Nonlinear Reynolds equations for non-Newtonian thin-film fluid flows over a rough boundary

We consider a non-Newtonian fluid flow in a thin domain with thickness ηε and an oscillating top boundary of period ε. The flow is described by the 3D incompressible Navier-Stokes system with a nonlinear viscosity, being a power of the shear rate (power law) of flow index p, with 9/5 < p < +∞. We consider the limit when the thickness tends to zero and we prove that the three characteristic regimes for Newtonian fluids are still valid for non-Newtonian fluids, i.e. Stokes roughness (ηε ≈ ε), Reynolds roughness (ηε > ε) regime. Moreover, we obtain different nonlinear Reynolds-type equations in each case.Junta de AndalucíaMinisterio de Economía y Competitivida

Newtonian fluid flow in a thin porous medium with non-homogeneous slip boundary conditions

We consider the Stokes system in a thin porous medium Ωε of thickness ε which is perforated by periodically distributed solid cylinders of size ε. On the boundary of the cylinders we prescribe non-homogeneous slip boundary conditions depending on a parameter γ. The aim is to give the asymptotic behavior of the velocity and the pressure of the fluid as ε goes to zero. Using an adaptation of the unfolding method, we give, following the values of γ, different limit systems.Junta de AndalucíaMinisterio de Economía y Competitividad (MINECO). Españ

RoboTSP - A Fast Solution to the Robotic Task Sequencing Problem

In many industrial robotics applications, such as spot-welding, spray-painting or drilling, the robot is required to visit successively multiple targets. The robot travel time among the targets is a significant component of the overall execution time. This travel time is in turn greatly affected by the order of visit of the targets, and by the robot configurations used to reach each target. Therefore, it is crucial to optimize these two elements, a problem known in the literature as the Robotic Task Sequencing Problem (RTSP). Our contribution in this paper is two-fold. First, we propose a fast, near-optimal, algorithm to solve RTSP. The key to our approach is to exploit the classical distinction between task space and configuration space, which, surprisingly, has been so far overlooked in the RTSP literature. Second, we provide an open-source implementation of the above algorithm, which has been carefully benchmarked to yield an efficient, ready-to-use, software solution. We discuss the relationship between RTSP and other Traveling Salesman Problem (TSP) variants, such as the Generalized Traveling Salesman Problem (GTSP), and show experimentally that our method finds motion sequences of the same quality but using several orders of magnitude less computation time than existing approaches.Comment: 6 pages, 7 figures, 1 tabl

Actions en justice par responsabilité médicale au Chili. Analyse de montants, condamnation et durée

El art&iacute;culo realiza una revisi&oacute;n de una muestra de sentencias en casos de responsabilidad civil m&eacute;dica, que se ingresaron y resolvieron por la Corte Suprema, entre los a&ntilde;os 2002 y 2011, seleccionando 137. Se determina qu&eacute; porcentaje de las acciones judiciales iniciadas tienen como sujeto pasivo a prestadores p&uacute;blicos y privados; cu&aacute;les son los montos pretendidos en acciones judiciales, entre los diversos tipos de da&ntilde;os; cu&aacute;l es la correlaci&oacute;n de dichos montos pretendidos con los montos concedidos a los demandantes en sentencias definitivas firmes o ejecutoriadas.The article reviews a selection of 137 cases on medical liability decided by the Supreme Court between 2002 and 2011. It establishes which percentage of the claims are brought against public and private healthcare providers. It also determines how much victims sue in these claims including all heads of damages, and how these sums correlate with the sums awarded by the court’s final judgements.Cette chronique fait une étude des arrêts concernant la résponsabilité civile médicale, qui ont été résolus par la Cour Suprême, parmis les années 2002 et 2011, dont on a choisi 137 pour l’analyse. On a étudié quelle porcentage des actions judiciares sont du domaine de prestataires publics ou privés; quels sont les montants prétendus par les différents types de dommages; quelle est la rélation des montants du dommage avec les indemnisations octroyées par les arrêts

Descripción de nuevas formas de Myrmilla Wesm. pertenecientes al grupo bipunctata (Latr .)- chiesii (Spin.). (Hym. Mutillidae.)

Desde la publicación de la Myrmilla ortizi Suár. he venido prestando una continua y especial atención al grupo de Myrmilla Wesm., objeto del presente trabajo, debido, en primer lugar, al hallazgo de algunas formas que, por el conjunto de caracteres taxonómicos, pueden incluirse en entidades específicas diferentes de las conocidas o que, aun teniendo una subordinación sistemática respecto a aquéllas, no concuerdan exactamente con sus descripciones, constituyendo subespecies o variedades nuevas ; en segundo lugar, a algunas sugerencias contenidas en un trabajo del Dr. Invrea (1955), y finalmente, al estudio de un interesante lote procedente de la antigua colección Vaucher, amablemente cedido para mi colección por el Sr. J. Nègre, de París, mediante cuyos materiales he podido confirmar algunas hipótesis y resolver algunos puntos dudosos respecto a la presente cuestión.Peer reviewe

Grasping bulky objects with two anthropomorphic hands

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksThis paper presents an algorithm to compute precision grasps for bulky objects using two anthropomorphic hands. We use objects modeled as point clouds obtained from a sensor camera or from a CAD model. We then process the point clouds dividing them into two set of slices where we look for sets of triplets of points. Each triplet must accomplish some physical conditions based on the structure of the hands. Then, the triplets of points from each set of slices are evaluated to find a combination that satisfies the force closure condition (FC). Once one valid couple of triplets have been found the inverse kinematics of the system is computed in order to know if the corresponding points are reachable by the hands, if so, motion planning and a collision check are performed to asses if the final grasp configuration of the system is suitable. The paper inclu des some application examples of the proposed approachAccepted versio