Control de posició del robot wifibot

Aquest projecte pretén presentar de forma clara i detallada l’estructura i el funcionament del robot així com dels components que el conformen. Aquesta informació és de vital importància a l’hora de desenvolupar aplicacions per al robot. Un cop descrites les característiques del robot s’analitzaran les eines necessàries i/o disponibles per poder desenvolupar programari per cada nivell de la forma més senzilla i eficient possible. Posteriorment s’analitzaran els diferents nivells de programació i se’n contrastaran els avantatges i els inconvenients de cada un. Aquest anàlisi es començarà fent pel nivell més alt i anirà baixant amb la intenció de no entrar en nivells més baixos del necessari. Baixar un nivell en la programació suposa haver de crear aplicacions sempre compatibles amb els nivells superiors de forma que com més es baixa més augmenta la complexitat. A partir d’aquest anàlisi s’ha arribat a la conclusió que per tal d’aprofitar totes les prestacions del robot és precís arribar a programar en el nivell més baix del robot. Finalment l’objectiu és obtenir una sèrie de programes per cada nivell que permetin controlar el robot i fer-lo seguir senzilles trajectòries

Teleconsultation in sexual and reproductive health for young adults through mobile devices: Experience in Colombia

Background: Sexual risk behaviors associated with poor information on sexuality have contributed to major public health problems in the area of sexual and reproductive health in teenagers and young adults in Colombia. Objective: To measure the perception of changes in sexual and reproductive risk behavior after the use of a teleconsultation service via mobile devices in a sample of young adults. Methods: A before and after observational study was designed, where a mobile application to inquire about sexual and reproductive health was developed. The perception of changes in sexual and reproductive health risk behaviors in a sample of young adults after the use of the application was measured using the validated survey “Family Health International (FHI) – Behavioral Surveillance Survey (BSS) – Survey for Adults between 15 to 40 Years”. Non-probabilistic convenience recruitment was undertaken through the study´s web page. Participants answered the survey online before and after the use of the mobile application for a six month period (intervention). For the inferential analysis, data was divided into three groups (dichotomous data, discrete quantitative data, and ordinal data), to compare the results of the questions between the first and the second survey. For all tests, a confidence interval of 95% was established. For dichotomous data, the Chi-squared test was used. For quantitative data, we used the Student’s t-test, and for ordinal data, the Mann-Whitney-Wilcoxon test. Results: A total of 257 subjects were registered in the study and met the selection criteria. The pre-intervention survey was answered by 232 subjects, and 127 completely answered the post-intervention survey, of which 54.3% did not use the application, leaving an effective population of 58 subjects for analysis. 53% (n=31) were female, and 47% (n=27) were male. The mean age was 21 years, ranging between 18 and 40 years. The differences between the answers on the first and the second survey were not statistically significant. The main risk behaviors identified in the population were homosexual relations, non-use of condoms, sexual relations with non-regular and commercial partners, the use of psychoactive substances, and ignorance about the symptoms of sexually transmitted diseases and HIV transmission. Conclusions: Although there were no differences between the pre- and post-intervention results, the study revealed different risk behaviors among the participating subjects. These findings highlight the importance of promoting educational strategies on this matter and the importance of providing patients with easily accessible tools with reliable health information.

