Theoretical analysis and numerical verification of the consistency of viscous smoothed-particle-hydrodynamics formulations in simulating free-surface flows

The theoretical formulation of the smoothed particle hydrodynamics (SPH) method deserves great care because of some inconsistencies occurring when considering free-surface inviscid flows. Actually, in SPH formulations one usually assumes that (i) surface integral terms on the boundary of the interpolation kernel support are neglected, (ii) free-surface conditions are implicitly verified. These assumptions are studied in detail in the present work for free-surface Newtonian viscous flow. The consistency of classical viscous weakly compressible SPH formulations is investigated. In particular, the principle of virtual work is used to study the verification of the free-surface boundary conditions in a weak sense. The latter can be related to the global energy dissipation induced by the viscous term formulations and their consistency. Numerical verification of this theoretical analysis is provided on three free-surface test cases including a standing wave, with the three viscous term formulations investigated.

Contribución al análisis cinemático y dinámico de manipuladores paralelos

El documento presentado contiene una aproximación a algunos de los diversos problemas actuales existentes en el campo de la robótica paralela. Primeramente se hace una propuesta para el cálculo de los parámetros estructurales de los robots paralelos, mediante el desarrollo de una metodología que combina las herramientas del estudio de mecanismos con el álgebra lineal; en una segunda sección se propone la solución del problema geométrico directo a partir de la definición de ecuaciones de restricción y su respectiva solución usando métodos numéricos, así como la solución para el problema geométrico inverso; en la tercera parte se aborda el problema dinámico tanto directo como inverso y su solución a partir de una metodología basada en el método de Kane o de trabajos virtuales. Para las propuestas metodológicas expuestas se han desarrollado ejemplos de aplicación tanto teóricos como prácticos (simulaciones y pruebas físicas), donde se demuestra su alcance y desempeño, mediante su utilización en múltiples configuraciones para manipuladores paralelos, entre los que se destacan la plataforma Stewart Gough, y el 3-RRR. Todo con el objetivo de extender su aplicación en futuros trabajos de investigación en el área. ABSTRACT The document presented below provides an approach to some of the many current problems existing in the field of parallel robotics. First is maked a proposal for calculating the structural parameters of the parallel robots, through developing a methodology that combines tools to study mechanisms with the linear algebra; a second section contains a direct geometrical problem solution from the definition of constraint equations and their respective solution using numerical methods, as well as the solution to the inverse geometric problem; in the third part, both, direct and inverse dynamic problem and its solution based on methodology Kane or the method of virtual work are propossed. For each of the exposed methodological proposals they were developed examples of both theoretical and practical application (simulations and physical tests), where its scope and performance is demonstrated by its use in multiple configurations for parallel manipulators, among which stand out the platform Stewart Gough, and 3-RRR. All with the goal of extending its application in future research in the area.

Work in progress - Exploiting videoconferencing possibilities to promote the European convergence process

This paper introduces the experience of using videoconferencing and recording as a mechanism to support courses which need to be promoted or discontinued within the framework of the European convergence process. Our objective is to make these courses accessible as live streaming during the lessons as well as recorded lectures and associated documents available to the students as soon as the lesson has finished. The technology used has been developed in our university and it is all open source. Although this is a technical project the key is the human factor involved. The people managing the virtual sessions are students of the courses being recorded. However, they lack technical knowledge, so we had to train them in audiovisuals and enhance the usability of the videoconferencing tool and platform. The validation process is being carried out in five real scenarios at our university. During the whole period we are evaluating technical and pedagogical issues of this experience for both students and teachers to guide the future development of the service. Depending on the final results, the service of lectures recording will be available as educational resource for all of the teaching staff of our university.

