Interacci��n y programaci��n de trayectorias de robot industrial tipo SCARA.

[ES]En el desarrollo de este Trabajo de Fin De Grado (TFG) en el curso 2014-2015 se ha trabajado con un robot de tipo SCARA, muy utilizado en la industria. El objetivo era analizar su cinem��tica y programar trayectorias que el robot pudiera realizar. En primer lugar se ha llevado a cabo un estudio del Estado del Arte, en el que se describe la rob��tica industrial y su desarrollo hist��rico hasta nuestros d��as, desarrollo que presenta un futuro prometedor. Adem��s, se han descrito las particularidades que ata��en al SCARA: sus caracter��sticas, su relevancia y su historia. En cuanto al robot, previamente se ha realizado un an��lisis cinem��tico del SCARA. Mediante m��todos matriciales se han resuelto los problemas de posiciones y velocidades, para luego programarlas en MATLAB. Una vez comprendida su cinem��tica, se ha interactuado con ��l en el taller para poder entender su funcionamiento, sus componentes y su control. Despu��s, con los conocimientos que se han adquirido, se han programado varias trayectorias usando el lenguaje del robot, el lenguaje V+, para finalmente ejecutar esos movimientos. El Trabajo se completa con la descripci��n de las tareas mediante un diagrama de Gantt, el presupuesto, la declaraci��n de gastos y el an��lisis de riesgos.

Otolith morphometrics and population structure of Pacific sardine (Sardinops sagax) along the west coast of North America

The broad distribution of Pacific sardine (Sardinops sagax) along the Pacif ic coast of North America makes it difficult for fisheries managers to identify regional stocks of this dominant small pelagic species. An investigation of morphometric characteristics of otoliths of Pacific sardine across most of their range revealed regional differences in populations. In a survey of over 2000 otoliths, all ages (with an emphasis on age-1 recruits) were compared. Principal components analysis, multivariate analysis of variance, and a novel method derived from regression and residuals calculations, termed perimeter-weight profiles (PWPs), revealed otolith similarities and differences. The results of the different approaches to statistical comparisons did not always agree. Sardine otoliths from Mexican waters were generally lighter and more lobate than those from U.S. and Canadian populations. Age-1 otoliths from northern California in 2006���07 tended to be heavier and smoother than those from other areas, including year-class cohorts from southern California. Comparisons of age-groups and year-classes of northern California otoliths with the use of the PWP models indicated signif icant trends in year-to-year patterns. In conjunction with other established indices of population structure, otolith PWPs are a useful tool for identifying local and regional stocks of Pacific sardine and may help distinguish populations of other fish species as well.

Scientific statistics and graphics on the Macintosh

The personal computer has become commonplace on the desk of most scientists. As hardware costs have plummeted, software capabilities have expanded enormously, permitting the scientist to examine extremely large datasets in novel ways. Advances in networking now permit rapid transfer of large datasets, which can often be used unchanged from one machine to the next. In spite of these significant advances, many scientists still use their personal computers only for word processing or e-mail, or as "dumb terminals". Many are simply unaware of the richness of software now available to statistically analyze and display scientific data in highly innovative ways. This paper presents several examples drawn from actual climate data analysis that illustrate some novel and practical features of several widely-used software packages for Macintosh computers.

������������������������

This paper gives definitions of urban forest and describes the research contents about this comprehensive subject.It provides an overview of the past and current research on urban forest from three aspects:the analysis about the structure of urban forest,the ecological values,and the planning and management of urban forest.This paper also holds a discussion about the development on this important subject.It includes urban forest and hydrology,urban forest and global climate change,analysis of urban rural ecotone interface,and the application of modern information technology in urban forest.

