Age model of firn core DML05C98_32 (B32)

In the framework of the European Project for Ice Coring in Antarctica (EPICA), a comprehensive glaciological pre-site survey has been carried out on Amundsenisen, Dronning Maud Land, East Antarctica, in the past decade. Within this survey, four intermediate-depth ice cores and 13 snow pits were analyzed for their ionic composition and interpreted with respect to the spatial and temporal variability of volcanic sulphate deposition. The comparison of the non-sea-salt (nss)-sulphate peaks that are related to the well-known eruptions of Pinatubo and Cerro Hudson in AD 1991 revealed sulphate depositions of comparable size (15.8 ± 3.4 kg/km**2) in 11 snow pits. There is a tendency to higher annual concentrations for smaller snow-accumulation rates. The combination of seasonal sodium and annually resolved nss-sulphate records allowed the establishment of a time-scale derived by annual-layer counting over the last 2000 years and thus a detailed chronology of annual volcanic sulphate deposition. Using a robust outlier detection algorithm, 49 volcanic eruptions were identified between AD 165 and 1997. The dating uncertainty is ±3 years between AD 1997 and 1601, around ±5 years between AD 1601 and 1257, and increasing to ±24 years at AD 165, improving the accuracy of the volcanic chronology during the penultimate millennium considerably.

Mineralogy and geochemistry at DSDP Leg 64 Holes

At DSDP Site 477, late Quaternary diatomaceous muds and delta-derived silty-sand turbidites at 2000 meters water depth have been extensively and progressively altered by a deep-seated heat source beneath a sill. Bulk petrologic and microprobe analyses have identified a crudely zoned paragenesis within 260 meters sub-bottom which ranges from unaltered to slightly altered oozes (0-50 m), anhydrite-dolomite claystones (105-125 m), illite-chlorite-pyrite claystones (125-140 m), chlorite-pyrite-calcite-carbonaceous claystones with traces of K-feldspar, albite, epidote (140-190 m), and chlorite-epidote-quartz-albite-pyrrhotite-sphene sandstone (190-260 m). Several petrologic features suggest rapid processes of ocean floor metamorphism: (1) friable and porous textures, (2) abundant relict grains with overgrowths, (3) idiomorphic habits on epidotes, feldspars, and quartz, and (4) a steep gradient in levels of alteration. Many aspects of this hydrothermal assemblage are similar to hydrothermally metamorphosed sandstones of the Cerro Prieto, Mexico, geothermal area.

Effective acoustical monitoring tools for Mannophryne lamarcai

We performed the field-work during the dry (March 2014) and reainy season (May and June 2014) at the species type locality: Cerro Socopó, located at central-west region between Falcón, Lara and Zulia states, Venezuela. Socopó is a small and isolated mountain (1.571 m) belonging to the Ziruma mountains, and represents a relict of tropical mountain forest surrounded by semi-arid vegetation and grassland. This area is home to 312 species of vertebrates, including endangered and endemic amphibians species like Mannophryne lamarcai, Leptodactylus magistris and Dendropsophus amicorum. These forest and species are severely threatened by cattle ranch and illegal timber extraction, with forest formations only above 1000 meters. Despite this, no legal protected figure has been established in the area. We identified a 2.5 km secondary road transect within the study area based on the following criteria: 1) it cover different habitat types (streams and lagoons); and 2) it within the altitudinal gradient described for the specie (1,040 to 1,363 m). We identified three sampling points throughout the transect located in the vicinity of wetland habits: socopo1, socopo2 and socopo4. We did two types of recordings: 1) high quality recordings to characterize the advertisement call for M. lamarcai, non described to date (socopo4), and 2) recordings in different sampling points to evaluate call detectors performance in different acoustic scenarios (in all three localities).

Precision Agriculture without borders: Practical issues and improvements in farmland coverage with aerial vehicles.

