Presentación

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El entorno de la violencia psicológica en el trabajo: ¿entre el buen salvaje y el «homo-homini-lupus»?

In the article it is done a revision of the concept of mobbing, focusing in: — The many faces that it implies, from the psychologicalindividual dimension to the legal-political one. — The biggest discussions taking place at the moment about the causes and forms of mobbing (individual vs. organizational problems). — Future research trends.En el artículo se plantea a revisión del concepto de acoso, analizando: — Las diferentes vertientes que comporta desde la dimensión psicológico-individual a la jurídico política. — Las principales polémicas existentes en cuanto a sus modalidades y causas (individuos vs. organizaciones perversas). — Las futuras líneas de investigación a seguir

Introducción

Sin resume

Multirobot heterogeneous control considering secondary objectives

Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with di erent configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposalThis research was funded by Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDI

New motion control machine elements representation for mechatronic education

The paper presents a new proposal for representing machine designs involving motion control. The new mechatronic approach for machine design is moving from a mechanic concept where mechanical transmissions, mechanical gears and coupling etc. are being implemented by electronic coupling, gears, etc. New concepts such as electronic virtual axis are also being employed very often. This brings that, in regards with machine design communication, mechanic elements represented in the past by mechanical drawings are being replaced by new electronic concepts. However, these new electronic motion control concepts should be also represented for a full understanding of the machine behaviors. Drawings are a fundamental tool to communicate preliminary designs, both in an academic and education environments as in professional ones. The new mechatronic elements graphical representation presented in the paper has the objective of bringing the gap between a pure mechanical machine design view and an automated one, including new electronic motion control concepts, and remarking the relevant “mechanic” information from the electronic motion control point of view. All this should facilitate the presentation and explanation of system-based mechatronic designs both in the classroom and at the professional level

Improved local pdf estimation in the wavelet domain for generalized lifting

Generalized Lifting (GL) has been studied for lossy image compression in [2,3]. It has been demonstrated that the method leads to a significant reduction of the wavelet coefficients energy and entropy. The definition of the GL relies on an estimation of the pdf of the pixel to encode conditioned to a surrounding context. The objective of this paper is to present an improved method for the estimation of the pdf at the local level. Rather than assuming that the local pdf is monomodal, symmetric, and centered at the central value of the best context match within a neighborhood, as in [3], we follow the idea of self similarity proposed in [1] for denoising, and propose to estimate the pdf using all the causal contexts within a window. Therefore, all the available knowledge about the neighborhood is incorporated. No assumptions about the characteristics of the pdf are made. A generalized lifting operator that minimizes the energy is applied to each context during the encoding process. Experimental results show an important increment in the energy and entropy gains when compared to previous strategies [2,3].Postprint (published version

Environment for the Design and Automation of New CDPR Architectures

This paper presents a design and automation environment to study the control trajectory for new CDPR architectures, for instance CDPRs with an unusual number of cables or different motor location in the robot frame. In order to test the environment capabilities, an architecture of a planar under-constrained CDPR was designed, simulated, and implemented using standard industrial hardware. Both the simulated model and industrial prototype were running the same trajectories to determine the time delay and the error position between them. The tests have demonstrated that the simulated model of the CDPR reproduces the trajectories of the equivalent industrial prototype with a maximum deviation of 0.35% under loading and different speed conditions, despite the time delays produced by the data transmission and the non-deterministic communication protocols used to connect the industrial automation controller with the simulated model. The results have shown that the environment is suitable for trajectory control and workspace analysis of new CDPR architectures under different dynamic conditions.Comment: 8 pages, 7 figures, preprint, FAIM 2023 conferenc

STEP-NC-compliant implementation to support mixed-control technologies applied to stone-processing machines based on industrial automation standards

STEP-NC (Standard for the Exchange of Product Model Data–Numerical Control) for metal milling and turning is not implemented by industrial computer numerical controllers. Solutions reported are prototypes based on post-processing in G-code. Moreover, minority machining processes, such as stone cutting, have not yet been contemplated in the STEP-NC standard. This article takes that sector as a use case. An extended STEP-NC model for circular saw stone-cutting operations is proposed, and a prototype automation implementation is developed to work with this extended model. This article shows how modern technological resources for coordinated axes control provided by many industrial controllers for the automation of general-purpose machines can speed up the processes of implementing STEP-NC numerical controllers. This article proposes a mixed and flexible approach for STEP-NC-based machine automation, where different strategies can coexist when it comes to executing STEP-NC machining files, so controllers do not need to implement the standard in an exhaustive way for all the possible features, but only at selected ones when convenient. This is demonstrated in a prototype implementation which is able to process STEP-NC product files with mixed-feature types: standard milling and non-standard sawblade features for stone processing

Nurses presenting in English: Needs and requirements in the Spanish University

Disseminating nursing research in English is always a difficult task when English is not a primary language. In the case of Spanish nurses, the literature suggests that while nurses are starting to get used to the idea of delivering presentations in English, they still find it a more difficult process than writing for publication. The aim of this research was to better understand how nurses view presenting in English from two perspectives: both as presenters and as listeners. In addition, we also wanted to find out how nurses approach the task of giving presentations in English and what assistance they need with these presentations, in both the preparation and the performance stages. The study follows a micro-ethnographic approach based on a questionnaire and selected follow-up interviews. Participants were working as nurses and/or in higher education as nursing lecturers, and all of them had participated in international academic conferences as speakers or attendees. The results provide a view of the dissemination of nursing research in Spain and give a more accurate picture of how the presentation of nursing research in international forums is still in its infancy. Our findings will also be useful for teaching purposes