Análisis cinemático del robot antropomórfico IRB120 de ABB

[ES]En el siguiente Trabajo Fin de Grado se va a exponer el análisis cinemático y desarrollo de un modelo virtual para la implementación de las ecuaciones cinemáticas del robot IRB120 de ABB llevados a cabo durante el curso 2013/2014. Comenzando por un estudio del Estado del Arte de la robótica industrial, se plantean seguidamente las ecuaciones de localización del robot en función de las variables de entrada mediante el método matricial. Estas ecuaciones son implementadas en un modelo de MatLab para usarlas en la resolución del problema de posición directo e inverso, y son también usadas en herramientas de creación de trayectorias. Además, sus derivadas se utilizan en el cálculo de velocidades del elemento terminal. Por último, se muestra la creación del prototipo 3D del robot, así como un interfaz gráfico de control del robot para el usuario, y los trabajos de validación llevados a cabo de los mencionados modelos virtuales sobre el robot real.

湿谷应急保管技术

水稻收获期间，经常碰到下雨或台风季节，采后的湿谷很容易发芽、霉变，造成很大的损失。本研究以化学和物理方法有效控制了湿谷的发芽，并在此基础上进行了理论的研究。本研究是在当时粮食较紧缺的年代进行，因此试验的成功不仅能减少因湿谷的发芽所造成的经济损失，而且在当时特定的环境条件下更具有特别重要的社会意义。

A biogeographic asssessment of seabirds, deep sea corals and ocean habitats of the New York Bight: science to support offshore spatial planning

This report provides a compilation of new maps and spatial assessments for seabirds, bathymetry, surficial sediments, deep sea corals, and oceanographic habitats in support of offshore spatial planning led by the New York Department of State Ocean and Great Lakes Program. These diverse ecological themes represent priority information gaps left by past assessments and were requested by New York to better understand and balance ocean uses and environmental conservation in the Atlantic. The main goal of this report is to translate raw ecological, geomorphological and oceanographic data into maps and assessments that can be easily used and understood by coastal managers involved in offshore spatial planning. New York plans to integrate information in this report with other ecological, geophysical and human use data to obtain a broad perspective on the ocean environment, human uses and their interactions. New York will then use this information in an ecosystem-based framework to coordinate and support decisions balancing competing demands in their offshore environment, and ultimately develop a series of amendments to New York’s federally approved Coastal Management Program. The targeted users of this report and the compiled spatial information are New York coastal managers, but other State and federal decision-makers, offshore renewable energy development interests and environmental advocates will also find the information useful. In addition, the data and approaches will be useful to regional spatial planning initiatives set up by the Mid-Atlantic Regional Council on the Ocean (MARCO) and federal regional planning bodies for coastal and marine spatial planning.

Insula and striatum mediate the default bias.

Humans are creatures of routine and habit. When faced with situations in which a default option is available, people show a consistent tendency to stick with the default. Why this occurs is unclear. To elucidate its neural basis, we used a novel gambling task in conjunction with functional magnetic resonance imaging. Behavioral results revealed that participants were more likely to choose the default card and felt enhanced emotional responses to outcomes after making the decision to switch. We show that increased tendency to switch away from the default during the decision phase was associated with decreased activity in the anterior insula; activation in this same area in reaction to "switching away from the default and losing" was positively related with experienced frustration. In contrast, decisions to choose the default engaged the ventral striatum, the same reward area as seen in winning. Our findings highlight aversive processes in the insula as underlying the default bias and suggest that choosing the default may be rewarding in itself.

Excitation of highly conjugated (porphinato)palladium(II) and (porphinato)platinum(II) oligomers produces long-lived, triplet states at unit quantum yield that absorb strongly over broad spectral domains of the NIR.