Knowledgeable Feedback via a Cast of Virtual Characters with Different Competences

DynaLearn (http://www.DynaLearn.eu) develops a cognitive artefact that engages learners in an active learning by modelling process to develop conceptual system knowledge. Learners create external representations using diagrams. The diagrams capture conceptual knowledge using the Garp3 Qualitative Reasoning (QR) formalism [2]. The expressions can be simulated, confronting learners with the logical consequences thereof. To further aid learners, DynaLearn employs a sequence of knowledge representations (Learning Spaces, LS), with increasing complexity in terms of the modelling ingredients a learner can use [1]. An online repository contains QR models created by experts/teachers and learners. The server runs semantic services [4] to generate feedback at the request of learners via the workbench. The feedback is communicated to the learner via a set of virtual characters, each having its own competence [3]. A specific feedback thus incorporates three aspects: content, character appearance, and a didactic setting (e.g. Quiz mode). In the interactive event we will demonstrate the latest achievements of the DynaLearn project. First, the 6 learning spaces for learners to work with. Second, the generation of feedback relevant to the individual needs of a learner using Semantic Web technology. Third, the verbalization of the feedback via different animated virtual characters, notably: Basic help, Critic, Recommender, Quizmaster & Teachable agen

Virtual Instruments in Dimensional Metrology

During the last five years, in order to improve understanding of content related to "Coordinate Metrology", the Laboratorio de Metrología y Metrotecnia (LMM) from the Polytechnic University of Madrid offers its PhD students, as a course work, the construction of a virtual instrument. This virtual instrument simulates the imaging of a part to be measured by optical dimensional metrology instruments (microscopes, profile projectors, vision machines). The LMM provides students with images similar to those they would obtain with real instrumentation for the instrument adjustment and calibration process. Working with these images, students should determine the adjustment parameters of the virtual instrument. Once these parameters are set, the student can perform the proper calibration of the virtual instrument. Beyond this process, the instrument is already able to perform traceable measurement. In order to do that, LMM offers students some images of parts. Students should perform some measurements using those images and estimate the corresponding uncertainties.

Implementación de ingeniería virtual con Joomla!

El Proyecto Final de Carrera(PFC)Implementación de Ingeniería Virtual con Joomla! tiene como objetivo la creación de una plataforma web. Para desarrollar un proyecto de ingeniería multidisciplinar, basado en el trabajo en red, grupos de trabajo y el trabajo flexible. El trabajo en red es desempeñar el trabajo por medio de las Tecnología de la Información y la comunicación (TIC). Los grupos de trabajo están compuestos por personas multidisciplinares, multirraciales, de diferentes religiones, situados en husos horarios distintos y multiculturales donde la colaboración, flexibilidad y la compartición de recursos están a la orden del día. La flexible es la capacidad de adaptación de los propios trabajadores a la demanda de la productividad, los responsables depositan sobre ellos su confianza, recibiendo el trabajo terminado en forma y fecha. Estos trabajadores no necesitan una supervisión constante ni un sitio fijo donde realizar su trabajo. Todo lo que necesitan esta en la red, la información que necesitan como las herramientas. Convirtiéndose este tipo de trabajador en teletrabajadores. Estos trabajadores utilizan de forma intensiva sus conocimientos, no se puede permitir quedarse obsoletos en su conocimientos, sería su gran desgracia. Por está razón, necesitan estar formándose continuamente, aprendiendo y conociendo las nuevas tecnologías que aparecen. Con el objetivo de conseguir nuevas líneas de negocio, con el fin de lograr nuevos ingresos. Los trabajadores que hacen un uso intensivo en la tecnología de la información y comunicación, se caracterizan por la continua innovación y cambio tecnológico. Estos trabajadores necesitan una red profesional, social amplia con enlaces fuertes y poderosos. Las redes son importantes, para estar actualizado con las innovaciones que se realizan en las empresas, optar a nuevos puesto de trabajo, curso en nuevas tecnologías… Gracias a los servicios actuales en Internet facilitan mantener vivos una gran cantidad de enlaces (contactos), en comparación con otras épocas. La plataforma propuesta en este proyecto final de carrera esta compuesta de todas las herramientas necesarias para que estos trabajadores puedan desarrollar su actividad y mantenimiento de sus redes profesionales. Abstract: The aim of this Final Project of Career, Implementation of Virtual Engineering with Joomla!, is to create a web software application where a multidisciplinary engineering project bases on the networking, working groups and the flexible working can be implemented. The networking is the job through the Information Technology and Communication (ITC) where working groups compounded of multidisciplinary and multiracial professions, different religions and located in different time zones are created. The multicultural environment, collaboration, flexibility and to share resources are the order of the day on this kind of groups. The flexibility is the ability to adaptability of workers to the productivity demand, with the trust which is placed on them by supervisor people who wait to receive the work completed in a specific form and date. These workers do not need either constant supervision or a fixed site where to do the job. Everything the workers need is on the network, as the information as the tools, that is why they become teleworkers. These workers demand a high use of their knowledge, so it can not be allowed to become obsolete. This would be a great misfortune. That is why they need to continue learning and knowing the new technologies emerging with the aim of getting new revenues. Workers do an intensive use of the information technology and communication, characterized by continuous innovation and technological change. These workers need a broad social and professional network with great power. This network is important to keep updated with innovations taking place at the companies, to apply for a new job, a new technology course etc.. Thanks to Internet services a bigger number of contacts are provided compared to earlier times. The software application of this project is compounded with enough tools with the aim of the workers can carry out their activity and maintenance of the links on their professional nets.

