The Mars Exploration Rovers (MER) Project is operating two Martian robotic rovers, Spirit and Opportunity.1 2 The primary mission duration included 90 Martian days (or “sols” as the team calls them) for each rover to explore the Martian surface. The project is currently enjoying a fifth successful year of operating both rovers on Mars, as several extended missions have been approved. Both of the rovers get their electrical power from solar arrays and store excess energy in batteries. Both operate in the southern hemisphere of Mars. Both share similar seasons, but Spirit is further away from the equator than Opportunity, and Spirit has collected more dust on its solar array panels. Opportunity gathers so much solar array power each sol that the trade-offs to be considered in daily operations focus around science gathering versus data storage and telemetry downlink limitations. Opportunity's ability to gather science on Mars is data bound, as it shunts excess power every sol. Spirit, on the other hand, gathers less solar array energy on its solar panels, because of its position relative to the equator and because of the relatively worse dust accumulation on top of its solar panels. For Spirit, daily operations are also typically data bound. But in the deepest of winter, the daily operations trade-offs pit science versus power, and telemetry downlink versus power. As Spirit's solar array power falls lower and lower, survival of the instruments and spacecraft become the primary focus during winter operations.

On low power operations during Spirit's third winter on Mars

An essential aspect of competing in the world market is the quality of the cocoa bean, which is influenced by different factors ranging from genetics to post-harvest processes. The aim of this research was to determine the effect of the maturity stage (2, 3, and 4), genotype (CCN51, ICS95, and TSH565), and geographical location (Algeciras and Garzón, Colombia) of cocoa on the pH and titratable acidity of the pulp and bean, and the fermentation index of the bean during days 0, 3 and 7 of fermentation. The response variables were analyzed through an analysis of variance (ANOVA), and multiple comparisons (pairwise) were made using Tukey's test with a significance level of α = 0.05. Additionally, a longitudinal analysis was carried out as there are measurements over time, and autocorrelation of individuals over time can occur, allowing contrasting the results through another analysis. The results showed that the factor with the strongest influence on the physicochemical characteristics evaluated was the genotype, affecting the bean and pulp pH and the fermentation index. Likewise, it was possible to show that, of the three genotypes evaluated, CCN51 stood out for presenting less bean acidity and higher bean pH and fermentation index. The genotype is the factor with the strongest effect during cocoa fermentation. This solves bean quality heterogeneity, the main international marketing problem.

Effect of the maturity stage, genotype, and geographical location on the physicochemical characteristics of the cocoa bean during fermentation

En la practica del diseno industrial hay multiples problemas que requieren de la creacion de un mecanismo con caracteristicas de movimiento peculiares. La eleccion de un metodo que permita la sintesis estructural, el planteamiento y solucion de las ecuaciones correspondientes, requeridas para el analisis cinematico de los mecanismos de palancas, en una forma clara y simple, es un problema muy complejo de resolver en sentido general. Tomando como referencia la teoria para la formacion de los grupos de Assur, el autor desarrollo el metodo de los grupos estructurales y sobre esta base el software DSM (Diseno y Simulacion de Mecanismos), que es la herramienta de computo propuesta para apoyar al disenador en el proceso de Diseno Cualitativo de Mecanismos de Palancas Asistido por Computadora, que consiste en un proceso iterativo entre sintesis y analisis con el que se pueden obtener los resultados de la variacion de la estructura de un mecanismo y de sus parametros fundamentales, practicamente en tiempo real. En el presente trabajo se definen y ejemplifican los conceptos y elementos principales relacionados con el diseno cualitativo de mecanismos de palancas asistido por computadora. Palabras claves: CAD, mecanismos de palancas, diseno industrial, analisis cinematico, sintesis estructural. ___________________________________________________________________________ Abstract There are series of problems in industrial design practice that require a mechanism with specific characteristic movement. Selecting a method for achieving a clear and simple structural synthesis and cinematic analysis of lever mechanisms is generally understood as a hard-solving problem. Based on Assur´s Group Forming Theory, the author developed the Structural Groups Method and the DSM software (Design and Simulation of Mechanisms). This software is a tool intended to help designers in the process of Computer Assisted Qualitative Design of Lever Mechanisms. It consists on an iterative process between analysis and synthesis with which one can obtain, on a nearly real-time basis, the results of the variation of the structure of a mechanism and its main parameters. This paper defines and provides examples of the main concepts and elements related to Computer Assisted Qualitative Design of Lever Mechanisms. Key words: CAD, industrial design, cinematic analysis, structural synthesis, lever mechanism.

Diseño de mecanismos de palancas asistido por computadora. // Computer Aided Design of lever mechanisms.

Transición entre tipos de locomoción de un robot cuadrúpedo articulado

En este articulo se presentan los algoritmos desarrollados en dos tipos de robot que desarrollan movimiento continuo y discreto. Los algoritmos corresponden al metodo biologico de coordinacion de movimientos basado en los generadores centrales de patrones (CPG) que en los ultimos anos se han estado introduciendo en la robotica.

Implementación de cpg en robots de locomoción continua y discreta

In the cacao industry changes in basic operations like treatment of the raw material have a great impact on reducing dead times, and final product quality. This study evaluated two draining and two drying pulp conditioning as possible alternatives to reduce the dead time associated with decreasing pulp moisture, conditions required to improve fermentation behavior, and final flavour profile. The results were compared with the control which corresponds to traditional fermentation. Physical, chemical, and sensory analyzes were recorded. A completely randomized experimental design was used with repeated measures over time. The results show that draining the beans for 5 h eliminated the storage step, reduced the total fermentation time from 9 to 7 days, and enhanced the fruity and nutty aromas and cocoa flavour, whereas the drying conditioning reduced flavour and aroma development. Finally, the draining conditioning reduces the dead time of the process and improves the fermentation time, and flavour and aroma of the final product. 

Édgar Mario Rico

Papers

Implementación de cpg en robots de locomoción continua y discreta

Reducing Dead Time and Improving Flavour Profile by Pulp Conditioning of Cacao Beans

Implementación de CPG en robots de locomoción continua y discreta Implementation of robot locomotion CPG in continuous and discrete