Evolución del conocimiento del hormigón estructural hasta 1973

Esta tesis analiza los criterios con que fueron proyectadas y construidas las estructuras de hormigón hasta 1973, fecha coincidente con la Instrucción EH-73, que en contenido, formato y planteamiento, consagró la utilización de los criterios modernamente utilizados hasta ahora. Es heredera, además, de las CEB 1970. Esos años marcan el cambio de planteamiento desde la Teoría Clásica hacia los Estados Límite. Los objetivos perseguidos son, sintéticamente: 1) Cubrir un vacío patente en el estudio de la evolución del conocimiento. Hay tratados sobre la historia del hormigón que cubren de manera muy completa el relato de personajes y realizaciones, pero no, al menos de manera suficiente, la evolución del conocimiento. 2) Servir de ayuda a los técnicos de hoy para entender configuraciones estructurales, geometrías, disposiciones de armado, formatos de seguridad, etc, utilizados en el pasado, lo que servirá para la redacción más fundada de dictámenes preliminares sobre estructuras existentes. 3) Ser referencia para la realización de estudios de valoración de la capacidad resistente de construcciones existentes, constituyendo la base de un documento pre-normativo orientado en esa dirección. En efecto, esta tesis pretende ser una ayuda para los ingenieros de hoy que se enfrentan a la necesidad de conservar y reparar estructuras de hormigón armado que forman parte del patrimonio heredado. La gran mayoría de las estructuras, fueron construidas hace más de 40 años, por lo que es preciso conocer los criterios que marcaron su diseño, su cálculo y su construcción. Pretende determinar cuáles eran los límites de agotamiento y por tanto de seguridad, de estructuras dimensionadas con criterios de antaño, analizadas por la metodología de cálculo actual. De este modo, se podrá determinar el resguardo existente “real” de las estructuras dimensionadas y calculadas con criterios “distintos” a los actuales. Conocer el comportamiento de las estructuras construidas con criterios de la Teoría Clásica, según los criterios actuales, permitirá al ingeniero de hoy tratar de la forma más adecuada el abanico de necesidades que se puedan presentar en una estructura existente. Este trabajo se centra en la evolución del conocimiento por lo que no se encuentran incluidos los procesos constructivos. En lo relativo a los criterios de proyecto, hasta mediados del siglo XX, éstos se veían muy influidos por los ensayos y trabajos de autor consiguientes, en los que se basaban los reglamentos de algunos países. Era el caso del reglamento prusiano de 1904, de la Orden Circular francesa de 1906, del Congreso de Lieja de 1930. A partir de la segunda mitad del siglo XX, destacan las aportaciones de ingenieros españoles como es el caso de Alfredo Páez Balaca, Eduardo Torroja y Pedro Jiménez Montoya, entre otros, que permitieron el avance de los criterios de cálculo y de seguridad de las estructuras de hormigón, hasta los que se conocen hoy. El criterio rector del proyecto de las estructuras de hormigón se fundó, como es sabido, en los postulados de la Teoría Clásica, en particular en el “momento crítico”, aquel para el que hormigón y acero alcanzan sus tensiones admisibles y, por tanto, asegura el máximo aprovechamiento de los materiales y sin pretenderlo conscientemente, la máxima ductilidad. Si el momento solicitante es mayor que el crítico, se dispone de armadura en compresión. Tras el estudio de muchas de las estructuras existentes de la época por el autor de esta tesis, incluyendo entre ellas las Colecciones Oficiales de Puentes de Juan Manuel de Zafra, Eugenio Ribera y Carlos Fernández Casado, se concluye que la definición geométrica de las mismas no se corresponde exactamente con la resultante del momento crítico, dado que como ahora resultaba necesario armonizar los criterios de armado a nivel sección con la organización de la ferralla a lo largo de los diferentes elementos estructurales. Los parámetros de cálculo, resistencias de los materiales y formatos de seguridad, fueron evolucionando con los años. Se fueron conociendo mejor las prestaciones de los materiales, se fue enriqueciendo la experiencia de los propios procesos constructivos y, en menor medida, de las acciones solicitantes y, consiguientemente, acotándose las incertidumbres asociadas lo cual permitió ir ajustando los coeficientes de seguridad a emplear en el cálculo. Por ejemplo, para el hormigón se empleaba un coeficiente de seguridad igual a 4 a finales del siglo XIX, que evolucionó a 3,57 tras la publicación de la Orden Circular francesa de 1906, y a 3, tras la Instrucción española de 1939. En el caso del acero, al ser un material bastante más conocido por cuanto se había utilizado muchísimo previamente, el coeficiente de seguridad permaneció casi constante a lo largo de los años, con un valor igual a 2. Otra de las causas de la evolución de los parámetros de cálculo fue el mejor conocimiento del comportamiento de las estructuras merced a la vasta tarea de planificación y ejecución de ensayos, con los estudios teóricos consiguientes, realizados por numerosos autores, principalmente austríacos y alemanes, pero también norteamericanos y franceses. En cuanto a los criterios de cálculo, puede sorprender al técnico de hoy el conocimiento que tenían del comportamiento del hormigón desde los primeros años del empleo del mismo. Sabían del comportamiento no lineal del hormigón, pero limitaban su trabajo a un rango de tensióndeformación lineal porque eso aseguraba