This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The applicability and feasibility of the proposed collaborative (...) solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot. (shrink)

This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The applicability and feasibility of the proposed collaborative (...) solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot. (shrink)

El prisma desvanece la luz y lo matiza con todos los colores del arcoíris, de esa misma manera la identidad lo hace con la realidad de la especie humana que se regodea en identidades, sociedades y mundos en donde el problema teórico y epistemológico se vuelven un espejismo al querer ver un mundo lleno de multiculturalidades o un mundo globalizado, como si el concepto de identidad fuera un concepto caduco e innecesario para la comprensión del hombre social en su mundo (...) y en el mundo, siendo que este concepto sigue vigente y perdura dejando varias preguntas. (shrink)

Many individuals with disabling conditions have difficulty with gait and balance control that may result in a fall. Exoskeletons are becoming an increasingly popular technology to aid in walking. Despite being a significant aid in increasing mobility, little attention has been paid to exoskeleton features to mitigate falls. To develop improved exoskeleton stability, quantitative information regarding how a user reacts to postural challenges while wearing the exoskeleton is needed. Assessing the unique responses of individuals to postural perturbations while wearing an (...) exoskeleton provides critical information necessary to effectively accommodate a variety of individual response patterns. This report provides kinematic and neuromuscular data obtained from seven healthy, college-aged individuals during posterior support surface translations with and without wearing a lower limb exoskeleton. A 2-min, static baseline standing trial was also obtained. Outcome measures included a variety of 0 dimensional measures such as center of pressure RMS, peak amplitude, velocities, pathlength, and electromyographic RMS, and peak amplitudes. These measures were obtained during epochs associated with the response to the perturbations: baseline, response, and recovery. T-tests were used to explore potential statistical differences between the exoskeleton and no exoskeleton conditions. Time series waveforms of the COP and EMG data were also analyzed. Statistical parametric mapping was used to evaluate the 1D COP and EMG waveforms obtained during the epochs with and without wearing the exoskeleton. The results indicated that during quiet stance, COP velocity was increased while wearing the exoskeleton, but the magnitude of sway was unchanged. The OD COP measures revealed that wearing the exoskeleton significantly reduced the sway magnitude and velocity in response to the perturbations. There were no systematic effects of wearing the exoskeleton on EMG. SPM analysis revealed that there was a range of individual responses; both behaviorally and among neuromuscular activation patterns. Using both the OD and 1D measures provided a more comprehensive representation of how wearing the exoskeleton impacts the responses to posterior perturbations. This study supports a growing body of evidence that exoskeletons must be personalized to meet the specific capabilities and needs of each individual end-user. (shrink)

L’histoire de la psychologie en tant que discipline autonome comporte non seulement des développements méthodologiques et institutionnels, mais aussi l’élaboration du concept même de psychologie et des représentations de sa place dans l’ordre des sciences. Si de telles représentations ne détenninent pas la constitution du champ professionnel ou la pratique concrète du psychologue, elles n’en expriment pas moins des idéaux épistémologiques et reflètent les changements qui s’opèrent au sein de la discipline. Nous donnerons d’abord une vue générale de la position (...) de la psychologie au XVIIe et au VXIIIe siècle, puis nous esquisserons l’histoire de sa place dans l’ordre des sciences de Destutt de Tracy à Jean Piaget. Après avoir été la science des sciences des classifications hiérarchiques, la psychologie s’intègre aux autres sciences dans des schémas moins linéaires, voire circulaires, sans pour autant toujours perdre la prééminence gnoséologique et pédagogique que lui attribuèrent en premier les « psychologues » du XVIIIe siècle. (shrink)

En este artículo exploramos desde la literatura, por medio de Suenan timbres de Luis Vidales, la dinámica de las nacientes urbes colombianas que inician un proceso acelerado de modernización, carente de un desarrollo adecuado del pensamiento moderno, a la par con los nuevos avances materiales, lo que imposibilita debatir la pertinencia y el proceso de este tipo de transformaciones. Circunstancia que lleva a Colombia a experimentar los idiotismos de la modernización sin modernidad, impidiéndoles a los hombres entender las necesidades (...) y conflictos que genera el progreso. Estas aldeas de principios del siglo XX se convierten rápidamente en proyectos de ciudades determinadas por la aparición de nuevos objetos, creando una atmósfera móvil y ruidosa por oposición a la pasividad de las aldeas, realidad que nos recrea Vidales desde una poética comprometida con los cambios sociales y políticos como poeta de la crítica en Colombia. In this paper, from the literature of Luis Vidales’s Suenan timbres, we explore the dynamics of Colombian rising cities that initiate an accelerated modernization process, deprived of an appropriate development of modern thinking, along with the new material advances, which makes it impossible to debate the relevance and the process followed by these types of transformations. This situation leads Colombia to experience the idiotism of modernization without modernity, impeding men to understand the needs and conflicts generated by progress. These villages from twentieth century beginnings quickly turn into city projects determined by the arrival of new objects, creating a mobile and noisy atmosphere, opposed to villages’ passivity. From poetics committed to social and political change, Vidales recreates reality as a poet of criticism in Colombia. (shrink)

