Transformada Wavelet Compleja de Doble Árbol (DT-CWT) y su aplicación en Teledetección. Nuevos modelos y aplicaciones

La teledetección o percepción remota (remote sensing) es la ciencia que abarca la obtención de información (espectral, espacial, temporal) sobre un objeto, área o fenómeno a través del análisis de datos adquiridos por un dispositivo que no está en contacto con el elemento estudiado. Los datos obtenidos a partir de la teledetección para la observación de la superficie terrestre comúnmente son imágenes, que se caracterizan por contar con un sinnúmero de aplicaciones que están en continua evolución, por lo cual para solventar los constantes requerimientos de nuevas aplicaciones a menudo se proponen nuevos algoritmos que mejoran o facilitan algún proceso en particular. Para el desarrollo de dichos algoritmos, es preciso hacer uso de métodos matemáticos que permitan la manipulación de la información con algún fin específico. Dentro de estos métodos, el análisis multi-resolución se caracteriza por permitir analizar una señal en diferentes escalas, lo que facilita trabajar con datos que puedan tener resoluciones diferentes, tal es el caso de las imágenes obtenidas mediante teledetección. Una de las alternativas para la implementación de análisis multi-resolución es la Transformada Wavelet Compleja de Doble Árbol (DT-CWT). Esta transformada se implementa a partir de dos filtros reales y se caracteriza por presentar invariancia a traslaciones, precio a pagar por su característica de no ser críticamente muestreada. A partir de las características de la DT-CWT se propone su uso en el diseño de algoritmos de procesamiento de imagen, particularmente imágenes de teledetección. Estos nuevos algoritmos de procesamiento digital de imágenes de teledetección corresponden particularmente a fusión y detección de cambios. En este contexto esta tesis presenta tres algoritmos principales aplicados a fusión, evaluación de fusión y detección de cambios en imágenes. Para el caso de fusión de imágenes, se presenta un esquema general que puede ser utilizado con cualquier algoritmo de análisis multi-resolución; este algoritmo parte de la implementación mediante DT-CWT para luego extenderlo a un método alternativo, el filtro bilateral. En cualquiera de los dos casos la metodología implica que la inyección de componentes pueda realizarse mediante diferentes alternativas. En el caso del algoritmo de evaluación de fusión se presenta un nuevo esquema que hace uso de procesos de clasificación, lo que permite evaluar los resultados del proceso de fusión de forma individual para cada tipo de cobertura de uso de suelo que se defina en el proceso de evaluación. Esta metodología permite complementar los procesos de evaluación tradicionales y puede facilitar el análisis del impacto de la fusión sobre determinadas clases de suelo. Finalmente, los algoritmos de detección de cambios propuestos abarcan dos enfoques. El primero está orientado a la obtención de mapas de sequía en datos multi-temporales a partir de índices espectrales. El segundo enfoque propone la utilización de un índice global de calidad espectral como filtro espacial. La utilización de dicho filtro facilita la comparación espectral global entre dos imágenes, esto unido a la utilización de umbrales, conlleva a la obtención de imágenes diferencia que contienen la información de cambio. ABSTRACT Remote sensing is a science relates to information gathering (spectral, spatial, temporal) about an object, area or phenomenon, through the analysis of data acquired by a device that is not in contact with the studied item. In general, data obtained from remote sensing to observe the earth’s surface are images, which are characterized by having a number of applications that are constantly evolving. Therefore, to solve the constant requirements of applications, new algorithms are proposed to improve or facilitate a particular process. With the purpose of developing these algorithms, each application needs mathematical methods, such as the multiresolution analysis which allows to analyze a signal at different scales. One of the options is the Dual Tree Complex Wavelet Transform (DT-CWT) which is implemented from two real filters and is characterized by invariance to translations. Among the advantages of this transform is its successful application in image fusion and change detection areas. In this regard, this thesis presents three algorithms applied to image fusion, assessment for image fusion and change detection in multitemporal images. For image fusion, it is presented a general outline that can be used with any multiresolution analysis technique; this algorithm is proposed at first with DT-CWT and then extends to an alternative method, the bilateral filter. In either case the method involves injection of components by various means. For fusion assessment, the proposal is focused on a scheme that uses classification processes, which allows evaluating merger results individually for each type of land use coverage that is defined in evaluation process. This methodology allows complementing traditional assessment processes and can facilitate impact analysis of the merger on certain kinds of soil. Finally, two approaches of change detection algorithms are included. The first is aimed at obtaining drought maps in multitemporal data from spectral indices. The second one takes a global index of spectral quality as a spatial filter. The use of this filter facilitates global spectral comparison between two images and by means of thresholding, allows imaging containing change information.

