Wireless communication enhancement methods for mobile robots in radiation environments

En entornos hostiles tales como aquellas instalaciones científicas donde la radiación ionizante es el principal peligro, el hecho de reducir las intervenciones humanas mediante el incremento de las operaciones robotizadas está siendo cada vez más de especial interés. CERN, la Organización Europea para la Investigación Nuclear, tiene alrededor de unos 50 km de superficie subterránea donde robots móviles controlador de forma remota podrían ayudar en su funcionamiento, por ejemplo, a la hora de llevar a cabo inspecciones remotas sobre radiación en los diferentes áreas destinados al efecto. No solo es preciso considerar que los robots deben ser capaces de recorrer largas distancias y operar durante largos periodos de tiempo, sino que deben saber desenvolverse en los correspondientes túneles subterráneos, tener en cuenta la presencia de campos electromagnéticos, radiación ionizante, etc. y finalmente, el hecho de que los robots no deben interrumpir el funcionamiento de los aceleradores. El hecho de disponer de un sistema de comunicaciones inalámbrico fiable y robusto es esencial para la correcta ejecución de las misiones que los robots deben afrontar y por supuesto, para evitar tales situaciones en las que es necesario la recuperación manual de los robots al agotarse su energía o al perder el enlace de comunicaciones. El objetivo de esta Tesis es proveer de las directrices y los medios necesarios para reducir el riesgo de fallo en la misión y maximizar las capacidades de los robots móviles inalámbricos los cuales disponen de almacenamiento finito de energía al trabajar en entornos peligrosos donde no se dispone de línea de vista directa. Para ello se proponen y muestran diferentes estrategias y métodos de comunicación inalámbrica. Teniendo esto en cuenta, se presentan a continuación los objetivos de investigación a seguir a lo largo de la Tesis: predecir la cobertura de comunicaciones antes y durante las misiones robotizadas; optimizar la capacidad de red inalámbrica de los robots móviles con respecto a su posición; y mejorar el rango operacional de esta clase de robots. Por su parte, las contribuciones a la Tesis se citan más abajo. El primer conjunto de contribuciones son métodos novedosos para predecir el consumo de energía y la autonomía en la comunicación antes y después de disponer de los robots en el entorno seleccionado. Esto es importante para proporcionar conciencia de la situación del robot y evitar fallos en la misión. El consumo de energía se predice usando una estrategia propuesta la cual usa modelos de consumo provenientes de diferentes componentes en un robot. La predicción para la cobertura de comunicaciones se desarrolla usando un nuevo filtro de RSS (Radio Signal Strength) y técnicas de estimación con la ayuda de Filtros de Kalman. El segundo conjunto de contribuciones son métodos para optimizar el rango de comunicaciones usando novedosas técnicas basadas en muestreo espacial que son robustas frente a ruidos de campos de detección y radio y que proporcionan redundancia. Se emplean métodos de diferencia central finitos para determinar los gradientes 2D RSS y se usa la movilidad del robot para optimizar el rango de comunicaciones y la capacidad de red. Este método también se valida con un caso de estudio centrado en la teleoperación háptica de robots móviles inalámbricos. La tercera contribución es un algoritmo robusto y estocástico descentralizado para la optimización de la posición al considerar múltiples robots autónomos usados principalmente para extender el rango de comunicaciones desde la estación de control al robot que está desarrollando la tarea. Todos los métodos y algoritmos propuestos se verifican y validan usando simulaciones y experimentos de campo con variedad de robots móviles disponibles en CERN. En resumen, esta Tesis ofrece métodos novedosos y demuestra su uso para: predecir RSS; optimizar la posición del robot; extender el rango de las comunicaciones inalámbricas; y mejorar las capacidades de red de los robots móviles inalámbricos para su uso en aplicaciones dentro de entornos peligrosos, que como ya se mencionó anteriormente, se destacan las instalaciones científicas con emisión de radiación ionizante. En otros términos, se ha desarrollado un conjunto de herramientas para mejorar, facilitar y hacer más seguras las misiones de los robots en entornos hostiles. Esta Tesis demuestra tanto en teoría como en práctica que los robots móviles pueden mejorar la calidad de las comunicaciones inalámbricas mediante la profundización en el estudio de su movilidad para optimizar dinámicamente sus posiciones y mantener conectividad incluso cuando no existe línea de vista. Los métodos desarrollados en la Tesis son especialmente adecuados para su fácil integración en robots móviles y pueden ser aplicados directamente en la capa de aplicación de la red inalámbrica. ABSTRACT In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs out of energy or when the robot loses its communication link. The goal of this thesis is to provide means to reduce risk of mission failure and maximise mission capabilities of wireless mobile robots with finite energy storage capacity working in a radiation environment with non-line-of-sight (NLOS) communications by employing enhanced wireless communication methods. Towards this goal, the following research objectives are addressed in this thesis: predict the communication range before and during robotic missions; optimise and enhance wireless communication qualities of mobile robots by using robot mobility and employing multi-robot network. This thesis provides introductory information on the infrastructures where mobile robots will need to operate, the tasks to be carried out by mobile robots and the problems encountered in these environments. The reporting of research work carried out to improve wireless communication comprises an introduction to the relevant radio signal propagation theory and technology followed by explanation of the research in the following stages: An analysis of the wireless communication requirements for mobile robot for different tasks in a selection of CERN facilities; predictions of energy and communication autonomies (in terms of distance and time) to reduce risk of energy and communication related failures during missions; autonomous navigation of a mobile robot to find zone(s) of maximum radio signal strength to improve communication coverage area; and autonomous navigation of one or more mobile robots acting as mobile wireless relay (repeater) points in order to provide a tethered wireless connection to a teleoperated mobile robot carrying out inspection or radiation monitoring activities in a challenging radio environment. The specific contributions of this thesis are outlined below. The first sets of contributions are novel methods for predicting the energy autonomy and communication range(s) before and after deployment of the mobile robots in the intended environments. This is important in order to provide situational awareness and avoid mission failures. The energy consumption is predicted by using power consumption models of different components in a mobile robot. This energy prediction model will pave the way for choosing energy-efficient wireless communication strategies. The communication range prediction is performed using radio signal propagation models and applies radio signal strength (RSS) filtering and estimation techniques with the help of Kalman filters and Gaussian process models. The second set of contributions are methods to optimise the wireless communication qualities by using novel spatial sampling based techniques that are robust to sensing and radio field noises and provide redundancy features. Central finite difference (CFD) methods are employed to determine the 2-D RSS gradients and use robot mobility to optimise the communication quality and the network throughput. This method is also validated with a case study application involving superior haptic teleoperation of wireless mobile robots where an operator from a remote location can smoothly navigate a mobile robot in an environment with low-wireless signals. The third contribution is a robust stochastic position optimisation algorithm for multiple autonomous relay robots which are used for wireless tethering of radio signals and thereby to enhance the wireless communication qualities. All the proposed methods and algorithms are verified and validated using simulations and field experiments with a variety of mobile robots available at CERN. In summary, this thesis offers novel methods and demonstrates their use to predict energy autonomy and wireless communication range, optimise robots position to improve communication quality and enhance communication range and wireless network qualities of mobile robots for use in applications in hostile environmental characteristics such as scientific facilities emitting ionising radiations. In simpler terms, a set of tools are developed in this thesis for improving, easing and making safer robotic missions in hostile environments. This thesis validates both in theory and experiments that mobile robots can improve wireless communication quality by exploiting robots mobility to dynamically optimise their positions and maintain connectivity even when the (radio signal) environment possess non-line-of-sight characteristics. The methods developed in this thesis are well-suited for easier integration in mobile robots and can be applied directly at the application layer of the wireless network. The results of the proposed methods have outperformed other comparable state-of-the-art methods.

