Análisis cinemático de robots antropomórficos con cuaterniones duales

[ES]Este documento presenta una teoría de análisis cinemático capaz de unificar posición/orientación describiendo el movimiento de la herramienta de un robot mediante un cuaternión dual que envuelve traslación y rotación. Se desarrolla la cinemática directa de dos robots, uno redundante y otro no redundante a fin de evaluar la validez del método en ambos casos. Por último, se comparan los resultados de dicha teoría con los resultados que ofrece la conocida teoría de las matrices de transformación homogéneas.

Measurement of the wavefront of a laser diode system for intersatellite communication by a Jamin double-shearing interferometer

The frame of a laser diode transmitter for intersatellite communication is concisely introduced. A simple, novel and visual method for measuring the diffraction-limited wavefront of the transmitter by a Jamin double-shearing interferometer is proposed. To verify the validity of the measurement, the far-field divergence of beam is additionally rigorously analysed in terms of the Fraunhofer diffraction. The measurement, the necessary analyses and discussion are given in detail. By directly measuring the fringe widths and quantitatively interpreting the interference fringes, the minimum detectable wavefront height (DWH) of the wavefront is only 0.2 gimel (the distance between the perfect plane wavefront and the actual wavefront at the transmitting aperture) and the corresponding divergence is only 65.84 mu rad. This indicates that the wavefront approaches the diffraction-limited condition. The results show that this interferometer is a powerful tool for testing the semiconductor laser beam's wavefront, especially the diffraction-limited wavefront.

I. The crystal structure of potassium bis(tricyanovinyl)amine. II. Nuclear magnetic resonance studies of alkali halide solutions. III. Elucidation of the intramolecular hydrogen bond in acetylacetone by the deuterium isotope effect on the chemical shift of the bridge hydrogen

Part I

Potassium bis-(tricyanovinyl) amine, K⁺N[C(CN)=C(CN)₂]₂^-, crystallizes in the monoclinic system with the space group Cc and lattice constants, a = 13.346 ± 0.003 Å, c = 8.992 ± 0.003 Å, B = 114.42 ± 0.02°, and Z = 4. Three dimensional intensity data were collected by layers perpendicular to b* and c* axes. The crystal structure was refined by the least squares method with anisotropic temperature factor to an R value of 0.064.

The average carbon-carbon and carbon-nitrogen bond distances in –C-CΞN are 1.441 ± 0.016 Å and 1.146 ± 0.014 Å respectively. The bis-(tricyanovinyl) amine anion is approximately planar. The coordination number of the potassium ion is eight with bond distances from 2.890 Å to 3.408 Å. The bond angle C-N-C of the amine nitrogen is 132.4 ± 1.9°. Among six cyano groups in the molecule, two of them are bent by what appear to be significant amounts (5.0° and 7.2°). The remaining four are linear within the experimental error. The bending can probably be explained by molecular packing forces in the crystals.

Part II

The nuclear magnetic resonance of ⁸¹Br and ¹²⁷I in aqueous solutions were studied. The cation-halide ion interactions were studied by studying the effect of the Li⁺, Na⁺, K⁺, Mg⁺⁺, Cs⁺ upon the line width of the halide ions. The solvent-halide ion interactions were studied by studying the effects of methanol, acetonitrile, and acetone upon the line width of ⁸¹Br and ¹²⁷I in the aqueous solutions. It was found that the viscosity plays a very important role upon the halide ions line width. There is no specific cation-halide ion interaction for those ions such as Mg⁺⁺, Di⁺, Na⁺, and K⁺, whereas the Cs⁺ - halide ion interaction is strong. The effect of organic solvents upon the halide ion line width in aqueous solutions is in the order acetone ˃ acetonitrile ˃ methanol. It is suggested that halide ions do form some stable complex with the solvent molecules and the reason Cs⁺ can replace one of the ligands in the solvent-halide ion complex.

Part III

An unusually large isotope effect on the bridge hydrogen chemical shift of the enol form of pentanedione-2, 4(acetylacetone) and 3-methylpentanedione-2, 4 has been observed. An attempt has been made to interpret this effect. It is suggested from the deuterium isotope effect studies, temperature dependence of the bridge hydrogen chemical shift studies, IR studies in the OH, OD, and C=O stretch regions, and the HMO calculations, that there may probably be two structures for the enol form of acetylacetone. The difference between these two structures arises mainly from the electronic structure of the π-system. The relative population of these two structures at various temperatures for normal acetylacetone and at room temperature for the deuterated acetylacetone were calculated.

Nuclear magnetic resonance studies of protein conformation: I. Ribonuclease S. II. Hemoglobin

Fluorine nuclear magnetic resonance techniques have been used to study conformational processes in two proteins labeled specifically in strategic regions with covalently attached fluorinated molecules. In ribonuclease S, the ϵ-amino groups of lysines 1 and 7 were trifluoroacetylated without diminishing enzymatic activity. As inhibitors bound to the enzyme, changes in orientation of the peptide segment containing the trifluoroacetyl groups were detected in the nuclear magnetic resonance spectrum. pH Titration of one of the histidines in the active site produced a reversal of the conformational process.

