Dam wall detection and tracking using a Mechanically Scanned Imaging Sonar

In dam inspection tasks, an underwater robot has to grab images while surveying the wall meanwhile maintaining a certain distance and relative orientation. This paper proposes the use of an MSIS (mechanically scanned imaging sonar) for relative positioning of a robot with respect to the wall. An imaging sonar gathers polar image scans from which depth images (range & bearing) are generated. Depth scans are first processed to extract a line corresponding to the wall (with the Hough transform), which is then tracked by means of an EKF (Extended Kalman Filter) using a static motion model and an implicit measurement equation associating the sensed points to the candidate line. The line estimate is referenced to the robot fixed frame and represented in polar coordinates (rho&thetas) which directly corresponds to the actual distance and relative orientation of the robot with respect to the wall. The proposed system has been tested in simulation as well as in water tank conditions

Mission control system for dam inspection with an AUV

This paper presents a complete control architecture that has been designed to fulfill predefined missions with an autonomous underwater vehicle (AUV). The control architecture has three levels of control: mission level, task level and vehicle level. The novelty of the work resides in the mission level, which is built with a Petri network that defines the sequence of tasks that are executed depending on the unpredictable situations that may occur. The task control system is composed of a set of active behaviours and a coordinator that selects the most appropriate vehicle action at each moment. The paper focuses on the design of the mission controller and its interaction with the task controller. Simulations, inspired on an industrial underwater inspection of a dam grate, show the effectiveness of the control architecture

L'Educació social com a DAM: Delegat d'Assitència al Menor

Descripció i anàlisi del sistema de funcionament de justícia juvenil en medi obert, i concretament la metodologia de treball dels DAM, per tal d’evidenciar les competències requerides a l’hora de desenvolupar l’exercici professional d’educador social com a DAM, tot exposant una anàlisi de la formació acadèmica impartida al llarg de la diplomatura d’Educació Social en relació a aquests requeriments

The principal-agent matching market

We propose a model based on competitive markets in order to analyze an economy with several principals and agents. We model the principal-agent economy as a two-sided matching game and characterize the set of stable outcomes of this principal-agent matching market. A simple mechanism to implement the set of stable outcomes is proposed. Finally, we put forward examples of principal-agent economies where the results fit into.

On moments and tail behaviors of storage processes

We study the existence of moments and the tail behaviour of the densitiesof storage processes. We give sufficient conditions for existence andnon-existence of moments using the integrability conditions ofsubmultiplicative functions with respect to Lévy measures. Then, we studythe asymptotical behavior of the tails of these processes using the concaveor convex envelope of the release rate function.

Características geológicas y geotécnicas de los lodos de flotación de la Sierra Minera de Cartagena-La Unión (SE España)

We present the results of a geological and geotechnical characterization of the metallurgic waste from the Sierra Minera de Cartagena-La Union. We have studied eight tailings dams from which we collected and analysed 42 samples of metallurgic waste. We measured grainsize distribution, the specific gravity of solid particles, plasticity index, permeability, both in situ and in the laboratory, direct shear characteristicsand moisture content. According to size distribution the tailings can be classified as sandy silt. Their plasticity index ranges from medium to nil. The internal friction angle varies between 28 and 42 degrees. Cohesion is between 0 and 2.2 t/m2. The specific gravity of the solid particles ranges widely from 1.8 to 4 g/cm3. The saturated hydraulic conductivity values vary between 1.3x 10-5 and 3.2x 10-9 m/s.The water content measured in situ shows that the degree of saturation remains relatively high despite low rainfall and high evaporation rates. Several tailings dams have failed. The leading causes of tailings-dam failure are: 1) slope instability; 2) overflow; 3) erosion; and 4) subsidence or collapse. The main factor leading to dam failure is that the tailings stored in the ponds are highly saturated

