Acoplamiento flexible de seguridad frente a impactos

Número de publicación: ES2470915 A1 (24.06.2014) También publicado como: ES2470915 B2 (20.01.2015) Número de Solicitud: Consulta de Expedientes OEPM (C.E.O.) P201300030 (21.12.2012)Acoplamiento flexible de seguridad frente a impactos, del tipo de los utilizados en eslabones de brazos robóticos y que incorporan algún mecanismo que permite variar el nivel de carga a partir del cual entra en funcionamiento la flexibilidad del acoplamiento. El acoplamiento incorpora una pieza (1) y una pieza (2) cilíndricas huevas enfrentadas por sus bases, las cuales disponen de una multitud de hendiduras (5) y protuberancias (6) que insertan perfectamente. Un resorte helicoidal (3) apoya en la cara interior de la base de la pieza (1) y en el otro extremo del resorte (3) se fija el extremo de un cable (8), el cual atraviesa las bases de las piezas (1) y (2). El otro extremo del cable (8) se fija a la cabeza de un tornillo (7) roscado a la base de la pieza (2) y que permite tensar el cable (8) y comprimir el resorte (3).Universidad de Almerí

Metodología de diseño y control de robots escaladores. Aplicación a las tareas de inspección

Durante los ultimos años son notables los esfuerzos que se están dedicando a incrementar e1 nive1 de automatización de los sectores mas tradiciona1es en este aspecto, como por ejemplo, es el de la construcción. La principal dificultad que presentan estos sectores es 1a falta de uniformidad en su entorno, al contrario de lo que ocurre en la industria del automóvil, o en las manufactureras, por ejemplo. Conforme aumenta el número y edad de las construcciones y de las obras civiles, tambien se incrementa el número de trabajos de inspección y mantenimiento que hay que hacer sobre ellas. Todas las actividades relacionadas con estos trabajos son muy peligrosas y sólo pueden ser llevadas a cabo por personal muy cualificado. Durante los ultimos años ha crecido el interés por crear robots que sean capaces de cumplir con estas tareas, y son muchos los grupos de investigación dedicados a este campo. Los robots industriales tradicionales no sirven para realizar esta clase de trabajos. Estan pensados, principalmente, para trabajar en entornos estructurados. Los robots que trabaj en en un edificio o en un puente tienen que ser capaces de moverse por toda la estructura, escalar por ella, y llegar a los lugares mas inaccesibles. En esta tesis se abordan temas de gran importancia respecto al disafio de esta clase de robots, y los movimientos posibles en las estructuras tridimensionales. Por estructura tridimensional se entiende lo que puede ser el esqueleto de un edificio, formado por vigas y pilares, la estructura metalica de un puente, o la cubierta metalica de un polideportivo. El reino animal es una buena fu ente de estudio para el diseño de un robot escalador. En esta tesis se ha hecho un estudio de los metodos de agarre y un anaIisis de la estructura muscular y ósea de los animales escaladores mas significativos. También se han estudiado las estructuras cinemciticas de algunos de ellos. Hay que indicar que muchos de ellos han sido y son fuente de inspiración para la creación de los robots escaladores mas conocidos. Sin embargo, no se debe perder de vista una máxima: el movimiento de cualquier animal, ya sea caminando, corriendo o escalando, siempre será mucho más elegante y más avanzado que el que se pueda lograr con cualquier vehiculo caminante 0 escalador, de los construidos hasta ahora. Si estos robots trabajan en un entorno muy amplio, es necesario comunicarse con ellos desde una estación base. Es importante tener una comunicación fiable, sabiendo que tipo de control se lleva a cabo en el robot y cual en la estación base. En esta tesis se proponen distintos niveles jerárquicos de control, junto con diferentes niveles de seguridad para conseguir un buen funcionamiento de todo el sistema, tanto en el ordenador de la base como en el que esta a bordo del robot escalador. A la hora de controlar la posición de un robot escalador, la fuerza de gravedad j uega un gran papel, su efecto es mucho mayor que el que se pueda producir en un robot tradicional. Normalmente los elementos que componen un robot escalador se eligen con caracteristicas de dimensiones y peso mas ajustadas que en el caso de un robot industrial. Un robot escalador debe ser capaz de soportar y mover su peso, mientras que los robots con una base fija no. Si se quiere desarrollar un sistema de control de posicionamiento adecuado para un robot escalador se hace necesario la creación y estudio de modelos dinamicos que permitan conocer el papel primordial que juega, la gravedad durante el movimiento del robot.In the last years great efforts are made to increase the level of automatization on those fields, that like building, are still making use of traditional working techniques. The main difficulty that they recently face is the lack of uniformity in their environments, contrary to such sectors like manufacture or car industry. The increasing number and age of buildings and civil construction requires an increase in the number of inspections and maintenance works on these buildings. All tasks related to this work are very dangerous and can only be carried out by a highly qualified personnel. In the last years the interest in designing robots able to perform this sort of tasks has considerably increased. Therefore, many research groups are recently devoted to this study. Traditional industrial robots are not able to perform this sort of tasks, since they are designed to work always under structural environments. However, robots working on a building or a bridge should be able to move themselves along the whole structure and reach also the most hidden places. Relevant aspects to the design of these robots are dealt with in this thesis, as well as robot movements in a tridimensional structure. Under tridimensional structure it is understood, for instance, the structure of a building, its beams and pillars, metallic piers of a bridge or the metallic frame of a sport center. Animals offer a great inspiration for the design of climbing robots. A study of grasping methods, as well as an analyses of the muscular and bone structure of the most representative climbing animals, are presented in this work. Kinematics of some of them are also considered. It is interesting to point out that the design of the most important climbing robots are inspired in these animals. However, until now it has not been designed a walking or climbing robot whose movements when walking, running or climbing, are so smooth and perfect as those of the animals. When these robots work in an spacious environment, it is required the use of a central station for the communication to be established. It is essential to rely on a good communication to have always knowledge of the state of the tasks being performed by the robots an in the central station. Different hierarchy levels of control and security are proposed in this thesis in order to achieve a satisfactory work of the system as whole; in the "ground" computer as well as in on board computers. Gravity plays a crucial role in the control of climber positions, due mainly to the greater gravitational effect on these robots than on traditional ones. Normally the climbing robot components are chosen more adequately regarding weight and dimensions, contrary to the case of traditional robots. A climber should be able to bare and move its own weight whereas this property is not traditionally required. In order to obtain an adequate control system of a climber it is needed the study and development of dynamic models, which allows us to know the relevant role played by the gravity in these systems