Hemoglobin was trifluoroacetonylated at the reactive cysteine 93 of each β chain. The nuclear magnetic resonance spectrum of the fluorine moiety reflected changes in the equilibrium position of the β chain carboxy terminus upon binding of heme ligands and allosteric effectors. The chemical shift positions observed in deoxy- and methemoglobin were pH dependent, undergoing an abnormally steep apparent titration which was not observed in hemoglobin from which histidine β 146 had been removed enzymatically. The abnormal sharpness of these pH dependent processes is probably due to interactions between several ionizing groups.

The carbon monoxide binding process was studied by concurrent observation of the visible and nuclear magnetic resonance spectra of trifluoroacetonylated hemoglobin at fractional ligand saturations throughout the range 0-1.0. Comparison of the ligand binding process observed in these two ways yields evidence for a specific order of ligand binding. The sequence of events is sensitive to the pH and organic phosphate concentration of the medium, demonstrating the delicately balanced control system produced by interactions between the hemoglobin subunits and the effectors.

Isotope shift studies in the rare earths and lead

Isotope shifts of K_α1 x-ray transitions were measured for the Neodymium isotopes Nd 142, 143, 144, 145, 146, 148 and 150, the Samarium isotopes Sm 147, 148, 149, 150, 152 and 154, the Gadolinium isotopes Gd 154, 155, 156, 157, 158 and 160, the Dysprosium isotopes Dy 162 and 164, the Erbium isotopes Er 166, 168 and 170, the Hafnium isotopes Hf 178 and 180 and the Lead isotopes Pb 204, 206, 207 and 208. A curved crystal Cauchois spectrometer was used. The analysis of the measurement furnished the variation of the mean square charge radius of the nucleus, δ˂r²˃, for 23 isotope pairs. The experimental results were compared with theoretical values from nuclear models. Combining the x-ray shifts and the optical shifts in Nd and Sm yielded the optical mass shifts. An anomaly was observed in the odd-even shifts when the optical and the x-ray shifts were plotted against each other.

El efecto placebo en productos artísticos; el caso de la poesía

[ES] Esta investigación aporta evidencias concluyentes de que existe el efecto placebo en la valoración de un producto artístico, en este caso un poema. Tras la aplicación de diferentes metodologías y testando divergentes poemas, los resultados indican que el nombre del autor influye significativamente en la valoración subjetiva que se hace de la obra. De este modo, esta investigación da respuesta a la pregunta: ¿puede una pieza literaria ser evaluada de manera diferente en función de la persona que firma esa creación? Los resultados de este estudio ciertamente muestran ese efecto: un poema es evaluado de manera significativamente más favorable cuando el que lo lee cree que esa obra está firmada por un gran artista, en contraposición a que ese poema fuera anónimo. O lo que es lo mismo, el nombre de marca condiciona la percepción del producto. Sin embargo, el efecto placebo se debilita cuando el estímulo es evaluado por personas con alta experiencia con el producto. Las implicaciones para el marketing y para el sector editorial son discutidas finalmente.

Alimentação fora do domicílio no Brasil e sua associação com obesidade: pesquisa de orçamentos familiares 2002-2003

A alimentação fora do domicílio tem aumentado em muitos países, inclusive no Brasil, e esse hábito tem sido associado com o aumento da obesidade em países desenvolvidos. O objetivo desse trabalho é caracterizar a alimentação fora do domicílio na população brasileira e avaliar sua associação com a obesidade. Utilizou-se os dados da Pesquisa de Orçamentos Familiares (POF) 2002-2003 realizada pelo Instituto Brasileiro de Geografia e Estatística. Foram incluídos na análise todos os indivíduos acima de 10 anos (N=146.525). Estimou-se as frequências de consumo de alimentos fora do domicílio segundo idade, gênero, nível de escolaridade, renda mensal familiar per capita, situação do domicílio (urbana/rural) e localização do domicílio (município da capital do estado ou outro). O consumo de alimentos fora do domicílio foi definido como a aquisição de, pelo menos, um tipo de alimento para consumo fora de casa no período de sete dias. Foram também estimadas as frequências do consumo de nove grupos de alimentos (bebidas alcoólicas, refrigerantes, biscoitos, frutas, doces, leite e derivados, refeições, fast foods e salgadinhos), segundo idade, gênero, renda mensal familiar per capita e situação do domicílio. Uma segunda análise avaliou a associação entre consumo fora de casa e obrepeso/obesidade dos indivíduos entre 25 e 65 anos de idade residentes em domicílios situados na área urbana (N=56.178). A prevalência de consumo fora do domicílio foi de 35%, sendo maior para os adultos jovens, do gênero masculino, com maior nível de escolaridade e de renda mensal familiar per capita, residentes em domicílios situados na área urbana e no município da capital. O grupo dos refrigerantes entre os demais itens alimentares foi o que apresentou maior frequência de consumo fora de casa no Brasil. O consumo de alimentos fora de casa foi positivamente associado com sobrepeso e obesidade somente em homens. O consumo de refeições e de refrigerantes fora do domicílio apresentou maior associação com sobrepeso e obesidade entre os homens, no entanto apresentou associação negativa entre as mulheres. Os gastos com refeições consumidas fora do domicílio foram em média quase três vezes maiores do que os gastos com o consumo de fast-foods. Em conclusão, a idade, o gênero, a escolaridade, a renda e o local de moradia influenciam o consumo de alimentos fora do domicílio, fatores a serem incorporados nas políticas públicas de alimentação saudável. Particularmente os homens parecem fazer escolhas alimentares menos saudáveis quando se alimentam fora do domicílio.