Large scale SLAM with visual features

Comunicación presentada en el X Workshop of Physical Agents, Cáceres, 10-11 septiembre 2009.

Dynamic investigation of an ancient masonry bell tower with operational modal analysis: a non-destructive experimental technique to obtain the dynamic characteristics of a structure

This paper shows the results of an experimental analysis on the bell tower of “Chiesa della Maddalena” (Mola di Bari, Italy), to better understand the structural behavior of slender masonry structures. The research aims to calibrate a numerical model by means of the Operational Modal Analysis (OMA) method. In this way realistic conclusions about the dynamic behavior of the structure are obtained. The choice of using an OMA derives from the necessity to know the modal parameters of a structure with a non-destructive testing, especially in case of cultural-historical value structures. Therefore by means of an easy and accurate process, it is possible to acquire in-situ environmental vibrations. The data collected are very important to estimate the mode shapes, the natural frequencies and the damping ratios of the structure. To analyze the data obtained from the monitoring, the Peak Picking method has been applied to the Fast Fourier Transforms (FFT) of the signals in order to identify the values of the effective natural frequencies and damping factors of the structure. The main frequencies and the damping ratios have been determined from measurements at some relevant locations. The responses have been then extrapolated and extended to the entire tower through a 3-D Finite Element Model. In this way, knowing the modes of vibration, it has been possible to understand the overall dynamic behavior of the structure.

Exact and analytic-numerical solutions of lagging models of heat transfer in a semi-infinite medium

Different non-Fourier models of heat conduction have been considered in recent years, in a growing area of applications, to model microscale and ultrafast, transient, nonequilibrium responses in heat and mass transfer. In this work, using Fourier transforms, we obtain exact solutions for different lagging models of heat conduction in a semi-infinite domain, which allow the construction of analytic-numerical solutions with prescribed accuracy. Examples of numerical computations, comparing the properties of the models considered, are presented.

SeismicWaveTool: Continuous and discrete wavelet analysis and filtering for multichannel seismic data

A MATLAB-based computer code has been developed for the simultaneous wavelet analysis and filtering of multichannel seismic data. The considered time–frequency transforms include the continuous wavelet transform, the discrete wavelet transform and the discrete wavelet packet transform. The developed approaches provide a fast and precise time–frequency examination of the seismograms at different frequency bands. Moreover, filtering methods for noise, transients or even baseline removal, are implemented. The primary motivation is to support seismologists with a user-friendly and fast program for the wavelet analysis, providing practical and understandable results.

La economía callejera en las ciudades contemporáneas. La redes efímeras de venta ambulante como modelo para la reconstrucción de lo urbano

Según Robert Neuwirth alrededor de 1.800 millones de personas trabajan en la economía informal, generando unos 10 billones de dólares anuales. Este autor afirma que si todas las personas vinculadas a dicho modelo económico se reunieran en un único país, éste sería la segunda potencia económica mundial. Junto a la importancia económica del modelo, su flexibilidad al contexto urbano es también destacable. La economía callejera, en particular, está vinculada a la construcción de redes urbanas complejas donde el individuo puede decidir y negociar. Este aspecto es lo que hace de este tipo de apropiación urbana una referencia fundamental para la innovación en la construcción de ciudad y, en especial, para el Urbanismo Táctico. En este artículo se analiza cómo las construcciones urbanas vinculadas a la economía callejera y a la venta ambulante se relacionan con los conceptos que diversos autores han empleado para definir las dinámicas contemporáneas. Primero se aborda la manera en que la venta ambulante teje, relaciona y transforma las redes urbanas existentes (sociales, productivas, económicas y de identidad) y busca su vínculo con los siguientes conceptos: ‘red’, ‘rizoma’, ‘radicante’, ‘punto de paso obligado’ y ‘hacker’. Seguidamente se reflexiona sobre la materialización de la economía informal en las ciudades actuales, relacionando este fenómeno con los siguientes conceptos: ‘el derecho a la ciudad’, ‘lo informal’, ‘TAZ’ y el urbanismo ‘emergente’, entre otros.

A new boundary-based morphological model

Mathematical morphology addresses the problem of describing shapes in an n-dimensional space using the concepts of set theory. A series of standardized morphological operations are defined, and they are applied to the shapes to transform them using another shape called the structuring element. In an industrial environment, the process of manufacturing a piece is based on the manipulation of a primitive object via contact with a tool that transforms the object progressively to obtain the desired design. The analogy with the morphological operation of erosion is obvious. Nevertheless, few references about the relation between the morphological operations and the process of design and manufacturing can be found. The non-deterministic nature of classic mathematical morphology makes it very difficult to adapt their basic operations to the dynamics of concepts such as the ordered trajectory. A new geometric model is presented, inspired by the classic morphological paradigm, which can define objects and apply morphological operations that transform these objects. The model specializes in classic morphological operations, providing them with the determinism inherent in dynamic processes that require an order of application, as is the case for designing and manufacturing objects in professional computer-aided design and manufacturing (CAD/CAM) environments. The operators are boundary-based so that only the points in the frontier are handled. As a consequence, the process is more efficient and more suitable for use in CAD/CAM systems.