Simplified Hand Configuration for Object Manipulation

This work is focused on obtaining realistic human hand models that are suitable for manipulation tasks. Firstly, a 24 DOF kinematic model of the human hand is defined. This model is based on the human skeleton. Intra-finger and inter-finger constraints have been included in order to improve the movement realism. Secondly, two simplified hand descriptions (9 and 6 DOF) have been developed according to the constraints predefined. These simplified models involve some errors in reconstructing the hand posture. These errors are calculated with respect to the 24 DOF model and evaluated according to the hand gestures. Finally, some criteria are defined by which to select the hand description best suited to the features of the manipulation task

Efficient Transport Protocol for Networked Haptics Applications

The performance of haptic application is highly sensitive to communication delays and losses of data. It implies several constraints in developing networked haptic applications. This paper describes a new internet protocol called Efficient Transport Protocol (ETP), which aims at developing distributed interactive applications. TCP and UDP are transport protocols commonly used in any kind of networked communication, but they are not focused on real time application. This new protocol is focused on reducing roundtrip time (RTT) and inter packet gap (IPG). ETP is, therefore, optimized for interactive applications which are based on processes that are continuously exchanging data.ETP protocol is based on a state machine that decides the best strategies for optimizing RTT and IPG. Experiments have been carried out in order to compare this new protocol and UDP

A clustering technique for partial discharge and noise sources identification in power cables by means of waveform parameters

On-line partial discharge (PD) measurements have become a common technique for assessing the insulation condition of installed high voltage (HV) insulated cables. When on-line tests are performed in noisy environments, or when more than one source of pulse-shaped signals are present in a cable system, it is difficult to perform accurate diagnoses. In these cases, an adequate selection of the non-conventional measuring technique and the implementation of effective signal processing tools are essential for a correct evaluation of the insulation degradation. Once a specific noise rejection filter is applied, many signals can be identified as potential PD pulses, therefore, a classification tool to discriminate the PD sources involved is required. This paper proposes an efficient method for the classification of PD signals and pulse-type noise interferences measured in power cables with HFCT sensors. By using a signal feature generation algorithm, representative parameters associated to the waveform of each pulse acquired are calculated so that they can be separated in different clusters. The efficiency of the clustering technique proposed is demonstrated through an example with three different PD sources and several pulse-shaped interferences measured simultaneously in a cable system with a high frequency current transformer (HFCT)

Proyecto CG: simulación y visualización de fenómenos físicos sobre GPU's de última generación

El presente proyecto, como bien indica su nombre, tiene por objetivo la simulación y visualización de ciertos fenómenos físicos que pueden ser de gran utilidad para mostrar escenas 3D con gran realismo. Para ello se pretede hacer uso intensivo de la capacidad de cálculo de los procesadores gráficos de última generación (NVIDIA GeForce FX [1], ATI Radeon 9700 [2]). Además, se realizará cuando sea posible un estudio comparativo a nivel de tiempos entre la versión hardware (sobre GPU) y la versión software (CPU). El principal propósito es analizar que tipo de cálculos pueden realizarse sobre GPU y cómo. Se utilizará C/C++ como lenguaje de programación. El entorno gráfico se implentará con OpenGL [3], haciendo uso de la librería GLUT. La programación de la GPU se realizará mediante las extensiones ARB_vertex_program y ARB_fragment_program [4] de OpenGL. Para la generación de programas sobre GPU se aconseja el uso del lenguaje gráfico de alto nivel CG [5,11]

Debilidad de la voluntad y dominio racional. [RESEÑA]

Ignacio SERRANO DEL POZO, Debilidad de la voluntad y dominio racional. El problema de la incontinencia y la continencia en la filosofía de Tomás de Aquino, Pamplona: Eunsa («Colección de Pensamiento medieval y renacentista», 135), 2013, 254 pp

Practical experience of insulation condition evaluation in an on-site HV installation applying a PD measuring procedure

Analysis of the types of defects and the degradation modes in different insulation materials of highvoltage (HV) electrical systems has shown that the presence of partial discharges (PD) is a very common characteristic in all of them. Once PD activity is detected, the identification and localization of the associated type of defect is very important to evaluate whether the discharges are harmful or not. During the last two decades, different approaches have been developed and applied to PD measurement and processing techniques to deal with the most common problems arising in on-site and on-line measurements, such as: high levels of background noise, appearance of interferences, simultaneous presence of different PD sources and the difficulty of locating the site of the defects and to identify them. This paper proposes a measuring method together with the implementation of three signal processing tools in order to overcome all these difficulties that appear in on-site and on-line tests. The measuring method has been implemented to evaluate in an on-site practical experience the insulation condition of the power equipment in a GIS substation. After the application of the method, important insulation defects were detected, identified and localized, on time to avoid uncontrolled failures in the electrical system of the substation under test

Relevant experiences of online PD monitoring of MV and HV cable systems

Significant experiences about online PD monitoring of cable systems in MV and HV grids have been acquired in the latest years. These PD experiences collected in this paper are representative from four different utilities: the Spanish electricity transmission company, REE with online PD experiences in transmission cable systems, an electricity distribution company, Naturgy, using PD monitoring in cables of 220kV and online PD measurements in MV grids, an electricity distribution company, VIESGO, with underground cable systems from 12kV to 132kV using oil impregnated paper cables, EPR and XLPE cable systems and a very sensitive electricity consumer, AENA, responsible of Spanish Airports that operates in grids up to 45kV