Evaluation of mission planning strategies of a robotic aerial vehicle for the AIRC international competition

The International Aerial Robotics Competition (IARC) is an important event where teams from universities design flying autonomous vehicles to overcome the last challenges in the field. The goal of the Seventh Mission proposed by the IARC is to guide several mobile ground robots to a target area. The scenario is complex and not determinist due to the random behavior of the ground robots movement. The UAV must select efficient strategies to complete the mission. The goal of this work has been evaluating different alternative mission planning strategies of a UAV for this competition. The Mission Planner component is in charge of taking the UAV decisions. Different strategies have been developed and evaluated for the component, achieving a better performance Mission Planner and valuable knowledge about the mission. For this purpose, it was necessary to develop a simulator to evaluate the different strategies. The simulator was built as an improvement of an existing previous version.

Sampling strategies using the "accumulation chamber" for monitoring geological

Fundación Ciudad de la Energía (CIUDEN) is carrying out a project of geological storage of CO2, where CO2 injection tests are planned in saline aquifers at a depth of 1500 m for scientific objectives and project demonstration. Before any CO2 is stored, it is necessary to determine the baseline flux of CO2 in order to detect potential leakage during injection and post-injection monitoring. In November 2009 diffuse flux measurements of CO2 using an accumulationchamber were made in the area selected by CIUDEN for geological storage, located in Hontomin province of Burgos (Spain). This paper presents the tests carried out in order to establish the optimum sampling methodology and the geostatistical analyses performed to determine the range, with which future field campaigns will be planned.

Cooperative Task Execution between Modular Robots Based on Tight-Loose Cooperation Strategies

The complexity in the execution of cooperative tasks is high due to the fact that a robot team requires movement coordination at the beginning of the mission and continuous coordination during the execution of the task. A variety of techniques have been proposed to give a solution to this problem assuming standard mobile robots. This work focuses on presenting the execution of a cooperative task by a modular robot team. The complexity of the task execution increases due to the fact that each robot is composed of modules which have to be coordinated in a proper way to successfully work. A combined tight and loose cooperation strategy is presented and a bar-pushing example is used as a cooperative task to show the performance of this type of system.

Particle methods parallel implementations by GP-GPU strategies

This paper outlines the problems found in the parallelization of SPH (Smoothed Particle Hydrodynamics) algorithms using Graphics Processing Units. Different results of some parallel GPU implementations in terms of the speed-up and the scalability compared to the CPU sequential codes are shown. The most problematic stage in the GPU-SPH algorithms is the one responsible for locating neighboring particles and building the vectors where this information is stored, since these specific algorithms raise many dificulties for a data-level parallelization. Because of the fact that the neighbor location using linked lists does not show enough data-level parallelism, two new approaches have been pro- posed to minimize bank conflicts in the writing and subsequent reading of the neighbor lists. The first strategy proposes an efficient coordination between CPU-GPU, using GPU algorithms for those stages that allow a straight forward parallelization, and sequential CPU algorithms for those instructions that involve some kind of vector reduction. This coordination provides a relatively orderly reading of the neighbor lists in the interactions stage, achieving a speed-up factor of x47 in this stage. However, since the construction of the neighbor lists is quite expensive, it is achieved an overall speed-up of x41. The second strategy seeks to maximize the use of the GPU in the neighbor's location process by executing a specific vector sorting algorithm that allows some data-level parallelism. Al- though this strategy has succeeded in improving the speed-up on the stage of neighboring location, the global speed-up on the interactions stage falls, due to inefficient reading of the neighbor vectors. Some changes to these strategies are proposed, aimed at maximizing the computational load of the GPU and using the GPU texture-units, in order to reach the maximum speed-up for such codes. Different practical applications have been added to the mentioned GPU codes. First, the classical dam-break problem is studied. Second, the wave impact of the sloshing fluid contained in LNG vessel tanks is also simulated as a practical example of particle methods

Development of mathematical models to elaborate strategies, select alternatives and development of plans for adaptation of communities to climate change in different geographical areas including costs to implement it.

