Error Modeling and Accuracy Analysis of a Novel Mobile Hybrid Parallel Robot

Over the last decades, calibration techniques have been widely used to improve the accuracy of robots and machine tools since they only involve software modification instead of changing the design and manufacture of the hardware. Traditionally, there are four steps are required for a calibration, i.e. error modeling, measurement, parameter identification and compensation. The objective of this thesis is to propose a method for the kinematics analysis and error modeling of a newly developed hybrid redundant robot IWR (Intersector Welding Robot), which possesses ten degrees of freedom (DOF) where 6-DOF in parallel and additional 4-DOF in serial. In this article, the problem of kinematics modeling and error modeling of the proposed IWR robot are discussed. Based on the vector arithmetic method, the kinematics model and the sensitivity model of the end-effector subject to the structure parameters is derived and analyzed. The relations between the pose (position and orientation) accuracy and manufacturing tolerances, actuation errors, and connection errors are formulated. Computer simulation is performed to examine the validity and effectiveness of the proposed method.

Optimisation of the lipase-catalysed preparation of a nucleoside prodrug model using an experimental design methodology

The preparation of 2', 3'-di-O-hexanoyluridine (2) by a Candida antarctica B lipase-catalysed alcoholysis of 2', 3', 5'-tri-O-hexanoyluridine (1) was optimised using an experimental design. At 25 ºC better experimental conditions allowed an increase in the yield of 2 from 80% to 96%. In addition to the yield improvement, the volume reaction could be diminished in a factor of 5 and the reaction time significantly shortened.

Nanoparticle-coated organic-inorganic microparticles: experimental design and gastrointestinal tolerance evaluation

The influences of the spray-drying parameters and the type of nanoparticles (nanocapsules or nanospheres) on the characteristics of nanoparticle-coated diclofenac-loaded microparticles were investigated by using a factorial design 3². Gastrointestinal tolerance following oral administration in rats was evaluated. Formulations were selected considering the best yields, the best encapsulation efficiencies and the lowest water contents, presenting surfaces completely coated by nanostructures and a decrease in the surface areas in relation to the uncoated core. In vitro drug release demonstrated the influence of the nanoparticle-coating on the dissolution profiles of diclofenac. Nanocapsule-coated microparticles presented a protective effect on the gastrointestinal mucosa.

Desenvolupament d'interfícies d'usuari i visualització d'imatge mèdica en dispositius mòbils Android

Aquest treball tracta sobre la realització d’una aplicació per a dispositius Android que permeti visualitzar imatges mèdiques. Amb la col·laboració del parc Taulí de Sabadell s’han realitzat tasques de recerca de requeriments com l’elaboració d’una entrevista o la realització d’una maqueta de paper que s’ha sotmès a una avaluació heurística en un procés iteratiu. Finalment, s’ha implementat una aplicació on es poden visualitzar imatges mèdiques, fer accions sobre elles com canviar el color o fer zoom i accedir a informació del pacient.

Measuring Customer Experience in Mobile Internet

Problems in the mobile services are complex where the lack of the user analysis is not the modest issue. User centered design has increasingly become as a basis for the design of mobile services. The concept of user centered design gives end-user extensive attention at each stage of the design process. Mobile service providers want to offer experiences for users and clearly the users look for services that can provide pleasant experiences. In this thesis, the elements of user experience in mobile internet were studied as well as user experience measuring methods were researched. This study was looking for user experience measuring metrics and methods to specify new factors to measure user experience. During this thesis research project an application called CEM4Mobile was designed and implemented. CEM4Mobile is an application for observing and analysing user experience based on the user activity and behaviour. As a result of this thesis, a collection of user experience elements and measuring metrics were found. The elements and metrics were designed and implemented to CEM4Mobile product, which measures user experience. It was found out that the user experience measuring methods were based on interaction between two people but CEM4Mobile makes user observation programmatic.

Identification of acetates in elasmopalpulus lignosellus pheromone glands using a newly created mass spectral database and kóvats retention indices

Based on a specially created mass spectral database utilizing 23 tetradecenyl and 22 hexadecenyl acetate standards along with Kóvats retention indices obtained on a very polar stationary phase [poly (biscyanopropyl siloxane)] (SP 2340), (Z)-9-hexadecenyl acetate, (Z)-11-hexadecenyl acetate and (E)-8-hexadecenyl acetate were identified in active pheromone extracts of Elasmopalpus lignosellus. This identification was more efficient than our previous study using gas chromatography/mass spectrometry with a dimethyl disulfide derivative where we could only identify the first two acetates. The acetate composition of the pheromone gland differed from region to region in Brazil and from that from the Tifton (GA, USA) population, suggesting polymorphism or a different sub-species.

