Analysis and optimization of trajectories for Ballistic Missiles Interception

Intercontinental Ballistic Missiles are capable of placing a nuclear warhead at more than 5,000 km away from its launching base. With the lethal power of a nuclear warhead a whole city could be wiped out by a single weapon causing millions of deaths. This means that the threat posed to any country from a single ICBM captured by a terrorist group or launched by a 'rogue' state is huge. This threat is increasing as more countries are achieving nuclear and advanced launcher capabilities. In order to suppress or at least reduce this threat the United States created the National Missile Defense System which involved, among other systems, the development of long-range interceptors whose aim is to destroy incoming ballistic missiles in their midcourse phase. The Ballistic Missile Defense is a high-profile topic that has been the focus of political controversy lately when the U.S. decided to expand the Ballistic Missile system to Europe, with the opposition of Russia. However the technical characteristics of this system are mostly unknown by the general public. The Interception of an ICBM using a long range Interceptor Missile as intended within the Ground-Based Missile Defense System by the American National Missile Defense (NMD) implies a series of problems of incredible complexity: - The incoming missile has to be detected almost immediately after launch. - The incoming missile has to be tracked along its trajectory with a great accuracy. - The Interceptor Missile has to implement a fast and accurate guidance algorithm in order to reach the incoming missile as soon as possible. - The Kinetic Kill Vehicle deployed by the interceptor boost vehicle has to be able to detect the reentry vehicle once it has been deployed by ICBM, when it offers a very low infrared signature, in order to perform a final rendezvous manoeuvre. - The Kinetic Kill Vehicle has to be able to discriminate the reentry vehicle from the surrounding debris and decoys. - The Kinetic Kill Vehicle has to be able to implement an accurate guidance algorithm in order to perform a kinetic interception (direct collision) of the reentry vehicle, at relative speeds of more than 10 km/s. All these problems are being dealt simultaneously by the Ground-Based Missile Defense System that is developing very complex and expensive sensors, communications and control centers and long-range interceptors (Ground-Based Interceptor Missile) including a Kinetic Kill Vehicle. Among all the technical challenges involved in this interception scenario, this thesis focuses on the algorithms required for the guidance of the Interceptor Missile and the Kinetic Kill Vehicle in order to perform the direct collision with the ICBM. The involved guidance algorithms are deeply analysed in this thesis in part III where conventional guidance strategies are reviewed and optimal guidance algorithms are developed for this interception problem. The generation of a realistic simulation of the interception scenario between an ICBM and a Ground Based Interceptor designed to destroy it was considered as necessary in order to be able to compare different guidance strategies with meaningful results. As a consequence, a highly representative simulator for an ICBM and a Kill Vehicle has been implemented, as detailed in part II, and the generation of these simulators has also become one of the purposes of this thesis. In summary, the main purposes of this thesis are: - To develop a highly representative simulator of an interception scenario between an ICBM and a Kill Vehicle launched from a Ground Based Interceptor. -To analyse the main existing guidance algorithms both for the ascent phase and the terminal phase of the missiles. Novel conclusions of these analyses are obtained. - To develop original optimal guidance algorithms for the interception problem. - To compare the results obtained using the different guidance strategies, assess the behaviour of the optimal guidance algorithms, and analyse the feasibility of the Ballistic Missile Defense system in terms of guidance (part IV). As a secondary objective, a general overview of the state of the art in terms of ballistic missiles and anti-ballistic missile defence is provided (part I).

