(Table 1) Physical properties of basalts from DSDP Legs 69 and 70

Physical properties of basalts from Deep Sea Drilling Project Sites 504 and 505, south of the Costa Rica Rift, including wet-bulk density, water content, sonic velocity, and thermal conductivity, were measured on board D/V Glomar Challenger during Legs 69 and 70. The mean wet-bulk density is 2.90±0.06 g/cm**3, porosity 5.0±2.2%, sonic velocity 5.75±0.30 km/s, and thermal conductivity 1.67±0.09 W/m°K. Basalts from this young ocean crust (5.9 m.y.) have relatively low porosity and consequently high density and sonic velocity, as compared to average DSDP basalts. Some systematic trends in depth variation of physical properties were found: down to Core 40 in Hole 504B, grain densities were lower than those deeper in the hole, whereas porosity in the upper section was higher. This can be attributed either to differences in the flow type or in the nature of alteration of basalts at the different levels in the hole.

Stable oxygen isotope record and lithogenic composition of ODP Hole 117-722B

The upper 38 m of Hole 722B sediments (Owen Ridge, northwest Arabian Sea) was sampled at 20 cm intervals and used to develop records of lithogenic percent, mass accumulation rate, and grain size spanning the past 1 m.y. Over this interval, the lithogenic component of Owen Ridge sediments can be used to infer variability in the strength of Arabian Sea summer monsoon winds (median grain size) and the aridity of surrounding dust source-areas (mass accumulation rate; MAR in g/cm**2/k.y). The lithogenic MAR has strong 100, 41, and 23 k.y. cyclicities and is forced primarily by changes in source-area aridity associated with glacial-interglacial cycles. The lithogenic grain size, on the other hand, exhibits higher frequency variability (23 k.y.) and is forced by the strength of summer monsoon winds which, in turn, are forced by the effective sensible heating of the Indian-Asian landmass and by the availability of latent heat from the Southern Hemisphere Indian Ocean. These forcing mechanisms combine to produce a wind-strength record which has no strong relationship to glacial-interglacial cycles. Discussion of the mechanisms responsible for production of primary Milankovitch cyclicities in lithogenic records from the Owen Ridge is presented elsewhere (Clemens and Prell, 1990, doi:10.1029/PA005i002p00109). Here we examine the 1 m.y. record from Hole 722B focusing on different aspects of the lithogenic components including an abrupt change in the monsoon wind-strength record at 500 k.y., core-to-core reproducibility, comparison with magnetic susceptibility, coherency with a wind-strength record from the Pacific Ocean, and combination frequencies in the wind-strength record. The Hole 722B lithogenic grain-size record shows an abrupt change at 500 k.y. possibly indicating decreased monsoon wind-strength over the interval from 500 k.y. to present. The grain-size decrease appears to be coincident with a loss of spectral power near the 41 k.y. periodicity. However, the grain-size decrease is not paralleled in the Globigerina bulloides upwelling record, an independent record of summer monsoon wind-strength (Prell, this volume). These observations leave us with competing hypotheses possibly involving: (1) a decrease in the sensitivity of monsoon windstrength to obliquity forcing, (2) decoupling of the grain size and G. bulloides records via a decoupling of the nutrient supply from wind-driven upwelling, and/or (3) a change in dust source-area or the patterns of dust transporting winds. Comparison of the lithogenic grain size and weight percent records from Hole 722B with those from a nearby core shows that the major and most minor events are well replicated. These close matches establish our confidence in the lithogenic extraction techniques and measurements. Further, reproducibility on a core-to-core scale indicates that the eolian depositional signal is regionally strong, coherent, and well preserved. The lithogenic weight percent and magnetic susceptibility are extremely well correlated in both the time and frequency domains. From this we infer that the magnetically susceptible component of Owen Ridge sediments is of terrestrial origin and transported to the Owen Ridge via summer monsoon winds. Because of the high correlation with the lithogenic percent record, the magnetic susceptibility record can be cast in terms of lithogenic MAR and used as a high resolution proxy for continental aridity. In addition to primary Milankovitch periodicities, the Hole 722B grain-size record exhibits periodicity at 52 k.y. and at 29 k.y. Both periodicities are also found in the grain-size record from piston core RC11-210 in the equatorial Pacific Ocean. Comparison of the two grain-size records shows significant coherence and zero phase relationships over both the 52 and 29 k.y. periodicities suggesting that the strengths of the Indian Ocean monsoon and the Pacific southeasterly trade winds share common forcing mechanisms. Two possible origins for the 52 and 29 k.y. periodicities in the Hole 722B wind-strength record are (1) direct Milankovitch forcing (54 and 29 k.y. components of obliquity) and (2) combination periodicities resulting from nonlinear interactions within the climate system. We find that the 52 and 29 k.y. periodicities show stronger coherency with crossproducts of eccentricity and obliquity (29 k.y.) and precession and obliquity (52 k.y.) than with direct obliquity forcing. Our working hypothesis attributes these periodicities to nonlinear interaction between external insolation forcing and internal climatic feedback mechanisms involving an interdependence of continental snow/ice-mass (albedo) and the hydrological cycle (latent heat availability).

