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Planificación y control de trayectorias de AGVS en entornos industriales basado en técnicas metaheurísticas
No full textThis thesis develops an optimization strategy for designing safe and efficient paths for Automated
Guided Vehicles (AGVs) in industrial environments. By leveraging the mathematical model of
Frenet curves, trajectory planning and control are addressed, including modeling the occupancy
map and identifying potential collision points with environmental obstacles. An optimization
framework is established, incorporating metaheuristic techniques like genetic algorithms, particle
swarm optimization, and pattern search to generate optimized trajectories. Core contributions
include developing a refined fitness function for AGVs trajectories, a comparative analysis of three
metaheuristic methods to identify the most effective approaches for different scenarios, and
designing and validating a hybrid control system combining nonlinear Lyapunov control with
conventional PID controllers. Simulation and experimental results confirm the robustness and
adaptability of the proposed methods, advancing AGV trajectory planning and control. This research contributes to the theoretical foundations of AGV path planning and offers practical
solutions for improving the safety, efficiency, and reliability of AGV operations in industrial
environments.Esta tesis desarrolla una estrategia de optimización para diseñar trayectorias seguras y eficientes
para Vehículos Guiados Automatizados (AGV) en entornos industriales. Aprovechando el modelo
matemático de curvas de Frenet, se abordan la planificación y el control de trayectorias,
incluyendo la modelización del mapa de ocupación y la identificación de posibles puntos de
colisión con obstáculos. Se establece un marco de optimización que incorpora técnicas
metaheurísticas como algoritmos genéticos, optimización por enjambre de partículas y búsqueda
de patrones para generar trayectorias optimizadas. Las contribuciones principales incluyen el
desarrollo de una función de aptitud refinada para trayectorias de AGV, un análisis comparativo
de tres métodos metaheurísticos para identificar los enfoques más efectivos para diferentes
escenarios, y el diseño y validación de un sistema de control híbrido que combina el control no
lineal de Lyapunov con controladores PID convencionales. Los resultados de simulación y
experimentales confirman la robustez y adaptabilidad de los métodos propuestos, avanzando en
la planificación y control de trayectorias de AGV. Esta investigación contribuye a las bases
teóricas de la planificación de rutas de AGV y ofrece soluciones prácticas para mejorar la
seguridad, eficiencia y fiabilidad de las operaciones de AGV en entornos industriales
Compression-related performance of a structural concrete produced with crushed wind-turbine blade
No full textComunicación presentada en: 10th Euro-American Congress REHABEND 2024, durante los días 7-10 de mayo en Gijón (España).The sustainability of the concrete industry is an important issue worldwide. The need for concrete increases steadily, and the natural-resource exploitation and cement manufacturing are speeding up climate change and global warming, among others. The wind-energy sector is also facing sustainability issues, as some of the first-installed wind-turbine blades are approaching the end of their approximately twenty-year life span and need to be replaced. These two different fields can help each other by adding crushed wind-turbine blade to concrete, so a second life for the crushed wind-turbine blades can be found, thus also reducing the use of cement, which is the concrete´s most polluting raw material. This study aims to find out whether the addition of crushed wind-turbine blade is valid for structural use up to 6% vol., in steps of 1.5% vol. Hence, five different mixtures were made incorporating this alternative material as an addition and maintaining constant the aggregate and cement content. Occluded-air content, compressive strength, modulus of elasticity and Poisson´s coefficient have all been evaluated. This analysis demonstrates that the higher the crushed-blade content, the higher the occluded air, although it did not result in a notable loss of the compression-related mechanical properties when added in small percentages. Nevertheless, when the percentage of crushed wind-turbine blade was increased, these properties decreased their values, yet still largely maintaining their suitability for structural usage. The results yield that the addition of crushed wind-turbine blade to concrete fulfills the requirements for be used in structural applications becoming a plausible solution to the raising sustainability issue of the concrete-manufacturing industry and the wind-farming sector.The authors acknowledge the funding of this research work to the Spanish Ministry of Universities, MICINN, AEI, EU, FEDER and NextGenerationEU/PRTR [PID2020-113837RB-I00; 10.13039/501100011033; TED2021-129715B-I00; FPU21/04364]; JCyL and FEDER [UIC-231; BU066-22]; and, finally, the University of Burgos [SUCONS, Y135.GI]
Endocrine system
No full textInfografía de educación en salud sobre el sistema endocrino, dirigido a niños y niñas de diferentes colegios ugandeses del distrito de Wakiso. Está en inglés (idioma oficial del país) y forma parte de un proyecto Aprendizaje Servicio del Grado en Enfermería de la Universidad de Burgos
Uso y aplicaciones de dispositivos comerciales de BCI en los entornos de salud
No full textEste proyecto se enfoca en el empleo del dispositivo Emotiv MN8,
un electroencefalograma (EEG) de dos canales diseñado para medir
los niveles de concentración y estrés del usuario en distintas circunstancias controladas. La iniciativa surge de la necesidad de entender
cómo varían estos niveles en diferentes situaciones, con el objetivo de
desarrollar estrategias efectivas para su manejo. A lo largo del desarrollo del proyecto, se han examinado a fondo los aspectos teóricos
del estrés y la concentración. Además, se ha investigado sobre las diferentes soluciones disponibles en el mercado actual para predefinir las
características esenciales que debería poseer el dispositivo propuesto.