Cancelación activa del ruido utilizando el KIT TMS320C5515 EZDSP

El control, o cancelación activa de ruido, consiste en la atenuación del ruido presente en un entorno acústico mediante la emisión de una señal igual y en oposición de fase al ruido que se desea atenuar. La suma de ambas señales en el medio acústico produce una cancelación mutua, de forma que el nivel de ruido resultante es mucho menor al inicial. El funcionamiento de estos sistemas se basa en los principios de comportamiento de los fenómenos ondulatorios descubiertos por Augustin-Jean Fresnel, Christiaan Huygens y Thomas Young entre otros. Desde la década de 1930, se han desarrollado prototipos de sistemas de control activo de ruido, aunque estas primeras ideas eran irrealizables en la práctica o requerían de ajustes manuales cada poco tiempo que hacían inviable su uso. En la década de 1970, el investigador estadounidense Bernard Widrow desarrolla la teoría de procesado adaptativo de señales y el algoritmo de mínimos cuadrados LMS. De este modo, es posible implementar filtros digitales cuya respuesta se adapte de forma dinámica a las condiciones variables del entorno. Con la aparición de los procesadores digitales de señal en la década de 1980 y su evolución posterior, se abre la puerta para el desarrollo de sistemas de cancelación activa de ruido basados en procesado de señal digital adaptativo. Hoy en día, existen sistemas de control activo de ruido implementados en automóviles, aviones, auriculares o racks de equipamiento profesional. El control activo de ruido se basa en el algoritmo fxlms, una versión modificada del algoritmo LMS de filtrado adaptativo que permite compensar la respuesta acústica del entorno. De este modo, se puede filtrar una señal de referencia de ruido de forma dinámica para emitir la señal adecuada que produzca la cancelación. Como el espacio de cancelación acústica está limitado a unas dimensiones de la décima parte de la longitud de onda, sólo es viable la reducción de ruido en baja frecuencia. Generalmente se acepta que el límite está en torno a 500 Hz. En frecuencias medias y altas deben emplearse métodos pasivos de acondicionamiento y aislamiento, que ofrecen muy buenos resultados. Este proyecto tiene como objetivo el desarrollo de un sistema de cancelación activa de ruidos de carácter periódico, empleando para ello electrónica de consumo y un kit de desarrollo DSP basado en un procesador de muy bajo coste. Se han desarrollado una serie de módulos de código para el DSP escritos en lenguaje C, que realizan el procesado de señal adecuado a la referencia de ruido. Esta señal procesada, una vez emitida, produce la cancelación acústica. Empleando el código implementado, se han realizado pruebas que generan la señal de ruido que se desea eliminar dentro del propio DSP. Esta señal se emite mediante un altavoz que simula la fuente de ruido a cancelar, y mediante otro altavoz se emite una versión filtrada de la misma empleando el algoritmo fxlms. Se han realizado pruebas con distintas versiones del algoritmo, y se han obtenido atenuaciones de entre 20 y 35 dB medidas en márgenes de frecuencia estrechos alrededor de la frecuencia del generador, y de entre 8 y 15 dB medidas en banda ancha. ABSTRACT. Active noise control consists on attenuating the noise in an acoustic environment by emitting a signal equal but phase opposed to the undesired noise. The sum of both signals results in mutual cancellation, so that the residual noise is much lower than the original. The operation of these systems is based on the behavior principles of wave phenomena discovered by Augustin-Jean Fresnel, Christiaan Huygens and Thomas Young. Since the 1930’s, active noise control system prototypes have been developed, though these first ideas were practically unrealizable or required manual adjustments very often, therefore they were unusable. In the 1970’s, American researcher Bernard Widrow develops the adaptive signal processing theory and the Least Mean Squares algorithm (LMS). Thereby, implementing digital filters whose response adapts dynamically to the variable environment conditions, becomes possible. With the emergence of digital signal processors in the 1980’s and their later evolution, active noise cancellation systems based on adaptive signal processing are attained. Nowadays active noise control systems have been successfully implemented on automobiles, planes, headphones or racks for professional equipment. Active noise control is based on the fxlms algorithm, which is actually a modified version of the LMS adaptive filtering algorithm that allows compensation for the acoustic response of the environment. Therefore it is possible to dynamically filter a noise reference signal to obtain the appropriate cancelling signal. As the noise cancellation space is limited to approximately one tenth of the wavelength, noise attenuation is only viable for low frequencies. It is commonly accepted the limit of 500 Hz. For mid and high frequencies, conditioning and isolating passive techniques must be used, as they produce very good results. The objective of this project is to develop a noise cancellation system for periodic noise, by using consumer electronics and a DSP development kit based on a very-low-cost processor. Several C coded modules have been developed for the DSP, implementing the appropriate signal processing to the noise reference. This processed signal, once emitted, results in noise cancellation. The developed code has been tested by generating the undesired noise signal in the DSP. This signal is emitted through a speaker simulating the noise source to be removed, and another speaker emits an fxlms filtered version of the same signal. Several versions of the algorithm have been tested, obtaining attenuation levels around 20 – 35 dB measured in a tight bandwidth around the generator frequency, or around 8 – 15 dB measured in broadband.

Factores anatómicos, dendrométricos y climáticos implicados en la producción de resina de Pinus pinaster AIT. : aplicación a la mejora de los métodos de resinación