Contributions to the Resilience Management in the Internet of Things

El auge del "Internet de las Cosas" (IoT, "Internet of Things") y sus tecnologías asociadas han permitido su aplicación en diversos dominios de la aplicación, entre los que se encuentran la monitorización de ecosistemas forestales, la gestión de catástrofes y emergencias, la domótica, la automatización industrial, los servicios para ciudades inteligentes, la eficiencia energética de edificios, la detección de intrusos, la gestión de desastres y emergencias o la monitorización de señales corporales, entre muchas otras. La desventaja de una red IoT es que una vez desplegada, ésta queda desatendida, es decir queda sujeta, entre otras cosas, a condiciones climáticas cambiantes y expuestas a catástrofes naturales, fallos de software o hardware, o ataques maliciosos de terceros, por lo que se puede considerar que dichas redes son propensas a fallos. El principal requisito de los nodos constituyentes de una red IoT es que estos deben ser capaces de seguir funcionando a pesar de sufrir errores en el propio sistema. La capacidad de la red para recuperarse ante fallos internos y externos inesperados es lo que se conoce actualmente como "Resiliencia" de la red. Por tanto, a la hora de diseñar y desplegar aplicaciones o servicios para IoT, se espera que la red sea tolerante a fallos, que sea auto-configurable, auto-adaptable, auto-optimizable con respecto a nuevas condiciones que puedan aparecer durante su ejecución. Esto lleva al análisis de un problema fundamental en el estudio de las redes IoT, el problema de la "Conectividad". Se dice que una red está conectada si todo par de nodos en la red son capaces de encontrar al menos un camino de comunicación entre ambos. Sin embargo, la red puede desconectarse debido a varias razones, como que se agote la batería, que un nodo sea destruido, etc. Por tanto, se hace necesario gestionar la resiliencia de la red con el objeto de mantener la conectividad entre sus nodos, de tal manera que cada nodo IoT sea capaz de proveer servicios continuos, a otros nodos, a otras redes o, a otros servicios y aplicaciones. En este contexto, el objetivo principal de esta tesis doctoral se centra en el estudio del problema de conectividad IoT, más concretamente en el desarrollo de modelos para el análisis y gestión de la Resiliencia, llevado a la práctica a través de las redes WSN, con el fin de mejorar la capacidad la tolerancia a fallos de los nodos que componen la red. Este reto se aborda teniendo en cuenta dos enfoques distintos, por una parte, a diferencia de otro tipo de redes de dispositivos convencionales, los nodos en una red IoT son propensos a perder la conexión, debido a que se despliegan en entornos aislados, o en entornos con condiciones extremas; por otra parte, los nodos suelen ser recursos con bajas capacidades en términos de procesamiento, almacenamiento y batería, entre otros, por lo que requiere que el diseño de la gestión de su resiliencia sea ligero, distribuido y energéticamente eficiente. En este sentido, esta tesis desarrolla técnicas auto-adaptativas que permiten a una red IoT, desde la perspectiva del control de su topología, ser resiliente ante fallos en sus nodos. Para ello, se utilizan técnicas basadas en lógica difusa y técnicas de control proporcional, integral y derivativa (PID - "proportional-integral-derivative"), con el objeto de mejorar la conectividad de la red, teniendo en cuenta que el consumo de energía debe preservarse tanto como sea posible. De igual manera, se ha tenido en cuenta que el algoritmo de control debe ser distribuido debido a que, en general, los enfoques centralizados no suelen ser factibles a despliegues a gran escala. El presente trabajo de tesis implica varios retos que conciernen a la conectividad de red, entre los que se incluyen: la creación y el análisis de modelos matemáticos que describan la red, una propuesta de sistema de control auto-adaptativo en respuesta a fallos en los nodos, la optimización de los parámetros del sistema de control, la validación mediante una implementación siguiendo un enfoque de ingeniería del software y finalmente la evaluación en una aplicación real. Atendiendo a los retos anteriormente mencionados, el presente trabajo justifica, mediante una análisis matemático, la relación existente entre el "grado de un nodo" (definido como el número de nodos en la vecindad del nodo en cuestión) y la conectividad de la red, y prueba la eficacia de varios tipos de controladores que permiten ajustar la potencia de trasmisión de los nodos de red en respuesta a eventuales fallos, teniendo en cuenta el consumo de energía como parte de los objetivos de control. Así mismo, este trabajo realiza una evaluación y comparación con otros algoritmos representativos; en donde se demuestra que el enfoque desarrollado es más tolerante a fallos aleatorios en los nodos de la red, así como en su eficiencia energética. Adicionalmente, el uso de algoritmos bioinspirados ha permitido la optimización de los parámetros de control de redes dinámicas de gran tamaño. Con respecto a la implementación en un sistema real, se han integrado las propuestas de esta tesis en un modelo de programación OSGi ("Open Services Gateway Initiative") con el objeto de crear un middleware auto-adaptativo que mejore la gestión de la resiliencia, especialmente la reconfiguración en tiempo de ejecución de componentes software cuando se ha producido un fallo. Como conclusión, los resultados de esta tesis doctoral contribuyen a la investigación teórica y, a la aplicación práctica del control resiliente de la topología en redes distribuidas de gran tamaño. Los diseños y algoritmos presentados pueden ser vistos como una prueba novedosa de algunas técnicas para la próxima era de IoT. A continuación, se enuncian de forma resumida las principales contribuciones de esta tesis: (1) Se han analizado matemáticamente propiedades relacionadas con la conectividad de la red. Se estudia, por ejemplo, cómo varía la probabilidad de conexión de la red al modificar el alcance de comunicación de los nodos, así como cuál es el mínimo número de nodos que hay que añadir al sistema desconectado para su re-conexión. (2) Se han propuesto sistemas de control basados en lógica difusa para alcanzar el grado de los nodos deseado, manteniendo la conectividad completa de la red. Se han