Visualitzador de molècules d'ADN per laboratori virtual

Com a continuació del treball de final de carrera “Desenvolupament d’un laboratori virtual per a les pràctiques de Biologia Molecular” de Jordi Romero, s’ha realitzat una eina complementaria per a la visualització de molècules integrada en el propi laboratori virtual. Es tracta d’una eina per a la visualització gràfica de gens, ORF, marques i seqüències de restricció de molècules reals o fictícies. El fet de poder treballar amb molècules fictícies és la gran avantatge respecte a les solucions com GENBANK que només permet treballar amb molècules pròpies. Treballar amb molècules fictícies fa que sigui una solució ideal per a l’ensenyament, ja que dóna la possibilitat als professors de realitzar exercicis o demostracions amb molècules reals o dissenyades expressament per a l’exercici a demostrar. A més, permet mostrar de forma visual les diferents parts simultàniament o per separat, de manera que ofereix una primera aproximació interpretació dels resultats. Per altra banda, permet marcar gens, crear marques, localitzar seqüències de restricció i generar els ORF de la molècula que nosaltres creem o modificar una ja existent. Per l’implementació, s’ha continuat amb l’idea de separar la part de codi i la part de disseny en les aplicacions Flash. Per fer-ho, s’ha utilitzat la plataforma de codi lliure Ariware ARPv2.02 que proposa un marc de desenvolupament d’aplicacions Flash orientades a objectes amb el codi (classes ActionScript 2.0) separats del movieclip. Per al processament de dades s’ha fet servir Perl per ser altament utilitzat en Bioinformàtica i per velocitat de càlcul. Les dades generades es guarden en una Base de Dades en MYSQL (de lliure distribució), de la que s’extreuen les dades per generar fitxers XML, fent servir tant PHP com la plataforma AMFPHP com a enllaç entre Flash i la resta de parts.

Programa de gestió per la Pastisseria Mas

En els últims anys, el món de la informàtica ha evolucionat d'una manera inimaginable, tan a nivell de Hardware com de Software. Aquesta evolució ha donat lloc a la creació de moltes empreses dedicades a la programació, on una de les seves principals feines ha estat la realització de programes de gestió d'empreses. Moltes vegades, però, els programes estàndards no poden satisfer el total de les necessitats dels clients, sinó algunes d’aquestes i realitzar un programa personalitzat té un cost elevat. En el cas de la Pastisseria Mas de Navàs, una empresa familiar, per poder realitzar les tasques administratives utilitzen fulls de càlcul, concretament el Microsoft Excel, que permet portar els comptes d'una manera més o menys senzilla, ja que només són necessàries unes nocions bàsiques d'informàtica. El mateix passa amb les dades dels proveïdors, que les guarden en una Base de Dades del tipus Microsoft Access. Una altra de les mancances és el tema dels encàrrecs que es fa de manera manual. Per tant, l’objectiu d’aquest projecte, és realitzar un programa que els hi faciliti la seva activitat. Aquest programa els permetrà gestionar les dades que utilitzen, com la informació sobre els clients, personal, comandes... També s’ha desenvolupat una web que permet obtenir informació sobre les comandes que s’han realitzat. Aquesta aplicació està dissenyada per funcionar en l’entorn Windows XP i s’ha desenvolupat amb el compilador de CodeGear Rad Studio, concretament el C++ Builder 2009. A nivell de base de dades, he utilitzat MySQL i en el cas de la pàgina web, PHP i lamateixa base de dades. L’anàlisi i el disseny ha estat fet en UML.

Disseny i implementació d'una web administrable i d'una aplicació per dispositius mòbils

En la societat en què vivim cada vegada agafen més importància les pàgines web, ja que és una eina d’informació molt útil i ràpida de consultar. Per això, no s’entén que una activitat empresarial sigui del tipus que sigui, no tingui representació a la xarxa. No és necessari que l’activitat en qüestió hagi de vendre productes a través d’Internet, sinó que simplement aquesta representació pot ajudar a donar a conèixer l’empresa i a ampliar la cartera de clients. De la mateixa manera, els dispositius mòbils també s’estan convertint en una eina important en la societat d’avui en dia i una bona aplicació pot aportar-te un avantatge en moltes de les feines diàries de les persones. D’aquestes idees sorgeix el projecte de fer la web i l’aplicació pel centre de fisioteràpia Fisioripoll. La web serviria per tenir un lloc a la xarxa on donar-se a conèixer i poder captar nous clients, i l’aplicació funcionaria com a eina pel propi centre, seria una espècie d’agenda electrònica per saber les hores que tens reservades els pròxims dies. Per aconseguir un bon funcionament de la web, s’ha demanat que la pàgina sigui administrable en els seus continguts. És a dir, que els propis gestors del centre puguin canviar els texts, les imatges dels diferents apartats i gestionar les reserves dels clients. En canvi, l’aplicació serà només una eina de consulta i no s’hauria de gestionar res. Per tal de dur a terme aquesta web s’ha tingut en compte utilitzar eines de programació de distribució lliure com és el llenguatge PHP, la base de dades MySQL, jQuery, el framework Phonegap per tal de poder construir una web i una aplicació amb cost de programari nul.