Pinus pinaster Ait. es la conífera con mayor área de distribución en la Península Ibérica y es, a día de hoy, la única especie resinada en nuestro país. La inducción del flujo de resina al exterior para su recolección a través de distintos tipos de heridas ha sido practicada desde hace miles de años por distintas culturas. En todos los casos, las técnicas desarrolladas se basan en la estimulación del característico sistema de defensa de las pináceas. En los últimos siete años se viene observando una tendencia de incremento sustancial de la superficie resinada en España, acompañada por avances tecnológicos dirigidos a la mecanización y mejora de estimulantes. El aprovechamiento resinero se perfila como un sector estratégico en la generación de empleo rural y la conservación de ecosistemas. La industria resinera demanda métodos de extracción más eficaces, una selvicultura adecuada y actualizada, y condiciones laborales de los resineros más dignas con objeto de llegar a ser competitiva en el mercado internacional. Este trabajo se centra en ampliar el conocimiento sobre el sistema de defensa de P. pinaster, concretamente sobre las estructuras y procesos que pueden afectar a la producción de resina. Se analizan las relaciones entre las características anatómicas del xilema, destacando las relacionadas con los canales resiníferos, las variables dendrométricas y dasométricas de la masa y el flujo de resina (objetivo 1). Se estudia cómo estas relaciones son moduladas por las heridas de resinación dependiendo de la técnica de resinación aplicada (objetivo 2), el clima y el balance hídrico del suelo (objetivo 3). El material vegetal, las muestras de suelo y los datos de producción de resina y climáticos usados en esta tesis han sido recogidos en tres montes de utilidad pública; MUP 101 en Armuña, MUP 108 en Melque de Cercos y MUP 117 en Nieva (en esta última solo se recogieron los datos de producciones), todos ellos pinares monoespecíficos de P. pinaster localizados en la denominada Tierra de Pinares Segoviana. En los árboles de nuestro estudio se han aplicado cuatro métodos de resinación: método de pica de corteza con estimulante y método mecanizado con estimulante, ambos en sentido ascendente y descendente. En los trabajos realizados para el análisis de la influencia de la anatomía constitutiva en la producción de resina (objetivo 1) y el efecto del clima (objetivo 3), se obtuvieron muestras del xilema de 26 árboles resinados en Melque de Cercos y Armuña y 12 árboles control sin resinar. Para caracterizar los pies estudiados, se midió la altura, diámetro normal y porcentaje de copa viva. Las muestras de tejido fueron recogidas en una zona del tronco a una distancia del límite de la herida considerada en la bibliografía como no afectada (anatomía constitutiva). Para el análisis de las alteraciones anatómicas inducidas por la herida (objetivo 2), se recogieron muestras en ocho de los individuos en los que se habían realizado los distintos métodos de resinación descritos y en cinco árboles control. Se obtuvieron ocho muestras de tejido distribuidas en la parte superior, inferior, lateral y centro de la herida de cada uno de los árboles resinados. Para establecer las diferencias en la producción de resina según el método de resinación, se analizaron las producciones de 561 árboles resinados en 2012 con estos cuatro métodos en Nieva. Los principales resultados de estos trabajos muestran que la producción de resina está ligada al volumen de canales (axiales y radiales) y a la frecuencia de canales radiales existentes en el árbol antes de efectuar ninguna herida (sistema constitutivo). De esta manera, los árboles grandes productores de resina mostraron una red de canales más densa que aquellos con producciones medias. Una vez realizada la herida de resinación, observamos una disminución del ancho del anillo de crecimiento y del tamaño medio de los canales axiales a la vez que se incrementaba la frecuencia y área ocupada por mm2 de anillo de estos canales. Estos cambios perduraron en el árbol durante al menos tres años y fueron distintos dependiendo de la localización en el entorno de la herida y del método de resinación. Las respuestas más intensas a la herida se observaron el año siguiente a la realización de la misma, en dirección axial, para las distancias más próximas al límite de la herida y para los métodos de resinación en sentido ascendente. Además, se ha constatado que como consecuencia de las heridas de resinación se produjeron cambios en la anatomía del xilema en zonas alejadas de la herida, tanto en el año de la herida como años posteriores. Es decir, se observó una respuesta sistémica del árbol. Respecto al papel del clima como regulador de la respuesta del árbol, se ha evidenciado que la temperatura, la radiación y la ETP influyeron en la producción de resina, no solo durante la campaña de resinación, sino también durante los meses anteriores. El déficit hídrico favoreció la producción y la formación de canales axiales pero, a partir de un determinado umbral, esa relación se invirtió y las lluvias estivales incrementaron la producción. Algunas de estas variables climáticas se asociaron a cambios en el tamaño y frecuencia de las estructuras secretoras, las cuales posiblemente modulan la respuesta defensiva de la planta. La dendrometría del árbol (evaluada a través del diámetro normal, altura y porcentaje de copa viva), la densidad de la masa y el tipo de suelo influyeron en el potencial de producción de resina de P. pinaster. Árboles más vigorosos, parcelas con menores densidades y suelos con más capacidad para la retención de agua y nutrientes presentaron producciones mayores. Estos trabajos se complementan en anexos con una caracterización del sistema socio-ecológico del pinar en resinación. En ese trabajo se identifican sus potenciales servicios ecosistémicos y se evalúa su grado de vinculación con el aprovechamiento resinero con objeto de valorar su funcionalidad y aproximar una valoración económica de modo que sea posible apreciar la importancia económica de los mismos. Para concluir, podemos resaltar que son necesarios más trabajos de carácter científico para avanzar en la comprensión de los procesos anatómicos y fisiológicos que regulan la secreción de resina en P. pinaster y sus interacciones con el medio. Esto permitiría avances certeros hacia el desarrollo de métodos de extracción más eficaces, una selvicultura óptima, el reconocimiento de los beneficios socio-ecológicos y económicos del aprovechamiento y, de manera general, una bibliografía amplia y fiable para la consulta y desarrollo de futuras mejoras que posibiliten la reactivación y conservación de la resinación como aprovechamiento rentable. ABSTRACT Pinus pinaster Ait. is the most widespread conifer in Spain and is now the only species tapped for its oleoresin. External induction of resin secretion, based on the defense system of Pinus trees, has been performed by humans since Classical times through various methods. The socio-economic implication of this practice in Spain justifies a new approach to improve tapping methodology and understand the effects of this activity on the tree. In the last five years, sharp increases in the price of natural resins, accompanied by technological advances directed toward mechanization, have made resin tapping a strategic activity for rural development and forest conservation. The resin industry demands more efficient tapping methods and forest management plans as a way to increase competitiveness in a global market. In this way, this work focuses on the study of the defense system of P. pinaster, with the aim to understand the effects of anatomical and physiological characteristics and environmental conditions on resin yield. The relationships between anatomical variables -with special focus on resin canals-, dendrometric and dasometric variables, and resin yield will be evaluated (objective 1). The tapping wound effects (objective 2) and the intra- and inter-annual variability of climate conditions and soil water availability influence (objective 3) on resin yield will be also studied. The plant and soil material and the resin yield and climatic data used in this thesis have been collected in stands of three public forests of P. pinaster; Armuña, Melque de Cercos and Nieva, located in Segovia (Central Spain). Trees were tapped using two different methods: mechanized or traditional tool, in both upwards and downwards direction. Twenty-six tapped trees of contrasting resin yield classes and twelve non-tapped (control) trees, growing in two locations (Armuña y Melque de Cercos) with the same climate but different stand density and soil characteristics, were selected for studying the role of tree size, xylem anatomy at distal parts aside from the tapping wound (objective 1) and climate influence (objective 3) on resin yield. Concerning the tree defenses induced by the tapping wound (objective 2), the xylem of eight trees, tapped with the two described methods in both upwards and downwards direction, were analyzed. From each tapped tree, eight cores were collected at different locations and varying distances from the tapping wound. In each core, a histological analysis was made. Growth ring width, earlywood and latewood width, and axial canal frequency, area, mean size and location were measured. The effect of the tapping method on resin yield was assessed in 561 P. pinaster tapped trees in a stand in Nieva. In tissues not affected by the tapping wound, the frequency of radial resin canals and the total volume of resin canals were related to resin yield. The frequency of radial canals and the resin yield were strongly related to tree diameter and percentage of live crown. High area of axial resin canals per mm2 was related to high yielding trees, but only in the location with higher plant density and poorer soil quality. In tapped trees, an increase in axial canal frequency and area was found during the three years following the start of tapping activity, suggesting that canal formation is a systemic induced response to wounding. The highest mean annual resin yield was found using the traditional tool in upwards direction, which also induced the highest increase in axial canal frequency and area. The lowest yield was found for mechanized tapping, which showed no differences between the upwards and downwards directions. The strongest induction of systemic induced responses in terms of resin canal frequency and area was detected one year after tapping for upwards tapping. This suggests the involvement of signaling processes that spread mainly upwards, and the importance of adaptive processes as a defense against periodic insect attacks. Intra-annual variation in resin yield was strongly correlated with temperature, solar radiation, potential evapotranspiration and soil water deficit. Inter-annual variation in resin yield and resin canal abundance were correlated with temperature and water deficit in spring, but above a certain threshold of cumulated water deficit in summer rainfall favored resin yield. Under adverse climate scenarios where resource optimization is desirable, a reduced tapping season during the warmest months (June–September) would be advisable, assuming a very small production loss relative to traditional tapping season. Similarly, in years with a rainy summer and/or dry spring, a slightly longer tapping season could be suggested, as resin yield increases after these events. Tree diameter and percentage of live crown, and radial resin canal frequency could be useful criteria for estimating resin yields in P. pinaster. Vigorous trees in lower density stands and growing up in good quality soils will be the most productive. These conclusions could be applied to improve tapping management and breeding programs. These works are complemented with socio-ecological characterization, the identification of the main ecosystem services and an assessment of the possible economic impact derived from the tapping practice. To conclude, more scientific studies are necessary for understanding the anatomical and physiological processes behind resin synthesis and their interactions with the environment. This would afford further progresses towards an extensive and reliable bibliography and improved tapping methods and optimal selvicultural guide lines.