Transient dynamical studies of bis[(5,5'-10,20-bis(2,6-bis(3,3-dimethylbutoxy)phenyl)porphinato)palladium(II)]ethyne (PPd(2)), 5,15-bis{[(5'-10,20-bis(2,6-bis(3,3-dimethylbutoxy)phenyl)porphinato)palladium(II)]ethynyl}(10,20-bis(2,6-bis(3,3-dimethylbutoxy)phenyl)porphinato)palladium(II) (PPd(3)), bis[(5,5'-10,20-bis(2,6-bis(3,3-dimethylbutoxy)phenyl)porphinato)platinum(II)]ethyne (PPt(2)), and 5,15-bis{[(5'-10,20-bis(2,6-bis(3,3-dimethylbutoxy)phenyl)porphinato)platinum(II)]ethynyl}(10,20-bis(2,6-bis(3,3-dimethylbutoxy)phenyl)porphinato)platinum(II) (PPt(3)) show that the electronically excited triplet states of these highly conjugated supermolecular chromophores can be produced at unit quantum yield via fast S(1) → T(1) intersystem crossing dynamics (τ(isc): 5.2-49.4 ps). These species manifest high oscillator strength T(1) → T(n) transitions over broad NIR spectral windows. The facts that (i) the electronically excited triplet lifetimes of these PPd(n) and PPt(n) chromophores are long, ranging from 5 to 50 μs, and (ii) the ground and electronically excited absorptive manifolds of these multipigment ensembles can be extensively modulated over broad spectral domains indicate that these structures define a new precedent for conjugated materials featuring low-lying π-π* electronically excited states for NIR optical limiting and related long-wavelength nonlinear optical (NLO) applications.

Monetary policy, exchange rates and stock prices in the Middle East region

A structural vector autoregressive model is employed to investigate the impact of monetary policy and real exchange rate shocks on the stock market performance of Kuwait, Oman, Saudi Arabia, Egypt and Jordan. In order to identify the structural shocks both short run and long run restrictions are applied. Unlike previous literature the contemporaneous interdependence between the financial variables are left unrestricted to give a more accurate depiction of the relationships. The heterogeneity of the results reflect the different monetary policy frameworks and stock market characteristics of these countries. Mainly, monetary policy and the real exchange rate shocks have a significant short run impact on the stock prices of the countries that apply a relatively more independent monetary policy and flexible exchange rates.

Da. Leonor de Sarabia - Doa Eleonora di Sarabia

UANL

La formaci??n del profesorado novel de secundaria de ciencias y matem??ticas : estudio de un caso

Conocer y comprender los procesos formativos y los procesos de desarrollo profesional que promueve una actividad de formaci??n permanente desarrollada con tres grupos de profesores noveles de Educaci??n Secundaria, de las especialidades de F??sica y Qu??mica, de Biolog??a y Geolog??a y de Matem??ticas al inicio de un per??odo de formaci??n. Son tres contextos formativos diferentes que comparten el mismo dise??o, con los mismos recursos y estrategias formativas, elaborado y desarrollado por un equipo de formadores que se coordinan compartiendo perspectivas y realizando un an??lisis conjunto del proceso. El estudio de caso ??nico se lleva a cabo en distintos escenarios y a trav??s de la interacci??n entre un equipo de formadores y tres grupos de profesores y profesoras noveles. Se puede diferenciar las siguientes fases: fase preparatoria (septiembre 2001-febrero 2002), fase interactiva y de recogida de datos (noviembre 2001-mayo 2002), fase anal??tica e informativa (junio 2002-junio 2003). La informaci??n obtenida informa del papel que otorgan a los alumnos, al contexto, a los contenidos y a las actividades en su pr??ctica docente, mostrando una estructura tradicional dominada por la lecci??n magistral y los ejercicios de aplicaci??n. A partir de su an??lisis se defiende la importancia de considerar las ideas y la pr??ctica del profesorado como referente para el dise??o y el desarrollo de actividades formativas.

Mestres competents: condicions necessàries. 'Maestros competentes: condiciones necesarias'.

