Robot manipulators are designed to interact with their surroundings. Even if a task does not specifically involve interaction, the robot may collide with unknown obstacles during its motion. To overcome these problems, it is necessary to consider possible interactions inside the control system. This paper aims to design a controller that allows the manipulator to reach a final pose, even if it interacts with an unforeseen object during its trajectory. This design is composed of two stages: A feedback linearization system that allows to eliminate intrinsic nonlinearities of the robot, and the imposition of a dynamic behavior to keep delicate interactions without using external 6D force/torque sensors. The proposed controller was tested on an UR5 robot, but can be extended to any robotic manipulator. The results show the comparison between the behavior achieved by a standard feedback-linea...

The authors acknowledge the support of the Consejo Superior de Investigaciónand the Facultad de Ciencias Físicas of the Universidad Nacional Mayor de SanMarcos, and of our Consejo Nacional de Ciencia y Tecnología, CONCYTEC, Perú. We are grateful to the personnel of our Mössbauer and Soils Laboratories for helpwith the equipment.

Thirty four nose decorations from the tomb of the Lady of Cao has been analyzed by EDXRF-analysis and transmission measurements. These nose decorations are made partially on gold, and partially on silver. EDXRF-analysis showed that, while gold areas all show a similar composition, silver areas exhibit an erratic composition, and also an unusual high percentage of gold, up to 35 %. To verify that this erratic composition is not depending on surface enrichment processes, X-ray transmission measurements were carried out, which gives the bulk composition of the samples. These last measurements completely confirm EDXRF-results. Therefore the conclusion could be that a high quantity of gold was added intentionally to the silver alloys, for not clear reasons, may be to avoid the oxidation process typical of high concentration silver in silver alloys.

Objective. To show experiences and export plans of canned fish in South America presented in ScienceDirect, Redalyc, Scielo, Doaj, Econbiz, Sisbib, La Referencia and Fedesarrollo, between the years 2001 and 2021. In addition, the specific objectives were to identify the countries from which these experiences and export plans originate, to which countries they are oriented, their logistic methods, conclusions and recommendations. Method. A systematic review was conducted in which 1,069,944 records were identified, which, after application of exclusion and inclusion criteria, were reduced to 10 final records for analysis. Results. Data was extracted referring to the authors' names, the year of publication, the title of the record, the type of document (thesis, scientific article or technical report), the export product, exporting and importing country, logistic method and conclusions of th...

CNR-CONCYTEC, 2009-2011