Recursos prácticos para la asignatura “Automática y Control” del Grado en Ingeniería Química

Memoria ID-0050. Ayudas de la Universidad de Salamanca para la innovación docente, curso 2014-2015

Transnational lifelong education course in robotic systems

Robotics constitutes a multidisciplinary area, congregating knowledge from different scientific domains. The learning of robotic systems requires the acquisition of multidisciplinary scientific bases, and high integration and synthesis abilities, which is not an easy task. This paper describes the implementation of a lifelong course that aims to provide a global insight on robotics field, introducing the concepts and technologies for different domain applications, namely industrial robotics, autonomous mobile robotics and robotics applied in medicine. This is accomplished in an international framework where individual knowledge and experiences will be confronted in a multidisciplinary level and intercultural environment.The work described in this paper was financially supported by the Lifelong Learning Programme Erasmus, under the projects n. 2012-1-PT1-ERA10-12529 and 2013-1-PT1- ERA10-16656.info:eu-repo/semantics/publishedVersio

Planck 2013 results. X. HFI energetic particle effects: Characterization, removal, and simulation

We describe the detection, interpretation, and removal of the signal resulting from interactions of high energy particles with the Planck High Frequency Instrument (HFI). There are two types of interactions: heating of the 0.1 K bolometer plate; and glitches in each detector time stream. The transientresponses to detector glitch shapes are not simple single-pole exponential decays and fall into three families. The glitch shape for each family has been characterized empirically in flight data and these shapes have been used to remove glitches from the detector time streams. The spectrum of the count rate per unit energy is computed for each family and a correspondence is made to the location on the detector of the particle hit. Most of the detected glitches are from Galactic protons incident on the die frame supporting the micro-machined bolometric detectors. In the Planck orbit at L2, the particle flux is around 5 cm-2 s-1 and is dominated by protons incident on the spacecraft with energy >39 MeV, at a rate of typically one event per second per detector. Different categories of glitches have different signatures in the time stream. Two of the glitch types have a low amplitude component that decays over nearly 1 s. This component produces excess noise if not properly removed from the time-ordered data. We have used a glitch detection and subtraction method based on the joint fit of population templates. The application of this novel glitch subtraction method removes excess noise from the time streams. Using realistic simulations, we find that this method does not introduce signal bias into the Planck data.The development of Planck has been supported by: ESA; CNES and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MICINN and JA (Spain); Tekes, AoF and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); and PRACE (EU).Peer Reviewe

Planck 2013 results. IX. HFI spectral response

The Planck High Frequency Instrument (HFI) spectral response was determined through a series of ground based tests conducted with the HFI focal plane in a cryogenic environment prior to launch. The main goal of the spectral transmission tests was to measure the relative spectral response (includingthe level of out-of-band signal rejection) of all HFI detectors to a known source of electromagnetic radiation individually. This was determined by measuring the interferometric output of a continuously scanned Fourier transform spectrometer with all HFI detectors. As there is no on-board spectrometer within HFI, the ground-based spectral response experiments provide the definitive data set for the relative spectral calibration of the HFI. Knowledge of the relative variations in the spectral response between HFI detectors allows for a more thorough analysis of the HFI data. The spectral response of the HFI is used in Planck data analysis and component separation, this includes extraction of CO emission observed within Planck bands, dust emission, Sunyaev-Zeldovich sources, and intensity to polarization leakage. The HFI spectral response data have also been used to provide unit conversion and colour correction analysis tools. While previous papers describe the pre-flight experiments conducted on the Planck HFI, this paper focusses on the analysis of the pre-flight spectral response measurements and the derivation of data products, e.g. band-average spectra, unit conversion coefficients, and colour correction coefficients, all with related uncertainties. Verifications of the HFI spectral response data are provided through comparisons with photometric HFI flight data. This validation includes use of HFI zodiacal emission observations to demonstrate out-of-band spectral signal rejection better than 108. The accuracy of the HFI relative spectral response data is verified through comparison with complementary flight-data based unit conversion coefficients and colour correction coefficients. These coefficients include those based upon HFI observations of CO, dust, and Sunyaev-Zeldovich emission. General agreement is observed between the ground-based spectral characterization of HFI and corresponding in-flight observations, within the quoted uncertainty of each; explanations are provided for any discrepancies.The development of Planck has been supported by: ESA; CNES and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MICINN and JA (Spain); Tekes, AoF and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); and PRACE (EU).Peer Reviewe

