Event-based visual servoing

Traditional visual servoing systems have been widely studied in the last years. These systems control the position of the camera attached to the robot end-effector guiding it from any position to the desired one. These controllers can be improved by using the event-based control paradigm. The system proposed in this paper is based on the idea of activating the visual controller only when something significant has occurred in the system (e.g. when any visual feature can be loosen because it is going outside the frame). Different event triggers have been defined in the image space in order to activate or deactivate the visual controller. The tests implemented to validate the proposal have proved that this new scheme avoids visual features to go out of the image whereas the system complexity is reduced considerably. Events can be used in the future to change different parameters of the visual servoing systems.

Engineered surface waves in hyperbolic metamaterials

We analyzed surface-wave propagation that takes place at the boundary between a semi-infinite dielectric and a multilayered metamaterial, the latter with indefinite permittivity and cut normally to the layers. Known hyperbolization of the dispersion curve is discussed within distinct spectral regimes, including the role of the surrounding material. Hybridization of surface waves enable tighter confinement near the interface in comparison with pure-TM surface-plasmon polaritons. We demonstrate that the effective-medium approach deviates severely in practical implementations. By using the finite-element method, we predict the existence of long-range oblique surface waves.

Nondiffracting Bessel plasmons

We report on the existence of nondiffracting Bessel surface plasmon polaritons (SPPs), advancing at either superluminal or subluminal phase velocities. These wave fields feature deep subwavelength FWHM, but are supported by high-order homogeneous SPPs of a metal/dielectric (MD) superlattice. The beam axis can be relocated to any MD interface, by interfering multiple converging SPPs with controlled phase matching. Dissipative effects in metals lead to a diffraction-free regime that is limited by the energy attenuation length. However, the ultra-localization of the diffracted wave field might still be maintained by more than one order of magnitude.

Event-based visual servoing with features’ prediction

Event-based visual servoing is a recently presented approach that performs the positioning of a robot using visual information only when it is required. From the basis of the classical image-based visual servoing control law, the scheme proposed in this paper can reduce the processing time at each loop iteration in some specific conditions. The proposed control method enters in action when an event deactivates the classical image-based controller (i.e. when there is no image available to perform the tracking of the visual features). A virtual camera is then moved through a straight line path towards the desired position. The virtual path used to guide the robot improves the behavior of the previous event-based visual servoing proposal.

MDD vs. traditional software development: a practitioner’s subjective perspective

Context: Today’s project managers have a myriad of methods to choose from for the development of software applications. However, they lack empirical data about the character of these methods in terms of usefulness, ease of use or compatibility, all of these being relevant variables to assess the developer’s intention to use them. Objective: To compare three methods, each following a different paradigm (Model-Driven, Model-Based and Code-Centric) with respect to their adoption potential by junior software developers engaged in the development of the business layer of a Web 2.0 application. Method: We have conducted a quasi-experiment with 26 graduate students of the University of Alicante. The application developed was a Social Network, which was organized around a fixed set of modules. Three of them, similar in complexity, were used for the experiment. Subjects were asked to use a different method for each module, and then to answer a questionnaire that gathered their perceptions during such use. Results: The results show that the Model-Driven method is regarded as the most useful, although it is also considered the least compatible with previous developers’ experiences. They also show that junior software developers feel comfortable with the use of models, and that they are likely to use them if the models are accompanied by a Model-Driven development environment. Conclusions: Despite their relatively low level of compatibility, Model-Driven development methods seem to show a great potential for adoption. That said, however, further experimentation is needed to make it possible to generalize the results to a different population, different methods, other languages and tools, different domains or different application sizes.

