Control remoto del robot ABB IRB 120 por tecnología Wifi

Durante toda la evolución de la tecnología, se han empleado aparatos interconexionados por cables. Los cables limitan la libertad de movimiento del usuario y pueden captar interferencias entre ellos si la red de cableado es elevada. Mientras avanzaba la tecnología inalámbrica, se ha ido adaptando al equipamiento electrónico a la vez que se iban haciendo cada vez más pequeños. Por esto, se impone la necesidad de utilizarlos como controles a distancia sin el empleo de cables debido a los inconvenientes que estos conllevan. El presente trabajo, pretende unificar tres tecnologías que pueden tener en el futuro una gran afinidad. · Dispositivos basados en el sistema Android. Desde sus inicios, han tenido una evolución meteórica. Se han ido haciendo cada vez más rápidos y mejores. · Sistemas inalámbricos. Los sistemas wifi o bluetooth, se han ido incorporando a nuestras vidas cada vez más y están prácticamente en cualquier aparato. · Robótica. Cualquier proceso de producción incorpora un robot. Son necesarios para hacer muchos trabajos que, aunque el hombre lo puede realizar, un robot reduce los tiempos y la peligrosidad de los procesos. Aunque las dos primeras tecnologías van unidas, ¿quién no tiene un teléfono con conexión wifi y bluetooth?, pocos diseños aúnan estos campos con la Robótica. El objetivo final de este trabajo es realizar una aplicación en Android para el control remoto de un robot, empleando el sistema de comunicación inalámbrico. La aplicación desarrollada, permite controlar el robot a conveniencia del usuario en un entorno táctil/teledirigido. Gracias a la utilización de simulador en ambos lenguajes (RAPID y Android), ha sido posible realizar la programación sin tener que estar presente ante el robot objeto de este trabajo. A través de su progreso, se ha ido evolucionando en la cantidad de datos enviados al robot y complejidad en su procesamiento, a la vez que se ha mejorado en la estética de la aplicación. Finalmente se usó la aplicación desarrollada con el robot, consiguiendo con éxito que realizara los movimientos que eran enviados con la tablet programada.

Automatic Brain Extraction in Fetal MRI using Multi-Atlas-based Segmentation

In fetal brain MRI, most of the high-resolution reconstruction algorithms rely on brain segmentation as a preprocessing step. Manual brain segmentation is however highly time-consuming and therefore not a realistic solution. In this work, we assess on a large dataset the performance of Multiple Atlas Fusion (MAF) strategies to automatically address this problem. Firstly, we show that MAF significantly increase the accuracy of brain segmentation as regards single-atlas strategy. Secondly, we show that MAF compares favorably with the most recent approach (Dice above 0.90). Finally, we show that MAF could in turn provide an enhancement in terms of reconstruction quality.

Pleiotropy and the low cost of individual traits promote cooperation.

The evolution of cooperation is thought to be promoted by pleiotropy, whereby cooperative traits are coregulated with traits that are important for personal fitness. However, this hypothesis faces a key challenge: what happens if mutation targets a cooperative trait specifically rather than the pleiotropic regulator? Here, we explore this question with the bacterium Pseudomonas aeruginosa, which cooperatively digests complex proteins using elastase. We empirically measure and theoretically model the fate of two mutants-one missing the whole regulatory circuit behind elastase production and the other with only the elastase gene mutated-relative to the wild-type (WT). We first show that, when elastase is needed, neither of the mutants can grow if the WT is absent. And, consistent with previous findings, we show that regulatory gene mutants can grow faster than the WT when there are no pleiotropic costs. However, we find that mutants only lacking elastase production do not outcompete the WT, because the individual cooperative trait has a low cost. We argue that the intrinsic architecture of molecular networks makes pleiotropy an effective way to stabilize cooperative evolution. Although individual cooperative traits experience loss-of-function mutations, these mutations may result in weak benefits, and need not undermine the protection from pleiotropy.

Fast and sensitive supercritical fluid chromatography - tandem mass spectrometry multi-class screening method for the determination of doping agents in urine.