Stability and Transient Performance Assessment in a COTS-Module-Based Distributed DC/DC System

This paper introduces a method to analyze and predict stability and transient performance of a distributed system where COTS (Commercial-off-the-shelf) modules share an input filter. The presented procedure is based on the measured data from the input and output terminals of the power modules. The required information for the analysis is obtained by performing frequency response measurements for each converter. This attained data is utilized to compute special transfer functions, which partly determine the source and load interactions within the converters. The system level dynamic description is constructed based on the measured and computed transfer functions introducing cross-coupling mechanisms within the system. System stability can be studied based on the well-known impedance- related minor-loop gain at an arbitrary interface within the system.

PV self-consumption optimization with storage and Active DSM for the residential sector

With the rising prices of the retail electricity and the decreasing cost of the PV technology, grid parity with commercial electricity will soon become a reality in Europe. This fact, together with less attractive PV feed-in-tariffs in the near future and incentives to promote self-consumption suggest, that new operation modes for the PV Distributed Generation should be explored; differently from the traditional approach which is only based on maximizing the exported electricity to the grid. The smart metering is experiencing a growth in Europe and the United States but the possibilities of its use are still uncertain, in our system we propose their use to manage the storage and to allow the user to know their electrical power and energy balances. The ADSM has many benefits studied previously but also it has important challenges, in this paper we can observe and ADSM implementation example where we propose a solution to these challenges. In this paper we study the effects of the Active Demand-Side Management (ADSM) and storage systems in the amount of consumed local electrical energy. It has been developed on a prototype of a self-sufficient solar house called “MagicBox” equipped with grid connection, PV generation, lead–acid batteries, controllable appliances and smart metering. We carried out simulations for long-time experiments (yearly studies) and real measures for short and mid-time experiments (daily and weekly studies). Results show the relationship between the electricity flows and the storage capacity, which is not linear and becomes an important design criterion.

Distributed www programming using (Ciao-) prolog and the pillow library

We discuss from a practical point of view a number of ssues involved in writing distributed Internet and WWW applications using LP/CLP systems. We describe PiLLoW, a publicdomain Internet and WWW programming library for LP/CLP systems that we have designed in order to simplify the process of writing such applications. PiLLoW provides facilities for accessing documents and code on the WWW; parsing, manipulating and generating HTML and XML structured documents and data; producing HTML forms; writing form handlers and CGI-scripts; and processing HTML/XML templates. An important contribution of PÍ'LLOW is to model HTML/XML code (and, thus, the content of WWW pages) as terms. The PÍ'LLOW library has been developed in the context of the Ciao Prolog system, but it has been adapted to a number of popular LP/CLP systems, supporting most of its functionality. We also describe the use of concurrency and a highlevel model of client-server interaction, Ciao Prolog's active modules, in the context of WWW programming. We propose a solution for client-side downloading and execution of Prolog code, using generic browsers. Finally, we also provide an overview of related work on the topic.

Some techniques for automated, resource-aware distributed and mobile computing in a multi-paradigm programming system

Distributed parallel execution systems speed up applications by splitting tasks into processes whose execution is assigned to different receiving nodes in a high-bandwidth network. On the distributing side, a fundamental problem is grouping and scheduling such tasks such that each one involves sufñcient computational cost when compared to the task creation and communication costs and other such practical overheads. On the receiving side, an important issue is to have some assurance of the correctness and characteristics of the code received and also of the kind of load the particular task is going to pose, which can be specified by means of certificates. In this paper we present in a tutorial way a number of general solutions to these problems, and illustrate them through their implementation in the Ciao multi-paradigm language and program development environment. This system includes facilities for parallel and distributed execution, an assertion language for specifying complex programs properties (including safety and resource-related properties), and compile-time and run-time tools for performing automated parallelization and resource control, as well as certification of programs with resource consumption assurances and efñcient checking of such certificates.

Distributed System for Cognitive Stimulation Over Interactive TV.

Descripción y evaluación de sistema de estimulación cognitiva a través de la TDT orientada a personas con enfermedad de Parkinson, con supervisión por parte de sus terapeutas de forma remota. Abstract: This paper details the full design, implementation, and validation of an e-health service in order to improve the community health care services for patients with cognitive disorders. Specifically, the new service allows Parkinson’s disease patients benefit from the possibility of doing cognitive stimulation therapy (CST) at home by using a familiar device such as a TV set. Its use instead of a PC could be a major advantage for some patients whose lack of familiarity with the use of a PC means that they can do therapy only in the presence of a therapist. For these patients this solution could bring about a great improvement in their autonomy. At the same time, this service provides therapists with the ability to conduct follow-up of therapy sessions via the web,benefiting from greater and easier control of the therapy exercises performed by patients and allowing them to customize new exercises in accordance with the particular needs of each patient. As a result, this kind of CST is considered to be a complement of other therapies oriented to the Parkinson patients. Furthermore, with small changes, the system could be useful for patients with a different cognitive disease such as Alzheimer’s or mild cognitive impairment.

