Aprender a saltar. Un estudio de caso

[Es]El objetivo de esta investigación es evaluar la actividad de saltar de una criatura entre los dos y los cuatro años en el contexto de la Práctica Psicomotriz Aucouturier. La perspectiva teórica adoptada ha sido la teoría psicogenética y dialéctica de Henri Wallon (1879-1962). Según ésta, saltar es un automatismo natural regulado por el aparato funcional del equilibrio que se aprende en la primera infancia. La metodología utilizada ha sido la observacional. El diseño es idiográfico, de seguimiento y multidimensional, y el instrumento de observación es el formato de campo «el salto en psicomotricidad durante el tercer año de vida». De los resultados, obtenidos mediante la aplicación prospectiva del análisis secuencial de retardos, nos detenemos en los de una participante cuyo salto es especialmente errático y puntualmente intenso. Progresa de semivertical a vertical y de heterónomo a autónomo, pero a su propia «altura de seguridad».

Magnetic alignment of high-aspect ratio microwires into vertical arrays

Fundamental studies of magnetic alignment of highly anisotropic mesostructures can enable the clean-room-free fabrication of flexible, array-based solar and electronic devices, in which preferential orientation of nano- or microwire-type objects is desired. In this study, ensembles of 100 micron long Si microwires with ferromagnetic Ni and Co coatings are oriented vertically in the presence of magnetic fields. The degree of vertical alignment and threshold field strength depend on geometric factors, such as microwire length and ferromagnetic coating thickness, as well as interfacial interactions, which are modulated by varying solvent and substrate surface chemistry. Microwire ensembles with vertical alignment over 97% within 10 degrees of normal, as measured by X-ray diffraction, are achieved over square cm scale areas and set into flexible polymer films. A force balance model has been developed as a predictive tool for magnetic alignment, incorporating magnetic torque and empirically derived surface adhesion parameters. As supported by these calculations, microwires are shown to detach from the surface and align vertically in the presence of magnetic fields on the order of 100 gauss. Microwires aligned in this manner are set into a polydimethylsiloxane film where they retain their vertical alignment after the field has been removed and can subsequently be used as a flexible solar absorber layer. Finally, these microwires arrays can be protected for use in electrochemical cells by the conformal deposition of a graphene layer.

A retrofitting framework for pre-Northridge steel moment-frame buildings

In the 1994 M_w 6.7 Northridge and 1995 M_w 6.9 Kobe earthquakes, steel moment-frame buildings were exposed to an unexpected flaw. The commonly utilized welded unreinforced flange, bolted web connections were observed to experience brittle fractures in a number of buildings, even at low levels of seismic demand. A majority of these buildings have not been retrofitted and may be susceptible to structural collapse in a major earthquake.

This dissertation presents a case study of retrofitting a 20-story pre-Northridge steel moment-frame building. Twelve retrofit schemes are developed that present some range in degree of intervention. Three retrofitting techniques are considered: upgrading the brittle beam-to-column moment resisting connections, and implementing either conventional or buckling-restrained brace elements within the existing moment-frame bays. The retrofit schemes include some that are designed to the basic safety objective of ASCE-41 Seismic Rehabilitation of Existing Buildings.

Detailed finite element models of the base line building and the retrofit schemes are constructed. The models include considerations of brittle beam-to-column moment resisting connection fractures, column splice fractures, column baseplate fractures, accidental contributions from ``simple'' non-moment resisting beam-to-column connections to the lateral force-resisting system, and composite actions of beams with the overlying floor system. In addition, foundation interaction is included through nonlinear translational springs underneath basement columns.

To investigate the effectiveness of the retrofit schemes, the building models are analyzed under ground motions from three large magnitude simulated earthquakes that cause intense shaking in the greater Los Angeles metropolitan area, and under recorded ground motions from actual earthquakes. It is found that retrofit schemes that convert the existing moment-frames into braced-frames by implementing either conventional or buckling-restrained braces are effective in limiting structural damage and mitigating structural collapse. In the three simulated earthquakes, a 20% chance of simulated collapse is realized at PGV of around 0.6 m/s for the base line model, but at PGV of around 1.8 m/s for some of the retrofit schemes. However, conventional braces are observed to deteriorate rapidly. Hence, if a braced-frame that employs conventional braces survives a large earthquake, it is questionable how much service the braces provide in potential aftershocks.

