See-and-avoid quadcopter using fuzzy control optimized by cross-entropy

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.

CO2 Emission from two old mine drillings (Mt. Amiata, Central Italy) as a possible example of storage and leakage of deep-seated CO2

CO2 Emission from two old mine drillings (Mt. Amiata, Central Italy) as a possible example of storage and leakage of deep-seated CO2

Baseline of soil CO2 flux in the Hontomin site (Burgos, Spain)

Baseline of soil CO2 flux in the Hontomin site (Burgos, Spain)

Aircraft flight trajectory deviation in the standard instrument departures. Operators penalties.

In the recent years many problems are emerging due to the aircraft noise on the airport surrounding areas. The solution to this problem is not easy considering that the neighbourhood asks for the reduction of the number of aircraft operations and the airlines ask for a growing demand in the number of operations in the major airports. So the airport and regulatory authorities try to get a solution imposing a fine to the aircraft which its actual trajectory differs from the nominal one more than a lateral deviation. But, which is the value of this deviation?. The current situation is that many operators have to pay a lot of money for exceeding a deviation which has been established without operational criteria. This paper presents the results of a research program which is being carried out by the authors which aims to determine the "delta" deviation to be used for this purpose. In addition it is proposed a customized method per SID and per airport to be used for determining the maximum allowed lateral deviation by which if the aircraft is within it, then none fine will be imposed.

Stable carbon and oxygen isotope ratios of benthic and planktic foraminifera from the Atlantic Ocean

Benthonic foraminifera in late Pleistocene deep-sea cores show significant variation in delta 13C with depth in sediment. This, and the report by Sommer et al., (in prep) of delta 13C variations in planktonic foraminifera, indicate that the delta13C in dissolved oceanic CO2 undergoes a significant change in a few thousand years. This is in apparent contradiction to the estimated 300 ka residence time for carbon in the ocean. It is suggested that this is a consequence of changes in the terrestrial plant biomass, which has a delta13C of about -25?. Postulated changes in world vegetation, particularly in tropical rainforests during the Late Pleistocene, were sufficient to produce change of the magnitude observed. Rapid expansions of forests between 13 ka and 8 ka ago may have resulted in the striking accumulation of aragonite pteropods in Atlantic Ocean sediments of the age. Rapid deforestation during an interglacial-glacial transition probably caused the intense carbonate dissolution which is observed in Equatorial Pacific Ocean sediments deposited over this interbal. The current rate of injection of fossil fuel CO2 into the atmosphere is substantially greater than the rate at which it was added during post-interglacial aridification in the tropics.