A multi-agent system with distributed bayesian reasoning for network fault diagnosis

In this paper, an innovative approach to perform distributed Bayesian inference using a multi-agent architecture is presented. The final goal is dealing with uncertainty in network diagnosis, but the solution can be of applied in other fields. The validation testbed has been a P2P streaming video service. An assessment of the work is presented, in order to show its advantages when it is compared with traditional manual processes and other previous systems.

Analysis and optimized design of a distributed multi-stage EMC filter for an interleaved three-phase PWM-rectifier system for aircraft applications

Different possible input filter configurations for a modular three-phase PWM rectifier system consisting of three interleaved converter cells are studied. The system is designed for an aircraft application where MIL-STD-461E conducted EMI standards have to be met and system weight is a critical design issue. The importance of a LISN model on the simulated noise levels and the effect of interleaving and power unbalance between the different converter modules is discussed. The effect of the number of filter stages and the degree of distribution of the filter stages among the individual converter modules on the weight and losses of the input filter is studied and optimal filter structures are proposed.

Vision-based active safety system for automatic stopping

ntelligent systems designed to reduce highway fatalities have been widely applied in the automotive sector in the last decade. Of all users of transport systems, pedestrians are the most vulnerable in crashes as they are unprotected. This paper deals with an autonomous intelligent emergency system designed to avoid collisions with pedestrians. The system consists of a fuzzy controller based on the time-to-collision estimate – obtained via a vision-based system – and the wheel-locking probability – obtained via the vehicle’s CAN bus – that generates a safe braking action. The system has been tested in a real car – a convertible Citroën C3 Pluriel – equipped with an automated electro-hydraulic braking system capable of working in parallel with the vehicle’s original braking circuit. The system is used as a last resort in the case that an unexpected pedestrian is in the lane and all the warnings have failed to produce a response from the driver.

Distributed Web Interface for Real-Time Spatial Audio Reproduction System

SSR es el acrónimo de SoundScape Renderer (tool for real-time spatial audio reproduction providing a variety of rendering algorithms), es un programa escrito en su mayoría en C++. El programa permite al usuario escuchar tanto sonidos grabados con anterioridad como sonidos en directo. El sonido o los sonidos se oirán, desde el punto de vista del oyente, como si el sonido se produjese en el punto que el programa decida, lo interesante de este proyecto es que el sonido podrá cambiar de lugar, moverse, etc. Todo en tiempo real. Esto se consigue sin modificar el sonido al grabarlo pero sí al emitirlo, el programa calcula las variaciones necesarias para que al emitir el sonido al oyente le llegue como si el sonido realmente se generase en un punto del espacio o lo más parecido posible. La sensación de movimiento no deja de ser el punto anterior cambiando de lugar. La idea era crear una aplicación web basada en Canvas de HTML5 que se comunicará con esta interfaz de usuario remota. Así se solucionarían todos los problemas de compatibilidad ya que cualquier dispositivo con posibilidad de visualizar páginas web podría correr una aplicación basada en estándares web, por ejemplo un sistema con Windows o un móvil con navegador. El protocolo debía de ser WebSocket porque es un protocolo HTML5 y ofrece las “garantías” de latencia que una aplicación con necesidades de información en tiempo real requiere. Nos permite una comunicación full-dúplex asíncrona sin mucho payload que es justo lo que se venía a evitar al no usar polling normal de HTML. El problema que surgió fue que la interfaz de usuario de red que tenía el programa no era compatible con WebSocket debido a un handshacking inicial y obligatorio que realiza el protocolo, por lo que se necesitaba otra interfaz de red. Se decidió entonces cambiar a JSON como formato para el intercambio de mensajes. Al final el proyecto comprende no sólo la aplicación web basada en Canvas sino también un servidor funcional y la definición de una nueva interfaz de usuario de red con su protocolo añadido. ABSTRACT. This project aims to become a part of the SSR tool to extend its capabilities in the field of the access. SSR is an acronym for SoundScape Renderer, is a program mostly written in C++ that allows you to hear already recorded or live sound with a variety of sound equipment as if the sound came from a desired place in the space. Like the web-page of the SSR says surely better explained: “The SoundScape Renderer (SSR) is a tool for real-time spatial audio reproduction providing a variety of rendering algorithms.” The application can be used with a graphical interface written in Qt but has also a network interface for external applications to use it. This network interface communicates using XML messages. A good example of it is the Android client. This Android client is already working. In order to use the application should be run it by loading an audio source and the wanted environment so that the renderer knows what to do. In that moment the server binds and anyone can use the network interface. Since the network interface is documented everyone can make an application to interact with this network interface. So the application can have as many user interfaces as wanted. The part that is developed in this project has nothing to do neither with audio rendering nor even with the reproduction of the spatial audio. The part that is developed here is about the interface used in the SSR application. As it can be deduced from the title: “Distributed Web Interface for Real-Time Spatial Audio Reproduction System”, this work aims only to offer the interface via web for the SSR (“Real-Time Spatial Audio Reproduction System”). The idea is not to make a new graphical interface for SSR but to allow more types of interfaces and communication. To accomplish the objective of allowing more graphical interfaces this project is going to use a new network interface. By now the SSR application is using only XML for data interchange but this new network interface support JSON. This project comprehends the server that launch the application, the user interface and the new network interface. It is done with these modules in order to allow creating new user interfaces that can communicate with the server or new servers that can communicate with the user interface by defining a complete network interface for data interchange.

The type II secretion system (Xcp) of Pseudomonas putida is active and involved in the secretion of phosphatases.

