Isaías y Jeremías: los profetas de Isidoro de Sevilla en Sentencías
The biblical text represents a fundamental part of Isidore of Seville´s Sentencias. This work, written towards the year 633, contains a large number of biblical quotations. Although Isidore managed to use a variety of references from both testaments, some books, passages and biblical episodes are mentioned more systematically than others. This is the case of the prophetic literature, especially the Books of Isaiah and Jeremiah. This article will focus mainly in the analysis of these two prophets and how their voices were used and introduced in the work of Isidore. The main purpose is to analyze the relation between the prophetic message and the reasons that motivated Isidore to give Isaiah and Jeremiah a predominant position inside his work. During the VIIth century, the political and religious context raised the question of the Kingdom´s unity. In this scenario, the prophetic message allowed Isidore to communicate his preoccupations regarding fundamental topics such as disobedience, the Final Judgment and the organization of the Church.
The Prophecies of Isaiah and the Fall of Jerusalem in 587 B.C
On first reflection it might appear strange to consider the question of the prophecies of Isaiah and the fall of Jerusalem to the Babylonians in 587 B.C., with the subsequent destruction of the temple there. Yet there are a number of factors which suggest that there is an important connection, even though the latest prophecies delivered by Isaiah cannot be dated much after 701 B.C., and the interval of time between these and the fall of Jerusalem would therefore have been more than a century. We know that prophecy was regarded as a living word from God, and it is evident from the way in which the Deuteronomic Historian interprets prophecy that he regarded it as nothing strange that a prophetic threat should have been fulfilled with quite remarkable exactness almost three centuries after it had been delivered (cf. 1 Kings xiii 2 with 2 Kings xxiii 16) 1). Furthermore, it is clear from the complex way in which the prophetic books have been compiled over a very long period of time that they were the subject of further reflection and adaptation long after the original prophet had died. Nowhere is this more evident than in the case of the book of the prophet Isaiah. We may adduce a number of important considerations which point to the acceptance of the view that the present shape and structure of the book of Isaiah owes a considerable debt to the belief that a con-
Kinematic Modelling and Simulation of a 2R Robot Using SolidWorks and Verification by MATLAB / Simulink Regular Paper
The  simulation  of  robot  systems  is  becoming very popular, especially with  the  lowering of  the cost of computers,  and  it  can  be  used  for  layout  evaluation, feasibility studies, presentations with animation and off‐ line programming. The  trajectory  planning  of  redundant manipulators  is  a very  active  area  since  many  tasks  require  special characteristics  to  be  satisfied.  The  importance  of redundant manipulators has  increased over  the  last  two decades  because  of  the  possibility  of  avoiding singularities  as  well  as  obstacles  within  the  course  of motion.  The  angle  that  the  last  link  of  a  2  DOF manipulator makes with the x‐axis is required in order to find the solution for the inverse kinematics problem. This angle  could  be  optimized  with  respect  to  a  given specified  key  factor  (time,  velocity,  torques)  while  the end‐effector  performs  a  chosen  trajectory  (i.e., avoiding an obstacle) in the task space. Modeling  and  simulation  of  robots  could  be  achieved using  either  of  the  following  models:  the  geometrical model (positions, postures), the kinematic model and the dynamic model. To  do  so,  the  modelization  of  a  2‐R  robot  type  is implemented. Our main  tasks  are  comparing  two  robot postures with the same trajectory (path) and for the same length  of  time,  and  establishing  a  computing  code  to obtain the kinematic and dynamic parameters. SolidWorks  and MATLAB/Simulink  softwares  are  used to check the theory and the robot motion simulation. This  could  be  easily  generalized  to  a  3‐R  robot  and possibly therefore to any serial robot (Scara, Puma, etc.). The verification of the obtained results by both softwares allows  us  to  qualitatively  evaluate  and  underline  the validityof  the  chosen  model  and  obtain  the  right conclusions. The results of  the simulations are discussed and an agreement between the two softwares is certainly obtained.