Coupling between elytra of some beetles: Mechanism, forces and effect of surface texture

Lightweight materials, structures and coupling mechanisms are very important for realizing advanced flight vehicles. Here, we obtained the geometric structures and morphologies of the elytra of beetles and ascertained its coupling zone by using the histological section technique and SEM. We set up a three-dimensional motion observing system to monitor the opening and closing behaviour of elytra in beetles and to determine the motion mechanism. We constructed a force measuring system to measure the coupling forces between elytra. The results show that elytra open and close by rotating about a single axle, where the coupling forces may be as high as 160 times its own bodyweight, the elytra coupling with the tenon and mortise mechanism, surface texture and opening angle between elytra heavily influence the coupling forces. These results may provide insights into the design mechanism and structure for future vehicles of flight.

Effects of annealing time and Si cap layer thickness on the Si/SiGe/Si heterostructures thermal stability

The effects of annealing time and Si cap layer thickness: on the thermal stability of the Si/SiGe/Si heterostructures deposited by disilane and solid-Ge molecule beam epitaxy were investigated. It is found that in the same strain state of the SiGe layers the annealing time decreases with increasing Si cap layer thickness. This effect is analyzed by a force-balance theory and an equation has been obtained to characterize the relation between the annealing time and the Si cap layer thickness. (C) 2001 Elsevier Science B.V. All rights reserved.

Effect of Silicon-on-Insulator Substrate on Residual Strain in 3C-SiC Films

One group of SiC films are grown on silicon-on-insulator （SOI） substrates with a series of silicon-overlayer thickness. Raman scattering spectroscopy measurement clearly indicates that a systematic trend of residual stress reduction as the silicon over-layer thickness decreases for the SOI substrates. Strain relaxation in the SiC epilayer is explained by force balance approach and near coincidence lattice model.

Effects of annealing time and Si cap layer thickness on the Si/SiGe/Si heterostructures thermal stability

The effects of annealing time and Si cap layer thickness: on the thermal stability of the Si/SiGe/Si heterostructures deposited by disilane and solid-Ge molecule beam epitaxy were investigated. It is found that in the same strain state of the SiGe layers the annealing time decreases with increasing Si cap layer thickness. This effect is analyzed by a force-balance theory and an equation has been obtained to characterize the relation between the annealing time and the Si cap layer thickness. (C) 2001 Elsevier Science B.V. All rights reserved.

基于小波变换的机器人腕力传感器滤波算法

在对机器人腕力传感器信号特点分析基础上,提出了应用小波变换对腕力传感器信号进行滤波的方法,讨论了小波滤波算法,研究了机器人腕力传感器信号滤波方案,并针对抛光机器人作业实验数据进行滤波。仿真实验表明方法有效。

基于Internet的力反馈技术研究

论述了基于Internet的力反馈技术及其相关技术的发展和研究意义 ,综合机器人遥操作控制领域的理论方法 ,结合多媒体技术的最新发展 ,构建了一种基于事件的系统结构及其设计方法 .基于该方法 ,分析了系统的可靠性、稳定性及力媒体传输的透明性 ,并设计了一个基于Internet的力反馈技术的系统实例

基于实时障碍物预测的机器人运动规划

本文给出了移动机器人的虚力导航和运动规划系统．这种方法结合最小方差估计算法（ＬＭ ＳＥ）能有效地对机器人进行实时导航和避撞．在预测过程中，根据导航的不同阶段和预测误差的变化情况，采用Ｆｕｚｚｙ 规则动态地调整误差函数中的权重，使预测过程尽可能准确．导航算法的基本思想是首先通过预测算法来获得移动机器人的运动信息，然后虚力系统根据预测信息决定机器人的未来运动，仿真结果表明该方法实时性好，能准确躲避障碍物并且到达目标点

空间对接缓冲试验台对接环重力平衡技术

在空间对接机构地面缓冲实验平台上,为了模拟空间失重状态,研制了一种高精度、高响应速度的主动对接环重力平衡装置。介绍了对接环重力平衡装置的机构原理。对对接过程随动装置的随动性对系统的干扰进行了详细分析。进行了重力平衡器相关实验,从实验数据和理论分析可以得出:所设计的重力平衡装置完全满足对摩擦阻力和惯性阻力设计指标的要求,重力平衡达到1.1%的精度。