Simulation of oil productivity and quality of N-S oriented olive hedgerow orchards in response to structure and interception of radiation

Simulations of oil yield and quality are presented for N–S oriented, hedgerow olive orchards of a range of structures (viz. canopy depth, canopy width, canopy slope and row spacing) using responses of yield and quality parameters to solar irradiance on canopy walls measured in a range of orchards, cv. Arbequina, in Spain. Results reveal that orchard yield of hedgerows of rectangular shape reaches a maximum when canopy depth equals alley width (row spacing−canopy width) and decreases at wider spacing, and/or with wider canopies, as the length of productive row decreases per unit area. Maximum yields for 4-m deep canopies were 2885 kg ha−1 at 1-m width and 5-m row spacing, 2400 kg ha−1 at 2-m width and 6-m spacing, and 2050 kg ha−1 at 3-m width and 7-m spacing. Illumination of canopies can be increased by applying slopes to form rhomboidal hedgerows. Substantial yield advantage can be achieved, especially for wide hedgerows, partly by closer row spacing that increases row length per unit area. By comparison, responses to latitude in the range 30–40◦ are small and do not warrant different row spacing. Oil quality parameters also respond to orchard structure. Responses are presented for oleic and palmitic acid, stability, and maturity index. Oleic acid content declines as alley spacing increases and is smaller, shallow than in wide, deep canopies. Palmitic acid content, stability, and maturity index increase with row alley spacing and are greater in narrow, shallow than in wide, deep canopies.

Measured Stark widths of several spectral lines of Pb III

The Stark full widths at half of the maximal line intensity (FWHM, ω) have been measured for 25 spectrallines of PbIII (15 measured for the first time) arising from the 5d106s8s, 5d106s7p, 5d106s5f and 5d106s5g electronic configurations, in a lead plasma produced by ablation with a Nd:YAG laser. The optical emission spectroscopy from a laser-induced plasma generated by a 10 640 Å radiation, with an irradiance of 2 × 1010 W cm− 2 on a lead target (99.99% purity) in an atmosphere of argon was analysed in the wavelength interval between 2000 and 7000 Å. The broadening parameters were obtained with the target placed in argon atmosphere at 6 Torr and 400 ns after each laser light pulse, which provides appropriate measurement conditions. A Boltzmann plot was used to obtain the plasma temperature (21,400 K) and published values of the Starkwidths in Pb I, Pb II and PbIII to obtain the electron number density (7 × 1016 cm− 3); with these values, the plasma composition was determined by means of the Saha equation. Local Thermodynamic Equilibrium (LTE) conditions and plasma homogeneity has been checked. Special attention was dedicated to the possible self-absorption of the different transitions. Comparison of the new results with recent available data is also presented.

Quality assessment by region in spot images fused by means dual-tree complex wavelet transform

This work is motivated in providing and evaluating a fusion algorithm of remotely sensed images, i.e. the fusion of a high spatial resolution panchromatic image with a multi-spectral image (also known as pansharpening) using the dual-tree complex wavelet transform (DT-CWT), an effective approach for conducting an analytic and oversampled wavelet transform to reduce aliasing, and in turn reduce shift dependence of the wavelet transform. The proposed scheme includes the definition of a model to establish how information will be extracted from the PAN band and how that information will be injected into the MS bands with low spatial resolution. The approach was applied to Spot 5 images where there are bands falling outside PAN’s spectrum. We propose an optional step in the quality evaluation protocol, which is to study the quality of the merger by regions, where each region represents a specific feature of the image. The results show that DT-CWT based approach offers good spatial quality while retaining the spectral information of original images, case SPOT 5. The additional step facilitates the identification of the most affected regions by the fusion process.

