Análisis de prestaciones de sistemas de comunicaciones inalámbricas en aplicaciones de robótica: sistema software

Una característica importante de la robótica es la comunicación entre sistema base y robot que puede establecerse de forma remota. Ello representa la base del proyecto que se describe a continuación, el cual se descompone de dos partes, una por cada miembro del proyecto: sistema software y sistema hardware. En el sistema software analizaremos las diferentes tecnologías inalámbricas (características, funcionamiento, seguridad, etc.), se realizará una comparativa de los diferentes módulos de comunicación y finalmente decidiremos aquellos que nos interesa para la implementación en Radiofrecuencia (RF) y Bluetooth. En este sistema también estudiaremos la interfaz gráfica que se utilizará, así como los programas creados en este entorno para realizar las implementaciones. En el sistema hardware trataremos de realizar el control de dos periféricos de forma independiente, un servomotor y un sonar, que nos servirán como ejemplo para analizar una posible comunicación entre varios robots y un PC. Por lo tanto, en este apartado analizaremos a fondo los diferentes componentes que harán posible tanto la comunicación, vía RF y Bluetooth, como el control de los diferentes dispositivos.

Determinación cualitativa de los componentes del cemento portland CEM I 52,5-R endurecido

Se pretende contribuir al esclarecimiento de la causa o causas de la importante disminución de la resistencia de las pastas de cemento portland sometidas a altas temperaturas. Para ello el primer paso y el que desarrolla este trabajo final de carrera es la determinación de los diferentes componentes de las pastas de cemento portland y más concretamente las fases en las que se encuentran los C-S-H a diferentes edades ya que son los responsables de las principales resistencias mecánicas de los materiales realizados con cemento portland, como los morteros y los hormigones.

A high-throughput test to detect C.E.R.A. doping in blood.

C.E.R.A., a continuous erythropoietin receptor activator, is a new third-generation erythropoiesis-stimulating agent (ESA) that has recently been linked with abuse in endurance sports. In order to combat this new form of doping, we examined an enzyme-linked immunosorbent assay (ELISA) designed to detect the presence of C.E.R.A. in serum samples. The performance of the assay was evaluated using a pilot excretion study that involved six subjects receiving C.E.R.A. Validation data demonstrated an excellent reproducibility and ensured the applicability of the assay for anti-doping purposes. To maximize the chances of detecting the drug in serum samples, we propose the use of this specific ELISA test as a high-throughput screening method, combined with a classic isoelectric focusing test as a confirmatory assay. This strategy should make C.E.R.A. abuse relatively easy to detect, thereby preventing the future use of this drug as a doping agent.

Rockfall hazard and risk assessments along roads at a regional scale: Example in Swiss Alps

Unlike fragmental rockfall runout assessments, there are only few robust methods to quantify rock-mass-failure susceptibilities at regional scale. A detailed slope angle analysis of recent Digital Elevation Models (DEM) can be used to detect potential rockfall source areas, thanks to the Slope Angle Distribution procedure. However, this method does not provide any information on block-release frequencies inside identified areas. The present paper adds to the Slope Angle Distribution of cliffs unit its normalized cumulative distribution function. This improvement is assimilated to a quantitative weighting of slope angles, introducing rock-mass-failure susceptibilities inside rockfall source areas previously detected. Then rockfall runout assessment is performed using the GIS- and process-based software Flow-R, providing relative frequencies for runout. Thus, taking into consideration both susceptibility results, this approach can be used to establish, after calibration, hazard and risk maps at regional scale. As an example, a risk analysis of vehicle traffic exposed to rockfalls is performed along the main roads of the Swiss alpine valley of Bagnes.

Kabīr et la répétition du nom de Rāma, réalisation spirituelle et mémoire de Dieu

L'intention de l'A. est d'analyser la répétition du Nom de Rāma chez Kabīr. Cette technique prend un sens particulier chez ce poète, étroitement lié au souvenir constant de Dieu, à une vision imprégnée à la fois de spéculations métaphysiques et d'une profonde dévotion amoureuse. L'A. tente d'évaluer l'impact des différents courants qui ont forgé la pensée de Kabir et de démontrer leur importance dans l'oeuvre du poète. Par cet effort, il espère contribuer à éclairer l'atmosphère religieuse de l'époque et de situer une des pratiques très importantes de mantra dans le contexte de la bhakti médiévale

Creación de una aplicación web basada en software libre para la visualización y consulta de información catastral del Ajuntament de Cerdanyola del Vallès

La aplicación web creada tiene como objetivo convertirse en un instrumento útil para la consulta de información catastral del municipio de Cerdanyola del Vallès, ampliando el alcance de la información al personal del Ajuntament. Entre esta información, se incluye cartografía catastral urbana y rústica de diferentes años y la posibilidad de efectuar una serie de consultas alfanuméricas sencillas sobre la misma.

Rhipidocotyle gibsoni n. sp. from a Brazilian Freshwater Fish and Rhipidocotyle froesi n.sp. for r. baculum (linton, 1905) of Eckmann (1932) (Bucephalidae; Digenea)

Rhipidocotyle gibsoni n.sp. is described from Acestrorhynchus lacustris from Paraná River, brazil. It is most closely related to r. froesi n. sp. and to R. eckmanni in the shape of the cephalic hood, differing in the extent of the uterus, in the position of the vitelline follicles and in that the host is a freshwater fish. Rhipidocotyle froesi n. sp. is proposed for the marine specimens described by Eckmann (1932) as R. baculum (Linton, 1905).