油气输导体系研究及应用─以准噶尔盆地东部白家海凸起侏罗系为例

Baijiahai uplift is an important hydrocarbon accumulation belt in eastern Jungger Basin, on which Cainan oilfield and lithologic hydrocarbon reservoir named Cai 43 have been discovered and both of them share the same target formation of Jurassic. However, in the subsequent exploration at this region, several wells that designed for lithologic traps of Jurassic were eventually failed, and that indicates the controlling factors of lithologic reservoir distribution are far more complicated than our previous expectation. This dissertation set the strata of the Jurassic in well Cai 43 region as the target, and based on the integrated analysis of structure evolution、fault sealing ability、simulations of sedimentary microfacies and reservoir beds、distribution analysis of high porosity-high permeability carrier beds、drive forces of hydrocarbons、preferential conduit system and conduit model as well as critical values of the reservoir physical properties for hydrocarbon charging, a special method that different from the conventional way to predict favorable lithologic traps was established. And with this method the controlling factors of the hydrocarbon reservoirs formation are figured out, and further more, the favorable exploration targets are point out. At Baijiahai uplift, fault plays as a crucial factor in the process of the hydrocarbon reservoir formation. In this study, it is found out that the availability of a fault that work as the seal for oil and gas are different. The critical value of the lateral mudstone smear factor (Kssf), which is used to measure the lateral sealing ability of fault, for oil is 3.9 while that for gas is 2.1; and the critical value of vertical sealing factor (F), which similarly a measurement for the vertical sealing ability of fault, for oil is 7.3 while that for gas is 5.1. Dongdaohaizi fault belt that possessed well lateral sealing ability since later Cretaceous have bad vertical sealing ability in later Cretaceous, however, it turns to be well now. Based on the comparison of the physical properties that respectively obtained from electronic log calculating、conventional laboratory rock analysis and the additive-pressure bearing laboratory rock analysis, we established the functions through which the porosity and permeability obtained though conventional method can be converted to the values of the subsurface conditions. With this method, the porosity and permeability of the Jurassic strata at the time of previous Tertiary and that in nowadays are reconstructed respectively, and then the characteristics of the distribution of high porosity-high permeability carrier beds in the evolution processes are determined. With the result of these works, it is found that both well Cai 43 region and Cainan oilfield are located on the preferential conduit direction of hydrocarbon migration. This conclusion is consistent with the result of the fluid potential analysis, in which fluid potential of nowadays and that of later Cretaceous are considered. At the same times, experiment of hydrocarbon injection into the addictive-pressure bearing rock is designed and conducted, from which it is found that, for mid-permeability cores of Jurassic, 0.03MPa is the threshold values for the hydrocarbon charging. And here, the conception of lateral pressure gradient is proposed to describe the lateral driving force for hydrocarbon migration. With this conception, it is found that hydrocarbons largely distributed in the areas where lateral pressure gradient is greater than 0. 03MPa/100m. Analysis of critical physical properties indicated that the value of the critical porosity and critical permeability varied with burial depth, and it is the throat radius of a certain reservoir bed that works as a key factor in controlling hydrocarbon content. Three parameters are proposed to describe the critical physical properties in this dissertation, which composite of effective oil-bearing porosity、effective oil-bearing permeability and preferential flow coefficient. And found that critical physical properties, at least to some extent, control the hydrocarbon distribution of Jurassic in Baijiahai uplift. Synthesize the content discussed above, this dissertation analyzed the key factors i.e., critical physical properties、driving force、conduit system and fluid potential, which controlled the formation of the lithologic reservoir in Baijiahai uplift. In all of which conduit system and fluid potential determined the direction of hydrocarbon migration, and substantially they are critical physical properties of reservoir bed and the lateral pressure gradient that controlled the eventually hydrocarbon distribution. At the same times, sand bodies in the major target formation that are recognized by reservoir bed simulation are appraised, then predict favorite direction of the next step exploration of lithologic reservoir.

