Cognitive risk perception system for obstacle avoidance in outdoor mUAV missions

La robótica ha evolucionado exponencialmente en las últimas décadas, permitiendo a los sistemas actuales realizar tareas sumamente complejas con gran precisión, fiabilidad y velocidad. Sin embargo, este desarrollo ha estado asociado a un mayor grado de especialización y particularización de las tecnologías implicadas, siendo estas muy eficientes en situaciones concretas y controladas, pero incapaces en entornos cambiantes, dinámicos y desestructurados. Por eso, el desarrollo de la robótica debe pasar por dotar a los sistemas de capacidad de adaptación a las circunstancias, de entendedimiento sobre los cambios observados y de flexibilidad a la hora de interactuar con el entorno. Estas son las caracteristicas propias de la interacción del ser humano con su entorno, las que le permiten sobrevivir y las que pueden proporcionar a un sistema inteligencia y capacidad suficientes para desenvolverse en un entorno real de forma autónoma e independiente. Esta adaptabilidad es especialmente importante en el manejo de riesgos e incetidumbres, puesto que es el mecanismo que permite contextualizar y evaluar las amenazas para proporcionar una respuesta adecuada. Así, por ejemplo, cuando una persona se mueve e interactua con su entorno, no evalúa los obstáculos en función de su posición, velocidad o dinámica (como hacen los sistemas robóticos tradicionales), sino mediante la estimación del riesgo potencial que estos elementos suponen para la persona. Esta evaluación se consigue combinando dos procesos psicofísicos del ser humano: por un lado, la percepción humana analiza los elementos relevantes del entorno, tratando de entender su naturaleza a partir de patrones de comportamiento, propiedades asociadas u otros rasgos distintivos. Por otro lado, como segundo nivel de evaluación, el entendimiento de esta naturaleza permite al ser humano conocer/estimar la relación de los elementos con él mismo, así como sus implicaciones en cuanto a nivel de riesgo se refiere. El establecimiento de estas relaciones semánticas -llamado cognición- es la única forma de definir el nivel de riesgo de manera absoluta y de generar una respuesta adecuada al mismo. No necesariamente proporcional, sino coherente con el riesgo al que se enfrenta. La investigación que presenta esta tesis describe el trabajo realizado para trasladar esta metodología de análisis y funcionamiento a la robótica. Este se ha centrado especialmente en la nevegación de los robots aéreos, diseñando e implementado procedimientos de inspiración humana para garantizar la seguridad de la misma. Para ello se han estudiado y evaluado los mecanismos de percepción, cognición y reacción humanas en relación al manejo de riesgos. También se ha analizado como los estímulos son capturados, procesados y transformados por condicionantes psicológicos, sociológicos y antropológicos de los seres humanos. Finalmente, también se ha analizado como estos factores motivan y descandenan las reacciones humanas frente a los peligros. Como resultado de este estudio, todos estos procesos, comportamientos y condicionantes de la conducta humana se han reproducido en un framework que se ha estructurado basadandose en factores análogos. Este emplea el conocimiento obtenido experimentalmente en forma de algoritmos, técnicas y estrategias, emulando el comportamiento humano en las mismas circunstancias. Diseñado, implementeado y validado tanto en simulación como con datos reales, este framework propone una manera innovadora -tanto en metodología como en procedimiento- de entender y reaccionar frente a las amenazas potenciales de una misión robótica. ABSTRACT Robotics has undergone a great revolution in the last decades. Nowadays this technology is able to perform really complex tasks with a high degree of accuracy and speed, however this is only true in precisely defined situations with fully controlled variables. Since the real world is dynamic, changing and unstructured, flexible and non context-dependent systems are required. The ability to understand situations, acknowledge changes and balance reactions is required by robots to successfully interact with their surroundings in a fully autonomous fashion. In fact, it is those very processes that define human interactions with the environment. Social relationships, driving or risk/incertitude management... in all these activities and systems, context understanding and adaptability are what allow human beings to survive: contrarily to the traditional robotics, people do not evaluate obstacles according to their position but according to the potential risk their presence imply. In this sense, human perception looks for information which goes beyond location, speed and dynamics (the usual data used in traditional obstacle avoidance systems). Specific features in the behaviour of a particular element allows the understanding of that element’s nature and therefore the comprehension of the risk posed by it. This process defines the second main difference between traditional obstacle avoidance systems and human behaviour: the ability to understand a situation/scenario allows to get to know the implications of the elements and their relationship with the observer. Establishing these semantic relationships -named cognition- is the only way to estimate the actual danger level of an element. Furthermore, only the application of this knowledge allows the generation of coherent, suitable and adjusted responses to deal with any risk faced. The research presented in this thesis summarizes the work done towards translating these human cognitive/reasoning procedures to the field of robotics. More specifically, the work done has been focused on employing human-based methodologies to enable aerial robots to navigate safely. To this effect, human perception, cognition and reaction processes concerning risk management have been experimentally studied; as well as the acquisition and processing of stimuli. How psychological, sociological and anthropological factors modify, balance and give shape to those stimuli has been researched. And finally, the way in which these factors motivate the human behaviour according to different mindsets and priorities has been established. This associative workflow has been reproduced by establishing an equivalent structure and defining similar factors and sources. Besides, all the knowledge obtained experimentally has been applied in the form of algorithms, techniques and strategies which emulate the analogous human behaviours. As a result, a framework capable of understanding and reacting in response to stimuli has been implemented and validated.

