A Road Following Approach Using Artificial Neural Networks Combinations

Navigation is a broad topic that has been receiving considerable attention from the mobile robotic community over the years. In order to execute autonomous driving in outdoor urban environments it is necessary to identify parts of the terrain that can be traversed and parts that should be avoided. This paper describes an analyses of terrain identification based on different visual information using a MLP artificial neural network and combining responses of many classifiers. Experimental tests using a vehicle and a video camera have been conducted in real scenarios to evaluate the proposed approach.

Accessibility in complex networks

This Letter describes a method for the quantification of the diversity of non-linear dynamics in complex networks as a consequence of self-avoiding random walks. The methodology is analyzed in the context of theoretical models and illustrated with respect to the characterization of the accessibility in urban streets. (C) 2008 Elsevier B.V. All rights reserved.

Fast long-range connections in transportation networks

Multidimensional scaling is applied in order to visualize an analogue of the small-world effect implied by edges having different displacement velocities in transportation networks. Our findings are illustrated for two real-world systems, namely the London urban network (streets and underground) and the US highway network enhanced by some of the main US airlines routes. We also show that the travel time in these two networks is drastically changed by attacks targeting the edges with large displacement velocities. (C) 2011 Elsevier By. All rights reserved.

On Real-Time Monitoring And Control For Efficient Management Of Drinking Water Networks: Barcelona Case Study

Drinking water utilities in urban areas are focused on finding smart solutions facing new challenges in their real-time operation because of limited water resources, intensive energy requirements, a growing population, a costly and ageing infrastructure, increasingly stringent regulations, and increased attention towards the environmental impact of water use. Such challenges force water managers to monitor and control not only water supply and distribution, but also consumer demand. This paper presents and discusses novel methodologies and procedures towards an integrated water resource management system based on advanced ICT technologies of automation and telecommunications for largely improving the efficiency of drinking water networks (DWN) in terms of water use, energy consumption, water loss minimization, and water quality guarantees. In particular, the paper addresses the first results of the European project EFFINET (FP7-ICT2011-8-318556) devoted to the monitoring and control of the DWN in Barcelona (Spain). Results are split in two levels according to different management objectives: (i) the monitoring level is concerned with all the aspects involved in the observation of the current state of a system and the detection/diagnosis of abnormal situations. It is achieved through sensors and communications technology, together with mathematical models; (ii) the control level is concerned with computing the best suitable and admissible control strategies for network actuators as to optimize a given set of operational goals related to the performance of the overall system. This level covers the network control (optimal management of water and energy) and the demand management (smart metering, efficient supply). The consideration of the Barcelona DWN as the case study will allow to prove the general applicability of the proposed integrated ICT solutions and their effectiveness in the management of DWN, with considerable savings of electricity costs and reduced water loss while ensuring the high European standards of water quality to citizens.

A Gradient-Type Method For Real-Time State Estimation Of Water Distribution Networks

Drinking water distribution networks risk exposure to malicious or accidental contamination. Several levels of responses are conceivable. One of them consists to install a sensor network to monitor the system on real time. Once a contamination has been detected, this is also important to take appropriate counter-measures. In the SMaRT-OnlineWDN project, this relies on modeling to predict both hydraulics and water quality. An online model use makes identification of the contaminant source and simulation of the contaminated area possible. The objective of this paper is to present SMaRT-OnlineWDN experience and research results for hydraulic state estimation with sampling frequency of few minutes. A least squares problem with bound constraints is formulated to adjust demand class coefficient to best fit the observed values at a given time. The criterion is a Huber function to limit the influence of outliers. A Tikhonov regularization is introduced for consideration of prior information on the parameter vector. Then the Levenberg-Marquardt algorithm is applied that use derivative information for limiting the number of iterations. Confidence intervals for the state prediction are also given. The results are presented and discussed on real networks in France and Germany.