There is evidence that the climate changes and that now, the change is influenced and accelerated by the CO2 augmentation in atmosphere due to combustion by humans. Such ?Climate change? is on the policy agenda at the global level, with the aim of understanding and reducing its causes and to mitigate its consequences. In most countries and international organisms UNO (e.g. Rio de Janeiro 1992), OECD, EC, etc . . . the efforts and debates have been directed to know the possible causes, to predict the future evolution of some variable conditioners, and trying to make studies to fight against the effects or to delay the negative evolution of such. The Protocol of Kyoto 1997 set international efforts about CO2 emissions, but it was partial and not followed e.g. by USA and China . . . , and in Durban 2011 the ineffectiveness of humanity on such global real challenges was set as evident. Among all that, the elaboration of a global model was not boarded that can help to choose the best alternative between the feasible ones, to elaborate the strategies and to evaluate the costs, and the authors propose to enter in that frame for study. As in all natural, technological and social changes, the best-prepared countries will have the best bear and the more rapid recover. In all the geographic areas the alternative will not be the same one, but the model must help us to make the appropriated decision. It is essential to know those areas that are more sensitive to the negative effects of climate change, the parameters to take into account for its evaluation, and comprehensive plans to deal with it. The objective of this paper is to elaborate a mathematical model support of decisions, which will allow to develop and to evaluate alternatives of adaptation to the climatic change of different communities in Europe and Latin-America, mainly in especially vulnerable areas to the climatic change, considering in them all the intervening factors. The models will consider criteria of physical type (meteorological, edaphic, water resources), of use of the ground (agriculturist, forest, mining, industrial, urban, tourist, cattle dealer), economic (income, costs, benefits, infrastructures), social (population), politician (implementation, legislation), educative (Educational programs, diffusion) and environmental, at the present moment and the future. The intention is to obtain tools for aiding to get a realistic position for these challenges, which are an important part of the future problems of humanity in next decades.

Development of mathematical models to elaborate strategies, to select alternatives and the development of plans for the adaptation of communities to climate change in different geographical areas including costs to implement it

Climate change is on the policy agenda at the global level, with the aim of understanding and reducing its causes and to mitigate its consequences. In most of the countries and international organisms UNO, OECD, EC, etc … the efforts and debates have been directed to know the possible causes, to predict the future evolution of some variable conditioners, and trying to make studies to fight against the effects or to delay the negative evolution of such. Nevertheless, the elaboration of a global model was not boarded that can help to choose the best alternative between the feasible ones, to elaborate the strategies and to evaluate the costs. As in all natural, technological and social changes, the best-prepared countries will have the best bear and the more rapid recover. In all the geographic areas the alternative will not be the same one, but the model should help us to make the appropriated decision. It is essential to know those areas that are more sensitive to the negative effects of climate change, the parameters to take into account for its evaluation, and comprehensive plans to deal with it. The objective of this paper is to elaborate a mathematical model support of decisions, that will allow to develop and to evaluate alternatives of adaptation to the climatic change of different communities in Europe and Latin-America, mainly, in vulnerable areas to the climatic change, considering in them all the intervening factors. The models will take into consideration criteria of physical type (meteorological, edaphic, water resources), of use of the ground (agriculturist, forest, mining, industrial, urban, tourist, cattle dealer), economic (income, costs, benefits, infrastructures), social (population), politician (implementation, legislation), educative (Educational programs, diffusion), sanitary and environmental, at the present moment and the future.

Understanding time-drift for different aircraft descent guidance strategies

In this paper the effect of different aircraft automated descent guidance strategies on fuel burn and the temporal predictability of the executed trajectory is investigated. The paper aims to provide an understanding of how airborne automation can be permitted by Air Traffic Control to remain in control of the descent in the presence of disturbances while providing sufficient predictability. Simulations have been performed investigating different guidance strategies. While each strategy has its advantages and disadvantages, results indicate that improved temporal predictability comes at the cost of additional fuel burn and loss of predictability in other dimensions of the trajectory.

