Education Software for the Modelling and Calibration of Kinematic Mechanisms

AbstractThis paper presents a new software for teaching the most important aspects of modelling, characterization and calibration of parallel mechanisms by means of the kinematic model, the kinematic parameter identification and the control of the system actuators and sensors. This application allows the student to develop competencies such as analysis and synthesis, to solve problems, research skills and to apply their knowledge.The developed tool presents a special interest in areas such as education, industry and research, since the application interface allows the user to carry out the different steps of the calibration procedure in an easy way. Besides, only one application is necessary to perform all the procedure for data acquisition and kinematic parameter identification.Moreover, thanks to the flexibility that the developed software offers in the programming, a senior undergraduate student can modify different algorithm variables and analyze the effects that take place with these changes. This application therefore presents an important utility as a teaching tool for the learning process and analysis of the different steps in the parallel mechanism optimization

Improving the Accuracy of a Machine Tool with Three Linear Axes using a Laser Tracker as Measurement System

This paper presents a real way to improve machine tool accuracy using interferometry techniques based on laser tracker as measurement system. This is based on an indirect measurement of the geometric error of the MT; characterizing their combined effect though volumetric verification. This technique can be used to verify all types of machine through its kinematic model, relating measured points with the laser tracker and nominal points. Using non-lineal optimization techniques the difference between pair of points are reduced. Finally, it provides the approximation functions of the machine tool geometric errors used to compensate theirs influence on MT accuracy. As it is a mathematical compensation result of an optimization procedure, the improvement on MT accuracy should be validate using the same or external measurement system. This paper shows that volumetric verification provides an real improvement of the MT accuracy

Point-contact spectroscopy of the borocarbide superconductor YNi2B2C

Point-contact (PC) spectroscopy measurements on YNi2B2C single crystals in the normal and superconducting (SC) state (T_c=15.4K) for the main crystallographic directions are reported. The PC study reveals the electron-phonon interaction (EPI) function with a dominant maximum around 12meV and a further weak structure (kink or shallow broad maximum) at higher energy at about 50meV. Other phonon maxima at 20, 24 and 32meV specified in the phonon DOS of YNi2B2C by neutron measurements [PRB, V.55, 9058 (1997)] are not resolved in the PC spectra pointing out to the main role of the low energy phonon modes in EPI. Directional study of the SC gap results in \Delta_[100]=1.5meV for the a- direction and \Delta_[001]=2.4meV along the c-axis which may point to anisotropic and/or multiband behavior. Noteworthy, the critical temperature T_c in all cases corresponds to that of bulk samples. The value 2\Delta_[001]/kT_c=3.6 is close to the BCS one of 3.52, and the temperature dependence \Delta(T) is BCS-like, while for the a-direction \Delta(T) deviates from mean-field BCS behavior above T_c/2. The directional variation in \Delta can be attributed to the multiband nature of the SC state in YNi2B2C predicted 10 years ago (PRL, V.80, 1730 (1998)).Comment: 3 figs, 2 pages, presented on M2S-HTSC Conference, July 9-14, 2006, Dresde

Adequacy of technical and commercial alternatives applied to machine tool verification using laser tracker

Besides presenting a volumetric verification technique that allows characterization of the different geometric errors of a machine tool (MT) depending on its kinematic chain and geometry through a kinematic model, this paper investigates the influence of measurement tools and techniques available on the final accuracy of the MT. Volumetric verification based on a laser tracker (LT) relates the coordinates of the tool with the coordinates of the LT, including it into the kinematic model. Using a non-lineal optimization process, approximation functions that characterize the joint influence of MT geometric errors are obtained. However, measurement data will be affected by previous compensation of the MT, the accuracy of the measurement system, LT measurement technology, the type of retroreflector used, and techniques used to improve data accuracy, among other sources of errors. This paper studies the adequacy of different commercial alternatives such as: retroreflectors, LTs from different manufacturers, etc., that can be applied in MT verification using a long-range MT. As the accuracy is strongly affected by the uncertainty of its angular encoders, the multilateration technique tries to improve data accuracy using only LT radial information. Nonetheless, a new bundle adjustment which uses radial and angular information is presented in current metrology software. This paper studies both techniques and analyzes their adequacy for MT verification too

Very Low Temperature Tunnelling Spectroscopy in the heavy fermion superconductor PrOs4_4Sb12_{12}

