A Reliable Open-Source System Architecture for the Fast Designing and Prototyping of Autonomous Multi-UAV Systems: Simulation and Experimentation

During the process of design and development of an autonomous Multi-UAV System, two main problems appear. The first one is the difficulty of designing all the modules and behaviors of the aerial multi-robot system. The second one is the difficulty of having an autonomous prototype of the system for the developers that allows to test the performance of each module even in an early stage of the project. These two problems motivate this paper. A multipurpose system architecture for autonomous multi-UAV platforms is presented. This versatile system architecture can be used by the system designers as a template when developing their own systems. The proposed system architecture is general enough to be used in a wide range of applications, as demonstrated in the paper. This system architecture aims to be a reference for all designers. Additionally, to allow for the fast prototyping of autonomous multi-aerial systems, an Open Source framework based on the previously defined system architecture is introduced. It allows developers to have a flight proven multi-aerial system ready to use, so that they can test their algorithms even in an early stage of the project. The implementation of this framework, introduced in the paper with the name of “CVG Quadrotor Swarm”, which has also the advantages of being modular and compatible with different aerial platforms, can be found at https://​github.​com/​Vision4UAV/​cvg_​quadrotor_​swarm with a consistent catalog of available modules. The good performance of this framework is demonstrated in the paper by choosing a basic instance of it and carrying out simulation and experimental tests whose results are summarized and discussed in this paper.

The making of the architecture of the plant cell wall: How cells exploit geometry

Cell wall deposition is a key process in the formation, growth, and differentiation of plant cells. The most important structural components of the wall are long cellulose microfibrils, which are synthesized by synthases embedded in the plasma membrane. A fundamental question is how the microfibrils become oriented during deposition at the plasma membrane. The current textbook explanation for the orientation mechanism is a guidance system mediated by cortical microtubules. However, too many contraindications are known in secondary cell walls for this to be a universal mechanism, particularly in the case of helicoidal arrangements, which occur in many situations. An additional construction mechanism involves liquid crystalline self-assembly [A. C. Neville (1993) Biology of Fibrous Composites: Development Beyond the Cell Membrane (Cambridge Univ. Press, Cambridge, U.K.)], but the required amount of bulk material that is able to equilibrate thermally is not normally present at any stage of the wall deposition process. Therefore, we have asked whether the complex ordered texture of helicoidal cell walls can be formed in the absence of direct cellular guidance mechanisms. We propose that they can be formed by a mechanism that is based on geometrical considerations. It explains the genesis of the complicated helicoidal texture and shows that the cell has intrinsic, versatile tools for creating a variety of textures. A compelling feature of the model is that local rules generate global order, a typical phenomenon of life.

Architecture of the Nuclear Periphery of Rat Pachytene Spermatocytes: Distribution of Nuclear Envelope Proteins in Relation to Synaptonemal Complex Attachment Sites

The nucleus of spermatocytes provides during the first meiotic prophase an interesting model for investigating relationships of the nuclear envelope (NE) with components of the nuclear interior. During the pachytene stage, meiotic chromosomes are synapsed via synaptonemal complexes (SCs) and attached through both ends to the nuclear periphery. This association is dynamic because chromosomes move during the process of synapsis and desynapsis that takes place during meiotic prophase. The NE of spermatocytes possesses some peculiarities (e.g., lower stability than in somatic cells, expression of short meiosis-specific lamin isoforms called C2 and B3) that could be critically involved in this process. For better understanding of the association of chromosomes with the nuclear periphery, in the present study we have investigated the distribution of NE proteins in relation to SC attachment sites. A major outcome was the finding that lamin C2 is distributed in the form of discontinuous domains at the NE of spermatocytes and that SC attachment sites are embedded in these domains. Lamin C2 appears to form part of larger structures as suggested by cell fractionation experiments. According to these results, we propose that the C2-containing domains represent local reinforcements of the NE that are involved in the proper attachment of SCs.

