Neptune: a hil simulator for multiple UUVs

This paper overviews the field of graphical simulators used for AUV development, presents the taxonomy of these applications and proposes a classification. It also presents Neptune, a multivehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

A distributed environment for virtual and/or real experiments for underwater robots

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments

Graphical simulators for AUV development

A long development time is needed from the design to the implementation of an AUV. During the first steps, simulation plays an important role, since it allows for the development of preliminary versions of the control system to be integrated. Once the robot is ready, the control systems are implemented, tuned and tested. The use of a real-time simulator can help closing the gap between off-line simulation and real testing using the already implemented robot. When properly interfaced with the robot hardware, a real-time graphical simulation with a "hardware in the loop" configuration, can allow for the testing of the implemented control system running in the actual robot hardware. Hence, the development time is drastically reduced. These paper overviews the field of graphical simulators used for AUV development proposing a classification. It also presents NEPTUNE, a multi-vehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

An improved method for discovering link criticality in transport networks

Quantitatively assessing the importance or criticality of each link in a network is of practical value to operators, as that can help them to increase the network's resilience, provide more efficient services, or improve some other aspect of the service. Betweenness is a graph-theoretical measure of centrality that can be applied to communication networks to evaluate link importance. However, as we illustrate in this paper, the basic definition of betweenness centrality produces inaccurate estimations as it does not take into account some aspects relevant to networking, such as the heterogeneity in link capacity or the difference between node-pairs in their contribution to the total traffic. A new algorithm for discovering link centrality in transport networks is proposed in this paper. It requires only static or semi-static network and topology attributes, and yet produces estimations of good accuracy, as verified through extensive simulations. Its potential value is demonstrated by an example application. In the example, the simple shortest-path routing algorithm is improved in such a way that it outperforms other more advanced algorithms in terms of blocking ratio

Availability analysis of GMPLS connections based on physical network topology

This paper presents a study of connection availability in GMPLS over optical transport networks (OTN) taking into account different network topologies. Two basic path protection schemes are considered and compared with the no protection case. The selected topologies are heterogeneous in geographic coverage, network diameter, link lengths, and average node degree. Connection availability is also computed considering the reliability data of physical components and a well-known network availability model. Results show several correspondences between suitable path protection algorithms and several network topology characteristics

Lightweight monitoring of label switched paths for bandwidth management

The purpose of resource management is the efficient and effective use of network resources, for instance bandwidth. In this article, a connection oriented network scenario is considered, where a certain amount of bandwidth is reserved for each label switch path (LSP), which is a logical path, in a MPLS or GMPLS environment. Assuming there is also some kind of admission control (explicit or implicit), these environments typically provide quality of service (QoS) guarantees. It could happen that some LSPs become busy, thus rejecting connections, while other LSPs may be under-utilised. We propose a distributed lightweight monitoring technique, based on threshold values, the objective of which is to detect congestion when it occurs in an LSP and activate the corresponding alarm which will trigger a dynamic bandwidth reallocation mechanism

Dynamic bandwidth management as part of an integrated network management system based on distributed agents

We present a system for dynamic network resource configuration in environments with bandwidth reservation and path restoration mechanisms. Our focus is on the dynamic bandwidth management results, although the main goal of the system is the integration of the different mechanisms that manage the reserved paths (bandwidth, restoration, and spare capacity planning). The objective is to avoid conflicts between these mechanisms. The system is able to dynamically manage a logical network such as a virtual path network in ATM or a label switch path network in MPLS. This system has been designed to be modular in the sense that in can be activated or deactivated, and it can be applied only in a sub-network. The system design and implementation is based on a multi-agent system (MAS). We also included details of its architecture and implementation

El municipi de Barcelona i les parròquies del seu entorn al segle XIV

L'articulació política del pla de Barcelona en l'època medieval es va basar en l'existència de dos territoris: d'una banda, una gran àrea que va coincidir amb la plana entre les desembocadures del Llobregat i del Besòs, on les autoritats locals exerciren alguna funció de control judicial. D'altra banda, un territori molt més petit, anomenat Hort i Vinyet (Parròquia de Sants i Sarrià Sant Martí Provençals), on la jurisdicció civil i penal del Consell de Cent era absoluta. L'objectiu d'aquest treball és mostrar, en primer lloc, que el territori anomenat Hort i Vinyet no existia i, d'altra banda, que l'extens territori no era subjecte a la jurisdicció municipal

El Forment a la Barcelona baixmedieval: preus, mesures i fiscalitat (1283-1345)

A través de l'anàlisi de dos sèries de diferents llibres de comptabilitat de Barcelona, els procedents de la gestió dels molins reals i els redactats per una institució eclesiàstica, la Pia Almoina, vam començar a estudiar el mercat del blat a Barcelona durant l'edat mitjana. Hem analitzat anteriorment el valor de les mesures a Barcelona i, per poder qualificar el preu real del pa, també hem estudiat els diferents processos industrials per fer pa de blat. Després, hem analitzat el conjunt d'impostos que pesaven sobre la comercialització de cereals. A través de l'estudi de l'evolució dels preus, hem tractat de fer una primera aproximació de la primera etapa de la crisi baixmedieval, concretament entre 1283 i 1345, tenint en compte els contrastos amb els treballs ja coneguts sobre la base de les fonts on la noció de quantitat no va ser considerada. Finalment, hem comparat els nostres resultats amb alguns treballs referents a la Corona d'Aragó i el món mediterrani, a fi d'obtenir una idea més precisa de la cronologia de les crisis de subsistència

El Consell de Cent durant l’Edat Mitjana

En el context del número monogràfic dedicat al Consell de Cent de Barcelona durant els segles XIII-XIV, l’autor fa una aproximació a la història del municipi barceloní a l'època medieval, centrant-se sobretot en la historiografia

La construcció del sistema fiscal municipal a Barcelona, segles XIII-XIV

A l’article es pretén traçar una primera cronologia de l’evolució de les competències fiscals del municipi barceloní fins a la consolidació d’un veritable sistema fiscal. Més que conclusions definitives, el treball vol establir unes primeres hipòtesis dins d’una investigació pròpia en curs sobre la fiscalitat reial a la ciutat de Barcelona que, fins al moment, s’havia centrat sobretot en l’anàlisi del patrimoni reial

El Graner de Pontós

Descripció del poblat ibèric de Mas Castellar de Pontós (Alt Empordà), amb motiu de l’exposició que el Museu d'Arqueologia de Catalunya - Girona va muntar al 1998 a l'església del monestir de Sant Pere de Galligants, seu del museu a Girona, i què durant la primavera de 1999 es va presentar al Museu Arqueològic de Barcelona

Els Tresors del Congost: Tombes, sitges i muralles

Article publicat arrel de l’exposició “Tombes, sitges i muralles: excavacions arqueològiques a Sant Julià de Ramis, 1991-1993”, què el Museu Arqueològic de Girona va organitzar a Sant Pere de Galligants al 1995. L’autor aprofita per fer una breu ressenya sobre el Museu alhora que descriu les excavacions del Congost de Sant Julià de Ramis