Planck 2015 results. XXIII. The thermal Sunyaev-Zeldovich effect-cosmic infrared background correlation

Cosmology (including clusters of galaxies).-- et al.We use Planck data to detect the cross-correlation between the thermal Sunyaev-Zeldovich (tSZ) effect and the infrared emission from the galaxies that make up the the cosmic infrared background (CIB). We first perform a stacking analysis towards Planck-confirmed galaxy clusters. We detect infrared emission produced by dusty galaxies inside these clusters and demonstrate that the infrared emission is about 50% more extended than the tSZ effect. Modelling the emission with a Navarro-Frenk-White profile, we find that the radial profile concentration parameter is c500 = 1.00+0.18-0.15 . This indicates that infrared galaxies in the outskirts of clusters have higher infrared flux than cluster-core galaxies. We also study the cross-correlation between tSZ and CIB anisotropies, following three alternative approaches based on power spectrum analyses: (i) using a catalogue of confirmed clusters detected in Planck data; (ii) using an all-sky tSZ map built from Planck frequency maps; and (iii) using cross-spectra between Planck frequency maps. With the three different methods, we detect the tSZ-CIB cross-power spectrum at significance levels of (i) 6σ; (ii) 3σ; and (iii) 4σ. We model the tSZ-CIB cross-correlation signature and compare predictions with the measurements. The amplitude of the cross-correlation relative to the fiducial model is AtSZ−CIB = 1.2 ± 0.3. This result is consistent with predictions for the tSZ-CIB cross-correlation assuming the best-fit cosmological model from Planck 2015 results along with the tSZ and CIB scaling relations.The Planck Collaboration acknowledges the support of: ESA; CNES, and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MINECO, JA and RES (Spain); Tekes, AoF, and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); ERC and PRACE (EU). We also acknowledge the support of the French Agence Nationale de la Recherche under grant ANR-11-BD56-015.Peer Reviewe

A positive cooperativity binding model between Ly49 natural killer cell receptors and the viral immunoevasin m157: kinetic and thermodynamic studies

Natural killer (NK) cells discriminate between healthy and virally infected or transformed cells using diverse surface receptors that are both activating and inhibitory. Among them, the homodimeric Ly49 NK receptors, which can adopt two distinct conformations (backfolded and extended), are of particular importance for detecting cells infected with mouse cytomegalovirus (CMV) via recognition of the viral immunoevasin m157. The interaction of m157 with activating (Ly49H) and inhibitory (Ly49I) receptors governs the spread of mouseCMV.Wecarried out kinetic and thermodynamic experiments to elucidate the Ly49/m157 binding mechanism. Combining surface plasmon resonance, fluorescence anisotropy, and circular dichroism (CD), we determined that the best model to describe both the Ly49H/m157 and Ly49I/m157 interactions is a conformational selection mechanism where only the extended conformation of Ly49 (Ly49*) is able to bind the first m157 ligand followed by binding of the Ly49*/m157 complex to the second m157. The interaction is characterized by strong positive cooperativity such that the second m157 binds the Ly49 homodimer with a 1000-fold higher sequential constant than the first m157 (108 versus 105 M-1). Using far-UV CD, we obtained evidence for a conformational change in Ly49 upon binding m157 that could explain the positive cooperativity. The rate-limiting step of the overall mechanism is a conformational transition in Ly49 from its backfolded to extended form. The global thermodynamic parameters from the initial state (backfolded Ly49 and m157) to the final state (Ly49*/(m157)2) are characterized by an unfavorable enthalpy that is compensated by a favorable entropy, making the interaction spontaneous.Fil: Romasanta, Pablo Nicolas. Consejo Nacional de Investigaciones Cientiâ­ficas y Tecnicas. Oficina de Coordinacion Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral "profesor R. A. Margni"; ArgentinaFil: Curto, Lucrecia María. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Química y Fisicoquímica Biológicas; ArgentinaFil: Urtasun, Nicolás. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica; ArgentinaFil: Sarratea, Maria Belén. Consejo Nacional de Investigaciones Cientiâ­ficas y Tecnicas. Oficina de Coordinacion Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral "profesor R. A. Margni"; ArgentinaFil: Chiappini, Santiago Andrés. Consejo Nacional de Investigaciones Cientiâ­ficas y Tecnicas. Oficina de Coordinacion Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral "profesor R. A. Margni"; ArgentinaFil: Miranda, Maria Victoria. Universidad de Buenos Aires. Facultad de Farmacia y Bioquímica; ArgentinaFil: Delfino, Jose Maria. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Houssay. Instituto de Química y Fisicoquímica Biológicas; ArgentinaFil: Mariuzza, Roy A.. University Of Maryland. Biotechnology Institute; Estados UnidosFil: Fernández, Marisa Mariel. Consejo Nacional de Investigaciones Cientiâ­ficas y Tecnicas. Oficina de Coordinacion Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral "profesor R. A. Margni"; ArgentinaFil: Malchiodi, Emilio Luis. Consejo Nacional de Investigaciones Cientiâ­ficas y Tecnicas. Oficina de Coordinacion Administrativa Houssay. Instituto de Estudios de la Inmunidad Humoral "profesor R. A. Margni"; Argentin

