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.

A practical approach to the global analysis of CLP programs

This paper presents and illustrates with an example a practical approach to the dataflow analysis of programs written in constraint logic programming (CLP) languages using abstract interpretation. It is first argued that, from the framework point of view, it sufnces to propose relatively simple extensions of traditional analysis methods which have already been proved useful and practical and for which efncient fixpoint algorithms have been developed. This is shown by proposing a simple but quite general extensión of Bruynooghe's traditional framework to the analysis of CLP programs. In this extensión constraints are viewed not as "suspended goals" but rather as new information in the store, following the traditional view of CLP. Using this approach, and as an example of its use, a complete, constraint system independent, abstract analysis is presented for approximating definiteness information. The analysis is in fact of quite general applicability. It has been implemented and used in the analysis of CLP(R) and Prolog-III applications. Results from the implementation of this analysis are also presented.

A practical approach to project management in a very small company

This article shows how a very small company has tailored Scrum according to its own needs. The main additions made were the “sprint design” phase and the “sprint test” phase. Before the sprint 0, the requirements elicitation and the functional specification were made in order to meet deadlines and costs agreed with clients. Besides, the introduction of an agile project management tool has supported all the process and it is considered the main success factor for the institutionalization of the Scrum process.

A New Method to Reduce Truncation Errors in Partial Spherical Near-Field Measurements

A new and effective method for reduction of truncation errors in partial spherical near-field (SNF) measurements is proposed. The method is useful when measuring electrically large antennas, where the measurement time with the classical SNF technique is prohibitively long and an acquisition over the whole spherical surface is not practical. Therefore, to reduce the data acquisition time, partial sphere measurement is usually made, taking samples over a portion of the spherical surface in the direction of the main beam. But in this case, the radiation pattern is not known outside the measured angular sector as well as a truncation error is present in the calculated far-field pattern within this sector. The method is based on the Gerchberg-Papoulis algorithm used to extrapolate functions and it is able to extend the valid region of the calculated far-field pattern up to the whole forward hemisphere. To verify the effectiveness of the method, several examples are presented using both simulated and measured truncated near-field data.

Associations among Physician Advice, Physical Activity, and Sociodemographic Groups in Older Spanish Adults

This study examined the relationship between medical advice to engage in physical activity with type of demand required by physical activity and demographic variables. A cross-sectional study was developed, featuring a questionnaire on physicians? advice, and type of demand. The questionnaire was completed by a probability and nationwide sample of older adults in Spain ( n = 933, M = 74.1, range 65?93), randomly selected using multistage sampling. More physically active older adults have, more often than the less active, received physicians? advice to engage in physical activity. There is a signifi cant relationship between medical advice and type of demand ( p menor que .01) and age ( p menor que .05). However, no relationship was found between physician medical advice and gender, social class, or income. Physicians can effectively promote physical activity among sedentary older adults through appropriate advice. Consequently, health authorities should promote physicians' advising older patients to pursue physical activity.

Consultoría en el marco económico-financiero de la empresa

Muchas de las grandes iniciativas empresariales, se ven truncadas por falta de un adecuado análisis económico-financiero. Incluso, muchas grandes ideas no son implantadas correctamente en el primer intento por este motivo, y son otras personas las que consiguen posteriormente el éxito de esas brillantes ideas gracias a una correcta aproximación financiera. Las empresas necesitan definir sus objetivos, establecer las para lograrlos, identificar las personas responsables de su ejecución (sus roles y funciones) y elaborar un plan económico-financiero que recoja el estudio de inversiones necesarias, el análisis de costes, la previsión de ingresos, así como la estrategia financiera más adecuada para la captación de los fondos necesarios para llevar a cabo las acciones programadas. Una vez iniciado el proyecto empresarial, será imprescindible realizar un seguimiento y control de la evolución (integración), tomando las medidas que se estimen oportunas para mantener el rumbo adecuado durante todo el tiempo de actividad. En este trabajo, aplicaremos las metodologías y buenas prácticas de la gestión de proyectos, como marco estructurado que nos permita abordar las principales cuestiones económico-financieras a tener en cuenta a la hora de enfrentarnos a un proyecto empresarial, para contribuir, en la medida de lo posible, a que los emprendedores tengan en cuenta estas cuestiones, facilitando así el desarrollo de negocios, en un difícil entorno económico de crisis como el que actualmente estamos viviendo en España, y animando de esta manera a optar por la iniciativa emprendedora, tratando de minimizar el riesgo en base al contenido. ---ABSTRACT---Lack of adequate economic and financial analysis truncates many of the entrepreneurship and innovation programs. Because of that reason, many great ideas are not even correctly implemented on the first attempt, and the person who finds the proper financial approach, succeed. All the enterprises have to establish clear objectives, actions to accomplish those objectives, assign roles, responsibilities and executive functions to specific people. Elaborate funding plan that contains surveys on necessary investments, cost analysis, estimate the income, liquid assets and also financial strategy suitable for fundraising to finance programmed actions. Once the project has been executed it is essential to monitor and control the development and integration adopting measures accordingly to the needs. This thesis applies methodology and best practice of project management as structured framework for the principal economic and financial issues facing business project. It is necessary contribution to entrepreneurs understanding of business, therefore facilitates business development in such rough environment as Spain is at this moment, and at the same time encourages adopting entrepreneur’s solution as less risky one. This document aims to explore all the economic and financial issues from methodological point of view based on my own professional experience, resulting in helping to understand the importance that economy and finances have in developing adequate corporate strategy. Crisis has highlighted inadequate functionality of many companies. Most popular first symptom is lack of cash flow that deteriorates the company, and results in suspension of payments followed by closing. In other cases, difficulties appear due to poor financial management of committed resources; to be observed in lack of prevision and planning or incorrect basic functionality and operational matters on daily basis. What would be your advice to someone who have magnificent business idea however no knowledge on how to handle finances in order to succeed in initiating and executing the project? Despite of the fact that the central nucleus of this paper is at economics and finances area, all the other concepts and topics given during master will be revived; for example business strategy, consultants abilities, organization and standard processes, among others, are impregnated with knowledge of project management.