Análisis constitucional. Una introducción : cómo hacer cosas con la Constitución

La Corte Constitucional colombiana, a través de la interpretación del texto de la carta política, ha hecho invaluables aportes al desarrollo del derecho en nuestro país. Sin embargo, este proceso de definir las palabras de la Constitución requiere la utilización de preferencias valorativas y esto, como es natural, implica un grave riesgo para la seguridad jurídica: ¿hasta dónde puede llegar el intérprete, ¿cuáles son los límites que debe respetar?. Este riesgo incrementa si tenemos en cuenta que buena parte de la doctrina constitucional colombiana contemporánea, llamada por algunos neoconstitucionalismo, ha creado una nueva jerga erudita impenetrable llena de metáforas sofisticadas, razonamientos abstrusos, argumentos con una gran carga emotiva y citas herméticas que, en cierta medida, le han permitido encubrir sus ideas y valoraciones y, de este modo, evitar que sean sensatamente escudriñadas. En un sistema como el colombiano, erigido sobre el principio de frenos y contrapesos entre los distintos poderes del Estado, si el poder político se ejerce a través de la justicia constitucional, en un lenguaje incomprensible y presentado como un argumento de última instancia, todo el equilibrio se viene abajo y, muy pronto, el derecho se convierte en el principal instrumento del despotismo., de Daniel Mendonca, es un libro perfectamente honesto que presenta sus ideas con absoluta claridad y ayuda a trazar los límites entre la discrecionalidad y la arbitrariedad de la interpretación constitucional.

Los modelos de financiación de las instituciones de educación superior públicas en Alemania.

Resumen tomado de la publicación

Online learning matters : extending your organisation's learning provision.

El libro explica, desde un punto de vista organizativo, cómo preparar cursos que ofrezcan formación online o semipresencial en el ámbito de la educación de adultos. Incluye: conceptos del aprendizaje, aprendizaje en línea y el papel de las metodologías online para ampliar y mejorar la oferta educativa; diseño del espacio de aprendizaje; desarrollo de la oferta educativa online; facilitar el aprendizaje en un entorno online; recursos y creación de contenidos; garantía de calidad y control.

Plant-symbiotic fungi as chemical engineers: multi-genome analysis of the Clavicipitaceae reveals dynamics of alkaloid Loci

The fungal family Clavicipitaceae includes plant symbionts and parasites that produce several psychoactive and bioprotective alkaloids. The family includes grass symbionts in the epichloae clade (Epichloë and Neotyphodium species), which are extraordinarily diverse both in their host interactions and in their alkaloid profiles. Epichloae produce alkaloids of four distinct classes, all of which deter insects, and some—including the infamous ergot alkaloids—have potent effects on mammals. The exceptional chemotypic diversity of the epichloae may relate to their broad range of host interactions, whereby some are pathogenic and contagious, others are mutualistic and vertically transmitted (seed-borne), and still others vary in pathogenic or mutualistic behavior. We profiled the alkaloids and sequenced the genomes of 10 epichloae, three ergot fungi (Claviceps species), a morning-glory symbiont (Periglandula ipomoeae), and a bamboo pathogen (Aciculosporium take), and compared the gene clusters for four classes of alkaloids. Results indicated a strong tendency for alkaloid loci to have conserved cores that specify the skeleton structures and peripheral genes that determine chemical variations that are known to affect their pharmacological specificities. Generally, gene locations in cluster peripheries positioned them near to transposon-derived, AT-rich repeat blocks, which were probably involved in gene losses, duplications, and neofunctionalizations. The alkaloid loci in the epichloae had unusual structures riddled with large, complex, and dynamic repeat blocks. This feature was not reflective of overall differences in repeat contents in the genomes, nor was it characteristic of most other specialized metabolism loci. The organization and dynamics of alkaloid loci and abundant repeat blocks in the epichloae suggested that these fungi are under selection for alkaloid diversification. We suggest that such selection is related to the variable life histories of the epichloae, their protective roles as symbionts, and their associations with the highly speciose and ecologically diverse cool-season grasses.

High-latitude ion transport and energetic explorer (HI-LITE): a mission to investigate ion outflow from the high-latitude ionosphere

The proposed HI-LITE Explorer will investigate the global ion outflow from the high-latitude ionosphere, its relationship to auroral features, and the consequences of this outflow on magnetospheric processes. The unique nature of the HI-LITE Explorer images will allow temporal and spatial features of the global ion outflow to be determined. The mission's scientific motivation comes from the fundamental role high-latitude ionospheric ions play in the dynamics of the solar wind driven magnetospheric-ionospheric system. These outflows are a major source of plasma for the magnetosphere and it is believed they play an important role in the triggering of substorms. In addition this paper describes the HI-LITE spacecraft and instruments.

