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Identification of geometric parameters of a parallel robot by using a camera calibration technique
Mauricio Arredondo-Soto,Mario A. García-Murillo,J. Jesús Cervantes-Sánchez,Felipe J. Torres,Hector A. Moreno-Avalos 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.2
This work reports a novel method to estimate the geometrical parameters of a 2-(3-RRPS) parallel robot intended for manufacturing tasks. The method uses camera calibration techniques, and it is based on the concept of vertex space. The advantage of this technique is that the system does not require complex electronic instrumentation, and only uses a CCD camera as a main sensor and planar patterns, which makes it portable, accurate and low cost. To ensure the quality of the measurements, a methodology for characterization of the measurement system is included. The applicability and the advantages of using the proposed method are shown by means of the estimation of the geometrical dimensions of a spatial parallel manipulator with a relatively complex kinematic architecture. Experiments are conducted and show a significant improvement in manipulator accuracy when the parameters estimated with this technique are used.
CONNECTING PEOPLE, TECHNOLOGY AND ENVIRONMENT BY DISRUPTING DESIGN CURRICULUM
Mauricio Novoa 한국디자인학회 2015 한국디자인학회 학술발표대회 논문집 Vol.2015 No.10
This paper highlights eight sets of principles and variables the author used leading his industrial design team to reconnect academia with changing students and industry, and implement the vision for their present course curriculum makeover. The current post-industrial era marks a time for a new kind of design that should bond people, technology and environment better. Meanwhile constructivist, deconstructivist, and recently, connectivist discourses have eclipsed concepts on what is good design and challenged traditional design education. The task of raising creative professionals through design thinking and experimentation is further challenged by economic rationalism dogma of viability, speed and profit margins.
Numeric Parser for Symbolic Representation of Rhythm
Mauricio Rodriguez(마우리치오 로드리게즈) 한국전자음악협회 2019 에밀레 Vol.17 No.-
리듬 구조를 수적으로 표현하는 것은, 리듬 배치 구성을 연산적으로 코딩하는 탄탄한 모델이 있음에도 불구하고, 오히려 제한적인 것으로 여겨지곤 한다. 리듬 형태를 극도로 압축한 시스템을 만든 계기는 다음과 같은 목적에 입각한다: 매우 복잡한 리듬 패턴도 아주 간단한 문자열로 나타낼 수 있기 때문에 1) 작곡할 때 새로운 리듬을 창작하거나 시도하는 것을 용이하게 하고, 2) 악보를 만드는 준비 과정을 최적화하고(예를 들어, 음악을 각인하거나 채보하는 작업을 수행할 때), 3) 컴퓨터 기반 환경에서 추가적인 작업 시 “리듬-트리<SUB> rhythm-tree(RT)</SUB>”를 수월하고 명확하게 표현하며, 4) 효율적인 컴퓨터 작업을 위함이다. 이 표현 모델은, 오픈뮤직 <SUB>OpenMusic</SUB>, 패치워크<SUB>PatchWork</SUB>, 피더블류지엘 <SUB>PWGL</SUB>과 같은 커먼-리스프 <SUB>Common-LISP</SUB> 컴퓨터 기반 환경에서 제작되었으며, 여러 리듬 패턴들이 음악적 리듬을 아주 명확한 기호로 표현하는데 널리 쓰이는 리듬-트리의 형태로 전환되어 연산 파서(분석 프로그램)의 역할을 수행한다. 여기서 나타난 리듬의 수적 표현이 유용함과 탄탄함을 증명하는, 인터랙티브 “명령줄 <SUB>command-line</SUB>” 파서가 컴퓨터 기반 작곡을 위한 시각적 프로그램 환경으로서 피더블류지엘의 “표현적 기보 패키지” 장치들을 활용하여 개발되고 있다. A numeric representation of rhythmic structures is discussed as a rather constricted, nonetheless robust model for the computational encoding of rhythm configurations. The motivation for an extremely compressed encoding system of rhythmic patterns is grounded on the following observations: 1) to ease the creation and experimentation of rhythm for compositional use, 2) to optimize score preparation (e.g. to facilitate music engraving/transcription tasks), 3) to easily and clearly create “rhythm-tree” (RT) representations for further processing when working with computer-assisted environments, and 4) to efficiently handle computing labor since very complex rhythmic patterns can be represented with extremely simple strings of characters. This representation model is implemented as a computing parser written in Common-LISP to render rhythmic patterns into a “rhythmtree” (RT) representation, an extremely robust symbolization of music rhythm that is widely used in computer-assisted environments such as OpenMusic, PatchWork, and PWGL. To show the applicability and robustness of the numeric representation of rhythm presented here, an interactive “command-line” parser has been developed using the facilities of the “Expressive Notation Package” of PWGL, a visual programming environment for computer-assisted composition.