���������������������������������������������������������������������������

Based on the theories of sequence stratigraphy and sedimentology, as well as comprehensive studies of seismic data, drilling data, core interpretation and setting of this area, the thesis presents an analysis for Mesozoic formation in Dinan uplift. By means of recognizing the boundary of the sequence, dividing and correlating the systems tract, Mesozoic of Dinan uplift is divided into ten sequences and twenty-five systems tracts during the establishment of the sequence framework. In the framework, some sequences are featured by mature systems of lowstand, water-transgression and highstand, while some undeveloped systems of lowstand or highstand. The main sedimentary facies in Mesozoic of Dinan uplift are braided river, meandering river, delta and lake. The braided river was divided into sandy river and rudaceous river by the lithology of the river channel and was divided into dry climate and wet climate condition by the color of the flood plain. Additionally, The concept of ���wetland��� is put forward for the first time and regarded as the consequence of wet climate. The analysis includes the classification of six types of traps: (1) stratigraphic overlap trap, (2) lithologic trap with updip pinchout, (3) stratigraphic unconformity trap, (4) fault-lithology trap, (5) fault trap, (6) anticlinal trap, and combining with the research of the characteristics and distribution rules for the known reservoir, it draws out that ���fault control��� is the petroleum accumulation pattern in this area, in which fault is the key element of the transporting system. Finally the thesis concludes the distribution characteristics and optimized some targets for the potential exploration zone.

13������������������������������������������������������������

The loess-paleosols in the Chinese loess plateau and Europe are the main eolian sediment sequences in mid-latitude area of north hemisphere. They record not only the paleoclimatic and paleoenvironmental processes since the last interglacial, but also the configuration of magnetic field during polarity transition. Comparisons of environmental magnetism, paleomagnetism and climate proxy analysis has been made for the loess/paleosol sequences in Datong and Czech Republic. The Datong loess/paleosol sequence is composed of the Holocene soil SO, the last glacial loess LI, the last interglacial soil SI and the upper penultimate loess L2. A basalt layer occurs in L2. The main magnetic minerals in LI and SI are magnetite, maghemite and ilmenite. The presence of local volcanic elastics in the loess and the characteristics of the magnetic minerals indicate that there are local materials in Datong loess, which differentiate the Datong loess from the central and eastern loess of the Chinese Loess Plateau. In addition, there are four polarity events in Datong loess, which are generally consistent with Gothenburg> Mono Lake, Laschamp and Blake events. Some signals of the East Asia monsoon were recorded in the Datong loess/paleosol sequences. Magnetic susceptibility, the content of >63um grains and the organic matter are used as climate proxies, which are similar to those of the typical eolian sediments in the loess plateau. In addition, it is possible that the Datong loess also recorded the Younger Dryas and the climatic fluctuations during the Holocene. The main magnetic minerals in the loess/paleosol at Znojmo section are magnetite, maghemite, hematite, pyrite, pyrrhotite and goethite. The morphology of these grains reveals that the iron sulfides originated from the eluvium loam above hypothetical ore deposits in the vicinity of the section or glaciofluvial sediments from nearby glacial margins. The pattern of the susceptibility variation at Dolni Vestonice section is coincident with that of the organic matter content. The grain size variation along the section recorded the climate instability since the last interglacial. The climate events in the Dolni Vestonice section may be correlated with the Heinrich events recorded in North Atlantic sediments, suggesting they controlled by the same marine-continent climate system.