una previsión del comportamiento estructural conforme a las hipótesis de la Elasticidad Lineal y de la Resistencia de Materiales, muy bien conocidas a principios del s. XX (no así sucedía con la teoría de la Plasticidad, aún sin formular, aunque estaba implícita en los planteamientos algunos ingenieros especializados en estructuras de fábrica (piedra o ladrillo) y metálicas. Además, eso permitía independizar un tanto el proyecto de los valores de las resistencias reales de los materiales, lo que liberaba de la necesidad de llevar a cabo ensayos que, en la práctica, apenas se podían hacer debido a la escasez de los laboratorios. Tampoco disponían de programas informáticos ni de ninguna de las facilidades de las que hoy se tienen, que les permitiera hacer trabajar al hormigón en un rango no lineal. Así, sabia y prudentemente, limitaban las tensiones y deformaciones del material a un rango conocido. El modus operandi seguido para la elaboración de esta tesis, ha sido el siguiente: -Estudio documental: se han estudiado documentos de autor, recomendaciones y normativa generada en este ámbito, tanto en España como con carácter internacional, de manera sistemática con arreglo al índice del documento. En este proceso, se han detectado lagunas del conocimiento (y su afección a la seguridad estructural, en su caso) y se han identificado las diferencias con los procedimientos de hoy. También ha sido necesario adaptar la notación y terminología de la época a los criterios actuales, lo que ha supuesto una dificultad añadida. -Desarrollo del documento: A partir del estudio previo se han ido desarrollando los siguientes documentos, que conforman el contenido de la tesis: o Personajes e instituciones relevantes por sus aportaciones al conocimiento de las estructuras de hormigón (investigación, normativa, docencia). o Caracterización de las propiedades mecánicas de los materiales (hormigón y armaduras), en relación a sus resistencias, diagramas tensión-deformación, módulos de deformación, diagramas momento-curvatura, etc. Se incluye aquí la caracterización clásica de los hormigones, la geometría y naturaleza de las armaduras, etc. o Formatos de seguridad: Se trata de un complejo capítulo del que se pretende extraer la información suficiente que permita a los técnicos de hoy entender los criterios utilizados entonces y compararlos con los actuales. o Estudio de secciones y piezas sometidas a tensiones normales y tangenciales: Se trata de presentar la evolución en el tratamiento de la flexión simple y compuesta, del cortante, del rasante, torsión, etc. Se tratan también en esta parte del estudio aspectos que, no siendo de preocupación directa de los técnicos de antaño (fisuración y deformaciones), tienen hoy mayor importancia frente a cambios de usos y condiciones de durabilidad. o Detalles de armado: Incluye el tratamiento de la adherencia, el anclaje, el solapo de barras, el corte de barras, las disposiciones de armado en función de la geometría de las piezas y sus solicitaciones, etc. Es un capítulo de importancia obvia para los técnicos de hoy. Se incluye un anejo con las referencias más significativas a los estudios experimentales en que se basaron las propuestas que han marcado hito en la evolución del conocimiento. Finalmente, junto a las conclusiones más importantes, se enuncian las propuestas de estudios futuros. This thesis analyzes the criteria with which structures of reinforced concrete have been designed and constructed prior to 1973. Initially, the year 1970 was chosen as starting point, coinciding with the CEB recommendations, but with the development of the thesis it was decided that 1973 was the better option, coinciding with the Spanish regulations of 1973, whose content, format and description introduced the current criteria. The studied period includes the Classic Theory. The intended goals of this thesis are: 1) To cover a clear gap in the study of evolution of knowledge about reinforced concrete. The concept and accomplishments achieved by reinforced concrete itself has been treated in a very complete way by the main researchers in this area, but not the evolution of knowledge in this subject area. 2) To help the engineers understand structural configurations, geometries, dispositions of steel, safety formats etc, that will serve as preliminary judgments by experts on existing structures. To be a reference to the existing studies about the valuation of resistant capacity of existing constructions, constituting a basic study of a pre-regulation document. This thesis intends to be a help for the current generation of engineers who need to preserve and repair reinforced concrete structures that have existed for a significant number of years. Most of these structures in question were constructed more than 40 years ago, and it is necessary to know the criteria that influenced their design, the calculation and the construction. This thesis intends to determine the safety limits of the old structures and analyze them in the context of the current regulations and their methodology. Thus, it will then be possible to determine the safety of these structures, after being measured and calculated with the current criteria. This will allow the engineers to optimize the treatment of such a structure. This work considers the evolution of the knowledge, so constructive methods are not included. Related to the design criteria, there existed until middle of the 20th century a large number of diverse European tests and regulations, such as the Prussian norm of 