemente coincidentes o abarcan las Subunidades Montes Universales meridionales, Priego, Cifuentes, Zaorejas, u Montes Universales septentrionales, que drenan hacia el Tajo/Guadiela (bien directamente, bien a través de afluentes como el Gallo, Ablanquejo, Cabrillas, Cuervo…), MASb Molina de Aragón, que drena al Tajo a través del río Gallo y MASb Sigüenza—Maranchón, que drena su parte correspondiente hacia el Tajo a través del Ablanquejo. Se descartan – salvo la pequeña salvedad del manantial de Cifuentes- las conexiones hidrogeológicas con otras MASb o Subunidades por lo que las cabeceras del Tajo y del Guadiela pueden considerarse como un Sistema independiente donde las precipitaciones no evaporadas escurren superficialmente o se infiltran y descargan hacia los embalses de Entrepeñas y Buendía. La cuantificación diaria y acumulada de los balances hídricos ha permitido calcular la evolución aproximada de las reservas de agua subterránea desde la fecha inicial. Originalmente los balances se realizaron de forma separada en las cabeceras del Tajo y del Guadiela, cuyos valores acumulados manifestaron una tendencia creciente en la primera y decreciente en la segunda. Dicha situación se equilibra cuando el balance se practica conjuntamente en ambas, apreciándose en la variación del volumen de agua subterránea una evolución acorde hidrológicamente con los ciclos de verano/invierno y periodos de sequía, manteniéndose sus valores medios a largo/medio plazo, poniendo en evidencia la existencia de interconexiones subterráneas entre ambas cuencas. El balance conjunto, agregando la cabecera del Tajuña (que también comparte los materiales permeables de la MASb Tajuña-Montes Universales) no reveló la existencia de nuevas interrelaciones hidrogeológicas que influyeran en los balances hídricos realizados Tajo/Guadiela, confirmando las conclusiones de los estudios hidrogeológicos anteriormente analizados. Se ha procedido a confrontar y validar los resultados obtenidos de la evolución de las reservas de agua subterránea mediante los siguientes procedimientos alternativos: - Cálculo de los parámetros de desagüe de la curva de agotamiento correspondiente al volumen de agua subterránea drenante hacia el Tajo/Guadiela. Éste se ha realizado a partir de las aportaciones mensuales entrantes en los embalses de Entrepeñas y Buendía durante los meses de junio, julio, agosto y septiembre, cuyos valores responden al perfil típico de descargas de un acuífero. A partir de éstos se ha determinado el volumen drenante correspondiente al primero de junio de cada año de la serie histórica considerada. - Determinación del caudal base por el método Wallingford y deducción de los volúmenes drenantes. Estimación de las recarga anuales - Cuantificación de la recarga anual por el método Sanz, Menéndez Pidal de Navascués y Távara. Se obtuvieron valores de recarga muy aproximados entre los calculados por los dos últimos procedimientos citados. Respecto a las reservas de agua subterránea almacenadas siguen una evolución semejante en todos los casos, lo que ha permitido considerar válidos los resultados conseguidos mediante balance hídrico. Confirmada su solidez, se han buscado correlaciones simples entre el volumen de las reservas subterráneas (como indicador estimativo del efecto de la infiltración) y los volúmenes procedentes de la fusión. La conclusión es que estos últimos no tienen un efecto determinante a escala anual sobre la infiltración,recarga y variación de los volúmenes de agua subterránea, frente al peso de otras variables (precipitación y evapotranspiración). No obstante se ha encontrado una buena correlación múltiple entre la recarga estimada y la precipitación eficaz (precipitación menos evapotranspiración) y fusión, que ha permitido cuantificar la contribución de esta última. Posteriormente se ha recurrido a la selección de los episodios más intensos de acumulación /fusión en las cabeceras del Tajo y Guadiela. Y se procedió a la comparación entre los resultados obtenidos por aplicación del modelo de simulación en los mismos periodos (normalmente de varios días de duración) con datos reales y con datos ficticios de temperatura que anularan o disminuyeran la presencia de nieve, apreciándose una gran sensibilidad del efecto de la temperatura sobre la evapotranspiración y estableciéndose nuevamente correlaciones lineales entre los volúmenes de fusión y el incremento de reservas subterráneas. Las mismas confirman el efecto “favorecedor” de la acumulación de agua en forma de nieve y su posterior licuación, sobre sobre la infiltración de agua en el suelo y almacenamiento subterráneo. Finalmente se establecieron varios escenarios climáticos (+1ºC; +3ºC; +1ºC y – 10% precipitación; y 3ºC – 10% precipitación) compatibles con las previsiones del IPCC