The genome of the Gram-negative bacterium Pseudomonas putida harbours a complete set of xcp genes for a type II protein secretion system (T2SS). This study shows that expression of these genes is induced under inorganic phosphate (Pi ) limitation and that the system enables the utilization of various organic phosphate sources. A phosphatase of the PhoX family, previously designated UxpB, was identified, which was produced under low Pi conditions and transported across the cell envelope in an Xcp-dependent manner demonstrating that the xcp genes encode an active T2SS. The signal sequence of UxpB contains a twin-arginine translocation (Tat) motif as well as a lipobox, and both processing by leader peptidase II and Tat dependency were experimentally confirmed. Two different tat gene clusters were detected in the P.?putida genome, of which one, named tat-1, is located adjacent to the uxpB and xcp genes. Both Tat systems appeared to be capable of transporting the UxpB protein. However, expression of the tat-1 genes was strongly induced by low Pi levels, indicating a function of this system in survival during Pi starvation.

The type II secretion system (Xcp) of Pseudomonas putida is active and involved in the secretion of phosphatases.

The genome of the Gram-negative bacterium Pseudomonas putida harbours a complete set of xcp genes for a type II protein secretion system (T2SS). This study shows that expression of these genes is induced under inorganic phosphate (Pi ) limitation and that the system enables the utilization of various organic phosphate sources. A phosphatase of the PhoX family, previously designated UxpB, was identified, which was produced under low Pi conditions and transported across the cell envelope in an Xcp-dependent manner demonstrating that the xcp genes encode an active T2SS. The signal sequence of UxpB contains a twin-arginine translocation (Tat) motif as well as a lipobox, and both processing by leader peptidase II and Tat dependency were experimentally confirmed. Two different tat gene clusters were detected in the P.?putida genome, of which one, named tat-1, is located adjacent to the uxpB and xcp genes. Both Tat systems appeared to be capable of transporting the UxpB protein. However, expression of the tat-1 genes was strongly induced by low Pi levels, indicating a function of this system in survival during Pi starvation.

