Real-Time Collaborative Robot Control Using Hand Gestures Recognised By Deep Learning

In an ever-changing and demanding world new technologies, which allow more efficient and easier industrial processes, are needed. Furthermore, until now, traditional vision technologies and algorithms have been used in the industrial area. These techniques, even though they achieve good results in simple vision tasks, they are really limited since any change in the processed image affects their performance. For example, in code reading tasks, if the code has a mark or it is not completely visible, the piece with the code would be discarded which leads to losses for the company. These kind of problems can be solved by the implementation of machine learning techniques for vision purposes. Moreover, these techniques learn from example images and even though a perfect performance is difficult to get, machine learning techniques are much more flexible than traditional techniques. Even though the term machine learning was coined for the first time in 1959, until now, these techniques have barely been implemented in the industrial area. They have mostly been used for investigation purposes. Apart from the new vision techniques, new types of robots are being implemented in industrial environments such as collaborative or social robots. On the one hand, collaborative robots allow the workers to work next to or with the robot without any type of physical interference between them. On the other hand, social robots allow an easier communication between the robot and the user which can be applied in different parts of the industry such as introducing the company to new visitors. The present project gathers information in regard to the analysis, training and implementation of a vision artificial neuronal network based software called ViDi Cognex software. By the use of this software, three different vision tasks were trained. The most important one is the hand gesture recognition task since the obtained hand gesture controls the action performed by the YuMi robot, which is programmed in RAPID language. It is believed that the development of the different artificial neuronal networks with industrial purposes can show the applicability of machine learning techniques in an industrial environment. Apart from that, the hand gesture recognition shows an easy way to control the movements of a robot which could be used by a person with no knowledge of robots or programming. To finish, the use of a two arm collaborative robot, could show the potential and versatility of collaborative robots for industrial purposes

Argumentation and disagreement:a pluralistic approach

In our everyday life and in the public sphere, we often find disagreements that the parties cannot resolve nor even overcome. We might call them persistent disagreements. The main question of this thesis is: “What can the parties do to overcome disagreements reasonably, especially when disagreements are persistent?” I argue that the most reasonable way to deal with disagreement is by using argumentation, whereby I approach argumentation pluralistically. This pluralistic approach implies an expansion of traditional approaches to argumentation like pragma-dialectics or informal logic. According to this pluralistic approach, rational persuasion need not be the only goal of argumentation, because it rarely succeeds, especially in the case of persistent disagreement. Therefore, a pluralistic approach to argumentation implies: a) that the parties might overcome their disagreements by reasonable means different from persuasion - among these means we can consider deliberation, negotiation and settlement; b) that if those means revolve around presenting reasons, they should be considered under the concept argumentation; c) that sometimes persuasion is necessary, but that even then, if the setting of the dialogue is sub-optimal, as in the persistent case, we need a general or nonspecific normative approach to evaluate the contributions of the parties; d) that when fallacies are presented, the proper response to them will depend on certain circumstances of the dialogue, considering the goal of overcoming disagreements reasonably; e) that for overcoming disagreements the parties may need to shift between different dialogue types, and that those shifts have special conditions of their own

Infrared nanospectroscopy and hyperspectral nanoimaging of organic matter

110 p.Infrared (IR) spectroscopy is a highly valuable tool for materials characterization in widely different fields, ranging from polymer sciences to biomedical imaging. However, the diffraction limit prevents nanoscale infrared studies. The IR diffraction limit can be circumvented, among other techniques by infrared scattering type scanning near-field optical microscopy (IR s-SNOM) and its extension to nanoscale Fourier transform infrared spectroscopy (nano-FTIR), which enable infrared imaging and spectroscopy with nanoscale spatial resolution, respectively.In this thesis, we introduce mapping of protein structure with 30nm lateral resolution and sensitivity to individual protein complexes by nano-FTIR. We present local broadband spectra of one virus, ferritin complexes, purple membranes and insulin aggregates, which can be interpreted in terms of their ¿-helical and/or ¿-sheet structure. Applying nano-FTIR for studying insulin fibrils - model system widely used in neurodegenerative disease research - we find clear evidence that 3-nm-thin amyloid-like fibrils contain a large amount of ¿-helical structure.To gain further insights into the structure of the samples, spectroscopic information at each pixel of an image is desirable, that is hyperspectral imaging. In this thesis, we introduce hyperspectral infrared nanoimaging based on nano-FTIR with a tunable bandwidth-limited laser continuum. We describe the technical implementations and present hyperspectral infrared near-field images of about 5000 pixel, each one covering the spectral range from 1000 to 1900 cm-1. To verify the technique and to demonstrate its application potential, we imaged a three-component polymer blend and a melanin granule in a human hair cross-section, and demonstrate that multivariate data analysis can be applied for extracting spatially resolved chemical information. Particularly, we demonstrate that distribution and chemical interaction between the polymer components can be mapped with a spatial resolution of about 30 nm. We foresee wide application potential of hyperspectral infrared nanoimaging for valuable chemical materials characterization and quality control in various fields ranging from materials sciences to biomedicine.CIC NanoGUNE: nanoscience cooperative research cente

