Profile Following for Inspection of Underwater Structures

We present a seabed profile estimation and following method for close proximity inspection of 3D underwater structures using autonomous underwater vehicles (AUVs). The presented method is used to determine a path allowing the AUV to pass its sensors over all points of the target structure, which is known as coverage path planning. Our profile following method goes beyond traditional seabed following at a safe altitude and exploits hovering capabilities of recent AUV developments. A range sonar is used to incrementally construct a local probabilistic map representation of the environment and estimates of the local profile are obtained via linear regression. Two behavior-based controllers use these estimates to perform horizontal and vertical profile following. We build upon these tools to address coverage path planning for 3D underwater structures using a (potentially inaccurate) prior map and following cross-section profiles of the target structure. The feasibility of the proposed method is demonstrated using the GIRONA 500 AUV both in simulation using synthetic and real-world bathymetric data and in pool trials

Remodelación del Paseo del Óvalo, la Escalinata y su entorno

Descripció del projecte. S’han de destacar les innovacions i aportacions a l’avanç del coneixement que incorpora el projecte. Es poden incorporar memòries, plànols, fotografies, esbossos, etc. També l’adreça web si s’ha penjat més informació sobre el projecte a la web.INTERVENCIÓN EN TERUELRemodelación de la Escalinata, el Paseo del Ovalo y su entornoTeruelConcurso Internacional - Proyecto GanadorEn colaboración con David Chipperfield ArchitectsUbicación: Plaza de la Estación, Paseo del Ovalo. TeruelConcurso: 2000Ejecución: 2001-2003Premio Europeo del Espacio Público Urbano- CCCBPremio Nacional 2004. Ciudades Patrimonio de la Humanidad. Ministerio de CulturaEl proyecto desarrolla una parte de la propuesta ganadora presentada por David Chipperfield Architects-b720 arquitectos en el concurso internacional convocado por la Diputación General de Aragón para transformar el frente urbano de la ciudad de Teruel y mejorar las condiciones de accesibilidad al centro histórico desde la nueva Estación de ferrocarril.La intervención inicial abarcaba una amplia zona que comprendía la reutilización de los terrenos ferroviarios anexos a la estación, la remodelación de la Plaza de la Estación junto con la restauración de la Escalinata neomudéjar, y la reforma del Paseo del Óvalo y la Plaza de la Glorieta con la creación de un aparcamiento subterráneo.De esta ambiciosa intervención la fase ejecutada contempla la remodelación y conexión de la Plaza de la Estación con el centro histórico y la reforma del Paseo del Óvalo, dejando para una segunda fase la futura actuación en la Plaza de la Glorieta. La intervención en el espacio de llegada desde la estación ha consistido en valorar la Escalinata neomudéjar. Esta gran escalera consigue con éxito crear un fuerte vínculo físico entre el espacio inferior y el Paseo del Óvalo. La propuesta consiste básicamente en la creación de una gran plaza pavimentada sobre la que se asienta el monumento poniéndolo en valor y reforzando sus cualidades.Por otra parte, la cualidad del Óvalo como gran balcón urbano podría alterarse si se interviniera en el muro sobre el que se apoya la gran escalera, interrumpiendo la continuidad de su borde. La propuesta para el nuevo acceso se sitúa a un lado con una intervención mínima evitando entrar en competencia con la Escalinata. Un sendero de piedra blanca aparentemente dispuesto sobre la Plaza como una alfombra arranca del mismo punto que los primeros tramos de la Escalinata frente a la Estación. Al viajero llegado en tren se le ofrece una alternativa: remontar la escalera o bien recorrer una cinta de dos metros y medio de ancho y ciento veinte metros de largo. Este camino en suave pendiente conduce a una cavidad que se abre en la muralla. Excavada en el basamento pétreo de la ciudad, es como una cueva que conduce a un pozo de luz natural. Un gran hueco abocinado tensa el espacio de acceso hasta descubrir la columna de luz proveniente de la caja transparente superior que conforma el edículo superior de llegada de los ascensores que transportan al visitante hasta el Paseo del Óvalo. Un largo recorrido horizontal y un breve recorrido vertical sintetizan el tránsito desde la estación hasta el Óvalo.La intervención el Paseo del Óvalo ha consistido en devolver al espacio su cualidad de salón urbano con un uso casi exclusivamente peatonal mediante la unificación del pavimento con el mismo adoquinado de piedra utilizado en la Plaza de la Estación, la supresión del desordenado estacionamiento de vehículos y la disposición de nuevo arbolado y mobiliario urbano. Se ha prestado especial atención a la iluminación dispuesta en el pretil del muro, en las balizas que limitan la zona de tráfico rodado, la parte inferior de los de los bancos de piedra y la fachada del Paseo. Plaça de la Estació Vista accés ascensor des de la Plaça de la Estación Planta general intervenció Secció per ascensor Secció per Paseo del Ovalo. Detall paviments

