A simulation environment for bio-inspired heterogeneous chained modular robots

This paper presents a new simulation environment aimed at heterogeneous chained modular robots. This simulator allows testing the feasibility of the design, checking how modules are going to perform in the field and verifying hardware, electronics and communication designs before the prototype is built, saving time and resources. The paper shows how the simulator is built and how it can be set up to adapt to new designs. It also gives some examples of its use showing different heterogeneous modular robots running in different environments.

Transient behavior of a system composed of conductive thin wire structures excited by harmonic and lightning type signals

The transient response of a system of independent electrodes buried in a semi-infinite conducting medium is studied. Using a simple and versatile numerical scheme written by the authors and based on the Electric Field Integral Equation (EFIE), the effect caused by harmonic signals ranging on frequency from Hz to hundred of MHz, and also by lightning type driving signal striking at a remote point far from the conductors, is extensively studied. The value of the scalar potential appearing on the electrodes as a function of the frequency of the applied signal is one of the variables investigated. Other features such as the input impedance at the injection point of the signal and the Ground Potential Rise (GPR) over the electrode system are also discussed

Interaction between interconnected and isolated grounding systems: a case study of transferred potentials

The effect caused by ground fault current in a complex system of interacting electrodes is theoretically studied. The calculation applies to a specific case in which a set of interconnected electrodes, which are part of a grounding facility network, are activated by a ground fault current. Transferred potentials to adjacent passive electrodes are calculated and the most relevant parameters of the electrode system are evaluated. Finally, the convenience of connecting the grounding electrodes is discussed.

Different approaches to grounding resistance. Calculation for thin wire structures at low frequency energization

The present paper deals with the calculation of grounding resistance of an electrode composed of thin wires, that we consider here as perfect electric conductors (PEC) e.g. with null internal resistance, when buried in a soil of uniform resistivity. The potential profile at the ground surface is also calculated when the electrode is energized with low frequency current. The classic treatment by using leakage currents, called Charge Simulated Method (CSM), is compared with that using a set of steady currents along the axis of the wires, here called the Longitudinal Currents Method (LCM), to solve the Maxwell equations. The method of moments is applied to obtain a numerical approximation of the solution by using rectangular basis functions. Both methods are applied to two types of electrodes and the results are also compared with those obtained using a thirth approach, the Average Potential Method (APM), later described in the text. From the analysis performed, we can estimate a value of the error in the determination of grounding resistance as a function of the number of segments in which the electrodes are divided.

La domótica al servicio de los enfermos de Alzheimer y sus cuidadores

El cuidado de los enfermos de Alzheimer que viven en su casa se realiza a menudo por cuidadores no profesionales (familiares principalmente) que tienen que compatibilizar sus actividades personales y laborales con el cuidado de sus familiares enfermos. Esta es una tarea que lleva demasiado tiempo, pero que puede ser facilitada por las nuevas tecnologías (especialmente domóticas) que han surgido en los últimos años. El grupo de trabajo DomAlz (que toma su nombre de Domótica y Alzheimer) se ha creado para estudiar el gran abanico de soluciones que existen en el mercado y que se están desarrollando, y proponer nuevas soluciones.

Integration of low-cost supervisory mobile robots in domestic wireless sensor networks

This paper presents a communication interface between supervisory low-cost mobile robots and domestic Wireless Sensor Network (WSN) based on the Zig Bee protocol from different manufacturers. The communication interface allows control and communication with other network devices using the same protocol. The robot can receive information from sensor devices (temperature, humidity, luminosity) and send commands to actuator devices (lights, shutters, thermostats) from different manufacturers. The architecture of the system, the interfaces and devices needed to establish the communication are described in the paper.

Accommodating cabins as a new way of building houses

The current economic crisis has meant, particularly in Spain, the almost cessation of new buildings construction. This deep crisis will mean in future an irreversible change in the Spanish construction model, based to date almost exclusively on the brick. The project “Accommodating cabins as a new way of building houses” is part of a larger research within the line “Modular Architecture” developed by the Research Group “Design and Industrial Production”, belonging to the Technical University of Madrid, which aims to respond to the need for decent housing at an affordable price, by offering through Internet the plans, resources and other technical details required to build a house oneself. The proposed houses are built from the combination of industrially made modules (accommodation cabins, which are prefabricated modules usually used as provisional constructions in conventional building works), prefabricated subsystems and other catalogue components available on the market, all they set together by dry joints.

Dinamismo de las rutinas organizativas: action research in New Holland

La investigación que presentamos propone un modelo para entender, primero, las rutinas interorganizativas que existen entre la empresa matriz y las empresas concesionarias. Segundo, investigar cómo mejorarlas. Y tercero, cómo introducir nuevos modelos de relación de forma ágil.