Governance Structure Choices in Supply Chain Management Evidence from Spanish and Chinese Pork Chain Cases

The author participated in the 6 th EU Framework Project ―Q-pork Chains (FP6-036245-2)‖ from 2007 to 2009. With understanding of work reports from China and other countries, it is found that compared with other countries, China has great problems in pork quality and safety. By comparing the pork chain management between China and Spain, It is found that the difference in governance structure is one of the main differences in pork chain management between Spain and China. In China, spot-market relationship still dominates governance structure of pork chain, especially between the numerous house-hold pig holders and the great number of small slaughters. While in Spain, chain agents commonly apply cooperatives or integrations to cooperate. It also has been proven by recent studies, that in quality management at the chain level that supply chain integration has a direct effect on quality management practices (Han, 2010). Therefore, the author started to investigate the governance structure choices in supply chain management. And it has been set as the first research objective, which is to explain the governance structure choices process and the influencing factors in supply chain management, analyzing the pork chains cases in Spain and in China. During the further investigation, the author noticed the international trade of pork between Spain and China is not smooth since the signature of bi-lateral agreement on pork trade in 2007. Thus, another objective of the research is to find and solve the problems exist in the international pork chain between Spain and China. For the first objective, to explain the governance structure choices in supply chain management, the thesis conducts research in three main sections. 10 First of all, the thesis gives a literature overview in chapter two on Supply Chain Management (SCM), agri-food chain management and pork chain management. It concludes that SCM is a systems approach to view the supply chains as a whole, and to manage the total flow of goods inventory from the supplier to the ultimate customer. It includes the bi-directional flow of products (materials and services) and information, and the associated managerial and operational activities. And it also is a customer focus to create unique and individual source of customer value with an appropriate use of resources, leading to customer satisfaction and building competitive chain advantages. Agri-food chain management and pork chain management are applications of SCM in agri-food sector and pork sector respectively. Then, the research gives a comparative study in chapter three in the pork chain and pork chain management between Spain and China. Many differences are found, while the main difference is governance structure in pork chain management. Furthermore, the author gives an empirical study on governance structure choice in chapter five. It is concluded that governance structure of supply chain consists of a collection of rules/institutions/constraints structuring the transactions between the various stakeholders. Based on the overview on literatures closely related with governance structure, such as transaction cost economics, transaction value analysis and resource-based view theories, seven hypotheses are proposed, which are: Hypothesis 1: Transaction cost has positive relationship with governance structure choice Hypothesis 2: Uncertainty has positive relationship with transaction cost; higher uncertainty exerts high transaction cost Hypothesis 3: The relationship between asset specificity and transaction cost is positive Hypothesis 4: Collaboration advantages and governance structure choice have positive relationship11 Hypothesis 5: Willingness to collaborate has positive relationship with collaboration advantages Hypothesis 6: Capability to collaborate has positive relationship with collaboration advantages Hypothesis 7: Uncertainty has negative effect on collaboration advantages It is noted that as transaction cost value is negative, the transaction cost mentioned in the hypotheses is its absolute value. To test the seven hypotheses, Structural Equation Model (SEM) is applied and data collected from 350 pork slaughtering and processing companies in Jiangsu, Shandong and Henan Provinces in China is used. Based on the empirical SEM model and its results, the seven hypotheses are proved. The author generates several conclusions accordingly. It is found that the governance structure choice of the chain not only depends on transaction cost, it also depends on collaboration advantages. Exchange partners establish more stable and more intense relationship to reduce transaction cost and to maximize collaboration advantages. ―Collaboration advantages‖ in this thesis is defined as the joint value achieved through transaction (mutual activities) of agents in supply chains. This value forms as improvements, mainly in mutual logistics systems, cash response, information exchange, technological improvements and innovative improvements and quality management improvements, etc. Governance structure choice is jointly decided by transaction cost and collaboration advantages. Chain agents take different governance structures to coordinate in order to decrease their transaction cost and to increase their collaboration advantages. In China´s pork chain case, spot market relationship dominates the governance structure among the numerous backyard pig farmer and small family slaughterhouse 12 as they are connected by acquaintance relationship and the transaction cost in turn is low. Their relationship is reliable as they know each other in the neighborhood; as a result, spot market relationship is suitable for their exchange. However, the transaction between large-scale slaughtering and processing industries and small-scale pig producers is becoming difficult. The information hold back behavior and hold-up behavior of small-scale pig producers increase transaction cost between them and large-scale slaughtering and processing industries. Thus, through the more intense and stable relationship between processing industries and pig producers, processing industries reduce the transaction cost and improve the collaboration advantages with their chain partners, in which quality and safety collaboration advantages be increased, meaning that processing industries are able to provide consumers products with better quality and higher safety. It is also drawn that transaction cost is influenced mainly by uncertainty and asset specificity, which is in line with new institutional economics theories developed by Williamson O. E. In China´s pork chain case, behavioral uncertainty is created by the hold-up behaviors of great numbers of small pig producers, while big slaughtering and processing industries having strong asset specificity. On the other hand, ―collaboration advantages‖ is influenced by chain agents´ willingness to collaborate and chain agents´ capabilities to cooperate. With the fast growth of big scale slaughtering and processing industries, they are more willing to know and make effort to cooperate with their chain members, and they are more capable to create joint value together with other chain agents. Therefore, they are now the main chain agents who drive more intense and stable governance structure in China‘s pork chain. For the other objective, to find and solve the problems in the international pork chain between Spain and China, the research gives an analysis in chapter four on the 13 international pork chain. This study gives explanations why the international trade of pork between Spain and China is not sufficient from the chain perspective. It is found that the first obstacle is the high quality and safety requirement set by Chinese government. It makes the Spanish companies difficult to get authorities to export. Other aspects, such as Spanish pork is not competitive in price compared with other countries such as Denmark, United States, Canada, etc., Chinese consumers do not have sufficient information on Spanish pork products, are also important reasons that Spain does not export great quantity of pork products to China. It is concluded that China´s government has too much concern on the quality and safety requirements to Spanish pork products, which makes trade difficult to complete. The two countries need to establish a more stable and intense trade relationship. They also should make the information exchange sufficient and efficient and try to break trade barriers. Spanish companies should consider proper price strategies to win the Chinese pork market