SMART, a simple modular architecture research tool: Identification of signaling domains

Accurate multiple alignments of 86 domains that occur in signaling proteins have been constructed and used to provide a Web-based tool (SMART: simple modular architecture research tool) that allows rapid identification and annotation of signaling domain sequences. The majority of signaling proteins are multidomain in character with a considerable variety of domain combinations known. Comparison with established databases showed that 25% of our domain set could not be deduced from SwissProt and 41% could not be annotated by Pfam. SMART is able to determine the modular architectures of single sequences or genomes; application to the entire yeast genome revealed that at least 6.7% of its genes contain one or more signaling domains, approximately 350 greater than previously annotated. The process of constructing SMART predicted (i) novel domain homologues in unexpected locations such as band 4.1-homologous domains in focal adhesion kinases; (ii) previously unknown domain families, including a citron-homology domain; (iii) putative functions of domain families after identification of additional family members, for example, a ubiquitin-binding role for ubiquitin-associated domains (UBA); (iv) cellular roles for proteins, such predicted DEATH domains in netrin receptors further implicating these molecules in axonal guidance; (v) signaling domains in known disease genes such as SPRY domains in both marenostrin/pyrin and Midline 1; (vi) domains in unexpected phylogenetic contexts such as diacylglycerol kinase homologues in yeast and bacteria; and (vii) likely protein misclassifications exemplified by a predicted pleckstrin homology domain in a Candida albicans protein, previously described as an integrin.

Flexible processing architecture for maintaining QoS in embedded systems applications

Comunicación presentada en las V Jornadas de Computación Empotrada, Valladolid, 17-19 Septiembre 2014

Teaching-learning process of historical heritage: a Journey as a beginning, path and end

The implantation of new university degrees within the European Higher Education Area implies the need of innovative methodologies in teaching and learning to improve the skills and competencies of students and to answer the growing needs that society continuously demands to heritage management experts. The present work shows an application of the teaching methodology proposed during the international workshop entitled “I International Planning Preservation Workshop. Learning from Al Andalus”, which included the participation of the University of Alicante and Granada, Università Politecnico di Milano and Hunter College City University of New York; where we tried to dissolve traditional boundaries derived of interuniversity cooperation programs. The main objective of the workshop was to discuss and debate the role of urban Historical Centers within the Global Heritage by the integrated work through multidisciplinary teams and the creation of a permanent international working group between these universities to both teach and research. The methodology of this workshop was very participatory and considered the idea of a new learning process generated by "a journey experience." A trip from global to local (from the big city to the small village) but also a trip from the local (historical) part of a big city to the global dimension of contemporary historical villages identified by the students through a system of exhibition panels in affinity groups, specific projects proposed by lecturers and teachers or the generation of publications in various areas (texts, photographs, videos, etc.). So, the participation of the students in this multidisciplinary meeting has enhanced their capacity for self-criticism in several disciplines and has promoted their ability to perform learning and research strategies in an autonomous way. As a result, it has been established a permanent international work structure for the development of projects of the Historical City. This relationship has generated the publication of several books whose contents have reflected the conclusions developed in the workshop and several teaching proposals shared between those institutions. All these aspects have generated a new way of understanding the teaching process through a journey, in order to study the representative role of university in the historical heritage and to make students (from planning, heritage management, architecture, geography, sociology, history or engineering areas) be compromised on searching strategies for sustainable development in the Contemporary City.

The Virtual Interactive Relationship Between BIM Project Teams: Effective Communication to aid Collaboration in the Design Process

Building Information Modelling (BIM) provides a shared source of information about a built asset, which creates a collaborative virtual environment for project teams. Literature suggests that to collaborate efficiently, the relationship between the project team is based on sympathy, obligation, trust and rapport. Communication increases in importance when working collaboratively but effective communication can only be achieved when the stakeholders are willing to act, react, listen and share information. Case study research and interviews with Architecture, Engineering and Construction (AEC) industry experts suggest that synchronous face-to-face communication is project teams’ preferred method, allowing teams to socialise and build rapport, accelerating the creation of trust between the stakeholders. However, virtual unified communication platforms are a close second-preferred option for communication between the teams. Effective methods for virtual communication in professional practice, such as virtual collaboration environments (CVE), that build trust and achieve similar spontaneous responses as face-to-face communication, are necessary to face the global challenges and can be achieved with the right people, processes and technology. This research paper investigates current industry methods for virtual communication within BIM projects and explores the suitability of avatar interaction in a collaborative virtual environment as an alternative to face-to-face communication to enhance collaboration between design teams’ professional practice on a project. Hence, this paper presents comparisons between the effectiveness of these communication methods within construction design teams with results of further experiments conducted to test recommendations for more efficient methods for virtual communication to add value in the workplace between design teams.