evaluado diferentes tipos de controladores basados en lógica difusa mediante simulaciones, y los resultados se han comparado con otros algoritmos representativos. (3) Se ha investigado más a fondo, dando un enfoque más simple y aplicable, el sistema de control de doble bucle, y sus parámetros de control se han optimizado empleando algoritmos heurísticos como el método de la entropía cruzada (CE, "Cross Entropy"), la optimización por enjambre de partículas (PSO, "Particle Swarm Optimization"), y la evolución diferencial (DE, "Differential Evolution"). (4) Se han evaluado mediante simulación, la mayoría de los diseños aquí presentados; además, parte de los trabajos se han implementado y validado en una aplicación real combinando técnicas de software auto-adaptativo, como por ejemplo las de una arquitectura orientada a servicios (SOA, "Service-Oriented Architecture"). ABSTRACT The advent of the Internet of Things (IoT) enables a tremendous number of applications, such as forest monitoring, disaster management, home automation, factory automation, smart city, etc. However, various kinds of unexpected disturbances may cause node failure in the IoT, for example battery depletion, software/hardware malfunction issues and malicious attacks. So, it can be considered that the IoT is prone to failure. The ability of the network to recover from unexpected internal and external failures is known as "resilience" of the network. Resilience usually serves as an important non-functional requirement when designing IoT, which can further be broken down into "self-*" properties, such as self-adaptive, self-healing, self-configuring, self-optimization, etc. One of the consequences that node failure brings to the IoT is that some nodes may be disconnected from others, such that they are not capable of providing continuous services for other nodes, networks, and applications. In this sense, the main objective of this dissertation focuses on the IoT connectivity problem. A network is regarded as connected if any pair of different nodes can communicate with each other either directly or via a limited number of intermediate nodes. More specifically, this thesis focuses on the development of models for analysis and management of resilience, implemented through the Wireless Sensor Networks (WSNs), which is a challenging task. On the one hand, unlike other conventional network devices, nodes in the IoT are more likely to be disconnected from each other due to their deployment in a hostile or isolated environment. On the other hand, nodes are resource-constrained in terms of limited processing capability, storage and battery capacity, which requires that the design of the resilience management for IoT has to be lightweight, distributed and energy-efficient. In this context, the thesis presents self-adaptive techniques for IoT, with the aim of making the IoT resilient against node failures from the network topology control point of view. The fuzzy-logic and proportional-integral-derivative (PID) control techniques are leveraged to improve the network connectivity of the IoT in response to node failures, meanwhile taking into consideration that energy consumption must be preserved as much as possible. The control algorithm itself is designed to be distributed, because the centralized approaches are usually not feasible in large scale IoT deployments. The thesis involves various aspects concerning network connectivity, including: creation and analysis of mathematical models describing the network, proposing self-adaptive control systems in response to node failures, control system parameter optimization, implementation using the software engineering approach, and evaluation in a real application. This thesis also justifies the relations between the "node degree" (the number of neighbor(s) of a node) and network connectivity through mathematic analysis, and proves the effectiveness of various types of controllers that can adjust power transmission of the IoT nodes in response to node failures. The controllers also take into consideration the energy consumption as part of the control goals. The evaluation is performed and comparison is made with other representative algorithms. The simulation results show that the proposals in this thesis can tolerate more random node failures and save more energy when compared with those representative algorithms. Additionally, the simulations demonstrate that the use of the bio-inspired algorithms allows optimizing the parameters of the controller. With respect to the implementation in a real system, the programming model called OSGi (Open Service Gateway Initiative) is integrated with the proposals in order to create a self-adaptive middleware, especially reconfiguring the software components at runtime when failures occur. The outcomes of this thesis contribute to theoretic research and practical applications of resilient topology control for large and distributed networks. The presented controller designs and optimization algorithms can be viewed as novel trials of the control and optimization techniques for the coming era of the IoT. The contributions of this thesis can be summarized as follows: (1) Mathematically, the fault-tolerant probability of a large-scale stochastic network is analyzed. It is studied how the probability of network connectivity depends on the communication range of the nodes, and what is the minimum number of neighbors to be added for network re-connection. (2) A fuzzy-logic control system is proposed, which obtains the desired node degree and in turn maintains the network connectivity when it is subject to node failures. There are different types of fuzzy-logic controllers evaluated by simulations, and the results demonstrate the improvement of fault-tolerant capability as compared to some other representative algorithms. (3) A simpler but more applicable approach, the two-loop control system is further investigated, and its control parameters are optimized by using some heuristic algorithms such as Cross Entropy (CE), Particle Swarm Optimization (PSO), and Differential Evolution (DE). (4) Most of the designs are evaluated by means of simulations, but part of the proposals are implemented and tested in a real-world application by combining the self-adaptive software technique and the control algorithms which are presented in this thesis.

