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.

La Cartografía: su influencia en la cultura europea y cómo los mapas de artista del siglo XX cuestionan la ley del mapa

Este trabajo es, por una parte, una investigación sobre los mapas de artistas de los siglos XX y XXI. Por otra parte, este trabajo es una investigación dividida en tres territorios dentro del mapa. La primera las cartografías políticas, la segunda los mapas de la experiencia vivida y la tercera las cartografías de lo intangible

Diterpenóides com esqueleto cleistantano de Vellozia aff. carunculares martius ex seubert (Velloziaceae)

From the hexane extract of leaves, stem and roots, of Vellozia aff. carunculares, fourteen cleistanthane diterpenoids were detected by HRGC-MS, through the analysis of their fragmentation patterns. Comparison of their MS spectra with those of authentic standards previously isolated from other species of the family Velloziaceae allowed the identification, with a high degree of confidence, of eigth known cleistanthane diterpenoids. Of these, four were isolated and identified from their MS, IR and ¹H and 13C NMR spectra, as the known cleistantha-8,11,13-trien-7-one, cleistantha-8,11,13-trien-3,7-dione, cleistantha-1,8,11,13-tetraen-3,7-dione and the first reported 6-alpha-hydroxy-cleistantha-8,11,13-trien-7-one. The triterpenoid beta-amyrin was also isolated.

Omistajuus oppilasomisteisessa työsuuskunnassa, Case Palveluosuuskunta +Hymy

Tässä tutkielmassa tarkasteltiin omistajuuden muodostumista työosuuskunnassa. Tutkielman tavoitteena oli ymmärtää työosuuskuntien omistajuutta sekä niitä tavoitteita, joita omistajuuteen liittyy. Tutkielma on laadullinen tutkimus, jonka tutkimusmenetelmänä on käytetty teemahaastattelua. Tutkimusaineisto kerättiin tekemällä kuusi haastattelua, jotka tallennettiin ja litteroitiin sanasta sanaan. Tutkielman perusteella voitiin näyttää, että omistajuus koostuu niin taloudellisrationaalisista kuin psykologisista elementeistä. Kollektiiviset omistajuuden tekijät nousivat individualistisia tekijöitä merkittävämmiksi.

Splat-based surface reconstruction from defect-laden point sets

We introduce a method for surface reconstruction from point sets that is able to cope with noise and outliers. First, a splat-based representation is computed from the point set. A robust local 3D RANSAC-based procedure is used to filter the point set for outliers, then a local jet surface - a low-degree surface approximation - is fitted to the inliers. Second, we extract the reconstructed surface in the form of a surface triangle mesh through Delaunay refinement. The Delaunay refinement meshing approach requires computing intersections between line segment queries and the surface to be meshed. In the present case, intersection queries are solved from the set of splats through a 1D RANSAC procedure

A criação do curso de engenharia química na escola nacional de química da universidade do Brasil

The goal of this work was to establish the origins of the chemical engineering course at the National School of Chemistry of the University of Brazil (at present, the School of Chemistry of the Federal University of Rio de Janeiro). There was a previous Industrial Chemistry course at the Higher School of Agriculture and Veterinary, established in 1920, following the French model. This course was the basis of the creation of the National School of Chemistry in 1933. During the 1940s, teachers and students claimed for a new course in true connection with the needs of the country and to reach full valorization of their job. The structure of the new Chemical Engineering course was approved in 1946 and the first class begun in 1952. This course was of great importance during the Brazilian industrial development during the 1950s and 1960s.

The Detector Control Systems for the CMS Resistive Plate Chamber at LHC

The RPC Detector Control System (RCS) is the main subject of this PhD work. The project, involving the Lappeenranta University of Technology, the Warsaw University and INFN of Naples, is aimed to integrate the different subsystems for the RPC detector and its trigger chain in order to develop a common framework to control and monitoring the different parts. In this project, I have been strongly involved during the last three years on the hardware and software development, construction and commissioning as main responsible and coordinator. The CMS Resistive Plate Chambers (RPC) system consists of 912 double-gap chambers at its start-up in middle of 2008. A continuous control and monitoring of the detector, the trigger and all the ancillary sub-systems (high voltages, low voltages, environmental, gas, and cooling), is required to achieve the operational stability and reliability of a so large and complex detector and trigger system. Role of the RPC Detector Control System is to monitor the detector conditions and performance, control and monitor all subsystems related to RPC and their electronics and store all the information in a dedicated database, called Condition DB. Therefore the RPC DCS system has to assure the safe and correct operation of the sub-detectors during all CMS life time (more than 10 year), detect abnormal and harmful situations and take protective and automatic actions to minimize consequential damages. The analysis of the requirements and project challenges, the architecture design and its development as well as the calibration and commissioning phases represent themain tasks of the work developed for this PhD thesis. Different technologies, middleware and solutions has been studied and adopted in the design and development of the different components and a big challenging consisted in the integration of these different parts each other and in the general CMS control system and data acquisition framework. Therefore, the RCS installation and commissioning phase as well as its performance and the first results, obtained during the last three years CMS cosmic runs, will be