Palynofloras of the Chigua (Devonian) and Malimán (Mississippian) formations from the Precordillera Argentina: age, correlation and discussion of the D/C boundary

Se presenta el análisis cualitativo y cuantitativo de las asociaciones palinológicas obtenidas de las formaciones Chigua (Devónico) y Malimán (Mississippiano), aflorantes en la Cuenca Río Blanco, Precordillera Argentina. La relación estratigráfica entre ambas unidades es mediante una discordancia angular. Una detallada correlación de ambas palinofloras con otras coetáneas permite su datación precisa. La palinoflora de la Formación Chigua es correlacionable con la Zona G. lemurata-C. magnificus del Givetiano temprano de Euramerica. El alcance estratigráfico de las especies autóctonas halladas en la Formación Malimán sustentan una edad viséana temprana, aunque la presencia de algunas especies del Tournaisiano tardío sugieren que esta edad podría estar representada en la parte inferior de la formación. Esta palinoflora es correlacionada con 1) la Zona Endoculeospora larga del Viséano de Australia, 2) las zonas CM y Pu del Tournaisiano tardío – Viséano temprano de Euramerica y 3) la palinoflora de la Formación Itacua atribuida al Viséano temprano presente en el extremo sur de Bolivia. El hiato estratigráfico entre ambas formaciones está avalado por las distintas edades de las palinofloras encontradas y por el rango estratigráfico de los palinomorfos retrabajados registrados en la Formación Malimán. Así, se documentan dos períodos de acumulación de sedimentos durante el Frasniano y probablemente durante el Tournaisiano temprano. La ausencia de formas retrabajadas del Devónico más tardío (Famenniano tardío o “Struniano”) sugiere que no habría depositación durante este intervalo. Otros palinomorfos retrabajados del Silúrico Tardío y Devónico Temprano se encuentran en la Formación Malimán. La mezcla de palinomorfos del Silúrico al Tournaisiano temprano se vincula con la erosión penecontemporánea de áreas levantadas que habrían conformado la Protoprecordillera, por una combinación de procesos tectónicos y glacio-eustáticos durante el Frasniano tardío, Fameniano y Tournaisiano temprano.A qualitative and quantitative analysis is presented of palynological assemblages recovered from outcrops of the Chigua (Devonian) and Malimán (Mississippian) formations, in the Río Blanco Basin, Precordillera of Argentina. An angular unconformity separates these two formations. Both units are dated precisely in comparison with palynofloras elsewhere. The Chigua Formation is correlatable with the early Givetian G. lemurata-C. magnificus Zone of Euramerica. The stratigraphic ranges of the non-reworked taxa in the Malimán Formation support an early Viséan age. However, the presence of some late Tournaisian species suggests that the lower part of the formation correspond to this age. The palynoflora of the Malimán Formation suggests correlation with 1) the Viséan Endoculeospora larga Assemblage of Australia, 2) the late Tournaisian – early Viséan CM and Pu zones of Euramerica, and 3) the early Viséan assemblage of the Itacua Formation of southernmost Bolivia. A hiatus comprising Frasnian to early Tournaisian is confirmed on the basis of the different ages of the two assemblages and the stratigraphic ranges of reworked palynomorphs found in the Malimán Formation. These, attest to sedimentation and subsequent erosion of Frasnian and probably also Tournaisian strata. The absence of reworked forms of the latest Devonian (late Famennian or “Strunian”) suggests a corresponding period of non-deposition. The Malimán Formation also contains reworked palynomorphs of Late Silurian and Early Devonian ages. The reworking of palynomorphs documents the penecontemporaneous erosion of uplifted areas that would have conformed the Protoprecordillera, due to late Frasnian, Famennian and early Tournaisian tectonic and glacio-eustatic processes affecting the area involved.Fil: Rodriguez Amenabar, Cecilia. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Geología; ArgentinaFil: Di Pasquo Lartigue, Maria. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Geología; ArgentinaFil: Azcuy, Carlos Leopoldo. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Geología; Argentin

