PJE - Robotique mobile

Este proyecto consiste en tomar la plataforma Turtlebot3 y estudiar los modelos que le permiten desplazarse mediante el mapeo del entorno, para acabar generalizando las estrategias de navegación a las plataformas móviles industriales. Para ello, se estudiará la plataforma, se pondrán en marcha las herramientas de simulación asociadas y se probarán los algoritmos disponibles en la plataforma para adaptar y optimizar su funcionamiento. Esta plataforma está equipada con una interfaz principal que acepta comandos en lenguaje ROS (Robot Operating System).This project consists of taking the Turtlebot3 platform and studying the models that allow it to move by mapping the environment, in order to generalise the navigation strategies to industrial mobile platforms. To do this, the platform will be studied, the associated simulation tools will be implemented and the algorithms available on the platform will be tested in order to adapt and optimise its operation. This platform is equipped with a main interface that accepts commands in ROS (Robot Operating System) languageDepartamento de Ciencias de los Materiales e Ingeniería Metalúrgica, Expresión Gráfica en la Ingeniería, Ingeniería Cartográfica, Geodesia y Fotogrametría, Ingeniería Mecánica e Ingeniería de los Procesos de FabricaciónGrado en Ingeniería en Organización Industria

Fabrication and characterization of 2D photonic crystals for new optoelectronic devices

Photonic crystals were discovered in the 80s as a possible solution to the control of the spontaneous emission and localization of light. Nevertheless only in recent years, with the spreading of nanotechnologies, the first applications with high technological impact have been achieved, like planar photonic crystal lasers or the nanostructured photonic crystal waveguides. Nowadays new types of optoelectronic devices like single photon emitters based on photonic crystal nanocavities are being pursued. In this talk we will show the fabrication and characterization of new photonic bandgap devices, like Suzuki-phase laser emitters or ring-like emitters, and we will show their emission properties in the far field and their tuning by the fabrication process. These new devices may be used as new optical sensors and as efficient nanosources of laser light.Los cristales fotónicos fueron planteados a finales de los años ochenta como una posible solución al control de la emisión espontánea y a la localización de la luz. Sin embargo, sólo en los últimos años, con el advenimiento de las tecnologías de nanofabricación, se han conseguido las primeras aplicaciones prácticas de elevado impacto tecnológico, como los láseres de cristal fotónico o las guías de onda nanoestructuradas con gap fotónico. En la actualidad se están planteando nuevos dispositivos que permitan la emisión eficiente de un solo fotón o la captura de un átomo en el interior de una nanocavidad de cristal fotónico. En este seminario se mostrará la fabricación y caracterización de nuevos dispositivos con gap fotónico, como emisores láser de fase Suzuki o resonadores láser de anillo, y se mostrarán sus propiedades de emisión en el campo lejano y de sintonización mediante el control preciso del proceso de fabricación. Estos nuevos dispositivos pueden ser usados como nuevos sensores ópticos y como eficientes nanoemisores de luz láser.A. R. Alija agradece una beca predoctoral FPU AP2002-0474 del MEC. L. J. Martínez agradece una beca predoctoral I3P-CSIC. P. A. Postigo agradece un contrato "Ramón y Cajal" y los proyectos CAM GR\MAT\0729\2004 y CICYT TIC2002- 04096-C03-03.Peer reviewe

Aplicación del programa de rehabilitación y enriquecimiento PASS (PREP) en alumnos de 4º de Primaria de un centro ordinario

El presente proyecto de intervención se llevó a cabo con un grupo de cuatro alumnos pertenecientes a una clase de 4º curso en un centro de Educación Primaria en la localidad de Zaragoza. El objetivo del proyecto de intervención se centra en el desarrollo de procesos de planificación, atención y metacognición necesarios para la lectura y la resolución de problemas y tareas por medio del aprendizaje dialógico y basado en la interacción comunicativa entre iguales, teniendo como recurso principal el programa PREP, cuya proposición basal es vislumbrar las dificultades de aprendizaje en niños que ya han adquirido la facultad de leer. La metodología principal para llevar a cabo la puesta en marcha en el aula del programa fue el aprendizaje cooperativo y dialógico, entendiendo este, como una amplia gama de herramientas necesarias para poder construir conocimiento a través de la mediación entre estudiantes, equipo docente, recursos disponibles y agentes participativos de la educación. Al concluir la puesta en marcha del programa PREP, los alumnos han mejorado la competencia de: Atención, Planificación, Metacognición y han desarrollado nuevas Habilidades Comunicativas

