A Reliable Open-Source System Architecture for the Fast Designing and Prototyping of Autonomous Multi-UAV Systems: Simulation and Experimentation

During the process of design and development of an autonomous Multi-UAV System, two main problems appear. The first one is the difficulty of designing all the modules and behaviors of the aerial multi-robot system. The second one is the difficulty of having an autonomous prototype of the system for the developers that allows to test the performance of each module even in an early stage of the project. These two problems motivate this paper. A multipurpose system architecture for autonomous multi-UAV platforms is presented. This versatile system architecture can be used by the system designers as a template when developing their own systems. The proposed system architecture is general enough to be used in a wide range of applications, as demonstrated in the paper. This system architecture aims to be a reference for all designers. Additionally, to allow for the fast prototyping of autonomous multi-aerial systems, an Open Source framework based on the previously defined system architecture is introduced. It allows developers to have a flight proven multi-aerial system ready to use, so that they can test their algorithms even in an early stage of the project. The implementation of this framework, introduced in the paper with the name of “CVG Quadrotor Swarm”, which has also the advantages of being modular and compatible with different aerial platforms, can be found at https://​github.​com/​Vision4UAV/​cvg_​quadrotor_​swarm with a consistent catalog of available modules. The good performance of this framework is demonstrated in the paper by choosing a basic instance of it and carrying out simulation and experimental tests whose results are summarized and discussed in this paper.

Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots

In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Tendencias actuales en la construcción sismorresistente para edificios en hormigón armado

Este estudio aborda la recopilación de nuevas tendencias del diseño sismorresistente, enfocándose en la técnica del aislamiento de base, por ser la más efectiva, difundida y utilizada; y el análisis de las ventajas que puede tener una edificación que aplica dicha técnica, desde el punto de vista estructural y económico. Se elige la tipología más frecuente o común de edificios de hormigón armado propensos a ser aislados, que en este caso es un hospital, cuyo modelo empotrado se somete a varias normas sismorresistentes comparando principalmente fuerzas de cortante basal, y considerando la interacción suelo-estructura; para asistir a este cálculo se desarrolla un programa de elementos viga de 6 gdl por nodo en código Matlab. El modelo aislado incluye el análisis de tres combinaciones de tipos de aisladores HDR, LPR y FPS, alternando modelos lineales simplificados de 1 y 3 gdl por piso, evaluando diferencias de respuestas de la estructura, y procediendo a la elección de la combinación que de resultados más convenientes; para la modelación no lineal de cada sistema de aislamiento se utiliza el método explícito de diferencias centrales. Finalmente, se realiza un análisis comparativo de daños esperados en el caso de la ocurrencia del sismo de diseño, utilizando el método rápido y tomando como referencia el desplazamiento espectral del último piso; llegando a dar conclusiones y recomendaciones para el uso de sistemas de aislamiento. This study addresses the collection of new seismic design trends, focusing on base isolation technique, as the most effective and widely used, and the analysis of the advantages in buildings that apply this technique, from the structurally and economically point of view. Choosing the most common types of concrete buildings likely to be isolated, which in this case is a hospital, the fix model is subjected to various seismic codes mainly comparing base shear forces, and considering the soil-structure interaction; for this calculation attend a program of bars 6 dof per node is made in Matlab code. The isolated model includes analysis of three types of isolators combinations HDR, LPR and FPS, alternating simplified linear model of 1 and 3 dof per floor, evaluating differences in the response of the structure, and proceeding to the choice of the combination of results more convenient; for modeling nonlinear each insulation system, the explicit central difference method is used. Finally, a comparative analysis of expected damage in the case of the design earthquake, using a fast combined method and by reference to the spectral displacement of the top floor; reaching conclusions and give recommendations for the use of insulation systems.