Planck 2013 results. XXIII. Isotropy and statistics of the CMB

The two fundamental assumptions of the standard cosmological model-that the initial fluctuations are statistically isotropic and Gaussian-are rigorously tested using maps of the cosmic microwave background (CMB) anisotropy from the Planck satellite. The detailed results are based on studies of four independent estimates of the CMB that are compared to simulations using a fiducial ΛCDM model and incorporating essential aspects of the Planck measurement process. Deviations from isotropy have been found and demonstrated to be robust against component separation algorithm, mask choice, and frequency dependence. Many of these anomalies were previously observed in the WMAP data, and are now confirmed at similar levels of significance (about 3σ). However, we find little evidence of non-Gaussianity, with the exception of a few statistical signatures that seem to be associated with specific anomalies. In particular, we find that the quadrupole-octopole alignment is also connected to a low observed variance in the CMB signal. A power asymmetry is now found to persist on scales corresponding to about â.,> = 600 and can be described in the low-â.,> regime by a phenomenological dipole modulation model. However, any primordial power asymmetry is strongly scale-dependent and does not extend to arbitrarily small angular scales. Finally, it is plausible that some of these features may be reflected in the angular power spectrum of the data, which shows a deficit of power on similar scales. Indeed, when the power spectra of two hemispheres defined by a preferred direction are considered separately, one shows evidence of a deficit in power, while its opposite contains oscillations between odd and even modes that may be related to the parity violation and phase correlations also detected in the data. Although these analyses represent a step forward in building an understanding of the anomalies, a satisfactory explanation based on physically motivated models is still lacking.The development of Planck has been supported by: ESA; CNES and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MICINN and JA (Spain); Tekes, AoF and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); and PRACE (EU).Peer Reviewe