Hyperespectral images for the evaluation of the quality of minimally processed vegetables (spinach)

The production of minimally processed vegetables and fruits is an emergent sector, however these processes reduce the useful life of the products. Main preservation techniques such cold storage and modified atmosphere are limited. New treatments are being applied (O3 , UV‐C radiation, biodegradable films…etc.). The sector precise of cheap and fast techniques to evaluate the general quality and the security of the processed products, that constitute a tool of aid to the decision in the implementation of new procedures of packaging and/or treatments. Objectives: To explore hyperspectral imaging for monitoring the evolution of minimally processed leafy vegetables during shelf‐life . To identify and classify deterioration rates of the leaves through Multivariate analysis techniques (PLS‐DA)

Contribution to the quality improvement of the antenna measurement using post-processing techniques = Contribución a la mejora de la calidad de medida de antena usando técnicas de post-procesado

One important task in the design of an antenna is to carry out an analysis to find out the characteristics of the antenna that best fulfills the specifications fixed by the application. After that, a prototype is manufactured and the next stage in design process is to check if the radiation pattern differs from the designed one. Besides the radiation pattern, other radiation parameters like directivity, gain, impedance, beamwidth, efficiency, polarization, etc. must be also evaluated. For this purpose, accurate antenna measurement techniques are needed in order to know exactly the actual electromagnetic behavior of the antenna under test. Due to this fact, most of the measurements are performed in anechoic chambers, which are closed areas, normally shielded, covered by electromagnetic absorbing material, that simulate free space propagation conditions, due to the absorption of the radiation absorbing material. Moreover, these facilities can be employed independently of the weather conditions and allow measurements free from interferences. Despite all the advantages of the anechoic chambers, the results obtained both from far-field measurements and near-field measurements are inevitably affected by errors. Thus, the main objective of this Thesis is to propose algorithms to improve the quality of the results obtained in antenna measurements by using post-processing techniques and without requiring additional measurements. First, a deep revision work of the state of the art has been made in order to give a general vision of the possibilities to characterize or to reduce the effects of errors in antenna measurements. Later, new methods to reduce the unwanted effects of four of the most commons errors in antenna measurements are described and theoretical and numerically validated. The basis of all them is the same, to perform a transformation from the measurement surface to another domain where there is enough information to easily remove the contribution of the errors. The four errors analyzed are noise, reflections, truncation errors and leakage and the tools used to suppress them are mainly source reconstruction techniques, spatial and modal filtering and iterative algorithms to extrapolate functions. Therefore, the main idea of all the methods is to modify the classical near-field-to-far-field transformations by including additional steps with which errors can be greatly suppressed. Moreover, the proposed methods are not computationally complex and, because they are applied in post-processing, additional measurements are not required. The noise is the most widely studied error in this Thesis, proposing a total of three alternatives to filter out an important noise contribution before obtaining the far-field pattern. The first one is based on a modal filtering. The second alternative uses a source reconstruction technique to obtain the extreme near-field where it is possible to apply a spatial filtering. The last one is to back-propagate the measured field to a surface with the same geometry than the measurement surface but closer to the AUT and then to apply also a spatial filtering. All the alternatives are analyzed in the three most common near-field systems, including comprehensive noise statistical analyses in order to deduce the signal-to-noise ratio improvement achieved in each case. The method to suppress reflections in antenna measurements is also based on a source reconstruction technique and the main idea is to reconstruct the field over a surface larger than the antenna aperture in order to be able to identify and later suppress the virtual sources related to the reflective waves. The truncation error presents in the results obtained from planar, cylindrical and partial spherical near-field measurements is the third error analyzed in this Thesis. The method to reduce this error is based on an iterative algorithm to extrapolate the reliable region of the far-field pattern from the knowledge of the field distribution on the AUT plane. The proper termination point of this iterative algorithm as well as other critical aspects of the method are also studied. The last part of this work is dedicated to the detection and suppression of the two most common leakage sources in antenna measurements. A first method tries to estimate the leakage bias constant added by the receiver’s quadrature detector to every near-field data and then suppress its