The Neighborly Relations between Middle Eastern Migrants and Indigenous People in Patagonia
Mauricio Dimant 한국라틴아메리카학회 2017 라틴아메리카연구 Vol.30 No.1
In February of 1910 the Argentine press reported the disappearance of dozens of Middle Eastern immigrants in Patagonia. According to the police department in charge of the investigation, at least several of the missing immigrants of Arab origin had been killed and eaten by local groups of indigenous people. Immigrants from the Middle East, who were vulnerable as newcomers to the region, did not respond to the crisis of murder and cannibalism as “Arabs” or as Argentineans, but as Patagonians. This kind of public behavior opens a window not only to the importance of local identities at the subnational level in Argentina, but also the role of local and negative experiences in the integration of immigrants and ethnic minorities. This article explores the complexities of the interaction between immigrants from the Middle East and the indigenous population in Patagonia in order to rethink the local experience of ethnic-migrant minorities in Argentina. It argues that Argentine identity of Arabic-speaking immigrants in Patagonia emerged mainly as a result of shared local or regional interests rather than merely through an attachment to the federal state.
Isolation and Molecular Characterization of Xylella fastidiosa from Coffee Plants in Costa Rica
Mauricio Montero-Astua,Carlos Chacon-Diaz,Estela Aguilar,Carlos Mario Rodriguez,Laura Garita,William Villalobos,Lisela Moreira,John S. Hartung,Carmen Rivera 한국미생물학회 2008 The journal of microbiology Vol.46 No.5
Coffee plants exhibiting a range of symptoms including mild to severe curling of leaf margins, chlorosis and deformation of leaves, stunting of plants, shortening of internodes, and dieback of branches have been reported since 1995 in several regions of Costa Rica’s Central Valley. The symptoms are referred to by coffee producers in Costa Rica as “crespera” disease and have been associated with the presence of the bacterium Xylella fastidiosa. Coffee plants determined to be infected by the bacterium by enzyme linked immunosorbent assay (ELISA), were used for both transmission electron microscopy (TEM) and for isolation of the bacterium in PW broth or agar. Petioles examined by TEM contained rod-shaped bacteria inside the xylem vessels. The bacteria measured 0.3 to 0.5 μm in width and 1.5 to 3.0 μm in length, and had rippled cell walls 10 to 40 nm in thickness, typical of X. fastidiosa. Small, circular, dome-shaped colonies were observed 7 to 26 days after plating of plant extracts on PW agar. The colonies were comprised of Gram-negative rods of variable length and a characteristic slight longitudinal bending. TEM of the isolated bacteria showed characteristic rippled cell walls, similar to those observed in plant tissue. ELISA and PCR with specific primer pairs 272-1-int/272-2-int and RST31/RST33 confirmed the identity of the isolated bacteria as X. fastidiosa. RFLP analysis of the amplification products revealed diversity within X. fastidiosa strains from Costa Rica and suggest closer genetic proximity to strains from the United States of America than to other coffee or citrus strains from Brazil.