Planck 2013 results. XXII. Constraints on inflation

We analyse the implications of the Planck data for cosmic inflation. The Planck nominal mission temperature anisotropy measurements, combined with the WMAP large-angle polarization, constrain the scalar spectral index to be ns = 0.9603 ± 0.0073, ruling out exact scale invariance at over 5 s. Planck establishes an upper bound on the tensor-to-scalar ratio of r< 0. Exponential potential models, the simplest hybrid inflationary models, and monomial potential models of degree n = 2 do not provide a good fit to the data. Planck does not find statistically significant running of the scalar spectral index, obtaining dns/dlnk =-0.0134 ± 0.0090. We verify these conclusions through a numerical analysis, which makes no slow-roll approximation, and carry out a Bayesian parameter estimation and model-selection analysis for a number of inflationary models including monomial, natural, and hilltop potentials. For each model, we present the Planck constraints on the parameters of the potential and explore several possibilities for the post-inflationary entropy generation epoch, thus obtaining nontrivial data-driven constraints. We also present a direct reconstruction of the observable range of the inflaton potential. Unless a quartic term is allowed in the potential, we find results consistent with second-order slow-roll predictions. We also investigate whether the primordial power spectrum contains any features. We find that models with a parameterized oscillatory feature improve the fit by 2eff 10 ; however, Bayesian evidence does not prefer these models. We constrain several single-field inflation models with generalized Lagrangians by combining power spectrum data with Planck bounds on fNL. Planck constrains with unprecedented accuracy the amplitude and possible correlation (with the adiabatic mode) of non-decaying isocurvature fluctuations. The fractional primordial contributions of cold dark matter (CDM) isocurvature modes of the types expected in the curvaton and axion scenarios have upper bounds of 0.25% and 3.9% (95% CL), respectively. In models with arbitrarily correlated CDM or neutrino isocurvature modes, an anticorrelated isocurvature component can improve the 2eff by approximately 4 as a result of slightly lowering the theoretical prediction for the l40 multipoles relative to the higher multipoles. Nonetheless, the data are consistent with adiabatic initial conditions.The development of Planck has been supported by: ESA; CNES and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MICINN and JA (Spain); Tekes, AoF and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); and PRACE (EU).Peer Reviewe

Planck 2013 results. VI. High frequency instrument data processing

We describe the processing of the 531 billion raw data samples from the High Frequency Instrument (HFI), which we performed to produce six temperature maps from the first 473 days of Planck-HFI survey data. These maps provide an accurate rendition of the sky emission at 100, 143, 217, 353, 545, and 857 GHz with an angular resolution ranging from 9.I 7 to 4.I 6. The detector noise per (effective) beam solid angle is respectively, 10, 6, 12, and 39 μK in the four lowest HFI frequency channels (100-353 GHz) and 13 and 14 kJy sr-1 in the 545 and 857 GHz channels. Relative to the 143 GHz channel, these two high frequency channels are calibrated to within 5% and the 353 GHz channel to the percent level. The 100 and 217 GHz channels, which together with the 143 GHz channel determine the high-multipole part of the CMB power spectrum (50., 2500), are calibrated relative to 143 GHz to better than 0.2%.The development of Planck has been supported by: ESA; CNES and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MICINN and JA (Spain); Tekes, AoF and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); and PRACE (EU).Peer Reviewe

Planck 2013 results. XXXII. The updated Planck catalogue of Sunyaev-Zeldovich sources

et al.We update the all-sky Planck catalogue of 1227 clusters and cluster candidates (PSZ1) published in March 2013, derived from detections of the Sunyaev–Zeldovich (SZ) effect using the first 15.5 months of Planck satellite observations. As an addendum, we deliver an updated version of the PSZ1 catalogue, reporting the further confirmation of 86 Planck-discovered clusters. In total, the PSZ1 now contains 947 confirmed clusters, of which 214 were confirmed as newly discovered clusters through follow-up observations undertaken by the Planck Collaboration. The updated PSZ1 contains redshifts for 913 systems, of which 736 (~ 80.6%) are spectroscopic, and associated mass estimates derived from the Yz mass proxy. We also provide a new SZ quality flag for the remaining 280 candidates. This flag was derived from a novel artificial neural-network classification of the SZ signal. Based on this assessment, the purity of the updated PSZ1 catalogue is estimated to be 94%. In this release, we provide the full updated catalogue and an additional readme file with further information on the Planck SZ detections.The development of Planck has been supported by: ESA; CNES and CNRS/INSU-IN2P3-INP (France); ASI, CNR, and INAF (Italy); NASA and DoE (USA); STFC and UKSA (UK); CSIC, MICINN, JA and RES (Spain); Tekes, AoF and CSC (Finland); DLR and MPG (Germany); CSA (Canada); DTU Space (Denmark); SER/SSO (Switzerland); RCN (Norway); SFI (Ireland); FCT/MCTES (Portugal); and PRACE (EU).Peer Reviewe