Adaptive, Decentralized, And Real-Time Sampling Strategies For Resource Constrained Hydraulic And Hydrologic Sensor Networks

We discuss the development and performance of a low-power sensor node (hardware, software and algorithms) that autonomously controls the sampling interval of a suite of sensors based on local state estimates and future predictions of water flow. The problem is motivated by the need to accurately reconstruct abrupt state changes in urban watersheds and stormwater systems. Presently, the detection of these events is limited by the temporal resolution of sensor data. It is often infeasible, however, to increase measurement frequency due to energy and sampling constraints. This is particularly true for real-time water quality measurements, where sampling frequency is limited by reagent availability, sensor power consumption, and, in the case of automated samplers, the number of available sample containers. These constraints pose a significant barrier to the ubiquitous and cost effective instrumentation of large hydraulic and hydrologic systems. Each of our sensor nodes is equipped with a low-power microcontroller and a wireless module to take advantage of urban cellular coverage. The node persistently updates a local, embedded model of flow conditions while IP-connectivity permits each node to continually query public weather servers for hourly precipitation forecasts. The sampling frequency is then adjusted to increase the likelihood of capturing abrupt changes in a sensor signal, such as the rise in the hydrograph – an event that is often difficult to capture through traditional sampling techniques. Our architecture forms an embedded processing chain, leveraging local computational resources to assess uncertainty by analyzing data as it is collected. A network is presently being deployed in an urban watershed in Michigan and initial results indicate that the system accurately reconstructs signals of interest while significantly reducing energy consumption and the use of sampling resources. We also expand our analysis by discussing the role of this approach for the efficient real-time measurement of stormwater systems.

Radon and progeny (Pb-214 and Bi-214) in urban water-supply systems of São Paulo State, Brazil

Many water-supply systems in South America utilize the waters of the Guarani aquifer at least as part of their networks. However, there is little present knowledge in Brazil of the factors affecting Rn presence in the water supplied for end-users, despite the economic importance of Guarani aquifer. Rn-222 analyzes of 162 water samples were performed at 8 municipalities in São Paulo State, Brazil, with the aim of investigating the major factors affecting its presence in solution. The Rn-222 activity concentration ranged from 0.04 up to 204.9 Bq/L, with three samples exceeding the World Health Organization maximum limit of 100Bq/L. Aeration was confirmed as the most important factor for Rn release, as expected due to its gaseous nature. Accumulation in pipes and stratification in the water column were other significant factors explaining the data obtained in some circumstances. The Rn daughters Ph-214 and Bi-214 were also determined in a set of selected samples and their presence was directly related to the occurrence of Rn dissolved in water. (c) 2008 Elsevier Ltd. All rights reserved.

Urban areas and isolated remnants of natural habitats: An action proposal for botanical gardens

The International Union for Conservation of Nature and Natural Resources (IUCN) and the World Wide Fund for Nature (WWF) advocates an increase of the number of botanical gardens throughout the world as one of the measures that can help to preserve the world's biodiversity. To implement this strategy, the present work brings forward a suggestion particularly suited to tropical regions: establishing municipal botanical gardens. It refers to the experience of a newly opened municipal botanical garden in Brazil, comparing its attractive power on visitors to that of other botanical gardens included in the Brazilian network of Botanical Gardens. It also presents considerations on in situ conservation in small remnants and on the importance of urban reserves to preserve the regional biodiversity and spread the conservationist philosophy. The present proposal promotes the participation of local communities making the public opinion more aware and active, besides being able to counterbalance proposals that support protecting the world biodiversity through interventionist actions. It assumes that, through actions planned and coordinated by regional and national botanical garden networks, the measure proposed can mitigate the anthropic actions exerted on important natural reserves all over the world.

Urban sprawl and energy use for transportation in the largest Brazilian cities

A study of the relationships between the amount of energy consumed for transportation purposes and a few selected variables related to urban form and socioeconomic characteristics of some of the largest Brazilian cities is conducted in this work. The studied cities include all 27 state capitals regardless of their size and population and 184 urban areas each with more than 20,000 inhabitants located in the state of São Paulo. Two different techniques were applied for data analyses: a more traditional regression analysis approach and artificial neural networks. In general, the results found in the analyses conducted here support the assumption that urban sprawl increases the energy use for transportation. In the case of the 27 state capitals, the analysis indicated that two spatial variables have a strong impact on the energy consumed for urban transportation: urban density and the ratio between the longest distances in the east-west and north-south directions. In the case of the 184 urbanized areas we also reached a similar conclusion. In that case, however, income and employment level apparently have a stronger influence on the amount of energy consumed. The results of the present study stress the importance of physical planning in developing country cities in order to reduce energy use for transportation. © 2007 International Energy Initiative, Inc.