Cyclically-arranged, storm-controlled, prograding lithosomes in Messinian terrigenous shelves (Bajo Segura Basin, western Mediterranean)

This work focuses on a Messinian shallow-marine terrigenous unit, termed the La Virgen Formation, which forms part of the sedimentary infill of the Bajo Segura Basin (Betic margin of the western Mediterranean). This formation was deposited during a high sea level phase prior to the onset of the Messinian Salinity Crisis. Stratigraphically, it comprises a prograding stack of sandstone lithosomes alternating with marly intervals (1st-order cyclicity). These lithosomes are characterized by a homoclinal geometry that tapers distally, and interfinger with pelagic sediments rich in planktonic and benthic microfauna (Torremendo Formation). An analysis of sedimentary facies of each lithosome reveals a repetitive succession of sandy storm beds (tempestites), occasionally amalgamated, which are separated by thin marly layers (2nd-order cyclicity). Each storm bed contains internal erosional surfaces (3rd-order cyclicity) that delimit sets of laminae. Two categories of storm beds have been differentiated. The first one includes layers formed below storm wave base (SWB), characterized by traction structures associated to unidirectional flows (scoured base, planar lamination, and parting lineation). The second category consists of layers deposited above the SWB which display typical high regime oscillatory flow structures (swaley and hummocky cross lamination). In both cases, the ichnological record is characterized by an oligotypic association of Ophiomorpha nodosa, which can be interpreted as the result of allochthonous tracemakers (crustaceans) transported during storm events together with the sediment. The benthic microfauna in the marly intervals that separate the sandstone lithosomes (1st-order cyclicity) indicates that the storm ebb surges were deposited at depths ranging from those of inner shelf settings (with Elphidium spp. and Cibicides lobatulus) to those of outer shelf (with Valvulineria complanata and Uvigerina cylindrica). At the distal end of the sandstone lithosomes, the planktonic microfauna is characterized by a high content of taxa indicative of warm-oligotrophic waters (Globigerinoides obliquus and Globigerinoides bulloideus). In contrast, in the marly intervals, the microfauna is dominated by species typical of cold-eutrophic waters (Globigerina and Neogloboquadrina). This alternation of planktic foraminiferal assemblages is interpreted as being the expression of climatic cycles, in which every episode of progradation of tempestite-dominated lithosomes corresponds to maximum insolation and warm waters, whereas episodes of marly deposition correspond to minimal insolation and cold waters. The 1st-order cyclicity recorded in the La Virgen Formation, in a context of terrigenous storm-dominated shelf, corresponds to sapropel/homogeneous marl cycles formed in a pelagic basin (Torremendo Fm). These cycles in pelagic sediments are commonplace throughout the Mediterranean during the Messinian and reflect precession orbital changes: repeated periods of maximum insolation – minimum precession (sapropels) and minimal insolation – maximum precession (homogeneous marls). The fact that the example of terrigenous unit studied herein is coetaneous with the well-developed reef complexes in the Mediterranean basins points out the importance of sediment supply in the formation of large-scale sandy lithosomes. This is a crucial aspect to understanding reservoir genesis as well as lateral stratigraphic relationships with potential seal and/or source rocks.

Paleogene-Aquitanian Tectonic Breakup in the Eastern External Betic Zone (Alicante, SE Spain)

Six Paleogene-Aquitanian successions have been reconstructed in the Alicante area (eastern External Betic Zone). The lithofacies association evidences “catastrophic” syn-sedimentary tectonic processes consisting of slumps, mega-olisthostromes, “pillow-beds” and turbiditic deposits. This kind of sedimentation is related to unconformity surfaces delimiting sequence and para-sequence cycles in the stratigraphic record. The data compiled have enabled the reconstruction of the Paleogene-Aquitanian paleogeographic and geodynamic evolution of this sector of the External Betics. During the Eocene the sedimentary basin is interpreted as a narrow trough affected by (growth) folding related to blind thrust faulting with a source area from the north-western margin, while the southeastern margin remained inactive. During the Oligocene-Aquitanian, the sourcing margin becames the southeastern margin of the basin affected by a catastrophic tectonic. The activity of the margins is identified from specific sediment source areas for the platform-slope-trough system and from tectofacies analysis. The southeastern South Iberian Margin is thought to be closer to the Internal Betic Zone, which was tectonically pushing towards the South Iberian Margin. This pushing could generate a lateral progressive elimination of subbetic paleogeographic domains in the eastern Betics. This geodynamic frame could explain the development of such “catastrophic” tectono-sedimentary processes during the Late Oligocene-Early Miocene.