Disseny pràctic d'un transmissor d'àudio complert utilitzant una modulació AM

RESUM Un transmissor d’AM (modulació per amplitud), utilitza una de les moltes tècniques de modulació existents avui en dia. És molta la importància que té la modulació de senyals i aquests en són alguns exemples: -Facilita la propagació del senyal per cable o per aire. -Ordena l’espectre, distribuint Canals a les diferents informacions. -Disminueix la dimensió de les antenes. -Optimitza l’ample de banda de cada canal. -Evita interferències entre Canals. -Protegeix la informació de les degradacions per soroll. -Defineix la qualitat de la informació transmesa. L’objectiu principal d’aquest treball, serà realitzar un transmissor d’AM utilitzant components electrònics disponibles al mercat. Això es realitzarà mitjançant diversos procediments de disseny. Es realitzarà un procediment de disseny teòric, tot utilitzant els “datasheets” dels diferents components. Es realitzarà un procediment de disseny mitjançant la simulació, gràcies al qual es podrà provar el disseny del dispositiu i realitzar-ne algunes parts impossibles a reproduir teòricament. I finalment es realitzarà el dispositiu a la pràctica. Entre les conclusions més rellevants obtingudes en aquest treball, voldríem destacar la importància de la simulació per poder dissenyar circuits de radiofreqüència. En aquest treball s’ha demostrat que gràcies a una bona simulació, el primer prototip de dispositiu creat ens ha funcionat a la perfecció. D’altre banda, també comentar la importància d’un disseny adequat d’antena per poder aprofitar al màxim el rendiment del nostre dispositiu. Per concloure, la realització d’un aparell transmissor aporta unes nocions equilibrades d’electrònica i telecomunicacions importants per al disseny de dispositius de comunicació.

Gene expression profiles in rat mesenteric lymph nodes upon supplementation with Conjugated Linoleic Acid during gestation and suckling

Background Diet plays a role on the development of the immune system, and polyunsaturated fatty acids can modulate the expression of a variety of genes. Human milk contains conjugated linoleic acid (CLA), a fatty acid that seems to contribute to immune development. Indeed, recent studies carried out in our group in suckling animals have shown that the immune function is enhanced after feeding them with an 80:20 isomer mix composed of c9,t11 and t10,c12 CLA. However, little work has been done on the effects of CLA on gene expression, and even less regarding immune system development in early life. Results The expression profile of mesenteric lymph nodes from animals supplemented with CLA during gestation and suckling through dam's milk (Group A) or by oral gavage (Group B), supplemented just during suckling (Group C) and control animals (Group D) was determined with the aid of the specific GeneChip® Rat Genome 230 2.0 (Affymettrix). Bioinformatics analyses were performed using the GeneSpring GX software package v10.0.2 and lead to the identification of 89 genes differentially expressed in all three dietary approaches. Generation of a biological association network evidenced several genes, such as connective tissue growth factor (Ctgf), tissue inhibitor of metalloproteinase 1 (Timp1), galanin (Gal), synaptotagmin 1 (Syt1), growth factor receptor bound protein 2 (Grb2), actin gamma 2 (Actg2) and smooth muscle alpha actin (Acta2), as highly interconnected nodes of the resulting network. Gene underexpression was confirmed by Real-Time RT-PCR. Conclusions Ctgf, Timp1, Gal and Syt1, among others, are genes modulated by CLA supplementation that may have a role on mucosal immune responses in early life.

Gene expression profiles in rat mesenteric lymph nodes upon supplementation with Conjugated Linoleic Acid during gestation and suckling

Background Diet plays a role on the development of the immune system, and polyunsaturated fatty acids can modulate the expression of a variety of genes. Human milk contains conjugated linoleic acid (CLA), a fatty acid that seems to contribute to immune development. Indeed, recent studies carried out in our group in suckling animals have shown that the immune function is enhanced after feeding them with an 80:20 isomer mix composed of c9,t11 and t10,c12 CLA. However, little work has been done on the effects of CLA on gene expression, and even less regarding immune system development in early life. Results The expression profile of mesenteric lymph nodes from animals supplemented with CLA during gestation and suckling through dam's milk (Group A) or by oral gavage (Group B), supplemented just during suckling (Group C) and control animals (Group D) was determined with the aid of the specific GeneChip® Rat Genome 230 2.0 (Affymettrix). Bioinformatics analyses were performed using the GeneSpring GX software package v10.0.2 and lead to the identification of 89 genes differentially expressed in all three dietary approaches. Generation of a biological association network evidenced several genes, such as connective tissue growth factor (Ctgf), tissue inhibitor of metalloproteinase 1 (Timp1), galanin (Gal), synaptotagmin 1 (Syt1), growth factor receptor bound protein 2 (Grb2), actin gamma 2 (Actg2) and smooth muscle alpha actin (Acta2), as highly interconnected nodes of the resulting network. Gene underexpression was confirmed by Real-Time RT-PCR. Conclusions Ctgf, Timp1, Gal and Syt1, among others, are genes modulated by CLA supplementation that may have a role on mucosal immune responses in early life.

