An embedded real-time red peach detection system based on an OV7670 camera, ARM Cortex-M4 processor and 3D Look-Up Tables

This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second.

Some Considerations Concerning Regulation and Competition in the Port Sector

The aim of this paper is to discuss the circumstances in which the process of competition between ports takes place in Spain − circumstances arising from the way the port system is currently set up and from the regulations governing it. The importance of this matter lies both in the fact that intensified competition between ports is the way to set about boosting the efficiency of the Spanish port sector and in the relevance of this business to the economies of the regions in which the ports are located. It is precisely for this reason that the reform instituted in 1992 aimed to combine balanced development of the national port system with the defence of the interests of autonomous regions. To this end the current regulatory framework provides for the possibility of port authorities drawing up their own competitive strategies, but makes their implementation conditional upon approval of their business plan by the Spanish state port authority. The latter body coordinates the national port system to ensure the guidelines set by the central government authorities are followed in the field of transport. However, the scale of the differences which exist among both the size of facilities and their relevant markets on the one hand, and the financial and economic circumstances of each of them on the other, suggest that each port authority's needs must be very different. Consequently, their competitive strategies must also be very different. It is therefore valid to ask whether coping with this diversity calls for different guidelines to regulate their freedom of action. Key words: Competition, regulation, port sector JEL classification numbers: L1, L5, L9

Realizations of Poincar group induced by second order differential systems. Non interaction theorem

A generalization of the predictive relativistic mechanics is studied where the initial conditions are taken on a general hypersurface of M4. The induced realizations of the Poincar group are obtained. The same procedure is used for the Galileo group. Noninteraction theorems are derived for both groups.

Colaboración multidisciplinar para el diseño de un wiki en el marco de un proyecto de innovación docente en la Universidad de Lleida

A partir de una propuesta metodológica del tipo estudio de caso, un equipo de profesores de la Universidad de Lleida ha creado un espacio de colaboración común mediante un wiki en el marco de un proyecto de innovación docente. Se detalla la manera en la que el wiki se ha ajustado a las necesidades de los usuarios y se exponen tanto el proceso de consenso sobre la arquitectura de la información, como los aspectos técnicos. También se incluyen cuestiones como la protección de los derechos de autor de los materiales generados en este proyecto y publicados en el Wiki. Finalmente se señalan las nuevas líneas en las que se continuará trabajando.