Assessing the solar irradiation potential for solar photovoltaic applications in buildings at low latitudes ¿ Making the case for Brazil

In Brazil, a low-latitude country characterized by its high availability and uniformity of solar radiation, the use of PV solar energy integrated in buildings is still incipient. However, at the moment there are several initiatives which give some hints that lead to think that there will be a change shortly. In countries where this technology is already a daily reality, such as Germany, Japan or Spain, the recommendations and basic criteria to avoid losses due to orientation and tilt are widespread. Extrapolating those measures used in high latitudes to all regions, without a previous deeper analysis, is standard practice. They do not always correspond to reality, what frequently leads to false assumptions and may become an obstacle in a country which is taking the first step in this area. In this paper, the solar potential yield for different surfaces in Brazilian cities (located at latitudes between 0° and 30°S) are analyzed with the aim of providing the necessary tools to evaluate the suitability of the buildings’ envelopes for photovoltaic use

Extreme temperature events analyzed with Fast Fourier Transform

Extreme weather and climate events have received increased attention in the last few years, due to the often large loss of agriculture business and exponentially increasing costs associated with them and insurance planning. This increased attention raises the question as to whether extreme weather and climate events are truly increasing, whether this is only a perceived increase exacerbated by enhanced media coverage, or both. There are a number of ways extreme climate events can be defined, such as extreme daily temperatures, extreme daily rainfall amounts, and large areas experiencing unusually warm monthly temperatures, among others. In this study, we will focus our attention in frost and heatstroke events measuring it as the number of days under 0 ºC and number of days with daily maximum over 30ºC monthly respectively. We have studied the trends in these extreme events applying a Fast Fourier Transform to the series to clarify the tendency. Lack of long-term climate data suitable for analysis of extremes is the single biggest obstacle to quantifying whether extreme events have changed over the twentieth century, including high temporal and spatial resolution observations of temperatures. However, several series have been grouped in different ways: chosen the longest series independently, by provinces, by main watersheds and altitude. On the other hand, synthetic series generated by Luna and Balairón (AEMet) were also analyzed. The results obtained by different pooling data are discussed concluding the difficulties to assess the extreme events tendencies and high regional variation in the trends.