Using laboratory and field measurements to constrain a single habit shortwave optical parameterization for cirrus

A single habit parameterization for the shortwave optical properties of cirrus is presented. The parameterization utilizes a hollow particle geometry, with stepped internal cavities as identified in laboratory and field studies. This particular habit was chosen as both experimental and theoretical results show that the particle exhibits lower asymmetry parameters when compared to solid crystals of the same aspect ratio. The aspect ratio of the particle was varied as a function of maximum dimension, D, in order to adhere to the same physical relationships assumed in the microphysical scheme in a configuration of the Met Office atmosphere-only global model, concerning particle mass, size and effective density. Single scattering properties were then computed using T-Matrix, Ray Tracing with Diffraction on Facets (RTDF) and Ray Tracing (RT) for small, medium, and large size parameters respectively. The scattering properties were integrated over 28 particle size distributions as used in the microphysical scheme. The fits were then parameterized as simple functions of Ice Water Content (IWC) for 6 shortwave bands. The parameterization was implemented into the GA6 configuration of the Met Office Unified Model along with the current operational long-wave parameterization. The GA6 configuration is used to simulate the annual twenty-year short-wave (SW) fluxes at top-of-atmosphere (TOA) and also the temperature and humidity structure of the atmosphere. The parameterization presented here is compared against the current operational model and a more recent habit mixture model.

Public policies and the competitiveness of agricultural exports

Includes bibliography

Políticas públicas y competitividad de las exportaciones agrícolas

Incluye Bibliografía

Avaliação da influência do agente de cimentação na cor imediata e pós-envelhecimento de materiais restauradores indiretos

Pós-graduação em Odontologia Restauradora - ICT

Influence of ultrasound or halogen light on microleakage and hardness of enamel adjacent to glass ionomer cement

Background. The use of external sources of energy may accelerate the setting rate of glass ionomer cements (GICs) allowing better initial mechanical properties. Aim. To investigate the influence of ultrasound and halogen light on the microleakage and hardness of enamel adjacent to GIC restorations, after artificial caries challenge. Design. Cavities were prepared in 60 primary canines, restored with GIC, and randomly distributed into three groups: control group (CG), light group (LG) - irradiation with a halogen lightcuring unit for 60 s, and ultrasonic group (UG) application of ultrasonic scaler device for 15 s. All specimens were then submitted to a cariogenic challenge in a pH cycling model. Half of sample in each group were immersed in methylene blue for 4 h and sectioned for dye penetration analysis. The remaining specimens were submitted to Knoop cross-sectional microhardness assessments, and mineral changes were calculated for adjacent enamel. Results. Data were compared using Kruskal-Wallis test and two- way ANOVA with 5% significance. Higher dye penetration was observed for the UG (P < 0.01). No significant mineral changes were observed between groups (P = 0.844). Conclusion. The use of halogen light- curing unit does not seem to interfere with the properties of GICs, whereas the use of ultrasound can affect its marginal sealing.

Mobilisation von Schwermetallen im Bereich rheinhessisches Hügelland als Folge anthropogen bedingten Nitrateintrages - Folgen für den Grundwasserschutz ?