1904, the Circular French Order of 1906, the Congress of Liège of 1930, as well as individual engineers’ own notes and criteria which incorporated the results of their own tests. From the second half of the 20th century, the contributions of Spanish engineers as Alfredo Páez Balaca, Eduardo Torroja and Pedro Jiménez Montoya, among others, were significant and this allowed the advancement of the criteria of the calculation of safety standards of concrete structures, many of which still exist to the present day. The design and calculation of reinforced concrete structures by the Classic Theory, was based on the ‘Critical Bending Moment’, when concrete and steel achieve their admissible tensions, that allows the best employment of materials and the best ductility. If the bending moment is major than the critical bending moment, will be necessary to introduce compression steel. After the study of the designs of many existing structures of that time by the author of this thesis, including the Historical Collections of Juan Manuel de Zafra, Eugenio Ribera and Carlos Fernandez Casado, the conclusion is that the geometric definition of the structures does not correspond exactly with the critical bending moment inherent in the structures. The parameters of these calculations changed throughout the years. The principal reason that can be outlined is that the materials were improving gradually and the number of calculated uncertainties were decreasing, thus allowing the reduction of the safety coefficients to use in the calculation. For example, concrete used a coefficient of 4 towards the end of the 19th century, which evolved to 3,57 after the publication of the Circular French Order of 1906, and then to 3 after the Spanish Instruction of 1939. In the case of the steel, a much more consistent material, the safety coefficient remained almost constant throughout the years, with a value of 2. Other reasons related to the evolution of the calculation parameters were that the tests and research undertaken by an ever-increasing number of engineers then allowed a more complete knowledge of the behavior of reinforced concrete. What is surprising is the extent of knowledge that existed about the behavior of the concrete from the outset. Engineers from the early years knew that the behavior of the concrete was non-linear, but they limited the work to a linear tension-deformation range. This was due to the difficulties of work in a non-linear range, because they did not have laboratories to test concrete, or facilities such as computers with appropriate software, something unthinkable today. These were the main reasons engineers of previous generations limited the tensions and deformations of a particular material to a known range. The modus operandi followed for the development of this thesis is the following one: -Document study: engineers’ documents, recommendations and regulations generated in this area, both from Spain or overseas, have been studied in a systematic way in accordance with the index of the document. In this process, a lack of knowledge has been detected concerning structural safety, and differences to current procedures have been identified and noted. Also, it has been necessary to adapt the notation and terminology of the Classic Theory to the current criteria, which has imposed an additional difficulty. -Development of the thesis: starting from the basic study, the next chapters of this thesis have been developed and expounded upon: o People and relevant institutions for their contribution to the knowledge about reinforced concrete structures (investigation, regulation, teaching). Determination of the mechanical properties of the materials (concrete and steel), in relation to their resistances, tension-deformation diagrams, modules of deformation, moment-curvature diagrams, etc. Included are the classic characterizations of concrete, the geometry and nature of the steel, etc. Safety formats: this is a very difficult chapter from which it is intended to provide enough information that will then allow the present day engineer to understand the criteria used in the Classic Theory and then to compare them with the current theories. Study of sections and pieces subjected to normal and tangential tensions: it intends to demonstrate the evolution in the treatment of the simple and complex flexion, shear, etc. Other aspects examined include aspects that were not very important in the Classic Theory but currently are, such as deformation and fissures. o Details of reinforcement: it includes the treatment of the adherence, the anchorage, the lapel of bars, the cut of bars, the dispositions of reinforcement depending on the geometry of the pieces and the solicitations, etc. It is a chapter of obvious importance for current engineers. The document will include an annex with the most references to the most significant experimental studies on which were based the proposals that have become a milestone in the evolution of knowledge in this area. Finally, there will be included conclusions and suggestions of future studies. A deep study of the documentation and researchers of that time has been done, juxtaposing their criteria and results with those considered relevant today, and giving a comparison between the resultant safety standards according to the Classic Theory criteria and currently used criteria. This thesis fundamentally intends to be a guide for engineers who have to treat or repair a structure constructed according to the Classic Theory criteria.