Integration of Virtual Map Rooms as a support tool in historical and social research

At the present time almost all map libraries on the Internet are image collections generated by the digitization of early maps. This type of graphics files provides researchers with the possibility of accessing and visualizing historical cartographic information keeping in mind that this information has a degree of quality that depends upon elements such as the accuracy of the digitization process and proprietary constraints (e.g. visualization, resolution downloading options, copyright, use constraints). In most cases, access to these map libraries is useful only as a first approach and it is not possible to use those maps for scientific work due to the sparse tools available to measure, match, analyze and/or combine those resources with different kinds of cartography. This paper presents a method to enrich virtual map rooms and provide historians and other professional with a tool that let them to make the most of libraries in the digital era.

A UGV Navigation System for Large Outdoor Environments Including Virtual Obstacles for No-Go Zones

This work presents a navigation system for UGVs in large outdoor environments; virtual obstacles are added to the system in order to avoid zones that may present risks to the UGV or the elements in its surroundings. The platform, software architecture and the modifications necessary to handle the virtual obstacles are explained in detail. Several tests have been performed and their results show that the system proposed is capable of performing safe navigation in complex environments.

Enseñanza (y aprendizaje) virtual de Geología por parte del alumno=Virtual education (and learning) of Geology by students

Una de las maneras más efectivas para asentar conocimientos se produce cuando, además de realizar un aprendizaje práctico, se intentan transmitir a otra persona. De hecho, los alumnos muchas veces prestan más atención a sus compañeros que al profesor. En la E.T.S.I. Minas de Madrid se ha llevado a cabo un programa de innovación educativa en asignaturas relacionadas con la Geología mediante nuevas tecnologías para mejorar el aprendizaje basado en el trabajo práctico personal del alumno, con la realización de vídeos en el medio físico (campo) en los que explican los aspectos geológicos visibles a diferentes escalas. Estos vídeos se han subido a las plataformas “moodle”, “facebook” y canal “youtube” donde compañeros, alumnos de otras Universidades y personas interesadas pueden consultarlos. De esta manera se pretende que, además de adquirir conocimientos geológicos, los alumnos adquieren el hábito de expresarse en público con un lenguaje técnico. Los alumnos manifestaron su satisfacción por esta actividad, aunque idea del rodaje de vídeos no resultó inicialmente muy popular. Se ha observado una mejora en las calificaciones, así como un incremento de la motivación. De hecho, los estudiantes manifestaron haber adquirido, además de los conceptos geológicos, seguridad a la hora de expresarse en público. Palabras clave: innovación educativa, nuevas tecnologías (TIC), Geología Abstract- Knowledge is gained by practice, but one of the most effective ways is when one tries to transmit it to others. Likewise, students pay more attention to their classmates than to teachers. In the Geological Engineering Department of the Madrid School of Mines, we have run an educational innovation program in courses related to Geology using new technologies (ITC) in order to increase the acquisition of geological knowledge. This program is designed mainly on the basis of individual and group work with video recordings in the field in which students explain geological concepts at various scales. These videos have been uploaded to the “Moodle”, “Facebook” and “YouTube” channel of the Madrid School of Mines, where other students from the same university or elsewhere can view them. Students acquire geological knowledge and the ability to address the general public using technical language. The realization of these videos has been warmly welcomed by students. Notably, they show increased motivation, accompanied by an improvement in grades, although at the beginning this program was not very popular because of student insecurity. Students have expressed that they learnt geological concepts but also gained confidence in public speaking using technical language

Development of a management system for virtual machines on private clouds

Cloud computing and, more particularly, private IaaS, is seen as a mature technol- ogy with a myriad solutions to choose from. However, this disparity of solutions and products has instilled in potential adopters the fear of vendor and data lock- in. Several competing and incompatible interfaces and management styles have increased even more these fears. On top of this, cloud users might want to work with several solutions at the same time, an integration that is difficult to achieve in practice. In this Master Thesis I propose a management architecture that tries to solve these problems; it provides a generalized control mechanism for several cloud infrastructures, and an interface that can meet the requirements of the users. This management architecture is designed in a modular way, and using a generic infor- mation model. I have validated the approach through the implementation of the components needed for this architecture to support a sample private IaaS solution: OpenStack.

