Liikealustan suunnittelu liikkuvan työkoneen simulaattoriin

Työssä suunniteltiin liikealusta liikkuvan työkoneen koulutussimulaattoriin. Suunnittelu aloitettiin mittaamalla lastauskoneen dynaamisia ominaisuuksia. Mittausdatan ja koneen toiminnan analysoinnin perusteella valittiin liikealustan perusrakenne. Toimilaitteiden mitoitus tapahtui simulointimallin avulla, jossa käytettiin mitattuja kiihtyvyyksiä, signaalin suodatusta, käänteiskinematiikkaa ja käänteisdynamiikkaa. Simulointimallia käytettiin myös mekaanisen rakenteen mitoituksessa. Lisäksi visualisoinnin ja ohjauksen toteutusta tutkittiin. Työn tavoitteena oli kehittää mahdollisimman realistisen liiketuntuman toteuttava ja kustannustehokas liikealusta. Lisäksi pyrittiin matalaan ja helposti siirrettävissä olevaan rakenteeseen. Liikealustan liikkeet pyrittiin toteuttamaan sähkökäytöillä. Suunnittelun tuloksena saatiin kolmen vapausasteen liikealusta, joka on toteutettu servomoottoreilla. Työssä suunnitellusta liikealustasta on tarkoitus rakentaa fyysinen prototyyppi ja liittää se lastauskoneen reaaliaikasimulaattoriin.

Transverse and longitudinal components of the propagating and evanescent waves associated to radially-polarized nonparaxial fields

A comparison is established between the contributions of transverse and longitudinal components of both the propagating and the evanescent waves associated to freely propagating radially polarized nonparaxial beams. Attention is focused on those fields that remain radially polarized upon propagation. In terms of the plane-wave angular spectrum of these fields, analytical expressions are given for determining both the spatial shape of the above components and their relative weight integrated over the whole transverse plane. The results are applied to two kinds of doughnut-like beams with radial polarization, and we compare the behavior of such fields at two transverse planes.

Câmara de ionização de placas paralelas para radiação-X de radiografia convencional e mamografia

OBJETIVO: Desenvolver uma câmara de ionização de placas paralelas de dupla face para determinação de kerma no ar e taxa de kerma no ar em campos de radiação-X utilizados em radiografia convencional e mamografia. MATERIAIS E MÉTODOS: A câmara desenvolvida tem janelas de entrada de poliéster aluminizado, elétrodos internos e anéis de guarda de alumínio em uma face (face A) e de grafite na outra (face G). Neste trabalho foram testadas as características operacionais de linearidade, dependência angular e energética de resposta. RESULTADOS: A linearidade de resposta foi de 0,86% para a face A e de 0,92% para a face G. Para ângulos de incidência da radiação de 0° a ± 5°, a variação da resposta relativa foi menor que 0,8% para ambas as faces da câmara. A dependência energética de resposta foi de 0,8% para a face A nas qualidades de raios-X para diagnóstico convencional e de 2,4% para a face G da câmara nas qualidades de raios-X para mamografia. CONCLUSÃO: Esta câmara pode ser utilizada rotineiramente na determinação de kerma no ar e taxa de kerma no ar em feixes de raios-X utilizados em radiografia convencional e mamografia.

Radial displacement of a fluid annulus in a rotating Hele-Shaw cell

The radial displacement of a fluid annulus in a rotating circular HeleShaw cell has been investigated experimentally. It has been found that the flow depends sensitively on the wetting conditions at the outer interface. Displacements in a prewet cell are well described by Darcy"s law in a wide range of experimental parameters, with little influence of capillary effects. In a dry cell, however, a more careful analysis of the interfacemotion is required; the interplay between a gradual loss of fluid at the inner interface, and the dependence of capillary forces at the outer interface on interfacial velocity and dynamic contact angle, result in a constant velocity for the interfaces. The experimental results in this case correlate in the form of an empirical scaling relation between the capillary number Ca and a dimensionless group, related to the ratio of centrifugal to capillary forces, which spans about three orders of magnitude in both quantities. Finally, the relative thickness of the coating film left by the inner interface is obtained as a function of Ca.

Comparison of Four Sections for Analyzing Running Mechanics Alterations During Repeated Treadmill Sprints.