El vacío colonizador : vivienda y espacio público en los poblados de colonización de Valuengo y La Bazana de Alejandro de la Sota

El legado de una época, una situación social y unos criterios arquitectónicos, aparecen recogidos en el conjunto de edificios y en la trama urbana, de los pueblos de colonización de La Bazana y Valuengo (Jerez de los Caballeros, Badajoz, 1954), proyectados por Alejandro de la Sota durante la etapa en la que trabajó de forma externa para el Instituto Nacional de Colonización (INC). Al inicio de esta investigación no se habían realizado análisis en profundidad ni valoraciones críticas de su arquitectura, ni eran objeto de estudio en los ambientes universitarios, siendo prácticamente desconocidos para el conjunto de la profesión, que solía tomar como referencia de esta etapa de la arquitectura de Alejandro de la Sota para el INC, el poblado de Esquivel, en Sevilla, profusamente publicitado. Aunque en los últimos tiempos se han elaborado tesis en las Escuelas de Arquitectura abordando el tema de la colonización agraria en España en la década de los 50, los poblados de colonización en Extremadura o la arquitectura de Alejandro de la Sota para el INC, la presente tesis se aleja de la visión global unificadora o biográfica, para centrarse en el estudio monográfico de un objeto arquitectónico singular. El trabajo pretende documentar, estudiar, analizar y poner en valor, estas obras enclavadas en la arquitectura española de la década de los 50, denominados por su propio autor como “pueblos todo de plazas”, donde la arquitectura surge como respuesta a una realidad territorial, social y cultural, y a unas estrictas imposiciones prefijadas, que se resuelven teniendo como punto de partida las condiciones materiales y culturales del lugar en el que se ubican, para concluir planteando interpretaciones y lecturas que incorporan la tradición, pero que trascienden a ella. La metodología empleada consiste en un trabajo de documentación y análisis del objeto arquitectónico en tres fases: proyecto, obra construida y estado actual. En cada una de las fases se realiza un trabajo de campo consistente en la recopilación de la documentación original y en la elaboración de una nueva documentación gráfica, en base a los estudios y análisis realizados. El cotejo entre los datos obtenidos de los proyectos, las obras inicialmente construidas y el estado actual, darán como resultado un material de análisis inédito, que junto con la bibliografía incluida en el trabajo y los anexos que contienen la documentación original recabada sobre las obras en los organismos e instituciones que la custodian, ofrecen una interpretación más precisa de la realidad arquitectónica de estos pueblos, dejando el estudio abierto a nuevas vías de investigación que profundicen en la hipótesis del espacio vacío como organizador y colonizador del paisaje. ABSTRACT The legacy of an age, a social situation and a group of architectural criteria, appears reflected in the group of buildings and the urban design of colonization villages La Bazana and Valuengo (Jerez de los Caballeros, Badajoz, 1954), designed by Alejandro de la Sota during the time that he was working externally to the National Institute of Colonization(INC). At the beginning of this investigation they had not been analyzed or critically evaluated in depth and not even were being studied in university circles and for this reason were practically unknown to the profession, who used as a reference of this architecture period of Alejandro de la Sota for the INC, the colonization village of Esquivel in Seville, widely publicized. Although recently some doctoral thesis have been elaborated in the Architecture Schools about the topic of rural colonization in Spain in the 50s, the colonization villages in Extremadura or the architecture by Alejandro de la Sota for the INC, this thesis wants to get away from unifying or biographical overview, in order to centre the study about a singular architectural object. The work expects to document, study, analyze and push the value of this architectural pieces nestled in the Spanish architecture of 50s,and that were named by their author as “squares-villages”, where the architecture appears like answer to a territorial, social and culture reality, and a strict program impositions by the INC, which are solved by the architect taking as a starting point the material and cultural conditions from the place where are situated, to conclude with a interpretations and readings which incorporate the tradition and transcend it. The methodology used consists in documenting and analyzing work about the architectonic object in three stages: project, building and present state. In every stage, we make a field work in order to compile the original documents and at the same time a new graphical documentation is developed with the studies and analysis that were made before. The information about the projects, the architecture built at the beginning of the process, and the current state were compared and achieved an unpublished material which together with the bibliography and original documents, collected in the organizations and institutions that guard them, offer a more accurate interpretation about the architectural reality of these villages, leaving the study open for a new research which could go into detail about the hypothesis of urban empty space as element for colonize and organize the landscape.