Meta-percepciones de competencia de terceros significativos, competencia percibida, motivación situacional y orientaciones de deportividad en jóvenes deportistas

La finalidad de este estudio es comprobar un modelo teórico sobre la base de las aportaciones de Vallerand (1977) que incluya, como factores sociales, la meta-percepción de competencia de múltiples terceros significativos. Asimismo, el modelo recoge la relación entre la motivación auto-determinada situacional (SDI) y las orientaciones de deportividad en deportes de contacto medio-alto. La muestra estuvo formada por 496 jugadores/as de fútbol y baloncesto, con edades comprendidas entre 11-17 años (M= 14.19, DE = 1.84). Los resultados mostraron que la meta-percepción de competencia del entrenador fue el principal predictor de la competencia percibida por los deportistas, seguida de la meta-percepción de los padres, del profesor de educación física y de los compañeros de equipo. En su conjunto muestran un valor predictivo elevado. La competencia percibida fue, a su vez, un predictor significativo de la SDI y, ésta, predijo sucesivamente las diferentes orientaciones hacia la deportividad de manera consistente.The goal of this study was to design a theoretical model based in Vallerand's (1997) contributions, which includes as social factors metaperceptions of significant others. The model also includes the relationship between self-determined motivation and fair-play orientations in medium-high contact sports. The sample was composed by 496 football and basketball players aged 11-17 years (M = 14.19; SD = 1.84). Results showed that coaches' meta-perception was the most significant predictor of athletes' perceived competence, followed by parents' meta-perception, physical education teachers, and teammates' meta-perception. Globally, they show a high predictive value. Perceived competence was a significant predictor of SDI and this predicted consistently the different fair-play orientations.A finalidade deste estudo é testar um modelo teórico com base nos estudos de Vallerand (1977) que incluía, como factores sociais, a metapercepção de competência de múltiplos outros significativos. Desta forma, o modelo aborda a relação entre a motivação auto-determinada (SDI) e as orientações de desportivismo em desportos de contacto médio-alto. A amostra foi composta por 496 jogadores/as de futebol e basquetebol, com idades compreendidas entre 11-17 anos (M = 14.19, DP = 1.84). Os resultados revelaram que a meta-percepção de competência do treinador foi o principal preditor da competência percebida pelos desportistas, seguida da meta-percepção dos pais, do professor de educação física e dos companheiros de equipa. No seu conjunto, os resultados revelaram um valor preditivo elevado. A competência percebida foi, por seu turno, um preditor significativo da SDI e, esta prediz sucessivamente as diferentes orientações face ao desportivismo de forma consistente