Se reflexiona sobre los problemas básicos para avanzar en la preparación de profesionales con un perfil actualizado y adecuado a las demandas sociales, que permita el desarrollo de competencias básicas evaluables y una carrera profesional en condiciones.

A (des)necessidade do conceito de capital social no direito societário brasileiro: uma análise à luz do direito norte-americano e europeu

O trabalho analisa o tema do capital social no direito societário brasileiro. Seu objetivo é demonstrar, do ponto de vista jurídico, os malefícios e benefícios que o instituto promove. Apesar de ser tido como um conceito clássico e essencial para as sociedades com limitação de responsabilidade no Brasil, esse instituto vem sendo cada vez mais criticado no sentido de que não desempenha suas funções clássicas (organização, produção, e proteção de credores) de maneira efetiva nos dias atuais. Nesse contexto, direito societário moderno vem passando por uma evolução no sentido de questionar a efetividade de seus institutos. A análise aqui proposta do capital social segue esse raciocínio. Para auxiliar na interpretação do instituto no Brasil, serão utilizadas serão estudadas as lições e legislações dos ordenamentos europeu e norte-americano, onde o tema já foi amplamente debatido. O tratamento dado pelo Revised Model Business Corporation Act, legislação modelo norte americana, e da Segunda Diretiva do Capital da União Europeia aos instituto serão comparados com o tratamento da Lei das S.A. para o capital social. Por fim, são identificadas algumas particularidades do instituto do capital social em relação aos ordenamentos estrangeiros, que demonstram que uma eventual supressão do conceito de capital social no Brasil possuiria características próprias que não estão presentes na Europa e nos Estados Unidos. Nesse contexto, serão identificados os custos legislativos que uma eventual mudança do regime de capital social teria no sistema legislativo brasileiro.

Clima organizacional e satisfação laboral: um estudo sobre os núcleos hospitalares de epidemiologia de Natal/RN

The Hospital Epidemiology Nucleus (NHE) is a structure that has a specific organizational climate, which influence the level of job satisfaction among professionals working in it. This is a descriptive study with a quantitative approach, aimed to identify the relationship between organizational climate in the NHE regulated in the city of Natal / RN and the job satisfaction among its professionals from the perspective of theoretical issues about Organizational Development. The research was carried out in 13 hospitals with different kinds of sponsorship, 9 public, 3 philanthropic and 1 private. Data were collected using the instrument "organization in hospitals: issues relating to climate and job satisfaction , with 33 professionals appointed and active on NHE. This study obtained an appropriate consent of the Research Ethics Committee of the Hospital of Pediatrics Professor Heriberto Ferreira Bezerra, from the Riograndense Northern League Against Cancer and the Federal University of Rio Grande do Norte. Data collected were organized and treated with simple descriptive statistics. It was observed that from 33 of surveyed people, 93% was female, had an average of 40 years old age, with activity duration between 1 and 2 years (84.9%). Furthermore, 45.5% of industry professionals were nurses. It was identified that professionals working in NHE perceive and experience its work environment as an Organization Structure in construction. It was found that with the exception of the aspects "working life", "socio-cultural" and "organizational culture , the other internal and external factors to the NHE does not have strong expression in the forming of an organizational climate conducive to the development of the sector. It was found that 70% of interviewed perceive the organizational climate as favorable for the industry's progress. Regarding the job level of satisfaction, respondents feel fairly satisfied with the organizational structure. Therefore, the results of this study are suggestive that there is some factor that is greatly contributing to a healthy organizational climate that encourages the industry team members of the NHE present behaviors that identify them as actors committed and satisfied with the work, even face of all obstacles to implementation of epidemiological surveillance. Thus, it is suggested for futures studies to seek to determine how the organizational culture, while significant internal factor, influencing the organizational climate establishment of NHE and therefore the level of job satisfaction and well-being of each members of the team