Investigación sobre tratamientos de aguas seguros en emergencias

Esta Tesis Doctoral tiene como principal objetivo el obtener una cadena de tratamientos seguros de aguas seriados que nos permita asegurar la calidad de las aguas para consumo humano en caso de emergencias, de tal forma que se minimicen los efectos de acciones hostiles, como sabotajes o actos terroristas, desastres naturales, etc y buscar soluciones adecuadas para garantizar en este caso la salud. Las plantas de tratamientos de aguas existentes comercialmente no aseguran dicha calidad y la documentación sobre el tema presenta vacíos de conocimiento, contradicciones entre resultados de investigaciones o insostenibilidad de conclusiones de las mismas. Estas carencias nos permiten determinar los aspectos a tratar durante la investigación. Por ello, este objetivo se concretó en tres acciones: Investigar sobre rendimientos de plantas convencionales en eliminación de microorganismos y productos tóxicos y peligrosos. Introducir mejoras que garanticen el rendimiento de las plantas convencionales. Investigar sobre la conveniencia de complementar las instalaciones existentes buscando seguridad y garantía sanitaria. Y se desarrollaron tres líneas de investigación: LI 1 “Inorgánicos”: Investigación sobre la eliminación de los metales boro, cobre y molibdeno mediante procesos de intercambio iónico y de coagulaciónfloculación- decantación. LI 2 “Compuestos Orgánicos Volátiles”: Investigación sobre la eliminación de los compuestos orgánicos 1,1 dicloroetano, 1,2 dicloroetano, clorobenceno, 1,3 dicloropropeno y hexacloro 1,3 butadieno mediante procesos de carbón activo granular y de oxidación avanzada. LI 3 “Plantas portátiles”: Investigación sobre plantas existentes portátiles para verificar su rendimiento teórico y proponer mejoras. Estas líneas de investigación se desarrollaron tanto en el nivel teórico como en el empírico, bien sea en laboratorio como en campo. A lo largo del documento se demuestra que las principales fuentes de contaminación, salvo la degradación de yacimientos naturales, proceden de la actividad humana (efluentes industriales y agrícolas, aguas residuales y actividades beligerantes) que provocan un amplio espectro de enfermedades por lo que dificultan tanto la definición de la fuente como la anticipada detección de la enfermedad. Las principales conclusiones que se obtuvieron están relacionadas con el rendimiento de eliminación de los parámetros tras la aplicación de los procesos y plantas de tratamiento de aguas anteriormente reseñadas. Sin embargo, el verdadero elemento designador de originalidad de esta Tesis Doctoral, tal como se ha reseñado arriba, radica en la definición de un sistema seriado de procesos de tratamiento de aguas que asegura la calidad en caso de emergencia. Éste se define en el siguiente orden: pretratamiento, oxidación, coagulación-floculación-decantación, filtración por arena, intercambio iónico, carbón activo granular, microfiltración, radiación UV, ósmosis inversa, radiación UV y cloración final. The main objective of this Thesis is to obtain a chain of stepwise safe water treatments that allow us to ensure the quality of water for human consumption in case of emergencies, so that the effects of hostile actions, such as sabotage or terrorism, natural disasters, etc. and seek appropriate solutions in this case to ensure health. The existing commercial water treatment plants do not ensure quality, and the documentation on the subject presents knowledge gaps or contradictions. These gaps allow us to determine the issues to be discussed during the investigation. Therefore, this objective was manifested in three actions: Researching yields in commercial plants and microorganisms, or toxic and dangerous products removal. Improvements to ensure the performance of conventional plants. Inquire about the advisability of implementing existing facilities for safety and health guarantee. And three lines of research are developed: LI 1 “Inorganic elements”: Research removing metals iron, copper and molybdenum by ion exchange processes and coagulation-flocculation-decantation. LI 2 “Volatile Organic Compounds”: Research removing organic compounds 1,1 dichloroethane, 1,2 dichloroethane, chlorobenzene, 1,3-dichloropropene and 1,3-butadiene hexachloro through processes of granular activated carbon and advanced oxidation. LI 3 “Compact Water Treatment Plants”: Research on existing packaged plants to verify theoretical performance and suggest improvements. These lines of research are developed both theoretically and empirically, both in the laboratory and in the field. Throughout the document, it is evident that the main sources of pollution, other than the degradation of natural deposits, come from human activity (industrial and agricultural effluents, sewage and belligerent activities) which cause a broad spectrum of diseases which hamper both the definition of the source and the early detection of the disease. The main conclusions drawn are related to both the removal efficiency parameters after application of processes and treatment plants outlined above water. However, the real designator of originality of this thesis, such as outlined above, lies in the definition of a serial system water treatment processes assuring quality in case of emergency. This is defined in the following order: pretreatment, oxidation, coagulation-flocculation-sedimentation, sand filtration, ion exchange, granular activated carbon, microfiltration, UV radiation, reverse osmosis, UV radiation and final chlorination.

Análisis de las tecnologías de comunicación entre robots y humanos para su aplicación en grupos de robots

En los últimos tiempos los esfuerzos se están centrando en mejorar los métodos de interacción entre el humano y el robot. El objetivo es conseguir que esa relación parezca simple y que se produzca de la manera más natural posible entre el humano y el robot. Para ese fin se está investigando en métodos de reconocimiento e interpretación del lenguaje corporal, gestos, expresiones de la cara y de sonidos que emite el humano para que la máquina se de cuenta de las intenciones y deseos de los humanos sin recibir órdenes muy específicas. Por otro lado interesa saber cómo se podría aplicar estas técnicas a la comunicación entre robots, pensando aquí en grupos de robots que trabajan en equipos realizando tareas ya asignadas. Estas máquinas se tienen que comunicar para entender las situaciones, detectar necesidades puntuales (si una máquina falla y necesita refuerzo, si pasan acontecimientos inesperados) y reaccionar a ello. Ejecutar estas tareas y realizar las comunicaciones para desarrollar las tareas entre las máquinas resultan especialmente difíciles en entornos hostiles, p.ej. debajo del agua, por lo que el objetivo de este proyecto fin de carrera es investigar las posibles aplicaciones de las técnicas de comunicación entre humanos y máquinas a grupos de robots, como refuerzo o sustitución de los métodos de comunicación clásicos. ABSTRACT. During the last years, many efforts are made to improve the interaction between humans and robots. The aim is to make this relationship simpler and the most natural as possible. For these purpose investigations on the recognition and interpretation of body language, gestures, facial expressions etc are carried out, in order to understand human intentions and desires without receiving specific orders. On the other hand, it is of interest investigate how these techniques could be applied to the communication among robots themselves, e.g. groups of robots which are working in teams resolving certain tasks. These machines have to communicate in order to understand the situations, detect punctual necessities and react to them (e.g. if a machines fails and needs some support, or when some unexpected event happens). The execution of certain tasks and the involved communication, happen to be especially hard in hostile environments, i.e. under water. The objective of this final thesis is to investigate the possible applications of the communication techniques between human and machines to groups of robots, as reinforcement or substitution for the classical communication methods.

