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

Dynamic modelling of an underwater vehicle

Nessie is an Autonomous Underwater Vehicle (AUV) created by a team of students in the Heriot Watt University to compete in the Student Autonomous Underwater Competition, Europe (SAUC-E) in August 2006. The main objective of the project is to find the dynamic equation of the robot, dynamic model. With it, the behaviour of the robot will be easier to understand and movement tests will be available by computer without the need of the robot, what is a way to save time, batteries, money and the robot from water inside itself. The object of the second part in this project is setting a control system for Nessie by using the model

Statistics in archaeology: New directions

Connections between Statistics and Archaeology have always appeared veryfruitful. The objective of this paper is to offer an outlook of somestatistical techniques that are being developed in the most recentyears and that can be of interest for archaeologists in the short run.

Archaeology on the Road, July 2008

Team Archaeology is excited to be riding with you this year! We hope to make our participation an annual opportunity to share the story of Iowa’s amazing past. As you ride across the state you will be passing by the locations of hundreds of known archaeological sites and an as yet unknown number of new discoveries waiting to be made. These archaeological sites, and the artifacts they contain, tell the history of the first people to travel this landscape and the stories of each generation that has contributed to what we know of ourselves today. As you travel through our beautiful state, you too are now a part of that story, making history for the future to learn and wonder about! The Office of the State Archaeologist serves a unique dual role in Iowa as both a designated research unit of The University of Iowa and as a state agency. The larger mission of the OSA is to develop, disseminate, and preserve knowledge of Iowa’s human past through Midwestern and Plains archaeological research, scientific discovery, public stewardship, service, and education. It is our goal to provide all Iowans the opportunity to learn about their past. I see this as an investment in the preservation of a nonrenewable resource—the archaeological record of Iowa. Look for the Team Archeology members as you ride and be sure to ask them about Iowa archeology. Please help yourself to free materials about our shared past from our information tables at each overnight town and get one of the free Iowa Archeology wrist bands. There will also be free public talks by local archaeologists each afternoon, as well as flintknapping and other demonstrations of archaeological interest, so keep this booklet as your guide to the week’s activities. Most of all, ride smart, be safe, and when you get home tell your friends and neighbors about Iowa archaeology!

Small scale underwater change detection

In this paper, we present a method to deal with the constraints of the underwater medium for finding changes between sequences of underwater images. One of the main problems of underwater medium for automatically detecting changes is the low altitude of the camera when taking pictures. This emphasise the parallax effect between the images as they are not taken exactly at the same position. In order to solve this problem, we are geometrically registering the images together taking into account the relief of the scene

Archaeology on the Road, July 2010

Not only are we excited that Team Archaeology is back for our third ride, we are energized to be part of a “Human and Natural History” partnership that allows us expanded opportunities to share the story of Iowa’s amazing past. Once again there will be archaeologists along for the ride, as well as at Expo and this year at roadside locations Day One, Five and Six. Don’t hesitate to ask about the history of the first people to travel this landscape as well as the stories of each generation that has contributed to what we know of ourselves today. We will also feature information about the landscape and natural resources of Iowa you will encounter along the route through our partnering colleagues specializing in geology, hydrology, and other earth sciences. Enjoy using this booklet as your guide to the week’s activities and please help yourself to free materials from our outreach booth about our shared past and the natural world we depend on. Ride smart, be safe, and when you get home, be sure to tell your friends and neighbors about Iowa archaeology!

Archaeology on the Road Again, July 2009

Team Archaeology is back for a second year to share the history of Iowa with the riders and supporters of RAGBRAI.

AMADEUS: advanced manipulation for deep underwater sampling

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory `blind grasping¿. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase I1 is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.

AMADEUS: advanced manipulation for deep underwater sampling

AMADEUS is a dexterous subsea robot hand incorporating force and slip contact sensing, using fluid filled tentacles for fingers. Hydraulic pressure variations in each of three flexible tubes (bellows) in each finger create a bending moment, and consequent motion or increase in contact force during grasping. Such fingers have inherent passive compliance, no moving parts, and are naturally depth pressure-compensated, making them ideal for reliable use in the deep ocean. In addition to the mechanical design, development of the hand has also considered closed loop finger position and force control, coordinated finger motion for grasping, force and slip sensor development/signal processing, and reactive world modeling/planning for supervisory `blind grasping¿. Initially, the application focus is for marine science tasks, but broader roles in offshore oil and gas, salvage, and military use are foreseen. Phase I of the project is complete, with the construction of a first prototype. Phase I1 is now underway, to deploy the hand from an underwater robot arm, and carry out wet trials with users.

Archaeology on the Road, July 2011

Not only are we excited that Team Archaeology is back for our third ride, we are energized to be part of a “Human and Natural History” partnership that allows us expanded opportunities to share the story of Iowa’s amazing past. Once again there will be archaeologists along for the ride, as well as at Expo and this year at roadside locations Day One, Five and Six. Don’t hesitate to ask about the history of the first people to travel this landscape as well as the stories of each generation that has contributed to what we know of ourselves today. We will also feature information about the landscape and natural resources of Iowa you will encounter along the route through our partnering colleagues specializing in geology, hydrology, and other earth sciences. Enjoy using this booklet as your guide to the week’s activities and please help yourself to free materials from our outreach booth about our shared past and the natural world we depend on. Ride smart, be safe, and when you get home, be sure to tell your friends and neighbors about Iowa archaeology!