Efectos territoriales de las denominaciones de origen protegidas de aceite de oliva en España

La implementación de indicaciones geográficas, generan distintos efectos socio-económicos, tecnológicos y ambientales, no sólo a nivel de los productores directamente involucrados, sino también en el marco del sistema agroalimentario local (SIAL). Entre estos últimos, se destaca la organización colectiva de los productores y el desarrollo de una gobernanza, a partir del conjunto de actividades desarrolladas por el Consejo Regulador (CR), en torno al control de calidad y la promoción del producto. El concepto de gobernanza territorial implica llevar a cabo procesos de organización colectiva en red en los que tienen lugar procesos de coordinación multi-nivel entre los agentes, las empresas y las instituciones locales, en un contexto de asimetría en la información y de la existencia de numerosos decisores. El objetivo de esta Tesis Doctoral es realizar un aporte metodológico para el estudio de la gobernanza territorial en sistemas agroalimentarios localizados, a partir de la construcción de indicadores (de calidad, innovación, efectos económicos y prácticas ambientales) y el análisis de las redes de colaboración en materia de difusión del conocimiento e innovaciones técnicas, organizativas y comerciales en la Comarca de Sierra Mágina. Para responder el objetivo se aplica análisis de redes sociales y se construyen indicadores sintéticos para valorizar los efectos. Se realizan encuestas a la totalidad de almazaras presentes en la Comarca de Sierra Mágina, tanto a las que poseen el signo de calidad como a las que no cuentan con dicha marca territorial y entrevistas a testigos privilegiados. En las mismas se consulta sobre las actividades y proyectos que realizan en forma conjunta con otras almazaras e instituciones, así como los actores o referentes a quiénes consultan en temas relacionados con la calidad en la producción olivícola y la obtención de aceite, así como aquellos actores a quienes consultan en aspectos referidos a la Comercialización y gestión. A partir de la información recabada, se obtienen cuatro indicadores sintéticos de efectos de la implantación de una DOP en las almazaras adheridas, referidos a la adopción de innovaciones productivas y organizativas, a la calidad en producto y procesos, a las rentas de diferenciación y a las prácticas ambientales. Asimismo se generan las matrices bi-narias y valuadas para las redes de colaboración en la difusión del conocimiento y se calculan los indicadores particulares. Esto nos permite estudiar las características de las redes que se generan (tamaño, conectividad), el papel del CR en la gobernanza territorial y de otras instituciones del medio, así como identificar actores centrales y grupos en el proceso de difusión de conocimientos. Los resultados muestran que los SIAL pueden beneficiarse de la organización interprofesional y de cooperación interinstitucional a escala local que se producen tras la implantación de una DOP. Se desarrolla un proceso de articulación y un fuerte intercambio de conocimientos entre actores ligados al propio proceso de control de la calidad diferencial. Pero, junto con ello, se desarrollan actividades de formación y de promoción del patrimonio comarcal y se consolidan redes locales de innovación y colaboración mutua en distintas actividades, tanto entre actores de la propia cadena de producción, como entre éstos y las instituciones del medio. Estas actividades, junto con la presencia de un entramado institucional denso, permiten el desarrollo de una gobernanza territorial alrededor del sistema agroalimentario del aceite de oliva. ABSTRACT The implementation of geographical indications has different socio-economic, technological and environmental effects not only for the producers involved but also for the local agro food system (LAFS). Among the latter, we can highlight the collective organization of producers and the development of territorial governance through a series of tasks developed by the Regulatory Board (RB) as regards quality control and product marketing. The concept of territorial governance involves processes of collective organization in networks, where processes of multi-level coordination among agents, enterprises and local institutions take place within a context of asymmetry of information and numerous decision makers. The objective of this Doctoral Thesis is to contribute with methodological tools for the study of territorial governance in local agro food systems by constructing indicators (of quality, innovation, economic effects and environmental practices) and by analyzing networks of collaboration in terms of dissemination of technical, organizational and commercial innovation and knowledge in Comarca de Sierra Mágina. To achieve that objective, social network analysis is applied and synthetic indicators are elaborated to valorize the effects. Interviews to key actors and surveys to every oil mill in Comarca de Sierra Mágina are carried out, not only in those oil mills that host a label of quality but also in the ones that do not hold it. These interviews inquire about tasks and projects performed together with other oil mills and institutions and about actors or referents consulted in topics related to quality in olive production and oil extraction as well as in management and marketing. From all the information collected, four synthetic indicators of the effects of establishing Protected Designations of Origen (PDOs) in the associate oil mills are obtained, in terms of adoption of productive and organizational innovations, process and product quality, income differentiation and environmental practices. In the same way, binary and valorized matrixes are generated for those networks collaborating in the dissemination of knowledge and specific indicators are calculated. This allows to study networks (size, connectivity), the role of RB in territorial governance and other institutions involved and to identify main actors and groups in the process of knowledge dissemination. The results show that the LAFS can benefit from inter-professional organizations and inter- institutional cooperation at local levels by implementing PDOs. A process of articulation and strong exchange of knowledge is developed among those actors involved in controlling differential quality. But, at the same time, activities for the formation and promotion of the “comarca” patrimony are developed and local networks of innovation and mutual collaboration are built for different activities, not only among actors in the production process itself, but between these actors and local institutions as well. These tasks, together with the existence of a dense spatial entrepreneurial network, allow the development of territorial governance on the olive oil agro food system.