Sol–gel copper chromium delafossite thin films as stable oxide photocathodes for water splitting

Significant effort is being devoted to the study of photoactive electrode materials for artificial photosynthesis devices. In this context, photocathodes promoting water reduction, based on earth-abundant elements and possessing stability under illumination, should be developed. Here, the photoelectrochemical behavior of CuCrO2 sol–gel thin film electrodes prepared on conducting glass is presented. The material, whose direct band gap is 3.15 eV, apparently presents a remarkable stability in both alkaline and acidic media. In 0.1 M HClO4 the material is significantly photoactive, with IPCE values at 350 nm and 0.36 V vs. RHE of over 6% for proton reduction and 23% for oxygen reduction. This response was obtained in the absence of charge extraction layers or co-catalysts, suggesting substantial room for optimization. The photocurrent onset potential is equal to 1.06 V vs. RHE in both alkaline and acidic media, which guarantees the combination of the material with different photoanodes such as Fe2O3 or WO3, potentially yielding bias-free water splitting devices.

Missing Rings in Pinus halepensis – The Missing Link to Relate the Tree-Ring Record to Extreme Climatic Events

Climate predictions for the Mediterranean Basin include increased temperatures, decreased precipitation, and increased frequency of extreme climatic events (ECE). These conditions are associated with decreased tree growth and increased vulnerability to pests and diseases. The anatomy of tree rings responds to these environmental conditions. Quantitatively, the width of a tree ring is largely determined by the rate and duration of cell division by the vascular cambium. In the Mediterranean climate, this division may occur throughout almost the entire year. Alternatively, cell division may cease during relatively cool and dry winters, only to resume in the same calendar year with milder temperatures and increased availability of water. Under particularly adverse conditions, no xylem may be produced in parts of the stem, resulting in a missing ring (MR). A dendrochronological network of Pinus halepensis was used to determine the relationship of MR to ECE. The network consisted of 113 sites, 1,509 trees, 2,593 cores, and 225,428 tree rings throughout the distribution range of the species. A total of 4,150 MR were identified. Binomial logistic regression analysis determined that MR frequency increased with increased cambial age. Spatial analysis indicated that the geographic areas of south-eastern Spain and northern Algeria contained the greatest frequency of MR. Dendroclimatic regression analysis indicated a non-linear relationship of MR to total monthly precipitation and mean temperature. MR are strongly associated with the combination of monthly mean temperature from previous October till current February and total precipitation from previous September till current May. They are likely to occur with total precipitation lower than 50 mm and temperatures higher than 5°C. This conclusion is global and can be applied to every site across the distribution area. Rather than simply being a complication for dendrochronology, MR formation is a fundamental response of trees to adverse environmental conditions. The demonstrated relationship of MR formation to ECE across this dendrochronological network in the Mediterranean basin shows the potential of MR analysis to reconstruct the history of past climatic extremes and to predict future forest dynamics in a changing climate.

Pyrolysis and combustion study of flexible polyurethane foam

The thermal degradation of flexible polyurethane foam has been studied under different conditions by thermogravimetric analysis (TG), thermogravimetric analysis-infrared spectrometry (TG-IR) and thermogravimetric analysis-mass spectrometry (TG-MS). For the kinetic study, dynamic and dynamic+isothermal runs were performed at different heating rates (5, 10 and 20 °C min−1) in three different atmospheres (N2, N2:O2 4:1 and N2:O2 9:1). Two reaction models were obtained, one for the pyrolysis and another for the combustion degradation (N2:O2 4:1 and N2:O2 9:1), simultaneously correlating the experimental data from the dynamic and dynamic+isothermal runs at different heating rates. The pyrolytic model considered consisted of two consecutive reactions with activation energies of 142 and 217.5 kJ mol−1 and reaction orders of 0.805 and 1.246. Nevertheless, to simulate the experimental data from the combustion runs, three consecutive reactions were employed with activation energies of 237.9, 103.5 and 120.1 kJ mol−1, and reaction orders of 2.003, 0.778 and 1.025. From the characterization of the sample employing TG-IR and TG-MS, the results obtained showed that the FPUF, under an inert atmosphere, started the decomposition breaking the urethane bond to produce long chains of ethers which were degraded immediately in the next step. However, under an oxidative atmosphere, at the first step not only the urethane bonds were broken but also some ether polyols started their degradation which finished at the second step producing a char that was degraded at the last stage.