Walking Exercise for Chronic Musculoskeletal Pain: Systematic Review and Meta-Analysis

Objective: To systematically review the evidence examining effects of walking interventions on pain and self-reported function in individuals with chronic musculoskeletal pain.
Data Sources: Six electronic databases (Medline, CINAHL, PsychINFO, PEDro, Sport Discus and the Cochrane Central Register of Controlled Trials) were searched from January 1980 up to March 2014.
Study Selection: Randomized and quasi-randomized controlled trials in adults with chronic low back pain, osteoarthritis or fibromyalgia comparing walking interventions to a non-exercise or non-walking exercise control group.
Data Extraction: Data were independently extracted using a standardized form. Methodological quality was assessed using the United States Preventative Services Task Force (USPSTF) system.
Data Synthesis: Twenty-six studies (2384 participants) were included and suitable data from 17 were pooled for meta-analysis with a random effects model used to calculate between group mean differences and 95% confidence intervals. Data were analyzed according to length of follow-up (short-term: ≤8 weeks post randomization; medium-term: >2 months - 12 months; long-term: > 12 months). Interventions were associated with small to moderate improvements in pain at short (mean difference (MD) -5.31, 95% confidence interval (95% CI) -8.06 to -2.56) and medium-term follow-up (MD -7.92, 95% CI -12.37 to -3.48). Improvements in function were observed at short (MD -6.47, 95% CI -12.00 to -0.95), medium (MD -9.31, 95% CI -14.00 to -4.61) and long-term follow-up (MD -5.22, 95% CI 7.21 to -3.23).
Conclusions: Evidence of fair methodological quality suggests that walking is associated with significant improvements in outcome compared to control interventions but longer-term effectiveness is uncertain. Using the USPSTF system, walking can be recommended as an effective form of exercise or activity for individuals with chronic musculoskeletal pain but should be supplemented with strategies aimed at maintaining participation. Further work is also required examining effects on important health related outcomes in this population in robustly designed studies.