Transformaciones urbanas del siglo XVIII en el antiguo Reino de Chile

La tesis analiza la trayectoria de las ciudades chilenas tomando como referencias la extensión, vastedad, proporciones y diversidad del paisaje en una región remota, ubicada en el confín del continente, aislada por el desierto de Atacama y la cordillera de Los Andes y que comprendía algunos de los territorios más desconocidos del Nuevo Mundo. El contexto temporal es el siglo XVIII, el período más activo de la colonización, cuando las primeras fundaciones tenían niveles de desarrollo que se expresaban en rasgos particulares, se construyen numerosas ciudades y se perfilan los contrastes entre el modelo teórico de ciudad y las ciudades reales. OBJETIVOS Analizar la forma, funciones y significado de las ciudades como respuestas a la extensión, vastedad, proporciones y diversidad del paisaje. Explorar los avances en el conocimiento del territorio y las nuevas interpretaciones del paisaje como bases para definir las estrategias de colonización y nuevas fundaciones Estudiar las influencias específicas del entorno sobre las estructuras urbanas Estos objetivos buscan aportar al conocimiento de la urbanización colonial en Chile rescatando las características distintivas del proceso según los diferentes ámbitos territoriales. METODOLOGÍA Se seleccionaron 22 ciudades como ejemplos de las transformaciones urbanas en Chile, según los paisajes y contextos culturales. Las ciudades se observaron como partes de un sistema de colonización en un territorio extenso y como individualidades fundadas en sitios específicos, cuyas cualidades se expresan en el paisaje del entorno de cada núcleo urbano. CONCLUSIONES La tesis confirma que la colonización de Chile fue una empresa militar y de dominio espacial del territorio. Las ciudades sostenían la conquista y el arraigo mediante estructuras urbanas regulares porque, la cuadricula -además de facilitar el trazado y el repartimiento de los lotes era símbolo de estabilidad en una región hostil y sujeta a la acción inesperada y destructora de la naturaleza, una forma orientadora en la vastedad y una expresión de orden y medida que contrastaba con la diversidad y extensión del paisaje. A pesar de la primacía de la cuadrícula, las ciudades no eran simples imitaciones de anteriores fundaciones; con el avance colonizador se afirmaba el anclaje de cada ciudad al paisaje del sitio de fundación, se perfeccionaban la forma y funciones urbanas mediante la adaptación al entorno y se fortalecía el arraigo de los a los nuevos paisajes que se iban construyendo. Las transformaciones urbanas dependían de los desafíos territoriales, las expectativas de los gobernantes y capacidades técnicas. Los cambios principales se manifiestan en el siglo XVIII, cuando las distintas zonas de Chile se colonizaron con estrategias afines a sus características geográficas y culturales y a las diferencias entre valles mineros, valles agrícolas, el litoral y las islas. El análisis revela que el desarrollo urbano de las ciudades fue condicionado por el relieve, la relación con otros núcleos urbanos y caminos, los recursos del lugar, la integración con estructuras colonizadoras -hacienda, fuerte o misión- predominantes en cada territorio y las interpretaciones del paisaje que se proponían desde la filosofía y las ciencias ilustradas. ABSTRACT INTRODUCTION The thesis analyzes the trajectory of the Chilean cities taking as reference the extension, vastness, proportions and diversity of landscape in a remote region, located on the edge of the continent, isolated by the Atacama Desert and the Andes mountains and comprising some of the most unknown territories of the New World. The temporal context is the eighteenth century, the most active of colonization, when the first foundations had levels of development that were expressed in particular forms; in this period many cities are built and the contrasts between the theoretical model of the city and the royal cities are emerging . OBJECTIVES •Analyze the form, function and significance of cities as responses to the extension, vastness, proportions and diversity of landscape. •Explore the advances in knowledge of the territory and the new interpretations of the landscape as a basis for defining the strategies of colonization and new foundations •Examine specific environmental influences on urban structures These objectives seek to contribute to the knowledge of colonial urbanization in Chile rescuing the distinctive characteristics of the process according to the different territorial areas. METHODOLOGY 22 cities as examples of urban transformation in Chile were selected according as the landscapes and cultural contexts. The cities were seen as part of a settlement system in a large territory and as individuals elements based on specific sites, whose qualities are expressed in the landscape around of each urban center. CONCLUSIONS The thesis confirms that the colonization of Chile was a military and space control of the territory. The cities holding the conquest and establishment through regular urban structures because, besides grid to facilitate the tracing and the division of the urban space was a symbol of stability in a hostile region and subject to unexpected and destructive action of nature, a guiding how the vastness and an expression of order and as contrasted with the diversity and extent of the landscape. Despite the primacy of the grid, the cities were not mere imitations of earlier foundations; as colonization progresses, the landscape of the place stated in each city, form and urban functions are improved by adapting the environment and establishment the landscapes that were recently built. Urban transformations depend on the territorial challenges, expectations of governments and technical capabilities. The main changes are manifested in the eighteenth century, when different areas of Chile are colonized with strategies related to its geographical and cultural characteristics and differences between mining valleys, agricultural valleys, the coast and islands. The analysis reveals that the urban development of cities was conditioned by relief, relative to other urban centers and roads, resources, integration with other colonial structures –farmers, missions or forts- dominant in each territory and the interpretations of landscape that is proposed from philosophy and illustrated science.

