Terrestrial laser scanning for landslides deformation monitoring

Within last few years a new type of instruments called Terrestrial Laser Scanners (TLS) entered to the commercial market. These devices brought a possibility to obtain completely new type of spatial, three dimensional data describing the object of interest. TLS instruments are generating a type of data that needs a special treatment. Appearance of this technique made possible to monitor deformations of very large objects, like investigated here landslides, with new quality level. This change is visible especially with relation to the size and number of the details that can be observed with this new method. Taking into account this context presented here work is oriented on recognition and characterization of raw data received from the TLS instruments as well as processing phases, tools and techniques to do them. Main objective are definition and recognition of the problems related with usage of the TLS data, characterization of the quality single point generated by TLS, description and investigation of the TLS processing approach for landslides deformation measurements allowing to obtain 3D deformation characteristic and finally validation of the obtained results. The above objectives are based on the bibliography studies and research work followed by several experiments that will prove the conclusions.

The migration towards Digital Terrestrial Television: challenges for public policy and public broadcasters

This paper initially identifies the main transformations of the television system that are caused by digitalization. Its development in several broadcasting platforms is analyzed as well as the particular obstacles and requirements that are detected for each of them. Due to its technical characteristics and its historical link to the public services, the terrestrial network requires migration strategies different from those strictly commercial, and public intervention might be needed. The paper focuses on such migration strategies towards DTT and identifies the main issues for public intervention in the areas of the digital scenario: technology, business and market transformation and the reception field. Moreover, it describes and classifies the challenges that public broadcasters should confront due to digitalization. This paper finally concludes that the leadership of the public broadcasters during the migration towards DTT is an interesting tool for public policy. The need for foster the digitalization of the terrestrial platform and to achieve certain social and public goal besides the market interest brings an opportunity for public institutions and public broadcasters to work together. That leading role could also be positive for the public service to face its necessary redefinition and reallocation within the digital context.

Detection of millimetric deformation using a terrestrial laser scanner: experiment and application to a rockfall event

Terrestrial laser scanning (TLS) is one of the most promising surveying techniques for rockslope characterization and monitoring. Landslide and rockfall movements can be detected by means of comparison of sequential scans. One of the most pressing challenges of natural hazards is combined temporal and spatial prediction of rockfall. An outdoor experiment was performed to ascertain whether the TLS instrumental error is small enough to enable detection of precursory displacements of millimetric magnitude. This consists of a known displacement of three objects relative to a stable surface. Results show that millimetric changes cannot be detected by the analysis of the unprocessed datasets. Displacement measurement are improved considerably by applying Nearest Neighbour (NN) averaging, which reduces the error (1¿) up to a factor of 6. This technique was applied to displacements prior to the April 2007 rockfall event at Castellfollit de la Roca, Spain. The maximum precursory displacement measured was 45 mm, approximately 2.5 times the standard deviation of the model comparison, hampering the distinction between actual displacement and instrumental error using conventional methodologies. Encouragingly, the precursory displacement was clearly detected by applying the NN averaging method. These results show that millimetric displacements prior to failure can be detected using TLS.

Rockfall monitoring by Terrestrial Laser Scanning ¿ case study of the basaltic rock face at Castellfollit de la Roca (Catalonia, Spain)

This case study deals with a rock face monitoring in urban areas using a Terrestrial Laser Scanner. The pilot study area is an almost vertical, fifty meter high cliff, on top of which the village of Castellfollit de la Roca is located. Rockfall activity is currently causing a retreat of the rock face, which may endanger the houses located at its edge. TLS datasets consist of high density 3-D point clouds acquired from five stations, nine times in a time span of 22 months (from March 2006 to January 2008). The change detection, i.e. rockfalls, was performed through a sequential comparison of datasets. Two types of mass movement were detected in the monitoring period: (a) detachment of single basaltic columns, with magnitudes below 1.5 m3 and (b) detachment of groups of columns, with magnitudes of 1.5 to 150 m3. Furthermore, the historical record revealed (c) the occurrence of slab failures with magnitudes higher than 150 m3. Displacements of a likely slab failure were measured, suggesting an apparent stationary stage. Even failures are clearly episodic, our results, together with the study of the historical record, enabled us to estimate a mean detachment of material from 46 to 91.5 m3 year¿1. The application of TLS considerably improved our understanding of rockfall phenomena in the study area.