Sea state effect on the sea surface emissivity at L-band

In May 1999, the European Space Agency (ESA) selected the Earth Explorer Opportunity Soil Moisture and Ocean Salinity (SMOS) mission to obtain global and frequent soil moisture and ocean salinity maps. SMOS' single payload is the Microwave Imaging Radiometer by Aperture Synthesis (MIRAS), an L-band two-dimensional aperture synthesis radiometer with multiangular observation capabilities. At L-band, the brightness temperature sensitivity to the sea surface salinity (SSS) is low, approximately 0.5 K/psu at 20/spl deg/C, decreasing to 0.25 K/psu at 0/spl deg/C, comparable to that to the wind speed /spl sim/0.2 K/(m/s) at nadir. However, at a given time, the sea state does not depend only on local winds, but on the local wind history and the presence of waves traveling from far distances. The Wind and Salinity Experiment (WISE) 2000 and 2001 campaigns were sponsored by ESA to determine the impact of oceanographic and atmospheric variables on the L-band brightness temperature at vertical and horizontal polarizations. This paper presents the results of the analysis of three nonstationary sea state conditions: growing and decreasing sea, and the presence of swell. Measured sea surface spectra are compared with the theoretical ones, computed using the instantaneous wind speed. Differences can be minimized using an "effective wind speed" that makes the theoretical spectrum best match the measured one. The impact on the predicted brightness temperatures is then assessed using the small slope approximation/small perturbation method (SSA/SPM).

La atención a la diversidad cultural en Cataluña: exclusión, segregación e interculturalidad

La diversidad cultural se ha incrementado notablemente en los centros escolares españoles por la llegada de alumnado de origen inmigrado y esto, más los discursos de toma en consideración de las diferencias culturales que han realizado la Unión Europea y las administraciones autonómicas, ha contribuido a la aparición del discurso intercultural. Este artículo presenta la evolución realizada hasta llegar al discurso dominante actual basándose en un trabajo empírico de análisis de documentación editada por la Generalitat de Cataluña sobre política de integración y de escolarización de los inmigrados y entrevistas en profundidad a políticos y técnicos de los diferentes niveles de la administración catalana. De ello se concluye la existencia de tres etapas en la política de integración de los inmigrados en Cataluña: un primer momento de mera observación del fenómeno; una segunda etapa en la que sin abandonar la observación se insiste en la organización vertical y horizontal de la administración para trabajar de forma coordinada un fenómeno que empieza a despertar preocupación; y, una tercera, en la que sin abandonar la necesaria observación y organización, el énfasis se sitúa en la intervención. Estas fases son el marco de lo realizado a nivel educativo donde observamos la dificultad de traducción del discurso intercultural a la práctica cotidiana de los centros escolares, de los noventa, es necesario incrementar los esfuerzos para incorporar al alumnado de origen inmigrado en el dominio de la creencia de que la educación intercultural (en contra de lo que esta implica) es cuestión que deben trabajar los centros con inmigrantes y, ante la presión existente en las aulas (por el incremento del alumnado, la matrícula viva, etc.), el retorno a prácticas potencialmente segregacionistas que nos recuerdan actuaciones implementadas para escolarizar a los gitanos años atrás. Sin negar los avances realizados desde mediados aulas y centros de Cataluña.