para mediados y finales del presente siglo, determinándose mediante simulación ASTER los correspondientes valores de fusión. La correlación establecida a escala anual ha permitido evaluar el efecto de la disminución del volumen de fusión - en los diferentes escenarios – sobre la recarga, pronosticando un descenso de los caudales de estiaje y la desaparición del “efecto nieve” sobre la infiltración y recarga con un aumento de 3ºC de temperatura. Teniendo en cuenta las condiciones de representatividad de la zona elegida, resulta verosímil la extensión de las anteriores conclusiones a otras cabeceras fluviales enclavadas en áreas de media montaña situadas entre 1000 a 2000m y sus efectos aguas abajo.Water infiltration into the soil and groundwater recharge deep water in aquifers is slow relative to other hydrological phenomena. The wording of this thesis aims to contribute to the study of the influence that the storage of solid precipitation as snow cover and its eventual melting may have on this process in mid-mountain areas (1000 - 2,000 m) where very often the headwaters of the peninsular rivers are located. For this party analysis of the different variables involved has over a given time period and a particular geographical area, so that their methodology is empirical in nature. The extension of the period (2002/03 to 2010/11) has been conditioned by the availability of the values of some of its key variables, as were the water equivalent of the snow and flows from melting. These have been obtained as a result of the application of ASTER model, developed in the program Evaluation of Water Resources from the Innivation (ERHIN), calibrated - among others data of rainfall, temperature and flow from turn System Automatic Hydrological Information (SAIH). Both programs were implemented by the Administration in the different Water Boards and to undertakings for current basin, in which the author participated development of this thesis. As for the study area has proceeded at its option considering the possible areas of midmountain in the presence of snow outside hydrological meaningful and they were lithology consisting of permeable outcrops that did not prevent infiltration into the ground and forming aquifers of some significance. We were interested discretion in the Tagus basin, therefore the strategic nature of it, as currently supplying surplus to other basins deficit- as the representative value of its climate and terrain conditions in relation to other peninsular river basins . To do this we started from the headwaters identified by the ERHIN program for its implementation snow interest to the ASTER model and Ground Water Bodies MASb (before UUHH Hydrogeological Units) defined in hydrological plans. The intersection in the territory of both criteria led eventually to the Alto Tajo, in which both requirements are met. The section was finalized in the period between the headwaters of the Tagus and Guadiela rivers and reservoirs end Entrepeñas and Buendia respectively checking points for calibration performed in ASTER modeling. Much of it runs on carbonate rocks (limestones and dolomites of Jurassic and Cretaceous) related MASb of Tajuña -Montes Universal, Molina de Aragón and Sigüenza-Maranchón. The daily values of water reserves in the form of snow, evapotranspiration and flow from melting were obtained from the results of this model, proceeding to the calculation of infiltration water balance during the study period considered, taking into account values of precipitation, evapotranspiration and input flow. This has required the prior examination of the hydrogeological conditions of your required in order to know the possible underground interconnections that could alter the balance between the intervening variables aforementioned area. For this we have carried out the collection and analysis of hydrogeological information relevant documentation Tagus river management plans (Hydrological Plan Tajo Basin RD 1664/1998 and the current Hydrological Plan of the Spanish part of the River Basin Tagus RD 270/2014) and previous studies by the basin organization and the Geological Survey of Spain (IGME) mainly. Regarding the MASb Tajuña- Montes Universal - whose length exceeds the area selected - these studies consider its geological structure and lithology distribution with waterproof collations that act as barriers, dividing it into subunits and identifying areas draining their respective aquifers. It has also considered the documentation and previous studies of the National Hydrological Plan on shared among different geographical areas management plans Hydrogeological Units. We conclude that river dividing the headers are substantially coincident or covering Subunits southern Universal Montes, Priego Cifuentes, Zaorejas