Evaluación y tratamiento basados en realidad virtual de la negligencia espacial unilateral: análisis del estado de la cuestión y demostración de enfoques alternativos

En el siguiente trabajo se presenta en primer lugar de forma detallada la enfermedad denominada negligencia espacial unilateral (síntomas, tipos, causas, evaluación y tratamientos) para proporcionar una mejor comprensión del principal objetivo del estudio, que es el análisis de las soluciones virtuales, existentes en la literatura, aplicadas al tratamiento de esta enfermedad, incluyéndose una amplia descripción de cada estudio encontrado sobre el tema. A continuación, se han realizado tres implementaciones en realidad virtual de tres técnicas clásicas de rehabilitación llevadas a cabo en un entorno virtual, que son la estimulación optocinética, eye patching, y adaptación prismática y se ha desarrollado una aplicación 3D para evaluar el grado y tipo de negligencia sufrida por los pacientes. Que de forma conjunta, constituyen un primer paso hacia un enfoque alternativo para el tratamiento de la enfermedad, más personalizado y eficaz. Por último, en las conclusiones, se analizan las principales ventajas y desventajas encontradas en el uso de estas tecnologías aplicadas a la enfermedad y los trabajos futuros que pueden derivar de este trabajo.---ABSTRACT---The following work starts by presenting in detail a disease called unilateral spatial neglect (symptoms, types, causes, assessment and treatment) to provide the background for this study's main objective, which is the analysis of the virtual solutions existing in the literature for the treatment of this disease. The document includes an extensive description of the previous work found in this topic. Afterwards, three implementations of three classical rehabilitation techniques were performed in virtual reality: optokinetic stimulation, eye patching and prism adaptation, as a proof-of-concept, and a 3D application was implemented to assess the degree and type of negligence suffered by patients. Altogether, they constitute a first step towards an alternative approach for the treatment of disease, more personalized and effective. Finally, the conclusions analyze the main advantages and disadvantages encountered in the use of these technologies when applied to this disease and suggest future work.

A Semantic-Based Approach to Attain Reproducibility of Computational Environments in Scientic Work ows: A Case Study

Reproducible research in scientic work ows is often addressed by tracking the provenance of the produced results. While this approach allows inspecting intermediate and nal results, improves understanding, and permits replaying a work ow execution, it does not ensure that the computational environment is available for subsequent executions to reproduce the experiment. In this work, we propose describing the resources involved in the execution of an experiment using a set of semantic vocabularies, so as to conserve the computational environment. We dene a process for documenting the work ow application, management system, and their dependencies based on 4 domain ontologies. We then conduct an experimental evaluation sing a real work ow application on an academic and a public Cloud platform. Results show that our approach can reproduce an equivalent execution environment of a predened virtual machine image on both computing platforms.

Diseño de una práctica para un laboratorio virtual de biotecnología multilingüe y adaptable a alumnos de secundaria