Kurzfassung Zielsetzung der vorliegenden Arbeit war eine hydrogeologische Untersuchung zur Herkunftsbestimmung der Grundwässer im Raum Alzey/Rheinhessen. Ein erster Anlaß zu weiteren Untersuchungen war durch erhöhte Schwermetallgehalte in den Rohwässern gegeben. Im Alzeyer Raum können Kluftgrundwasserleiter (Rotliegendes und z.T. verkarstetes Kalktertiär) sowie Porengrundwasserleiter (Tertiäre Meeressande und Ablagerungen des Quartärs) unterschieden werden. Aufgrund der Lösungsinhalte ergibt sich eine Typisierung in erdalkalische Hydrogenkarbonatwässer bzw. Austauschwässer, bei denen Erdalkalien durch Alkalien ersetzt wurden. Mit verschiedenen Grundwassermodellierungen konnten mögliche 'Grundwasserneubildungs-Pfade' aufgezeigt werden. Die 1996 durchgeführte Herabsetzung des Arsengrenzwertes zwang viele Versorgungsunternehmen weitere Verfahrenstechniken zur Grundwasseraufbereitung anzuwenden. Es zeigten sich erhebliche Schwierigkeiten bei der Umsetzung der EU-Wasserrahmenrichtlinie bezogen auf das lokale Untersuchungsgebiet Alzey. Schwermetallmobilisationen im Untergrund können aufgrund anthropogen eingetragener Nitrate im sonst reduzierenden Milieu ermöglicht werden. Mittels Tritium- und FCKW-Analysen konnten Alter bzw. Verweilzeiten der Wässer bestimmt werden. Zusammen mit den Werten von Deuterium und Sauerstoff-18, Schwefel-34 und Sauerstoff-18 aus dem im Wasser gelösten Sulfat und Stickstoff-15 und Sauerstoff-18 aus dem im Wasser gelösten Nitrat, konnten Aussagen über Änderungen im Aquifermilieu getroffen werden. Es zeigte sich, daß selbst bei einem völligen Stop des Düngemitteleintrages, die Schwermetallmobilisationen in Grundwässern im Bereich Rheinhessisches Hügelland innerhalb der nächsten 30 Jahre nicht abnehmen werden.

Gewitter und Gewitterschäden im südlichen hessischen Berg- und Beckenland und im Rhein-Main-Tiefland 1881 bis 1980

Basierend auf schriftlichen Quellen, hauptsächlich von 1881-1980 (ohne 1941-50), werden die raum-zeitlichen Eigenschaften von Gewittern mit Schäden im südlichen hessischen Berg- und Beckenland und im Rhein-Main-Tiefland (= UG) herausgestellt. Nach Auswertung des Materials in einer Datenbank erfolgt die Intensitätskategorisierung der Schadensvorgänge für gewitterbedingte Starkregen erstmals anhand der Ähnlichkeitsmerkmale von Folgeerscheinungen, für Blitzschlag erstmals nach Schadensaspekten sowie für Hagelschlag und Sturm mittels existierender und modifizierter Klassifizierungen. Diese Kategorisierungen können für alle Beschreibungen von Gewitterschadensereignissen in schriftlichen Quellen angewandt werden. Die einzelnen Phänomene zeigen deutlich voneinander abweichende Eigenschaften. So treten z.B. Starkregenschäden verstärkt im Frühsommer auf, Sturmschäden überwiegend erst im Hoch- und Spätsommer. Generell lassen sich zwei Jahresmaxima in der Gewitterschadenstätigkeit nachweisen (erste Junidekade, zweite Julihälfte). Schwergewitter mit Sturm (auch Hagel) aus SW-W verursachen überwiegend Schäden im südlichen und westlichen UG, aus W-N meist im nördlichen und östlichen UG. Gewitter mit Starkregenschäden dominieren im östlichen UG. Nach der hier vorgestellten Methode der Schadensschwerpunkte können für Schwergewitter aus dem westlichen Sektor (SW-W, W-N) Schwerpunktzugbahnen im UG gedeutet werden. Es wird die Möglichkeit aufgezeigt, die Schadensdatenauswertung auf historische Szenarien zu übertragen. Für Interpretation und Rekonstruktion dieser für die Belange der Historischen Klimatologie wichtigen Vorgänge wird Datenmaterial aus dem zurückreichenden Zeitraum bis 1700 verwendet.