������������������������������������

The research objectives were to investigate the psychological structure of employees' organizational commitments(OCs), and its antecedents, and to examine the relative effects of employees' OCs to their performances. In order to deeply uncover the nature of OCs, some standard methods, such as in-depth interview, focus-group, semi-open questionnaire, standard questionnaire etc., were employed. In data analysis, not only some common statistical methods, such as multivariate analysis of variance, cross-table analysis, factor analysis, but also some forefront ones, such as confirmatory factor analysis and path analysis of SEM, were used. The paper covers six chapters: 1) In the first chapter, Firstly some previous empirical studies, which examined structures, antecedents, correlates, and/or consequences of organizational commitment in China and Western countries, were summarized. This summary covers most of the respectable researchers' works of this field, such as H.S.Becker, B.Buchanan, L.W.Porter, G. Ritzer, H.M.Trice, J.A.Alutto, L.G.Hrebiniak, R.T.Mowday, J.P.Meyer, N.J.Allen, G.W.McGee, R.C.Ford, R.Eisenberger, etc. Then three theoretical hypothesis were put forward as following: ��� In China, OCs should be multidimensional psychological structures, which means there should exist more than one type of OCs; ��� There should be some different antecedents to different OCs; ��� Employees with different types of OC should perform differently in their works. Finally the theoretical and practical significance were discussed. 2) In the second chapter, great efforts were made to investigate the OC types. Firstly, in-depth interview with managers and employees, semi-open questionnaire, and some other methods were used in the pilot research to gather much qualitative material. Then OC questionnaire was designed to get quantitative data in about 20 enterprises, including state-owned, collective-owned, wholly foreign-funded, and joint-ventures. During revising of this questionnaire, there were about 5000 samples surveyed. after factor analysis, the data shows that there should be 5 types of OCs in China, which were respectively named as Affective Commitment, Normative commitment, Ideal Commitment, Economic Commitment, Choice Commitment. Thirdly, confirmatory factor analysis method was used to successfully confirm this 5-factor model. Finally, Cronbach a and test-retest correlate indicate that this questionnaire is reliable. Since factor analysis result has show its construct validity, a simple criterion-related validity research was conducted. 3) In order to investigate the correlation between different OC and employee performance and different antecedents of OC, 5 other questionnaires, such as Employee Satisfaction Questionnaire, Perceived Organizational Support Questionnaire, Social Exchange Questionnaire, Altruism Scale, and Leader Confidence Scale were revised in the third chapter. 4)In the fourth chapter, a lot of correlates, cross-table analysis were conducted to show the correlation between different OCs and 10 performances, which indicate employees with different OCs will show different performance in 10 variables, such as altruism, etc. 5) In the fifth chapter, correlate analysis, multivariate of analysis, and path analysis of SEM were used to investigate the antecedents of OC. A satisfactory model showing the correlation between OC and their antecedents was confirmed. 6) In the last chapter, all researches about OC, and its limitations were summarized.

Profiling the ionome of rice and its use in discriminating geographical origins at the regional scale, China

<p>Element profile was investigated for their use to trace the geographical origin of rice (Oryza sativa L.) samples. The concentrations of 13 elements (calcium (Ca), potassium (K), magnesium (Mg), phosphorus (P), boron (B), manganese (Mn), iron (Fe), nickel (Ni), copper (Cu), arsenic (As), selenium (Se), molybdenum (Mo), and cadmium (Cd)) were determined in the rice samples by inductively coupled plasma optical emission and mass spectrometry. Most of the essential elements for human health in rice were within normal ranges except for Mo and Se. Mo concentrations were twice as high as those in rice from Vietnam and Spain. Meanwhile, Se concentrations were three times lower in the whole province compared to the Chinese average level of 0.088 mg/kg. About 12% of the rice samples failed the Chinese national food safety standard of 0.2 mg/kg for Cd. Combined with the multi-elemental profile in rice, the principal component analysis (PCA), discriminant function analysis (DFA) and Fibonacci index analysis (FIA) were applied to discriminate geographical origins of the samples. Results indicated that the FIA method could achieve a more effective geographical origin classification compared with PCA and DFA, due to its efficiency in making the grouping even when the elemental variability was so high that PCA and DFA showed little discriminatory power. Furthermore, some elements were identified as the most powerful indicators of geographical origin: Ca, Ni, Fe and Cd. This suggests that the newly established methodology of FIA based on the ionome profile can be applied to determine the geographical origin of rice.</p>

Choice of commuting mode among employees: Do home neighborhood environment, worksite neighborhood environment, and worksite policy and supports matter?

<p>BACKGROUND: Promoting the use of public transit and active transport (walking and cycling) instead of car driving is an appealing strategy to increase overall physical activity.</p><p>PURPOSE: To quantify the combined associations between self-reported home and worksite neighborhood environments, worksite support and policies, and employees' commuting modes.</p><p>METHOD: Between 2012 and 2013, participants residing in four Missouri metropolitan areas were interviewed via telephone (n = 1,338) and provided information on socio-demographic characteristics, home and worksite neighborhoods, and worksite support and policies. Commuting mode was self-reported and categorized into car driving, public transit, and active commuting. Commuting distance was calculated using geographic information systems. Commuters providing completed data were included in the analysis. Multivariate logistic regression models were used to examine the correlates of using public transit and active commuting.</p><p>RESULT: The majority of participants reported commuting by driving (88.9%); only 4.9% used public transit and 6.2% used active modes. After multivariate adjustment, having transit stops within 10-15 minutes walking distance from home (p=0.05) and using worksite incentive for public transit (p&lt;0.001) were associated with commuting by public transit. Commuting distance (p&lt;0.001) was negatively associated with active commuting. Having free or low cost recreation facilities around the worksite (p=0.04) and using bike facilities to lock bikes at the worksite (p&lt;0.001) were associated with active commuting.</p><p>CONCLUSION: Both environment features and worksite supports and policies are associated with the choice of commuting mode. Future studies should use longitudinal designs to investigate the potential of promoting alternative commuting modes through worksite efforts that support sustainable commuting behaviors as well as the potential of built environment improvements.</p>