La modernisation de Tunis : un urbanisme et une architecture d’État au miroir d’une anthologie de la percée dans la médina (1881-1987)

Cette thèse traite de quelques moments clés dans l’histoire urbaine et architecturale moderne de la ville de Tunis. Elle les aborde conjointement à la problématique du percement de son noyau historique : la médina, née d’un projet de modernisation urbaine lancé par les beys de Tunis à la fin du XIXe siècle, poursuivi par le protectorat français de 1881 à 1956, puis par le gouvernement indépendant de 1956 à 1987. Partant, la recherche est répartie sur trois temps avec, au centre, le projet de la percée dite de la Casbah adopté par le Président Bourguiba à la fin de 1959. Pour plusieurs raisons, ce moment est cité rapidement dans la littérature malgré son importance dans la compréhension du visage actuel de la capitale tunisienne. Pour le saisir, on a dû retourner aux premières tentatives de percement de la médina de Tunis par le colonisateur français en 1887. Puis, on s’est progressivement approché de l’ancêtre direct de la percée bourguibienne paru sur le Plan directeur de Tunis en 1948. De ce premier temps, on a mis en valeur les stratégies coloniales dans leur gestion du territoire et leur rapport au processus de valorisation/dévalorisation du patrimoine issu de la civilisation arabo-islamique. Le second temps, qui correspond au plan de décolonisation mené par l’État indépendant dès 1955, est marqué par le lancement d’un « concours international ouvert pour une étude d’aménagement de la ville de Tunis » organisé par le Secrétariat d’État aux travaux publics en collaboration avec l’Union internationale des architectes. L’étude de cet événement et du colloque qui l’a suivi a ôté le voile sur ses raisons d’être politico-économiques que dissimulaient les usuels soucis de l’hygiène, de la circulation et de l’embellissement du Grand Tunis. Pour appuyer davantage ces constats, un troisième et dernier temps a été dédié au chantier de Tunis au lendemain du concours. L’accent mis sur les lieux symboliques du pouvoir et le désir obsessif des autorités à se les approprier ont réduit ce chantier à une redistribution concertée des symboles de la souveraineté nationale dans le but de centraliser et de personnifier le pouvoir en place. Le présent travail se situe dans le cadre des études postcoloniales et projette un regard critique sur la décolonisation en rapport avec ce qu’on a taxé d’urbanisme d’État. Propulsé par une certaine perception de la modernité, cet urbanisme est indissociable d’une instrumentalisation politique qui met l’accent sur les questions identitaires et patrimoniales, insiste sur la rupture avec le passé et tend à écarter l’opinion publique des questions inhérentes à l’aménagement du territoire et à la sauvegarde de la mémoire collective. En procédant par une analyse contextuelle de faits historiques et une lecture typomorphologique de la percée de la Casbah, cette recherche attire l’attention sur l’ampleur de certaines décisions gouvernementales concernant l’aménagement de l’espace urbain et la conservation de l’héritage architectural à court, moyen et long termes. Elle renseigne aussi sur le rôle des collectivités, de l’élite et des professionnels dans la canalisation de ces décisions pour ou contre leur droit à la ville.

A Unified Approach to Architecture Conformance Checking

Software erosion can be controlled by periodically checking for consistency between the de facto architecture and its theoretical counterpart. Studies show that this process is often not automated and that developers still rely heavily on manual reviews, despite the availability of a large number of tools. This is partially due to the high cost involved in setting up and maintaining tool-specific and incompatible test specifications that replicate otherwise documented invariants. To reduce this cost, our approach consists in unifying the functionality provided by existing tools under the umbrella of a common business-readable DSL. By using a declarative language, we are able to write tool-agnostic rules that are simple enough to be understood by non-technical stakeholders and, at the same time, can be interpreted as a rigorous specification for checking architecture conformance

La modernisation de Tunis : un urbanisme et une architecture d’État au miroir d’une anthologie de la percée dans la médina (1881-1987)