Early Iron Age Pottery: A Quantitative Approach, Proceedings of the International Round Table organized by the Swiss School of Archaeology in Greece (Athens, November 28-30, 2008)

Quantitative approaches in ceramology are gaining ground in excavation reports, archaeological publications and thematic studies. Hence, a wide variety of methods are being used depending on the researchers' theoretical premise, the type of material which is examined, the context of discovery and the questions that are addressed. The round table that took place in Athens on November 2008 was intended to offer the participants the opportunity to present a selection of case studies on the basis of which methodological approaches were discussed. The aim was to define a set of guidelines for quantification that would prove to be of use to all researchers. Contents: 1) Introduction (Samuel Verdan); 2) Isthmia and beyond. How can quantification help the analysis of EIA sanctuary deposits? (Catherine Morgan); 3) Approaching aspects of cult practice and ethnicity in Early Iron Age Ephesos using quantitative analysis of a Protogeometric deposit from the Artemision (Michael Kerschner); 4) Development of a ceramic cultic assemblage: Analyzing pottery from Late Helladic IIIC through Late Geometric Kalapodi (Ivonne Kaiser, Laura-Concetta Rizzotto, Sara Strack); 5) 'Erfahrungsbericht' of application of different quantitative methods at Kalapodi (Sara Strack); 6) The Early Iron Age sanctuary at Olympia: counting sherds from the Pelopion excavations (1987-1996) (Birgitta Eder); 7) L'aire du pilier des Rhodiens à Delphes: Essai de quantification du mobilier (Jean-Marc Luce); 8) A new approach in ceramic statistical analyses: Pit 13 on Xeropolis at Lefkandi (David A. Mitchell, Irene S. Lemos); 9) Households and workshops at Early Iron Age Oropos: A quantitative approach of the fine, wheel-made pottery (Vicky Vlachou); 10) Counting sherds at Sindos: Pottery consumption and construction of identities in the Iron Age (Stefanos Gimatzidis); 11) Analyse quantitative du mobilier céramique des fouilles de Xombourgo à Ténos et le cas des supports de caisson (Jean-Sébastien Gros); 12) Defining a typology of pottery from Gortyn: The material from a pottery workshop pit, (Emanuela Santaniello); 13) Quantification of ceramics from Early Iron Age tombs (Antonis Kotsonas); 14) Quantitative analysis of the pottery from the Early Iron Age necropolis of Tsikalario on Naxos (Xenia Charalambidou); 15) Finding the Early Iron Age in field survey: Two case studies from Boeotia and Magnesia (Vladimir Stissi); 16) Pottery quantification: Some guidelines (Samuel Verdan)

Archaeology on the Road, July 2012

The University of Iowa Office of the State Archaeologist (OSA) is delighted to welcome RAGBRAI riders to Iowa and we’re pleased to share a few details of our fascinating past as you ride across the state. We hope this booklet enhances your enjoyment and helps you learn something new each day of your ride, from the ancient site at Cherokee to the late 1800s lost town site of Bowen’s Prairie.

Gurt Esparraguera, J. M., Buxeda i Garrigòs M. i Cau Ontiveros, M. A (eds.), LRCW 1 Late Roman Coarte Wares, Cocking Wares and Amphorae in the Mediterranean, Archaeology and Archaeometry BAR 1340

No es exagerado afirmar que, en las últimas décadas, los estudios dedicados a la cultura material de la antigüedad tardía y, en particular, a sus producciones cerámicas, han experimentado un desarrollo acelerado. Este fenómeno se ha traducido en una auténtica explosión de títulos que, con diversa extensión y profundidad, abarcan todas las posibilidades de análisis: desde las monografías de excavación, en las que se describen los repertorios asociados a las formas de vida y trabajo de un asentamiento, hasta las síntesis regionales que abordan cuestiones relacionadas con los mecanismos económicos, culturales y políticos que impulsaron la creación de unos circuitos de intercambio de alcance mediterráneo.

Díaz-Andreu, Margarita: A world history of nineteenth century archaeology. Nationalism, Colonialism, and the Past.

M. Díaz-Andreu plantea un análisis de las implicaciones académicas, sociales y políticas de la arqueología (entendiendo como tal la investigación estricta, pero también el coleccionismo de obras de arte) entre finales del siglo XVIII y el inicio de la Primera Guerra Mundial, período durante el cual la formación y expansión de los imperios coloniales constituyó uno de los elementos clave en el discurso ideológico de los estados europeos. Su trabajo continúa la línea marcada por estudios suyos anteriores, esencialmente Nationalism and Archaeology in Europe (Díaz-Andreu & T. Champion [eds.], 1996) y Excavating Women. A History in European Archaeology (Díaz-Andreu & M. L. S. Sorensen, 1998), en los que combinaba el análisis historiográfico de diferentes aspectos y personajes clave de la arqueología europea desde la perspectiva de la organización de las redes sociales entre investigadores, con la reflexión sobre las implicaciones de la arqueología como ciencia en la definición y defensa de diferentes credos políticos, y el papel de la mujer en la investigación.