La estadística y la probabilidad en Educación Infantil conocimientos disciplinares, didácticos y experienciales

This article presents an approach to disciplinary knowledge, and experiential learning necessary for the Early Childhood Education teachers can teach statistics and probability significantly, effective and systematic. First, are specified a set of basic knowledge about the discipline and exposed the contents sequenced by level; secondly, provides guidance on how they learn and how they should be taught the knowledge of statistics and probability in the first ages; and, finally, are some examples of activities implemented in kindergarten classrooms

La importancia de las emociones en los períodos sensibles del desarrollo = The importance of emotions in sensitive developmental periods

Investigaciones recientes sugieren que en la adolescencia tienen lugar importantes cambios en la estructura,bioquímica y fisiología del cerebro que podrían explicar la dificultad que experimentan los adolescentes en elcontrol de sus emociones así como también otros rasgos de su comportamiento inestable. En este artículo presentamosalgunas investigaciones que establecen, asimismo, una correlación entre las reorganizaciones cerebrales quetienen lugar en el primer año de vida con signos de irritabilidad y desazón emocional que muestra el bebédurante este periodo. En ambos casos la dificultad de controlar los impulsos emocionales es susceptible de afectarla relación de los padres con el niño o joven. Discutimos la posible relevancia de esta coincidencia dentro de unaperspectiva evolucionista así como la posible vulnerabilidad de estos períodos. Finalmente, apuntamos la necesidadde una teoría integradora del desarrollo humano y ofrecemos algunos puntos de debate

Bromopyrrole alkaloids from the caribbean sponge Agelas cerebrum

Bioguided fractionation of Agelas cerebrum crude extract resulted in isolation of four bromopyrrole and four bromopyrrole aminoimidazole alkaloids, identified as 5-bromopyrrole-2-carboxylic acid (1), 4-bromopyrrole-2-carboxylic acid (2), 3,4-bromopyrrole-2-carboxylic acid (3), 4,5-bromopyrrole-2-carboxylic acid (4), oroidin (5), bromoageliferin (6), dibromoageliferin (7) and dibromosceptrin (8) on the basis of spectroscopic data analyses (UV, IR, HRMS, 1D and 2D NMR) and comparison with literature data. This is the first report of compounds 2 and 3 in a marine sponge belonging to the Agelas genus and the first evidence of the presence of 1 from a natural source.

Antiparasitic bromotyrosine derivatives from the Caribbean marine sponge Aiolochroia crassa

Six bromotyrosine-derived compounds were isolated from the Caribbean marine sponge Aiolochroia crassa: 3-bromo-5-hydroxy-O-methyltyrosine (1), 3-bromo-N,N,N-trimethyltyrosinium (2), 3-bromo-N,N,N,O-tetramethyltyrosinium (3), 3,5-dibromo-N,N,N-trimethyltyrosinium (4), 3,5-dibromo-N,N,N,O-tetramethyltyrosinium (5), and aeroplysinin-1 (6). Structural determination was performed using NMR, MS and comparison with literature data. All isolated compounds were screened for their in vitro activity against Leishmania panamensis, Plasmodium falciparum and Trypanosoma cruzi. Compound 4 showed selective antiparasitic activity against Leishmania and Plasmodium parasites. This is the first report of compounds 1, 4 and 5 in the sponge A. crassa and the first biological activity reports for compounds 2-4. This work shows that bromotyrosines are potential antiparasitic agents.

Resolvendo a equação de Schrödinger utilizando procedimentos numéricos fundamentais

A combination of the variational principle, expectation value and Quantum Monte Carlo method is used to solve the Schrödinger equation for some simple systems. The results are accurate and the simplicity of this version of the Variational Quantum Monte Carlo method provides a powerful tool to teach alternative procedures and fundamental concepts in quantum chemistry courses. Some numerical procedures are described in order to control accuracy and computational efficiency. The method was applied to the ground state energies and a first attempt to obtain excited states is described.