Exploring analogies between granular materials and fluids

The direct application of fluid system approaches to granular materials oftentimes leads to spectacular failures, e.g. two miscible fluids shaken in a container rapidly become an homogeneous mixture, while vibrating a device containing two kinds of powders result in extreme segregation. Nevertheless, much can be learned through analogies between these disparate systems. The approach taken in this work is to focus on adapting concepts from fluid behavior and explore their application in relevant industrial processes involving granular materials---such as mixing/segregation, heat transfer and flowability. We use Particle Dynamics (PD)---a Discrete Element Method---to model transport and flow of granular materials.Adhesion, for example, is commonly found in operations involving fine powders where van der Waals forces start to play an important role. Our PD model, which is capable of simulating dry adhesive interactions, is used to study mixing/segregation. By introducing a characterization tool---the van der Waals Granular Bond Number---the asymptotic mixed/segregated state of the system is analytically predicted. These predictions are most easily summarized by phase-space diagrams which exhibit both mixed and segregated regions. The phase-space diagrams are computationally tested (with PD) by selecting granular materials of different properties so that we explore both mixed and segregated regions. Each of these materials is allowed to reach its asymptotic state in a mixing drum, and this final state is compared to the predictions.Beyond predicting the asymptotic state of a system, the next natural step is to explore the possibility of controlling it. With this purpose, we propose the addition of ``helper" particles that can either promote mixing or segregation. These amphiphilic helper particles---also called Janus particles---act as bridges between the base (non-helper) particles, alternatively promoting mixing in a system that would otherwise segregate (surfactant helpers) or separating a specific kind of particle from a mixture (extractant helpers). Phase space diagrams summarizing these trends are analytically built by comparing the interaction forces in the system: the final state of the system is determined by the interactions that predominate. Again, the predictions are then tested against results obtained by PD simulations of the system including Janus particles, which are further compared to the binary adhesive system that contain no helper particles.The presence of adhesive forces in granular materials can also affect the flowability of a granular material. Glidants---also known as flow aids or conditioners---are frequently added to dry cohesive powders to improve their flow properties and to facilitate their handling. These aids can reduce the inter-particle forces by imposing a physical barrier between host particles but are often identified on a trial-and-error or ad hoc basis. Using our PD model and characterization tools, glidant particles are engineered to improve the flowability properties of a dry cohesive powder.Finally, heat transfer within granular materials is studied by observing the dominant heat transfer mechanisms in the granular bed. Specifically, we examine the conditions necessary to achieve conduction-dominated versus convection-dominated heat transfer and introduce a granular analog of the Peclet number as a means of quantifying the transition. Our experiments consist of PD simulations of rotating tumblers where the granular material is being heated from the walls. When conduction is the dominant mechanism, increasing the mixing rate seems to have a positive impact in the rate of heat transfer; however, under convection-dominated conditions the opposite is often true. In order to further clarify the role of inter-particle mixing, the temperature profiles of the material in the drums are compared to a continuum model for mixing of cohesionless granular materials. Similarities between these two are most likely to be found when convection is the mechanism that dominates the heat transport. Dimensionless numbers are used to correlate the results obtained for multiple systems and surprising degree of similarity is found when compared to analogous fluid correlations

Optical sideband selection in Optical IQ modulators driven by RF tones

This paper deals with IQ modulation using the nested Mach-Zehnder modulator, studying its different parameters and the effect of their value in the resulting signal. The main goal is to obtain the parameters for which a frequency shift is obtained, using different approaches. First, the Bessel functions are used to study the transfer function analytically. Then, numerical representations (both using the Bessel functions and Fourier cofficients) are plotted in order to further illustrate the results obtained, adding up with the spectra of some cases obtained using VPIphotonics, creating a full picture of the solution proposed.2019/202

Revisió dels diferents aspectes de la influència dels pares i les mares en la pràctica de l’activitat física i l’esport

