Slide-Down Prevention for Wheeled Mobile Robots on Slopes

Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck. This paper proposes slide-down prevention by real-time computation of a straightforward stability margin for a given ground-wheel friction coefficient. This margin is applied to the case study of Lazaro, a hybrid skid-steer mobile robot with caster-leg mechanism that allows tests with four or five wheel contact points. Experimental results for both ADAMS simulations and the actual vehicle demonstrate the effectiveness of the proposed approach.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Fabrication and Characterization of Multiband Solar Cells Based on Highly Mismatched Alloys

Multiband solar cells are one type of third generation photovoltaic devices in which an increase of the power conversion efficiency is achieved through the absorption of low energy photons while preserving a large band gap that determines the open circuit voltage. The ability to absorb photons from different parts of the solar spectrum originates from the presence of an intermediate energy band located within the band gap of the material. This intermediate band, acting as a stepping stone allows the absorption of low energy photons to transfer electrons from the valence band to the conduction band by a sequential two photons absorption process. It has been demonstrated that highly mismatched alloys offer a potential to be used as a model material system for practical realization of multiband solar cells. Dilute nitride GaAs1-xNx highly mismatched alloy with low mole fraction of N is a prototypical multiband semiconductor with a well-defined intermediate band. Currently, we are using chemical beam epitaxy to synthesize dilute nitride highly mismatched alloys. The materials are characterized by a variety of structural and optical methods to optimize their properties for multiband photovoltaic devices

Habitatge buit i altres situacions anòmales del Parc d'habitatge: diagnosi i estratègies d'actuació: el cas de Molins de Rei: pla de treball

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Habitatge buit i altres situacions anòmales del Parc d'habitatge: diagnosi i estratègies d'actuació: el cas de Molins de Rei. Part I: Infrahabitatge

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Habitatge buit i altres situacions anòmales del Parc d'habitatge: diagnosi i estratègies d'actuació: el cas de Molins de Rei. Part II: Parc vacant

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Un caso de betatalasemia en un niño de una necrópolis tebana del Imperio Nuevo. La etiopatogenia de la cribra orbitalia a revisión

X Congreso Nacional de Paleopatología. Univesidad Autónoma de Madrid, septiembre de 200

Habitatge buit i altres situacions anòmales del Parc d'habitatge: diagnosi i estratègies d'actuació: el cas de Molins de Rei. Part III: Parc sobreocupació

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MapReduce-based Solutions for Scalable SPARQL Querying

The use of RDF to expose semantic data on the Web has seen a dramatic increase over the last few years. Nowadays, RDF datasets are so big and rconnected that, in fact, classical mono-node solutions present significant scalability problems when trying to manage big semantic data. MapReduce, a standard framework for distributed processing of great quantities of data, is earning a place among the distributed solutions facing RDF scalability issues. In this article, we survey the most important works addressing RDF management and querying through diverse MapReduce approaches, with a focus on their main strategies, optimizations and results

SWE bridge: software interface for plug & work instrument integration into marine observation platforms

7th International Workshop on Marine Technology – Martech Workshop 2016, 26-28 October 2016, Barcelona.-- 2 pages, 2 figuresThe integration of sensor systems into marine observation platforms such as gliders, cabled observatories and smart buoys requires a great deal of effort due to the diversity of architectures present in the marine acquisition systems. In the past years important steps have been taken in order to improve both standardization and interoperability, i.e. the Open Geospatial Consortium’s Sensor Web Enablement. This set of standards and protocols provide a well-defined framework to achieve standardized data chains. However a significant gap is still present in the lower-end of the data chain, between the sensor systems and the acquisition platforms. In this work a standards-based architecture to bridge this gap is proposed in order to achieve plug & work, standardized and interoperable acquisition systemsWe acknowledge the financial support from Spanish Ministerio de Economía y Competitividad under contract CGL2013- 42557-R INTMARSIS, the European Union’s NeXOS Project under contract nº 614102 and EMSODEV Project under contract n°676555Peer Reviewe