Organic contaminants in urban soils: major inputs and potential risks

Urban soil quality may be severely affected by hydrophobic organic contaminants (HOCs), impairing environmental quality and human health. A comprehensive study was conducted in two contrasting Portuguese urban areas (Lisbon and Viseu) in order to assess the levels and potential risks of these contaminants, to identify sources and study their behaviour in soils. The concentrations of HOCs were related to the size of the city, with much higher contamination levels observed in Lisbon urban area. Source apportionment was performed by studying the HOCs profiles, their relationship with potentially toxic elements and general characteristics of soil using multivariate statistical methods. Lisbon seems to be affected by nearby sources (traffic, industry and incineration processes) whereas in Viseu the atmospheric transport may be playing an important role. In a first tier of risk assessment (RA) it was possible to identify polycyclic aromatic hydrocarbons (PAHs) in Lisbon soils as a potential hazard. The levels of PAHs in street dusts were further studied and allowed to clarify that traffic, tire and pavement debris can be an important source of PAHs to urban soils. Street dusts were also identified as being a potential concern regarding human and environmental health, especially if reaching the nearby aquatic bodies. Geostatistical tools were also used and their usefulness in a RA analysis and urban planning was discussed. In order to obtain a more realistic assessment of risks of HOCs to environment and human health it is important to evaluate their available fraction, which is also the most accessible for organisms. Therefore, a review of the processes involved on the availability of PAHs was performed and the outputs produced by the different chemical methods were evaluated. The suitability of chemical methods to predict bioavailability of PAHs in dissimilar naturally contaminated soils has not been demonstrated, being especially difficult for high molecular weight compounds. No clear relationship between chemical and biological availability was found in this work. Yet, in spite of the very high total concentrations found in some Lisbon soils, both the water soluble fraction and the body residues resulting from bioaccumulation assays were generally very low, which may be due to aging phenomena. It was observed that the percentage of soluble fraction of PAHs in soils was found to be different among compounds and mostly regulated by soil properties. Regarding bioaccumulation assays, although no significant relationship was found between soil properties and bioavailability, it was verified that biota-to-soil bioaccumulation factors were sample dependent rather than compound dependent. In conclusion, once the compounds of potential concern are targeted, then performing a chemical screening as a first tier can be a simple and effective approach to start a RA. However, reliable data is still required to improve the existing models for risk characterization.

Impact of prescribed fire on the chemical properties of soil

Prescribed fire is a common forest management tool used in Portugal to reduce the fuel load availability and minimize the occurrence of wildfires. In addition, the use of this technique also causes an impact to ecosystems. In this presentation we propose to illustrate some results of our project in two forest sites, both located in Northwest Portugal, where the effect of prescribed fire on soil properties were recorded during a period of 6 months. Changes in soil moisture, organic matter, soil pH and iron, were examined by Principal Component Analysis multivariate statistics technique in order to determine impact of prescribed fire on these soil properties in these two different types of soils and determine the period of time that these forest soils need to recover to their pre-fire conditions, if they can indeed recover. Although the time allocated to this study does not allow for a widespread conclusion, the data analysis clearly indicates that the pH values are positively correlated with iron values at both sites. In addition, geomorphologic differences between both sampling sites, Gramelas and Anjos, are relevant as the soils��� properties considered have shown different performances in time. The use of prescribed fire produced a lower impact in soils originated from more amended bedrock and therefore with a ticker humus covering (Gramelas) than in more rocky soils with less litter covering (Anjos) after six months after the prescribed fire occurrence.