En aquest treball hem tractat de revisar el que la literatura científica ens ha aportat en l’anàlisi de la influència que exerceixen els pares i les mares en la pràctica de l’activitat física i l’esport. En aquest sentit, hem tractat d’organitzar aquesta informació i presentar-la de manera que pugui servir com a base per a futurs treballs d’aplicació en aquest camp. Els treballs que hem recopilat fan referència a aspectes tan rellevants com ara la motivació, les autopercepcions i les actituds. Alhora, hem trobat referències als sistemes de creences i treballs relacionats amb l’afectivitat. A través d’aquesta informació tractem de resumir la influència que exerceixen els altres significants perquè la pràctica dels nens s’apropi més a les finalitats amb què s’ha plantejat

La gestión del personal y la cobertura del servicio público prestado por la Agencia Estatal de Meteorología

Seminario técnico de las becas de formación de posgraduados de Aemet celebrado el 3 de octubre de 201

Infrared nanospectroscopy and hyperspectral nanoimaging of organic matter

110 p.Infrared (IR) spectroscopy is a highly valuable tool for materials characterization in widely different fields, ranging from polymer sciences to biomedical imaging. However, the diffraction limit prevents nanoscale infrared studies. The IR diffraction limit can be circumvented, among other techniques by infrared scattering type scanning near-field optical microscopy (IR s-SNOM) and its extension to nanoscale Fourier transform infrared spectroscopy (nano-FTIR), which enable infrared imaging and spectroscopy with nanoscale spatial resolution, respectively.In this thesis, we introduce mapping of protein structure with 30nm lateral resolution and sensitivity to individual protein complexes by nano-FTIR. We present local broadband spectra of one virus, ferritin complexes, purple membranes and insulin aggregates, which can be interpreted in terms of their ¿-helical and/or ¿-sheet structure. Applying nano-FTIR for studying insulin fibrils - model system widely used in neurodegenerative disease research - we find clear evidence that 3-nm-thin amyloid-like fibrils contain a large amount of ¿-helical structure.To gain further insights into the structure of the samples, spectroscopic information at each pixel of an image is desirable, that is hyperspectral imaging. In this thesis, we introduce hyperspectral infrared nanoimaging based on nano-FTIR with a tunable bandwidth-limited laser continuum. We describe the technical implementations and present hyperspectral infrared near-field images of about 5000 pixel, each one covering the spectral range from 1000 to 1900 cm-1. To verify the technique and to demonstrate its application potential, we imaged a three-component polymer blend and a melanin granule in a human hair cross-section, and demonstrate that multivariate data analysis can be applied for extracting spatially resolved chemical information. Particularly, we demonstrate that distribution and chemical interaction between the polymer components can be mapped with a spatial resolution of about 30 nm. We foresee wide application potential of hyperspectral infrared nanoimaging for valuable chemical materials characterization and quality control in various fields ranging from materials sciences to biomedicine.CIC NanoGUNE: nanoscience cooperative research cente

Abordaje integral del patrimonio natural antártico: conjugando ciencia e historia para el fortalecimiento de la cultura nacional

Para relacionar las ciencias naturales con la historia, en esta contribución se propone realzar el vínculo existente entre los fósiles y los sitios paleontológicos de donde estos provienen con la historia de Argentina en el continente antártico, considerando sus inicios con la expedición sueca. De esta manera, el patrimonio natural ?el fósil? se utiliza como un recurso para dar a conocer no solo su valor paleontológico y geológico sino también su significación histórica. Para elaborar la propuesta, se hará mención de los sitios paleontológicos históricos heredados de la expedición sueca y se discutirá el impacto de los hallazgos tanto en la comunidad científica de inicios de 1900 como en las investigaciones que se desarrollan actualmente en el ámbito de las ciencias de la Tierra. Se desarrollará el concepto de patrimonio paleontológico y se vinculará con el de identidad cultural nacional. Esta propuesta busca incentivar e intensificar la divulgación del patrimonio natural antártico, fomentando el desarrollo de exhibiciones y de las investigaciones científicas inmersas en un contexto histórico nacional. El abordaje integral del patrimonial paleontólogo propuesto en el presente trabajo redundará en beneficios para los ámbitos de la comunidad.Fil: Rodriguez Amenabar, Cecilia. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Estudios Andinos "Don Pablo Groeber". Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Estudios Andinos "Don Pablo Groeber"; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Geología. Cátedra de Paleontología; Argentina. Ministerio de Relaciones Exteriores, Comercio Interno y Culto. Dirección Nacional del Antártico. Instituto Antártico Argentino; Argentin