Posteriormente al estudio del dispositivo Emotiv MN8, se ha
profundizado en la investigación y realización de pruebas con la aplicación de Emotiv Labs, una herramienta valiosa para la recopilación
y análisis de datos EEG. Para ampliar el alcance de la investigación,
se ha empleado la aplicación PsychoPy para replicar los experimentos, realizando una versión en español. Este proceso ha implicado la
adaptación de instrucciones y estímulos experimentales, así como de
los protocolos de prueba. Este enfoque inclusivo no solo permite la
participación de un público más amplio, sino que también abre nuevas
vías para la exploración de las diferencias culturales y lingüísticas en
las respuestas cerebrales.
Este proyecto, que combina la tecnología de Emotiv MN8 y
Emotiv Labs con un enfoque inclusivo, tiene como objetivo sentar las
bases para futuras investigaciones en el campo de la neurociencia. A
través de su desarrollo, se ha demostrado el potencial de la tecnología
EEG para continuar desarrollando mejoras en estos ámbitos.This project delves into the utilization of the Emotiv MN8 device, a two-channel electroencephalogram (EEG) designed to measure
user’s concentration and stress levels under controlled circumstances.
The initiative stems from the need to comprehend how these levels
fluctuate in varying situations, with the ultimate goal of devising effective management strategies. Throughout the project’s development, a
thorough examination of the theoretical underpinnings of stress and
concentration has been undertaken. Additionally, an investigation
into the diverse solutions currently available in the market has been
conducted to predefine the essential characteristics that the proposed
device should possess.
Following the in-depth study of the Emotiv MN8 device, extensive
research and testing have been carried out using the Emotiv Labs
application, a valuable tool for EEG data collection and analysis.
To broaden the research scope, the PsychoPy application has been
employed to replicate the experiments, creating a Spanish version.
This process has entailed the adaptation of experimental instructions, stimuli, and testing protocols. This inclusive approach not only
facilitates the participation of a wider audience but also opens up
new avenues for exploring cultural and linguistic differences in brain
responses.
This project, which combines Emotiv MN8 and Emotiv Labs
technology with an inclusive and multicultural approach, has laid the
groundwork for future research in the field of neuroscience. Through
its development, the potential of EEG technology to continue fostering
advancements in these areas has been demonstrated
Validation in Spanish and English of the Transgender Inclusive Behavior Scale
No full textThe Transgender Inclusive Behavior Scale (TIBS) seeks to measure transgender-inclusive behavior, specifically actions and language use that support transgender people. The TIBS was developed in the United States. This study aimed to develop a Spanish version of the TIBS and confirm the structure of the English version to explore the psychometric properties and evaluate the construct validity in new contexts. We examined predictors of transgender-inclusive behavior by conducting a comparative analysis between participants from Spain and the United Kingdom. The study involved 1,110 university students, with 545 participants hailing from Spain (375 women, 162 men, and 8 non-binary individuals) and 565 participants from the United Kingdom (368 women, 178 men, and 19 non-binary individuals). Exploratory and confirmatory factor analysis were conducted to investigate and validate the factorial structure of the TIBS. The factor analysis results for the 15 items on the scale confirmed a three-dimensional structure in both languages. The scale score reliability was excellent with a Cronbach’s alpha (α) = .95 in the British sample and with an α = .89 in the Spanish sample. Being a woman, being lesbian, gay, bisexual, trans, queer, intersex, and/or asexual, and being non-religious were the strongest predictors of inclusive behaviors towards transgender people in both countries. The correlations found indicated that people with lower sexual risk behaviors, and lower sexist, homophobic, and transphobic attitudes also presented higher inclusive behaviors towards trans people. These findings support the development of community strategies to increase the social inclusion of transgender people. The TIBS is a useful measure to track their success.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. The authors have not received external funding to conduct this research
Materiality of Memorialisation: Mapping Migrant Women's Landmarks in Europe
No full textEste artículo está incluido en la colección: Women on the MoveThis article investigates the memorialization of migrant women across transcultural landscapes, and analyses results from the Register of Migrant Women Landmarks in Europe (hereinafter RMWLE), central to the European Cooperation in Science and Technology (COST) action project “Women on the Move” (CA19112 – WEMov). It serves as reference for subsequent research based on data from this Register, for which data collection is continuing. The RMWLE registers toponyms, such as monuments, plaques, streets and other infrastructures named after women with a significant history of migration. It honours aspects rarely prioritized in memorialisation agendas, which are skewed towards men’s stories, and towards the more linear biographies of sedentary figures whose European, national, and regional memorialisation have remained uncomplicated by migration.