Effects of lactation upon circulating plasma metabolites in cafeteria-fed rats

1. The effects of "cafeteria feeding" on primiparous Wistar rats during lactation have been studied by measuring circulating levels of glucose, amino acids, lactate, urea and ammonia as well as glycogen levels in liver and muscle. 2. No significant changes in glucose levels were observed despite alterations in blood glucose compartmentation. 3. Compared with controls, the dams given the cafeteria diet had higher liver glycogen stores which were more easily mobilized at the peak of lactation. 4. Rats given the cafeteria diet showed a lower amino acid utilization than controls and adequately maintained circulating levels, as determined by the lower circulating levels of ammonia and urea. 5. No significant differences in body-weight were observed in the period studied despite increasing dam weight after weaning in the cafeteria-fed group. 6. The size of pups of cafeteria-fed dams was greater than that of controls, and the differences were marked after weaning, when the metabolic machinery of the cafeteria pup maintained high protein accretion and body build-up using fat as the main energy substrate characteristic of the preweaning stage. The controls, however, changed to greater utilization of amino acids as an energy substrate and adapted to high-protein (lowbiological-quality) diets with a significantly different pattern of circulating nitrogen distribution.

El Sentido de la Vida y el Deseo de Adelantar la Muerte en pacientes con procesos avanzados de enfermedad

El deseo de adelantar la muerte (DAM) no es infrecuente en la población paliativa o con cáncer avanzado. Las evidencias actuales muestran el DAM como una respuesta reactiva al sufrimiento multidimensional propio del paciente en con procesos avanzados de enfermedad. Tras estudiar los factores relacionados con el DAM, se ha observado que la variable sentido de la vida (SV), desempeña un rol importante en relación al desencadenamiento del DAM. Hasta el momento se han publicado diversas intervenciones dirigidas a ayudar a los pacientes en la búsqueda o mejora de SV en el tramo final de sus vidas. Sin embargo no se ha evaluado la eficacia de estas intervenciones sobre el DAM. El objetivo principal del presente estudio es evaluar, en una población de pacientes en cuidados paliativos, la efectividad de una intervención de mejora del SV para disminuir el eventual DAM. El estudio se desarrollará en tres fases. En primer lugar se realizará una revisión sistemática integrativa de las intervenciones publicadas para mejorar el SV y posterior selección de la terapia más adecuada de acuerdo con las evidencias halladas. En segundo lugar se hará la adaptación transcultural y validación de un instrumento de medida de SV, el Meaning in Life Questionnaire (MLQ). Por último se llevará a cabo la implementación de la intervención escogida y evaluación de su efectividad para disminuir el DAM, mediante un estudio de diseño pre-post, en pacientes oncológicos ingresados en la unidad de cuidados paliativos. Este trabajo aportará también los resultados preliminares de la revisión sistemática integrativa de las intervenciones de SV.

Preface: Forecast and projection in climate scenario of Mediterranean intense events: uncertainties and propagation on environment (the MEDUP project)

The Mediterranean basin is a particularly vulnerable region to climate change, partly due to its quite unique character that results both from physiographic conditions and societal development. The region features indeed a near-closed sea surrounded by very urbanised littorals and mountains from which numerous rivers originate. This results in a lot of interactions and feedbacks between oceanic-atmospheric-hydrological processes that play a predominant role on climate and extreme events that frequently cause heavy dam- ages and human losses in the Mediterranean ...