Suenan timbres, by the Colombian poet Luis Vidales, is an urbanely rural work. The fact that flowers, spiders, cats and landscapes are found in these short poems-vignettes –all of which are a reflection of a city in the process of modernization–; confirms how interested was the author in the idea that his poetic project could erode the barrier separating the cultural and natural spheres. Bearing this in mind, the article attempts to show that the intersubjective dialogue between the two (...) spheres is not peaceful, balanced or horizontal. On the contrary, the article, through a philosophical analysis based on the ideas of ecocriticism, seeks to reveal that underlying this dialogue, there is the desire of modern men to dominate, control and subdue nature to the laws and rule of culture. (shrink)

Esta investigación da cuenta de cómo ha sido expresada, interpretada y fundada poéticamente la ciudad colombiana durante el siglo XX en las obras de los poetas colombianos Luis Vidales (Suenan Timbres), Rogelio Echavarría (El Transeúnte) y Juan Manuel Roca (Luna de ciegos y Los ladrones nocturnos). Indaga cómo estos tres poetas colombianos han fundado ciudades como textos escriturales y levantado cartografías simbólicas citadinas; realiza una interpretación de los universos de sus poéticas, de las constelaciones simbólicas que asume el poema (...) como universo del lenguaje, el cual construye topologías imaginarias sobre la ciudad, revelando arquetipos fundamentales, presentes en la poesía urbana colombiana. (shrink)

Résumé Interpréter serait trouver dans l’œuvre l’épaisseur temporelle qui lui assure sa force et sa survie. Si traduction et commentaire sont l’acquittement d’une double dette, en ce qu’ils donnent à l’œuvre passée son avenir et au présent l’héritage d’un passé, ils ont à construire dans le texte littéraire les conditions même de sa transmission. C’est-à-dire, comme le pense Benjamin, à trouver dans quel chassé-croisé des temps l’œuvre conjugue une expérience tout à la fois historique et atemporelle.

The first part of this paper proposes a precise definition of what a worldview is, and why there is a necessity to have one. The second part suggests how to construct integrated scientific worldviews. For this attempt, three general scientific approaches are proposed: the general systems theory as the endeavor for a universal language for science, a general problem-solving approach and the idea of evolution, broadly construed. We close with some remarks about limitations of scientific worldviews.

Gut microbiome plays a significant role in defining the health status of subjects, and recent studies highlight the importance of using time series strategies to analyse microbiome dynamics. In this paper, we develop a Bayesian model for microbiota longitudinal data, based on Dirichlet distribution with time-varying parameters, that take into account the compositional paradigm and consider principal balances. The proposed model can be effective for predicting the future dynamics of a microbial community in the short term and for analysing the (...) microbial interactions using the value of the estimated parameters. The usefulness of the proposed model is illustrated with six different datasets, and a comparison study with four alternative models is provided. (shrink)

To begin with -- Genealogy of the cerebral subject -- Disciplines of the neuro -- Cerebralizing distress -- Brains on screen and paper -- Up for grabs.

En este artículo me propongo abordar el problema del tiempo en las sociedades contemporáneas desde un diálogo entre las construcciones teóricas de Moishe Postone y Hartmut Rosa y el trabajo de Michel Foucault. Los dos primeros se han centrado en explicar cómo la temporalidad se ha convertido en un tipo de dominación abstracta, impersonal y cuasiobjetiva a partir de conceptos como la densificación temporal, la aceleración o la hibridación. Foucault, en cambio, concibe el tiempo bajo el prisma de la racionalidad (...) política neoliberal, por la cual el tiempo pasa a ser un recurso que debe gestionarse por los sujetos en términos empresariales y que termina por configurar una ética neoliberal de la administración del tiempo. Este diálogo ejemplifica de manera privilegiada la tensión entre la coacción o la presión temporal y la administración estratégica del tiempo propia de las sociedades contemporáneas. (shrink)

Vidal intertwines fond recollections of films savored in the movie palaces of his Washington, D.C., boyhood with strands of autobiography and trenchant observations about American politics. Never before has the renowned author revealed so much about his own life or written with such immediacy about the forces shaping America. 26 halftones.