CORPO E COTIDIANO: A EXPERIÊNCIA DE MULHERES DE MOVIMENTOS POPULARES DESAFIA A TEOLOGIA FEMINISTA DA LIBERTAÇÃO NA AMÉRICA LATINA

A experiência das mulheres tem sido afirmada como ponto de partida de Teologias Feministas da Libertação. Na América Latina, o sexismo, a feminização da pobreza, a violência contra as mulheres têm inspirado o movimento feminista a se articular com as mulheres de movimentos populares para a conquista de direitos plenos para as mulheres. As Teologias da Libertação não lograram analisar a opressão das mulheres e apoiar sua luta, pois entenderam sua opressão como um desdobramento da exploração econômica dos países pobres pelos países ricos. Queremos demonstrar que a Teologia Feminista da Libertação, ao contrário, utilizando um método de análise feminista, é capaz de oferecer um suporte teológico às reivindicações das mulheres latino-americanas. O presente trabalho vai analisar teologicamente a experiência das mulheres de movimentos populares e explorar dois temas prioritários dessa experiência: corpo e cotidiano. Assim procedendo, pretende demonstrar que corpo e cotidiano são importantes categorias para a Teologia Feminista da Libertação na América Latina, através das quais ela poderá contribuir para apoiar a busca da autonomia e empoderamento das mulheres, em especial das mulheres pobres.(AU)

CORPO E COTIDIANO: A EXPERIÊNCIA DE MULHERES DE MOVIMENTOS POPULARES DESAFIA A TEOLOGIA FEMINISTA DA LIBERTAÇÃO NA AMÉRICA LATINA

A experiência das mulheres tem sido afirmada como ponto de partida de Teologias Feministas da Libertação. Na América Latina, o sexismo, a feminização da pobreza, a violência contra as mulheres têm inspirado o movimento feminista a se articular com as mulheres de movimentos populares para a conquista de direitos plenos para as mulheres. As Teologias da Libertação não lograram analisar a opressão das mulheres e apoiar sua luta, pois entenderam sua opressão como um desdobramento da exploração econômica dos países pobres pelos países ricos. Queremos demonstrar que a Teologia Feminista da Libertação, ao contrário, utilizando um método de análise feminista, é capaz de oferecer um suporte teológico às reivindicações das mulheres latino-americanas. O presente trabalho vai analisar teologicamente a experiência das mulheres de movimentos populares e explorar dois temas prioritários dessa experiência: corpo e cotidiano. Assim procedendo, pretende demonstrar que corpo e cotidiano são importantes categorias para a Teologia Feminista da Libertação na América Latina, através das quais ela poderá contribuir para apoiar a busca da autonomia e empoderamento das mulheres, em especial das mulheres pobres.(AU)

A IMPORTÂNCIA DA FAMÍLIA NA RECUPERAÇÃO DE PACIENTES INTERNADOS NA UNIDADE DE TERAPIA INTENSIVA

A Unidade de Terapia Intensiva (UTI) é um setor do hospital destinado ao atendimento de pacientes em estado crítico, que requer cuidados complexos e controles rígidos e, por isso sempre gera um ambiente estressante, não só para a equipe que atende ao paciente mas também aos familiares e portanto induz muitas vezes ao processo de depressão. Estes fatores leva-nos a abordar a necessidade de humanização, no atendimento ao paciente, bem como de seus familiares. A preocupação com a humanização deve estar presente nas equipes de enfermagem como filosofia-diretriz e deve ser um indicador de qualidades desses serviços. Humanizar a UTI significa cuidar do paciente como um todo, englobando o contexto bio-psico-social, incorporando os valores sociais e da família, as esperanças, os culturais e as preocupações pessoais. A humanização deve fazer parte da filosofia da enfermagem. O ambiente físico, os recursos materiais e tecnológicos são importantes, porém não mais significativos do que a natureza humana. O pensamento em ações da equipe de enfermagem, alimentam a reflexão crítica e a construção de uma realidade mais humana e menos agressiva e hostil para as pessoas que diariamente convivem no hospital. A hospitalização altera a rotina não só do paciente mas também dos familiares. De certa forma, a própria hospitalização pode ser vivida como abandono ou morte, à medida que implica um afastamento das pessoas queridas, da casa, como também uma invasão de privacidade. Este trabalho procurou Identificar as necessidades dos familiares ou visitantes, frente à equipe de saúde durante o período de internação na UTI e avaliar o grau de satisfação em relação à qualidade das informações e ao suporte dados à família ou visitante. Os resultados indicam que no Hospital Heliópolis, onde o trabalho foi conduzido, os entrevistados estavam satisfeitos com a equipe multiprofissional pois os pacientes eram bem cuidados, havendo preocupação com os pacientes, e que os médicos, além de compreensivos e competentes, forneceram as informações de modo que eles pudessem compreender,. Porém deve-se ressaltar que 48% dos entrevistados apontam a necessidade de apoio psicológico.(AU)

A IMPORTÂNCIA DA FAMÍLIA NA RECUPERAÇÃO DE PACIENTES INTERNADOS NA UNIDADE DE TERAPIA INTENSIVA

A Unidade de Terapia Intensiva (UTI) é um setor do hospital destinado ao atendimento de pacientes em estado crítico, que requer cuidados complexos e controles rígidos e, por isso sempre gera um ambiente estressante, não só para a equipe que atende ao paciente mas também aos familiares e portanto induz muitas vezes ao processo de depressão. Estes fatores leva-nos a abordar a necessidade de humanização, no atendimento ao paciente, bem como de seus familiares. A preocupação com a humanização deve estar presente nas equipes de enfermagem como filosofia-diretriz e deve ser um indicador de qualidades desses serviços. Humanizar a UTI significa cuidar do paciente como um todo, englobando o contexto bio-psico-social, incorporando os valores sociais e da família, as esperanças, os culturais e as preocupações pessoais. A humanização deve fazer parte da filosofia da enfermagem. O ambiente físico, os recursos materiais e tecnológicos são importantes, porém não mais significativos do que a natureza humana. O pensamento em ações da equipe de enfermagem, alimentam a reflexão crítica e a construção de uma realidade mais humana e menos agressiva e hostil para as pessoas que diariamente convivem no hospital. A hospitalização altera a rotina não só do paciente mas também dos familiares. De certa forma, a própria hospitalização pode ser vivida como abandono ou morte, à medida que implica um afastamento das pessoas queridas, da casa, como também uma invasão de privacidade. Este trabalho procurou Identificar as necessidades dos familiares ou visitantes, frente à equipe de saúde durante o período de internação na UTI e avaliar o grau de satisfação em relação à qualidade das informações e ao suporte dados à família ou visitante. Os resultados indicam que no Hospital Heliópolis, onde o trabalho foi conduzido, os entrevistados estavam satisfeitos com a equipe multiprofissional pois os pacientes eram bem cuidados, havendo preocupação com os pacientes, e que os médicos, além de compreensivos e competentes, forneceram as informações de modo que eles pudessem compreender,. Porém deve-se ressaltar que 48% dos entrevistados apontam a necessidade de apoio psicológico.(AU)