We compared different approaches to analyze running mechanics alterations during repeated treadmill sprints. Thirteen active male athletes performed five 5-second sprints with 25 seconds of recovery on an instrumented treadmill. This approach allowed continuous measurement of running kinetics/kinematics and calculation of vertical and leg stiffness variables that were subsequently averaged over 3 distinct sections of the 5-second sprint (steps 2-5, 7-10, and 12-15) and for all steps (steps 2-15). Independently from the analyzed section, propulsive power and step frequency decreased with fatigue, while contact time and step length increased (P < .05). Except for step frequency, all mechanical variables varied (P < .05) across sprint sections. The only parameters that highly depend on running velocity (propulsive power and vertical stiffness) showed a significant interaction (P < .05) between the analyzed sections, with smaller magnitude of fatigue-induced change observed for steps 2-5. Considering all steps or only a few steps during early, middle, or late phases of 5-second sprints provides similar mechanical outcomes during repeated treadmill sprinting, although acceleration induces noticeable differences between the sections studied. Furthermore, quantifying mechanical alterations from the early acceleration phase may not be readily detectable, and is not recommended.

A minimal set of coordinates for describing humanoid shoulder motion

The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordinates are defined from bony landmarks and the scapulothoracic kinematic constraints. Independent from one another, they uniquely characterise the shoulder motion. A humanoid mechanism is then proposed with identical kinematic properties. It is then shown how minimal coordinates can be obtained for this mechanism and how the coordinates simplify both the motion-planning task and trajectory-tracking control. Lastly, the coordinates are also shown to have an application in the field of biomechanics where they can be used to model the scapulohumeral rhythm.

A comprehensive model for quantum noise characterization in digital mammography.

NlmCategory="UNASSIGNED">A version of cascaded systems analysis was developed specifically with the aim of studying quantum noise propagation in x-ray detectors. Signal and quantum noise propagation was then modelled in four types of x-ray detectors used for digital mammography: four flat panel systems, one computed radiography and one slot-scan silicon wafer based photon counting device. As required inputs to the model, the two dimensional (2D) modulation transfer function (MTF), noise power spectra (NPS) and detective quantum efficiency (DQE) were measured for six mammography systems that utilized these different detectors. A new method to reconstruct anisotropic 2D presampling MTF matrices from 1D radial MTFs measured along different angular directions across the detector is described; an image of a sharp, circular disc was used for this purpose. The effective pixel fill factor for the FP systems was determined from the axial 1D presampling MTFs measured with a square sharp edge along the two orthogonal directions of the pixel lattice. Expectation MTFs were then calculated by averaging the radial MTFs over all possible phases and the 2D EMTF formed with the same reconstruction technique used for the 2D presampling MTF. The quantum NPS was then established by noise decomposition from homogenous images acquired as a function of detector air kerma. This was further decomposed into the correlated and uncorrelated quantum components by fitting the radially averaged quantum NPS with the radially averaged EMTF(2). This whole procedure allowed a detailed analysis of the influence of aliasing, signal and noise decorrelation, x-ray capture efficiency and global secondary gain on NPS and detector DQE. The influence of noise statistics, pixel fill factor and additional electronic and fixed pattern noises on the DQE was also studied. The 2D cascaded model and decompositions performed on the acquired images also enlightened the observed quantum NPS and DQE anisotropy.

Connectivity and tissue microstructural alterations in right and left temporal lobe epilepsy revealed by diffusion spectrum imaging.

Focal epilepsy is increasingly recognized as the result of an altered brain network, both on the structural and functional levels and the characterization of these widespread brain alterations is crucial for our understanding of the clinical manifestation of seizure and cognitive deficits as well as for the management of candidates to epilepsy surgery. Tractography based on Diffusion Tensor Imaging allows non-invasive mapping of white matter tracts in vivo. Recently, diffusion spectrum imaging (DSI), based on an increased number of diffusion directions and intensities, has improved the sensitivity of tractography, notably with respect to the problem of fiber crossing and recent developments allow acquisition times compatible with clinical application. We used DSI and parcellation of the gray matter in regions of interest to build whole-brain connectivity matrices describing the mutual connections between cortical and subcortical regions in patients with focal epilepsy and healthy controls. In addition, the high angular and radial resolution of DSI allowed us to evaluate also some of the biophysical compartment models, to better understand the cause of the changes in diffusion anisotropy. Global connectivity, hub architecture and regional connectivity patterns were altered in TLE patients and showed different characteristics in RTLE vs LTLE with stronger abnormalities in RTLE. The microstructural analysis suggested that disturbed axonal density contributed more than fiber orientation to the connectivity changes affecting the temporal lobes whereas fiber orientation changes were more involved in extratemporal lobe changes. Our study provides further structural evidence that RTLE and LTLE are not symmetrical entities and DSI-based imaging could help investigate the microstructural correlate of these imaging abnormalities.

Running mechanical alterations during repeated treadmill sprints in hot versus hypoxic environments : a pilot study.

