Software de control desarrollado en ROS para teleoperar de manera eficiente el robot Kuka Lightweight mediante el háptico Phantom Omni

La teleoperación o telerobótica es un campo de la robótica que se basa en el control remoto de robots esclavo por parte de un usuario encargado de gobernar, mediante un dispositivo maestro, la fuerza y movimiento del robot. Sobre dicho usuario recaen también las tareas de percepción del entorno, planificación y manipulación compleja. Concretamente se pretende desarrollar el control software necesario para teleoperar un manipulador esclavo, Kuka Lightweigh mediante un dispositivo háptico Phamton Omni, que se comporta como maestro, sin que afecten las diferencias dinámicas y estructurales existentes entre ambos dispositivos, aportando información adicional al operador para facilitar la operación. La principal motivación de la evolución de esta tecnología se debe a la necesidad de realizar trabajos en entornos hostiles, de difícil acceso, o perjudiciales para la salud del usuario.

Aprendizaje Basado en Proyectos para la asignatura Ingeniería del Software

Duración (en horas): Más de 50 horas. Destinatario: Estudiante y Docente

Information and knowledge sharing

The Guidelines provide a special focus on information and knowledge sharing and its current and potential role in supporting implementation of the Code of Conduct for Responsible Fisheries. They expand on relevant principles and standards set forth in the Code and make practical suggestions about ways to ensure that this role can be enhanced. The issues involved in the flow of information between different stakeholder groups include topics as diverse as information policy frameworks and information and communication technology infrastructure, hence coverage is introductory. Some of the constraints involved in the cycle from the creation, production, dissemination and availability of information and knowledge to its effective use and sharing by the present generation as well as its preservation for the future are presented. The special circumstances and requirements of stakeholders in developing countries are recognized in accordance with Article 5 of the Code. A separate chapter on small-scale fisheries and aquaculture looks in more detail at the special situation and information needs of the sub-sector. The Guidelines aim to foster a better understanding of the issues involved to ensure that stakeholders obtain the essential information that they need and that they make available their own information and knowledge for the public good. (PDF contains 115 pages)

Designing High Performance Factory Automation Applications on Top of DDS

13 p.

Foreign Aid Linked to Infrastructure and/or Pollution Abatement

This paper studies the macroeconomic effects of a permanent increase in foreign aid in a model that takes into account environmental quality. We develop a dynamic equilibrium model in which both public investment in infrastructure and environmental protection can be financed using domestic resources and international aid programs. The framework considers four scenarios for international aid: untied aid,aid fully tied to infrastructure, aid fully tied to abatement, and aid equally tied to both types of expenditures. We find that the effects of the transfers may depend on (i) the structural characteristics of the recipient country (the elasticity of substitution in production and its dependence on environment and natural resources) and on (ii) how recipient countries distribute their public expenditure. These results underscore the importance of these factors when deciding how and to what extent to tie aid to infrastructure and/or pollution abatement.

Técnicas Conceptuales en la Gestión de Proyectos Software

205 p.

Sessile Drop in Microgravity: Creation, Contact Angle and Interface

We present in this paper the results obtained from a parabolic flight campaign regarding the contact angle and the drop interface behavior of sessile drops created under terrestrial gravity (1g) or in microgravity (mu g). This is a preliminary study before further investigations on sessile drops evaporation under microgravity. In this study, drops are created by the mean of a syringe pump by injection through the substrate. The created drops are recorded using a video camera to extract the drops contact angles. Three fluids have been used in this study : de-ionized water, HFE-7100 and FC-72 and two heating surfaces: aluminum and PTFE. The results obtained evidence the feasibility of sessile drop creation in microgravity even for low surface tension liquids (below 15 mN m (-aEuro parts per thousand 1)) such as FC-72 and HFE-7100. We also evidence the contact angle behavior depending of the drop diameter and the gravity level. A second objective of this study is to analyze the drop interface shape in microgravity. The goal of the these experiments is to obtain reference data on the sessile drop behavior in microgravity for future experiments to be performed in an French-Chinese scientific instrument (IMPACHT).

Sistema software para el control de producción de la unidad de rodajes

El presente proyecto consiste en el análisis y búsqueda de soluciones para el control de producción de la unidad de rodajes de la compañía CAF S.A. Para ello, se ha tenido que analizar procesos de producción, capturar requerimientos, desarrollar unas herramientas de control de producción temporales y elaborar una especificación de requisitos. Sin olvidar la gestión e interlocución con proveedores. Estas líneas de trabajo se encuentran descritas en esta memoria, junto con análisis de resultados, conclusiones y unas líneas futuras donde se seguirá trabajando.

Gestión de la Evolución de Familias de producto software en escenarios complejos

En los últimos años, la dinámica de mercado de productos y servicios ha cambiado sustancialmente: los clientes demandan cada vez productos y servicios más personalizados a sus necesidades específicas. Esta dinámica también ha llegado a la industria de producción de software. Para dar respuesta a esta demanda, se utilizan técnicas para, a partir de un producto común, generar variantes del mismo y cubrir las diferentes exigencias de los clientes. Estas técnicas se agrupan bajo la disciplina de líneas de producto software. Sin embargo, incluso con este paradigma, el número de artefactos a gestionar puede ser elevado. Ante esta situación se plantea un proyecto de investigación acerca de metodologías, técnicas y tecnologías de gestión para ofrecer soluciones eficientes. Este proyecto se apoya en diversos escenarios de proyectos software de una empresa concreta para estudiar las dificultades que revelan y a partir de ellas definir una estrategia. Asimismo, se presenta una herramienta que implementa esa estrategia y facilita su uso a los usuarios.

Creation of arbitrary coherent superposition states in four-level systems

Using the technique of stimulated Raman adiabatic passage, we propose schemes for creating arbi- trary coherent superposition states of atoms in four-level systems: a A-type system with twofold final states and a four-level ladder system. With the use of a control field, arbitrary coherent superposition states are created without the condition of multiphoton resonance. Suitable manipulation of detunings and the control field can create either a single state or any superposition states desired. (c) 2005 Pleiades Publishing, Inc.

IBM PC Data Acquisition and Processing Software Evaluation

Commercially available software packages for IBM PC-compatibles are evaluated to use for data acquisition and processing work. Moss Landing Marine Laboratories (MLML) acquired computers since 1978 to use on shipboard data acquisition (Le. CTD, radiometric, etc.) and data processing. First Hewlett-Packard desktops were used then a transition to the DEC VAXstations, with software developed mostly by the author and others at MLML (Broenkow and Reaves, 1993; Feinholz and Broenkow, 1993; Broenkow et al, 1993). IBM PC were at first very slow and limited in available software, so they were not used in the early days. Improved technology such as higher speed microprocessors and a wide range of commercially available software made use of PC more reasonable today. MLML is making a transition towards using the PC for data acquisition and processing. Advantages are portability and available outside support.