Effect of dripline flushing on subsurface drip irrigation systems

The velocity of dripline flushing in subsurface drip irrigation (SDI) systems affects system design, cost, management, performance, and longevity. A 30‐day field study was conducted at Kansas State University to analyze the effect of four targeted flushing velocities (0.23, 0.30, 0.46, and 0.61 m/s) for a fixed 15 min duration of flushing and three flushing frequencies (no flushing or flushing every 15 or 30 days) on SDI emitter discharge and sediments within the dripline and removed in the flushing water. At the end of the field experiment (371 h), the amount of solids carried away by the flushing water and retained in every lateral were determined as well as laboratory determination of emitter discharge for every single emitter within each dripline. Greater dripline flushing velocities, which also resulted in greater flushing volumes, tended to result in greater amounts of solids in the flushing water, but the differences were not always statistically significant. Neither the frequency of flushing nor the interaction of flushing frequency and velocity significantly affected the amount of solids in the flushing water. There was a greater concentration of solids in the beginning one‐third of the 90 m laterals, particularly for treatments with no flushing or with slower dripline flushing velocities. As flushing velocity and concurrently flushing volume increased, there was a tendency for greater solids removal and/or more equal distribution within the dripline. At the end of the field study, the average emitter discharge as measured in the laboratory for a total of 3970 emitters was 0.64 L/h. which was significantly less (approximately 2.5%) than the discharge for new and unused emitters. Only six emitters were nearly or fully clogged, with discharges between 0% and 5% of new and unused emitters. Flushing velocity and flushing frequency did not have consistent significant effects on emitter discharge, and those numerical differences that did exist were small (<3%). Emitter discharge was approximately 3% less for the distal ends of the driplines (last 20% of the dripline). Although not a specific factor in the study, the results of solids removals during flushing and solids retention within the different dripline sections suggest that duration of flushing may be a more cost‐effective management option than increasing the dripline flushing velocity through SDI system design. Finally, although microirrigation system components have been improved over the years, the need for flushing to remove solids and reduce clogging potential has not been eliminated

Subsurface drip irrigation emitter spacing effects on soil water redistribution, corn yield and water productivity

Emitter spacings of 0.3 to 0.6 m are commonly used for subsurface drip irrigation (SDI) of corn on the deep, silt loam soils of the U.S. Great Plains. Subsurface drip irrigation emitter spacings of 0.3, 0.6, 0.9 and 1.2 m were examined for the resulting differences in soil water redistribution, corn grain yield, yield components, seasonal water use, and water productivity in a 4‐year field study (2005 through 2008) at the Kansas State University Northwest Research‐Extension Center, Colby, Kansas. The results indicate that there is increased preferential water movement along the dripline (parallel) as compared to perpendicular to the dripline and that this phenomenon partially compensates for wider emitter spacings in terms of soil water redistribution. Corn yield and water productivity (WP) were not significantly affected by the emitter spacing with application of a full irrigation regime

Engineering Geology for Society and Territory: volume 2: landslide processes

This book is one out of 8 IAEG XII Congress volumes, and deals with Landslide processes, including: field data and monitoring techniques, prediction and forecasting of landslide occurrence, regional landslide inventories and dating studies, modeling of slope instabilities and secondary hazards (e.g. impulse waves and landslide-induced tsunamis, landslide dam failures and breaching), hazard and risk assessment, earthquake and rainfall induced landslides, instabilities of volcanic edifices, remedial works and mitigation measures, development of innovative stabilization techniques and applicability to specific engineering geological conditions, use of geophysical techniques for landslide characterization and investigation of triggering mechanisms. Focuses is given to innovative techniques, well documented case studies in different environments, critical components of engineering geological and geotechnical investigations, hydrological and hydrogeological investigations, remote sensing and geophysical techniques, modeling of triggering, collapse, runout and landslide reactivation, geotechnical design and construction procedures in landslide zones, interaction of landslides with structures and infrastructures and possibility of domino effects. The Engineering Geology for Society and Territory volumes of the IAEG XII Congress held in Torino from September 15-19, 2014, analyze the dynamic role of engineering geology in our changing world and build on the four main themes of the congress: environment, processes, issues, and approaches.