Pasión por el deporte, actividad física vigorosa y satisfacción con la vida

El objetivo de este estudio fue evaluar el papel predictivo de la pasión por el deporte en la realización de actividad física vigorosa y la satisfacción con la vida. Participaron un total de 243 deportistas universitarios (95 varones y 148 mujeres) con una edad media de 20,42 años. Se comprobaron las propiedades psicométricas de la versión española de la Escala de Pasión desarrollada por Vallerand et al. (2003). El análisis factorial confirmatorio apoyó la estructura bifactorial de la escala: Pasión armoniosa (PA) y Pasión obsesiva (PO). La fiabilidad interna de ambos factores fue elevada. La escala también mostró una adecuada validez discriminante y convergente. Ambos tipos de pasión predijeron positivamente la actividad física vigorosa más allá de la motivación intrínseca. Sin embargo, la PA y la PO predijeron de manera positiva y negativa, respectivamente, la satisfacción con la vida. Los resultados proporcionan apoyo a la literatura sobre pasión, bienestar psicológico, e intensidad de actividad física.The goal of this study was to assess the role of passion for sport in predicting vigorous physical activity and satisfaction with life. A total of 243 college athletes agreed to participate (95 males and 148 females) with an average age of 20.42. The psychometric properties of the Spanish version of the Passion Scale developed by Vallerand et al. (2003) were tested in the specific context of sport. Confirmatory factor analysis supported the bi-factorial structure of the scale: Harmonious passion (HP) and Obsessive passion (OP). The internal reliability of both factors was high. The scale also showed a correct discriminant and convergent validity. Both types of passion positively predicted vigorous physical activity, more than motivation. However, HP and OP predicted satisfaction with life positively and negatively, respectively. Results support the literature on passion, psychological well-being, and intensity of physical activity.O objectivo deste estudo foi avaliar o papel preditor da paixão pelo desporto na realização de actividade física vigorosa e a satisfação com a vida. Participaram um total de 243 desportistas universitários (95 homens e 148 mulheres) com uma idade média de 20,42 anos. Foram comprovadas as propriedades psicométricas da versão espanhola da escala de Paixão desenvolvida por Vallerand et al. (2003). A análise factorial confirmatória validou a estrutura bifactorial da escala: Paixão harmoniosa (PH) e Paixão obsessiva (PO). A fidelidade interna de ambos os factores foi elevada. A escala também apresentou uma adequada validade discriminante e convergente. Ambos os tipos de paixão predisseram positivamente a actividade física vigorosa, mais do que a motivação intrínseca. Contudo, a PH e a PO predisseram de maneira positiva e negativa, respectivamente, a satisfação com a vida. Os resultados suportam a literatura sobre a paixão, bem-estar psicológico e intensidade da actividade física

Translational research combining orthologous genes and human diseases with the OGOLOD dataset

OGOLOD is a Linked Open Data dataset derived from different biomedical resources by an automated pipeline, using a tailored ontology as a scaffold. The key contribution of OGOLOD is that it links, in new RDF triples, genetic human diseases and orthologous genes, paving the way for a more efficient translational biomedical research exploiting the Linked Open Data cloud

Assessment of adolescent self-constructed material use in physical education

the goals of this research project were three: study how secondary education students value self-made materials, assess their effects while used to teach sport, and analyze how the students’ perspective on these materials change over age and gender. Students from a high school in the north part of Spain agreed to participate. They belonged to 1st, 2nd, and 4th year of secondary education. They were asked to build their own self-made cardboard ringo with recycled materials to use it during an ultimate learning unit. A hybrid instructional method (tactical games + sport education) was used along 8-10 sessions. After the intervention, subjects filled out a 15-item questionnaire (1-5 likert point scale). Overall results showed that subjects did not consider that building the ringo was hard. Finding the material was not difficult, either. They also thought that using the ringo was more fun than using the traditional Frisbee. Younger students valued the experience higher than older subjects. The usage of self-made materials was more attractive, motivating and useful for 1st year subjects. They also though that this type of material had helped them improve their throwing and catching skills. They even wanted to use it in extracurricular setting

Benchmarking Particle Filter Algorithms for Efficient Velodyne-Based Vehicle Localization

