El socio de cooperativa y el de sociedad de capital, puntos de divergencia y convergencia en torno a los principios que dirigen la dinámica interna cooperativa. Libre adhesión, control democrático y participación económica del socio

Sociedad cooperativa y sociedad de capital son dos estructuras jurídicas para el desarrollo de una actividad empresarial que, operando en el mismo mercado, tienen unos marcados caracteres diferenciadores que se plantean como opuestos. Sus respectivos integrantes, los socios, tienen un estatus y desarrollan papeles diferenciados en la estructura. El concepto legal de cooperativa centra la caracterización en el régimen de libre adhesión y baja voluntaria, con estructura y funcionamiento democrático. Estas notas definitorias deberían bastar para distinguir a las cooperativas de cualquier sociedad de carácter capitalista. Sin embargo, en el ámbito legislativo se producen distintos puntos de convergencia entre ambas clases de sociedades y respecto a las actuaciones de sus socios que, sin confundirlas, comparten soluciones que provocan un acercamiento mutuo que homogeneiza la proyección interna y externa de ambos operadores, y esto se aprecia más que como una tendencia, como un sino, lo que nos debe llevar a una reflexión sobre la asunción de tal homogenización legislativa o la necesidad de su diferenciación para mantener la identidad.

On the Optimal Adhesion Control of a Vortex Climbing Robot

This article tackles the challenge of negative pressure adhesion control of a Vortex Robotic (VR) platform, which utilizes a modified Electric Ducted Fan (EDF)-based design for successfully adhering to surfaces of variable curvature. The resulting Vortex Actuation (VA) system is estimated through a switching Autoregressive-Moving-Average with eXternal input (ARMAX) identification, for accurately capturing the throttle to adhesion force relationship throughout its operating range. For safe attachment of the robot on a surface, the critical adhesion is modeled based on the geometrical properties of the robotic platform for providing the required reference forces. Within this work, an explicit controller via the use of a Constraint Finite Time Optimal Control (CFTOC) approach is designed in an offline manner, which results in a lookup table realization that ensures overall system stability in all state transitions. In an effort to further improve the tracking response for arbitrary setup orientations, the adhesion control scheme is extended through a switching EMPC framework. The resulting frameworks are tested through both dynamic simulation and experimental sequences involving: a) adhesion control on a rotating test curved surface and, b) adhesion and locomotion sequences on a water pipe.

Applications of Bioinspired Reversible Dry and Wet Adhesives: A Review

Bioinspired adhesives that emulate the unique dry and wet adhesion mechanisms of living systems have been actively explored over the past two decades. Synthetic bioinspired adhesives that have recently been developed exhibit versatile smart adhesion capabilities, including controllable adhesion strength, active adhesion control, no residue remaining on the surface, and robust and reversible adhesion to diverse dry and wet surfaces. Owing to these advantages, bioinspired adhesives have been applied to various engineering domains. This review summarizes recent efforts that have been undertaken in the application of synthetic dry and wet adhesives, mainly focusing on grippers, robots, and wearable sensors. Moreover, future directions and challenges toward the next generation of bioinspired adhesives for advanced industrial applications are described.