Discriminating crop, weeds and soil surface with a terrestrial LIDAR sensor

In this study, the evaluation of the accuracy and performance of a light detection and ranging (LIDAR) sensor for vegetation using distance and reflection measurements aiming to detect and discriminate maize plants and weeds from soil surface was done. The study continues a previous work carried out in a maize field in Spain with a LIDAR sensor using exclusively one index, the height profile. The current system uses a combination of the two mentioned indexes. The experiment was carried out in a maize field at growth stage 12–14, at 16 different locations selected to represent the widest possible density of three weeds: Echinochloa crus-galli (L.) P.Beauv., Lamium purpureum L., Galium aparine L.and Veronica persica Poir.. A terrestrial LIDAR sensor was mounted on a tripod pointing to the inter-row area, with its horizontal axis and the field of view pointing vertically downwards to the ground, scanning a vertical plane with the potential presence of vegetation. Immediately after the LIDAR data acquisition (distances and reflection measurements), actual heights of plants were estimated using an appropriate methodology. For that purpose, digital images were taken of each sampled area. Data showed a high correlation between LIDAR measured height and actual plant heights (R2 = 0.75). Binary logistic regression between weed presence/absence and the sensor readings (LIDAR height and reflection values) was used to validate the accuracy of the sensor. This permitted the discrimination of vegetation from the ground with an accuracy of up to 95%. In addition, a Canonical Discrimination Analysis (CDA) was able to discriminate mostly between soil and vegetation and, to a far lesser extent, between crop and weeds. The studied methodology arises as a good system for weed detection, which in combination with other principles, such as vision-based technologies, could improve the efficiency and accuracy of herbicide spraying.

The UlaG protein familly defines novel structural and functional motifs grafted on an ancient RNase fold

Background: Bacterial populations are highly successful at colonizing new habitats and adapting to changing environmental conditions, partly due to their capacity to evolve novel virulence and metabolic pathways in response to stress conditions and to shuffle them by horizontal gene transfer (HGT). A common theme in the evolution of new functions consists of gene duplication followed by functional divergence. UlaG, a unique manganese-dependent metallo-b-lactamase (MBL) enzyme involved in L-ascorbate metabolism by commensal and symbiotic enterobacteria, provides a model for the study of the emergence of new catalytic activities from the modification of an ancient fold. Furthermore, UlaG is the founding member of the so-called UlaG-like (UlaGL) protein family, a recently established and poorly characterized family comprising divalent (and perhaps trivalent)metal-binding MBLs that catalyze transformations on phosphorylated sugars and nucleotides. Results: Here we combined protein structure-guided and sequence-only molecular phylogenetic analyses to dissect the molecular evolution of UlaG and to study its phylogenomic distribution, its relatedness with present-day UlaGL protein sequences and functional conservation. Phylogenetic analyses indicate that UlaGL sequences are present in Bacteria and Archaea, with bona fide orthologs found mainly in mammalian and plant-associated Gramnegative and Gram-positive bacteria. The incongruence between the UlaGL tree and known species trees indicates exchange by HGT and suggests that the UlaGL-encoding genes provided a growth advantage under changing conditions. Our search for more distantly related protein sequences aided by structural homology has uncovered that UlaGL sequences have a common evolutionary origin with present-day RNA processing and metabolizing MBL enzymes widespread in Bacteria, Archaea, and Eukarya. This observation suggests an ancient origin for the UlaGL family within the broader trunk of the MBL superfamily by duplication, neofunctionalization and fixation. Conclusions: Our results suggest that the forerunner of UlaG was present as an RNA metabolizing enzyme in the last common ancestor, and that the modern descendants of that ancestral gene have a wide phylogenetic distribution and functional roles. We propose that the UlaGL family evolved new metabolic roles among bacterial and possibly archeal phyla in the setting of a close association with metazoans, such as in the mammalian gastrointestinal tract or in animal and plant pathogens, as well as in environmental settings. Accordingly, the major evolutionary forces shaping the UlaGL family include vertical inheritance and lineage-specific duplication and acquisition of novel metabolic functions, followed by HGT and numerous lineage-specific gene loss events.