Rockfall monitoring by Terrestrial Laser Scanning ¿ case study of the basaltic rock face at Castellfollit de la Roca (Catalonia, Spain)

This case study deals with a rock face monitoring in urban areas using a Terrestrial Laser Scanner. The pilot study area is an almost vertical, fifty meter high cliff, on top of which the village of Castellfollit de la Roca is located. Rockfall activity is currently causing a retreat of the rock face, which may endanger the houses located at its edge. TLS datasets consist of high density 3-D point clouds acquired from five stations, nine times in a time span of 22 months (from March 2006 to January 2008). The change detection, i.e. rockfalls, was performed through a sequential comparison of datasets. Two types of mass movement were detected in the monitoring period: (a) detachment of single basaltic columns, with magnitudes below 1.5 m3 and (b) detachment of groups of columns, with magnitudes of 1.5 to 150 m3. Furthermore, the historical record revealed (c) the occurrence of slab failures with magnitudes higher than 150 m3. Displacements of a likely slab failure were measured, suggesting an apparent stationary stage. Even failures are clearly episodic, our results, together with the study of the historical record, enabled us to estimate a mean detachment of material from 46 to 91.5 m3 year¿1. The application of TLS considerably improved our understanding of rockfall phenomena in the study area.

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.

Multi-scale effects of nestling diet on breeding performance in a terrestrial top predator inferred from stable isotope analysis

Inter-individual diet variation within populations is likely to have important ecological and evolutionary implications. The diet-fitness relationships at the individual level and the emerging population processes are, however, poorly understood for most avian predators inhabiting complex terrestrial ecosystems. In this study, we use an isotopic approach to assess the trophic ecology of nestlings in a long-lived raptor, the Bonelli"s eagle Aquila fasciata, and investigate whether nestling dietary breath and main prey consumption can affect the species" reproductive performance at two spatial scales: territories within populations and populations over a large geographic area. At the territory level, those breeding pairs whose nestlings consumed similar diets to the overall population (i.e. moderate consumption of preferred prey, but complemented by alternative prey categories) or those disproportionally consuming preferred prey were more likely to fledge two chicks. An increase in the diet diversity, however, related negatively with productivity. The age and replacements of breeding pair members had also an influence on productivity, with more fledglings associated to adult pairs with few replacements, as expected in long-lived species. At the population level, mean productivity was higher in those population-years with lower dietary breadth and higher diet similarity among territories, which was related to an overall higher consumption of preferred prey. Thus, we revealed a correspondence in diet-fitness relationships at two spatial scales: territories and populations. We suggest that stable isotope analyses may be a powerful tool to monitor the diet of terrestrial avian predators on large spatio-temporal scales, which could serve to detect potential changes in the availability of those prey on which predators depend for breeding. We encourage ecologists and evolutionary and conservation biologists concerned with the multi-scale fitness consequences of inter-individual variation in resource use to employ similar stable isotope-based approaches, which can be successfully applied to complex ecosystems such as the Mediterranean.

Capillarity and fibre types in locomotory muscles of wild yellow-legged gulls (Larus cachinnans)

This study analyzes the capillarity and fibre-type distribution of six locomotory muscles of gulls. The morphological basis and the oxygen supply characteristics of the skeletal muscle of a species with a marked pattern of gliding flight are established, thus contributing to a better understanding of the physiology of a kind of flight with low energetic requirements. The four wing muscles studied (scapulotriceps, pectoralis, scapulohumeralis, and extensor metacarpi) exhibited higher percentages of fast oxidative glycolytic fibres (>70%) and lower percentages of slow oxidative fibres (<16%) than the muscles involved in nonflight locomotion (gastrocnemius and iliotibialis). Capillary densities ranged from 816 to 1,233 capillaries mm(-2), having the highest value in the pectoralis. In this muscle, the fast oxidative glycolytic fibres had moderate staining for succinate dehydrogenase and relatively large fibre sizes, as deduced from the low fibre densities (589-665 fibres mm(-2)). All these findings are seen as an adaptive response for gliding, when the wing is held outstretched by isometric contractions. The leg muscles studied included a considerable population of slow oxidative fibres (>14% in many regions), which suggests that they are adapted to postural activities. Regional variations in the relative distributions of fibre types in muscle gastrocnemius may reflect different functional demands placed on this muscle during terrestrial and aquatic locomotion. The predominance of oxidative fibres and capillary densities under 1,000 capillaries mm(-2) in leg muscles is probably a consequence of an adaptation for slow swimming and maintenance of the posture on land rather than for other locomotory capabilities, such as endurance or sprint activities.

