Hybrid fuzzy neural network: genetic algorithm applied to the control of magnetorheological and smart material vehicle semiactive suspensions

isolate the passenger and the structure from vibrations and ensure the vehicle stability under different travel condition. A semiactive suspension system is defined as set of mechanical and electric devices that includes semiactive or active elements whose parameters could be controlled by a system, although they cannot introduce forces into the system. An option of devices that can be used in semiactive suspension system could be elements which their mechanical properties can be controlled by an external stimulus, such capability is produced by the so-called “Smart Materials”. This work analyses the application of a kind of those materials which can modify their mechanical properties by the influence of a magnetic field, that category is called magnetorheologic materials. Those allow through the intensity of a magnetic field tune their behavior in terms of their viscoelastic properties. The control of this devices requires a sensing and actuator systems and the response between them requires a so small delay process, otherwise the suspension system does not achieve its objective, but also is considered unsafe. Therefore, a more efficient model using artificial intelligence techniques such Fuzzy Logic and Artificial Neural Network is developed to simulate and keep the system response updated through the time due to variations on the elements behavior such wear or another factors. Furthermore, the optimization of the response and the element design is complex because of the high non-linear system and the large number of degrees of freedom that the system have, therefore the application of Genetic Algorithm to improve the time of calculus and design process. This article presents a short introduction of smart materials focused on Magnetorheological materials such fluids and elastomer, also a modeling of suspension devices based on this technology are modeled. These elements are introduced in a vehicle model to evaluate the results of performances and compare with a passive suspension system

A contribution to the investigation of the rolling movement of mobile robots based on tensegrity structures

Die vorliegende Arbeit hat ihren Ursprung in den Algorithmen und Ansätzen zur Analyse eines Roboters mit variabler Geometrie, der an der TU Ilmenau entwickelt wurde. Ein solcher Roboter hat einen anfangs zylindrischen Roboter in eine kegelstumpfförmige Geometrie umgewandelt, um um die vertikale Achse drehen zu können, die sich am Erzeugungspunkt eines solchen Kegels befindet. Die vorliegende Arbeit beginnt mit einer Einführung der Grundlagen für das Studium von Tensegrity- Strukturen; Später werden aus den variablen Parametern der geometrischen Beschreibung des Roboters die kinematischen Gleichungen von Position, Geschwindigkeit und Beschleunigung für jeden Punkt der Geometrie des Roboters ausgewertet. In demselben Kapitel wird eine Alternative zum Vorhersagen der Bahn des Roboters unter Verwendung einer Klothoide vorgeschlagen. Diese Kurve hat den Zweck, Gleichungen der Bewegungsbahn des geometrischen Mittelpunkts des Roboters zu geben. In einem folgenden Kapitel werden die Steuerungsalgorithmen für die Abrollbewegung des Roboters sowie eine mögliche konstruktive Form vorgestellt, die zuvor für eine ähnliche Anwendung verwendet wurde. Im letzten Kapitel werden verschiedene Alternative von Materialien für die Herstellung des Roboterkörpers sowie die Grundlagen eines Ansatzes zur Bewertung gekrümmter Zugstrukturen vorgestellt. Darüber hinaus wird eine Berechnungsform für die spätere Entwicklung der endgültigen Geometrie des Roboters vorgeschlagen.The present work has its origin in the algorithms and approaches for the analysis of a robot of variable geometry developed in the TU Ilmenau. Such robot hat an initially cylindrical robot changes to a truncated conical geometry, in order to be able to rotate around the vertical axis located at the generating point of such a cone. The present thesis begins with a basic explanation of the foundations for the study of tensegrity structures; later, from the variable parameters of the geometric description of the robot, the kinematic equations of position, velocity and acceleration are evaluated for every point of the geometry of the robot. In the same chapter an alternative of predicting the path of the robot using a clothoid curve is proposed, this curve has the purpose of giving equations of the trajectory of the geometric center of the robot. In a following chapter, the control algorithms for the rolling movement of the robot are presented, as well as a possible constructive form previously used for a similar application. Finally, the last chapter presents alternative materials for manufacturing the body of the robot, as well as the bases of an approach for the evaluation of curved tensile structures; additionally, it proposes a form of calculation for later development of the final geometry of the robot.Tesi

Testing Hybrid Natural Inflation with BICEP2

We analyse Hybrid Natural Inflation in view of the recent results for the tensor index reported by BICEP2. We find that it predicts a large running of the scalar spectrum which is potentially detectable by large scale structure and $21\, \mathrm{cm}$ observations. The running of the running is also relatively large becoming close to $10^{-2}$. Along the way, we find general consistency relations at which observables are subject if the slow-roll approximation is imposed. Failure to satisfy these equations by the values obtained for the observables in surveys would be a failure of the slow-roll approximation itself.Comment: V3: Published versio