This study shows the possibility offered by modern ultra-high performance supercritical fluid chromatography combined with tandem mass spectrometry in doping control analysis. A high throughput screening method was developed for 100 substances belonging to the challenging classes of anabolic agents, hormones and metabolic modulators, synthetic cannabinoids and glucocorticoids, which should be detected at low concentrations in urine. To selectively extract these doping agents from urine, a supported liquid extraction procedure was implemented in a 48-well plate format. At the tested concentration levels ranging from 0.5 to 5 ng/mL, the recoveries were better than 70% for 48-68% of the compounds and higher than 50% for 83-87% of the tested substances. Due to the numerous interferences related to isomers of steroids and ions produced by the loss of water in the electrospray source, the choice of SFC separation conditions was very challenging. After careful optimization, a Diol stationary phase was employed. The total analysis time for the screening assay was only 8 min, and interferences as well as susceptibility to matrix effect (ME) were minimized. With the developed method, about 70% of the compounds had relative ME within the range ±20%, at a concentration of 1 and 5 ng/mL. Finally, limits of detection achieved with the above-described strategy including 5-fold preconcentration were below 0.1 ng/mL for the majority of the tested compounds. Therefore, LODs were systematically better than the minimum required performance levels established by the World anti-doping agency, except for very few metabolites.

Trasporti e sviluppo territoriale negli spazi intermedi : l'esempio della regione transfrontaliera Insubrica

Avec cette thèse de doctorat nous proposons une réflexion transversale concernant les relations entre infrastructures de transport et développement territorial dans des espaces dits « intermédiaires ». Le concept d'espace intermédiaire, relativement nouveau en géographie, est conçu en fonction d'une double approche : celle des infrastructures où les espaces intermédiaires constituent des zones de transit obligées entre des pôles urbains hiérarchiquement supérieurs (par rapport une échelle horizontale) et celle des frontières où les espaces intermédiaires constituent des territoires de coopération entre différents niveaux politico-institutionnels (par rapport à une échelle verticale). Cette problématique de recherche est traitée aussi bien du point de vue théorique qu'avec des études de cas portant sur les effets des nouvelles infrastructures de transports dans la région transfrontalière insubrique (entre le Canton du Tessin et la Lombardie). L'objectif visé est de défendre un scénario d'organisation spatiale polycentrique à plusieurs niveaux comme solution pour le développement durable et cohérent de ces espaces intermédiaires. Ainsi, pour le « niveau macro », nous proposons une analyse des changements d'accessibilité spatiale et des potentiels de développement territorial pour les agglomérations concernées par la mise en service du nouveau tunnel ferroviaire de base du Monte Ceneri (TBC) et de la nouvelle ligne Lugano/Como-Mendrisio-Varese-Malpensa (FMV) à l'horizon 2020. Pour le « niveau meso », nous analysons les effets de la nouvelle ligne FMV en termes de potentiel de densification polycentrique autours des gares ferroviaires. Pour le « niveau micro », nous proposons une analyse sur les comportements de mobilité ainsi que des améliorations ciblées du système de transport pour la ville de Mendrisio visant à promouvoir le développement polycentrique de cette commune. De plus, un système d'analyse permettant de mettre en lien les divers facteurs explicatifs dans l'analyse des relations entre les nouvelles infrastructures de transport et les effets sur la mobilité et le développement territorial est également élaboré et testé dans notre recherche. -- With this Ph.D. thesis we investigate the relationship between transport infrastructures and territory development inside the so called "in-between spaces". The idea of "in-between space", relatively novel in geography, is the formal outcome of a double approach: the one of the infrastructures, saying that these spaces can be described as areas of constrained transit between urban centres of superior hierarchical level (on a horizontal scale), and the one of the borders, stating that in-between spaces are areas of cooperation between various political-institutional levels. The above mentioned research issues are deepened both at theoretical and empirical level, being the latter based on field studies of the cross-boundary Western-Lombard area (between the Swiss canton of Ticino and the Italian region of Lombardy). This research pursues the goal of defending the argument that a multi-level polycentric spatial scenario can be a possible solution fora sustainable development of the above described in- between areas. From a "macro" perspective, what we submit here is an analysis on the expected changes in spatial accessibility and on the potential territorial development for the built-up areas influenced by the construction of the new train tunnel of the Monte Ceneri (TBC) and of the new railway line Lugano/Como-Mendrisio-Varese-Malpensa (FMV). At a "meso" level we analyse the effects exerted by the new FMV line taking into account the potential densification of the areas surrounding the railway stations. Finally, at a "micro" level, we analyse the mobility behaviours in the town of Mendrisio and we propose some possible improvements to the local public transport system, with the scope to promote a polycentric development of this municipality. Moreover, we developed and tested an analytic system able to define the existing links between the various explaining factors characterizing the relationship between new transport infrastructures and effects on mobility. -- With this Ph.D. thesis we investigate the relationship between transport infrastructures and territory development inside the so called "in-between spaces". The idea of "in-between space", relatively novel in geography, is the formal outcome of a double approach: the one of the infrastructures, saying that these spaces can be described as areas of constrained transit between urban centres of superior hierarchical level (on a horizontal scale), and the one of the borders, stating that in-between spaces are areas of cooperation between various political-institutional levels. The above mentioned research issues are deepened both at theoretical and empirical level, being the latter based on field studies of the cross-boundary Western-Lombard area (between the Swiss canton of Ticino and the Italian region of Lombardy). This research pursues the goal of defending the argument that a multi-level polycentric spatial scenario can be a possible solution for a sustainable development of the above described in- between areas. From a "macro" perspective, what we submit here is an analysis on the expected changes in spatial accessibility and on the potential territorial development for the built-up areas influenced by the construction of the new train tunnel of the Monte Ceneri (TBC) and of the new railway line Lugano/Como-Mendrisio-Varese-Malpensa (FMV). At a "meso" level we analyse the effects exerted by the new FMV line taking into account the potential densification of the areas surrounding the railway stations. Finally, at a "micro" level, we analyse the mobility behaviours in the town of Mendrisio and we propose some possible improvements to the local public transport system, with the scope to promote a polycentric development of this municipality. Moreover, we developed and tested an analytic system able to define the existing links between the various explaining factors characterizing the relationship between new transport infrastructures and effects on mobility.