We determined if performance and mechanical running alterations during repeated treadmill sprinting differ between severely hot and hypoxic environments. Six male recreational sportsmen (team- and racket-sport background) performed five 5-s sprints with 25-s recovery on an instrumented treadmill, allowing the continuous (step-by-step) measurement of running kinetics/kinematics and spring-mass characteristics. These were randomly conducted in control (CON; 25°C/45% RH, inspired fraction of oxygen = 20.9%), hot (HOT; 38°C/21% RH, inspired fraction of oxygen = 20.9%; end-exercise core temperature: ~38.6°C) and normobaric hypoxic (HYP, 25°C/45% RH, inspired fraction of oxygen = 13.3%/simulated altitude of ~3600 m; end-exercise pulse oxygen saturation: ~84%) environments. Running distance was lower (P < 0.05) in HOT compared to CON and HYP for the first sprint but larger (P < 0.05) sprint decrement score occurred in HYP versus HOT and CON. Compared to CON, the cumulated distance covered over the five sprints was lower (P < 0.01) in HYP but not in HOT. Irrespective of the environmental condition, significant changes occurred from the first to the fifth sprint repetitions (all three conditions compounded) in selected running kinetics (mean horizontal forces, P < 0.01) or kinematics (contact and swing times, both P < 0.001; step frequency, P < 0.001) and spring-mass characteristics (vertical stiffness, P < 0.001; leg stiffness, P < 0.01). No significant interaction between sprint number and condition was found for any mechanical data. Preliminary evidence indicates that repeated-sprint ability is more impaired in hypoxia than in a hot environment, when compared to a control condition. However, as sprints are repeated, mechanical alterations appear not to be exacerbated in severe (heat, hypoxia) environmental conditions.

Estados expulsores y semipersonas en la Unión Europea

La aprobación en junio de 2008 por el Parlamento Europeo de la Directiva de retorno denominada también Directiva de la infamia o Directiva de expulsión consolida el proceso de involución que sobre los derechos humanos se viene produciendo en la Unión Europea desde que el miedo a la inmigración irregular se incardinó en sus instituciones. Si bien las legislaciones de extranjería de los años ochenta contenían normas que regulaban el internamiento y la expulsión no es hasta la Directiva 2001/40/CE que comienza a tomar forma una política comunitaria centrada en la inmigración irregular y las expulsiones de migrantes. Las medidas de retorno son, dice la Comisión europea,"una piedra angular de la política de migración de la UE". Desde entonces, la barbarie de los centros de retención e internamiento, el socavamiento de los derechos y la exclusión y criminalización de los migrantes extranjeros se han convertido en el caballo de batalla de las asociaciones defensoras de los derechos humanos. La erosión que las legislaciones y medidas de expulsión están provocado en los derechos y libertades y en las instituciones del Estado de derecho es inmensa. El retroceso y la erosión en los derechos y libertades es tan grande que ya no es posible continuar hablando sin más de Estados de derecho en la UE, sino más bien de máquinas administrativas para el internamiento y la expulsión, de"Estados expulsores"(1), donde las personas extranjeras son tratadas como semipersonas (2) e incluso como"no-personas" (3).

Excitação eletrônica das moléculas de metacrilato de metila e estireno na região do ultravioleta de vácuo

Angle-resolved electron energy-loss spectra have been measured for the methyl methacrylate (MMA) and styrene molecules in the 0 - 50 eV energy range. The spectra have been obtained at 1 keV incident energy, with an energy resolution of 0.8 eV and covering an angular range of 2.0 to 7.0 degrees. Within our knowledge, this is the first gas-phase excitation spectrum for MMA and styrene in this energy range. The spectra of MMA at small scattering angles are dominated by an intense peak at 6.7 eV followed by a broad band centered at about 16 eV. In the case of styrene, six bands can be observed in the spectra. Based on the angular behaviour of the excitation spectra of these molecules, the low-lying peaks observed are considered to be associated predominantly with dipole-allowed processes. In both cases, new bands can be observed for excitation energies greater than 20 eV. This could be associated with dipole-forbidden transitions to shake-up and doubly-excited states.

Imaging polarimetry of the fogbow: polarization characteristics of white rainbows measured in the high Arctic

The knowledge on the optics of fogbows is scarce, and their polarization characteristics have never been measured to our knowledge. To fill this gap we measured the polarization features of 16 fogbows during the Beringia 2005 Arctic polar research expedition by imaging polarimetry in the red, green and blue spectral ranges. We present here the first polarization patterns of the fogbow. In the patterns of the degree of linear polarization p, fogbows and their supernumerary bows are best visible in the red spectral range due to the least dilution of fogbow light by light scattered in air. In the patterns of the angle of polarization α fogbows are practically not discernible because their α-pattern is the same as that of the sky: the direction of polarization is perpendicular to the plane of scattering and is parallel to the arc of the bow, independently of the wavelength. Fogbows and their supernumeraries were best seen in the patterns of the polarized radiance. In these patterns the angular distance δ between the peaks of the primary and the first supernumerary and the angular width σ of the primary bow were determined along different radii from the center of the bow. δ ranged between 6.08° and 13.41° , while σ changed from 5.25° to 19.47° . Certain fogbows were relatively homogeneous, meaning small variations of δ and σ along their bows. Other fogbows were heterogeneous, possessing quite variable δ- and σ-values along their bows. This variability could be a consequence of the characteristics of the high Arctic with open waters within the ice shield resulting in the spatiotemporal change of the droplet size within the fog