Texture analyses of ODP Site 131-808 sediments

The microfabric of 11 mudrock specimens from ODP Site 808 (Nankai accretionary prism) was quantitatively analyzed using X-ray texture goniometry and optical petrography. The objectives of the study were to learn about rock strain and to detect a component of bulk lateral shortening in the deformation of the mudstones. Strain evaluation is based on the predictions of March theory, and on distortions of initially homogeneous marker particle distributions (the Fry technique). The main results are as follows. The specimens underwent a strain path of progressive flattening, which is closely related to loss of pore space by vertical loading. A component of bulk lateral shortening is detectable in the top 550 mbsf at Site 808, but compared with the amount of uniaxial vertical shortening, its relative magnitude is probably small. Moreover, it cannot be said with confidence whether this is caused by toe contraction of the accretionary wedge or by gravitationally induced downslope movement of the sediment pile. The mudstones examined were deposited in a marine environment with an oxic bottom water column. Micropore collapse is an important fabric building mechanism, but below 400 mbsf its effects are at least partly overridden by recrystallization of smectite. We conclude that mud microfabrics are not very precise deformation gauges, but can be used for rough estimations of strain.

Documentation of sediment cores from the Great Meteor Seamount, North Atlantic

Sedimentological and biostratigraphic investigations of 15 cores (total length: 88 m) from the vicinity of Great Meteor seamount (about 30° N, 28° W) showed that the calcareous ooze are asymmetrically distributed around the seamount and vertically differentiated into two intervals. East and west of the seampunt, the upper "A"-interval is characterized by yellowish-brown sediment colors and bioturbation; ash layers and diatoms are restricted to the eastern cores. On both seamount flanks, the sediment of the lower "B"-interval are white and very rich in CaCO3 with a major fine silt (2-16 µ) mode (mainly coccoliths). Lamination, manganese micronodules, Tertiary foraminifera and discoasters, and small limestone and basalt fragments are typical of the "B"-interval of the eastern cores only. The sediments contain abundant displaced material which was reworked from the upper parts of the seamount. The sedimentation around the seamount is strongly influenced by the kind of displaced material and the intensity of its differentiated dispersal: the sedimentation rates are generally higher on the east than on the west flank /e.g. in "B": 0.9 cm/1000 y in the W; 3.1 cm/1000 y in the E), and lower for the "A" than for the "B"-interval. The lamination is explained by the combination of increased sedimentation rates with a strong input of material poor in organic carbon producing a hostile environment for benthic life. The CaCO3 content of the core is highly influenced by the proportion of displaced bigenous carbonate material (mainly coccoliths). The genuine in-situ conditions of the dissolution facies are only reflected by the minimum CaCO3 values of the cores (CCD = about 5,500 m; first bend in dissolution curve = 4,000 m; ACD = about 3,400 m). The preservation of the total foraminiferal association depends on the proportions of in-situ versus displaced specimens. In greater water depths (stronger dissolution), for example, the preservation can be improved by the admixture of relatively well preserved displaced foraminifera. Carbonate cementation and the formation of manganese micronodules are restricted to microenvironments with locally increased organic carbon contents (e.g. pellets; foraminifera). The ash layers consist of redeposited, silicic volcanic glass of trachytic composition and Mio-Pliocene age; possibly, they can be derived from the upper part of the seamount. Siliceous organisms, especially diatoms, are frequent close to the ash layers and probably also redeposited. Their preservation was favoured by the increase of the SiO2 content in the pore water caused by the silicic volcanic glass. The cores were biostraftsraphically subdivided with the aid of planktonic foraminifera and partly alsococcoliths. In most cases, the biostratigraphically determined cold- and warm sections could be correlated from core to core. Almost all cores do not penetrate the Late Pleistocene. All Tertiary fossils are reworked. In general, the warm/cold boundary W2/C2 corresponds with the lithostratigraphic A/B boundray. Benthonic foraminifera indicate the original site deposition of the displaced material (summit plateau or flanks of the seamount). The asymmetric distribution of the sediments around the seamount east and west of the NE-directed antarctic bottom current (AABW) is explained by the distortion of the streamlines by the Coriolis force; by this process the current velocity is increased west of the seamount and decreased east of it. The different proportion of displaced material within the "A" and "B" interval is explained by changes of the intensity of the oceanic circulation. At the time of "B" the flow of the AABW around the seamount was stronger than during "A"; this can be inferred from the presence of characteristic benthonic foraminifera. The increased oceanic circulation implies an enhanced differentiation of the current velocities, and by that, also of the sedimentation rates, and intensifies the winnowed sediment material was transported downslope by turbid layers into the deep-sea, incorporated into the current system of the AABW, and asymmetrically deposited around the seamount.