Análisis teórico de la tolerancia como una percepción construida en el salón de clase

En este estudio se hizo el análisis teórico de la percepción del maestro de la carrera de Odontología de la Facultad de Estudios Superiores Iztacala de la UNAM de la tolerancia en el salón de clase para entender y mejorar los procesos de la enseñanza-aprendizaje. Al hacer la trascripción, teorización e interpretación del discurso del maestro acerca de la tolerancia desde la entrevista, encontramos primero la necesidad de corrección como forma de orientación fragmentando los diferentes campos del pensamiento del alumno; la intención de control de habla en el salón de clase, cuando el habla entre alumnos puede no ser negativa sino de retroalimentación mutua; de control de la participación, en oposición a una contribución activa del alumno a la construcción guiada del conocimiento y de control del discurso, predominando el habla técnica sin el establecimiento de enlaces con los acontecimientos cotidianos. Por lo tanto, para mejorar el proceso de enseñanza-aprendizaje es importante hacer énfasis en el aprendizaje cooperativo y significativo en oposición a la metodología tradicional, donde el alumno juegue el papel de ser transmisor de conociientos de unos a otros y el profesor no sea la única fuente de información.En aquest estudi es va realitzar l'anàlisi teòrica de la percepció del professor de la carrera d'Odontologia de la Facultat d'Estudis Superiors d'Iztacala de la UNAM envers la tolerància que aquest mostra a l'aula per entendre i millorar els processos d'ensenyament-aprenentatge. En fer la transcripció, teorització i interpretació del discurs del professor sobre la tolerància des de l'entrevista, trobem en primer lloc la necessitat de correcció com a forma d'orientació, fragmentant així els diferents camps de pensament de l'alumne; intenció de control del discurs a l'aula, quan el fet de parlar entre alumnes no necessàriament ha de ser negatiu sinó una fórmula de retroalimentació mútua; de control de la participació, en oposició a una contribució activa de l'alumne a la construcció guiada del coneixement i de control del discurs, on predomina el discurs tècnic sense establir enllaços amb els fets quotidians. Per tant, per millorar el procés d'ensenyament-aprenentatge és important posar l'èmfasi en l'aprenentatge cooperatiu i significatiu en oposició a la metodologia tradicional, on l'alumne tingui el paper de ser transmissor del coneixement dels uns als altres i el professor no sigui l'única font d'informació.In this study is made the theoretic analysis from the perception of the master from the career of odontology from the Facultad de Estudios Superiores Iztacala of UNAM of the toleration in the classroom for understand and improve the process from the teaching and learning. On make the transcription, theoretical and interpretation from the master discourse, about of the toleration since the interview, we encounter first the necessity of correction as a way of orientation and separation of different camps the though from the students with the intention of the control over the speaking in the classroom, although the speaking between pupils it isn't negative, if there is a mutual feedback for activate contribution from the pupil to guidance construction from the knowledge, prevailing the contact with the daily happening without the technical speech. So, it is important to make emphasis in the cooperative and significant learning in opposition on traditional methodology where the role play of the pupil is transmitter knowledge one another and the master isn't the fountain unique of information

La reparación de las víctimas del conflicto armado en Colombia desde la perspectiva de la ley de justicia y paz

Se exponen algunos problemas que la Ley de Justicia y Paz presenta con respecto a la reparación integral de las víctimas de la violencia sociopolítica en Colombia, en especial a las víctimas de las masacres perpetradas por los grupos armados ilegales. Desde de la perspectiva de la ley de Justicia y paz (Ley 975 de 2005), la reparación integral comprende las acciones que propendan por la restitución, indemnización, rehabilitación, satisfacción, y las garantías de no repetición de las conductas delictivas por parte de los grupos armados ilegales, asimismo, la importancia de la Justicia Transicional y los elementos que la componen, los cuales conllevan al interés de las víctimas en establecer la verdad sobre las atrocidades cometidas durante el desarrollo del conflicto armado y sancionar penalmente a los culpables de dichos acto

