Water jet based autonomous surface vehicle for coastal waters operations

This paper presents the design of low cost, small autonomous surface vehicle for missions in the coastal waters and specifically for the challenging surf zone. The main objective of the vehicle design described in this paper is to address both the capability of operation at sea in relative challenging conditions and maintain a very low set of operational requirements (ease of deployment). This vehicle provides a first step towards being able to perform general purpose missions (such as data gathering or patrolling) and to at least in a relatively short distances to be able to be used in rescue operations (with very low handling requirements) such as carrying support to humans on the water. The USV is based on a commercially available fiber glass hull, it uses a directional waterjet powered by an electrical brushless motor for propulsion, thus without any protruding propeller reducing danger in rescue operations. Its small dimensions (1.5 m length) and weight allow versatility and ease of deployment. The vehicle design is described in this paper both from a hardware and software point of view. A characterization of the vehicle in terms of energy consumption and performance is provided both from test tank and operational scenario tests. An example application in search and rescue is also presented and discussed with the integration of this vehicle in the European ICARUS (7th framework) research project addressing the development and integration of robotic tools for large scale search and rescue operations.

Factor structure of early smoking experiences and associations with smoking behavior: valence or sensitivity model?

The Early Smoking Experience (ESE) questionnaire is the most widely used questionnaire to assess initial subjective experiences of cigarette smoking. However, its factor structure is not clearly defined and can be perceived from two main standpoints: valence, or positive and negative experiences, and sensitivity to nicotine. This article explores the ESE's factor structure and determines which standpoint was more relevant. It compares two groups of young Swiss men (German- and French-speaking). We examined baseline data on 3,368 tobacco users from a representative sample in the ongoing Cohort Study on Substance Use Risk Factors (C-SURF). ESE, continued tobacco use, weekly smoking and nicotine dependence were assessed. Exploratory structural equation modeling (ESEM) and structural equation modeling (SEM) were performed. ESEM clearly distinguished positive experiences from negative experiences, but negative experiences were divided in experiences related to dizziness and experiences related to irritations. SEM underlined the reinforcing effects of positive experiences, but also of experiences related to dizziness on nicotine dependence and weekly smoking. The best ESE structure for predictive accuracy of experiences on smoking behavior was a compromise between the valence and sensitivity standpoints, which showed clinical relevance.

Caractérisation d’un nouveau récepteur à octopamine exprimé chez la palourde Spisula solidissima

À partir des ovocytes de la palourde Spisula solidissima, un ADNc codant un récepteur nommé Spi-OAR a été cloné et séquencé. Une analyse de la séquence en acides aminés a indiqué que ce nouveau récepteur possède une forte similarité avec les récepteurs β-adrénergiques et les récepteurs à octopamine. En effet, il est étroitement lié à la classe des récepteurs à octopamine « β-adrénergique-like » couplés à une protéine Gs. L’ADNc de Spi-OAR a été introduit dans un vecteur d'expression (pCEP4) et un épitope reconnaissable par un anticorps commercial a été ajouté au segment N-terminal. Cette construction a été transfectée dans des cellules hôtes (HEK 293) et des études d’immunofluorescence ont montré une expression efficace du récepteur au niveau membranaire. Également, des mesures d'AMPc pour les cellules exprimant Spi-OAR ont révélé une augmentation de ce messager secondaire lors de l'ajout de l'octopamine, et dans une moindre mesure, la tyramine, tandis que la dopamine, la sérotonine et l'histamine n’ont engendré aucun effet. Une légère activité constitutive de ce récepteur dans les cellules hôtes a été observée. De plus, une analyse RT-PCR avec des oligonucléotides spécifiques a révélé l'ARNm de Spi-OAR non seulement dans les ovocytes, mais aussi dans les gonades, le cœur, les muscles adducteurs, les branchies et les ganglions suggérant que ce récepteur soit exprimé de façon ubiquitaire dans divers tissus et dans différents stades embryonnaires chez la palourde. En outre, des études avec des ovocytes isolés n'ont montré aucun effet de l’octopamine sur la réactivation méiotique. Des études éventuelles pourront finalement confirmer le rôle fonctionnel de Spi-OAR.

Régulation émotionnelle, témérité, comportements sécuritaires et consommation de psychotropes associée à la pratique d'un sport alpin de glisse chez des adolescents et adolescentes

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal

Détection des chutes par calcul homographique

La vidéosurveillance a pour objectif principal de protéger les personnes et les biens en détectant tout comportement anormal. Ceci ne serait possible sans la détection de mouvement dans l’image. Ce processus complexe se base le plus souvent sur une opération de soustraction de l’arrière-plan statique d’une scène sur l’image. Mais il se trouve qu’en vidéosurveillance, des caméras sont souvent en mouvement, engendrant ainsi, un changement significatif de l’arrière-plan; la soustraction de l’arrière-plan devient alors problématique. Nous proposons dans ce travail, une méthode de détection de mouvement et particulièrement de chutes qui s’affranchit de la soustraction de l’arrière-plan et exploite la rotation de la caméra dans la détection du mouvement en utilisant le calcul homographique. Nos résultats sur des données synthétiques et réelles démontrent la faisabilité de cette approche.