effect on the far-field pattern. The second method can be divided into two parts; the first one to find the position of the faulty component that radiates or receives unwanted radiation, making easier its identification within the measurement environment and its later substitution; and the second part of this method is able to computationally remove the leakage effect without requiring the substitution of the faulty component. Resumen Una tarea importante en el diseño de una antena es llevar a cabo un análisis para averiguar las características de la antena que mejor cumple las especificaciones fijadas por la aplicación. Después de esto, se fabrica un prototipo de la antena y el siguiente paso en el proceso de diseño es comprobar si el patrón de radiación difiere del diseñado. Además del patrón de radiación, otros parámetros de radiación como la directividad, la ganancia, impedancia, ancho de haz, eficiencia, polarización, etc. deben ser también evaluados. Para lograr este propósito, se necesitan técnicas de medida de antenas muy precisas con el fin de saber exactamente el comportamiento electromagnético real de la antena bajo prueba. Debido a esto, la mayoría de las medidas se realizan en cámaras anecoicas, que son áreas cerradas, normalmente revestidas, cubiertas con material absorbente electromagnético. Además, estas instalaciones se pueden emplear independientemente de las condiciones climatológicas y permiten realizar medidas libres de interferencias. A pesar de todas las ventajas de las cámaras anecoicas, los resultados obtenidos tanto en medidas en campo lejano como en medidas en campo próximo están inevitablemente afectados por errores. Así, el principal objetivo de esta Tesis es proponer algoritmos para mejorar la calidad de los resultados obtenidos en medida de antenas mediante el uso de técnicas de post-procesado. Primeramente, se ha realizado un profundo trabajo de revisión del estado del arte con el fin de dar una visión general de las posibilidades para caracterizar o reducir los efectos de errores en medida de antenas. Después, se han descrito y validado tanto teórica como numéricamente nuevos métodos para reducir el efecto indeseado de cuatro de los errores más comunes en medida de antenas. La base de todos ellos es la misma, realizar una transformación de la superficie de medida a otro dominio donde hay suficiente información para eliminar fácilmente la contribución de los errores. Los cuatro errores analizados son ruido, reflexiones, errores de truncamiento y leakage y las herramientas usadas para suprimirlos son principalmente técnicas de reconstrucción de fuentes, filtrado espacial y modal y algoritmos iterativos para extrapolar funciones. Por lo tanto, la principal idea de todos los métodos es modificar las transformaciones clásicas de campo cercano a campo lejano incluyendo pasos adicionales con los que los errores pueden ser enormemente suprimidos. Además, los métodos propuestos no son computacionalmente complejos y dado que se aplican en post-procesado, no se necesitan medidas adicionales. El ruido es el error más ampliamente estudiado en esta Tesis, proponiéndose un total de tres alternativas para filtrar una importante contribución de ruido antes de obtener el patrón de campo lejano. La primera está basada en un filtrado modal. La segunda alternativa usa una técnica de reconstrucción de fuentes para obtener el campo sobre el plano de la antena donde es posible aplicar un filtrado espacial. La última es propagar el campo medido a una superficie con la misma geometría que la superficie de medida pero más próxima a la antena y luego aplicar también un filtrado espacial. Todas las alternativas han sido analizadas en los sistemas de campo próximos más comunes, incluyendo detallados análisis estadísticos del ruido con el fin de deducir la mejora de la relación señal a ruido lograda en cada caso. El método para suprimir reflexiones en medida de antenas está también basado en una técnica de reconstrucción de fuentes y la principal idea es reconstruir el campo sobre una superficie mayor que la apertura de la antena con el fin de ser capaces de identificar y después suprimir fuentes virtuales relacionadas con las ondas reflejadas. El error de truncamiento que aparece en los resultados obtenidos a partir de medidas en un plano, cilindro o en la porción de una esfera es el tercer error analizado en esta Tesis. El método para reducir este error está basado en un algoritmo iterativo para extrapolar la región fiable del patrón de campo lejano a partir de información de la distribución del campo sobre el plano de la antena. Además, se ha estudiado el punto apropiado de terminación de este algoritmo iterativo así como otros aspectos críticos del método. La última parte de este trabajo está dedicado a la detección y supresión de dos de las fuentes de leakage más comunes en medida de antenas. El primer método intenta realizar una estimación de la constante de fuga del leakage añadido por el detector en cuadratura del receptor a todos los datos en campo próximo y después suprimir su efecto en el patrón de campo lejano. El segundo método se puede dividir en dos partes; la primera de ellas para encontrar la posición de elementos defectuosos que radian o reciben radiación indeseada, haciendo más fácil su identificación dentro del entorno de medida y su posterior substitución. La segunda parte del método es capaz de eliminar computacionalmente el efector del leakage sin necesidad de la substitución del elemento defectuoso.