Manipulador robótico con visión artificial

En los tiempos que corren la robótica forma uno de los pilares más importantes en la industria y una gran noticia para los ingenieros es la referente a las ventas de estos, ya que en 2013, unos 179.000 robots industriales se vendieron en todo el mundo, de nuevo un máximo histórico y un 12% más que en 2012 según datos de la IFR (International Federation of Robotics). Junto a esta noticia, la robótica colaborativa entra en juego en el momento que los robots y los seres humanos deben compartir el lugar de trabajo sin que nos veamos excluidos por las maquinas, por lo tanto lo que se intenta es que los robots mejoren la calidad del trabajo al hacerse cargo de los trabajos peligrosos, tediosos y sucios que no son posibles o seguros para los seres humanos. Otro concepto muy importante y directamente relacionado con lo anterior que está muy en boga y se escucha desde hace relativamente poco tiempo es el de la fabrica del futuro o “Factory Of The Future” la cual intenta que los operarios y los robots encuentren la sintonía en el entorno laboral y que los robots se consideren como maquinaria colaborativa y no como sustitutiva, considerándose como uno de los grandes nichos productivos en plena expansión. Dejando a un lado estos conceptos técnicos que nunca debemos olvidar si nuestra carrera profesional va enfocada en este ámbito industrial, el tema central de este proyecto está basado, como no podía ser de otro modo, en la robótica, que junto con la visión artificial, el resultado de esta fusión, ha dado un manipulador robótico al que se le ha dotado de cierta “inteligencia”. Se ha planteado un sencillo pero posible proceso de producción el cual es capaz de almacenar piezas de diferente forma y color de una forma autónoma solamente guiado por la imagen capturada con una webcam integrada en el equipo. El sistema consiste en una estructura soporte delimitada por una zona de trabajo en la cual se superponen unas piezas diseñadas al efecto las cuales deben ser almacenadas en su lugar correspondiente por el manipulador robótico. Dicho manipulador de cinemática paralela está basado en la tecnología de cables, comandado por cuatro motores que le dan tres grados de libertad (±X, ±Y, ±Z) donde el efector se encuentra suspendido sobre la zona de trabajo moviéndose de forma que es capaz de identificar las características de las piezas en situación, color y forma para ser almacenadas de una forma ordenada según unas premisas iníciales.

Monte Carlo simulation of x-ray spectra generated by kilo-electron-volt electrons

We present a general algorithm for the simulation of x-ray spectra emitted from targets of arbitrary composition bombarded with kilovolt electron beams. Electron and photon transport is simulated by means of the general-purpose Monte Carlo code PENELOPE, using the standard, detailed simulation scheme. Bremsstrahlung emission is described by using a recently proposed algorithm, in which the energy of emitted photons is sampled from numerical cross-section tables, while the angular distribution of the photons is represented by an analytical expression with parameters determined by fitting benchmark shape functions obtained from partial-wave calculations. Ionization of K and L shells by electron impact is accounted for by means of ionization cross sections calculated from the distorted-wave Born approximation. The relaxation of the excited atoms following the ionization of an inner shell, which proceeds through emission of characteristic x rays and Auger electrons, is simulated until all vacancies have migrated to M and outer shells. For comparison, measurements of x-ray emission spectra generated by 20 keV electrons impinging normally on multiple bulk targets of pure elements, which span the periodic system, have been performed using an electron microprobe. Simulation results are shown to be in close agreement with these measurements.

Active tectonics of the Alhama de Murcia fault, Betic Cordillera, Spain

We present an overview of the knowledge of the structure and the seismic behavior of the Alhama de Murcia Fault (AMF). We utilize a fault traces map created from a LIDAR DEM combined with the geodynamic setting, the analysis of the morphology, the distribution of seismicity, the geological information from E 1:50000 geological maps and the available paleoseismic data to describe the recent activity of the AMF. We discuss the importance of uncertainties regarding the structure and kinematics of the AMF applied to the interpretation and spatial correlation of the paleoseismic data. In particular, we discuss the nature of the faults dipping to the SE (antithetic to the main faults of the AMF) in several segments that have been studied in the previous paleoseismic works. A special chapter is dedicated to the analysis of the tectonic source of the Lorca 2011 earthquake that took place in between two large segments of the fault.