Packet backbone design differences between commercial network and Container Trial System of LTE/SAE

The mobile networks of earlier and current generations, or 2G and 3G networks, provide users voice and packet services with higher transmission rates and good quality over the same core network. When developing the next generation of mobile networks the current quality of services needs to be maintained. This thesis concentrates on the next generation mobile network, especially on the evolution of the packet network part. The new mobile network has requirements for the common packet backbone network, Mobile Packet Backbone Network, which is additionally discussed in this study. The next generation mobile network, called LTE/SAE, is currently under testing. The test system is called Container Trial System. It is a mini sized LTE/SAE site. The LTE/SAE is studied in this thesis concentrating on the evolved packet core, the SAE part of the composition. The empirical part of the study compares the LTE/SAE Container Trial System and commercial network designs and additionally produces documentation for internal personnel and customers. The research is performed by comparing the documentations and specifications of both the Container Trial System and commercial network. Since the LTE commercial network is not yet constructed, the comparison is done theoretically. The purpose is furthermore to find out if there are any design issues that could be done differently in the next version of the Container Trial System.

Design and evaluation of a continuous flow, integrated nebulizer-hydride generator for flame atomic absorption spectrometry

An evaluation of the performance of a continuous flow hydride generator-nebulizer for flame atomic absorption spectrometry was carried out. Optimization of nebulizer gas flow rate, sample acid concentration, sample and tetrahydroborate uptake rates and reductant concentration, on the As and Se absorbance signals was carried out. A hydrogen-argon flame was used. An improvement of the analytical sensitivity relative to the conventional bead nebulizer used in flame AA was obtained (2 (As) and 4.8 (Se) µg L-1). Detection limits (3σb) of 1 (As) and 1.3 (Se) µg L-1 were obtained. Accuracy of the method was checked by analyzing an oyster tissue reference material.

Otimização de método para determinação de flavonóis e flavonas em frutas por cromatografia líquida de alta eficiência utilizando delineamento estatístico e análise de superfície de resposta

This work optimized the HPLC conditions for the simultaneous determination of luteolin, apigenin, myricetin, quercetin and kaempferol in aglycone form, as well defined the best conditions for hydrolysis/extraction of these flavonoids in fruits, using the statistical central composite design and response surface analysis. A reverse phase method was developed using a gradient of methanol/water acidified with 0.3% formic acid as mobile phase and a photodiode array detector. The samples were extracted with methanol/water (50:50 v/v) at 90 ºC. The optimum time and HCl concentration varied for the different fruits investigated, demonstrating the necessity of optimizing these conditions for each fruit analyzed. Good recovery (87.1 to 96.3%), repeatability and linearity were obtained.

The Art & Science of Learning Design

We live in an era defined by a wealth of open and readily available information, and the accelerated evolution of social, mobile and creative technologies. The provision of knowledge, once a primary role of educators, is now devolved to an immense web of free and readily accessible sources. Consequently, educators need to redefine their role not just ¿from sage on the stage to guide on the side¿ but, as more and more voices insist, as ¿designers for learning¿.The call for such a repositioning of educators is heard from leaders in the field of technology-enhanced learning (TEL) and resonates well with the growing culture of design-based research in Education. However, it is still struggling to find a foothold in educational practice. We contend that the root causes of this discrepancy are the lack of articulation of design practices and methods, along with a shortage of tools and representations to support such practices, a lack of a culture of teacher-as-designer among practitioners, and insufficient theoretical development.The Art and Science of Learning Design (ASLD) explores the frameworks, methods, and tools available for teachers, technologists and researchers interested in designing for learning Learning Design theories arising from findings of research are explored, drawing upon research and practitioner experiences. It then surveys current trends in the practices, methods, and methodologies of Learning Design. Highlighting the translation of theory into practice, this book showcases some of the latest tools that support the learning design process itself.

Database of the Amazon aromatic plants and their essential oils

The aromatic flora of the Amazon has been inventoried for 30 years. In this sense, were made over 500 field trips to collect over 2500 plants and to obtain more than 2000 essential oils and aroma concentrates, all of them submitted to GC and GC-MS. This work led to the creation of a database for the aromatic plants of the Amazon, which catalogs general information about 1250 specimens. The database has allowed the publication of the chemical composition of the oils and aromas of more than 350 species, associated with a larger number of chemical types. The essential oils of many species offer optimum conditions for economic exploitation and use in national and international market of fragrances, cosmetics, agricultural and household pesticides.

Evaluation of the influence of base and alkyl bromide on synthesis of pyrazinoic acid esters through fatorial design

Pyrazinoic acid esters have been synthesized as prodrugs of pyrazinoic acid. In the literature, its preparation is reported through the reaction of pyrazinoyl chloride with alcohols and the reaction with DCC/DMAP. In this work, it is reported a 2² factorial design to evaluate the preparation of these esters through the substitution of alkyl bromides with carboxylate anion. The controlled factors were alkyl chain length of bromides (ethyl and hexyl) and the used base (triethylamine and DBU). Results revealed that the used base used has significant effect on yield, and alkyl bromide used has neither significant influence, nor its interaction effect with base.