Modelling, control and supervision for a class of hybrid systems

The aim of this thesis is to narrow the gap between two different control techniques: the continuous control and the discrete event control techniques DES. This gap can be reduced by the study of Hybrid systems, and by interpreting as Hybrid systems the majority of large-scale systems. In particular, when looking deeply into a process, it is often possible to identify interaction between discrete and continuous signals. Hybrid systems are systems that have both continuous, and discrete signals. Continuous signals are generally supposed continuous and differentiable in time, since discrete signals are neither continuous nor differentiable in time due to their abrupt changes in time. Continuous signals often represent the measure of natural physical magnitudes such as temperature, pressure etc. The discrete signals are normally artificial signals, operated by human artefacts as current, voltage, light etc. Typical processes modelled as Hybrid systems are production systems, chemical process, or continuos production when time and continuous measures interacts with the transport, and stock inventory system. Complex systems as manufacturing lines are hybrid in a global sense. They can be decomposed into several subsystems, and their links. Another motivation for the study of Hybrid systems is the tools developed by other research domains. These tools benefit from the use of temporal logic for the analysis of several properties of Hybrid systems model, and use it to design systems and controllers, which satisfies physical or imposed restrictions. This thesis is focused in particular types of systems with discrete and continuous signals in interaction. That can be modelled hard non-linealities, such as hysteresis, jumps in the state, limit cycles, etc. and their possible non-deterministic future behaviour expressed by an interpretable model description. The Hybrid systems treated in this work are systems with several discrete states, always less than thirty states (it can arrive to NP hard problem), and continuous dynamics evolving with expression: with Ki ¡ Rn constant vectors or matrices for X components vector. In several states the continuous evolution can be several of them Ki = 0. In this formulation, the mathematics can express Time invariant linear system. By the use of this expression for a local part, the combination of several local linear models is possible to represent non-linear systems. And with the interaction with discrete events of the system the model can compose non-linear Hybrid systems. Especially multistage processes with high continuous dynamics are well represented by the proposed methodology. Sate vectors with more than two components, as third order models or higher is well approximated by the proposed approximation. Flexible belt transmission, chemical reactions with initial start-up and mobile robots with important friction are several physical systems, which profits from the benefits of proposed methodology (accuracy). The motivation of this thesis is to obtain a solution that can control and drive the Hybrid systems from the origin or starting point to the goal. How to obtain this solution, and which is the best solution in terms of one cost function subject to the physical restrictions and control actions is analysed. Hybrid systems that have several possible states, different ways to drive the system to the goal and different continuous control signals are problems that motivate this research. The requirements of the system on which we work is: a model that can represent the behaviour of the non-linear systems, and that possibilities the prediction of possible future behaviour for the model, in order to apply an supervisor which decides the optimal and secure action to drive the system toward the goal. Specific problems can be determined by the use of this kind of hybrid models are: - The unity of order. - Control the system along a reachable path. - Control the system in a safe path. - Optimise the cost function. - Modularity of control The proposed model solves the specified problems in the switching models problem, the initial condition calculus and the unity of the order models. Continuous and discrete phenomena are represented in Linear hybrid models, defined with defined eighth-tuple parameters to model different types of hybrid phenomena. Applying a transformation over the state vector : for LTI system we obtain from a two-dimensional SS a single parameter, alpha, which still maintains the dynamical information. Combining this parameter with the system output, a complete description of the system is obtained in a form of a graph in polar representation. Using Tagaki-Sugeno type III is a fuzzy model which include linear time invariant LTI models for each local model, the fuzzyfication of different LTI local model gives as a result a non-linear time invariant model. In our case the output and the alpha measure govern the membership function. Hybrid systems control is a huge task, the processes need to be guided from the Starting point to the desired End point, passing a through of different specific states and points in the trajectory. The system can be structured in different levels of abstraction and the control in three layers for the Hybrid systems from planning the process to produce the actions, these are the planning, the process and control layer. In this case the algorithms will be applied to robotics ¡V a domain where improvements are well accepted ¡V it is expected to find a simple repetitive processes for which the extra effort in complexity can be compensated by some cost reductions. It may be also interesting to implement some control optimisation to processes such as fuel injection, DC-DC converters etc. In order to apply the RW theory of discrete event systems on a Hybrid system, we must abstract the continuous signals and to project the events generated for these signals, to obtain new sets of observable and controllable events. Ramadge & Wonham¡¦s theory along with the TCT software give a Controllable Sublanguage of the legal language generated for a Discrete Event System (DES). Continuous abstraction transforms predicates over continuous variables into controllable or uncontrollable events, and modifies the set of uncontrollable, controllable observable and unobservable events. Continuous signals produce into the system virtual events, when this crosses the bound limits. If this event is deterministic, they can be projected. It is necessary to determine the controllability of this event, in order to assign this to the corresponding set, , controllable, uncontrollable, observable and unobservable set of events. Find optimal trajectories in order to minimise some cost function is the goal of the modelling procedure. Mathematical model for the system allows the user to apply mathematical techniques over this expression. These possibilities are, to minimise a specific cost function, to obtain optimal controllers and to approximate a specific trajectory. The combination of the Dynamic Programming with Bellman Principle of optimality, give us the procedure to solve the minimum time trajectory for Hybrid systems. The problem is greater when there exists interaction between adjacent states. In Hybrid systems the problem is to determine the partial set points to be applied at the local models. Optimal controller can be implemented in each local model in order to assure the minimisation of the local costs. The solution of this problem needs to give us the trajectory to follow the system. Trajectory marked by a set of set points to force the system to passing over them. Several ways are possible to drive the system from the Starting point Xi to the End point Xf. Different ways are interesting in: dynamic sense, minimum states, approximation at set points, etc. These ways need to be safe and viable and RchW. And only one of them must to be applied, normally the best, which minimises the proposed cost function. A Reachable Way, this means the controllable way and safe, will be evaluated in order to obtain which one minimises the cost function. Contribution of this work is a complete framework to work with the majority Hybrid systems, the procedures to model, control and supervise are defined and explained and its use is demonstrated. Also explained is the procedure to model the systems to be analysed for automatic verification. Great improvements were obtained by using this methodology in comparison to using other piecewise linear approximations. It is demonstrated in particular cases this methodology can provide best approximation. The most important contribution of this work, is the Alpha approximation for non-linear systems with high dynamics While this kind of process is not typical, but in this case the Alpha approximation is the best linear approximation to use, and give a compact representation.

A review on otolith models in human perception

The vestibular system, which consists of semicircular canals and otolith, are the main sensors mammals use to perceive rotational and linear motions. Identifying the most suitable and consistent mathematical model of the vestibular system is important for research related to driving perception. An appropriate vestibular model is essential for implementation of the Motion Cueing Algorithm (MCA) for motion simulation purposes, because the quality of the MCA is directly dependent on the vestibular model used. In this review, the history and development process of otolith models are presented and analyzed. The otolith organs can detect linear acceleration and transmit information about sensed applied specific forces on the human body. The main purpose of this review is to determine the appropriate otolith models that agree with theoretical analyses and experimental results as well as provide reliable estimation for the vestibular system functions. Formulating and selecting the most appropriate mathematical model of the vestibular system is important to ensure successful human perception modelling and simulation when implementing the model into the MCA for motion analysis.