Cooperation in R&D, firm size and type of partnership: Evidence for the Spanish automotive industry

This paper aims to analyse cooperation in R&D in the automobile industry in Spain. It first examines to what extent firms cooperate with external actors in the field of technological innovation, and if so, with what type of cooperation partner, paying special attention to the differentiation according to the size of the firms. Second, it aims to study how the firm’s size may affect not only the decision of cooperating but also with which type of partner, while controlling for other determinants that have been considered in the literature as main drivers of collaborative activities in R&D. We use data provided by the Technological Innovation Panel in the 2006-2008 period for firms in the automotive sector. We estimate a bivariate probit model that takes into account the two types of cooperation mostly present in the automotive industry, vertical and institutional, explicitly considering the interdependencies that may arise in the simultaneous choice of both.

Cooperation in R&D, firm size and type of partnership: Evidence for the Spanish automotive industry

This paper aims to analyse cooperation in R&D in the automobile industry in Spain. It first examines to what extent firms cooperate with external actors in the field of technological innovation, and if so, with what type of cooperation partner, paying special attention to the differentiation according to the size of the firms. Second, it aims to study how the firm’s size may affect not only the decision of cooperating but also with which type of partner, while controlling for other determinants that have been considered in the literature as main drivers of collaborative activities in R&D. We use data provided by the Technological Innovation Panel in the 2006-2008 period for firms in the automotive sector. We estimate a bivariate probit model that takes into account the two types of cooperation mostly present in the automotive industry, vertical and institutional, explicitly considering the interdependencies that may arise in the simultaneous choice of both.