Modelización de contactos termoelastohidrodinámicos

La mejora en la eficiencia energética y la reducción de la tasa de fallos en los contactos lubricados son aspectos que resultan de gran interés en numerosos sectores de la industria, y plantean en estos momentos nuevas dificultades operativas y retos para un futuro próximo. Los avances tecnológicos han incrementado las exigencias técnicas que se requieren a los aceites para cumplir su función al extender sus variables operativas a un mayor espectro de aplicaciones, tanto de condiciones de funcionamiento como a la gran variedad de nuevos materiales constitutivos de los engranajes en los que se tiene que utilizar. Por ello, actualmente se está incentivado el desarrollo de nuevos procedimientos que permitan comprender el comportamiento de este tipo de contactos lubricados, con el fin de lograr mejoras técnicas en su diseño y la correcta selección del aceite. En esta Tesis Doctoral se presenta una metodología de cálculo numérico que permite simular el comportamiento de contactos elastohidrodinámicos (EHD) puntuales, como puede ser el caso de un rodamiento. La resolución de este problema presenta diversas complejidades matemáticas y exige el desarrollo de un elaborado procedimiento de cálculo basado en técnicas multinivel. Para hacer del procedimiento una herramienta válida en un gran número de condiciones de funcionamiento y tipos de lubricantes, se ha tenido en cuenta en el cálculo la posible aparición de comportamientos no-Newtonianos del lubricante y fenómenos de generación y disipación de calor, provocados por el movimiento relativo del fluido y las superficies en contacto. Para la validación del procedimiento, se han contrastado los resultados numéricos obtenidos con nuestro método, con los resultados numéricos y experimentales publicados por otros autores y con valores experimentales propios medidos en un equipo de ensayo de contacto puntual tipo MTM. El desarrollo de este programa ha dotado a la División de Ingeniería de Máquinas de una herramienta que ha permitido, y sobre todo va permitir, evaluar la importancia de cada uno de los parámetros reológicos en los diferentes problemas que va a tener que abordar, evaluación que hasta el momento se realizaba con métodos aproximados que describen la fenomenología con mucha menos precisión. A la hora de emplear nuestro procedimiento numérico para simular situaciones reales, nos hemos encontrado con el obstáculo de que es muy complicado encontrar, en la bibliografía y bases de datos, los parámetros que caracterizan el comportamiento reológico del lubricante en las condiciones de presión, temperatura y grado de cizallamiento habituales en las que se trabaja en este tipo de contactos, y las pocas medidas que existen para estas condiciones de funcionamiento son poco fiables. Por ello como complemento al objetivo principal de esta Tesis hemos desarrollado una metodología para caracterizar los lubricantes en estas condiciones extremas. Dicha metodología está basada en la buena descripción que hace nuestro programa del coeficiente de fricción, lo que nos ha permitido obtener los parámetros reológicos del III lubricante a partir de las medidas experimentales del coeficiente de fricción generado en un equipo MTM lubricado con el lubricante que se desea caracterizar. Madrid, Octubre de 2012 IV Improving energy efficiency and reducing the failure rate in lubricated contacts are issues that are of great interest in many sectors of industry, and right now posed operational difficulties and new challenges for the near future. Technological advances have increased the technical demands required to oils to fulfil its role by extending its operational variables to a wider range of applications, both operating conditions and to the wide variety of new materials which constitute the gear in which must be used. For this reason, has being encouraged currently to develop new procedures to understand the behaviour of this type of lubricated contacts, in order to achieve improvements in design techniques and the correct oil selection. In this Thesis we present a numerical methodology to simulate the puntual elastohydrodynamic contact behaviour (EHD), such as a roller bearing. The resolution of this problem presents various mathematical complexities and requires the development of an elaborate calculation procedure based on multilevel techniques. To make the procedure a valid tool in a wide range of operating conditions and types of lubricants, has been taken into account in calculating the possible occurrence of non-Newtonian behaviour of the lubricant and phenomena of generation and dissipation of heat, caused by the fluid relative motion and contacting surfaces. For the validation of the method, we have compared the numerical results obtained with our method with numerical and experimental results published by other authors also with own experimental values measured on point-contact test equipment MTM. The development of this program has provided the Machines Engineering Division of a tool that has allowed, and especially will allow to evaluate the importance of each of the rheological parameters on the various problems that will have to be addressed, evaluation performed hitherto described methods that phenomenology approximated with much less accuracy. When using our numerical procedure to simulate real situations we have encountered the obstacle that is very difficult to find, in the literature and database, parameters characterizing the rheological behaviour of the lubricant in the usual conditions of pressure, temperature and shear rate in which you work in this type of contact, and the few measures that exist for these operating conditions are unreliable. Thus in addition to the main objective of this thesis, we have developed a methodology to characterize the lubricants in these extreme conditions. This methodology is based on the good description, which makes our program, of the coefficient of friction, that allowed us to obtain the lubricant rheological parameters from experimental measurements of the friction coefficient generated on lubricated MTM equipment with the lubricant to be characterized.