Cette thèse traite de quelques moments clés dans l’histoire urbaine et architecturale moderne de la ville de Tunis. Elle les aborde conjointement à la problématique du percement de son noyau historique : la médina, née d’un projet de modernisation urbaine lancé par les beys de Tunis à la fin du XIXe siècle, poursuivi par le protectorat français de 1881 à 1956, puis par le gouvernement indépendant de 1956 à 1987. Partant, la recherche est répartie sur trois temps avec, au centre, le projet de la percée dite de la Casbah adopté par le Président Bourguiba à la fin de 1959. Pour plusieurs raisons, ce moment est cité rapidement dans la littérature malgré son importance dans la compréhension du visage actuel de la capitale tunisienne. Pour le saisir, on a dû retourner aux premières tentatives de percement de la médina de Tunis par le colonisateur français en 1887. Puis, on s’est progressivement approché de l’ancêtre direct de la percée bourguibienne paru sur le Plan directeur de Tunis en 1948. De ce premier temps, on a mis en valeur les stratégies coloniales dans leur gestion du territoire et leur rapport au processus de valorisation/dévalorisation du patrimoine issu de la civilisation arabo-islamique. Le second temps, qui correspond au plan de décolonisation mené par l’État indépendant dès 1955, est marqué par le lancement d’un « concours international ouvert pour une étude d’aménagement de la ville de Tunis » organisé par le Secrétariat d’État aux travaux publics en collaboration avec l’Union internationale des architectes. L’étude de cet événement et du colloque qui l’a suivi a ôté le voile sur ses raisons d’être politico-économiques que dissimulaient les usuels soucis de l’hygiène, de la circulation et de l’embellissement du Grand Tunis. Pour appuyer davantage ces constats, un troisième et dernier temps a été dédié au chantier de Tunis au lendemain du concours. L’accent mis sur les lieux symboliques du pouvoir et le désir obsessif des autorités à se les approprier ont réduit ce chantier à une redistribution concertée des symboles de la souveraineté nationale dans le but de centraliser et de personnifier le pouvoir en place. Le présent travail se situe dans le cadre des études postcoloniales et projette un regard critique sur la décolonisation en rapport avec ce qu’on a taxé d’urbanisme d’État. Propulsé par une certaine perception de la modernité, cet urbanisme est indissociable d’une instrumentalisation politique qui met l’accent sur les questions identitaires et patrimoniales, insiste sur la rupture avec le passé et tend à écarter l’opinion publique des questions inhérentes à l’aménagement du territoire et à la sauvegarde de la mémoire collective. En procédant par une analyse contextuelle de faits historiques et une lecture typomorphologique de la percée de la Casbah, cette recherche attire l’attention sur l’ampleur de certaines décisions gouvernementales concernant l’aménagement de l’espace urbain et la conservation de l’héritage architectural à court, moyen et long termes. Elle renseigne aussi sur le rôle des collectivités, de l’élite et des professionnels dans la canalisation de ces décisions pour ou contre leur droit à la ville.

Rice morphogenesis and plant architecture: Measurement, specification and the reconstruction of structural development by 3D architectural modelling

Background and Aims The morphogenesis and architecture of a rice plant, Oryza sativa, are critical factors in the yield equation, but they are not well studied because of the lack of appropriate tools for 3D measurement. The architecture of rice plants is characterized by a large number of tillers and leaves. The aims of this study were to specify rice plant architecture and to find appropriate functions to represent the 3D growth across all growth stages. Methods A japonica type rice, 'Namaga', was grown in pots under outdoor conditions. A 3D digitizer was used to measure the rice plant structure at intervals from the young seedling stage to maturity. The L-system formalism was applied to create '3D virtual rice' plants, incorporating models of phenological development and leaf emergence period as a function of temperature and photoperiod, which were used to determine the timing of tiller emergence. Key Results The relationships between the nodal positions and leaf lengths, leaf angles and tiller angles were analysed and used to determine growth functions for the models. The '3D virtual rice' reproduces the structural development of isolated plants and provides a good estimation of the fillering process, and of the accumulation of leaves. Conclusions The results indicated that the '3D virtual rice' has a possibility to demonstrate the differences in the structure and development between cultivars and under different environmental conditions. Future work, necessary to reflect both cultivar and environmental effects on the model performance, and to link with physiological models, is proposed in the discussion.