Detergent compatible alkaline lipase produced by marine Bacillus smithii BTMS 11

Bacillus smithii BTMS 11, isolated from marine sediment, produced alkaline and thermostable lipase. The enzyme was purified to homogeneity by ammonium sulfate precipitation and ion exchange chromatography which resulted in 0.51 % final yield and a 4.33 fold of purification. The purified enzyme was found to have a specific activity of 360 IU/mg protein. SDS-PAGE analyses, under non-reducing and reducing conditions, yielded a single band of 45 kDa indicating the single polypeptide nature of the enzyme and zymogram analysis using methylumbelliferyl butyrate as substrate confirmed the lipolytic activity of the protein band. The enzyme was found to have 50 C and pH 8.0 as optimum conditions for maximal activity. However, the enzyme was active over wide range of temperatures (30–80 C) and pH (7.0–10.0). Effect of a number of metal salts, solvents, surfactants, and other typical enzyme inhibitors on lipase activity was studied to determine the novel characteristics of the enzyme. More than 90 % of the enzyme activity was observed even after 3 h of incubation in the presence of commercial detergents Surf, Sunlight, Ariel, Henko, Tide and Ujala indicating the detergent compatibility of B. smithii lipase. The enzyme was also found to be efficient in stain removal from cotton cloths. Further it was observed that the enzyme could catalyse ester synthesis between fatty acids of varying carbon chain lengths and methanol with high preference for medium to long chain fatty acids showing 70 % of esterification. Results of the study indicated scope for application of this marine bacterial lipase in various industries

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Plataforma web y sistema integral de incentivos basado en el esquema de cupones online y el mercado de compras colectivas

En este trabajo se realiza una descripción y análisis del esquema de funcionamiento detrás del emergente mercado de las compras colectivas y los cupones online desde una perspectiva tanto teórica como empírica. Inicialmente, se desarrolla un marco teórico teniendo en cuenta elementos de: teoría económica, e-marketing y comercio electrónico en los que se basa éste mercado. Posteriormente, se muestra el proyecto de implementación de una plataforma virtual y un sistema de incentivos basado en el esquema de cupones online desarrollado por el autor para la franquicia de tarjetas de crédito Diners Club International del Banco Davivienda S.A. en Colombia

Diseñando y construyendo en el aula.

El proyecto trata de fomentar la investigación a través del diseño. Tratan de construir una bicicleta acuática, tablas de windsurfing y surf, construcción de un kart y una piragua. Aplicado a 30 alumnos de segundo y tercero de BUP del Instituto José Aguiar, de San Sebastián. Durante los primeros meses de curso se dedicaron a la búsqueda de información y afianzamiento de los conocimientos adquiridos en dibujo lineal y aprendizaje de otros nuevos. De los objetivos generales que se han marcado, prácticamente se han conseguido todos. Han sido de carácter social en la mayoría de los casos (fomentar el trabajo en equipo, alentar la investigación y búsqueda de la información, motivar al alumnado). Los de carácter cognitivo también se han conseguido con éxito. Se mejoró el nivel básico del área de dibujo. Hubo una mayor coordinación entre los dos niveles de BUP. Se hicieron los planos a escala de los objetos construídos. Se constata además, mayor responsabilidad por parte de los alumnos.

Sand sister.

Historia donde se ve la soledad del hijo único. Miranda es una niña que lo que más desea en el mundo es tener alguien con quien jugar. Al llegar a la playa con sus padres, encuentra todos los demás niños que juegan con sus hermanos y hermanas y siente un gran vacío dentro de ella. La niña solitaria hace en la arena un dibujo de una niña y, para su sorpresa la Anciana Roca hace que su hermana de arena recobre vida por un día. Miranda y Sandy juegan a piratas, búsqueda de tesoro, y saltan en el surf. Las dos aún tienen tiempo para un pequeño enfado, y de perdonarse una a la otra justo antes de Sandy desaparezca con la marea alta. Ha llegado el momento de volver y Miranda recibe una maravillosa noticia de sus padres.

Transport in the middle atmosphere

An overview is provided of the current understanding of transport in the middle atmosphere. Over the past quarter century this subject has evolved from a basic recognition of the Brewer-Dobson circulation to a detailed appreciation of many key features of transport such as the stratospheric surf zone, mixing barriers and the dynamics of filamentation. Whilst the elegant theoretical framework for middle atmosphere transport that emerged roughly twenty years ago never fulfilled its promise, useful phenomenological models have been developed together with innovative diagnostic methods. These advances were made possible by the advent of plenty of satellite and aircraft observations of long-lived chemical species together with developments in data assimilation and numerical modeling, and have been driven in large measure by the problem of stratospheric ozone depletion. This review is primarily focused on the stratosphere, where both the interest and the knowledge are the greatest, but a few remarks are also made on the mesosphere.