A methodology to calibrate structural finite element models for reinforced concrete structures subject to blast loads

Civil buildings are not specifically designed to support blast loads, but it is important to take into account these potential scenarios because of their catastrophic effects, on persons and structures. A practical way to consider explosions on reinforced concrete structures is necessary. With this objective we propose a methodology to evaluate blast loads on large concrete buildings, using LS-DYNA code for calculation, with Lagrangian finite elements and explicit time integration. The methodology has three steps. First, individual structural elements of the building like columns and slabs are studied, using continuum 3D elements models subjected to blast loads. In these models reinforced concrete is represented with high precision, using advanced material models such as CSCM_CONCRETE model, and segregated rebars constrained within the continuum mesh. Regrettably this approach cannot be used for large structures because of its excessive computational cost. Second, models based on structural elements are developed, using shells and beam elements. In these models concrete is represented using CONCRETE_EC2 model and segregated rebars with offset formulation, being calibrated with continuum elements models from step one to obtain the same structural response: displacement, velocity, acceleration, damage and erosion. Third, models basedon structural elements are used to develop large models of complete buildings. They are used to study the global response of buildings subjected to blast loads and progressive collapse. This article carries out different techniques needed to calibrate properly the models based on structural elements, using shells and beam elements, in order to provide results of sufficient accuracy that can be used with moderate computational cost.

Service capacity reserve under uncertainty by hospital's ER's analogies: a practical model for car services

El objetivo de esta investigación consiste en definir un modelo de reserva de capacidad, por analogías con emergencias hospitalarias, que pueda ser implementado en el sector de servicios. Este está específicamente enfocado a su aplicación en talleres de servicio de automóviles. Nuestra investigación incorpora la incertidumbre de la demanda en un modelo singular diseñado en etapas que agrupa técnicas ARIMA, teoría de colas y simulación Monte Carlo para definir los conceptos de capacidad y ocupación de servicio, que serán utilizados para minimizar el coste implícito de la reserva capacidad necesaria para atender a clientes que carecen de cita previa. Habitualmente, las compañías automovilísticas estiman la capacidad de sus instalaciones de servicio empíricamente, pero los clientes pueden llegar bajo condiciones de incertidumbre que no se tienen en cuenta en dichas estimaciones, por lo que existe una diferencia entre lo que el cliente realmente demanda y la capacidad que ofrece el servicio. Nuestro enfoque define una metodología válida para el sector automovilístico que cubre la ausencia genérica de investigaciones recientes y la habitual falta de aplicación de técnicas estadísticas en el sector. La equivalencia con la gestión de urgencias hospitalarias se ha validado a lo largo de la investigación en la se definen nuevos indicadores de proceso (KPIs) Tal y como hacen los hospitales, aplicamos modelos estocásticos para dimensionar las instalaciones de servicio de acuerdo con la distribución demográfica del área de influencia. El modelo final propuesto integra la predicción del coste implícito en la reserva de capacidad para atender la demanda no prevista. Asimismo, se ha desarrollado un código en Matlab que puede integrarse como un módulo adicional a los sistemas de información (DMS) que se usan actualmente en el sector, con el fin de emplear los nuevos indicadores de proceso definidos en el modelo. Los resultados principales del modelo son nuevos indicadores de servicio, tales como la capacidad, ocupación y coste de reserva de capacidad, que nunca antes han sido objeto de estudio en la industria automovilística, y que están orientados a gestionar la operativa del servicio. ABSTRACT Our aim is to define a Capacity Reserve model to be implemented in the service sector by hospital's emergency room (ER) analogies, with a practical approach to passenger car services. A stochastic model has been implemented using R and a Monte Carlo simulation code written in Matlab and has proved a very useful tool for optimal decision making under uncertainty. The research integrates demand uncertainty in a unique model which is built in stages by implementing ARIMA forecasting, Queuing Theory and a Monte Carlo simulation to define the concepts of service capacity and occupancy, minimizing the implicit cost of the capacity that must be reserved to service unexpected customers. Usually, passenger car companies estimate their service facilities capacity using empirical methods, but customers arrive under uncertain conditions not included in the estimations. Thus, there is a gap between customer’s real demand and the dealer’s capacity. This research sets a valid methodology for the passenger car industry to cover the generic absence of recent researches and the generic lack of statistical techniques implementation. The hospital’s emergency room (ER) equalization has been confirmed to be valid for the passenger car industry and new process indicators have been defined to support the study. As hospitals do, we aim to apply stochastic models to dimension installations according to the demographic distribution of the area to be serviced. The proposed model integrates the prediction of the cost implicit in the reserve capacity to serve unexpected demand. The Matlab code could be implemented as part of the existing information technology systems (ITs) to support the existing service management tools, creating a set of new process indicators. Main model outputs are new indicators, such us Capacity, Occupancy and Cost of Capacity Reserve, never studied in the passenger car service industry before, and intended to manage the service operation.