Plasma–wall interaction in laser inertial fusion reactors: novel proposals for radiation tests of first wall materials

Dry-wall laser inertial fusion (LIF) chambers will have to withstand strong bursts of fast charged particles which will deposit tens of kJ m−2 and implant more than 1018 particles m−2 in a few microseconds at a repetition rate of some Hz. Large chamber dimensions and resistant plasma-facing materials must be combined to guarantee the chamber performance as long as possible under the expected threats: heating, fatigue, cracking, formation of defects, retention of light species, swelling and erosion. Current and novel radiation resistant materials for the first wall need to be validated under realistic conditions. However, at present there is a lack of facilities which can reproduce such ion environments. This contribution proposes the use of ultra-intense lasers and high-intense pulsed ion beams (HIPIB) to recreate the plasma conditions in LIF reactors. By target normal sheath acceleration, ultra-intense lasers can generate very short and energetic ion pulses with a spectral distribution similar to that of the inertial fusion ion bursts, suitable to validate fusion materials and to investigate the barely known propagation of those bursts through background plasmas/gases present in the reactor chamber. HIPIB technologies, initially developed for inertial fusion driver systems, provide huge intensity pulses which meet the irradiation conditions expected in the first wall of LIF chambers and thus can be used for the validation of materials too.

Analytical solution to the one-dimensional non-uniform absorption of solar radiation in uncoated and coated single glass panes

The analytical solution to the one-dimensional absorption–conduction heat transfer problem inside a single glass pane is presented, which correctly takes into account all the relevant physical phenomena: the appearance of multiple reflections, the spectral distribution of solar radiation, the spectral dependence of optical properties, the presence of possible coatings, the non-uniform nature of radiation absorption, and the diffusion of heat by conduction across the glass pane. Additionally to the well established and known direct absorptance αe, the derived solution introduces a new spectral quantity called direct absorptance moment βe, that indicates where in the glass pane is the absorption of radiation actually taking place. The theoretical and numerical comparison of the derived solution with existing approximate thermal models for the absorption–conduction problem reveals that the latter ones work best for low-absorbing uncoated single glass panes, something not necessarily fulfilled by modern glazings.

Use of the First Derivative of Spectral Reflectance to Detect Mold on Tomatoes

The first derivative of spectral reflectance of tomatoes was studied to see whether it can detect molds and sunscald damage on the fruit. The results indicate that a quality index based on the derivative values of reflectance at 590- and 710-nm wavelengths can be used to separate good tomates from those with black mold, gray mold, and sunscald.

