8 resultados para UAS sense and avoid
em Universidad de Alicante
Resumo:
Phase equilibrium data regression is an unavoidable task necessary to obtain the appropriate values for any model to be used in separation equipment design for chemical process simulation and optimization. The accuracy of this process depends on different factors such as the experimental data quality, the selected model and the calculation algorithm. The present paper summarizes the results and conclusions achieved in our research on the capabilities and limitations of the existing GE models and about strategies that can be included in the correlation algorithms to improve the convergence and avoid inconsistencies. The NRTL model has been selected as a representative local composition model. New capabilities of this model, but also several relevant limitations, have been identified and some examples of the application of a modified NRTL equation have been discussed. Furthermore, a regression algorithm has been developed that allows for the advisable simultaneous regression of all the condensed phase equilibrium regions that are present in ternary systems at constant T and P. It includes specific strategies designed to avoid some of the pitfalls frequently found in commercial regression tools for phase equilibrium calculations. Most of the proposed strategies are based on the geometrical interpretation of the lowest common tangent plane equilibrium criterion, which allows an unambiguous comprehension of the behavior of the mixtures. The paper aims to show all the work as a whole in order to reveal the necessary efforts that must be devoted to overcome the difficulties that still exist in the phase equilibrium data regression problem.
Resumo:
The aim of this work was to investigate the alkaloid patterns of Lapiedra martinezii and their relation to biogeography and phenology focused in a phylogenetic comparison. Plants from 14 populations of L. martinezii, covering almost its entire distribution area, were subjected to morphological, ecological, and phytochemical analysis. Experiments for different alkaloid-type content are proposed as a new tool for analysis of plant distribution. Several plants were transplanted for weekly observation of their phenological changes, and alkaloids from different plant organs were extracted, listed, and compared. The alkaloid pattern of L. martinezii comprises 49 compounds of homolycorine, lycorine, tazettine, haemantamine, and narciclasine types. The populations located in the north and south margins of the distribution area displayed alkaloid patterns different from those of the central area. Changes in these patterns during their phenological cycle may be related to a better defence for plant reproduction. L. martinezii is an old relict plant, and it has maintained some of the more primitive morphological features and alkaloid profiles of the Mediterranean Amaryllidaceae. The variations in alkaloid content observed could be interpreted in a phylogenetic sense, and those found in their phenological changes, in an adaptive one.
Resumo:
Culture is the system of knowledge, from whose meanings the human being screened and selected their understanding of Reality in the broad sense, and interprets and regulates the facts and data of social behavior. In this sense, culture is a program for social action and acting in humans during the process of socialization and social interaction. The meanings of each culture are the cumulative product of collective and individual thinking, in ecological economic, social and political specific situations, so are the expression of each particular cultural historical conjuncture. Moreover, the universal cognitive structure for the apprehension of cultural reality is the World Vision (WV). Due to its importance and significance as substratum of religious and political belief systems, we will gird our study to mythical cognitive mode or mythical WV.
Resumo:
La próxima reapertura de la radiotelevisión valenciana, teniendo en cuenta el fracaso en la gestión de RTVV durante años, suscita interrogantes sobre cómo se está desarrollando el proceso de creación del nuevo ente público. Cuáles son las medidas que se están llevando a cabo para garantizar la independencia política de la nueva corporación y evitar los errores del pasado. El objetivo de este estudio consiste en comparar los mecanismos y herramientas con los que contaba RTVV y con los que se dotará al nuevo ente, ya que a priori marcarán la diferencia entre ambos. En este sentido, la investigación se fundamenta en el análisis de contenido de la legislación tanto de RTVV como de la futura Corporación Valenciana de Medios de Comunicación, teniendo como referencia el informe de expertos Bases per a la renovació de l’espai comunicatiu valencià i la restitució del servei públic de radiotelevisió. Finalmente, se ha podido concluir que algunas herramientas de autorregulación interna propuestas hoy, ya formaban parte de la antigua RTVV. Estos organismos no cumplieron su cometido debido a la politización de los mismos, que en definitiva fue la principal causa de su declive. No obstante, también existieron carencias en cuanto a regulación externa, y que en esta nueva etapa se están incluyendo para aumentar las garantías de independencia y cumplimiento deontológico profesional.