and northern Universal Mounts, which drain into the Tagus / Guadiela (either directly or through tributaries such as Gallo, Ablanquejo , whitecaps , Raven ...), MASb Molina de Aragón which drains through the Tajo del Gallo and MASb Sigüenza- Maranchón river that drains into the Tagus using the Ablanquejo . Discarded - except the small exception of spring Cifuentes -hydrogeological connections with other MASb or Subunits so the headwaters of the Tagus and Guadiela be considered as a separate system, where rainfall not evaporated runs on surface or infiltrates and eventually discharged into reservoirs Entrepeñas and Buendia. The daily and cumulative quantification of water balances allowed us to compute the approximate evolution of groundwater reserves from its initial date. Initially balances were performed separately in the headwaters of the Tagus and Guadiela, whose cumulative values showed an increasing trend in the first and decreasing in the second. This situation is balanced when the balance is practiced together in both , appreciating the change in volume of groundwater hydrological evolution commensurate with the cycles of summer / winter and drought periods , keeping their average long / medium term values and putting in shows the existence of underground interconnections between the two basins. The overall balance, adding header Tajuña (which also shares the permeable materials MASb Tajuña -Montes Universal ) did not reveal the existence of new hydrogeological interrelationships that influenced water balances made Tajo / Guadiela, confirming the findings of the hydrogeological studies previously analyzed. We proceeded to confront and validate the results of the evolution of groundwater reserves by the following alternative procedures: - Calculate the parameters drain depletion curve corresponding to the volume of groundwater draining into the Tajo / Guadiela. This has been made from monthly inflows in the reservoirs of Entrepeñas and Buendia during the months of June, July, August and September, whose values match the typical profile of an aquifer discharges. From these has been determined for the first of June each year of the time series considered drainage volume - Determination of base flow by Wallingford method and deduction of drainage volumes. Estimate of annual recharge - Quantification of the annual recharge by the method Sanz Menéndez Pidal of Navascués and Távara. Very approximate values recharge between calculated for the last two mentioned methods were obtained. Concerning groundwater reserves stored follow a similar pattern in all cases, allowing consider valid the results achieved through water balance. Confirmed its robustness, simple correlations were sought between the volume of groundwater reserves (as estimated indicator of the effect of infiltration) and volumes from the melting. The conclusion is that the latter do not have a decisive effect on the annual scale infiltration, recharge and variation in volumes of groundwater, against the weight of other variables (precipitation and evapotranspiration). However found a good multiple correlation between the estimated recharge and effective precipitation (precipitation minus evapotranspiration) and fusion, which allowed quantify the contribution of the latter. Subsequently it has resorted to the selection of the most intense episodes of accumulation / melting in the headwaters of the Tagus and Guadiela. And we proceeded to the comparison between the results obtained by application of the simulation model in the same periods (usually several days) with real data and fictitious temperature data to annul or decrease the presence of snow, appreciating a great sensitivity of the effect of temperature on evapotranspiration and establishing linear correlations between the volumes of melting and increased groundwater reserves again. They confirm the “flattering " effect of water accumulation as snow and subsequent liquefaction of the infiltration of water into the soil and underground storage. Finally various climate scenarios (+1ºC; +3ºC; +1ºC y – 10% precipitation; y 3ºC – 10% precipitation) were established consistent with IPCC projections for mid - to late - century, determined through simulation ASTER corresponding values of melting. The correlation established on an annual scale has allowed to evaluate the effect of decreasing the volume of melt - in different scenarios - on recharge, predicting a decline in low flows and the disappearance of "snow effect" on infiltration and recharge with an increase of 3°C temperature. Given the conditions of representativeness of the chosen area, plausible extension of the above findings to other landlocked headwaters in mid-mountain areas located between 1000 to 2000m and its downstream effects.