Planetary-wave-induced transport in the stratosphere

In the stratosphere, chemical tracers are drawn systematically from the equator to the pole. This observed Brewer–Dobson circulation is driven by wave drag, which in the stratosphere arises mainly from the breaking and dissipation of planetary-scale Rossby waves. While the overall sense of the circulation follows from fundamental physical principles, a quantitative theoretical understanding of the connection between wave drag and Lagrangian transport is limited to linear, small-amplitude waves. However, planetary waves in the stratosphere generally grow to a large amplitude and break in a strongly nonlinear fashion. This paper addresses the connection between stratospheric wave drag and Lagrangian transport in the presence of strong nonlinearity, using a mechanistic three-dimensional primitive equations model together with offline particle advection. Attention is deliberately focused on a weak forcing regime, such that sudden warmings do not occur and a quasi-steady state is reached, in order to examine this question in the cleanest possible context. Wave drag is directly linked to the transformed Eulerian mean (TEM) circulation, which is often used as a surrogate for mean Lagrangian motion. The results show that the correspondence between the TEM and mean Lagrangian velocities is quantitatively excellent in regions of linear, nonbreaking waves (i.e., outside the surf zone), where streamlines are not closed. Within the surf zone, where streamlines are closed and meridional particle displacements are large, the agreement between the vertical components of the two velocity fields is still remarkably good, especially wherever particle paths are coherent so that diabatic dispersion is minimized. However, in this region the meridional mean Lagrangian velocity bears little relation to the meridional TEM velocity, and reflects more the kinematics of mixing within and across the edges of the surf zone. The results from the mechanistic model are compared with those from the Canadian Middle Atmosphere Model to test the robustness of the conclusions.

A closer look at chaotic advection in the stratosphere: part I: geometric structure

The relevance of chaotic advection to stratospheric mixing and transport is addressed in the context of (i) a numerical model of forced shallow-water flow on the sphere, and (ii) a middle-atmosphere general circulation model. It is argued that chaotic advection applies to both these models if there is suitable large-scale spatial structure in the velocity field and if the velocity field is temporally quasi-regular. This spatial structure is manifested in the form of “cat’s eyes” in the surf zone, such as are commonly seen in numerical simulations of Rossby wave critical layers; by analogy with the heteroclinic structure of a temporally aperiodic chaotic system the cat’s eyes may be thought of as an “organizing structure” for mixing and transport in the surf zone. When this organizing structure exists, Eulerian and Lagrangian autocorrelations of the velocity derivatives indicate that velocity derivatives decorrelate more rapidly along particle trajectories than at fixed spatial locations (i.e., the velocity field is temporally quasi-regular). This phenomenon is referred to as Lagrangian random strain.

Surface Properties of Calcinated Titanium Dioxide Probed by Solvatochromic Indicators: Relevance to Catalytic Applications

Titanium dioxide was obtained by hydrolysis of the corresponding ethoxide, followed by washing, drying, and calcination at 80, 160, 240, 320, 400, and 700 C, respectively. The following surface properties of the solids obtained were determined as a function of the calcinations temperature: T(Calcn); area by the BET method; BrOnsted acidity by titration with sodium hydroxide; empirical polarity, ET(30); Lewis acidity, alpha(Surf); Lewis basicity, beta(Surf); and dipolarity/polarizability pi*(Sturf), by use of solvatochromic indicators. Except for le surf whose value increased slightly, heating the samples resulted in a decrease of all of the above-mentioned surface properties, due to the decrease of surface hydroxyl groups. This conclusion has been corroborated by FTIR. Values of E(T)(30), alpha(Surf), and pi*(Surf) are higher than those of water and alcohols; the BrOnsted and Lewis acidities of the samples correlate linearly. The advantages of using solvatochromic indicators to probe the surface properties and relevance of the results to the applications of TiO(2) are discussed.

Ethanol electro-oxidation over Pt(h k l): Comparative study on the reaction intermediates probed by FTIR and SFG spectroscopies

We have investigated the adsorbed intermediates of ethanol electro-oxidation at Pt(1 1 1), Pt(1 0 0) and Pt(1 1 0) using FTIR and SFG spectroscopies. Mainly, we focus on the CO formation. The aim of the present work is to compare the responses coming from two different surf, cc probes: a FTIR spectroscopy and SFG spectroscopy. Between 1800cm(-1) and 2300cm(-1), our MR and SFG results are in good agreement. Specifically in the case of the ethanol/Pt(1 1 1) interface, the SFG spectroscopy presents higher sensibility to the interface response compared to the FTIR spectroscopy. (c) 2008 Elsevier Ltd. All rights reserved.