Prefabricación y vivienda de emergencia

En los países industrializados afectados por desastres, donde una rápida reconstrucción no es posible, se produce una demanda masiva de vivienda temporal. Las razones son, principalmente, grandes expectativas en la ayuda gubernamental, riesgo climático y expectativas de un periodo muy lento de reconstrucción. Se trata de países con muy altos estándares y gran dependencia de servicios. Estos países posen un sector de la construcción privado activo, con un grado importante de industrialización, donde la construcción tradicional ha sido reemplazada por métodos materiales modernos. En este contexto, las técnicas de construcción industrializada, como prefabricación, pre-ensamblaje, modulación y fabricación ?off-site?, pueden proporcionar alojamientos temporales adecuados, disponibles en tiempo, y precio asequible, formando parte de una estrategia nacional basada en el principio de proveer refugio entendido como un proceso, usando sistemas industrializados propios del país como recurso económico para la comunidad, atendiendo las necesidades de los supervivientes con la calidad y los estándares adecuados.

Thermal and mechanical properties of recycled poly(Lactic acid)

Biodegradable polymers have experienced increased attention in recent years because of their wide range of applications in biomedical, packaging and agriculture fields. PLA, poly(lactic acid), is a linear aliphatic biodegradable thermoplastic polyester, with good mechanical properties, thermal stability, processability and low environmental impact, widely used as an alternative to conventional polymers. PLA products can be recycled after use either by remelting and reprocessing the material, or by hydrolysis to basic lactic acid [1]. The object of this communication is the study of the possible variation in physical properties induced by sub sequent reprocessing cycles of PLA.

Impact of automatic meetering infrastructure on multiutility business models

In the last decade energy utility sector has undergone major changes in terms of liberalization, increased competition, efforts in improving energy efficiency, and in new technological solution such as smart meter and grid operations. There are new information technology solutions (e.g. Advanced Metering Infrastructure /AMI ) on the horizon that will not only introduce new technical and organizational concepts, but have a very strong potential to radically change modus operandi of utility companies. Coordinated, multi-utility programs can help accelerate the development and market success of new high-efficiency technologies. These programs provide opportunities for researchers to develop new high-efficiency equipment for manufacturers to sell this new equipment with utility help, for utilities to increase the amount of energy they save from incentive programs, and for consumers to benefit from lower utility bills and a cleaner environment (as energy is reduced, pollutants produced at power plants decline).

A system of systems engineering approach to design new smarter and energy efficient products

The concept of smartness of energy efficient products and systems from a business perspective has been investigated by several authors. The problem of understanding, designing, engineering and governing these technologies requires new concepts. The emergence of these modern technologies causes a myriad of interconnected systems, which are working together to satisfy the necessities of modern life. The problem of understanding, designing, engineering, and governing these technologies requires new concepts. Development of System of System Engineering (SoSE) is an attempt by the systems engineering and science community to fulfill this requirement.

Routines in precision agriculture technology: an action research study

A crop management and precision agriculture software application facilitates the flow of information between disparate software/equipment and the network of individuals that work with them. A new generation of farmers are using precision technology to help them more efficiently manage their roplands. By measuring precisely the way their fields reflect and emit energy at visible and infrared wavelengths, precision farmers can monitor a wide range of variables that affect their crops,such as soil moisture, surface temperature, photosynthetic activity, and weed or pest infestations. Over thirty years have passed since Nelson and Winter put the concept of routines firmly at the center of the analysis of organizational and economic change. Taken as the central unit of analysis, routines would help understand energy and agriculture economy evolution.

Repertorios bibliográficos (XVII) Ensayo de una bibliográfia comentada de manuales de artes, ciencias, oficios, costumbres públicas y privadas de España (Siglos XVI al XIX)

Estudio del “Ensayo de una bibliografía comentada de manuales …” realizado por Vicente Castañeda y publicado en el año 1955 por la Real Academia de la Historia. El ensayo recoge las obras que coleccionaba el autor de libros de divulgación, tratados y manuales de todo tipo sobre conocimientos populares en materia científica, artística, costumbres, diversiones y oficios manuales que se publicaban en 8º principalmente.

Espacios de aprendizaje en las comunidades de prácticas: el caso de las asociaciones de jóvenes arquitectos

Este estudio ha revisado la teoría sobre comunidades de prácticas y espacios de aprendizaje aplicado a la realidad de jóvenes profesionales que colaboran entre sí para adquirir experiencia y compartir su banco de ideas en concursos de obras. Estamos ante un caso en el que la profesión se está redefiniendo y cobran protagonismo las relaciones de aprendizaje y refuerzo mutuo. Nos hemos centrado en la revisión de casos de asociaciones de jóvenes arquitectos españoles, sería conveniente ir ampliado la muestra a otro tipo de profesiones.