31 research outputs found
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