Urban Archaeology in Madrid. Experiences and Opportunities to Understand Historical City

In 2015, it will be thirty years since Spanish Historic Heritage Law from 1985 was approved. The results after three decades under this law are necessarily positive and witness how the complex autonomous regional legislation has been promoted, guided and organized in this Heritage field. In addition, the law enforcement has brought into the scene how the numerous public and private initiatives involved in caring, managing, protecting and restoring our cultural heritage have been channeled and regulated, as well as monitoring the impact these initiatives produce on urban archaeology. During this long period of Spanish recent history, cultural heritage -understood as an important development tool, especially when related to cultural tourism- has succeeded in channeling resources for developing the historical research projects, both documental and archaeological, that the Spanish monumental urban ensembles were requiring. In this context, the case of the city of Madrid is a clear example of the significant development that urban Historical Archaeology has experienced in Spain over the last thirty years, especially when dealing with the study of the Middle Ages (8th to 15th centuries) and the Modern Age (16th to 18th centuries). Given the number of interventions and the important results obtained by many of them, Madrid urban archaeology is an extraordinary example of the consequences of implementing new management models, changing criteria and operating procedures, and also, of course, of the conflicts and debates raised regarding heritage, as well as the importance these interventions have implied, which is the main aim of this work.

A Survey on Intermediation Architectures for Underwater Robotics

Currently, there is a plethora of solutions regarding interconnectivity and interoperability for networked robots so that they will fulfill their purposes in a coordinated manner. In addition to that, middleware architectures are becoming increasingly popular due to the advantages that they are capable of guaranteeing (hardware abstraction, information homogenization, easy access for the applications above, etc.). However, there are still scarce contributions regarding the global state of the art in intermediation architectures for underwater robotics. As far as the area of robotics is concerned, this is a major issue that must be tackled in order to get a holistic view of the existing proposals. This challenge is addressed in this paper by studying the most compelling pieces of work for this kind of software development in the current literature. The studied works have been assessed according to their most prominent features and capabilities. Furthermore, by studying the individual pieces of work and classifying them several common weaknesses have been revealed and are highlighted. This provides a starting ground for the development of a middleware architecture for underwater robotics capable of dealing with these issues.

A Survey on Underwater Acoustic Sensor Network Routing Protocols

Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.