Desarrollo de tecnologías de telemanipulación con alto grado de escalado orientadas a la interacción hombre-robot en entornos nucleares

Esta tesis se centra en desarrollo de tecnologías para la interacción hombre-robot en entornos nucleares de fusión. La problemática principal del sector de fusión nuclear radica en las condiciones ambientales tan extremas que hay en el interior del reactor, y la necesidad de que los equipos cumplan requisitos muy restrictivos para poder aguantar esos niveles de radiación, magnetismo, ultravacío, temperatura... Como no es viable la ejecución de tareas directamente por parte de humanos, habrá que utilizar dispositivos de manipulación remota para llevar a cabo los procesos de operación y mantenimiento. En las instalaciones de ITER es obligatorio tener un entorno controlado de extrema seguridad, que necesita de estándares validados. La definición y uso de protocolos es indispensable para regir su buen funcionamiento. Si nos centramos en la telemanipulación con algo grado de escalado, surge la necesidad de definir protocolos para sistemas abiertos que permitan la interacción entre equipos y dispositivos de diversa índole. En este contexto se plantea la definición del Protocolo de Teleoperación que permita la interconexión entre dispositivos maestros y esclavos de distinta tipología, pudiéndose comunicar bilateralmente entre sí y utilizar distintos algoritmos de control según la tarea a desempeñar. Este protocolo y su interconectividad se han puesto a prueba en la Plataforma Abierta de Teleoperación (P.A.T.) que se ha desarrollado e integrado en la ETSII UPM como una herramienta que permita probar, validar y realizar experimentos de telerrobótica. Actualmente, este Protocolo de Teleoperación se ha propuesto a través de AENOR al grupo ISO de Telerobotics como una solución válida al problema existente y se encuentra bajo revisión. Con el diseño de dicho protocolo se ha conseguido enlazar maestro y esclavo, sin embargo con los niveles de radiación tan altos que hay en ITER la electrónica del controlador no puede entrar dentro del tokamak. Por ello se propone que a través de una mínima electrónica convenientemente protegida se puedan multiplexar las señales de control que van a través del cableado umbilical desde el controlador hasta la base del robot. En este ejercicio teórico se demuestra la utilidad y viabilidad de utilizar este tipo de solución para reducir el volumen y peso del cableado umbilical en cifras aproximadas de un 90%, para ello hay que desarrollar una electrónica específica y con certificación RadHard para soportar los enormes niveles de radiación de ITER. Para este manipulador de tipo genérico y con ayuda de la Plataforma Abierta de Teleoperación, se ha desarrollado un algoritmo que mediante un sensor de fuerza/par y una IMU colocados en la muñeca del robot, y convenientemente protegidos ante la radiación, permiten calcular las fuerzas e inercias que produce la carga, esto es necesario para poder transmitirle al operador unas fuerzas escaladas, y que pueda sentir la carga que manipula, y no otras fuerzas que puedan influir en el esclavo remoto, como ocurre con otras técnicas de estimación de fuerzas. Como el blindaje de los sensores no debe ser grande ni pesado, habrá que destinar este tipo de tecnología a las tareas de mantenimiento de las paradas programadas de ITER, que es cuando los niveles de radiación están en sus valores mínimos. Por otro lado para que el operador sienta lo más fielmente posible la fuerza de carga se ha desarrollado una electrónica que mediante el control en corriente de los motores permita realizar un control en fuerza a partir de la caracterización de los motores del maestro. Además para aumentar la percepción del operador se han realizado unos experimentos que demuestran que al aplicar estímulos multimodales (visuales, auditivos y hápticos) aumenta su inmersión y el rendimiento en la consecución de la tarea puesto que influyen directamente en su capacidad de respuesta. Finalmente, y en referencia a la realimentación visual del operador, en ITER se trabaja con cámaras situadas en localizaciones estratégicas, si bien el humano cuando manipula objetos hace uso de su visión binocular cambiando constantemente el punto de vista adecuándose a las necesidades visuales de cada momento durante el desarrollo de la tarea. Por ello, se ha realizado una reconstrucción tridimensional del espacio de la tarea a partir de una cámara-sensor RGB-D, lo cual nos permite obtener un punto de vista binocular virtual móvil a partir de una cámara situada en un punto fijo que se puede proyectar en un dispositivo de visualización 3D para que el operador pueda variar el punto de vista estereoscópico según sus preferencias. La correcta integración de estas tecnologías para la interacción hombre-robot en la P.A.T. ha permitido validar mediante pruebas y experimentos para verificar su utilidad en la aplicación práctica de la telemanipulación con alto grado de escalado en entornos nucleares de fusión. Abstract This thesis focuses on developing technologies for human-robot interaction in nuclear fusion environments. The main problem of nuclear fusion sector resides in such extreme environmental conditions existing in the hot-cell, leading to very restrictive requirements for equipment in order to deal with these high levels of radiation, magnetism, ultravacuum, temperature... Since it is not feasible to carry out tasks directly by humans, we must use remote handling devices for accomplishing operation and maintenance processes. In ITER facilities it is mandatory to have a controlled environment of extreme safety and security with validated standards. The definition and use of protocols is essential to govern its operation. Focusing on Remote Handling with some degree of escalation, protocols must be defined for open systems to allow interaction among different kind of equipment and several multifunctional devices. In this context, a Teleoperation Protocol definition enables interconnection between master and slave devices from different typologies, being able to communicate bilaterally one each other and using different control algorithms depending on the task to perform. This protocol and its interconnectivity have been tested in the Teleoperation Open Platform (T.O.P.) that has been developed and integrated in the ETSII UPM as a tool to test, validate and conduct experiments in Telerobotics. Currently, this protocol has been proposed for Teleoperation through AENOR to the ISO Telerobotics group as a valid solution to the existing problem, and it is under review. Master and slave connection has been achieved with this protocol design, however with such high radiation levels in ITER, the controller electronics cannot enter inside the tokamak. Therefore it is proposed a multiplexed electronic board, that through suitable and RadHard protection processes, to transmit control signals through an umbilical cable from the controller to the robot base. In this theoretical exercise the utility and feasibility of using this type of solution reduce the volume and weight of the umbilical wiring approximate 90% less, although it is necessary to develop specific electronic hardware and validate in RadHard qualifications in order to handle huge levels of ITER radiation. Using generic manipulators does not allow to implement regular sensors for force feedback in ITER conditions. In this line of research, an algorithm to calculate the forces and inertia produced by the load has been developed using a force/torque sensor and IMU, both conveniently protected against radiation and placed on the robot wrist. Scaled forces should be transmitted to the operator, feeling load forces but not other undesirable forces in slave system as those resulting from other force estimation techniques. Since shielding of the sensors should not be large and heavy, it will be necessary to allocate this type of technology for programmed maintenance periods of ITER, when radiation levels are at their lowest levels. Moreover, the operator perception needs to feel load forces as accurate as possible, so some current control electronics were developed to perform a force control of master joint motors going through a correct motor characterization. In addition to increase the perception of the operator, some experiments were conducted to demonstrate applying multimodal stimuli (visual, auditory and haptic) increases immersion and performance in achieving the task since it is directly correlated with response time. Finally, referring to the visual feedback to the operator in ITER, it is usual to work with 2D cameras in strategic locations, while humans use binocular vision in direct object manipulation, constantly changing the point of view adapting it to the visual needs for performing manipulation during task procedures. In this line a three-dimensional reconstruction of non-structured scenarios has been developed using RGB-D sensor instead of cameras in the remote environment. Thus a mobile virtual binocular point of view could be generated from a camera at a fixed point, projecting stereoscopic images in 3D display device according to operator preferences. The successful integration of these technologies for human-robot interaction in the T.O.P., and validating them through tests and experiments, verify its usefulness in practical application of high scaling remote handling at nuclear fusion environments.

