Analysis and 2D Simulation of a Hexapod Robot Leg for Remote Exploration

A walking machine is a wheeled rover alternative, well suited for work in an unstructured environment and specially in abrupt terrain. They have some drawback like speed and power consumption, but they can achieve complex movements and protrude very little the environment they are working on. The locomotion system is determined by the terrain conditions and, in our case, this legged design has been chosen based in a working area like Rio Tinto in the South of Spain, which is a river area with abrupt terrain. A walking robot with so many degrees of freedom can be a challenge when dealing with the analysis and simulations of the legs. This paper shows how to deal with the kinematical analysis of the equations of a hexapod robot based on a design developed by the Center of Astrobiology INTA-CSIC following the classical formulation of equations

Which could be the role of Hybrid Fibre Coax in Next Generation Access networks?

Next generation access networks (NGAN) will support a renewed communication structure where opportunities lie in the provision of ubiquitous broadband connectivity, a wide variety of new applications, appealing contents and a general support to the sustainable growth of diverse sectors. From their deployment it is expected a wealth of innovations, jobs creation and a new wave of economic growth. In this paper we discuss which could be the role of Hybrid Fibre Coax (HFC) in the Next Generation Access Network (NGAN) roadmap. Thus, we propose a simplified model for making approximate cost calculations for HFC deployment based on the geographic and sociodemographic characteristics of Spain. Considering the latest evolution of HFC based on DOCSIS 3.0 from integrated (I-CMTS) towards modular (M-CMTS), the results from the model are compared with the most competitive NGAN for ultrabroadband speeds: Fibre to the Home (FTTH) based on Gigabitcapable Passive Optical Networks (GPON)

Study of the evolution of the seismic cycle of stress and strain associated to the El Salvador Fault Zone

• Central America: – Regional studies in Central America (Seismic Hazard). – El Salvador Fault Zone (ESFZ). – Aguacaliente‐Navarro Fault Zone (ANFZ), Central Valley of Costa Rica. – Haiti (seismic hazard) • Spain: – Regional‐Nacional studies of seismic hazards (applications to building codes, eurocode, emergency plans, etc.) – Betic range zone, south of Spain. – Ibero‐Maghrebi region (collision zone)

Some past decision theory models for euro construction model codes and for road drainage in Spain, and modest hints with multi-criteria methods for agro and environmental assurance

The authors are from UPM and are relatively grouped, and all have intervened in different academic or real cases on the subject, at different times as being of different age. With precedent from E. Torroja and A. Páez in Madrid Spain Safety Probabilistic models for concrete about 1957, now in ICOSSAR conferences, author J.M. Antón involved since autumn 1967 for euro-steel construction in CECM produced a math model for independent load superposition reductions, and using it a load coefficient pattern for codes in Rome Feb. 1969, practically adopted for European constructions, giving in JCSS Lisbon Feb. 1974 suggestion of union for concrete-steel-al.. That model uses model for loads like Gumbel type I, for 50 years for one type of load, reduced to 1 year to be added to other independent loads, the sum set in Gumbel theories to 50 years return period, there are parallel models. A complete reliability system was produced, including non linear effects as from buckling, phenomena considered somehow in actual Construction Eurocodes produced from Model Codes. The system was considered by author in CEB in presence of Hydraulic effects from rivers, floods, sea, in reference with actual practice. When redacting a Road Drainage Norm in MOPU Spain an optimization model was realized by authors giving a way to determine the figure of Return Period, 10 to 50 years, for the cases of hydraulic flows to be considered in road drainage. Satisfactory examples were a stream in SE of Spain with Gumbel Type I model and a paper of Ven Te Chow with Mississippi in Keokuk using Gumbel type II, and the model can be modernized with more varied extreme laws. In fact in the MOPU drainage norm the redacting commission acted also as expert to set a table of return periods for elements of road drainage, in fact as a multi-criteria complex decision system. These precedent ideas were used e.g. in wide Codes, indicated in symposia or meetings, but not published in journals in English, and a condensate of contributions of authors is presented. The authors are somehow involved in optimization for hydraulic and agro planning, and give modest hints of intended applications in presence of agro and environment planning as a selection of the criteria and utility functions involved in bayesian, multi-criteria or mixed decision systems. Modest consideration is made of changing in climate, and on the production and commercial systems, and on others as social and financial.