Keeping a vehicle well-localized within a prebuilt-map is at the core of any autonomous vehicle navigation system. In this work, we show that both standard SIR sampling and rejection-based optimal sampling are suitable for efficient (10 to 20 ms) real-time pose tracking without feature detection that is using raw point clouds from a 3D LiDAR. Motivated by the large amount of information captured by these sensors, we perform a systematic statistical analysis of how many points are actually required to reach an optimal ratio between efficiency and positioning accuracy. Furthermore, initialization from adverse conditions, e.g., poor GPS signal in urban canyons, we also identify the optimal particle filter settings required to ensure convergence. Our findings include that a decimation factor between 100 and 200 on incoming point clouds provides a large savings in computational cost with a negligible loss in localization accuracy for a VLP-16 scanner. Furthermore, an initial density of ∼2 particles/m 2 is required to achieve 100% convergence success for large-scale (∼100,000 m 2 ), outdoor global localization without any additional hint from GPS or magnetic field sensors. All implementations have been released as open-source software

Perfiles motivacionales y sus consecuencias en educación física. Un estudio complementario de metas de logro 2x2 y autodeterminación

Este estudio se ha realizado en el marco del proyecto de I+D+I número DEP2012-31997, subvencionado por el Ministerio de Economía y CompetitividadThe aim of this study was to explore the goals and motivational profiles of a sample of 359 Spanish adolescent physical education students, and their relationship with psychological mediators such as perceived competence or social relationship, and motivational outcomes such as effort, boredom, and the intention of future practice. Cluster analysis revealed four motivational profiles: "Mastery goals", "High achievement goals", "Performance goals" and "Low achievement goals". The "High achievement goals" cluster was the most self-determined, followed by the "Mastery goals" cluster. Both earned the most positive results in terms of relationship, perceived competence, effort, and intention of future practice. The "Low achievement goals" cluster was the most motivationally controlled, and together with the "performance goals" cluster were the most maladaptive. It is suggested that teachers should prioritize mastery goals without neglecting the associated encouragement of performance goals.El objetivo del estudio fue explorar conjuntamente los perfiles de meta y motivacionales que subyacen en una muestra de 359 estudiantes adolescentes españoles de educación física y su relación con mediadores psicológicos como la competencia percibida o la relación social, y distintos resultados motivacionales, como el esfuerzo, el aburrimiento y la intención de práctica futura. El análisis de clúster mostró cuatro perfiles motivacionales: "metas de maestría", "metas de logro altas", "metas de rendimiento", y "metas de logro bajas". El cluster de "metas de logro altas" se mostró como el más autodeterminado, seguido del clúster de "metas de maestría", obteniendo ambos los resultados más positivos en términos de relación, competencia percibida, esfuerzo, e intención de práctica futura. El cluster de "metas de logro bajas" resultó el más controlado motivacionalmente y junto con el de "metas de rendimiento", fueron los más desadaptativos. Se sugiere que los profesores deberían priorizar las metas de maestría sin menospreciar la promoción asociada de las metas de rendimiento

Crystallization and preliminary crystallographic studies of human kallikrein 7, a serine protease of the multigene kallikrein family

4 páginas, 6 figuras, 2 tablas -- PAGS nros. 669-672Hepatitis B core (HBc) particles have been extensively exploited as carriers for foreign immunological epitopes in the development of multicomponent vaccines and diagnostic reagents. Crystals of the T = 4 HBc particle were grown in PEG 20 000, ammonium sulfate and various types of alcohols. A temperature jump from 277 or 283 to 290 K was found to enhance crystal growth. A crystal grown using MPD as a cryoprotectant diffracted X-rays to 7.7 Å resolution and data were collected to 99.6% completeness at 8.9 Å. The crystal belongs to space group P212121, with unit-cell parameters a = 352.3, b = 465.5, c = 645.0 Å. The electron-density map reveals a protrusion that is consistent with the N-terminus extending out from the surface of the capsid. The structure presented here supports the idea that N-terminal insertions can be exploited in the development of diagnostic reagents, multicomponent vaccines and delivery vehicles into mammalian cellsWe thank Professor K. Murray for providing plasmid pR1-11E. X-ray data collection was supported by BM14UK/ESRF, Grenoble and SRS, Daresbury. WST was supported by a Die NorKen Stiftung Visiting Fellowship and KLH is the recipient of the Darwin Trust ScholarshipPeer reviewe