Space density distribution of galaxies in the absolute magnitude - rotation velocity plane: a volume-complete Tully-Fisher relation from CALIFA stellar kinematics

We measured the distribution in absolute magnitude - circular velocity space for a well-defined sample of 199 rotating galaxies of the Calar Alto Legacy Integral Field Area Survey (CALIFA) using their stellar kinematics. Our aim in this analysis is to avoid subjective selection criteria and to take volume and large-scale structure factors into account. Using stellar velocity fields instead of gas emission line kinematics allows including rapidly rotating early-type galaxies. Our initial sample contains 277 galaxies with available stellar velocity fields and growth curve r-band photometry. After rejecting 51 velocity fields that could not be modelled because of the low number of bins, foreground contamination, or significant interaction, we performed Markov chain Monte Carlo modelling of the velocity fields, from which we obtained the rotation curve and kinematic parameters and their realistic uncertainties. We performed an extinction correction and calculated the circular velocity v_circ accounting for the pressure support of a given galaxy. The resulting galaxy distribution on the M-r - v(circ) plane was then modelled as a mixture of two distinct populations, allowing robust and reproducible rejection of outliers, a significant fraction of which are slow rotators. The selection effects are understood well enough that we were able to correct for the incompleteness of the sample. The 199 galaxies were weighted by volume and large-scale structure factors, which enabled us to fit a volume-corrected Tully-Fisher relation (TFR). More importantly, we also provide the volume-corrected distribution of galaxies in the M_r - v_circ plane, which can be compared with cosmological simulations. The joint distribution of the luminosity and circular velocity space densities, representative over the range of -20 > M_r > -22 mag, can place more stringent constraints on the galaxy formation and evolution scenarios than linear TFR fit parameters or the luminosity function alone.