Optimización de la metodología de contratación de carbones térmicos con destino a la generación eléctrica

En los últimos quince años se ha producido una liberalización de los mercados eléctricos en los distintos países de ámbito occidental que ha ido acompañado de un incremento por la preocupación por la incidencia de las distintas tecnologías de generación en el entorno medioambiental. Ello se ha traducido en la aparición de un marco regulatorio más restrictivo sobre las tecnologías de generación fósiles, con mayor incidencia en las derivadas de productos petrolíferos y carbón. A nivel mundial han ido apareciendo cambios normativos relativos a las emisiones de distintos elementos contaminantes (CO2, SO2, NOx…), que hacen que en particular las centrales térmicas de carbón vean muy afectadas su rentabilidad y funcionamiento. Esta situación ha supuesto que la tecnología de generación eléctrica con carbón haya avanzado considerablemente en los últimos años (calderas supercríticas, sistemas de desulfuración, gasificación del carbón…). No obstante, el desarrollo de la generación con energías renovables, la generación con gas mediante centrales de ciclo combinado y la opinión social relativa a la generación con carbón, principalmente en Europa, suponen un serio obstáculo a la generación con carbón. Por consiguiente, se hace necesario buscar vías para optimizar la competitividad de las centrales de carbón y el camino más razonable es mejorar el margen esperado de estas plantas y en particular el coste de adquisición del carbón. Ello se hace aún más importante por el hecho de existir numerosas centrales de carbón y un elevado número de nuevos proyectos constructivos de centrales de carbón en países asiáticos. Por consiguiente, el objeto de la presente tesis doctoral se centra en definir una metodología para optimizar la compra de carbón, desde el punto de vista económico y técnico, con destino a su consumo en una central térmica, con ello reducir el coste del carbón consumido y mejorar su competitividad. También se enfoca a determinar que herramientas pueden ser utilizadas para optimizar la gestión del carbón después de su compra y con ello abrir la posibilidad de obtener márgenes adicionales para dicho carbón. De acuerdo con este objetivo, el autor de la presente Tesis Doctoral realiza tres aportaciones novedosas en el ámbito de la contratación de carbón térmico y su optimización posterior: - Evaluación de carbones para su adquisición considerando el efecto de la calidad del carbón en el coste de generación asociado a cada carbón ofertado. - Creación, desarrollo, implantación y utilización de una potente herramienta de planificación de Combustibles. Esta herramienta, está diseñada con el objeto de determinar la solución económica óptima de aprovisionamientos, consumos y niveles de existencias para un parque de generación con centrales de carbón y fuelóleo. - La extensión de una metodología contractual habitual en el mercado spot de Gas Natural Licuado, a la contratación spot de Carbón de Importación. Esta se basa en el desarrollo de Acuerdos Marcos de Compra/Venta de carbón, que por su flexibilidad permitan obtener resultados económicos adicionales después de la compra de un carbón. Abstract In the last fifteen years, a liberalization of the electrical markets has occurred in the western countries. This process has been accompanied by an increasing concern of the impact of the different generation technologies towards the environment. This has motivated a regulated framework restricting the use of fossil fuels, impacting a great deal in coal and oil based products. Worldwide, new legal changes have been arising related to the emissions of the different pollutants (CO2, SO2, NOx…). These changes have had a deep impact in the feasibility, profit and running of coal fired power plants. This situation has motivated the coal electrical generation technologies to move forward in an important way in the last few years (supercritical furnaces, desulphuration plants, coal gasification…). Nevertheless, the development of the renewable generation, the gas combined cycle generation and the social opinion related to the coal electrical generation, mainly in Europe, have created a serious obstacle to the generation of electricity by coal. Therefore it is necessary to look for new paths in order to optimize the competitiveness of the coal fired power plants and the most reasonable way is to improve the expected margin of these plants and particularly the coal purchase cost. All of the above needs to be taken into context with the large number of existing coal fired power plants and an important number of new projects in Asian countries. Therefore, the goal of the current doctoral dissertation is focused to define a methodology to be considered in order to optimize the coal purchase, from an economical and a technical point of view. This coal, destined for power plant consumption, permits the reduction of consumption coal cost and improves the plant’s competitiveness. This document is also focused to define what tools we can use to optimize the coal management after deal closing and therefore open the possibility to get further margins. According to this goal, the author of this doctoral dissertation provides three important new ideas in the ambit of contracting steam coal and the posterior optimization: - Evaluation of coal purchases, considering the effect of coal quality on the cost of generation associated with each type of coal offered. - The creation, development, deployment and use of a strong planning tool of fuels. This tool is designed for the purpose of determining the optimal economic solution of fuel supply, consumption and stock levels for a power generation portfolio using coal and fuel oil fired power plants. - The application of a common contractual methodology in the spot market of Liquid Natural Gas, for the contracting spot imported coal. This is based on the development of Framework Agreements for the Purchasing / Sale of coal, which because of its flexibility allows for the gain of additional financial results after the purchase of coal.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

Methodology for registration of distended recutms in pelvic CT studies

Purpose: Accurate delineation of the rectum is of high importance in off-line adaptive radiation therapy since it is a major dose-limiting organ in prostate cancer radiotherapy. The intensity-based deformable image registration (DIR) methods cannot create a correct spatial transformation if there is no correspondence between the template and the target images. The variation of rectal filling, gas, or feces, creates a noncorrespondence in image intensities that becomes a great obstacle for intensity-based DIR. Methods: In this study the authors have designed and implemented a semiautomatic method to create a rectum mask in pelvic computed tomography (CT) images. The method, that includes a DIR based on the demons algorithm, has been tested in 13 prostate cancer cases, each comprising of two CT scans, for a total of 26 CT scans. Results: The use of the manual segmentation in the planning image and the proposed rectum mask method (RMM) method in the daily image leads to an improvement in the DIR performance in pelvic CT images, obtaining a mean value of overlap volume index = 0.89, close to the values obtained using the manual segmentations in both images. Conclusions: The application of the RMM method in the daily image and the manual segmentations in the planning image during prostate cancer treatments increases the performance of the registration in presence of rectal fillings, obtaining very good agreement with a physician's manual contours.

