Modelos de circulación global y procesos de mezcla en el océano

La difusividad diapicna en el océano es uno de los parámetros más desconocidos en los modelos climáticos actuales. Su importancia radica en que es uno de los principales factores de transporte de calor hacia capas más profundas del océano. Las medidas de esta difusividad son variables e insuficientes para confeccionar un mapa global con estos valores. A través de una amplia revisión bibliográfica hasta el año 2009 del tema se encontró que el sistema climático es extremadamente sensible a la difusividad diapicna, donde el escalado del Océano Pacífico Sur, con una potencia de su coeficiente de difusividad o kv de 0.63, resultó ser más sensible a los cambios en el coeficiente de difusividad diapicna que el Océano Atlántico con una potencia de kv de 0.44 , se pone de manifiesto así la necesidad de esclarecer los esquemas de mezcla, esquemas de clausura y sus parametrizaciones a través de Modelos de Circulación Global (GCMs) y Modelos de Complejidad Intermedia del Sistema Terrestre (EMICs), dentro del marco de un posible cambio climático y un calentamiento global debido al aumento de las emisiones de gases de efecto invernadero. Así, el objetivo principal de este trabajo es comprender la sensibilidad del sistema climático a la difusividad diapicna en el océano a través de los GCMs y los EMICs. Para esto es necesario el análisis de los posibles esquemas de mezcla diapicna con el objetivo final de encontrar el modelo óptimo que permita predecir la evolución del sistema climático, el estudio de todas las variables que influyen en el mismo, y la correcta simulación en largos periodos de tiempo. The diapycnal diffusivity in the ocean is one of the least known parameters in current climate models. Measurements of this diffusivity are sparse and insufficient for compiling a global map. Through a lengthy review of the literature through 2009 found that the climate system is extremely sensitive to the diapycnal diffusivity, where in the South Pacific scales with the 0.63 power of the diapycnal diffusion, in contrasts to the scales with the 0.44 power of the diapycnal diffusion of North Atlantic. Therefore, the South Pacific is more sensitive than the North Atlantic. All this evidenced the need to clarify the schemes of mixing and its parameterisations through Global Circulation Models (GCMs) and Earth Models of Intermediate Complexity (EMICs) within a context of possible climate change and global warming due to increased of emissions of greenhouse gases. Thus, the main objective of this work understands the sensitivity of the climate system to diapycnal diffusivity in the ocean through the GCMs and EMICs. This requires the analysis of possible schemes of diapycnal mixing with the ultimate goal of finding the optimal model to predict the evolution of the climate system, the study of all variables that affect it and the correct simulation over long periods of time.

CoolBOT: a component-oriented programming framework for robotics

[EN] Programming software for controlling robotic systems in order to built working systems that perform adequately according to their design requirements remains being a task that requires an important development effort. Currently, there are no clear programming paradigms for programming robotic systems, and the programming techniques which are of common use today are not adequate to deal with the complexity associated with these systems. The work presented in this document describes a programming tool, concretely a framework, that must be considered as a first step to devise a tool for dealing with the complexity present in robotics systems. In this framework the software that controls a system is viewed as a dynamic network of units of execution inter-connected by means of data paths. Each one of these units of execution, called a component, is a port automaton which provides a given functionality, hidden behind an external interface specifying clearly which data it needs and which data it produces. Components, once defined and built, may be instantiated, integrated and used as many times as needed in other systems. The framework provides the infrastructure necessary to support this concept for components and the inter communication between them by means of data paths (port connections) which can be established and de-established dynamically. Moreover, and considering that the more robust components that conform a system are, the more robust the system is, the framework provides the necessary infrastructure to control and monitor the components than integrate a system at any given instant of time.