A new analog trigger system for the Cherenkov Telescope array

La astronomía de rayos γ estudia las partículas más energéticas que llegan a la Tierra desde el espacio. Estos rayos γ no se generan mediante procesos térmicos en simples estrellas, sino mediante mecanismos de aceleración de partículas en objetos celestes como núcleos de galaxias activos, púlsares, supernovas, o posibles procesos de aniquilación de materia oscura. Los rayos γ procedentes de estos objetos y sus características proporcionan una valiosa información con la que los científicos tratan de comprender los procesos físicos que ocurren en ellos y desarrollar modelos teóricos que describan su funcionamiento con fidelidad. El problema de observar rayos γ es que son absorbidos por las capas altas de la atmósfera y no llegan a la superficie (de lo contrario, la Tierra será inhabitable). De este modo, sólo hay dos formas de observar rayos γ embarcar detectores en satélites, u observar los efectos secundarios que los rayos γ producen en la atmósfera. Cuando un rayo γ llega a la atmósfera, interacciona con las partículas del aire y genera un par electrón - positrón, con mucha energía. Estas partículas secundarias generan a su vez más partículas secundarias cada vez menos energéticas. Estas partículas, mientras aún tienen energía suficiente para viajar más rápido que la velocidad de la luz en el aire, producen una radiación luminosa azulada conocida como radiación Cherenkov durante unos pocos nanosegundos. Desde la superficie de la Tierra, algunos telescopios especiales, conocidos como telescopios Cherenkov o IACTs (Imaging Atmospheric Cherenkov Telescopes), son capaces de detectar la radiación Cherenkov e incluso de tomar imágenes de la forma de la cascada Cherenkov. A partir de estas imágenes es posible conocer las principales características del rayo γ original, y con suficientes rayos se pueden deducir características importantes del objeto que los emitió, a cientos de años luz de distancia. Sin embargo, detectar cascadas Cherenkov procedentes de rayos γ no es nada fácil. Las cascadas generadas por fotones γ de bajas energías emiten pocos fotones, y durante pocos nanosegundos, y las correspondientes a rayos γ de alta energía, si bien producen más electrones y duran más, son más improbables conforme mayor es su energía. Esto produce dos líneas de desarrollo de telescopios Cherenkov: Para observar cascadas de bajas energías son necesarios grandes reflectores que recuperen muchos fotones de los pocos que tienen estas cascadas. Por el contrario, las cascadas de altas energías se pueden detectar con telescopios pequeños, pero conviene cubrir con ellos una superficie grande en el suelo para aumentar el número de eventos detectados. Con el objetivo de mejorar la sensibilidad de los telescopios Cherenkov actuales, en el rango de energía alto (> 10 TeV), medio (100 GeV - 10 TeV) y bajo (10 GeV - 100 GeV), nació el proyecto CTA (Cherenkov Telescope Array). Este proyecto en el que participan más de 27 países, pretende construir un observatorio en cada hemisferio, cada uno de los cuales contará con 4 telescopios grandes (LSTs), unos 30 medianos (MSTs) y hasta 70 pequeños (SSTs). Con un array así, se conseguirán dos objetivos. En primer lugar, al aumentar drásticamente el área de colección respecto a los IACTs actuales, se detectarán más rayos γ en todos los rangos de energía. En segundo lugar, cuando una misma cascada Cherenkov es observada por varios telescopios a la vez, es posible analizarla con mucha más precisión gracias a las técnicas estereoscópicas. La presente tesis recoge varios desarrollos técnicos realizados como aportación a los telescopios medianos y grandes de CTA, concretamente al sistema de trigger. Al ser las cascadas Cherenkov tan breves, los sistemas que digitalizan y leen los datos de cada píxel tienen que funcionar a frecuencias muy altas (≈1 GHz), lo que hace inviable que funcionen de forma continua, ya que la cantidad de datos guardada será inmanejable. En su lugar, las señales analógicas se muestrean, guardando las muestras analógicas en un buffer circular de unos pocos µs. Mientras las señales se mantienen en el buffer, el sistema de trigger hace un análisis rápido de las señales recibidas, y decide si la imagen que hay en el buér corresponde a una cascada Cherenkov y merece ser guardada, o por el contrario puede ignorarse permitiendo que el buffer se sobreescriba. La decisión de si la imagen merece ser guardada o no, se basa en que las cascadas Cherenkov producen detecciones de fotones en píxeles cercanos y en tiempos muy próximos, a diferencia de los fotones de NSB (night sky background), que llegan aleatoriamente. Para detectar cascadas grandes es suficiente con comprobar que más de un cierto número de píxeles en una región hayan detectado más de un cierto número de fotones en una ventana de tiempo de algunos nanosegundos. Sin embargo, para detectar cascadas pequeñas es más conveniente tener en cuenta cuántos fotones han sido detectados en cada píxel (técnica conocida como sumtrigger). El sistema de trigger desarrollado en esta tesis pretende optimizar la sensibilidad a bajas energías, por lo que suma analógicamente las señales recibidas en cada píxel en una región de trigger y compara el resultado con un umbral directamente expresable en fotones detectados (fotoelectrones). El sistema diseñado permite utilizar regiones de trigger de tamaño seleccionable entre 14, 21 o 28 píxeles (2, 3, o 4 clusters de 7 píxeles cada uno), y con un alto grado de solapamiento entre ellas. De este modo, cualquier exceso de luz en una región compacta de 14, 21 o 28 píxeles es detectado y genera un pulso de trigger. En la versión más básica del sistema de trigger, este pulso se distribuye por toda la cámara de forma que todos los clusters sean leídos al mismo tiempo, independientemente de su posición en la cámara, a través de un delicado sistema de distribución. De este modo, el sistema de trigger guarda una imagen completa de la cámara cada vez que se supera el número de fotones establecido como umbral en una región de trigger. Sin embargo, esta forma de operar tiene dos inconvenientes principales. En primer lugar, la cascada casi siempre ocupa sólo una pequeña zona de la cámara, por lo que se guardan muchos píxeles sin información alguna. Cuando se tienen muchos telescopios como será el caso de CTA, la cantidad de información inútil almacenada por este motivo puede ser muy considerable. Por otro lado, cada trigger supone guardar unos pocos nanosegundos alrededor del instante de disparo. Sin embargo, en el caso de cascadas grandes la duración de las mismas puede ser bastante mayor, perdiéndose parte de la información debido al truncamiento temporal. Para resolver ambos problemas se ha propuesto un esquema de trigger y lectura basado en dos umbrales. El umbral alto decide si hay un evento en la cámara y, en caso positivo, sólo las regiones de trigger que superan el nivel bajo son leídas, durante un tiempo más largo. De este modo se evita guardar información de píxeles vacíos y las imágenes fijas de las cascadas se pueden convertir en pequeños \vídeos" que representen el desarrollo temporal de la cascada. Este nuevo esquema recibe el nombre de COLIBRI (Concept for an Optimized Local Image Building and Readout Infrastructure), y se ha descrito detalladamente en el capítulo 5. Un problema importante que afecta a los esquemas de sumtrigger como el que se presenta en esta tesis es que para sumar adecuadamente las señales provenientes de cada píxel, estas deben tardar lo mismo en llegar al sumador. Los fotomultiplicadores utilizados en cada píxel introducen diferentes retardos que deben compensarse para realizar las sumas adecuadamente. El efecto de estos retardos ha sido estudiado, y se ha desarrollado un sistema para compensarlos. Por último, el siguiente nivel de los sistemas de trigger para distinguir efectivamente las cascadas Cherenkov del NSB consiste en buscar triggers simultáneos (o en tiempos muy próximos) en telescopios vecinos. Con esta función, junto con otras de interfaz entre sistemas, se ha desarrollado un sistema denominado Trigger Interface Board (TIB). Este sistema consta de un módulo que irá montado en la cámara de cada LST o MST, y que estará conectado mediante fibras ópticas a los telescopios vecinos. Cuando un telescopio tiene un trigger local, este se envía a todos los vecinos conectados y viceversa, de modo que cada telescopio sabe si sus vecinos han dado trigger. Una vez compensadas las diferencias de retardo debidas a la propagación en las fibras ópticas y de los propios fotones Cherenkov en el aire dependiendo de la dirección de apuntamiento, se buscan coincidencias, y en el caso de que la condición de trigger se cumpla, se lee la cámara en cuestión, de forma sincronizada con el trigger local. Aunque todo el sistema de trigger es fruto de la colaboración entre varios grupos, fundamentalmente IFAE, CIEMAT, ICC-UB y UCM en España, con la ayuda de grupos franceses y japoneses, el núcleo de esta tesis son el Level 1 y la Trigger Interface Board, que son los dos sistemas en los que que el autor ha sido el ingeniero principal. Por este motivo, en la presente tesis se ha incluido abundante información