This work presents a solution for the aerial coverage of a field by using a fleet of aerial vehicles. The use of Unmanned Aerial Vehicles allows to obtain high resolution mosaics to be used in Precision Agriculture techniques. This report is focus on providing a solution for the full simultaneous coverage problem taking into account restrictions as the required spatial resolution and overlap while maintaining similar light conditions and safety operation of the drones. Results obtained from real field tests are finally reported

Planificación de trayectorias bi-objetivo en robótica aérea para agricultura de precisión

Este trabajo presenta las experiencias y resultados obtenidos al aplicar tecnicas de planificacion de trayectorias para vehıculos aereos no tripulados con el objetivo doble de tomar imagenes aereas de alta resolucion para realizar mosaicos de cultivos asi como recoger los datos recopilados por motas o sistemas sensoriales inalambricos con capacidad de crear y gestionar redes. Dichas redes son utilizadas para la monitorizacion y evaluacion de tendencias en variables como la temperatura o humedad.

A waypoint-based mission planner for a farmland coverage with an aerial robot - a precision farming tool

Remote sensing (RS) with aerial robots is becoming more usual in every day time in Precision Agriculture (PA) practices, do to their advantages over conventional methods. Usually, available commercial platforms providing off-the-shelf waypoint navigation are adopted to perform visual surveys over crop fields, with the purpose to acquire specific image samples. The way in which a waypoint list is computed and dispatched to the aerial robot when mapping non empty agricultural workspaces has not been yet discussed. In this paper we propose an offline mission planner approach that computes an efficient coverage path subject to some constraints by decomposing the environment approximately into cells. Therefore, the aim of this work is contributing with a feasible waypoints-based tool to support PA practices

Techniques for Area Discretization and Coverage in Aerial Photography for Precision Agriculture employing mini quad-rotors

Remote sensed imagery acquired with mini aerial vehicles, in conjunction with GIS technology enable a meticulous analysis from surveyed agricultural sites. This paper sums up the ongoing work in area discretization and coverage with mini quad-­?rotors applied to Precision Agriculture practices under the project RHEA.

Aerial Remote Sensing in Agriculture: A Practical Approach to Area Coverage and Path Planning for Fleets of Mini Aerial Robots

In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Proyecto de corrección y restauración forestal de Rambla Seca

Está situada al S.O. del rio Alcaide y Rambla Mayor y forma con ellas la cabecera del Rio Guadalentin: la parte mas alta de Rambla Seca pertenece al termino municipal de Velez-Blanco, del partido judicial de Velez-Rubio, provincia do Almeria; su parte baja esta enclavada en el termino municipal de Murcia. Limita por su mareen izquierda, con la Serrata de Guadalupe, Cerro Calderón, Cerro Colorado y la sierra de las Almohallas y por la derecha con piedra de Casanova, Collado de los Carrascales, Morra de los troncos, Morro del Tabaco, Cerro de la Cruz y sierra de la culebrina. El origen de ella está en la vertiente de piedra Casanova y la Hoya del Carrascal y su desembocadura en el pantano de Valdeinfierno.

Game Theory Models for Multi-Robot Patrolling of Infraestructures

Abstract This work is focused on the problem of performing multi‐robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these points at irregular time intervals for security purposes. Current existing solutions for these types of applications are predictable and inflexible. Moreover, most of the previous centralized and deterministic solutions and only few efforts have been made to integrate dynamic methods. Therefore, the development of new dynamic and decentralized collaborative approaches in order to solve the aforementioned problem by implementing learning models from Game Theory. The model selected in this work that includes belief‐based and reinforcement models as special cases is called Experience‐Weighted Attraction. The problem has been defined using concepts of Graph Theory to represent the environment in order to work with such Game Theory techniques. Finally, the proposed methods have been evaluated experimentally by using a patrolling simulator. The results obtained have been compared with previous available

Estudio de la influencia de estuco en la reciclabilidad de los papeles de impresión