Isaías 24,1-6 na perspectiva da profecia apocalipsista resultante de um complexo processo sócio-teológico em transição

A dissertação objetiva estudar o papel que o apocalipsismo, desempenhou na história e no contexto da redação do oráculo isaiano em Isaías 24,1-6. A proposta é de que sua função foi de grande importância no processo de formação do judaísmo pós-exílico, fomentando uma nova reidentificação e reetnização dos israelitas-judaítas num contexto de frustração nacionalista e religiosa que gerou uma grande heterogeneidade teológica. Identificamos este contexto como sendo o ambiente em que se deu um complexo processo de transição sócio-teológica na história dos judaitas no período de dominação persa. O apocalipsismo, enquanto fenômeno religioso e sócio-histórico, se mostrou como resultado de uma realidade hostil e desumanizadora na qual a identidade teológico-cultural e os relacionamentos sócioeconômicos das pessoas foram extremamente ameaçados e violentados gerando uma contraposição aos desígnios de Yahweh expressos na aliança firmada por ele para com seu povo. Através da pesquisa e análise exegética de Isaías 24,1-6, a presente dissertação propõe que, a partir dessa realidade conflituosa, a profecia apocalipsista isaiana se manifesta contra as estruturas e suas articulações geradoras de segregação e desumanidade, lançando uma esperança no ato transformador por intermédio de Yahweh, o senhor da história, que possibilita um reverso histórico, a partir do qual será possível reconstruir relacionamentos favoráveis no âmbito social e espiritual.(AU)

Isaías 24,1-6 na perspectiva da profecia apocalipsista resultante de um complexo processo sócio-teológico em transição

A dissertação objetiva estudar o papel que o apocalipsismo, desempenhou na história e no contexto da redação do oráculo isaiano em Isaías 24,1-6. A proposta é de que sua função foi de grande importância no processo de formação do judaísmo pós-exílico, fomentando uma nova reidentificação e reetnização dos israelitas-judaítas num contexto de frustração nacionalista e religiosa que gerou uma grande heterogeneidade teológica. Identificamos este contexto como sendo o ambiente em que se deu um complexo processo de transição sócio-teológica na história dos judaitas no período de dominação persa. O apocalipsismo, enquanto fenômeno religioso e sócio-histórico, se mostrou como resultado de uma realidade hostil e desumanizadora na qual a identidade teológico-cultural e os relacionamentos sócioeconômicos das pessoas foram extremamente ameaçados e violentados gerando uma contraposição aos desígnios de Yahweh expressos na aliança firmada por ele para com seu povo. Através da pesquisa e análise exegética de Isaías 24,1-6, a presente dissertação propõe que, a partir dessa realidade conflituosa, a profecia apocalipsista isaiana se manifesta contra as estruturas e suas articulações geradoras de segregação e desumanidade, lançando uma esperança no ato transformador por intermédio de Yahweh, o senhor da história, que possibilita um reverso histórico, a partir do qual será possível reconstruir relacionamentos favoráveis no âmbito social e espiritual.(AU)

Biochemical evolution II: Origin of life in tubular microstructures on weathered feldspar surfaces

Mineral surfaces were important during the emergence of life on Earth because the assembly of the necessary complex biomolecules by random collisions in dilute aqueous solutions is implausible. Most silicate mineral surfaces are hydrophilic and organophobic and unsuitable for catalytic reactions, but some silica-rich surfaces of partly dealuminated feldspars and zeolites are organophilic and potentially catalytic. Weathered alkali feldspar crystals from granitic rocks at Shap, north west England, contain abundant tubular etch pits, typically 0.4–0.6 μm wide, forming an orthogonal honeycomb network in a surface zone 50 μm thick, with 2–3 × 106 intersections per mm2 of crystal surface. Surviving metamorphic rocks demonstrate that granites and acidic surface water were present on the Earth’s surface by ∼3.8 Ga. By analogy with Shap granite, honeycombed feldspar has considerable potential as a natural catalytic surface for the start of biochemical evolution. Biomolecules should have become available by catalysis of amino acids, etc. The honeycomb would have provided access to various mineral inclusions in the feldspar, particularly apatite and oxides, which contain phosphorus and transition metals necessary for energetic life. The organized environment would have protected complex molecules from dispersion into dilute solutions, from hydrolysis, and from UV radiation. Sub-micrometer tubes in the honeycomb might have acted as rudimentary cell walls for proto-organisms, which ultimately evolved a lipid lid giving further shelter from the hostile outside environment. A lid would finally have become a complete cell wall permitting detachment and flotation in primordial “soup.” Etch features on weathered alkali feldspar from Shap match the shape of overlying soil bacteria.

Ion channels gated by heat

All animals need to sense temperature to avoid hostile environments and to regulate their internal homeostasis. A particularly obvious example is that animals need to avoid damagingly hot stimuli. The mechanisms by which temperature is sensed have until recently been mysterious, but in the last couple of years, we have begun to understand how noxious thermal stimuli are detected by sensory neurons. Heat has been found to open a nonselective cation channel in primary sensory neurons, probably by a direct action. In a separate study, an ion channel gated by capsaicin, the active ingredient of chili peppers, was cloned from sensory neurons. This channel (vanilloid receptor subtype 1, VR1) is gated by heat in a manner similar to the native heat-activated channel, and our current best guess is that this channel is the molecular substrate for the detection of painful heat. Both the heat channel and VR1 are modulated in interesting ways. The response of the heat channel is potentiated by phosphorylation by protein kinase C, whereas VR1 is potentiated by externally applied protons. Protein kinase C is known to be activated by a variety of inflammatory mediators, including bradykinin, whereas extracellular acidification is characteristically produced by anoxia and inflammation. Both modulatory pathways are likely, therefore, to have important physiological correlates in terms of the enhanced pain (hyperalgesia) produced by tissue damage and inflammation. Future work should focus on establishing, in molecular terms, how a single ion channel can detect heat and how the detection threshold can be modulated by hyperalgesic stimuli.

