Pèrdua d’ energia de pedalada en una MTB de doble suspensió

L' objectiu d' aquest projecte és crear un sistema de càlcul per estudiar el desplaçament dels amortidors al llarg del cicle de pedalada, que són la causa de la dissipació d' energia. Tot el projecte s' ha desenvolupat de forma teòrica i l' estudi que s' ha dut a terme ha estat estàtic. Els resultats obtinguts són una aproximació del que seria de s' hagués estudiat dinàmicament

Learning and adaptation in physical heterogeneous teams of robots

In this paper we present a novel approach to assigning roles to robots in a team of physical heterogeneous robots. Its members compete for these roles and get rewards for them. The rewards are used to determine each agent’s preferences and which agents are better adapted to the environment. These aspects are included in the decision making process. Agent interactions are modelled using the concept of an ecosystem in which each robot is a species, resulting in emergent behaviour of the whole set of agents. One of the most important features of this approach is its high adaptability. Unlike some other learning techniques, this approach does not need to start a whole exploitation process when the environment changes. All this is exemplified by means of experiments run on a simulator. In addition, the algorithm developed was applied as applied to several teams of robots in order to analyse the impact of heterogeneity in these systems

DSet: el futur s'amaga al darrere del decorat

De tant en tant, a la televisió fan una pel·lícula antiga en la qual es presenta la casa moderna, la del futur. Sol ser una casa en què els objectes més diversos es mouen sols automàticament. El dia en què plats i olles vagin i vinguin per les taules i estranyes andròmines escombrin les engrunes encara no ha arribat, però al darrere del decorat, al lloc on s’amagaven els genis que movien aquella il·lusió, és on avui s’està vivint una revolució. És allà on no es veu que s’instal·len moderns dispositius que treballen per millorar l’eficiència de la nostra vida domèstica. El K2 Energia és un d’aquests mecanismes, un producte dissenyat a Girona per DSet, una spin-off de la UdG instal·lada al Parc Científic

LiDAR data filtering with GRASS GIS for the determination of digital terrain models

In the last years, the use of every type of Digital Elevation Models has iimproved. The LiDAR (Light Detection and Ranging) technology, based on the scansion of the territory b airborne laser telemeters, allows the construction of digital Surface Models (DSM), in an easy way by a simple data interpolation

La vida universitaria más allá de las aulas: un estudio en la Universidad de Santiago de Compostela

En esta comunicación se presentan algunos de los resultados de la investigación: “Las actitudes de los estudiantes hacia la universidad como indicador de calidad”, realizada en la Universidad de Santiago de Compostela y defendida como Tesis Doctoral en el año 2007. La investigación hace un análisis pormenorizado sobre el papel de la Universidad en el proceso de formación de las actitudes de los estudiantes hacia la propia Institución, desde la perspectiva de la información que traslada. En este trabajo nos referiremos concretamente al papel de la universidad en el proceso de formación de actitudes de los estudiantes hacia la participación activa en la vida institucional, a partir de la información que la propipia institución les traslada al respecto. Accedimos a una muestra de 554 estudiantes de los últimos cursos universitarios, mediante la aplicación de un cuestionario de 327 ítems, en el que se recoge información sobre 55 dimensiones que nos han permitido configurar una completa radiografía de la institución universitaria como contexto de formación

Més enllà de la necessitat de treballar existeix el desig d'estar en relació en llibertat = Más allá de la necesidad de trabajar existe el deseo de estar en relación en libertad

En el monografic que presentem, hi publiquem les ponencies sorgides del seminari de primavera, que, com cada any, organitzem les dones de Duoda. El seminari portava el títol Les relacions d'autoritat i de llibertat en el mercat de treball. Desitjavem donar a conèixer el pensament i els sabers de les dones fruit de la recerca de dotar de sentit la seva experiència femenina en el món del treball, des de la consciencia del que aportem les dones al món amb la nostra diferencia sexual

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

A review of sensor fusion techniques for underwater vehicle navigation

This work provides a general description of the multi sensor data fusion concept, along with a new classification of currently used sensor fusion techniques for unmanned underwater vehicles (UUV). Unlike previous proposals that focus the classification on the sensors involved in the fusion, we propose a synthetic approach that is focused on the techniques involved in the fusion and their applications in UUV navigation. We believe that our approach is better oriented towards the development of sensor fusion systems, since a sensor fusion architecture should be first of all focused on its goals and then on the fused sensors

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

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

All-Optical Unicast/Multicast Routing in WDM Networks

Optical transport networks (OTN) must be prepared in terms of better resource utilization, for accommodating unicast and multicast traffic together. Light-trees have been proposed for supporting multicast connections in OTN. Nevertheless when traffic grooming is applied in light-trees, resources can be underutilized as traffic can be routed to undesirable destinations in order to avoid optical-electrical-optical (OEO) conversions. In this paper, a novel architecture named S/G light- tree for supporting unicast/multicast connections is proposed. The architecture allows traffic dropping and aggregation in different wavelengths without performing OEO conversions. A heuristic that routes traffic demands using less wavelengths by taking advantage of the proposed architecture is designed as well. Simulation results show that the architecture can minimize the number of used wavelengths and OEO conversions when compared to light-trees

All-Optical Label Stacking: Easing the Trade-offs Between Routing and Architecture Cost in All-Optical Packet Switching

All-optical label swapping (AOLS) forms a key technology towards the implementation of all-optical packet switching nodes (AOPS) for the future optical Internet. The capital expenditures of the deployment of AOLS increases with the size of the label spaces (i.e. the number of used labels), since a special optical device is needed for each recognized label on every node. Label space sizes are affected by the way in which demands are routed. For instance, while shortest-path routing leads to the usage of fewer labels but high link utilization, minimum interference routing leads to the opposite. This paper studies all-optical label stacking (AOLStack), which is an extension of the AOLS architecture. AOLStack aims at reducing label spaces while easing the compromise with link utilization. In this paper, an integer lineal program is proposed with the objective of analyzing the softening of the aforementioned trade-off due to AOLStack. Furthermore, a heuristic aiming at finding good solutions in polynomial-time is proposed as well. Simulation results show that AOLStack either a) reduces the label spaces with a low increase in the link utilization or, similarly, b) uses better the residual bandwidth to decrease the number of labels even more