Information as a Key Tool for Rural Development. 25 Years of Experience in Spain

The lack of useful information has become a major obstacle that hinders the participation of the members of the community in the development process because they can not accurately perceive how their individual and/or collective action can influence their environment, and because of the lack of elements that support the decision-making processes. This article addresses these issues from the work carried out by the Association Instituto de Desarrollo Comunitario de Cuenca (IDC Cuenca) in the rural areas of this province of Spain for 25 years. The results show how the application of methodologies for the transmission of information tailored to each group of recipients in some aspects, enhances the participation of individuals.

Methodology for registration of distended rectums in pelvic CT studies

Purpose: Accurate delineation of the rectum is of high importance in off-line adaptive radiation therapy since it is a major dose-limiting organ in prostate cancer radiotherapy. The intensity-based deformable image registration (DIR) methods cannot create a correct spatial transformation if there is no correspondence between the template and the target images. The variation of rectal filling, gas, or feces, creates a noncorrespondence in image intensities that becomes a great obstacle for intensity-based DIR. Methods: In this study the authors have designed and implemented a semiautomatic method to create a rectum mask in pelvic computed tomography (CT) images. The method, that includes a DIR based on the demons algorithm, has been tested in 13 prostate cancer cases, each comprising of two CT scans, for a total of 26 CT scans. Results: The use of the manual segmentation in the planning image and the proposed rectum mask method (RMM) method in the daily image leads to an improvement in the DIR performance in pelvic CT images, obtaining a mean value of overlap volume index = 0.89, close to the values obtained using the manual segmentations in both images. Conclusions: The application of the RMM method in the daily image and the manual segmentations in the planning image during prostate cancer treatments increases the performance of the registration in presence of rectal fillings, obtaining very good agreement with a physician's manual contours.

See-and-avoid quadcopter using fuzzy control optimized by cross-entropy

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.

Using configuration management and product line software paradigms to support the experimentation process in software engineering.

There is no empirical evidence whatsoever to support most of the beliefs on which software construction is based. We do not yet know the adequacy, limits, qualities, costs and risks of the technologies used to develop software. Experimentation helps to check and convert beliefs and opinions into facts. This research is concerned with the replication area. Replication is a key component for gathering empirical evidence on software development that can be used in industry to build better software more efficiently. Replication has not been an easy thing to do in software engineering (SE) because the experimental paradigm applied to software development is still immature. Nowadays, a replication is executed mostly using a traditional replication package. But traditional replication packages do not appear, for some reason, to have been as effective as expected for transferring information among researchers in SE experimentation. The trouble spot appears to be the replication setup, caused by version management problems with materials, instruments, documents, etc. This has proved to be an obstacle to obtaining enough details about the experiment to be able to reproduce it as exactly as possible. We address the problem of information exchange among experimenters by developing a schema to characterize replications. We will adapt configuration management and product line ideas to support the experimentation process. This will enable researchers to make systematic decisions based on explicit knowledge rather than assumptions about replications. This research will output a replication support web environment. This environment will not only archive but also manage experimental materials flexibly enough to allow both similar and differentiated replications with massive experimental data storage. The platform should be accessible to several research groups working together on the same families of experiments.

Quadcopter see and avoid using a fuzzy controller

Unmanned Aerial Vehicles (UAVs) industry is a fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors or fixed-wings. Until UAVs demonstrate advance capabilities such as autonomous collision avoidance they will be segregated and restricted to flight in controlled environments. This work presents a visual fuzzy servoing system for obstacle avoidance using UAVs. To accomplish this task we used the visual information from the front camera. Images are processed off-board and the result send to the Fuzzy Logic controller which then send commands to modify the orientation of the aircraft. Results from flight test are presented with a commercial off-the-shelf platform.