El principal objetivo de este proyecto es evaluar la influencia del contenido del estuco del papel en el reciclado del mismo (desintegrado y destintado) y en la calidad del producto final a obtener (el papel). Para ello se utilizarán calidades de papel estucado o sin estucar, impresas o no. Con el fin de evaluar el proceso de reciclado se han propuesto los siguientes objetivos parciales: - Evaluar la cantidad de rechazos o paquetes de fibras obtenidos tras la desintegración de las distintas calidades de papel seleccionadas. - Evaluar si existen diferencias en el consumo de energía durante la desintegración en función de si el papel está estucado o no, y en el caso de estar estucado si existen diferencias de consumo en función de la cantidad de estuco aplicado. - Evaluar el rendimiento de las distintas calidades de papel seleccionadas durante el reciclado de las mismas. Los objetivos relacionados con el producto son: - Estudiar la variación del contenido en fibras y en minerales de las pastas obtenidas durante el proceso de reciclado, así como de los lodos de destintado. - Estudiar la facilidad de la eliminación de la tinta en los papeles en función de si están o no estucados. - Estudiar la evolución de las propiedades físico-mecánicas y ópticas del papel producido reciclado, a partir de las pastas desintegradas y destintadas.

Modelado de Cadenas Cinemáticas mediante Matrices de Desplazamiento. Una alternativa al método de Denavit-Hartenberg

En este trabajo se presenta un método para el modelado de cadenas cinemáticas de robots que salva las dificultades asociadas a la elección de los sistemas de coordenadas y obtención de los parámetros de Denavit-Hartenberg. El método propuesto parte del conocimiento de la posición y orientación del extremo del robot en su configuración de reposo, para ir obteniendo en qué se transforman éstas tras los sucesivos movimientos de sus grados de libertad en secuencia descendente, desde el más alejado al más cercano a su base. Los movimientos son calculados en base a las Matrices de Desplazamiento, que permiten conocer en que se transforma un punto cuando éste es desplazado (trasladado o rotado) con respecto a un eje que no pasa por el origen. A diferencia del método de Denavit-Hartenberg, que precisa ubicar para cada eslabón el origen y las direcciones de los vectores directores de los sistemas de referencia asociados, el método basado en las Matrices de Desplazamiento precisa solo identificar el eje de cada articulación, lo que le hace más simple e intuitivo que aquel. La obtención de las Matrices de Desplazamiento y con ellas del Modelo Cinemático Directo a partir de los ejes de la articulación, puede hacerse mediante algunas simples operaciones, fácilmente programables.

Agent-based modelling for cement hydration

The Agent-Based Modelling and simulation (ABM) is a rather new approach for studying complex systems withinteracting autonomous agents that has lately undergone great growth in various fields such as biology, physics, social science, economics and business. Efforts to model and simulate the highly complex cement hydration process have been made over the past 40 years, with the aim of predicting the performance of concrete and designing innovative and enhanced cementitious materials. The ABM presented here - based on previous work - focuses on the early stages of cement hydration by modelling the physical-chemical processes at the particle level. The model considers the cement hydration process as a time and 3D space system, involving multiple diffusing and reacting species of spherical particles. Chemical reactions are simulated by adaptively selecting discrete stochastic simulation for the appropriate reaction, whenever that is necessary. Interactions between particles are also considered. The model has been inspired by reported cellular automata?s approach which provides detailed predictions of cement microstructure at the expense of significant computational difficulty. The ABM approach herein seeks to bring about an optimal balance between accuracy and computational efficiency.

Non invasive moisture measurement in agricultural fiel using a rolling spherical robot

Irrigation management in large crop fields is a very important practice. Since the farm management costs and the crop results are directly connected with the environmental moisture, water control optimization is a critical factor for agricultural practices, as well as for the planet sustainability. Usually, the crop humidity is measured through the water stress index (WSI), using imagery acquired from satellites or airplanes. Nevertheless, these tools have a significant cost, lack from availability, and dependability from the weather. Other alternative is to recover to ground tools, such as ground vehicles and even static base stations. However, they have an outstanding impact in the farming process, since they can damage the cultivation and require more human effort. As a possible solution to these issues, a rolling ground robot have been designed and developed, enabling non-invasive measurements within crop fields. This paper addresses the spherical robot system applied to intra-crop moisture measurements. Furthermore, some experiments were carried out in an early stage corn field in order to build a geo-referenced WSI map.