Orthopedic Correction of Growing Retrognathic Hyperdivergent Patients

The purpose of this prospective study was to determine whether dental intrusion is effective in treating growing retrognathic hyperdivergent patients without negatively affecting the roots and periodontal structures. The sample consisted of 17 (7 males and 10 females) consecutively treated patients who were 13.2 ±1.1 years old at the start of treatment (T1) and treated for 25.3 ± 9.3 months (T2). The maxillary posterior teeth (premolars and molars) were all intruded using a rigid segmental appliance. Two maxillary and two mandibular MSIs (immediately loaded with 150gr coil springs) were used for the intrusion mechanics and vertical control. A matched control group was used to evaluate the skeletal changes that occurred during treatment. CBCT records, taken at T1 and at the end of the orthopedic phase (T2) were used to evaluate the treatment effects. The results showed significant (p<.05) intrusion (2.5 ± 1.7 mm) of the maxillary dentition in the treated group. The mandibular plane angle closed 2° ±1.7° and the SNB angle increased 1.5° ±1.5°. True forward rotation of the treated sample was significantly (p<.05) greater (1.8°) than in the controls. The treated group showed greater superior and less posterior condylar growth than the controls, but the difference was not statistically significant. All of the maxillary roots showed statistically significant amounts of external apical root resorption (EARR), ranging from 0.67 mm to 1.21 mm. Pointed roots showed the greatest amounts of resorption, followed by bent roots, normal shaped roots, and roots with open apices, which showed the least EARR. Alveolar crest heights between first molar and second premolar decreased significantly (0.38 ± 0.6 mm) over time, and the distance between the bone and the CEJ increased significantly (0.52 ± 0.9 mm) only on the distal aspect of the maxillary second premolar. The overall MSI failure rate was 4.6%. It can be concluded that segmental intrusion of the posterior teeth with light forces and skeletal anchorage is effective for treating growing retrognathic hyperdivergent patients. The mechanics produced a significant true forward mandibular rotation, with minimal loss of crestal bone height and clinically acceptable EARR of the teeth that were intruded

Fractal to Non-Fractal Morphological Transitions in Stochastic Growth Processes

From the formation of lightning-paths to vascular networks, diverse nontrivial self-organizing and self-assembling processes of pattern formation give rise to intricate structures everywhere and at all scales in nature, often referred to as fractals. One striking feature of these disordered growth processes is the morphological transitions that they undergo as a result of the interplay of the entropic and energetic aspects of their growth dynamics that ultimately manifest in their structural geometry. Nonetheless, despite the complexity of these structures, great insights can be obtained into the fundamental elements of their dynamics from the powerful concepts of fractal geometry. In this chapter, we show how numerical and theoretical fractal analyses provide a universal description to the well observed fractal to nonfractal morphological transitions in particle aggregation phenomena

Qualitative evaluation of a school intervention for the promotion of physical activity: Learning from the perspective of the target population.

Qualitative evaluations of school-based interventions for physical activity promotion are seldom undertaken, but can provide important insights into unforeseen limitations and consequences of interventions. These understandings can help the refinement of those aspects of school intervention implementation that are not easily identified a priori via quantitative evaluations. We illustrate this argument with the example of evaluative qualitative data collected during a physical activity promotion intervention that we carried out in two Spanish primary schools. The findings of this study uncovered a number of unexpected and difficult to quantify problem areas including; communication problems with parents, classroom-based interventions as off-putting, the legitimization of stereotypical health and body shape associations and even instances of marginalization of some of the very children the interventions were targeting. In conclusion we call for researchers to consider drawing on qualitative evaluations in order to aid the refinement of future school-based interventions

Prevalencia de lesiones no cariosas en deportistas que practican el culturismo en la ciudad de Piura, 2017

El presente estudio fue de tipo descriptivo transversal y tuvo como objetivo determinar la prevalencia de las lesiones no cariosas en los deportistas que practican el culturismo en la Ciudad de Piura , se obtuvo un muestreo no probabilístico por convenecia constituída por 80 culturistas. Se realizo una calibración entre especialista y el investigador a traves del método de análisis de varianza (anova de un factor). La muestra fue obtenida de 3 gimnasios durante el periodo de Mayo y Junio, su uso un Odontograma validado para registrar ese tipo de lesiones y se encontró que la prevalencia de las lesiones no cariosas de los deportistas culturistas fue de 90%, fueron los incisivos el grupo dentario mas afectado ( 86.3%), la atrición fue la lesión no cariosa mas prevalente (87.5%), asi mismo la atrición y erosión se presentó en mayor cantidad en el grupo de los insicivos (86.3% y 46.3% respectivamente) , la abrasión en los premolares (50%)y solo se presento un caso de abfracción en un premolar(1.3%) , la lesión combianda mas frecuente fueron la atrición y abrasión (27.5%). Los resultados de esta investigación evidencian la presencia de lesiones no cariosas en la mayoría de los deportistas que practican el culturismo, probablemente este relacionado a factores como el apretamiento dental durante el ejercicio, la ingesta de bebidas energizantes y el frecuente y excesivo cepillado dental