Stability analysis and user perception of haptic rendering combining virtual elastic, viscous and inertial effects

Virtual Reality environments are being used on a mass scale in fields, such as Industry and Medicine. These virtual scenarios serve very different purposes such as prototyping, gaming and exercising. Interaction with the virtual environment is mainly achieved by senses of sight and hearing through devices, such as a mouse or VR glasses. To this end, haptic research started a few decades ago with the aim of improving this interaction through a sense of touch. A key element, hitherto not researched, is the effective combination of virtual elastic, viscous, and inertial effects in haptic feedback restored to the user and the safety implications of these feedback effects. It is of particular importance in neurological rehabilitation exercising, as interaction realism and safety are of great importance in therapy and for the patient. Therefore, this work addresses the stability analysis of the combination of three haptic effects—elastic, viscous, and inertial—and the subjective feeling on the part of users regarding different combinations of these effects. A theoretical analysis is presented with a view to establishing stable control principles, and a user-study was carried out in order to help understand the perception of users to different combinations of haptic effects

Genetic connectivity and hybridization with its siter species challenge the current management paradigm of white anglerfish (Lophius piscatorius)

Understanding the inter and intraspecific dynamics of fish populations is essential to promote effective management and conservation actions and to predict adaptation to changing conditions. This is possible through the analysis of thousands of genetic markers, which has proven useful to resolve connectivity among populations. Here, we have tackled this issue in the white anglerfish (Lophius piscatorius), which inhabits the Northeast Atlantic and Mediterranean Sea and coexists with its morphologically almost identical sister species, the black anglerfish (L. budegassa). Our genetic analyses based on 16,000 SNP markers and 700 samples reveal that i) the white anglerfish from the Mediterranean Sea and the Atlantic Ocean are genetically isolated, but that no differentiation can be observed within the later, and that ii) black and white anglerfish naturally hybridize, resulting in a population of about 20% of, most likely sterile, hybrids in some areas. These findings challenge the current paradigm of white anglerfish management, which considers three independent management units within the North East Atlantic and assumes that all mature fish have reproductive potential. Additionally, the northwards distribution of both species, likely due to temperature raises, calls for further monitoring of the abundance and distribution of hybrids to anticipate the effects of climate change in the interactions between both species and their potential resilience

Dynamics for a 2-vertex Quantum Gravity Model

We use the recently introduced U(N) framework for loop quantum gravity to study the dynamics of spin network states on the simplest class of graphs: two vertices linked with an arbitrary number N of edges. Such graphs represent two regions, in and out, separated by a boundary surface. We study the algebraic structure of the Hilbert space of spin networks from the U(N) perspective. In particular, we describe the algebra of operators acting on that space and discuss their relation to the standard holonomy operator of loop quantum gravity. Furthermore, we show that it is possible to make the restriction to the isotropic/homogeneous sector of the model by imposing the invariance under a global U(N) symmetry. We then propose a U(N) invariant Hamiltonian operator and study the induced dynamics. Finally, we explore the analogies between this model and loop quantum cosmology and sketch some possible generalizations of it.Comment: 28 pages, v2: typos correcte

Catálogo de monumentos megalíticos en Navarra. Homenaje a Francisco Ondarra (1925-2005)

Este trabajo pretende llenar el vacío que existe actualmente en relación con el megalitismo de esta región. Se da a conocer un catálogo actualizado, de más de 1500 megalitos, resultado de una prospección y revisión de datos intensa llevada a cabo por los firmantes del mismo durante años. El listado que aquí se incluye es paso previo a la publicación individualizada de las fichas de todos estos monumentos, como contribución a la Carta Arqueológica de Navarra

Development of a robotic device for post-stroke home tele-rehabilitation

This work deals with the complex mechanical design task of converting a large pneumatic rehabilitation robot into an electric and compact system for in-home post-stroke therapies without losing performance. It presents the new HomeRehab robot that supports rehabilitation therapies in three dimensions with an adaptive controller that optimizes patient recovery. A preliminary usability test is also conducted to show that its performance resembles that found in RoboTherapist 2D commercial system designed for hospitals. The mechanical design of a novel and smart twodimensional force sensor at the end-effector is also described

Validación del Cuestionario de Salud General de Goldberg (versión 28 ítems) en consultas de Atención Primaria.

Se realiza un estudio para medir la validez del cuestionario GHQ-28 de Goldberg, comparándolo con la entrevista psiquiátrica estructurada PSE-ID, 9ª edición. Se expone el método utilizado en la selección de 150 pacientes de ambos sexos, todos provenientes de consultas de Atención Primaria, para la entrevista psiquiátrica de validación. Se analiza el cuestionario en tres órdenes: como test de "screening", como detector de morbilidad psiquiátrica real y como indicador de severidad clínica. Tras comparar los resultados con otros trabajos similares, se concluye con algunas recomendaciones para el uso del GHQ-28

Validación del Cuestionario de Salud General de Goldberg (versión 28 ítems) en consultas de Atención Primaria.

Se realiza un estudio para medir la validez del cuestionario GHQ-28 de Goldberg, comparándolo con la entrevista psiquiátrica estructurada PSE-ID, 9ª edición. Se expone el método utilizado en la selección de 150 pacientes de ambos sexos, todos provenientes de consultas de Atención Primaria, para la entrevista psiquiátrica de validación. Se analiza el cuestionario en tres órdenes: como test de "screening", como detector de morbilidad psiquiátrica real y como indicador de severidad clínica. Tras comparar los resultados con otros trabajos similares, se concluye con algunas recomendaciones para el uso del GHQ-28

Validación del Cuestionario de Salud General de Goldberg (versión 28 ítems) en consultas de Atención Primaria.

Se realiza un estudio para medir la validez del cuestionario GHQ-28 de Goldberg, comparándolo con la entrevista psiquiátrica estructurada PSE-ID, 9ª edición. Se expone el método utilizado en la selección de 150 pacientes de ambos sexos, todos provenientes de consultas de Atención Primaria, para la entrevista psiquiátrica de validación. Se analiza el cuestionario en tres órdenes: como test de "screening", como detector de morbilidad psiquiátrica real y como indicador de severidad clínica. Tras comparar los resultados con otros trabajos similares, se concluye con algunas recomendaciones para el uso del GHQ-28