Study of the II Network as the Compound Slot Equivalent Circuit Model

A combination of Method of Moments (MoM) and compound slot Equivalent Circuit Model for linear array design is presented in this document. From the S Matrix of the single element, the more suitable network for its characterization is analyzed and selected. Then according to the radiation requirements of the desired array, the elements are designed and then properly connected by means of Forward Matching Procedure (FMP), which takes into account impedance matters in order to keep the input matched at the designing frequency. Comparison between HFSS simulations and MoM-FMP results are also presented. First part of this work was introduced in (1)(2) but a summary is included here to make the understanding easier.

A comparative study on unconstrained hand biometrics

Biometrics applied to mobile devices are of great interest for security applications. Daily scenarios can benefit of a combination of both the most secure systems and most simple and extended devices. This document presents a hand biometric system oriented to mobile devices, proposing a non-intrusive, contact-less acquisition process where final users should take a picture of their hand in free-space with a mobile device without removals of rings, bracelets or watches. The main contribution of this paper is threefold: firstly, a feature extraction method is proposed, providing invariant hand measurements to previous changes; second contribution consists of providing a template creation based on hand geometric distances, requiring information from only one individual, without considering data from the rest of individuals within the database; finally, a proposal for template matching is proposed, minimizing the intra-class similarity and maximizing the inter-class likeliness. The proposed method is evaluated using three publicly available contact-less, platform-free databases. In addition, the results obtained with these databases will be compared to the results provided by two competitive pattern recognition techniques, namely Support Vector Machines (SVM) and k-Nearest Neighbour, often employed within the literature. Therefore, this approach provides an appropriate solution to adapt hand biometrics to mobile devices, with an accurate results and a non-intrusive acquisition procedure which increases the overall acceptance from the final user.