Este trabajo describe el diseño y la implementación de un ejercicio virtual que es parte de una práctica que se realiza en un laboratorio virtual de biotecnología, la adaptación de la misma para que alumnos de secundaria la puedan realizar y por último, la adaptación del laboratorio a un entorno multilingüe. La práctica consiste en transformar genéticamente un árbol (chopo) para dotarlo de una mayor resistencia a enfermedades, especialmente las producidas por hongos y más en concreto, el ejercicio o fase de la práctica a desarrollar consiste en introducir en el plásmido un gen amplificado por la PCR obtenido en la fase anterior de la práctica virtual. La adaptación para alumnos de secundaria servirá para fomentar el interés de estos alumnos por la biotecnología. Asimismo, la adaptación a un entorno multilingüe permitirá que varios alumnos de distintos idiomas realicen la práctica de forma simultánea. Como parte de este trabajo, se ha realizado un análisis sobre OpenSimulator, que es la herramienta utilizada para la creación del entorno virtual, así como de sus visores gráficos para visitar y desarrollar el mundo virtual. Debido a que este proyecto toma como punto de partida un laboratorio virtual con una parte de la práctica virtual ya desarrollada, se ha incluido una descripción de dicho laboratorio para comprender mejor el trabajo que se ha realizado en este proyecto. Finalmente, en este trabajo se presentan los modelos y especificaciones para la extensión del laboratorio virtual. ---ABSTRACT---This document describes the design and implementation of virtual exercise that is part of a practice that is performed in a virtual biotechnology laboratory, the adaptation of this phase to high-school students and finally, the adaptation of laboratory for a multilingual environment. In this practice a tree is genetically modified to give it resistance to diseases produced by fungi. Specifically, the exercise or phase developed consists in introducing in the plasmid a gene amplified by PCR in the previous phase. The adaptation for high-school students will motivate to new students about biotechnology. And the adapting to the multilingual environment will allow several students, such as Erasmus, to do the practice in different languages simultaneously. We analyzed the OpenSimulator platform and the graphic viewers to visit and develop the virtual world. This tool is used for creating the virtual environment. Because of the fact that the project takes a starting point a laboratory with some parts already developed, we have included a description with information related to the laboratory to better understand the work carried out in this project. Finally, this document presents the models and specifications for the extension of the virtual laboratory.

Restauración virtual del patrimonio sonoro. Aplicación al antiguo rito hispánico

Una de las aplicaciones más interesantes de las tecnologías de Realidad Acústica Virtual es la posibilidad de recuperar el patrimonio cultural del sonido de los recintos históricos que se han perdido o cuyas características se han modificado a lo largo de los siglos. En este trabajo, las tecnologías de realidad acústica virtual se utilizan para tratar de reconstruir virtualmente el sonido producido en las actividades litúrgicas del antiguo rito hispánico. Bajo este nombre se conoce a la liturgia que celebraban los cristianos de la península ibérica hasta su prohibición, en favor del culto romano, a mediados del siglo XI. El rito hispánico -también conocido como rito visigótico-mozárabe- es una de las manifestaciones culturales más interesantes de la Alta Edad Media en occidente. Se trata de un patrimonio cultural desaparecido, tanto desde el punto de vista de las señales sonoras que lo integraban -ya que la mayoría de las melodías que conformaban el rito se han perdido- como desde el punto de vista de los espacios en los que se desarrollaba, debido a que las iglesias conservadas de la época han experimentado modificaciones a lo largo de los siglos que alteran sus condiciones acústicas con respecto a las que tenían en el periodo de vigencia de esta liturgia. Para llevar a cabo este proyecto, se han realizado modelos acústicos digitales de un grupo representativo de iglesias prerrománicas de la Península Ibérica en su estado primitivo. Se ha procurado que las iglesias seleccionadas representen la variedad de comportamientos acústicos esperables en este tipo de edificios. Con este objetivo, se han elegido cinco iglesias prerrománicas que presentan diferencias sustanciales en los parámetros que, a priori, van a influir en mayor manera a su comportamiento acústico: el volumen del recinto, la forma de la planta y el tipo de cubierta. El proceso de creación de los modelos acústicos digitales de las iglesias se ha dividido en dos fases: en la primera se han creado modelos de los edificios en su estado actual, que se han validado a partir de los datos obtenidos en mediciones acústicas realizadas in situ; a partir de los modelos validados de las iglesias en su estado actual, en la segunda fase se han generado los modelos acústicos digitales correspondientes al estado primitivo de las mismas, modificando los modelos anteriores de acuerdo con las hipótesis de reconstrucción propuestas en las investigaciones arqueológicas más recientes. Se han realizado grabaciones en cámara anecoica de una serie de piezas del repertorio original del canto mozárabe. Las grabaciones se han llevado a cabo con un array esférico compuesto por 32 micrófonos, con objeto de obtener información sobre la directividad de la emisión sonora de los cantantes, que se aplicará en las auralizaciones. Finalmente, se han realizado diversas auralizaciones, teniendo en cuenta diferentes configuraciones litúrgicas que eran usuales en este rito. ABSTRACT One of the most interesting applications of the Acoustic Virtual Reality technologies is the possibility to recover the cultural heritage of the sound of the historical sites that have been lost or whose characteristics have been modified through time. In this work, Acoustic Virtual Reality technologies are used to try to reconstruct virtually the sound produced in the liturgical activities of the Hispanic Rite. This is the name given to the liturgy celebrated by Christians of the Iberian Peninsula prior to the introduction of the Roman cult in the mid-eleventh century. The Hispanic Rite (also known as Visigothic or Mozarabic rite) is one of the most interesting cultural manifestations of the Middle Ages. It is a lost cultural heritage, both from the point of view of the sound signals that were used since the majority of the melodies that conformed the rite have been lost, and from the point of view of the spaces in which this liturgy was celebrated, because the churches preserved from that era have changed over the centuries altering its acoustic conditions respect to which they were in the period in which this liturgy was in effect. To carry out this project, acoustic models of a representative group of the pre-Romanesque churches in the Iberian Peninsula have been made in his primitive state. To select the sample of buildings to study, efforts have been made to ensure that the selected churches were representative of the range of expected acoustic behaviors in this type of buildings. Five churches have been selected, showing differences in the parameters that have the greatest influence on their acoustic behavior: the enclosure volume, the shape of the floor plan and the type of roof. The process of creating digital acoustic models of the churches has been divided into two phases. In the first phase acoustic models of the churches in its current state have been created. These models have been validated with the data obtained from in situ acoustic measurements. From the validated models of churches in its current state, in the second phase, changes in the acoustic models have been performed in order to represent the primitive state of the churches, according to the historical reconstruction hypothesis that have been proposed in the most recent archaeological investigations. Anechoic recordings of a series of pieces of the original Mozarabic Chant repertoire have been recorded. The recordings were made with a spherical array composed of 32 microphones, in order to obtain information on the directivity of the sound emission of the singers. These directivity data will be used to simulate the directional radiation of the sound sources in the auralizations. Finally, auralizations were produced corresponding to different liturgical configurations which were common in this rite.