técnica relativa a estos sistemas. Existen actualmente importantes líneas de desarrollo futuras relativas tanto al trigger de la cámara (implementación en ASICs), como al trigger entre telescopios (trigger topológico), que darán lugar a interesantes mejoras sobre los diseños actuales durante los próximos años, y que con suerte serán de provecho para toda la comunidad científica participante en CTA. ABSTRACT -ray astronomy studies the most energetic particles arriving to the Earth from outer space. This -rays are not generated by thermal processes in mere stars, but by means of particle acceleration mechanisms in astronomical objects such as active galactic nuclei, pulsars, supernovas or as a result of dark matter annihilation processes. The γ rays coming from these objects and their characteristics provide with valuable information to the scientist which try to understand the underlying physical fundamentals of these objects, as well as to develop theoretical models able to describe them accurately. The problem when observing rays is that they are absorbed in the highest layers of the atmosphere, so they don't reach the Earth surface (otherwise the planet would be uninhabitable). Therefore, there are only two possible ways to observe γ rays: by using detectors on-board of satellites, or by observing their secondary effects in the atmosphere. When a γ ray reaches the atmosphere, it interacts with the particles in the air generating a highly energetic electron-positron pair. These secondary particles generate in turn more particles, with less energy each time. While these particles are still energetic enough to travel faster than the speed of light in the air, they produce a bluish radiation known as Cherenkov light during a few nanoseconds. From the Earth surface, some special telescopes known as Cherenkov telescopes or IACTs (Imaging Atmospheric Cherenkov Telescopes), are able to detect the Cherenkov light and even to take images of the Cherenkov showers. From these images it is possible to know the main parameters of the original -ray, and with some -rays it is possible to deduce important characteristics of the emitting object, hundreds of light-years away. However, detecting Cherenkov showers generated by γ rays is not a simple task. The showers generated by low energy -rays contain few photons and last few nanoseconds, while the ones corresponding to high energy -rays, having more photons and lasting more time, are much more unlikely. This results in two clearly differentiated development lines for IACTs: In order to detect low energy showers, big reflectors are required to collect as much photons as possible from the few ones that these showers have. On the contrary, small telescopes are able to detect high energy showers, but a large area in the ground should be covered to increase the number of detected events. With the aim to improve the sensitivity of current Cherenkov showers in the high (> 10 TeV), medium (100 GeV - 10 TeV) and low (10 GeV - 100 GeV) energy ranges, the CTA (Cherenkov Telescope Array) project was created. This project, with more than 27 participating countries, intends to build an observatory in each hemisphere, each one equipped with 4 large size telescopes (LSTs), around 30 middle size telescopes (MSTs) and up to 70 small size telescopes (SSTs). With such an array, two targets would be achieved. First, the drastic increment in the collection area with respect to current IACTs will lead to detect more -rays in all the energy ranges. Secondly, when a Cherenkov shower is observed by several telescopes at the same time, it is possible to analyze it much more accurately thanks to the stereoscopic techniques. The present thesis gathers several technical developments for the trigger system of the medium and large size telescopes of CTA. As the Cherenkov showers are so short, the digitization and readout systems corresponding to each pixel must work at very high frequencies (_ 1 GHz). This makes unfeasible to read data continuously, because the amount of data would be unmanageable. Instead, the analog signals are sampled, storing the analog samples in a temporal ring buffer able to store up to a few _s. While the signals remain in the buffer, the trigger system performs a fast analysis of the signals and decides if the image in the buffer corresponds to a Cherenkov shower and deserves to be stored, or on the contrary it can be ignored allowing the buffer to be overwritten. The decision of saving the image or not, is based on the fact that Cherenkov showers produce photon detections in close pixels during near times, in contrast to the random arrival of the NSB phtotons. Checking if more than a certain number of pixels in a trigger region have detected more than a certain number of photons during a certain time window is enough to detect large showers. However, taking also into account how many photons have been detected in each pixel (sumtrigger technique) is more convenient to optimize the sensitivity to low energy showers. The developed trigger system presented in this thesis intends to optimize the sensitivity to low energy showers, so it performs the analog addition of the signals received in each pixel in the trigger region and compares the sum with a threshold which can be directly expressed as a number of detected photons (photoelectrons). The trigger system allows to select trigger regions of 14, 21, or 28 pixels (2, 3 or 4 clusters with 7 pixels each), and with extensive overlapping. In this way, every light increment inside a compact region of 14, 21 or 28 pixels is detected, and a trigger pulse is generated. In the most basic version of the trigger system, this pulse is just distributed throughout the camera in such a way that all the clusters are read at the same time, independently from their position in the camera, by means of a complex distribution system. Thus, the readout saves a complete camera image whenever the number of photoelectrons set as threshold is exceeded in a trigger region. However, this way of operating has two important drawbacks. First, the shower usually covers only a little part of the camera, so many pixels without relevant information are stored. When there are many telescopes as will be the case of CTA, the amount of useless stored information can be very high. On the other hand, with every trigger only some nanoseconds of information around the trigger time are stored. In the case of large showers, the duration of the shower can be quite larger, loosing information due to the temporal cut. With the aim to solve both limitations, a trigger and readout scheme based on two thresholds has been proposed. The high threshold decides if there is a relevant event in the camera, and in the positive case, only the trigger regions exceeding the low threshold are read, during a longer time. In this way, the information from empty pixels is not stored and the fixed images of the showers become to little \`videos" containing the temporal development of the shower. This new scheme is named COLIBRI (Concept for an Optimized Local Image Building and Readout Infrastructure), and it has been described in depth in chapter 5. An important problem affecting sumtrigger schemes like the one presented in this thesis is that in order to add the signals from each pixel properly, they must arrive at the same time. The photomultipliers used in each pixel introduce different delays which must be compensated to perform the additions properly. The effect of these delays has been analyzed, and a delay compensation system has been developed. The next trigger level consists of looking for simultaneous (or very near in time) triggers in neighbour telescopes. These function, together with others relating to interfacing different systems, have been developed in a system named Trigger Interface Board (TIB). This system is comprised of one module which will be placed inside the LSTs and MSTs cameras, and which will be connected to the neighbour telescopes through optical fibers. When a telescope receives a local trigger, it is resent to all the connected neighbours and vice-versa, so every telescope knows if its neighbours have been triggered. Once compensated the delay differences due to propagation in the optical fibers and in the air depending on the pointing direction, the TIB looks for coincidences, and in the case that the trigger condition is accomplished, the camera is read a fixed time after the local trigger arrived. Despite all the trigger system is the result of the cooperation of several groups, specially IFAE, Ciemat, ICC-UB and UCM in Spain, with some help from french and japanese groups, the Level 1 and the Trigger Interface Board constitute the core of this thesis, as they have been the two systems designed by the author of the thesis. For this reason, a large amount of technical information about these systems has been included. There are important future development lines regarding both the camera trigger (implementation in ASICS) and the stereo trigger (topological trigger), which will produce interesting improvements for the current designs during the following years, being useful for all the scientific community participating in CTA.