Development of a novel autonomous robot for navigation and inspect in oil wells

This paper proposes a novel robotic system that is able to move along the outside of the oil pipelines used in Electric Submersible Pumps (ESP) and Progressive Cavity Pumps (PCP) applications. This novel design, called RETOV, proposes a light weight structure robot that can be equipped with sensors to measure environmental variables avoiding damage in pumps and wells. In this paper, the main considerations and methodology of design and implementation are discussed. Finally, the first experimental results that show RETOV moving in vertical pipelines are analyzed.

Influence of loudspeaker directivity and measurement geometry on direct acoustic levels over façades for acoustic insulation tests with the International Standard ISO 140-5

The International Standard ISO 140-5 on field measurements of airborne sound insulation of façades establishes that the directivity of the measurement loudspeaker should be such that the variation in the local direct sound pressure level (ΔSPL) on the sample is ΔSPL < 5 dB (or ΔSPL < 10 dB for large façades). This condition is usually not very easy to accomplish nor is it easy to verify whether the loudspeaker produces such a uniform level. Direct sound pressure levels on the ISO standard façade essentially depend on the distance and directivity of the loudspeaker used. This paper presents a comprehensive analysis of the test geometry for measuring sound insulation and explains how the loudspeaker directivity, combined with distance, affects the acoustic level distribution on the façade. The first sections of the paper are focused on analysing the measurement geometry and its influence on the direct acoustic level variations on the façade. The most favourable and least favourable positions to minimise these direct acoustic level differences are found, and the angles covered by the façade in the reference system of the loudspeaker are also determined. Then, the maximum dimensions of the façade that meet the conditions of the ISO 140-5 standard are obtained for the ideal omnidirectional sound source and the piston radiating in an infinite baffle, which is chosen as the typical radiation pattern for loudspeakers. Finally, a complete study of the behaviour of different loudspeaker radiation models (such as those usually utilised in the ISO 140-5 measurements) is performed, comparing their radiation maps on the façade for searching their maximum dimensions and the most appropriate radiation configurations.

New On-Line Excitation-System Ground Fault Location Method Tested in a 106 MVA Synchronous Generator

In this paper, a novel excitation-system ground-fault location method is described and tested in a 106 MVA synchronous machine. In this unit, numerous rotor ground-fault trips took place always about an hour after the synchronization to the network. However, when the field winding insulation was checked after the trips, there was no failure. The data indicated that the faults in the rotor were caused by centrifugal forces and temperature. Unexpectedly, by applying this new method, the failure was located in a cable between the excitation transformer and the automatic voltage regulator. In addition, several intentional ground faults were performed along the field winding with different fault resistance values, in order to test the accuracy of this method to locate defects in rotor windings of large generators. Therefore, this new on-line rotor ground-fault detection algorithm is tested in high-power synchronous generators with satisfactory results.