Rediseño del tutor automático de un laboratorio virtual

El siguiente trabajo abarca todo el proceso llevado a cabo para el rediseño de un sistema automático de tutoría que se integra con laboratorios virtuales desarrollados para la realización de prácticas por parte de estudiantes dentro de entornos virtuales tridimensionales. Los principales objetivos de este rediseño son la mejora del rendimiento del sistema automático de tutoría, haciéndolo más eficiente y por tanto permitiendo a un mayor número de estudiantes realizar una práctica al mismo tiempo. Además, este rediseño permitirá que el tutor se pueda integrar con otros motores gráficos con un coste relativamente bajo. Se realiza en primer lugar una introducción a los principales conceptos manejados en este trabajo así como algunos aspectos relacionados con trabajos previos a este rediseño del tutor automático, concretamente la versión anterior del tutor ligada a la plataforma OpenSim. Acto seguido se detallarán qué requisitos funcionales cumplirá así como las ventajas que aportará este nuevo diseño. A continuación, se explicará el desarrollo del trabajo donde se podrá ver cómo se ha reestructurado el antiguo sistema de tutoría, la aplicación de un diseño orientado a objetos y los distintos paquetes y clases que lo conforman. Por último, se detallarán las conclusiones obtenidas durante el desarrollo del trabajo así como la implicación del trabajo aquí mostrado en futuros desarrollos.---ABSTRACT--- The following work shows the process that has been carried out in order to redesign an automatic tutoring system that can be integrated into virtual laboratories developed for supporting students’ practices in 3D virtual environments. The main goals of this redesign are the improvement of automatic tutoring system performance, making it more efficient and therefore allowing more students to perform a practice at the same time. Furthermore, this redesign allows the tutor to be integrated with other graphic engines with a relative low cost. Firstly, we begin with an introduction to the main concepts used in this work and some aspects concerning the related previous works to this automatic tutoring system redesign, such as the previous version of the tutoring system bound to OpenSim. Secondly, it will be detailed what functional requirements are met and what advantages this new tutoring system will provide. Next, it will be explained how this work has been developed, how the previous tutoring system has been restructured, how an object-oriented design is applied and the classes and packages derived from this design. Finally, it will be outlined the conclusions drawn in the development of this work as well as how this work will take part in future works.