Sonar bat for visually impaired people

Visually impaired people have many difficulties when traveling because it is impossible for them to detect obstacles that stand in their way. Bats instead of using the sight to detect these obstacles use a method based on ultrasounds, as their sense of hearing is much more developed than that of sight. The aim of the project is to design and build a device based on the method used by the bats to detect obstacles and transmit this information to people with vision problems to improve their skills. The method involves sending ultrasonic waves and analyzing the echoes produced when these waves collide with an obstacle. The sent signals are pulses and the information needed is the time elapsed from we send a pulse to receive the echo produced. The speed of sound is fixed within the same environment, so measuring the time it takes the wave to make the return trip, we can easily know the distance where the object is located. To build the device we have to design the necessary circuits, fabricate printed circuit boards and mount the components. We also have to design a program that would work within the digital part, which will be responsible for performing distance calculations and generate the signals with the information for the user. The circuits are the emitter and the receiver. The transmitter circuit is responsible for generating the signals that we will use. We use an ultrasonic transmitter which operates at 40 kHz so the sent pulses have to be modulated with this frequency. For this we generate a 40 kHz wave with an astable multivibrator formed by NAND gates and a train of pulses with a timer. The signal is the product of these two signals. The circuit of the receiver is a signal conditioner which transforms the signals received by the ultrasonic receiver in square pulses. The received signals have a 40 kHz carrier, low voltage and very different shapes. In the signal conditioner we will amplify the voltage to appropriate levels, eliminate the component of 40 kHz and make the shape of the pulses square to use them digitally. To simplify the design and manufacturing process in the digital part of the device we will use the Arduino platform. The pulses sent and received echoes enter through input pins with suitable voltage levels. In the Arduino, our program will poll these two signals storing the time when a pulse occurs. These time values are analyzed and used to generate an audible signal with the user information. This information is stored in the frequency of the signal, so that the generated signal frequency varies depending on the distance at which the objects are. RESUMEN Las personas con discapacidad visual tienen muchas dificultades a la hora de desplazarse ya que les es imposible poder detectar los obstáculos que se interpongan en su camino. Los murciélagos en vez de usar la vista para detectar estos obstáculos utilizan un método basado en ultrasonidos, ya que su sentido del oído está mucho más desarrollado que el de la vista. El objetivo del proyecto es diseñar y construir un dispositivo basado en el método usado por los murciélagos para detectar obstáculos y que pueda ser usado por las personas con problemas en la vista para mejorar sus capacidades. El método utilizado consiste en enviar ondas de ultrasonidos y analizar el eco producido cuando estas ondas chocan con algún obstáculo. Las señales enviadas tendrán forma de pulsos y la información necesaria es el tiempo transcurrido entre que enviamos un pulso y recibimos el eco producido. La velocidad del sonido es fija dentro de un mismo entorno, por lo que midiendo el tiempo que tarda la onda en hacer el viaje de ida y vuelta podemos fácilmente conocer la distancia a la que se encuentra el objeto. Para construir el dispositivo tendremos que diseñar los circuitos necesarios, fabricar las placas de circuito impreso y montar los componentes. También deberemos diseñar el programa que funcionara dentro de la parte digital, que será el encargado de realizar los cálculos de la distancia y de generar las señales con la información para el usuario. Los circuitos diseñados corresponden uno al emisor y otro al receptor. El circuito emisor es el encargado de generar las señales que vamos a emitir. Vamos a usar un emisor de ultrasonidos que funciona a 40 kHz por lo que los pulsos que enviemos van a tener que estar modulados con esta frecuencia. Para ello generamos una onda de 40 kHz mediante un multivibrador aestable formado por puertas NAND y un tren de pulsos con un timer. La señal enviada es el producto de estas dos señales. El circuito de la parte del receptor es un acondicionador de señal que transforma las señales recibidas por el receptor de ultrasonidos en pulsos cuadrados. Las señales recibidas tienen una portadora de 40 kHz para poder usarlas con el receptor de ultrasonidos, bajo voltaje y formas muy diversas. En el acondicionador de señal amplificaremos el voltaje a niveles adecuados además de eliminar la componente de 40 kHz y conseguir pulsos cuadrados que podamos usar de forma digital. Para simplificar el proceso de diseño y fabricación en la parte digital del dispositivo usaremos la plataforma Arduino. Las señales correspondientes el envío de los pulsos y a la recepción de los ecos entraran por pines de entrada después de haber adaptado los niveles de voltaje. En el Arduino, nuestro programa sondeara estas dos señales almacenando el tiempo en el que se produce un pulso. Estos valores de tiempo se analizan y se usan para generar una señal audible con la información para el usuario. Esta información ira almacenada en la frecuencia de la señal, por lo que la señal generada variará su frecuencia en función de la distancia a la que se encuentren los objetos.

