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Analysis and Simulation of the Leg of an Hexapod Robot for Remote Exploration

The locomotion system is determined by the terrain conditions. The aim of this paper is to introduce the characteristics and simulation of a hexapod legged robot that can be easily used for exploration of abrupt and harsh terrains, Jike the Rio Tinto environment. A walking robot seems like the best option for this kind of terrain. Some of the advantages are that they do not need continuous terrain, they have less problems with sliding and they also have greater capacity to overcome obstacles as they produce Jess harm to the environment that the scientist wants to explore on the contrary when faced with mechanical design they present a design challenge, also in the static and dynamic analysis problem of a legged robot, there is a high complexity that has to be taken into account. This paper shows how to easily cope with the analysis of hexapod robot movement based on a design developed by the Center of Astrobiology INTA-CSIC for operation in RioTinto (Huelva - Spain)

Temporally-aware algorithms for the classification of anuran sounds

Several authors have shown that the sounds of anurans can be used as an indicator of climate change. Hence, the recording, storage and further processing of a huge number of anuran sounds, distributed over time and space, are required in order to obtain this indicator. Furthermore, it is desirable to have algorithms and tools for the automatic classification of the different classes of sounds. In this paper, six classification methods are proposed, all based on the data-mining domain, which strive to take advantage of the temporal character of the sounds. The definition and comparison of these classification methods is undertaken using several approaches. The main conclusions of this paper are that: (i) the sliding window method attained the best results in the experiments presented, and even outperformed the hidden Markov models usually employed in similar applications; (ii) noteworthy overall classification performance has been obtained, which is an especially striking result considering that the sounds analysed were affected by a highly noisy background; (iii) the instance selection for the determination of the sounds in the training dataset offers better results than cross-validation techniques; and (iv) the temporally-aware classifiers have revealed that they can obtain better performance than their nontemporally-aware counterparts.Consejería de Innovación, Ciencia y Empresa (Junta de Andalucía, Spain): excellence eSAPIENS number TIC 570

Box 3. The asymmetric response of producer prices to rising oil and gas prices

Artículo de revistaThis early-release box was published on 16 Decembe

Body percussion and urban rhythms as an interdisciplinary resource

The dual task is an excellent resource for cognitive stimulation, both in healthy people and in people with some cognitive impairment or syndrome, thanks to the latest scientific publications in this field. In this article we propose practical resources linked to the dual motor task with cognitive activities. For this purpose, we implement two known rhythms that help to work on body schema, coordination, dissociation and laterality, among other aspects. The Bapne method is concerned with providing practical resources so that professionals from various fields have the opportunity to use them in their professional circle

Injection of leptonic matter above accreting black holes

El origen de la materia de los jets relativistas lanzados por agujeros negros es desconocido. En este trabajo establecemos un modelo de inyección de materia leptónica sobre agujeros negros acretantes basado en cascadas electromagnéticas. El modelo supone la existencia de un gap electrostático: una región de aceleración de partículas a muy altas energías en la zona polar de la magnetosfera del agujero negro. Calculamos la emisión gamma allí producida debido a las interacciones de las partículas aceleradas con el campo magnético y el campo de radiación del disco de acreción. Esos rayos gamma, al propagarse con el flujo de Poynting lanzado por la ergosfera del agujero, dan lugar a las cascadas electromagnéticas que finalmente cargan el flujo de materia y reducen su magnetización. Por ´ultimo, simulamos las cascadas con un código Monte Carlo y calculamos el decaimiento de la magnetización a lo largo del jet.The origin of matter in black hole-driven relativistic jets is unknown. In this work we set up a leptonic matter injection model above accreting black holes based on electromagnetic cascades. The model assumes the existence of an electrostatic gap: a high energy particle acceleration region in the polar zone of the black hole magnetosphere. We calculate the gamma emission produced therein through the interactions of the accelerated particles with the magnetic field and the radiation field of the accretion disk. Those gamma rays propagate through the Poynting flux launched by the hole’s ergosphere and trigger the electromagnetic cascades which eventually load the flux with matter and reduce its magnetization. Finally, we simulate the cascades in detail using a Monte Carlo code and calculate the magnetization along the jet.Fil: Pelle, Joaquín. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Instituto de Física Enrique Gaviola. Universidad Nacional de Córdoba. Instituto de Física Enrique Gaviola; ArgentinaFil: Romero, Gustavo Esteban. Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas. Instituto Argentino de Radioastronomía. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto Argentino de Radioastronomía; ArgentinaFil: Pellizza González, Leonardo Javier. Provincia de Buenos Aires. Gobernación. Comisión de Investigaciones Científicas. Instituto Argentino de Radioastronomía. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata. Instituto Argentino de Radioastronomía; ArgentinaReunión Anual de la Asociación Argentina de AstronomíaViedmaArgentinaUniversidad Nacional de Río NegroInstituto Argentino de Radioastronomí