Search strategies and the automated control of plant diseases

We propose the use of the "infotaxis" search strategy as the navigation system of a robotic platform, able to search and localize infectious foci by detecting the changes in the profile of volatile organic compounds emitted by and infected plant. We builded a simple and cost effective robot platform that substitutes odour sensors in favour of light sensors and study their robustness and performance under non ideal conditions such as the exitence of obstacles due to land topology or weeds.

Even-sowing pattern strategies for a low-input agricultural system in forage maize

The objective of this study was to verify the effectiveness of new patterns of sowing and to achieve a low-input organic system in two different environments (northern and southern Europe). The study was motivated by the hypothesis that more even sowing patterns (triangular and square) would significantly enhance the growth and yield of forage maize under widely varying conditions, compared with traditional mechanised rectangular seed patterns. An experiment was conducted in Madrid and duplicated in Copenhagen during 2010. A random block design was used with a 2 × 2 factorial arrangement based on two seed-sowing patterns: traditional (rectangular) and new (even) and two weed-management conditions (herbicide use and a low-input system). In both weed-management conditions and locations, the production of aerial maize biomass was greater for the new square seed patterns. In addition, the new pattern showed a greater effectiveness in the control of weeds, both at the initial crop stages (36 and 33% fewer weeds m-2 at the 4- and 8-leaf stages, respectively, in the Copenhagen field experiment) and at the final stage. The final weed biomass for the new pattern was 568 kg ha-1 lower for the Copenhagen experiment and 277 kg ha-1 lower in Madrid field experiments. In the light of these results, the new pattern could potentially reduce the use of herbicides. The results of the experiments support the hypothesis formulated at the beginning of this study that even-sowing patterns would be relatively favourable for the growth and yield of the maize crop. In the near future, new machinery could be used to achieve new seed patterns for the optimisation of biomass yield under low-input systems. This approach is effective because it promotes natural crop-weed competition.

Sampling strategies using the "accumulation chamber" for monitoring geological storage of CO2

Fundación Ciudad de la Energía (CIUDEN) is carrying out a project of geological storage of CO2, where CO2 injection tests are planned in saline aquifers at a depth of 1500 m for scientific objectives and project demonstration. Before any CO2 is stored, it is necessary to determine the baseline flux of CO2 in order to detect potential leakage during injection and post-injection monitoring. In November 2009 diffuse flux measurements of CO2 using an accumulation chamber were made in the area selected by CIUDEN for geological storage, located in Hontomin province of Burgos (Spain). This paper presents the tests carried out in order to establish the optimum sampling methodology and the geostatistical analyses performed to determine the range, with which future field campaigns will be planned.

Subjective study of adaptive streaming strategies for 3DTV

Although the delivery of 3D video services to households is nowadays a reality thanks to frame-compatible formats, many efforts are being made to obtain efficient methods to transmit 3D content offering a high quality of experience to the end users. In this paper, a stereoscopic video streaming scenario is considered and the perceptual impact of various strategies applicable to adaptive streaming situations are compared. Specifically, the mechanisms are based on switching between copies of the content with different coding qualities, on discarding frames of the sequence, on switching from 3D to 2D and on using asymmetric coding of the stereo views. In addition, when video freezes happen, the possibility of keeping the end-to-end latency or maintaining the continuity of the video are considered. These aspects were evaluated carrying out a subjective assessment test considering also visual discomfort issues using a methodology designed to keep as far as possible domestic viewing conditions.

One or two poles of attraction in the international technological cooperation process?