Integración de baterías en sistemas fotovoltaicos conectados a red

La situación actual del mercado energético en España y el imparable aumento de las tasas por parte de las eléctricas, está fomentando la búsqueda de fuentes de energía alternativas que permitan a la población poder abastecerse de electricidad, sin tener que pagar unos costes tan elevados. Para cubrir esta necesidad, la energía fotovoltaica y sobretodo el autoconsumo con inyección a red o balance neto, está adquiriendo cada vez más importancia dentro del mundo energético. Pero la penetración de esta tecnología en la Red Eléctrica Española tiene un freno, la desconfianza por parte del operador de la red, ya que la fotovoltaica es una fuente de energía intermitente, que puede introducir inestabilidades en el sistema en caso de alta penetración. Por ello se necesita ganar la confianza de las eléctricas, haciendo que sea una energía predecible, que aporte potencia a la red eléctrica cuando se le pida y que opere participando en la regulación de la frecuencia del sistema eléctrico. Para tal fin, el grupo de investigación de Sistemas Fotovoltaicos, perteneciente al IES de la UPM, está llevando a cabo un proyecto de investigación denominado PV CROPS, financiado por la Comisión Europea, y que tiene por objetivo desarrollar estas estrategias de gestión. En este contexto, el objetivo de este Proyecto Fin de Carrera consiste en implementar un Banco de Ensayos con Integración de Baterías en Sistemas FV Conectados a Red, que permita desarrollar, ensayar y validar estas estrategias. Aprovechando la disponibilidad para usar el Hogar Digital, instalado en la EUITT de la UPM, hemos montado el banco de ensayos en un laboratorio contiguo, y así, poder utilizar este Hogar como un caso real de consumos energéticos de una vivienda. Este banco de ensayos permitirá obtener información de la energía generada por la instalación fotovoltaica y del consumo real de la "casa" anexa, para desarrollar posteriormente estrategias de gestión de la electricidad. El Banco de Ensayos está compuesto por tres bloques principales, interconectados entre sí:  Subsistema de Captación de Datos y Comunicación. Encargado de monitorizar los elementos energéticos y de enviar la información recopilada al Subsistema de Control. Formado por analizadores de red eléctrica, monofásicos y de continua, y una pasarela orientada a la conversión del medio físico Ethernet a RS485.  Subsistema de Control. Punto de observación y recopilación de toda la información que proviene de los elementos energéticos. Es el subsistema donde se crearán y se implementarán estrategias de control energético. Compuesto por un equipo Pxie, controlador empotrado en un chasis de gama industrial, y un equipo PC Host, compuesto por una workstation y tres monitores.  Subsistema de Energía. Formado por los elementos que generan, controlan o consumen energía eléctrica, en el Banco de Ensayos. Constituido por una pérgola FV, un inversor, un inversor bidireccional y un bloque de baterías. El último paso ha sido llevar a cabo un Ejemplo de Aplicación Práctica, con el que hemos probado que el Banco de Ensayos está listo para usarse, es operativo y completamente funcional en operaciones de monitorización de generación energética fotovoltaica y consumo energético. ABSTRACT. The current situation of the energetic market in Spain and the unstoppable increase of the tax on the part of the electrical companies, is promoting the search of alternative sources of energy that allow to the population being able to be supplied of electricity, without having to pay so high costs. To meet this need, the photovoltaic power and above all the self-consumption with injection to network, it is increasingly important inside the energetic world. It allows to the individual not only to pay less for the electricity, in addition it allows to obtain benefits for the energy generated in his own home. But the penetration of this technology in the Electrical Spanish Network has an obstacle, the distrust on the part of the operator of the electrical network, due to the photovoltaic is an intermittent source of energy, which can introduce instabilities in the system in case of high penetration. Therefore it´s necessary to reach the confidence of the electricity companies, making it a predictable energy, which provides with power to the electrical network whenever necessary and that operates taking part in the regulation of the frequency of the electric system. For such an end, the group of system investigation Photovoltaic, belonging to the IES of the UPM, there is carrying out a project of investigation named PV CROPS, financed by the European Commission, and that has for aim to develop these strategies of management. In this context, the objective of this Senior Thesis consists in implementing a Bank of Tests with Integration of Batteries in Photovoltaic Systems Connected to Network, which allows developing, testing and validating these strategies. Taking advantage of the availability to use the Digital Home installed in the EUITT of the UPM, we have mounted the bank of tests in a contiguous laboratory to use this Home as a real case of energetic consumptions of a house. This bank of tests will allow obtaining information of the energy generated by the photovoltaic installation and information of the royal consumption of the attached "house", to develop later strategies of management of the electricity. The Bank of Tests is composed by three principal blocks, interconnected each other:  Subsystem of Gathering of data and Communication. In charge of monitoring the energetic elements and sending the information compiled to the Subsystem of Control. Formed by power analyzers, AC and DC, and a gateway for the conversion of the Ethernet physical medium to RS485.  Subsystem of Control. Point of observation and compilation of all the information that comes from the energetic elements. It is the subsystem where there will be created and there will be implemented strategies of energetic control. Composed of a Pxie, controller fixed in an industrial range chassis, and a PC Host, formed by a workstation and three monitors.  Subsystem of Energy. Formed by the elements of generating, controlling or consuming electric power, in the Bank of Tests. Made of photovoltaic modules, an inverter, a twoway inverter and a batteries block. The last step has been performing an Example of Practical Application we have proved that the Bank of Tests is ready to be used, it´s operative and fully functional in monitoring operations of energetic photovoltaic generation and energetic consumption.