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

A mission control system for an autonomous underwater vehicle

The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing systematic design principles for the formal description of missions using Petri nets. The proposed methodology compounds Petri net building blocks within it to de_ne a mission plan for which it is proved that formal properties, such as reachability and reusability, hold as long as these same properties are also guaranteed by each Petri net building block. To simplify the de_nition of these Petri net blocks as well as their composition, a high level language called Mission Control Language has been developed. Moreover, a methodology to ensure coordination constraints for teams of multiple robots as well as the de_nition of an interface between the proposed system and an on-board planner able to plan/replan sequences of prede_ned mission plans is included as well. Results of experiments with several real underwater vehicles and simulations involving an autonomous surface craft and an autonomous underwater vehicles are presented to show the system's capabilities.

Aproximacions a la síntesi estereoselectiva de noves heteroarilglicines

L'objectiu principal de la present tesi doctoral ha consistit fonamentalment en la síntesi de noves heteroarilglicines òpticament pures. Amb aquesta idea s'han desenvolupat dues estratègies diferents: síntesi estereoselectiva utilitzant auxiliars quirals i síntesi estereocontrolada utilitzant aldehids quirals derivats d' L-serina com a "building-blocks". Així doncs, per a la primera estratègia s'han dissenyat i sintetitzat els dos nous auxiliars quirals del tipus imidazolidin-2-ona 111 i 135 utilitzant L-fenilalanina i L-serina respectivament com a materials de partida òpticament purs. Davant els problemes detectats en la síntesi d'a-aminoàdics mitjançant síntesi asimètric, s'ha canviat d'estratègia i s'ha utilitzat una síntesi estereocontrolada utilitzant aldehids quirals obtinguts a partir d'L-serina.

Síntesi en dissolució i fase sòlida de nous derivats primidínics amb una alta diversitat molecular

En aquest treball s'ha desenvolupat una metodologia eficaç envers la síntesi de diferents derivats pirimidínics amb un alt grau de diversitat molecular. Aquesta metodologia es basa en la S-alquilació selectiva dels 2-tiouracils (2) utilitzats com a material de partida. Aquesta reacció es realitza amb bromur de benzil quan es treballa en dissolució, o bé amb la reïna de Merrifield quan la química és sobre suport sòlid. Seguidament, s'alquila selectivament l'àtom d'oxigen de les benzilsulfanilpirimidinones (3) mitjançant la reacció de Mitsunobu, o bé utilitzant diferents halurs d'alquil en presència d'una base. Amb les 4-alcoxipirimidines (4) es realitzen diverses transformacions químiques, per exemple, addicions de Grignard, reducció i posterior metilació del grup carbonil (quan R2 = CH2COPh), etc. Posteriorment, s'oxida el grup sulfanil a sulfona utilitzant m-CPBA. Finalment es desplaça la funció sulfona amb diversos nucleòfils. Gràcies a aquesta metodologia s'han preparat diferents 2-amino-4-alcoxipirimidines (7, Nu = RR'N) en dissolució i sobre suport sòlid. Mitjançant algunes variacions s'han pogut obtenir altres derivats pirimidínics: - 4(3H)-pirimidinones 2,6-disubstituïdes (8, Nu = RR'N, ArO, RR'R''C), preparades a partir de la hidròlisi del grup alcòxid (OR5) dels compostos (7) en medi àcid. - imidazo[1,2-a]pirimidinones (9 o 10, n = 1) i pirimido[1,2-a]pirimidinones (9 o 10, n = 2). Els compostos (9) s'han obtingut selectivament a través d'una ciclació intramolecular de les pirimidines (7, Nu = aminoalcohols) utilitzant àcid sulfúric. Quan s'han ciclat els compostos (8, Nu = aminoalcohols) mitjançant una reacció de Mitsunobu intramolecular, s'han obtingut els regioisòmers (9) i (10) en diferents proporcions en funció dels grups presents en l'anell. - pirimidines funcionalitzades amb restes d'-arilglina (11). La funció arilglicina s'ha preparat mitjançant la condensació d'amines (4, R2 = CH2CHR3NHR4) amb àcid glioxàlic i àcids arilborònics (reacció de Petasis). L'oxidació del grup sulfanil dels compostos (11) a sulfona utilitzant m-CPBA ha provocat també l'oxidació de l'àtom de nitrogen de l'arilglicina. Alguns d'aquests derivats pirimidínics han mostrat ser inhibidors del Mycobacterium tuberculosis.

Supporting graduate development through work based learning

The genesis of this innovation lies in the commitment of a national Irish business enterprise to the professional development of its staff in general, and to the enhancement of its Information Technologies (IT) staff specifically, in collaboration with a national Higher Education (HE) provider. A postgraduate degree, awarded by the HE provider, seeks to bring coherence and cohesion to the education and training provision for newly recruited IT graduate staff of the business enterprise, simultaneously acting both as an induction process for new staff and as a professional capacity building exercise, thereby enhancing the enterprise’s organisational learning and collective competence in the areas of information technologies, IT security and technical service management. The curriculum was designed by the HE provider in collaboration with the business enterprise to offer it to circa sixteen IT staff per cycle of delivery through a model known generally as the new apprenticeship for professional practice which uses a combination of college-based, block release taught elements, regular day release seminars and substantial work-based learning, supported by the academic staff of the HE provider and work-based support staff/mentors of the business enterprise. Academic quality assurance, pedagogical, assessment and accreditation responsibilities remain with the HE provider. (...)

La Mejora de la docencia universitaria a través de la trasferencia de buenas prácticas = Improving college teaching through the transfer of good practice

La comunicación presentada forma parte del proyecto excelencia titulado: “Conocimiento y competencia profesional del profesor universitario sobre enseñanza y el aprendizaje en entornos de tecnología avanzada de la información y la comunicación”; que pretendía apoyar , desde la investigación de campo, la mejora de la actividad académica universitaria y difundir a nivel operativo acciones de innovación educativa y del uso de la tecnología avanzada en los procesos de enseñanza-aprendizaje, que permitiesen construir y recopilar el conocimiento profesional docente en la universidad

Building wood debris piles benefits avian seed dispersers in burned and logged Mediterranean pine forests

Salvage logging is a common practice carried out in burned forests worldwide, and intended to mitigate the economic losses caused by wildfires. Logging implies an additional disturbance occurring shortly after fire, although its ecological effects can be somewhat mitigated by leaving wood debris on site. The composition of the bird community and its capacity to provide ecosystem services such as seed dispersal of fleshy-fruited plants have been shown to be affected by postfire logging. We assessed the effects of the habitat structure resulting from different postfire management practices on the bird community, in three burned pine forests in Catalonia (western Mediterranean). For this purpose, we focused on the group of species that is responsible for seed dispersal, a process which takes place primarily during the winter in the Mediterranean basin. In addition, we assessed microhabitat selection by seed disperser birds in such environments in relation to management practices. Our results showed a significant, positive relationship between the density of wood debris piles and the abundance of seed disperser birds. Furthermore, such piles were the preferred microhabitat of these species. This reveals an important effect of forest management on seed disperser birds, which is likely to affect the dynamics of bird-dependent seed dispersal. Thus, building wood debris piles can be a useful practice for the conservation of both the species and their ecosystem services, while also being compatible with timber harvesting