The paper presents and discusses an example, namely a version of heterogeneous frrst-order logic and uses the classical theorem of Herbrand-Schmidt-Wang about the reduction of heterogeneous first-order logic to homogeneous first-order logic, in order to obtain two transformations between heterogeneous and homogeneous frrst-order logic which are different from the institution morphisms defined by Goguen and Burstall. Moreover, by considering a type of 2-cell among institution morphisms it is obtained a 2-category and also a 2-functor from this to another 2-category.

Retos morales en la sociedad y en la Iglesia En esta obra se recogen diez estudios publicados a lo largo de los dos últimos años en revistas de carácter teológico y pastoral. En todos ellos hay una preocupación que les da unidad dentro de la normal diversidad: describir la situación por la que atraviesa la moral en la sociedad y en la Iglesia y ofrecer las orientaciones pertinentes para encauzar esta dimensión importante de la existencia humana y cristiana.

ResumenEn este artículo se presenta el pensamiento de Hamann en dos aspectos principales. Por una parte, se analiza su relación crítica con el movimiento ilustrado (entendido como discurso dominante en su época) y se destaca su relación con Kant. Por otra parte, se investigan las líneas fundamentales de su concepción del lenguaje, considerada como un núcleo básico de su crítica a la Ilustración. La identificación entre razón y lenguaje permite considerar a Hamann más como un ilustrado radical que como un (...) irracionalista, al tiempo que lo convierte en iniciador de un «giro lingüístico y hermenéutico» en el siglo XVIII.Palabras claveHamann, Ilustración, Filosofía del lenguaje, racionalidadAbstractHamann’s thought is presented in this paper through two main aspects. On the one hand, we analyze his connexion with the Enlightenment –which is understood as the dominant discourse of his time– together with his relationship with Kant. On the other hand, we study the basic trends of his conception of language, considered as a basic nucleus of his critic to Enlightenment. The identification between reason and language makes us consider Hamman a radical man of the Enlightenment rather than an irrationalistic, as well as the founder of a “linguistic and hermeneutic turn” in the 18th century.KeywordsHamann, Enlightenment, Philosophy of language, rationality. (shrink)

The development of Information and Communication Technologies has favored access to technological resources in adolescents. These tools provide access to information that can promote learning. However, they can also have a negative effect against people, as they can be used with other functionality, in which cyberbullying situations are caused during the interactions that arise when using social networks. The objective of this study was to determine the predictive value of the role of cyberbullying victims based on variables related to other (...) roles involved in cyberbullying and bullying, as well as personal characteristics, contextual characteristics and positive teamwork habits.. Information was collected from 227 students of the educational stages of Primary Education and Secondary Education, aged between 11 and 15 years, in a city with a high index of cultural diversity. The step-by-step technique was used to build the regression model. The results indicate that the model has a good goodness of fit coefficient. The role of cyberbully is the most important predictive variable of the role of the victim in cyberbullying and, to a lesser extent, the role of the witness in cyberbullying, the role of the witness in bullying, and the role of the victim of bullying. The role of the bullying aggressor and the variables sex, age, type of educational center, and teamwork habits are excluded in the predictive model. (shrink)

Cet article fait une brève synthèse des difficultés de traduction dans le domaine de la santé telles qu'elles ont été mises en évidence dans deux publications du CRTT. Après avoir rapidement défini ce qu'il faut entendre aujourd'hui par mots de la santé, on tente de relever des points communs dans les résultats de la recherche des auteurs concernant les équivalences interlinguistiques dans le domaine de la médecine et la prise en compte des identités culturelles dans le processus de traduction des (...) mots de la santé.This article is a brief summary of translation problems in the field of health as they have been identified in two publications CRTT. After quickly defined what is meant by words today health, attempts to address commonalities in the results of the authors' research on interlingual equivalents in the field of medicine and taking into account cultural identities in the process of translating words health. (shrink)