Examination of the quality of spinach leaves using hyperspectral imaging

The present research is focused on the application of hyperspectral images for the supervision of quality deterioration in ready to use leafy spinach during storage (Spinacia oleracea). Two sets of samples of packed leafy spinach were considered: (a) a first set of samples was stored at 20 °C (E-20) in order to accelerate the degradation process, and these samples were measured the day of reception in the laboratory and after 2 days of storage; (b) a second set of samples was kept at 10 °C (E-10), and the measurements were taken throughout storage, beginning the day of reception and repeating the acquisition of Images 3, 6 and 9 days later. Twenty leaves per test were analyzed. Hyperspectral images were acquired with a push-broom CCD camera equipped with a spectrograph VNIR (400–1000 nm). Calibration set of spectra was extracted from E-20 samples, containing three classes of degradation: class A (optimal quality), class B and class C (maximum deterioration). Reference average spectra were defined for each class. Three models, computed on the calibration set, with a decreasing degree of complexity were compared, according to their ability for segregating leaves at different quality stages (fresh, with incipient and non-visible symptoms of degradation, and degraded): spectral angle mapper distance (SAM), partial least squares discriminant analysis models (PLS-DA), and a non linear index (Leafy Vegetable Evolution, LEVE) combining five wavelengths were included among the previously selected by CovSel procedure. In sets E-10 and E-20, artificial images of the membership degree according to the distance of each pixel to the reference classes, were computed assigning each pixel to the closest reference class. The three methods were able to show the degradation of the leaves with storage time.

Plasma–wall interaction in laser inertial fusion reactors: novel proposals for radiation tests of first wall materials

Dry-wall laser inertial fusion (LIF) chambers will have to withstand strong bursts of fast charged particles which will deposit tens of kJ m−2 and implant more than 1018 particles m−2 in a few microseconds at a repetition rate of some Hz. Large chamber dimensions and resistant plasma-facing materials must be combined to guarantee the chamber performance as long as possible under the expected threats: heating, fatigue, cracking, formation of defects, retention of light species, swelling and erosion. Current and novel radiation resistant materials for the first wall need to be validated under realistic conditions. However, at present there is a lack of facilities which can reproduce such ion environments. This contribution proposes the use of ultra-intense lasers and high-intense pulsed ion beams (HIPIB) to recreate the plasma conditions in LIF reactors. By target normal sheath acceleration, ultra-intense lasers can generate very short and energetic ion pulses with a spectral distribution similar to that of the inertial fusion ion bursts, suitable to validate fusion materials and to investigate the barely known propagation of those bursts through background plasmas/gases present in the reactor chamber. HIPIB technologies, initially developed for inertial fusion driver systems, provide huge intensity pulses which meet the irradiation conditions expected in the first wall of LIF chambers and thus can be used for the validation of materials too.

BioMet®Phon: A system to monitor phonation quality in the clinics

BioMet®Phon is a software application developed for the characterization of voice in voice quality evaluation. Initially it was conceived as plain research code to estimate the glottal source from voice and obtain the biomechanical parameters of the vocal folds from the spectral density of the estimate. This code grew to what is now the Glottex®Engine package (G®E). Further demands from users in laryngology and speech therapy fields instantiated the development of a specific Graphic User Interface (GUI’s) to encapsulate user interaction with the G®E. This gave place to BioMet®Phon, an application which extracts the glottal source from voice and offers a complete parameterization of this signal, including distortion, cepstral, spectral, biomechanical, time domain, contact and tremor parameters. The semantic capabilities of biomechanical parameters are discussed. Study cases from its application to the field of laryngology and speech therapy are given and discussed. Validation results in voice pathology detection are also presented. Applications to laryngology, speech therapy, and monitoring neurological deterioration in the elder are proposed.