GIS analysis of the accuracy of Tomas Lopez's historical cartography in the Canary Islands (1742 - 1746)

The accuracy of Tomás López´s historical cartography of the Canary Islands included in the “Atlas Particular” of the Kingdoms of Spain, Portugal and Adjacent Islands” is analyzed. For this purpose, we propose a methodology based on Geographic Information Systems (GIS), a comparison of digitized historical cartography population centres with current ones. This study shows that the lineal error value is small for the smaller islands: Lanzarote, El Hierro, La Palma and La Gomera. In the large islands of Tenerife, Fuerteventura and Gran Canaria, the error is smaller in central zones but increases towards the coast. This indicates that Tomás López began his cartography starting from central island zones, accumulating errors due to lack of geodetic references as he moved toward the coast.

Growth of Fusarium species as affected by temperature and osmotic potential (NaCl and KCl) interactions.

Myceliar growth of 90 Fusarium strains os F. acuminatum, F. chlamydosporum, F. culmorum, F. equiseti, F.verticillioides, F. oxysporum, F. proliferatum, F. solani an F. sambucinum isolated from fluvial channels and sea beds of the south-eastern coast of Spain was tested on potato-dextrose-agar adjusted to different matric potentials with either KCl or NaCl (from - 1.50 to - 144.54 bars).

The interactive effects of temperature and osmotic potential on the growth of marines isolates of Fusarium solani

The mycelial growth of 18 Fusarium solani strains isolated from sea beds of the south-eastern coast of Spain was tested on potato-dextrose agar adjusted to different osmotic potentials with either KCl or NACl (-1.50 to -144.54 bars) in 10ºC intervals ranging from 15 to 35ºC. Fungal growth was determined by measuring colony diameter after 4 days incubation. Mycelial growth was maximal at 25ºC. The quantity and frequency pattern of mycelial growth of F. solani differ significantly at 15 and 25ºC, with maximal occurring at the highest water potential tested (-1.50 bars); and at 35ºC, with a maximal mycelial growth at -13.79 bars. The effect of water potential was independent of salt composition. The general growth pattern of F. solani showed declining growth at potentials below -41.79 bars. Fungal growth at 35ºC was always higher than that growth at 15ºC, of all the water potentials tested. Significant differences observed in the response of mycelia to water potential and temperature as main and interactive effects. The viability of cultures was increasingly inhibited as the water potential dropped, but some growth was still observed at -99.56 bars. These findings could indicate that marine strains of F. solani have a physiological mechanism that permits survival in environments with low water potential. The observed differences in viability and the magnitude growth could indicate that the biological factors governing potential and actual growth are affected by osmotic potential in different ways.

Effects of water potential on spore germination and viability of Fusarium species

Germination of macroconidia and/or microconidia of 24 strains of Fusarium solani, F. chlamydosporum, F. culmorum, F. equiseti, F. verticillioides, F. sambucinum, F. oxysporum and F. proliferatum isolated from fluvial channels and sea beds of the south-eastern coast of Spain, and three control strains (F. oxysporum isolated from affected cultures) was studied in distilled water in response to a range of water potentials adjusted with NaCI. (0, -13.79, -41.79, -70.37, -99.56 and -144.54 bars). The vialibility (UFC/ml) of suspension was also tested in three time periods (0,24 and 48h). Conidia always germinated in distilled water. The pattern of conidial germination obseved of F. verticillioides, F. oxysporum, F. proliferatum, F. chlamydosporum and F. culmorum was similar. A great diminution of spore germination was found in -13.79 bars solutions. Spore germination percentage for F. solani isolates was maximal at 48 h. and -13.79 bars with 21.33% spore germination, 16% higher than germination in distilled water. F. equiseti shows the maximum germination percentage in -144.54 bars solution in 24 h time with 12.36% germination. These results did not agree with those obtained in the viability test where maximum germination was found in distilled water. The viability analysis showed the great capacity of F. verticilloides strains to form viable colonies, even in such extreme conditions as -144,54 bars after 24 h F. proliferatum colony formation was prevented in the range of -70.37 bars. These results show the clear affectation of water potential to conidia germination of Fusaria. The ability of certain species of Fusarium to develop a saprophytic life in the salt water of the Mediterraneam Sea could be certain. Successful germination, even under high salty media conditions, suggests taht Fusarium spp. could have a competitive advantage over other soil fungi in crops irrigated with saline water. In the specific case of F. solani, water potential of -13.79 bars affected germination positively. It could indicate that F. solani has an special physiological mechanism of survival in low water potential environments.