Iterator-based algorithms in self-tuning discovery of partial implications

We describe the internal algorithmics of our recent implementation of a closure-based self-tuning associator: yacaree. This system is designed so as not to request the user to specify any threshold. In order to avoid the need of a support threshold, we introduce an algorithm that constructs closed sets in order of decreasing support; we are not aware of any similar previous algorithm. In order not to overwhelm the user with large quantities of partial implications, our system filters the output according to a recently studied lattice-closure-based notion of con fidence boost, and self-adjusts the threshold for that rule quality measure as well. As a consequence, the necessary algorithmics interact in complicated ways. In order to control this interaction, we have resorted to a well-known, powerful conceptual tool, called Iterators: this notion allows us to distribute control among the various algorithms at play in a relatively simple manner, leading to a fully operative, open-source, effi cient system for discovery of partial implications in relational data.Postprint (published version

Molecular analysis of hepatitis B virus "a" determinant in asymptomatic and symptomatic Mexican carriers

BACKGROUND: Hepatitis B virus (HBV) is a small DNA-containing virus with 4 genes, C, S, X and P. The S gene codes for the surface antigen (HBsAg), which contains the "a" determinant, the main region for induction of a protective humoral immune response. To compare the genotype and sequence of the "a" determinant between strains isolated from asymptomatic and symptomatic Mexican HBV carriers. RESULTS: 21 asymptomatic (blood donors) and 12 symptomatic (with clinical signs and with >1 year lamivudine treatment) HBV carriers were studied; all patients were positive for the HBsAg in serum. Viral load, genotypes, and subtypes were determined in plasma. A fragment of the S gene including the "a" determinant was PCR amplified and sequenced to determine genotype, subtype and to identify mutations. Mean viral load was 0.7965 × 10(4 )copies/ml in asymptomatic carriers and 2.73 × 10(6 )copies/ml in symptomatic patients. Genotypes H, C, and F were identified in asymptomatic individuals; whereas H was dominant in symptomatic patients. A fragment of 279 bp containing the "a" determinant was amplified from all 33 carriers and sequences aligned with S gene sequences in the GenBank. Mutations identified were Y100N, T126I, Q129H and N146K in the asymptomatic group, and F93I and A128V in the symptomatic group. CONCLUSION: Differences in genotype and in mutations in the "a" determinant were found between strains from asymptomatic and symptomatic HBV Mexican carriers

Extensive, Non-Healing Scalp Ulcer Associated with Trauma-Induced Chronic Osteomyelitis

A 77-year-old woman presented with a trauma to the scalp caused from the blade of a windmill. The condition was persistent from the past 50 years. At the initial examination, a deep, foul-smelling and well-circumscribed ulcer was apparent on the head region, involving the majority of the cranium. Skin biopsy specimens of the lesion were nonspecific. The bone biopsy showed extensive necrotic areas of bone and soft tissues, with lymphocytic exudate foci. A computed tomography scan of the head revealed bone destruction principally involving both the parietal bones, and parts of the frontal and occipital bones. Streptococcus parasanguis was isolated from the skin culture, and Proteus mirabilis and Peptostreptococcus sp. were identified in the cultures from the bone. A long-term treatment with amoxicillin-clavulanic acid (1 g/12 h) and levofloxacin (500 mg/day) was prescribed, but even after 6 months, the lesion remained unchanged. The frequency of occurrence of scalp ulcers in dermatological patients is less, principally because of the rich blood supply to this area. We have not found any similar case report of a scalp ulcer secondary to chronic osteomyelitis discovered more than 50 years after the causal trauma. We want to highlight the importance of complete cutaneous evaluation including skin and bone biopsies, when scalp osteomyelitis is suspected

Multidisciplinary approach to cylindrical anisotropic metamaterials

Anisotropic characteristics of cylindrically corrugated microstructures are analyzed in terms of their acoustic and electromagnetic (EM) behavior paying special attention to their differences and similarities. A simple analytical model has been developed using effective medium theory to understand the anisotropic features of both types of waves in terms of radial and angular components of the wave propagation velocity. The anisotropic constituent parameters have been obtained by measuring the resonances of cylindrical cavities, as well as from numerical simulations. This permits one to characterize propagation of acoustic and EM waves and to compare the fundamental anisotropic features generated by the corrugated effective medium. 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