This Deep Data study reveals recurring patterns at the level of Europe in the memorialisation of these women migrants. The diversity of stories, the richness and the prominence of landmarks devoted to men compared to women is a subject well-covered in memorialisation studies. This unbalance is compounded by the data from our register which shows landmarks on women migrants that are sometime tokenized, often marginalized, and which reproduce the bias towards nurture and care that have besieged the memorialisation of women in general. It further shows that the memorialisation process and the political and cultural mechanisms of official celebration often work against the recognition of cross-border careers and stories.
The intersectionality of the project, highlighting both gender and migration, uncovers a political landscape of toponyms – and we reflect on how this register can help combat cultural prejudice by recovering migration episodes. The RMWLE helps us reflect on the defining impact of migration episodes, a reality rarely underlined in the biographies of famous women. This article favours a storytelling approach, to counter dominant cultural narratives and knowledge practices.This project has received funding from the European Union’s Framework Programme for Research & Innovation as part of the COST Action [CA19112 Women on the Move], as supported by the COST Association (European Cooperation in Science and Technology)
Fashion Photography Ontology through a Methodological Approach to pictures of Gucci and Balenciaga’s e-Commerce
No full textThe arrival of the digital medium has led to a new photographic model: e-commerce imagery. This article analyzes Gucci and Balenciaga’s e-commerce images as a new form of fashion photography, taking into account the commercial success of the two brands that significantly increased the volume of online shopping in 2022. The interest relies on how clothes are exhibited on e-commerce platforms due to the ephemeral and immediate consumption on the internet. This study argues that the rise of online shopping and digital communication has influenced the representation of products on e-commerce. Consequently, the study aims to ascertain the quantity of photographs and the typology employed by ecommerce brands in showcasing their products. For this analysis, we have considered the key elements from editorial fashion photography and commercial photography through five different items: the clothed body, the gesture, the lighting, the space, and the camera shot
Improving the early-age behavior of concrete containing coarse recycled aggregate with raw-crushed wind-turbine blade
No full textRecycled aggregate used in replacement of coarse natural aggregate can lower the quality of both fresh and hardened concrete properties. There are many methods to reduce the negative effects of recycled aggregate in the literature, although most involve unsustainable solutions that jeopardize any environmental benefits associated with their use. In this study, a novel approach is presented for mitigating the adverse impacts of coarse recycled aggregate used in concrete mixes. Furthermore, it allows solving the current issue of the recycling of wind-turbine blades at the same time. Raw-crushed wind-turbine blade, a waste from the crushing of decommissioned wind-turbine blades with a high proportion of glass fiber-reinforced polymer fibers, was added to concrete mixes containing coarse recycled aggregate. As a main outcome, additions of that waste were found to enhance the early-age properties of concrete containing that kind of aggregate. Plastic shrinkage was reduced, and flexural strength increased by as much as 47 % and 14 %, respectively, while compressive strength remained approximately constant.This research work was supported by MICINN, AEI, EU, ERDF and NextGenerationEU/PRTR [grant numbers PID2023-146642OB-I00; 10.13039/501100011033; TED2021-129715B–I00]; the Junta de Castilla y León (Regional Government) and ERDF [grant number UIC-231; BU033P23]; the University of Burgos [grant number SUCONS, Y135.GI]; and, finally, the University of Padova. Finally, the authors wish to pass on their sincere thanks to Manuel Hernando-Revenga, Nerea Hurtado-Alonso, Javier Manso-Morato and Marcos Villalaín-Soto for their useful assistance during the lab work
Sanctions or reparation in agribusiness contracts to the detriment of the agricultural entrepreneur?
No full textLa posición del agricultor en la cadena alimentaria es objeto de protección mediante el establecimiento de infracciones y sanciones en relación a los comportamientos contrarios a la buena fe y equilibrio de las prestaciones observados en ocasiones por la industria alimentaria. Pero, además, existen otros medios de protección, ofrecidos por el Derecho privado, que no gozan de tanto conocimiento por parte de los interesados y que, sin embargo, están llamados a tener una efectividad práctica igual o mayor que las infracciones y sanciones previstas por las disposiciones de Derecho público. Son dos vías de protección que puede utilizar el empresario agrario para la defensa de sus intereses
El tratamiento unitario del empresario agrario en el derecho
No full textLa finalidad que persigue la agricultura es, desde el punto de vista del bien común de la sociedad,
surtir a los ciudadanos de bienes alimenticios y otros que procuren su subsistencia y una vida digna, y
desde la perspectiva de las personas que se dedican a ella, proporcionar a empresarios, técnicos y
trabajadores un nivel de rentas adecuado y equiparable al de otros sectores de la economía