Modelo de pérdida de paquetes para redes híbridas

El objetivo de este proyecto es la predicción de la pérdida de paquete. Para ello necesitaremos el modelado del canal. De esta manera, podremos determinar cuando una transmisión llega con éxito o no. En primer lugar, se han estudiado los algoritmos de adaptación de la tasa. Estos algoritmos mejoran el rendimiento de la comunicación. Por este motivo, el programa de simulación se basa en algunos de estos algoritmos. En paralelo, se han capturado medidas del canal terrestre para realizar el modelado. Finalmente, con un programa mucho más completo se ha simulado el comportamiento de una transmisión con el modelado del canal físico, y se han asumido algunas consideraciones, como las colisiones. Por lo tanto, se ha obtenido un resultado más realista, con el cual se ha analizado teóricamente las posibilidades de un enlace entre el canal terrestre y el canal satélite, para crear una red híbrida.

Programación de un robot autónomo: diseño, construcción, programación e integración de un robot autónomo en el entorno Pyro

En aquest projecte, s'ha dissenyat, construït i programat un robot autònom, dotat de sistema de locomoció i sensors que li permeten navegar sense impactar en un entorn controlat. Per assolir aquests objectius s'ha dissenyat i programat una unitat de control que gestiona el hardware de baix volum de dades amb diferents modes d'operació, abstraient-lo en una única interfície. Posteriorment s'ha integrat aquest sistema en l'entorn de robòtica Pyro. Aquest entorn permet usar i adaptar, segons es necessiti, eines d'intel·ligència artificial ja desenvolupades.

Enrutament i control de flux en xarxes híbrides satèl·lit-terrestre

Les xarxes híbrides satèl·lit-terrestre ofereixen connectivitat a zones remotes i aïllades i permeten resoldre nombrosos problemes de comunicacions. No obstant, presenten diversos reptes, ja que realitzen la comunicació per un canal mòbil terrestre i un canal satèl·lit contigu. Un d'aquests reptes és trobar mecanismes per realitzar eficientment l'enrutament i el control de flux, de manera conjunta. L'objectiu d'aquest projecte és simular i estudiar algorismes existents que resolguin aquests problemes, així com proposar-ne de nous, mitjançant diverses tècniques d'optimització convexa. A partir de les simulacions realitzades en aquest estudi, s'han analitzat àmpliament els diversos problemes d'enrutament i control de flux, i s'han avaluat els resultats obtinguts i les prestacions dels algorismes emprats. En concret, s'han implementat de manera satisfactòria algorismes basats en el mètode de descomposició dual, el mètode de subgradient, el mètode de Newton i el mètode de la barrera logarítmica, entre d'altres, per tal de resoldre els problemes d'enrutament i control de flux plantejats.

Augment de la resolució en la reconstrucció de les temperatures de l'aigua i de l'aire del llac Baikal (Sibèria) dels últims 60.000 anys

Aquest estudi consisteix en l’augment de la resolució en la reconstrucció de la temperatura de l’aigua i l’aire del llac Baikal durant els últims 60.000 anys mitjançant l’ús de les proxies de reconstrucció de la temperatura TEX86 i MAAT, i la d’aportació de matèria orgànica d’origen terrestre, el BIT. L’objectiu general d’aquesta investigació és incrementar la resolució temporal en el mostreig del testimoni CON-01-603-02 per tal de millorar el registre de dades obtingudes i d’aquesta manera poder contrastar la hipòtesi de la interconnexió climàtica global, així com identificar esdeveniments climàtics sobtats, tals com els Heinrich events i els esdeveniments D-O. Un cop obtinguts els resultats s’ha realitzat l’anàlisi de la qualitat i fiabilitat de les dades a les resolucions de 5, 10 i 20 Kanys, i es conclou que existeixen diferències globals estadísticament significatives amb els resultats realitzats per Escala et al., (r.n.p [resultats no publicats]), la resolució dels quals es volia augmentar. S’han tractat d’anular aquestes diferències restant o bé sumant la diferència mitjana obtinguda entre les dues mostres en cada un dels intervals de 5 Kanys en què s’han donat aquestes. Els resultats integrats d’Escala et al.,(r.n.p) i els d’aquest estudi, aporten dades que recolzen l’hipòtesi de la interconnexió climàtica global, ja que al comparar-los amb els registres climàtics de Grenlàndia (GRIP2) i l’Antàrtica (Vostok) mostren respostes similars tant per les forces de Milankovitch com per les de subMilankovitch.