Construction Of A Manual Of Work Processes And Techniques From Centro De Dispensação De Medicamentos De Alto Custo (cedmac), Hospital De Clínicas, Unicamp.

The Centers for High Cost Medication (Centros de Medicação de Alto Custo, CEDMAC), Health Department, São Paulo were instituted by project in partnership with the Clinical Hospital of the Faculty of Medicine, USP, sponsored by the Foundation for Research Support of the State of São Paulo (Fundação de Amparo à Pesquisa do Estado de São Paulo, FAPESP) aimed at the formation of a statewide network for comprehensive care of patients referred for use of immunobiological agents in rheumatological diseases. The CEDMAC of Hospital de Clínicas, Universidade Estadual de Campinas (HC-Unicamp), implemented by the Division of Rheumatology, Faculty of Medical Sciences, identified the need for standardization of the multidisciplinary team conducts, in face of the specificity of care conducts, verifying the importance of describing, in manual format, their operational and technical processes. The aim of this study is to present the methodology applied to the elaboration of the CEDMAC/HC-Unicamp Manual as an institutional tool, with the aim of offering the best assistance and administrative quality. In the methodology for preparing the manuals at HC-Unicamp since 2008, the premise was to obtain a document that is participatory, multidisciplinary, focused on work processes integrated with institutional rules, with objective and didactic descriptions, in a standardized format and with electronic dissemination. The CEDMAC/HC-Unicamp Manual was elaborated in 10 months, with involvement of the entire multidisciplinary team, with 19 chapters on work processes and techniques, in addition to those concerning the organizational structure and its annexes. Published in the electronic portal of HC Manuals in July 2012 as an e-Book (ISBN 978-85-63274-17-5), the manual has been a valuable instrument in guiding professionals in healthcare, teaching and research activities.

Myocardial Extracellular Volume Expansion And The Risk Of Recurrent Atrial Fibrillation After Pulmonary Vein Isolation.

This study tested whether myocardial extracellular volume (ECV) is increased in patients with hypertension and atrial fibrillation (AF) undergoing pulmonary vein isolation and whether there is an association between ECV and post-procedural recurrence of AF. Hypertension is associated with myocardial fibrosis, an increase in ECV, and AF. Data linking these findings are limited. T1 measurements pre-contrast and post-contrast in a cardiac magnetic resonance (CMR) study provide a method for quantification of ECV. Consecutive patients with hypertension and recurrent AF referred for pulmonary vein isolation underwent a contrast CMR study with measurement of ECV and were followed up prospectively for a median of 18 months. The endpoint of interest was late recurrence of AF. Patients had elevated left ventricular (LV) volumes, LV mass, left atrial volumes, and increased ECV (patients with AF, 0.34 ± 0.03; healthy control patients, 0.29 ± 0.03; p < 0.001). There were positive associations between ECV and left atrial volume (r = 0.46, p < 0.01) and LV mass and a negative association between ECV and diastolic function (early mitral annular relaxation [E'], r = -0.55, p < 0.001). In the best overall multivariable model, ECV was the strongest predictor of the primary outcome of recurrent AF (hazard ratio: 1.29; 95% confidence interval: 1.15 to 1.44; p < 0.0001) and the secondary composite outcome of recurrent AF, heart failure admission, and death (hazard ratio: 1.35; 95% confidence interval: 1.21 to 1.51; p < 0.0001). Each 10% increase in ECV was associated with a 29% increased risk of recurrent AF. In patients with AF and hypertension, expansion of ECV is associated with diastolic function and left atrial remodeling and is a strong independent predictor of recurrent AF post-pulmonary vein isolation.