Wireless communication enhancement methods for mobile robots in radiation environments

En entornos hostiles tales como aquellas instalaciones científicas donde la radiación ionizante es el principal peligro, el hecho de reducir las intervenciones humanas mediante el incremento de las operaciones robotizadas está siendo cada vez más de especial interés. CERN, la Organización Europea para la Investigación Nuclear, tiene alrededor de unos 50 km de superficie subterránea donde robots móviles controlador de forma remota podrían ayudar en su funcionamiento, por ejemplo, a la hora de llevar a cabo inspecciones remotas sobre radiación en los diferentes áreas destinados al efecto. No solo es preciso considerar que los robots deben ser capaces de recorrer largas distancias y operar durante largos periodos de tiempo, sino que deben saber desenvolverse en los correspondientes túneles subterráneos, tener en cuenta la presencia de campos electromagnéticos, radiación ionizante, etc. y finalmente, el hecho de que los robots no deben interrumpir el funcionamiento de los aceleradores. El hecho de disponer de un sistema de comunicaciones inalámbrico fiable y robusto es esencial para la correcta ejecución de las misiones que los robots deben afrontar y por supuesto, para evitar tales situaciones en las que es necesario la recuperación manual de los robots al agotarse su energía o al perder el enlace de comunicaciones. El objetivo de esta Tesis es proveer de las directrices y los medios necesarios para reducir el riesgo de fallo en la misión y maximizar las capacidades de los robots móviles inalámbricos los cuales disponen de almacenamiento finito de energía al trabajar en entornos peligrosos donde no se dispone de línea de vista directa. Para ello se proponen y muestran diferentes estrategias y métodos de comunicación inalámbrica. Teniendo esto en cuenta, se presentan a continuación los objetivos de investigación a seguir a lo largo de la Tesis: predecir la cobertura de comunicaciones antes y durante las misiones robotizadas; optimizar la capacidad de red inalámbrica de los robots móviles con respecto a su posición; y mejorar el rango operacional de esta clase de robots. Por su parte, las contribuciones a la Tesis se citan más abajo. El primer conjunto de contribuciones son métodos novedosos para predecir el consumo de energía y la autonomía en la comunicación antes y después de disponer de los robots en el entorno seleccionado. Esto es importante para proporcionar conciencia de la situación del robot y evitar fallos en la misión. El consumo de energía se predice usando una estrategia propuesta la cual usa modelos de consumo provenientes de diferentes componentes en un robot. La predicción para la cobertura de comunicaciones se desarrolla usando un nuevo filtro de RSS (Radio Signal Strength) y técnicas de estimación con la ayuda de Filtros de Kalman. El segundo conjunto de contribuciones son métodos para optimizar el rango de comunicaciones usando novedosas técnicas basadas en muestreo espacial que son robustas frente a ruidos de campos de detección y radio y que proporcionan redundancia. Se emplean métodos de diferencia central finitos para determinar los gradientes 2D RSS y se usa la movilidad del robot para optimizar el rango de comunicaciones y la capacidad de red. Este método también se valida con un caso de estudio centrado en la teleoperación háptica de robots móviles inalámbricos. La tercera contribución es un algoritmo robusto y estocástico descentralizado para la optimización de la posición al considerar múltiples robots autónomos usados principalmente para extender el rango de comunicaciones desde la estación de control al robot que está desarrollando la tarea. Todos los métodos y algoritmos propuestos se verifican y validan usando simulaciones y experimentos de campo con variedad de robots móviles disponibles en CERN. En resumen, esta Tesis ofrece métodos novedosos y demuestra su uso para: predecir RSS; optimizar la posición del robot; extender el rango de las comunicaciones inalámbricas; y mejorar las capacidades de red de los robots móviles inalámbricos para su uso en aplicaciones dentro de entornos peligrosos, que como ya se mencionó anteriormente, se destacan las instalaciones científicas con emisión de radiación ionizante. En otros términos, se ha desarrollado un conjunto de herramientas para mejorar, facilitar y hacer más seguras las misiones de los robots en entornos hostiles. Esta Tesis demuestra tanto en teoría como en práctica que los robots móviles pueden mejorar la calidad de las comunicaciones inalámbricas mediante la profundización en el estudio de su movilidad para optimizar dinámicamente sus posiciones y mantener conectividad incluso cuando no existe línea de vista. Los métodos desarrollados en la Tesis son especialmente adecuados para su fácil integración en robots móviles y pueden ser aplicados directamente en la capa de aplicación de la red inalámbrica. ABSTRACT In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs out of energy or when the robot loses its communication link. The goal of this thesis is to provide means to reduce risk of mission failure and maximise mission capabilities of wireless mobile robots with finite energy