Mīrā's Yoga

(Résumé de l'ouvrage) This book contains most of the papers presented at the seventh International conference on Early Literature in New Indo-Aryan Languages, held at Venice in 1997. They are grouped in part by geographical area, in part by subject matter, in a crossing of boundaries that sharpens the exchange between the two.

Effect of Niclosamide (Bayluscide WP 70 (R)), Anacardium occidentale hexane extract and Euphorbia splendens latex on behavior of Biomphalaria glabrata (Say, 1818), under laboratory conditions

The repellent effect of the molluscicides Niclosamide (Bayluscide WP 70 (R)), Anacardium occidentale and the latex of Euphorbia splendens on Biomphalaria glabrata was observed through the investigation of the occurrence of escape behavior among molluscs that were exposed to dosages lower than the LD 50. The total number of individuals out of water among the surviving snails in the control group provided a "Natural Escape Index". The comparison between this total and the total number of surviving snails in each group exposed to the different dosages of the molluscicides after 24 hr provided the "Molluscicide Escape Index" and the detection of a "Repellency Range" to these snails. The escape indexes for Niclosamide, A. occidentale and E. splendens were 10, 6.22 and 6.44 respectively. Repellency occurred at the following concentration ranges: 0.01, 0.02 and 0.03 ppm Bayluscide, 0.1, 0.2 and 0.3 ppm A. occidentale and 0.05, 0.10, 0.15 and 0.20 ppm E. splendens. The Natural Escape Index obtained in the control group was zero.

Genetic variability and differentiation between populations of Rhodnius prolixus and R. pallescens, vectors of Chagas' Disease in Colombia

Enzyme polymorphism in Rhodnius prolixus and R. pallescens (Hemiptera, Reduviidae), principal vectors of Chagas' disease in Colombia, was analyzed using starch gel electrophoresis. Three geographic locations were sampled in order to determine gene flow between populations and to characterize intra- and interspecific differences. Of 25 enzymes assayed 10 were successfully resolved and then used to score the genetic variation. The enzymes PEPD, GPI, PGM and ICD were useful to differentiate these species and PGD, PGM and MDH distinguished between sylvatic and domiciliary populations of R. prolixus. Both polymorphism and heterozygosity indicated greater genetic variability in sylvatic habitats (H = 0.021) compared to domiciliary habitats (H = 0.006) in both species. Gene flow between sylvatic and domiciliary populations in R. prolixus was found to be minimal. This fact and the genetic distance between them suggest a process of genetic isolation in the domiciliary population.

Revisió de la Guia d’avaluació del testimoni en violència de gènere (GAT-VIG-R)

Nou document produït pels professionals dels equips d’assessorament tècnic penal de Catalunya (EAT penal) en l’àmbit de la jurisdicció d’adults, elaborat en el context del programa Compartim del Centre d’Estudis Juridics i Formació Especialitzada del Departament de Justícia. En aquest cas, es tracta de la revisió de la Guia d’avaluació del testimoni en violència de gènere (GAT-VIG-R) amb mostres dels EAT penal de Catalunya. Transcrivim una part de la presentació de l’obra on els mateixos autors ens expliquen els motius de la seva elaboració: “És dins els peritatges psicològics on se’ns encomana una de les tasques més delicades i complexes que duem a terme els psicòlegs dels EAT penal: l’anàlisi de la credibilitat dels testimonis. És en aquest camp que decidim, l’any 2009, donar un pas més enllà i analitzar en profunditat les tècniques que hi ha actualment sobre l’anàlisi de la credibilitat del testimoni adult en violència de gènere per tal de valorar la seva possible eficàcia i la seva posterior administració. El present document suposa el primer pas per millorar l’avaluació del testimoni en violència de gènere dins dels equips d’assessorament tècnic penal mitjançant la revisió de la Guia d’avaluació del testimoni en violència de gènere, instrument publicat al nostre país el 2007 per Juárez, J.R.; Mateu, A. i Sala, E. Així el present treball és el punt de partida per tal d’obtenir un primer perfil sociodemogràfic, psicològic i del testimoni en casos de violència de gènere creïbles amb l’objectiu que en properes recerques puguem arribar a obtenir criteris objectius per tal de discernir els testimonis creïbles en violència de gènere d’aquells que no ho són.”

Revisiting the size-R&D productivity relation: introducing the mediating role of decision-making style on the scale and quality of innovative output

We develop a mediation model in which firm size is proposed to affect the scale and quality of innovative output through the adoption of different decision styles during the R&D process. The aim of this study is to understand how the internal changes that firms undergo as they evolve from small to larger organizations affect R&D productivity. In so doing, we illuminate the underlying theoretical mechanism affecting two different dimensions of R&D productivity, namely the scale and quality of innovative output which have not received much attention in previous literature. Using longitudinal data of Spanish manufacturing firms we explore the validity of this mediation model. Our results show that as firms evolve in size, they increasingly emphasize analytical decision making, and consequently, large-sized firms aim for higher-quality innovations while small firms aim for a larger scale of innovative output.