Control de agarre y posicionamiento en una plataforma robot con sensores táctiles

En este artículo se presenta una plataforma formada por un brazo robot de 5 grados de libertad y una pinza robot de 1 sólo grado de libertad, con superficies táctiles. Este sistema obtiene, en tiempo real, las distribuciones de presión cuando un objeto ha sido agarrado, produciendo una realimentación del control de la posición y fuerza

Laparoscopic image analysis for automatic tracking of surgical tools

Laparoscopy is a surgical technique nowadays embedded in the clinical routine. Recent researches have been focused on analysing video information captured by the endoscope for extracting cues useful for surgeons, such as depth information. In particular, the 3D pose estimation of the surgical tools presents three important added values: (1) to extract objective parameters for the surgical training stage, (2) to develop an image-guided surgery based on the knowledge of the surgery tools localization, (3) to design new roboticsystems for an automatic laparoscope positioning, according to the visual feedback. Tool’s shape and orientation in the image is the key to get its 3D position. This work presents an image analysis for automatic laparoscopic tool’s detection along the recorded video without extra tool markers, using an edges detection strategy. Also, this analysis includes a previous stage of barrel distortion correction for videoendoscopic image

Geometrical resonance in spatiotemporal systems

We generalize the concept of geometrical resonance to perturbed sine-Gordon, Nonlinear Schrödinger and Complex Ginzburg-Landau equations. Using this theory we can control different dynamical patterns. For instance, we can stabilize breathers and oscillatory patterns of large amplitudes successfully avoiding chaos. On the other hand, this method can be used to suppress spatiotemporal chaos and turbulence in systems where these phenomena are already present. This method can be generalized to even more general spatiotemporal systems.Comment: 2 .epl files. Accepted for publication in Europhysics Letter

Resonance phenomena of a solitonlike extended object in a bistable potential

We investigate the dynamics of a soliton that behaves as an extended particle. The soliton motion in an effective bistable potential can be chaotic in a similar way as the Duffing oscillator. We generalize the concept of geometrical resonance to spatiotemporal systems and apply it to design a nonfeedback mechanism of chaos control using localized perturbations.We show the existence of solitonic stochastic resonance.Comment: 3 postscript figure

Soliton tunneling with sub-barrier kinetic energies

We investigate (theoretically and numerically) the dynamics of a soliton moving in an asymmetrical potential well with a finite barrier. For large values of the width of the well, the width of the barrier and/or the height of the barrier, the soliton behaves classically. On the other hand, we obtain the conditions for the existence of soliton tunneling with sub-barrier kinetic energies. We apply these results to the study of soliton propagation in disordered systems.Comment: 6 eps figures. To appear in Physical Review E (Rapid Communications

Editorial: Role of Nrf2 in disease: Novel molecular mechanisms and therapeutic approaches

This is supported by FIS/FEDER CP14/00008, CP16/00014, CP16/00017, PI15/00448, PI16/00735, PI16/02057, PI17/00130, Spanish Ministry of Economy and Competitiveness (RYC-2017- 22369), Sociedad Española de Nefrología, Fundacion Renal Iñigo Álvarez de Toledo (FRIAT). Centro de Investigación Biomédica en Red de Diabetes y Enfermedades Metabólicas Asociadas (CIBERDEM), Centro de Investigación Biomédica en Red Enfermedades Cardiovasculares (CIBERCV), Centro de Investigación Biomédica en Red de Enfermedades Hepáticas y Digestivas (CIBEREHD)

Non-invertible transformations and spatiotemporal randomness

We generalize the exact solution to the Bernoulli shift map. Under certain conditions, the generalized functions can produce unpredictable dynamics. We use the properties of the generalized functions to show that certain dynamical systems can generate random dynamics. For instance, the chaotic Chua's circuit coupled to a circuit with a non-invertible I-V characteristic can generate unpredictable dynamics. In general, a nonperiodic time-series with truncated exponential behavior can be converted into unpredictable dynamics using non-invertible transformations. Using a new theoretical framework for chaos and randomness, we investigate some classes of coupled map lattices. We show that, in some cases, these systems can produce completely unpredictable dynamics. In a similar fashion, we explain why some wellknown spatiotemporal systems have been found to produce very complex dynamics in numerical simulations. We discuss real physical systems that can generate random dynamics.Comment: Accepted in International Journal of Bifurcation and Chao

Optical properties of polycrystalline Cd(1-x)Mn(x)Te

Bulk polycrystalline cadmium manganese telluride, Cd(l-x)Mn(x)Te, was manufactured in several compositions by a synthesis process. The structure of the obtained compounds was the characteristic zinc-blende polycrystalline pattern being the grain size lOOj=20 nm. These materials are manufactured to replace single-crystal compounds in some magneto-optical devices. The cut-off wavelength and the Verdet constant are the same as the single-crystals with identical composition. A polarized laser beam, after having passed through a sample of 0.76 mm thickness, was depolarized less than 2.5%, and 90% of its energy was spread into a 2º cone. Scattering of light is produced because of the polycrystalline structure of these ompounds. Some scattering diagrams, due to the diffraction and Mie scattering in the polycrystalline grains are shown

First tests of the applicability of γ\gamma-ray imaging for background discrimination in time-of-flight neutron capture measurements

In this work we explore for the first time the applicability of using $\gamma$-ray imaging in neutron capture measurements to identify and suppress spatially localized background. For this aim, a pinhole gamma camera is assembled, tested and characterized in terms of energy and spatial performance. It consists of a monolithic CeBr$_3$ scintillating crystal coupled to a position-sensitive photomultiplier and readout through an integrated circuit AMIC2GR. The pinhole collimator is a massive carven block of lead. A series of dedicated measurements with calibrated sources and with a neutron beam incident on a $^{197}$Au sample have been carried out at n_TOF, achieving an enhancement of a factor of two in the signal-to-background ratio when selecting only those events coming from the direction of the sample.Comment: Preprint submitted to Nucl. Instr. and Meth.