Practice of BAPNE FIT to Improve Cardiorespiratory Fitness

Body percussion in the sciences of physical activity and sport has a specific and exclusive program through the Bapne method in which it unifies motor, rhythmic and cognitive tasks in a parallel way called Bapne FIT. In this article we propose a case study with the aim of studying a subject by means of ergo-spirometry tests performing the exclusive activities of this methodology. For this purpose, respiratory, cardiovascular and metabolic tests will be performed, with the aim of analyzing oxygen consumption and carbon dioxide production in order to obtain data on the muscular metabolic system in relation to Bapne Fit activities

Generation of H₂ on Board Lng Vessels for Consumption in the Propulsion System

[Abstract] At present, LNG vessels without reliquefaction plants consume the BOG (boil-off gas) in their engines and the excess is burned in the gas combustion unit without recovering any of its energy content. Excess BOG energy could be captured to produce H₂, a fuel with high energy density and zero emissions, through the installation of a reforming plant. Such H₂ production would, in turn, require on-board storage for its subsequent consumption in the propulsion plant when navigating in areas with stringent anti-pollution regulations, thus reducing CO₂ and SOₓ emissions. This paper presents a review of the different H₂ storage systems and the methods of burning it in propulsion engines, to demonstrate the energetic viability thereof on board LNG vessels. Following the analysis, it is identified that a pressurised and cooled H₂ storage system is the best suited to an LNG vessel due to its simplicity and the fact that it does not pose a safety hazard. There are a number of methods for consuming the H₂ generated in the DF engines that comprise the propulsión plant, but the use of a mixture of 70% CH₄-30% H₂ is the most suitable as it does not require any modifications to the injection system. Installation of an on-board reforming plant and H₂ storage system generates sufficient H₂ to allow for almost 3 days’ autonomy with a mixture of 70%CH₄-30%H₂. This reduces the engine consumption of CH₄ by 11.38%,thus demonstrating that the system is not only energy-efficient, but lends greater versatility to the vessel

Trastorno de la personalidad: un desafío en la relación médico-paciente

ResumenEl paciente con trastorno de la personalidad límite o con trastornos afectivos suele obstaculizar la relación médico-paciente debido a sus conflictos emocionales. Es importante que el médico familiar reconozca de manera oportuna dichos trastornos y desarrolle habilidades tanto para la comunicación como para la empatía; con el propósito de favorecer una adecuada relación médico-paciente y referir oportunamente al enfermo a un servicio de atención especializado. De este modo se podrán prevenir la cronicidad, la iatrogenia y la estigmatización del paciente, así como la frustración e impotencia del equipo médico.SummaryPatients with limit personality disorder or affective disorders often hinder the doctor-patient relationship due to their emotional conflicts. It is important that the Family Physician recognized in a timely manner such disorders and develop skills for communication and empathy; in order to promote a proper doctor-patient relationship and promptly refer the patient to a specialist. Thus this will prevent chronicity, iatrogenic and stigmatization of the patient, as well as frustration and a sense of helplessness of the medical team