Reference Values For High-density Lipoprotein Particle Size And Volume By Dynamic Light Scattering In A Brazilian Population Sample And Their Relationships With Metabolic Parameters.

Current data indicate that the size of high-density lipoprotein (HDL) may be considered an important marker for cardiovascular disease risk. We established reference values of mean HDL size and volume in an asymptomatic representative Brazilian population sample (n=590) and their associations with metabolic parameters by gender. Size and volume were determined in HDL isolated from plasma by polyethyleneglycol precipitation of apoB-containing lipoproteins and measured using the dynamic light scattering (DLS) technique. Although the gender and age distributions agreed with other studies, the mean HDL size reference value was slightly lower than in some other populations. Both HDL size and volume were influenced by gender and varied according to age. HDL size was associated with age and HDL-C (total population); non- white ethnicity and CETP inversely (females); HDL-C and PLTP mass (males). On the other hand, HDL volume was determined only by HDL-C (total population and in both genders) and by PLTP mass (males). The reference values for mean HDL size and volume using the DLS technique were established in an asymptomatic and representative Brazilian population sample, as well as their related metabolic factors. HDL-C was a major determinant of HDL size and volume, which were differently modulated in females and in males.

Lateral Pterygoid Muscle Volume And Migraine In Patients With Temporomandibular Disorders.

Lateral pterygoid muscle (LPM) plays an important role in jaw movement and has been implicated in Temporomandibular disorders (TMDs). Migraine has been described as a common symptom in patients with TMDs and may be related to muscle hyperactivity. This study aimed to compare LPM volume in individuals with and without migraine, using segmentation of the LPM in magnetic resonance (MR) imaging of the TMJ. Twenty patients with migraine and 20 volunteers without migraine underwent a clinical examination of the TMJ, according to the Research Diagnostic Criteria for TMDs. MR imaging was performed and the LPM was segmented using the ITK-SNAP 1.4.1 software, which calculates the volume of each segmented structure in voxels per cubic millimeter. The chi-squared test and the Fisher's exact test were used to relate the TMD variables obtained from the MR images and clinical examinations to the presence of migraine. Logistic binary regression was used to determine the importance of each factor for predicting the presence of a migraine headache. Patients with TMDs and migraine tended to have hypertrophy of the LPM (58.7%). In addition, abnormal mandibular movements (61.2%) and disc displacement (70.0%) were found to be the most common signs in patients with TMDs and migraine. In patients with TMDs and simultaneous migraine, the LPM tends to be hypertrophic. LPM segmentation on MR imaging may be an alternative method to study this muscle in such patients because the hypertrophic LPM is not always palpable.

Correlation Between The Friedman Staging System And The Upper Airway Volume In Patients With Obstructive Sleep Apnea.

This study was designed to evaluate the correlation between computed tomography findings and data from the physical examination and the Friedman Staging System (FSS) in patients with obstructive sleep apnea (OSA). We performed a retrospective evaluation by reviewing the medical records of 33 patients (19 male and 14 female patients) with a mean body mass index of 30.38 kg/m(2) and mean age of 49.35 years. Among these patients, 14 presented with severe OSA, 7 had moderate OSA, 7 had mild OSA, and 5 were healthy. The patients were divided into 2 groups according to the FSS: Group A comprised patients with FSS stage I or II, and group B comprised patients with FSS stage III. By use of the Fisher exact test, a positive relationship between the FSS stage and apnea-hypopnea index (P = .011) and between the FSS stage and body mass index (P = .012) was found. There was no correlation between age (P = .55) and gender (P = .53) with the FSS stage. The analysis of variance test comparing the upper airway volume between the 2 groups showed P = .018. In this sample the FSS and upper airway volume showed an inverse correlation and were useful in analyzing the mechanisms of airway collapse in patients with OSA.