storage capacity working in a radiation environment with non-line-of-sight (NLOS) communications by employing enhanced wireless communication methods. Towards this goal, the following research objectives are addressed in this thesis: predict the communication range before and during robotic missions; optimise and enhance wireless communication qualities of mobile robots by using robot mobility and employing multi-robot network. This thesis provides introductory information on the infrastructures where mobile robots will need to operate, the tasks to be carried out by mobile robots and the problems encountered in these environments. The reporting of research work carried out to improve wireless communication comprises an introduction to the relevant radio signal propagation theory and technology followed by explanation of the research in the following stages: An analysis of the wireless communication requirements for mobile robot for different tasks in a selection of CERN facilities; predictions of energy and communication autonomies (in terms of distance and time) to reduce risk of energy and communication related failures during missions; autonomous navigation of a mobile robot to find zone(s) of maximum radio signal strength to improve communication coverage area; and autonomous navigation of one or more mobile robots acting as mobile wireless relay (repeater) points in order to provide a tethered wireless connection to a teleoperated mobile robot carrying out inspection or radiation monitoring activities in a challenging radio environment. The specific contributions of this thesis are outlined below. The first sets of contributions are novel methods for predicting the energy autonomy and communication range(s) before and after deployment of the mobile robots in the intended environments. This is important in order to provide situational awareness and avoid mission failures. The energy consumption is predicted by using power consumption models of different components in a mobile robot. This energy prediction model will pave the way for choosing energy-efficient wireless communication strategies. The communication range prediction is performed using radio signal propagation models and applies radio signal strength (RSS) filtering and estimation techniques with the help of Kalman filters and Gaussian process models. The second set of contributions are methods to optimise the wireless communication qualities by using novel spatial sampling based techniques that are robust to sensing and radio field noises and provide redundancy features. Central finite difference (CFD) methods are employed to determine the 2-D RSS gradients and use robot mobility to optimise the communication quality and the network throughput. This method is also validated with a case study application involving superior haptic teleoperation of wireless mobile robots where an operator from a remote location can smoothly navigate a mobile robot in an environment with low-wireless signals. The third contribution is a robust stochastic position optimisation algorithm for multiple autonomous relay robots which are used for wireless tethering of radio signals and thereby to enhance the wireless communication qualities. All the proposed methods and algorithms are verified and validated using simulations and field experiments with a variety of mobile robots available at CERN. In summary, this thesis offers novel methods and demonstrates their use to predict energy autonomy and wireless communication range, optimise robots position to improve communication quality and enhance communication range and wireless network qualities of mobile robots for use in applications in hostile environmental characteristics such as scientific facilities emitting ionising radiations. In simpler terms, a set of tools are developed in this thesis for improving, easing and making safer robotic missions in hostile environments. This thesis validates both in theory and experiments that mobile robots can improve wireless communication quality by exploiting robots mobility to dynamically optimise their positions and maintain connectivity even when the (radio signal) environment possess non-line-of-sight characteristics. The methods developed in this thesis are well-suited for easier integration in mobile robots and can be applied directly at the application layer of the wireless network. The results of the proposed methods have outperformed other comparable state-of-the-art methods.

HR Nuclear Magnetic Resonance Spectroscopy for Authentication of Olive Oil Quality

The present work is a preliminary study to settle the optimum experimental conditions and data processing for accomplishing the strategies established by the Action Plan for the EU olive oil sector. The objectives of the work were: a) to monitor the evolution of extra virgin olive oil exposed to indirect solar light in transparent glass bottles during four months; b) to identify spectral differences between edible and lampant virgin olive oil by applying high resolution Nuclear Magnetic Resonance (HR-NMR) Spectroscopy. Pr esent study could contribute to determine the date of minimum storage, their optimum conditions, and to properly characterize olive oil.