Paleoaltera����es e cimenta����es nos dep��sitos continentais terci��rios de Portugal central: import��ncia na interpreta����o de processos antigos

This paper describes the palaeoweathering, cementation, clay minerals association and other closely related characteristics of central Portugal allostratigraphic Tertiary units (SLD's), that can be used for palaeoclimatic interpretation and palaeoenvironmental reconstruction. Lateral and vertical changes in palaeosols are of value for improving our understanding of the autocyclic and allocyclic controls on sediment acumulation in an alluvial basin, but they can also have stratigraphic importance. In some cases it is concluded that the geomorphological setting may have been more decisive than climatic conditions to the production of the palaeoweathering. During late Palaeogene (SLD7-8), surface and near-surface silicification were developed on tectonically stable land surfaces of minimal local relief under a semi-arid climate; groundwater flow was responsible for some eodiagenesis calcareous accumulations, with the neoformation of palygorskite. Conditions during the Miocene (SLD9-11) were favourable for the smectization of the metamorphic basement and arenization of granites. Intense rubefaction associated with basement conversion into clay (illite and kaolinite), is ascribed to internal drainage during late Messinian-Zanclean (SLD12). During Piacenzian (SLD13) intense kaolinization and hydromorphism are typical, reflecting a more humid and hot temperate climate and important Atlantic fluvial drainage. Later on (Gelasian-early Pleistocene ?; SLD14). more cold and dry conditicns are interpreted, at the beginning of the fluvial incision sage. Silica cementation is identified in the upper Eocence-Oligocene ? (SLD18; the major period of silicification), middle to upper Miocene (SLD10)and upper Tortonian-Messinian (SLD11); these occurrences are compatible with either arid or semi-arid conditions and the establishment of a flat landscape upon which a silcrete was developed.

Un mod��le syst��mique d���analyse de changement dans les organisations : le cas de l���analyse de l���implantation du projet PATH de l���OMS Europe en France

Th��se de doctorat effectu��e en cotutelle au D��partement d���administration de la sant�� Facult�� de m��decine, Universit�� de Montr��al et �� l�����cole doctorale Biologie-Sant�� Facult�� de m��decine, Universit�� de Nantes, France

Adaptive Real-time Anomaly-based Intrusion Detection using Data Mining and Machine Learning Techniques