Lower incisor dentoalveolar compensation and symphysis dimensions among Class I and III malocclusion patients with different facial vertical skeletal patterns

Objective: To compare lower incisor dentoalveolar compensation and mandible symphysis morphology among Class I and Class III malocclusion patients with different facial vertical skeletal patterns. Materials and Methods: Lower incisor extrusion and inclination, as well as buccal (LA) and lingual (LP) cortex depth, and mandibular symphysis height (LH) were measured in 107 lateral cephalometric x-rays of adult patients without prior orthodontic treatment. In addition, malocclusion type (Class I or III) and facial vertical skeletal pattern were considered. Through a principal component analysis (PCA) related variables were reduced. Simple regression equation and multivariate analyses of variance were also used. Results: Incisor mandibular plane angle (P < .001) and extrusion (P  =  .03) values showed significant differences between the sagittal malocclusion groups. Variations in the mandibular plane have a negative correlation with LA (Class I P  =  .03 and Class III P  =  .01) and a positive correlation with LH (Class I P  =  .01 and Class III P  =  .02) in both groups. Within the Class III group, there was a negative correlation between the mandibular plane and LP (P  =  .02). PCA showed that the tendency toward a long face causes the symphysis to elongate and narrow. In Class III, alveolar narrowing is also found in normal faces. Conclusions: Vertical facial pattern is a significant factor in mandibular symphysis alveolar morphology and lower incisor positioning, both for Class I and Class III patients. Short-faced Class III patients have a widened alveolar bone. However, for long-faced and normal-faced Class III, natural compensation elongates the symphysis and influences lower incisor position.

Vertical relations and local competition : an empirical approach

The analysis of vertical industry relations forms an essential element in the field of industrial organization. This paper tests hypotheses derived from transaction cost theory and the principal-agent problem in Chile’s petrol market. It shows that local competition plays an important role in the choice of a disintegrated vertical structure, and that low levels of service investment have the same effect. Conversely, the number of own-brand outlets and a high level of investment in services reduce the probability of disintegration. The paper demonstrates that vertical disintegration has a null effect on wholesale petrol prices and a positive effect on retail petrol prices of between 1.6 and 7 per cent, depending on fuel type.

A feed-forward spiking model of shape-coding by IT cells

The ability to recognize a shape is linked to figure-ground (FG) organization. Cell preferences appear to be correlated across contrast-polarity reversals and mirror reversals of polygon displays, but not so much across FG reversals. Here we present a network structure which explains both shape-coding by simulated IT cells and suppression of responses to FG reversed stimuli. In our model FG segregation is achieved before shape discrimination, which is itself evidenced by the difference in spiking onsets of a pair of output cells. The studied example also includes feature extraction and illustrates a classification of binary images depending on the dominance of vertical or horizontal borders.

Pubic growth study: applicability in sexual and age diagnostic.

The growth of five variables of the ischiopubic area was analyzed from bone material from birth to old age. The main purpose was to evaluate its significance and capacity for age and sex determination during and after growth. The material used consisted of 327 specimens from four documented Western European collections. Growth curves were calculated by polynomial regression for two classical variables of the ischiopubic area (pubis length and ischiopubic index) and three new variables of the pubic acetabular area (horizontal and vertical diameter of the pubic acetabular area and the pubic acetabular index). None of the curves showed lineal growth, with the exception of the ischiopubic index and the masculine vertical diameter of the pubis acetabular area. Pubis length has the most complicated growth, expressed by a five-degree polynomial. All the variables are useful for adult sex determination, except the pubic acetabular index. The ischopubic index, vertical diameter of the pubic acetabular area and the pubic acetabular index seem to be good variables for sub-adult sex determination. For age estimation the best variables, in both archaeological and forensic remains, are the absolute measurements (pubic length, vertical and horizontal diameter of the pubis). However, pubis length is the best variable for age estimation because it can be applied until 25 years of age.

The internal wave field in Sau reservoir : Observation and modeling of a third vertical mode

Water withdrawal from Mediterranean reservoirs in summer is usually very high. Because of this, stratification is often continuous and far from the typical two-layered structure, favoring the excitation of higher vertical modes. The analysis of wind, temperature, and current data from Sau reservoir (Spain) shows that the third vertical mode of the internal seiche (baroclinic mode) dominated the internal wave field at the beginning of September 2003. We used a continuous stratification two-dimensional model to calculate the period and velocity distribution of the various modes of the internal seiche, and we calculated that the period of the third vertical mode is ;24 h, which coincides with the period of the dominating winds. As a result of the resonance between the third mode and the wind, the other oscillation modes were not excited during this period

An energy efficient vertical handover decision algorithm

As wireless communications evolve towards heterogeneousnetworks, mobile terminals have been enabled tohandover seamlessly from one network to another. At the sametime, the continuous increase in the terminal power consumptionhas resulted in an ever-decreasing battery lifetime. To that end,the network selection is expected to play a key role on howto minimize the energy consumption, and thus to extend theterminal lifetime. Hitherto, terminals select the network thatprovides the highest received power. However, it has been provedthat this solution does not provide the highest energy efficiency.Thus, this paper proposes an energy efficient vertical handoveralgorithm that selects the most energy efficient network thatminimizes the uplink power consumption. The performance of theproposed algorithm is evaluated through extensive simulationsand it is shown to achieve high energy efficiency gains comparedto the conventional approach.

