Application of a Natural Language Interface to the Teleoperation of a Mobile Robot

IFAC Intelligent Components for Vehicles, Seville, Spain, 1998This paper describes the application of a natural language interface to the teleoperation of a mobile robot. Natural language communication with robots is a major goal, since it allows for non expert people to communicate with robots in his or her own language. This communication has to be flexible enough to allow the user to control the robot with a minimum knowledge about its details. In order to do this, the user must be able to perform simple operations as well as high level tasks which involve multiple elements of the system. For this ones, an adequate representation of the knowledge about the robot and its environment will allow the creation of a plan of simple actions whose execution will result in the accomplishment of the requested tas

Caracterización del crecimiento y desarrollo del maíz en condiciones de no laboreo en la Mancha oriental

La biomasa es se define como la materia orgánica, viva o muerta, que se produce por un cultivo. Por medio de la metodología de los grados-día acumulados (GDA), se puede cuantificar la energía acumulada por el cultivo durante su ciclo. El objetivo de este trabajo es estudiar los principales parámetros que caracterizan el cultivo del maíz, en una parcela comercial y en condiciones de no laboreo, en una zona semiárida localizada en La Mancha Oriental. Se realizó un seguimiento fenológico durante todo el ciclo en una parcela comercial de maíz grano durante la campaña de riego del año 2015. Se recogieron muestras de plantas durante todo el ciclo del maíz. Se registraron los cambios fenológicos del cultivo siguiendo para ello la escala BBCH. Con los datos obtenidos en campo y en el laboratorio, los resultados obtenidos de Índice de Área Foliar (IAF) frente a días después de emergencia (DDE), Materia Seca (MS) frente a GDA, entre otros, fueron sometidos a un análisis estadístico descriptivo. Los resultados estadísticos indican que la MS frente a DDE presentó mejor ajuste en el modelo logístico, con un coeficiente de determinación (R2) de 0,96 y raíz del error cuadrático medio (RMSE)= 248,55 g m-2. En relación al IAF, las dos metodologías (DDE y GDA) presentaron mejor ajuste en el modelo polinomial cuadrático, con R2= 0,85 y 0,88, y RMSE= 0,88 m2 planta m-2 suelo y 0,78 m2 planta m-2 suelo, respectivamente. Se concluye que la MS y el IAF presentan comportamientos distintos en el cultivo del maíz. Con los valores de los GDA calculados, fue posible definir la duración de cada etapa del desarrollo fisiológico del maíz

Formation of atom wires on vicinal silicon

The formation of atomic wires via pseudomorphic step-edge decoration on vicinal silicon surfaces has been analyzed for Ga on the Si(112) surface using Scanning Tunneling Microscopy and Density Functional Theory calculations. Based on a chemical potential analysis involving more than thirty candidate structures and considering various fabrication procedures, it is concluded that pseudomorphic growth on stepped Si(112), both under equilibrium and non-equilibrium conditions, must favor formation of Ga zig-zag chains rather than linear atom chains. The surface is non-metallic and presents quasi-one dimensional character in the lowest conduction band.Comment: submitte

Characteristics of strength and speed of execution in young women soccer players

El objetivo de este estudio fue caracterizar y comparar la fuerza máxima y rápida, la potencia anaeróbica, la velocidad de ejecución y de desplazamiento en función de la posición de juego en 59 jóvenes futbolistas distribuidas en dos categorías. La metodología consistió en una valoración de masa corporal, talla y 4 pruebas, fuerza explosiva (CMJ Y SJ), velocidad (30 m), la potencia anaeróbica (Prueba de Wingate) y la fuerza máxima (%1RM). Los resultados mostraron a las pre-juveniles con los mejores registros en la mayoría de variables a excepción de la talla y el VMP sentadilla. En la prueba de potencia máxima las porteras y defensas pre-juveniles obtuvieron el mejor registro (409,11 W±86,73 W) y 1RM (60,58 Kg±13,69 Kg) sin diferencias significativas. Finalmente, se encontró una interacción significativa entre la posición y la categoría de juego en VMP sentadilla, F55= 21,41; p = 0,021, eta cuadrado= 0,093 entre las jugadoras de las dos categorías estudiadasThe objective of this study was to characterize and compare the maximum and fast strenght, anaerobic power, speed of execution and displacement according to the playing position in 59 young players divided into two categories. The methodology consisted of an assessment of body mass, height and 4 tests, explosive force (CMJ and SJ), velocity (30 m), anaerobic power (Wingate test) and maximum force (% 1RM). The results showed the under 15 years old with the best records on most variables except for the size and mean propulsive velocity (MPV) squat. In the maximum power test pre-juvenile goalkeepers and defences line obtained the best record (409.11 W ± 86.73 W) and 1RM (60.58 kg ± 13.69 Kg) without significant differences. Finally, we found a significant interaction between the position and the game category in MPV squat, F55 = 21.41; P = 0.021, eta square = 0.093 among the players of the two categories studie

