Aula de Teatre: El conjunt de Mandelbrot. Preguntes, preguntes i més preguntes

L'Aula de Teatre de la UdG va estrenar el 22 de maig, al Teatre Municipal, l'obra El conjunt de Mandelbrot, una dramatúrgia de Jordi Duran i del matemàtic David Juher que aboca sense complexos la ciència damunt de l'escenari

Vision-based localization of an underwater robot in a structured environment

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system

Semiactive control strategies for vibration mitigation in adaptronic structures equipped with magnetorheological dampers

Los sistemas tales como edificios y veh¨ªculos est¨¢n sujetos a vibraciones que pueden causar mal funcionamiento, incomodidad o colapso. Para mitigar estas vibraciones, se suelen instalar amortiguadores. Estas estructuras se convierten en sistemas adaptr¨®nicos cuando los amortiguadores son controlables. Esta tesis se enfoca en la soluci¨®n del problema de vibraciones en edificios y veh¨ªculos usando amortiguadores magnetoreol¨®gicos (MR). Estos son unos amortiguadores controlables caracterizados por una din¨¢mica altamente no lineal. Adem¨¢s, los sistemas donde se instalan se caracterizan por la incertidumbre param¨¦trica, la limitaci¨®n de medidas y las perturbaciones desconocidas, lo que obliga al uso de t¨¦cnicas complejas de control. En esta tesis se usan Backstepping, QFT y H2/H¡Þ mixto para resolver el problema. Las leyes de control se verifican mediante simulaci¨®n y experimentaci¨®n.

Paisatge i models urbans contemporanis. Les comarques gironines (1979-2006): del "desarrollismo" a la globalització

This doctoral thesis offers a quantitative and qualitative analysis of the changes in the urban shape and landscape of the Girona Counties between 1979 and 2006. The theoretical part of the research lies within the framework of the dispersed city phenomenon, and is based on the hypothesis of convergence towards a global urban model. The empirical part demonstrates this proposition with a study of 522 zone development plans in the Girona Counties. The results point to the consolidation of the dispersed city phenomenon, as shown by the sudden increase in built-up space, the spread of urban development throughout the territory, and the emergence of a new, increasingly generic landscape comprising three major morphological types: urban extensions, low density residential estates and industrial zones. This reveals shortcomings of planning for urban growth, weakening of the city as a public project, and a certain degradation of the Mediterranean city model.