A method to assess annual average renewable groundwater reserves for large regions in Spain

This paper proposes a method for assessing the groundwater renewable reserves of large regions for an average year, based on the integration of the recession curves for their basins springs or the natural base flow of their rivers. In this method, the hydrodynamic volume (or renewable reserves), were estimated from the baseflow equation. It was assumed that the flow was the same as the natural recharge, and that the recession coefficients were derived by the hydrogeological parameters and geometrical characteristics of aquifers, and adjusted to fit the recession curves at gauging stations. The method was applied to all the aquifers of Spain, which have a total groundwater renewable reserve of 86,895 hm3 four times the mean annual recharge. However, the distribution of these reserves is very variable; 18.6% of the country aquifers contain 94.7% of the entire reserve.

Limiting properties in the characterisation of mixed recycled aggregates for use in the manufacture of concrete

El objetivo principal de este trabajo de investigación es estudiar las propiedades del árido reciclado mixto para la fabricación de hormigón reciclado en aplicaciones no estructurales. Se ha realizado la caracterización completa de 35 muestras de áridos reciclados mixtos gruesos de distinta calidad, procedentes de 13 plantas de tratamiento diferentes de la geografía española. Se han estudiado las correlaciones que existen entre las diferentes propiedades, en particular, con la absorción de agua, el contenido de sulfatos y la composición. Se propone una clasificación de los áridos reciclados y se limita de forma indicativa el contenido de yeso para que una muestra de árido reciclado mixto cumpla con la limitación del 0,8% de los sulfatos solubles en ácido de la Instrucción EHE-08. Recycling of construction and demolition waste (CDW) has become a widespread concern in Spain for the last years, as a way to preserve natural resources and achieve a better control of waste disposal sites.Specific applications which make use of mixed recycled aggregates are of great importance, as this types of aggregates constitute the majority of the total production. Structural and non-structural concrete is one of the possible applications, being this the main goal of our study. This paper presents a study on the physical and chemical characteristics of mixed recycled aggregates which have been obtained from different CDW treatment plants of Spain. Correlations between the different properties were investigated in order to find criterions of acceptance for recycled aggregates to be used in concrete. The comparison between the properties offers the possibility of pre-selecting a great quantity of mixed recycled aggregates, these being suitable for either structural and non-structural concrete. The determination of water absorption and the gypsum content are good indicators in order to evaluate the quality of the mixed recycled aggregates for its application in the production of concrete.

Graph based study of allergen cross-reactivity of plant lipid transfer proteins (LTPs) using microarray in a multicenter study.

The study of cross-reactivity in allergy is key to both understanding. the allergic response of many patients and providing them with a rational treatment In the present study, protein microarrays and a co-sensitization graph approach were used in conjunction with an allergen microarray immunoassay. This enabled us to include a wide number of proteins and a large number of patients, and to study sensitization profiles among members of the LTP family. Fourteen LTPs from the most frequent plant food-induced allergies in the geographical area studied were printed into a microarray specifically designed for this research. 212 patients with fruit allergy and 117 food-tolerant pollen allergic subjects were recruited from seven regions of Spain with different pollen profiles, and their sera were tested with allergen microarray. This approach has proven itself to be a good tool to study cross-reactivity between members of LTP family, and could become a useful strategy to analyze other families of allergens.

The involvement of thaumatin-like proteins in plant food cross-reactivity: a multicenter study using a specific protein microarray.