Electrical investigation of p-type 4H-SiC heavily doped by ion implantation

In the last decades, an increasing interest in the research field of wide bandgap semiconductors was observed, mostly due to the progressive approaching of silicon-based devices to their theoretical limits. 4H-SiC is an example among these, and is a mature compound for applications. The main advantages offered 4H-SiC in comparison with silicon are an higher breakdown field, an higher thermal conductivity, a higher operating temperature, very high hardness and melting point, biocompatibility, but also low switching losses in high frequencies applications and lower on-resistances in unipolar devices. Then, 4H-SiC power devices offer great performance improvement; moreover, they can work in hostile environments where silicon power devices cannot function. Ion implantation technology is a key process in the fabrication of almost all kinds of SiC devices, owing to the advantage of a spatially selective doping. This work is dedicated to the electrical investigation of several differently-processed 4H-SiC ion- implanted samples, mainly through Hall effect and space charge spectroscopy experiments. It was also developed the automatic control (Labview) of several experiments. In the work, the effectiveness of high temperature post-implant thermal treatments (up to 2000°C) were studied and compared considering: (i) different methods, (ii) different temperatures and (iii) different duration of the annealing process. Preliminary p + /n and Schottky junctions were also investigated as simple test devices. 1) Heavy doping by ion implantation of single off-axis 4H-SiC layers The electrical investigation is one of the most important characterization of ion-implanted samples, which must be submitted to mandatory post-implant thermal treatment in order to both (i) recover the lattice after ion bombardment, and (ii) address the implanted impurities into lattice sites so that they can effectively act as dopants. Electrical investigation can give fundamental information on the efficiency of the electrical impurity activation. To understand the results of the research it should be noted that: (a) To realize good ohmic contacts it is necessary to obtain spatially defined highly doped regions, which must have conductivity as low as possible. (b) It has been shown that the electrical activation efficiency and the electrical conductivity increase with the annealing temperature increasing. (c) To maximize the layer conductivity, temperatures around 1700°C are generally used and implantation density high till to 10 21 cm -3 . In this work, an original approach, different from (c), is explored by the using very high annealing temperature, around 2000°C, on samples of Al + -implant concentration of the order of 10 20 cm -3 . Several Al + -implanted 4H-SiC samples, resulting of p-type conductivity, were investigated, with a nominal density varying in the range of about 1-5∙10 20 cm -3 and subjected to two different high temperature thermal treatments. One annealing method uses a radiofrequency heated furnace till to 1950°C (Conventional Annealing, CA), the other exploits a microwave field, providing a fast heating rate up to 2000°C (Micro-Wave Annealing, MWA). In this contest, mainly ion implanted p-type samples were investigated, both off-axis and on-axis <0001> semi-insulating 4H-SiC. Concerning p-type off-axis samples, a high electrical activation of implanted Al (50-70%) and a compensation ratio below 10% were estimated. In the work, the main sample processing parameters have been varied, as the implant temperature, CA annealing duration, and heating/cooling rates, and the best values assessed. MWA method leads to higher hole density and lower mobility than CA in equivalent ion implanted layers, resulting in lower resistivity, probably related to the 50°C higher annealing temperature. An optimal duration of the CA treatment was estimated in about 12-13 minutes. A RT resistivity on the lowest reported in literature for this kind of samples, has been obtained. 2) Low resistivity data: variable range hopping Notwithstanding the heavy p-type doping levels, the carrier density remained less than the critical one required for a semiconductor to metal transition. However, the high carrier densities obtained was enough to trigger a low temperature impurity band (IB) conduction. In the heaviest doped samples, such a conduction mechanism persists till to RT, without significantly prejudice the mobility values. This feature can have an interesting technological fall, because it guarantee a nearly temperature- independent carrier density, it being not affected by freeze-out effects. The usual transport mechanism occurring in the IB conduction is the nearest neighbor hopping: such a regime is effectively consistent with the resistivity temperature behavior of the lowest doped samples. In the heavier doped samples, however, a trend of the resistivity data compatible with a variable range hopping (VRH) conduction has been pointed out, here highlighted for the first time in p-type 4H-SiC. Even more: in the heaviest doped samples, and in particular, in those annealed by MWA, the temperature dependence of the resistivity data is consistent with a reduced dimensionality (2D) of the VRH conduction. In these samples, TEM investigation pointed out faulted dislocation loops in the basal plane, whose average spacing along the c-axis is comparable with the optimal length of the hops in the VRH transport. This result suggested the assignment of such a peculiar behavior to a kind of spatial confinement into a plane of the carrier hops. 3) Test device the p + -n junction In the last part of the work, the electrical properties of 4H-SiC diodes were also studied. In this case, a heavy Al + ion implantation was realized on n-type epilayers, according to the technological process applied for final devices. Good rectification properties was shown from these preliminary devices in their current-voltage characteristics. Admittance spectroscopy and deep level transient spectroscopy measurements showed the presence of electrically active defects other than the dopants ones, induced in the active region of the diodes by ion implantation. A critical comparison with the literature of these defects was performed. Preliminary to such an investigation, it was assessed the experimental set up for the admittance spectroscopy and current-voltage investigation and the automatic control of these measurements.

Family firms and the great crisis: evidence from the italian case

Few studies have analyzed how family firms have acted during the global great crisis in comparison to their nonfamily counterparts. This paper tries to fill this gap on the basis of the Italian experience using a sample of almost 4,500 for 2007 and 2010. We study whether family control affects labour productivity, labour costs and competitiveness and if the adoption of performance related pay (PRP) reveals an efficacious strategy to mitigate the effects of the crisis and reduce the gap in competitiveness with respect to nonfamily firms. We use quantile regression techniques to test the heterogeneous role of PRP and pay attention for its possible endogeneity. We have observed that after the outburst of the crisis, the distance in terms of competitiveness of family firms with respect to their nonfamily counterparts has been amplified. We also find that family firms may take advantage from the adoption of incentive schemes, such as PRP, to encourage commitment and motivation from their employees more than nonfamily firms. The positive role of PRP on labour productivity, coupled with a moderate influence of these schemes on wage premiums, enable them to regain competitiveness also under hostile pressures, as those featuring the strong global crisis.