Relationship among research collaboration, number of documents and number of citations. A case study in Spanish computer science production in 2000-2009.

This paper analyzes the relationship among research collaboration, number of documents and number of citations of computer science research activity. It analyzes the number of documents and citations and how they vary by number of authors. They are also analyzed (according to author set cardinality) under different circumstances, that is, when documents are written in different types of collaboration, when documents are published in different document types, when documents are published in different computer science subdisciplines, and, finally, when documents are published by journals with different impact factor quartiles. To investigate the above relationships, this paper analyzes the publications listed in the Web of Science and produced by active Spanish university professors between 2000 and 2009, working in the computer science field. Analyzing all documents, we show that the highest percentage of documents are published by three authors, whereas single-authored documents account for the lowest percentage. By number of citations, there is no positive association between the author cardinality and citation impact. Statistical tests show that documents written by two authors receive more citations per document and year than documents published by more authors. In contrast, results do not show statistically significant differences between documents published by two authors and one author. The research findings suggest that international collaboration results on average in publications with higher citation rates than national and institutional collaborations. We also find differences regarding citation rates between journals and conferences, across different computer science subdisciplines and journal quartiles as expected. Finally, our impression is that the collaborative level (number of authors per document) will increase in the coming years, and documents published by three or four authors will be the trend in computer science literature.

A study of four listed micro finance institutions

Compared to the size of the microfinance market, the number of Microfinance Institutions that are professionally ran like commercial banks is still scarce, and even more scarce are the MFI listed in public stock exchanges. This document focuses on four listed MFIs and reviews its business model and funding sources. The document also analyses the market price evolution of the listed shares and investigates whether investors are assigning a premium to the MFIs compared with its respective market indices. Keywords: Microfinance institutions, Micro-credits, Financial Institutions, Equity; Stock Exchange.

Collaborative Engineering: an Airbus case study

This document introduces the main concepts of Collaborative Engineering as a new methodology, procedures and tools to design and develop an aircraft, as Airbus Military is implementing. Airbus designs and industrializes aircrafts under Concurrent Engineering techniques since decades with success. The introduction of new PLM methodologies, procedures and tools, mainly in the industrialization areas, and the need to reduce time-to-market conducted Airbus Military to push the engineering teams to do things in a different way. Traditional Engineering works sequentially, Concurrent Engineering basically overlaps tasks between teams using maturity states and taking assuming risks. Collaborative Engineering promotes a single team to develop product, processes and resources from the conceptual phase to the start of the serial production. The deliverable of the team is an iDMU (industrial DMU), a complete definition and verification of the virtual manufacturing of the product.

Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la actividad de patrullar un entorno determinado para monitorear cualquier actividad o sensar algunas variables ambientales. En esta actividad, un grupo de robots debe visitar un conjunto de puntos de interés definidos en un entorno en intervalos de tiempo irregulares con propósitos de seguridad. Los modelos de partullaje multi-robot son utilizados para resolver este problema. Hasta el momento existen trabajos que resuelven este problema utilizando diversos principios matemáticos. Los modelos de patrullaje multi-robot desarrollados en esos trabajos representan un gran avance en este campo de investigación. Sin embargo, los modelos con los mejores resultados no son viables para aplicaciones de seguridad debido a su naturaleza centralizada y determinista. Esta tesis presenta cinco modelos de patrullaje multi-robot distribuidos e impredecibles basados en modelos matemáticos de aprendizaje de Teoría de Juegos. El objetivo del desarrollo de estos modelos está en resolver los inconvenientes presentes en trabajos preliminares. Con esta finalidad, el problema de patrullaje multi-robot se formuló utilizando conceptos de Teoría de Grafos, en la cual se definieron varios juegos en cada vértice de un grafo. Los modelos de patrullaje multi-robot desarrollados en este trabajo de investigación se han validado y comparado con los mejores modelos disponibles en la literatura. Para llevar a cabo tanto la validación como la comparación se ha utilizado un simulador de patrullaje y un grupo de robots reales. Los resultados experimentales muestran que los modelos de patrullaje desarrollados en este trabajo de investigación trabajan mejor que modelos de trabajos previos en el 80% de 150 casos de estudio. Además de esto, estos modelos cuentan con varias características importantes tales como distribución, robustez, escalabilidad y dinamismo. Los avances logrados con este trabajo de investigación dan evidencia del potencial de Teoría de Juegos para desarrollar modelos de patrullaje útiles para proteger infraestructuras. ABSTRACT Game theory principle allows to developing stochastic multi-robot patrolling models to protect critical infrastructures. Critical infrastructures protection is a great concern for countries around the world, mainly due to terrorist attacks in the last decade. In this document, the term infrastructures includes airports, nuclear power plants, and many other facilities. The patrolling problem is defined as the activity of traversing a given environment to monitoring any activity or sensing some environmental variables If this activity were performed by a fleet of robots, they would have to visit some places of interest of an environment at irregular intervals of time for security purposes. This problem is solved using multi-robot patrolling models. To date, literature works have been solved this problem applying various mathematical principles.The multi-robot patrolling models developed in those works represent great advances in this field. However, the models that obtain the best results are unfeasible for security applications due to their centralized and predictable nature. This thesis presents five distributed and unpredictable multi-robot patrolling models based on mathematical learning models derived from Game Theory. These multi-robot patrolling models aim at overcoming the disadvantages of previous work. To this end, the multi-robot patrolling problem was formulated using concepts of Graph Theory to represent the environment. Several normal-form games were defined at each vertex of a graph in this formulation. The multi-robot patrolling models developed in this research work have been validated and compared with best ranked multi-robot patrolling models in the literature. Both validation and comparison were preformed by using both a patrolling simulator and real robots. Experimental results show that the multirobot patrolling models developed in this research work improve previous ones in as many as 80% of 150 cases of study. Moreover, these multi-robot patrolling models rely on several features to highlight in security applications such as distribution, robustness, scalability, and dynamism. The achievements obtained in this research work validate the potential of Game Theory to develop patrolling models to protect infrastructures.

Study of the effects of moving targets in SAR images for their detection.

Synthetic Aperture Radar’s (SAR) are systems designed in the early 50’s that are capable of obtaining images of the ground using electromagnetic signals. Thus, its activity is not interrupted by adverse meteorological conditions or during the night, as it occurs in optical systems. The name of the system comes from the creation of a synthetic aperture, larger than the real one, by moving the platform that carries the radar (typically a plane or a satellite). It provides the same resolution as a static radar equipped with a larger antenna. As it moves, the radar keeps emitting pulses every 1/PRF seconds —the PRF is the pulse repetition frequency—, whose echoes are stored and processed to obtain the image of the ground. To carry out this process, the algorithm needs to make the assumption that the targets in the illuminated scene are not moving. If that is the case, the algorithm is able to extract a focused image from the signal. However, if the targets are moving, they get unfocused and/or shifted from their position in the final image. There are applications in which it is especially useful to have information about moving targets (military, rescue tasks,studyoftheflowsofwater,surveillanceofmaritimeroutes...).Thisfeatureiscalled Ground Moving Target Indicator (GMTI). That is why the study and the development of techniques capable of detecting these targets and placing them correctly in the scene is convenient. In this document, some of the principal GMTI algorithms used in SAR systems are detailed. A simulator has been created to test the features of each implemented algorithm on a general situation with moving targets. Finally Monte Carlo tests have been performed, allowing us to extract conclusions and statistics of each algorithm.