Els isòtops radiogènics(Sr i Nd) en diferents contextes geodinàmics: Illes Canaries i Vesuvi. Preparació i anàlisi de mostres mitjançant la tècnica analítica TIMS

Projecte de recerca elaborat a partir d’una estada l’ Osservatorio Vesuviano (Nàpols, Italia) entre novembre del 2006 i març del 2007. Un dels objectius principals de l’estada ha estat conèixer la tècnica analítica Thermal Ionisation Mass Spectrometry (TIMS ) per l’anàlisi d’isòtops radiogènics (Sr i Nd). Aquesta estada ha permès aprendre tant la part de preparació de les mostres, com la part d’utilització i programació de l’instrument. Inicialment en el projecte es va programar l’anàlisi dels isòtops radiogènics en laves i xenòlits de l’illa de Gran Canaria (Illes Canàries) amb l’objectiu de modelar geoquímicament el mantell terrestre sota les illes Canàries. Finalment, i a part de les mostres inicials de Gran Canaria, es van incloure mostres del volcà Vesuvi per tal de concloure un projecte iniciat el 2003 amb el Professor Giovanni Orsi i la Professora Lucia Civetta. L’estudi dels isòtops radiogènics en contextes geodinàmics tant diferents ha permès comparar la variació dels isòtops radiogènics de Sr i Nd que existeix entre volcanisme d’ intraplaca (Illes Canàries) i volcanisme en zones convergents (Vesuvi).

Métodes d'aprenentatge per reforç basats en la política i la seva aplicació a la robótica

Projecte de recerca elaborat a partir d’una estada al Robot Locomotion Group del Massachusetts Institute of Technology, Estats Units, entre març i agost del 2006. Es descriu la feina portada a terme en el camp de l'aprenentatge per reforç (RL), una metodologia molt utilitzada en aprenentatge artificial. En RL, un agent intenta maximitzar un valor escalar (càstig o premi) obtingut com a resultat de la seva interacció amb l'entorn. L'objectiu d'un sistema basat en RL és el de trobar una política d'actuació òptima que relaciona l'estat de l'entorn amb una acció determinada que maximitzi la suma de reforços futurs. El principal avantatge és que no utilitza cap base de dades conegudes, així que l'agent no rep informació sobre quina decisió triar, com succeeix en molts tipus d'aprenentatge, sinó que ha de triar per descobrir aquelles accions que tenen un valor més alt, sent molt adient en robòtica aplicada. Els principals desavantatges són uns temps de convergència sovint elevats i la manca de generalització quan tractem variables contínues. Principalment, el treball s’ha centrat en l'estudi de noves i més complexes metodologies basades en RL que combinessin dos tipus d'algorismes: els basats en funcions de valor i els representats únicament per una política d'actuació. Posteriorment s'analitzà la seva aplicabilitat en aplicacions robòtiques reals. En tots els estudis i les simulacions s’ha utilitzat un braç robòtic dissenyat i contruït al laboratori. El tipus de robot, anomenat Acrobot, és un banc de proves molt utilitzat en els camps de teoria de control i aprenentatge.

Diseño cooperativo de un sistema de comunicaciones por satélite basado en diversidad espacial

En este proyecto se han presentado los modelos de distribución de canal más comunes que se puede encontrar una señal en una transmisión. Seguidamente se ha presentado el concepto de diversidad en comunicaciones inalámbricas terrestres y se ha trasladado el escenario a comunicaciones por satélite. Para analizar la calidad de los enlaces con diversidad se ha realizado un simulador, con Matlab, que modele la estructura básica de un sistema de comunicaciones (emisor, canal y receptor). Simulando las comunicaciones entre los diferentes sistemas de diversidad se ha podido comparar la calidad de cada enlace. El modelo Alamouti ha presentado una robustez y una baja probabilidad de error que hacen que sea la mejor elección a la hora de diseñar un sistema de diversidad para comunicaciones por satélite. Utiliza la diversidad de canal para aprovechar cada pizca de señal que recibe y así poder descifrar el mensaje enviado.