Proposal of a hybrid rectifier structure with HPF and low THD suitable for front-end trolleybuses systems supplied by AC distribution networks

This paper presents the development and the experimental analysis of a new single-phase hybrid rectifier structure with high power factor (PF) and low harmonic distortion of current (THDI), suitable for application in traction systems of electrical vehicles pulled by electrical motors (trolleybus), which are powered by urban distribution network. This front-end rectifier structure is capable of providing significant improvements in trolleybuses systems and in the urban distribution network costs, and efficiency. The proposed structure is composed by an ordinary single-phase diode rectifier with parallel connection of a switched converter. It is outlined that the switched converter is capable of composing the input line current waveform assuring high power factor (HPF) and low THDI, as well as ordinary front-end converter. However, the power rating of the switched converter is about 34% of the total output power, assuring robustness and reliability. Therefore, the proposed structure was named single-phase HPF hybrid rectifier. A prototype rated at 15kW was developed and analyzed in laboratory. It was found that the input line current harmonic spectrum is in accordance with the harmonic limits imposed by IEC61000-3-4. The principle of operation, the mathematical analysis, the PWM control strategy, and experimental results are also presented in this paper. © 2009 IEEE.

Indigenous peoples and urban settlements: spatial distribution, internal migration and living conditions

Includes bibliography

A redistricting problem applied to meter reading in power distribution networks

The capacitated redistricting problem (CRP) has the objective to redefine, under a given criterion, an initial set of districts of an urban area represented by a geographic network. Each node in the network has different types of demands and each district has a limited capacity. Real-world applications consider more than one criteria in the design of the districts, leading to a multicriteria CRP (MCRP). Examples are found in political districting, sales design, street sweeping, garbage collection and mail delivery. This work addresses the MCRP applied to power meter reading and two criteria are considered: compactness and homogeneity of districts. The proposed solution framework is based on a greedy randomized adaptive search procedure and multicriteria scalarization techniques to approximate the Pareto frontier. The computational experiments show the effectiveness of the method for a set of randomly generated networks and for a real-world network extracted from the city of São Paulo. © 2013 Elsevier Ltd.

Social Networks, Segregation and Poverty in Sao Paulo

The associations between segregation and urban poverty have been intensely scrutinized by the sociology and urban studies literatures. More recently, several studies have emphasized the importance of social networks for living conditions. Yet relatively few studies have tested the precise effects of social networks, and fewer still have focused on the joint effects of residential segregation and social networks on living conditions. This article explores the associations between networks, segregation and some of the most important dimensions of access to goods and services obtained in markets: escaping from social precariousness and obtaining monetary income. It is based on a study of the personal networks of 209 individuals living in situations of poverty in seven locales in the metropolitan area of Sao Paulo. Using network analysis and multivariate techniques, I show that relational settings strongly influence the access individuals have to markets, leading some individuals into worse living conditions and poverty. At the same time, although segregation plays an important role in poverty, its effects tend to be mediated by the networks in which individuals are embedded. Networks in this sense may enhance or mitigate the effects of isolation produced by space.

Microscopic Modeling on complex networks

The field of complex systems is a growing body of knowledge, It can be applied to countless different topics, from physics to computer science, biology, information theory and sociology. The main focus of this work is the use of microscopic models to study the behavior of urban mobility, which characteristics make it a paradigmatic example of complexity. In particular, simulations are used to investigate phase changes in a finite size open Manhattan-like urban road network under different traffic conditions, in search for the parameters to identify phase transitions, equilibrium and non-equilibrium conditions . It is shown how the flow-density macroscopic fundamental diagram of the simulation shows,like real traffic, hysteresis behavior in the transition from the congested phase to the free flow phase, and how the different regimes can be identified studying the statistics of road occupancy.

A projection into the ideas and technologies of "non-place" and "space of flow" in urban context

The meaning of a place has been commonly assigned to the quality of having root (rootedness) or sense of belonging to that setting. While on the contrary, people are nowadays more concerned with the possibilities of free moving and networks of communication. So, the meaning, as well as the materiality of architecture has been dramatically altered with these forces. It is therefore of significance to explore and redefine the sense and the trend of architecture at the age of flow. In this dissertation, initially, we review the gradually changing concept of "place-non-place" and its underlying technological basis. Then we portray the transformation of meaning of architecture as influenced by media and information technology and advanced methods of mobility, in the dawn of 21st century. Against such backdrop, there is a need to sort and analyze architectural practices in response to the triplet of place-non-place and space of flow, which we plan to achieve conclusively. We also trace the concept of flow in the process of formation and transformation of old cities. As a brilliant case study, we look at Persian Bazaar from a socio-architectural point of view. In other word, based on Robert Putnam's theory of social capital, we link social context of the Bazaar with architectural configuration of cities. That is how we believe "cities as flow" are not necessarily a new paradigm.