Improvement of scanning tunneling microscopy resolution with H-sensitized tips

Recent scanning tunneling hydrogen microscopy (STHM) experiments on PTCDA (perylene-3,4,9,10- tetracarboxylic-3,4,9,10-dianhydride)/Au(111) have shown unprecedented intramolecular and intermolecular spatial resolution. The origin of this resolution is studied using an accurate STHM theoretical simulation technique that includes a detailed description of the electronic structure of both the tip and sample. Our results show that H2 molecules are dissociated on the Au tip; the adsorbed H atoms change the density of states at the Fermi level (EF) of the tip, increasing its p-orbital character and reducing the s-orbital contribution. Also, due to the interaction with the H-decorated tip, EF is shifted to the middle of the PTCDA lowest unoccupied molecular orbital peak, increasing dramatically the density of states of the sample at EF. These effects give rise to the enhanced STHM resolutionThis work is supported by Spanish MICIIN under Contract No. FIS2010-16046, the CAM under Contract No. S2009/MAT-1467, and the European Project MINOTOR (Grant No. FP7-NMP-228424). J. I. M. acknowledges funding from Spanish MICINN through Juan de la Cierva Program, E. A. the financial support by Consejería de Educación de la CAM, FSE, and European Project MINOTOR, and C. G. the CSIC JA

Census of HII regions in NGC 6754 derived with MUSE: Constraints on the metal mixing scale

We present a study of the HII regions in the galaxy NGC 6754 from a two pointing mosaic comprising 197,637 individual spectra, using Integral Field Spectrocopy (IFS) recently acquired with the MUSE instrument during its Science Verification program. The data cover the entire galaxy out to ~2 effective radii (re ), sampling its morphological structures with unprecedented spatial resolution for a wide-field IFU. A complete census of the H ii regions limited by the atmospheric seeing conditions was derived, comprising 396 individual ionized sources. This is one of the largest and most complete catalogue of H ii regions with spectroscopic information in a single galaxy. We use this catalogue to derive the radial abundance gradient in this SBb galaxy, finding a negative gradient with a slope consistent with the characteristic value for disk galaxies recently reported. The large number of H ii regions allow us to estimate the typical mixing scale-length (rmix ~0.4 re ), which sets strong constraints on the proposed mechanisms for metal mixing in disk galaxies, like radial movements associated with bars and spiral arms, when comparing with simulations. We found evidence for an azimuthal variation of the oxygen abundance, that may be related with the radial migration. These results illustrate the unique capabilities of MUSE for the study of the enrichment mechanisms in Local Universe galaxies.Comment: 13 pages, 7 Figurs, accepted for publishing in A&

Ga-induced atom wire formation and passivation of stepped Si(112)

We present an in-depth analysis of the atomic and electronic structure of the quasi one-dimensional (1D) surface reconstruction of Ga on Si(112) based on Scanning Tunneling Microscopy and Spectroscopy (STM and STS), Rutherford Backscattering Spectrometry (RBS) and Density Functional Theory (DFT) calculations. A new structural model of the Si(112)6 x 1-Ga surface is inferred. It consists of Ga zig-zag chains that are intersected by quasi-periodic vacancy lines or misfit dislocations. The experimentally observed meandering of the vacancy lines is caused by the co-existence of competing 6 x 1 and 5 x 1 unit cells and by the orientational disorder of symmetry breaking Si-Ga dimers inside the vacancy lines. The Ga atoms are fully coordinated, and the surface is chemically passivated. STS data reveal a semiconducting surface and show excellent agreement with calculated Local Density of States (LDOS) and STS curves. The energy gain obtained by fully passivating the surface calls the idea of step-edge decoration as a viable growth method toward 1D metallic structures into question.Comment: Submitted, 13 pages, accepted in Phys. Rev. B, notational change in Fig.