Cross-reactivity of plant foods is an important phenomenon in allergy, with geographical variations with respect to the number and prevalence of the allergens involved in this process, whose complexity requires detailed studies. We have addressed the role of thaumatin-like proteins (TLPs) in cross-reactivity between fruit and pollen allergies. A representative panel of 16 purified TLPs was printed onto an allergen microarray. The proteins selected belonged to the sources most frequently associated with peach allergy in representative regions of Spain. Sera from two groups of well characterized patients, one with allergy to Rosaceae fruit (FAG) and another against pollens but tolerant to food-plant allergens (PAG), were obtained from seven geographical areas with different environmental pollen profiles. Cross-reactivity between members of this family was demonstrated by inhibition assays. Only 6 out of 16 purified TLPs showed noticeable allergenic activity in the studied populations. Pru p 2.0201, the peach TLP (41%), chestnut TLP (24%) and plane pollen TLP (22%) proved to be allergens of probable relevance to fruit allergy, being mainly associated with pollen sensitization, and strongly linked to specific geographical areas such as Barcelona, Bilbao, the Canary Islands and Madrid. The patients exhibited mayor que50% positive response to Pru p 2.0201 and to chestnut TLP in these specific areas. Therefore, their recognition patterns were associated with the geographical area, suggesting a role for pollen in the sensitization of these allergens. Finally, the co-sensitizations of patients considering pairs of TLP allergens were analyzed by using the co-sensitization graph associated with an allergen microarray immunoassay. Our data indicate that TLPs are significant allergens in plant food allergy and should be considered when diagnosing and treating pollen-food allergy.

Damage assessment on building structures subjected to the recent near-fault earthquake in Lorca (Spain)

The city of Lorca (Spain) was hit on May 11th 2011 by two consecutive earthquakes with 4.6 and 5.2 Mw respectively, causing casualties and important damage in buildings. Lorca is located in the south-east region of Spain and settled on the trace of the Murcia-Totana-Lorca fault. Although the magnitudes of these ground motions were not severe, the damage observed was considerable over a great amount of buildings. More than 300 of them have been demolished and many others are being retrofitted. This paper reports a field study on the damage caused by these earthquakes. The observed damage is related with the structural typology. Further, prototypes of the damaged buildings are idealized with nonlinear numerical models and their seismic behavior and proneness to damage concentration is further investigated through dynamic response analyses.

Gas discharges for continental Spain: geochemical and isotopic features

In this work the results of a geochemical and isotopic survey of 37 gas discharges was carried out in continental Spain are presented and discussed. On the basis of the gas chemical composition, four different areas can be distinguished, as follows: 1) Selva-Emborda (SE) region; 2) Guadalentin Valley (GV); 3) Campo de Calatrava (CC) and 3) the inner part of Spain (IS). The SE, GV and CC areas are characterized by CO2-rich gases, while IS has N2 as main gas compound. The CO2-rich gases can be distinguished at their turn on the basis on the helium and carbon isotopic composition. The SE and CC areas have a strong mantle signature (up to 3 Ra). Nevertheless, the carbon isotopic composition of CC is within the mantle range and that of SE is slightly more negative (down to -8‰ PDB). The GV gases have a lower mantle signature (61 Ra) with respect to SE and CC and more negative carbon isotopes (6-10‰ PDB). It is worth to mention that the SE, GV and CC areas are related to the youngest volcanic activity in continental Spain, for example the Garrotxa Volcanic Field in Catalonia records the latest event dated at 10,000 years, and the isotopic features, particularly those of helium, are suggesting the presence of magmatic bodies still cooling at depth. The N2-rich gases, i.e. those from the IS area, has an atmospheric origin, as highlighted by the N2/Ar ratio that ranges between those of air and ASW (Air Saturated Water). The isotopic composition of carbon is distinctly negative (down to -21‰ PDB) and that of helium is typically crustal (0.02-0.08 Ra), confirming that these gas discharges are related to a relatively shallow source.

Modelling of Topographic Irregularities for Seismic Site Response

Seismic evaluation methodology is applied to an existing viaduct in the south of Spain, near Granada, which is a medium seismicity region. The influence of both geology and topography in the spatial variability of ground motion are studied as well as seismic hazard analysis and ground motion characterization. Artificial hazard-consistent ground motion records are synthesised applying seismic hazard analysis and site effects are estimated through a diffraction study. Direct BEM is used to calculate the valley displacement response to vertically propagating SV waves and transfer functions are generated allowing the transformation of free field motion to motion at each support. A closed formulae is used to estimate these transfer function. Finally, the results obtained are compared.