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[ES] Los cementos de polialcanoatos o iomómeros de vidrio son materiales que han sido utilizados con éxito durante más de 20 años en trabajos de odontología. Un problema que presentan dichos cementos es la liberación de iones Al3+ al medio fisiológico, lo que puede dar lugar a daños irreversibles en los pacientes. Con el propósito de evitar dicha liberación, se han preparado y caracterizado cementos obtenidos a partir de la reacción entre el ácido poliacrílico y la wollastonita (CaSiO3) en una solución acuosa de ácido tartárico. Los resultados obtenidos han puesto de manifiesto que estos cementos alcanzan resistencias a la compresión similares a las de los cementos de polialcanoato o ionómeros convencionales. Adicionalmente, los cementos resultantes son biocompatibles y bioactivos., [EN] The glass ionomer cements have been used successfully in dentistry for more than 20 years. A problem of these cements is the release of Al3+ ions to the physiological medium, being able to cause irreversible health problems to the patients. With the purpose of avoiding this problem, cements, from the reaction between the polyacrylic acid and wollastonita (CaSiO3) in a water solution of tartaric acid, have been obtained and characterized. The results have shown that these cements reach compression strength values similar to those of the conventional cements of vitreous polyalqueonate. Additionally, the obtained cements are biocompatibles and bioactives., Este trabajo ha sido financiado parcialmente por CICYTMAT - 2003 - 08331 - C02 - 01 - 02.

This paper introduces a novel method for wheel-slippage detection and correction based on motor current measurements. Our proposed method estimates wheel slippage from motor current measurements, and adjusts encoder readings affected by wheel slippage accordingly. The correction of wheel slippage based on motor currents works only in the direction of motion, but not laterally, and it requires some knowledge of the terrain. However, this knowledge does not have to be provided ahead of time by human operators. Rather, we propose three tuning techniques for determining relevant terrain parameters automatically, in real time, and during motion over unknown terrain. Two of the tuning techniques require position ground truth (i.e., GPS) to be available either continuously or sporadically. The third technique does not require any position ground truth, but is less accurate than the two other methods. A comprehensive set of experimental results have been included to validate this approach

Research at the University of Michigan’s Mobile Robotics Lab aims at the devel¬opment of an accurate proprioceptive (i.e., without external references) position estimation (PPE) system for planetary rovers. Much like other PPE systems, ours uses an inertial measurement unit (IMU) comprising three fiber-optic gyroscopes and a two-axes accelerometer, as well as odometry based on wheel encoders. Our PPE system, however, is unique in that it does not use the conventional Kalman Filter ap-proach for fusing data from the different sensor modalities. Rather, our system combines data based on expert rules that implement our in-depth understanding of each sensor modality’s be-havior under different driving and environmental conditions. Since our system also uses Fuzzy Logic operations in conjunction with the Expert Rules for finer gradation, we call it Fuzzy Logic Expert navigation (FLEXnav) PPE system. The paper presents detailed experimental results obtained with our FLEXnav system integrated with our planetary rover clone “Fluffy” and operating in a Mars-like environment. In addition, we compare the results of our FLEXnav system with results obtained from a conventional Kalman Filter. The paper also introduces new methods for wheel slippage detection and correc-tion, along with comprehensive experimental results.