A Forwarding Cooperation Protocol for Plain and Cluster-based Ad Hoc Networks

Peer-reviewed

A Hierarchical Approach for Multi-task Logistic Regression

Peer-reviewed

Towards the Construction of a Multi-agent Approach for Discovering the Meaning of Natural Language Collaborative Conversations

Peer-reviewed

Determinações multi-elementares de metais, Sulfato e Cloreto em amostras de águas por espectrometria de massas com fonte de plasma (ICP-MS)

The multi-element determination of Al, Cr, Mn, Ni, Cu, Zn, Cd, Ba, Pb, SO4= and Cl- in riverine water samples was accomplished by inductively coupled plasma mass spectrometry (ICP-MS). The sample passed through a column containing the anionic resin AG1-X8 and the metals were determined directly. The retained anionic species were eluted and SO4= and Cl- were determined at m/z 48 and 35 correspondent to the ions SO+ and Cl+ formed at the plasma. Accuracy for metals was assessed by analysing the certified reference TM-26 (National Water Research Institute of Canada). Results for SO4= and Cl- were in agreement with those obtained by turbidimetry and spectrophotometry. LOD's of 0.1 µg l-1 for Cd, Ba and Pb; 0.2 µg l-1 for Al, Mn and Cu; 0.5 µg l-1 for Cr; 0.9 for Zn; 2.0 µg l-1for Ni , 60 µg l-1 for S and 200 µg l-1 Cl were attained.

Offshore Sourcing in Software Development: Case Studies of Finnish-Russian Cooperation

The study examines international cooperation in product development in software development organisations. The software industry is known for its global nature and knowledge-intensity, which makes it an interesting setting to examine international cooperation in. Software development processes are increasingly distributed worldwide, but for small or even medium-sized enterprises, typical for the software industry, such distribution of operations is often possible only in association with crossing the company’s boundaries. The strategic decision-making of companies is likely to be affected by the characteristics of the industry, and this includes decisions about cooperation or sourcing. The objective of this thesis is to provide a holistic view on factors affecting decisions about offshore sourcing in software development. Offshore sourcing refers to a cooperative mode of offshoring, where a firm does not establish its own presence in a foreign country, but utilises a local supplier. The study examines product development activities that are distributed across organisational and geographical boundaries. The objective can be divided into two subtopics: general reasons for international cooperation in product development and particular reasons for cooperation between Finnish and Russian companies. The focus is on the strategic rationale at the company level, in particular in small and medium-sized enterprises. The theoretical discourse of the study builds upon the literature on international cooperation and networking, with particular focus on cooperation with foreign suppliers and within product development activities. The resource-based view is also discussed, as heterogeneity and interdependency of the resources possessed by different firms are seen as factors motivating international cooperation. Strategically, sourcing can be used to access resources possessed by an industrial network, to enhance the product development of a firm, or to optimise its cost structure. In order to investigate the issues raised by the theoretical review, two empirical studies on international cooperation in software product development have been conducted. The emphasis of the empirical part of the study is on cooperation between Finnish and Russian companies. The data has been gathered through four case studies on Finnish software development organisations and four case studies on Russian offshore suppliers. Based on the material from the case studies, a framework clarifying and grouping the factors that influence offshore sourcing decisions has been built. The findings indicate that decisions regarding offshore sourcing in software development are far more complex than generally assumed. The framework provides a holistic view on factors affecting decisions about offshore sourcing in software development, capturing the multidimensionality of motives for entering offshore cooperation. Four groups of factors emerged from the data: A) strategy-related aspects, B) aspects related to resources and capabilities, C) organisation-related aspects, and D) aspects related to the entrepreneur or management. By developing a holistic framework of decision factors, the research offers in-depth theoreticalunderstanding of offshore sourcing rationale in product development. From the managerial point of view, the proposed framework sums up the issues that a firm should pay attention to when contemplating product development cooperation with foreign suppliers. Understanding different components of sourcing decisions can lead to improved preconditions for strategising and engaging in offshore cooperation. A thorough decisionmaking process should consider all the possible benefits and risks of product development cooperation carefully.