Present-day deformation of the Pyrenees revealed by GPS surveying and earthquake focal mechanisms until 2011

The Pyrenean mountain range is a slowly deforming belt with continuous and moderate seismic activity. To quantify its deformation field, we present the velocity field estimated from a GPS survey of the Pyrenees spanning 18 yr. The PotSis and ResPyr networks, including a total of 85 GPS sites, were installed and first measured in 1992 and 1995 1997, respectively, and remeasured in 2008 and 2010. We obtain a deformation field with velocities less than 1 mm yr−1 across the range. The estimated velocities for individual stations do not differ significantly from zero with 95 per cent confidence. Even so, we estimate a maximum extensional horizontal strain rate of 2.0 ± 1.7 nanostrain per year in a N S direction in the western part of the range. We do not interpret the vertical displacements due to their large uncertainties. In order to compare the horizontal strain rates with the seismic activity, we analyse a set of 194 focal mechanisms using three methods: (i) the 'r' factor relating their P and T axes, (ii) the stress tensors obtained by fault slip inversion and (iii) the strain-rate tensors. Stress and strain-rate tensors are estimated for: (i) the whole data set, (ii) the eastern and western parts of the range separately, and (iii) eight zones, which are defined based on the seismicity and the tectonic patterns of the Pyrenees. Each of these analyses reveals a lateral variation of the deformation style from compression and extension in the east to extension and strike-slip in the west of the range. Although the horizontal components of the strain-rate tensors estimated from the seismic data are slightly smaller in magnitude than those computed from the GPS velocity field, they are consistent within the 2σ uncertainties. Furthermore, the orientations of their principal axes agree with the mapped active faults.

Cómo mejorar la efectividad en un jugador de tenis: Modelos de regresión log-lineales

La efectividad en el deporte hace referencia al impacto alcanzado por una acción llevada a cabo en condiciones habituales, estando presente en la ejecución de cualquier actividad física, referida a la capacidad para producir el efecto deseado, y está relacionada con la e$cacia, entendida como el efecto de una acción llevada a cabo en las mejores condiciones posibles, y que tiene como objetivo, lograr la meta, o conseguir el triunfo. El objetivo de este trabajo consistió en identificar la relación entre la zona y el tipo de golpe, desde la cual el tenista presenta mayor y menor efectividad en el juego. Para ello se observó a un tenista durante 12 entrenamientos con un rival de nivel equivalente, según la ATP, durante la temporada 2012-2013, registrando su situación en la cancha y el tipo de golpe de todas las devoluciones con éxito, entendido como obtención del punto o recuperación del saque. Se crearon tres criterios categóricos que constituyen un instrumento de observación para registrar el juego del tenista en la zona horizontal, y la zona vertical de la pista, además del tipo de golpe que realiza en términos de drive, revés, smash y dejada. Utilizando la técnica de regresión log-lineal, se obtuvieron resultados que indican que el jugador presenta una menor efectividad en los golpes realizados desde el lado izquierdo, y muestra una mayor efectividad en el drive y revés ejecutados desde media pista o fondo del lado derecho. La interpretación de los resultados aporta información sobre las localizaciones en la pista y los golpes, relacionados con su mayor y menor efectividad.

Vertical cultural transmission effects on demic front propagation: Theory and application to the Neolithic transition in Europe

It is shown that Lotka-Volterra interaction terms are not appropriate to describe vertical cultural transmission. Appropriate interaction terms are derived and used to compute the effect of vertical cultural transmission on demic front propagation. They are also applied to a specific example, the Neolithic transition in Europe. In this example, it is found that the effect of vertical cultural transmission can be important (about 30%). On the other hand, simple models based on differential equations can lead to large errors (above 50%). Further physical, biophysical, and cross-disciplinary applications are outlined