In recent years, international cooperation processes have become a key mechanism for companies to internationalise their innovative activities, par ticularly in the case of small businesses whose size reduces their possibilities of developing internationalisation strategies autonomously in the same way as larger companies. In Spain, the existence of two parallel programmes with similar structures oriented towards Europe (EUREKA) and Latin America (IBEROEKA) raises the question as to whether the fact that companies participate in only one (unipolar) or both (bipolar) of these programmes is the result of a selection process, which, in turn, results in the existence of different collectives with different efficiency parameters. The aim of this study is to provide a comparative analysis based on the final reports of Spanish companies that have participated in the EUREKA programme. Two groups of companies were compared: one comprising companies that have only had international experience in Europe (EUREKA); and another formed by companies that have also carried out IBEROEKA projects. The conclusions confirm that the behaviour of both groups of companies differs substantially and reveal the importance of geographical perspective in the analysis of international cooperation in technology. This disparate behaviour is a relevant aspect that must be taken into account when designing policies to promote international technological cooperation.

Win-win transport strategies: searching for sinergies

In order to achieve to minimize car-based trips, transport planners have been particularly interested in understanding the factors that explain modal choices. In the transport modelling literature there has been an increasing awareness that socioeconomic attributes and quantitative variables are not sufficient to characterize travelers and forecast their travel behavior. Recent studies have also recognized that users? social interactions and land use patterns influence travel behavior, especially when changes to transport systems are introduced, but links between international and Spanish perspectives are rarely deal. In this paper, factorial and path analyses through a Multiple-Indicator Multiple-Cause (MIMIC) model are used to understand and describe the relationship between the different psychological and environmental constructs with social influence and socioeconomic variables. The MIMIC model generates Latent Variables (LVs) to be incorporated sequentially into Discrete Choice Models (DCM) where the levels of service and cost attributes of travel modes are also included directly to measure the effect of the transport policies that have been introduced in Madrid during the last three years in the context of the economic crisis. The data used for this paper are collected from a two panel smartphone-based survey (n=255 and 190 respondents, respectively) of Madrid.

Improving engineering students' communication competence: designing innovative learning strategies

This research presents an innovative and formal educational initiative that is aimed at enhancing the development of engineering students’ specific competencies when studying Engineering Project Management subject. The framework of the experience combines theoretical concepts, the development of a real-case project carried out by multidisciplinary groups of three different universities, the use of software web 2.0 tools, and group and individual assignments of students that play different roles (project managers and team members). Under this scenario, this paper focuses on monitoring the communication competence in the ever growing Project Management virtual environment. Factors such as corporal language, technical means, stage, and management specific vocabulary among others have been considered in order to assess the students’ performance on this issue. As a main contribution, the paper introduces an ad-hoc rubric that, based on previous investigations, has been adapted and tested to this specific context. Additionally, the research conducted has provided some interesting findings that suggest further actions to improve and better define future rubrics, oriented to communication or even other competencies. As specific Project Management subject concerns, it has been detected that students playing the role of Project Managers strengthen their competencies more than those ones that play the role of Team Members. It has also been detected that students have more difficulty assimilating concepts related to risk and quality management. However those concepts related with areas of knowledge like scope, time or cost have been better assimilated by the students.

Promotion of professional skills in engineering education: strategies and challenges

Basic engineering skills are not the only key to professional development, particularly as engineering problems are everyday more and more complex and multifaceted, hence requiring the implementation of larger multidisciplinary teams, in many cases working in an international context and in a continuously evolving environment. Therefore other outcomes, sometimes referred to as professional skills, are also necessary for our students, as most universities are already aware. In this study we try to methodically analyze the main strategies for the promotion of professional skills, mainly linked to actuations which directly affect students or teachers (and teaching methodologies) and which take advantage of the environment and available resources. From an initial list of 51 strategies (in essence aimed at promotion of different drivers of change, linked to students, teachers, environment and resources), we focus on the 11 drivers of change considered more important after an initial evaluation. Subsequently, a systematic analysis of the typical problems linked to these main drivers of change, enables us to find and formulate 12 major and usually repeated and unsolved problems. After selecting these typical problems, we put forward 25 different solutions, for short-term actuation, and discuss their effects, while bearing in mind our team’s experience, together with the information from the studies carried out by numerous teaching staff from other universities.