The concept of assisted death includes a heterogeneous variety of practices, whose common denominator is to guarantee citizens their right to participate in decisions related to their own death process, to make it as consistent with their preferences as possible. It’s one of the most controversial and discussed topics in recent decades, both in the academic field and in public opinion. This paper examines the two main justifications for its legalization: to guarantee individual autonomy as in other areas of life, (...) and to avoid unnecessary suffering to the dying. It will be argued that, although both are related and both tie the ethics of care with the autonomy of the subject, the justification for autonomy is stronger and resists better the objections of those opposed to the legalization of this right. (shrink)

This paper presents some modern and interdisciplinary concepts about creativity and creative processes specially related to problem solving. Central publications related to the theme are briefly reviewed. Creative tools and approaches suitable to support problem solving are also presented. Finally, the paper outlines the author’s experiences using creative tools and approaches to: Facilitation of problem solving processes, strategy development in organisations, design of optimisation systems for large scale and complex logistic systems, and creative design of software optimisation for complex non-linear (...) systems. (shrink)

AbstractIn this article, I examine the pedagogical practices of La Red de Semillas Libres de Colombia, a grassroots national organization that works towards the construction of seed sovereignty. Using participant observation and interviews, I show the epistemic, territorial, and gender dimensions of these practices. I draw from extant scholarship on seed struggles, decolonial feminism, and feminist political ecology to analyze two specific practices: experimentation and demonstration and, visual technology creation, including drawings. I demonstrate how these practices organize territories through collective (...) epistemic gendered labor around seeds. These territories are spaces for community-based power creation that have the potential to advance agrarian and environmental agendas from below. However, they also reflect and embody the enduring character of patriarchy and the challenges it presents to achieve systemic transformations in the Colombian countryside. (shrink)

The tensorial relativistic quantum mechanics in (1+1) dimensions is considered. Its kinematical and dynamical features are reviewed as well as the problem of finding the Dirac spinor for given finite multivectors. For stationary states, the dynamical tensorial equations, equivalent to the Dirac equation, are solved for a free particle, for a particle inside a box, and for a particle in a step potential.

Since the 19th century, and despite tremendous progress in science, the topic of 'brain and sex' remains a matter of misleading interpretations, far beyond the field of science. The media are not solely responsible for this situation. Some scientific circles still actively promote the ideology of biological determinism in their attempt to explain differences in behaviour and cognitive abilities between men and women. Experimental data from brain imaging studies, cognitive tests or the discovery of new genes are often distorted to (...) serve deterministic ideas. As biotechnologies and genetic engeneering represent today a new economic and lucrative challenge, the question of what is innate and what is acquired is becoming more and more significant, requiring vigilant scrutiny from us all. (shrink)

We prove, by using the concept of schematic interpretation, that the natural embedding from the category ISL, of intuitionistic sentential pretheories and i-congruence classes of morphisms, to the category CSL, of classical sentential pretheories and c-congruence classes of morphisms, has a left adjoint, which is related to the double negation interpretation of Gödel-Gentzen, and a right adjoint, which is related to the Law of Excluded Middle. Moreover, we prove that from the left to the right adjoint there is a pointwise (...) epimorphic natural transformation and that since the two endofunctors at CSL, obtained by adequately composing the aforementioned functors, are naturally isomorphic to the identity functor for CSL, the string of adjunctions constitutes an adjoint cylinder. On the other hand, we show that the operators of Lindenbaum-Tarski of formation of algebras from pretheories can be extended to equivalences of categories from the category CSL, respectively, ISL, to the category Bool, of Boolean algebras, respectively, Heyt, of Heyting algebras. Finally, we prove that the functor of regularization from Heyt to Bool has, in addition to its well-known right adjoint (that is, the canonical embedding of Bool into Heyt) a left adjoint, that from the left to the right adjoint there is a pointwise epimorphic natural transformation, and, finally, that such a string of adjunctions constitutes an adjoint cylinder. (shrink)

Collective memory is neither spontaneous nor random, but the result of a series of selective practices. It establishes group identity and sets power relations between groups. The author considers the process of selection through a case study of the transformation of Franco’s regime in Spain into a democracy. Collective memory of the time is shown to be organized around an event (the Munich Coalition or contubernio) and around the democratic transition. The author traces two opposing notions, negationist (denying any importance (...) to Munich) and the pro-democratic, and concludes that the memory of the transition is only the memory of those who won the civil war, who were also those who engineered the transition itself. (shrink)

There is an argument by M. Dummett about the relative priority of language as a social phenomenon. The first step is to explain how the speaker and the hearer have to know the same language, ceteris paribus. The second step is to show how the speaker's idiosyncratic beliefs depend on his knowledge of common language; the last step is to appeal to Quine's principle of translation between languages in order to have a language at all.