We present scanning tunnelling spectroscopy measurements on the heavy fermion superconductor PrOs$_4$Sb$_{12}$. Our results show that the superconducting gap opens over a large part of the Fermi surface. The deviations from isotropic BCS s-wave behavior are discussed in terms of a finite distribution of values of the superconducting gap.Comment: 4 pages, 4 figure

Interference of biodegradable plastics in the polypropylene recycling process

[EN] Recycling polymers is common due to the need to reduce the environmental impact of these materials. Polypropylene (PP) is one of the polymers called commodities polymers' and it is commonly used in a wide variety of short-term applications such as food packaging and agricultural products. That is why a large amount of PP residues that can be recycled are generated every year. However, the current increasing introduction of biodegradable polymers in the food packaging industry can negatively affect the properties of recycled PP if those kinds of plastics are disposed with traditional plastics. For this reason, the influence that generates small amounts of biodegradable polymers such as polylactic acid (PLA), polyhydroxybutyrate (PHB) and thermoplastic starch (TPS) in the recycled PP were analyzed in this work. Thus, recycled PP was blended with biodegradables polymers by melt extrusion followed by injection moulding process to simulate the industrial conditions. Then, the obtained materials were evaluated by studding the changes on the thermal and mechanical performance. The results revealed that the vicat softening temperature is negatively affected by the presence of biodegradable polymers in recycled PP. Meanwhile, the melt flow index was negatively affected for PLA and PHB added blends. The mechanical properties were affected when more than 5 wt.% of biodegradable polymers were present. Moreover, structural changes were detected when biodegradable polymers were added to the recycled PP by means of FTIR, because of the characteristic bands of the carbonyl group (between the band 1700-1800 cm(-1)) appeared due to the presence of PLA, PHB or TPS. 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Data-driven model for the assessment of mycobacterium tuberculosis transmission in evolving demographic structures

In the case of tuberculosis (TB), the capabilities of epidemic models to produce quantitatively robust forecasts are limited by multiple hindrances. Among these, understanding the complex relationship between disease epidemiology and populations’ age structure has been highlighted as one of the most relevant. TB dynamics depends on age in multiple ways, some of which are traditionally simplified in the literature. That is the case of the heterogeneities in contact intensity among different age strata that are common to all airborne diseases, but still typically neglected in the TB case. Furthermore, while demographic structures of many countries are rapidly aging, demographic dynamics are pervasively ignored when modeling TB spreading. In this work, we present a TB transmission model that incorporates country-specific demographic prospects and empirical contact data around a data-driven description of TB dynamics. Using our model, we find that the inclusion of demographic dynamics is followed by an increase in the burden levels predicted for the next decades in the areas of the world that are most hit by the disease today. Similarly, we show that considering realistic patterns of contacts among individuals in different age strata reshapes the transmission patterns reproduced by the models, a result with potential implications for the design of age-focused epidemiological interventions

Sexuality throughout all the stages of pregnancy: experiences of expectant mothers

Objective: To explore and understand the sexual experiences of expectant mothers during their pregnancy. Methods: The study was carried out in two healthcare centers in the Almería Health District, in southern Spain. The participants included pregnant women who received prenatal care and/or maternity education. The inclusion criteria were being pregnant, maintaining sexual activity and agreeing to participate in the study. The exclusion criteria were having limitations on sexual activity by medical prescription. The sample consisted of 15 expectant women selected using a convenience sample, of which 5 took part in a focus group (FG) and 10 in in-depth interviews (IDI). Data was collected between the months of June and December 2016. Participants were contacted by the main researcher and an appointment was made to carry out the FGs or the IDIs. Results: Three main categories emerged: False beliefs and a holistic approach to sexuality during pregnancy, which is related to the concept of sexuality, false beliefs, and limited sexual counseling during pregnancy. Limitations: From fear at the beginning to physical diffi culty at the end, referring to the fluctuations in sexual desire as well as the physical changes that limit sexual activity. Adapting to changes: safe practices and satisfaction with one’s body image, which encompasses concerns about the risks and the relationship between body image and self-esteem. Conclusion: A lack of sexual counseling during pregnancy leads to the creation of false beliefs, which, together with physical changes, concerns about the risk, and fl uctuations in sexual desire and interest, bring about a decrease in sexual activity. But sexuality remains an important aspect of pregnancy, toward which the participants must adopt a broader approach, not limited to intercourse, and adopt sexual practices that are adapted to the physical and emotional changes that happen during this time