Die zunehmende Vernetzung der Informations- und Kommunikationssysteme f��hrt zu einer weiteren Erh��hung der Komplexit��t und damit auch zu einer weiteren Zunahme von Sicherheitsl��cken. Klassische Schutzmechanismen wie Firewall-Systeme und Anti-Malware-L��sungen bieten schon lange keinen Schutz mehr vor Eindringversuchen in IT-Infrastrukturen. Als ein sehr wirkungsvolles Instrument zum Schutz gegen��ber Cyber-Attacken haben sich hierbei die Intrusion Detection Systeme (IDS) etabliert. Solche Systeme sammeln und analysieren Informationen von Netzwerkkomponenten und Rechnern, um ungew��hnliches Verhalten und Sicherheitsverletzungen automatisiert festzustellen. W��hrend signatur-basierte Ans��tze nur bereits bekannte Angriffsmuster detektieren k��nnen, sind anomalie-basierte IDS auch in der Lage, neue bisher unbekannte Angriffe (Zero-Day-Attacks) fr��hzeitig zu erkennen. Das Kernproblem von Intrusion Detection Systeme besteht jedoch in der optimalen Verarbeitung der gewaltigen Netzdaten und der Entwicklung eines in Echtzeit arbeitenden adaptiven Erkennungsmodells. Um diese Herausforderungen l��sen zu k��nnen, stellt diese Dissertation ein Framework bereit, das aus zwei Hauptteilen besteht. Der erste Teil, OptiFilter genannt, verwendet ein dynamisches "Queuing Concept", um die zahlreich anfallenden Netzdaten weiter zu verarbeiten, baut fortlaufend Netzverbindungen auf, und exportiert strukturierte Input-Daten f��r das IDS. Den zweiten Teil stellt ein adaptiver Klassifikator dar, der ein Klassifikator-Modell basierend auf "Enhanced Growing Hierarchical Self Organizing Map" (EGHSOM), ein Modell f��r Netzwerk Normalzustand (NNB) und ein "Update Model" umfasst. In dem OptiFilter werden Tcpdump und SNMP traps benutzt, um die Netzwerkpakete und Hostereignisse fortlaufend zu aggregieren. Diese aggregierten Netzwerkpackete und Hostereignisse werden weiter analysiert und in Verbindungsvektoren umgewandelt. Zur Verbesserung der Erkennungsrate des adaptiven Klassifikators wird das k��nstliche neuronale Netz GHSOM intensiv untersucht und wesentlich weiterentwickelt. In dieser Dissertation werden unterschiedliche Ans��tze vorgeschlagen und diskutiert. So wird eine classification-confidence margin threshold definiert, um die unbekannten b��sartigen Verbindungen aufzudecken, die Stabilit��t der Wachstumstopologie durch neuartige Ans��tze f��r die Initialisierung der Gewichtvektoren und durch die St��rkung der Winner Neuronen erh��ht, und ein selbst-adaptives Verfahren eingef��hrt, um das Modell st��ndig aktualisieren zu k��nnen. Dar��ber hinaus besteht die Hauptaufgabe des NNB-Modells in der weiteren Untersuchung der erkannten unbekannten Verbindungen von der EGHSOM und der ��berpr��fung, ob sie normal sind. Jedoch, ��ndern sich die Netzverkehrsdaten wegen des Concept drif Ph��nomens st��ndig, was in Echtzeit zur Erzeugung nicht station��rer Netzdaten f��hrt. Dieses Ph��nomen wird von dem Update-Modell besser kontrolliert. Das EGHSOM-Modell kann die neuen Anomalien effektiv erkennen und das NNB-Model passt die ��nderungen in Netzdaten optimal an. Bei den experimentellen Untersuchungen hat das Framework erfolgversprechende Ergebnisse gezeigt. Im ersten Experiment wurde das Framework in Offline-Betriebsmodus evaluiert. Der OptiFilter wurde mit offline-, synthetischen- und realistischen Daten ausgewertet. Der adaptive Klassifikator wurde mit dem 10-Fold Cross Validation Verfahren evaluiert, um dessen Genauigkeit abzusch��tzen. Im zweiten Experiment wurde das Framework auf einer 1 bis 10 GB Netzwerkstrecke installiert und im Online-Betriebsmodus in Echtzeit ausgewertet. Der OptiFilter hat erfolgreich die gewaltige Menge von Netzdaten in die strukturierten Verbindungsvektoren umgewandelt und der adaptive Klassifikator hat sie pr��zise klassifiziert. Die Vergleichsstudie zwischen dem entwickelten Framework und anderen bekannten IDS-Ans��tzen zeigt, dass der vorgeschlagene IDSFramework alle anderen Ans��tze ��bertrifft. Dies l��sst sich auf folgende Kernpunkte zur��ckf��hren: Bearbeitung der gesammelten Netzdaten, Erreichung der besten Performanz (wie die Gesamtgenauigkeit), Detektieren unbekannter Verbindungen und Entwicklung des in Echtzeit arbeitenden Erkennungsmodells von Eindringversuchen.

Comparison of survival rates of captive-reared and wild-bred Mauritius kestrels (Falco punctatus) in a re-introduced population

Re-introduction is a technique widely used in the conservation of threatened bird species. With advances in aviculture the use of captive-produced individuals as the release stock is becoming more commonplace, and ideally, survival of captive-produced, released individuals should be no different from their wild-bred counterparts. During the late 1980s the Critically Endangered Mauritius kestrel (Falco punctatus) was successfully re-introduced into the Bambous mountain range, Mauritius, some 30 years after its local extinction. Between 1987 and 2001 the developing population was closely monitored enabling us to construct re-sighting histories for 88 released and 284 wild-bred kestrels. We used age-structured models in the survival analysis software program MARK to determine if an individual's origin influenced its subsequent survival. Our analysis indicated no compelling evidence for reduced survival among juvenile captive-reared and released individuals, relative to their wild-bred counterparts, across the majority of cohorts and only limited evidence of a cohort-specific effect. This study illustrates that despite the lack of a formal experimental approach it is still feasible to conduct an assessment of re-introduction outcomes and techniques.