Resumo:
Nowadays, new computers generation provides a high performance that enables to build computationally expensive computer vision applications applied to mobile robotics. Building a map of the environment is a common task of a robot and is an essential part to allow the robots to move through these environments. Traditionally, mobile robots used a combination of several sensors from different technologies. Lasers, sonars and contact sensors have been typically used in any mobile robotic architecture, however color cameras are an important sensor due to we want the robots to use the same information that humans to sense and move through the different environments. Color cameras are cheap and flexible but a lot of work need to be done to give robots enough visual understanding of the scenes. Computer vision algorithms are computational complex problems but nowadays robots have access to different and powerful architectures that can be used for mobile robotics purposes. The advent of low-cost RGB-D sensors like Microsoft Kinect which provide 3D colored point clouds at high frame rates made the computer vision even more relevant in the mobile robotics field. The combination of visual and 3D data allows the systems to use both computer vision and 3D processing and therefore to be aware of more details of the surrounding environment. The research described in this thesis was motivated by the need of scene mapping. Being aware of the surrounding environment is a key feature in many mobile robotics applications from simple robotic navigation to complex surveillance applications. In addition, the acquisition of a 3D model of the scenes is useful in many areas as video games scene modeling where well-known places are reconstructed and added to game systems or advertising where once you get the 3D model of one room the system can add furniture pieces using augmented reality techniques. In this thesis we perform an experimental study of the state-of-the-art registration methods to find which one fits better to our scene mapping purposes. Different methods are tested and analyzed on different scene distributions of visual and geometry appearance. In addition, this thesis proposes two methods for 3d data compression and representation of 3D maps. Our 3D representation proposal is based on the use of Growing Neural Gas (GNG) method. This Self-Organizing Maps (SOMs) has been successfully used for clustering, pattern recognition and topology representation of various kind of data. Until now, Self-Organizing Maps have been primarily computed offline and their application in 3D data has mainly focused on free noise models without considering time constraints. Self-organising neural models have the ability to provide a good representation of the input space. In particular, the Growing Neural Gas (GNG) is a suitable model because of its flexibility, rapid adaptation and excellent quality of representation. However, this type of learning is time consuming, specially for high-dimensional input data. Since real applications often work under time constraints, it is necessary to adapt the learning process in order to complete it in a predefined time. This thesis proposes a hardware implementation leveraging the computing power of modern GPUs which takes advantage of a new paradigm coined as General-Purpose Computing on Graphics Processing Units (GPGPU). Our proposed geometrical 3D compression method seeks to reduce the 3D information using plane detection as basic structure to compress the data. This is due to our target environments are man-made and therefore there are a lot of points that belong to a plane surface. Our proposed method is able to get good compression results in those man-made scenarios. The detected and compressed planes can be also used in other applications as surface reconstruction or plane-based registration algorithms. Finally, we have also demonstrated the goodness of the GPU technologies getting a high performance implementation of a CAD/CAM common technique called Virtual Digitizing.
Resumo:
El texto revisa los problemas que ha suscitado el abandono, por parte de Habermas, de una concepción epistémica de la verdad. Este autor ha sostenido que los enunciados descriptivos pueden ser verdaderos o falsos (en un sentido no epistémico) y los juicios morales correctos o incorrectos (en un sentido epistémico). Las expresiones evaluativas no se encontrarían en ninguno de esos casos y no podrían aspirar a una validez independiente del contexto. El artículo examina —a la luz de la literatura— las críticas que esa posición ha suscitado. En general, se ha sostenido que mientras un enunciado descriptivo podría ser verdadero aunque no sepamos cómo justificarlo, no tendría sentido decir que un enunciado moral es correcto aunque no sepamos cómo justificarlo. Ello ocurriría porque mientras el concepto de verdad de Habermas es no epistémico, el concepto de corrección lo es. Para superar esa asimetría, McCarthy ha sugerido un concepto de corrección puramente procedimental; Putnam un concepto de verdad deflacionada; y Lafont una tesis realista tanto en el plano natural como moral.
Resumo:
Esta investigación estudia la identidad como producto del aprendizaje en la práctica situada de enseñar matemáticas de cuatro profesores de primaria en México. Las características de la identidad de “ser profesor de matemáticas” se infieren desde la trayectoria de formación y la práctica de los profesores. Los resultados indican que los profesores construyen y reconstruyen su identidad a partir de su práctica cotidiana lo que supone la negociación de maneras de realizar una práctica en un contexto a partir de tres aspectos: (i) El significado y sentido que los profesores atribuyen a las experiencias que acumulan en su trayectoria de formación, (ii) a la acción mediada con las tareas y los instrumentos que utilizan, y (iii) a la interacción entre el significado y sentido y la acción mediada al gestionar la clase de matemáticas.
Resumo:
A CNF-monolith sample (carbon nanofibres grown on a ceramic monolith), and a granular carbon xerogel have been used as supports for hybrid catalysts where the active species is an Rh diamine complex. The advantages of these supports are their open porous structure and their morphology, which make catalyst handling easier and avoid difficult separation processes. The obtained catalysts are noticeably more active than the homogeneous Rh complex and are stable against leaching. At first use, partial reduction of the Rh complex takes place and nanometer-sized Rh particles develop, which increases the catalyst activity. Despite the open porous structure, mass transport limitations are present, especially in the case of the carbon xerogel based catalyst. Differences in internal mass transfer limitations are essentially due to the different diffusional path lengths.