Composition of the sand fraction of sediment cores from the West-African continental margin

Seven cores from the West African continental margin in 12-18° N have been investigated by means of a coarse fraction analysis. Four of the seven cores contain allochthonous material: turbidites and debris flow deposits. The source of the allochthonous material is in about 300-600 m water depth. The age of the slide induced debris flow deposits is at the end of oxygen isotope stage 2. One debris flow deposit is covered by a turbidite (core GIK13211-1). The turbidites in the deep-sea core GIK13207-3 originate from river-influenced sediments from the West-African continental margin, whereas the autochthonous sequences are influenced by volcanic material from the Cape Verde Islands. Particle by particle supply from upper slope areas has been found in all four cores from the continental slope. Current sorting occurs on the submarine diapir (core GIK13289-3), whereas core GIK13291-1 on the NW-flanc, 200 m below core GIK13289-3, has no current sorting, except for stage 1 and parts of stage 5. The current sorting is reflected by parallel variations of median diameters of whole tests and of fragments of planktonic foraminifers, by higher median diameters of foraminifers on top of the diapir, by reduced accumulation rates and increased sand fraction percentages in core GIK13289-3 compared to core GIK13291-1. The Late Quarternary climatic history of the West-African near coastal area (12-18° N) has been redrawn: - in oxygen isotope stage 1 a humid climate is found in 12-18° N (This "humid impression" in 18° N, which is actually an arid area, is due to the poleward directed undercurrent, which transports Senegal river material to the north). - in oxygen isotope stage 2 an arid climate existed in 14-18° N, whereas in 12° N river discharfe persisted. But within stage 2 dune formation occured in 12° N on the (dry) shelf, additionally to fluviatile sediment input. - Older periods are preserved in autochthonous sediments of core GIK13289-3 and GIK13291-1, where oxygen stage 3,5 and 7 (the latter only in core GIK13289-3 present) show a humid climate (as well as in stage 5 of core GIK13255-3), interrupted by short arid intervals in core GIK12389-3, and stage 4 and 6 show an arid climate, interrupted by short humid periods The allochthonous stage 5 sediment in core GIK13211-1 also reflects a humid climate. The dissolution of planktonic foraminifers is strongest in th eLate Holocene and shows a minimum in the early Holocene, where also pteropods are preserved. The degree of carbonate dissolution is related mainly to the fine matter content (< 63 µm) whereas water depth is a less decisvive factor.

Age model, stable isotopes, major element proportions and endmember unmixing results from four western tropical Atlantic cores

We investigate changes in the delivery and oceanic transport of Amazon sediments related to terrestrial climate variations over the last 250 ka. We present high-resolution geochemical records from four marine sediment cores located between 5 and 12° N along the northern South American margin. The Amazon River is the sole source of terrigenous material for sites at 5 and 9° N, while the core at 12° N receives a mixture of Amazon and Orinoco detrital particles. Using an endmember unmixing model, we estimated the relative proportions of Amazon Andean material ("%-Andes", at 5 and 9° N) and of Amazon material ("%-Amazon", at 12° N) within the terrigenous fraction. The %-Andes and %-Amazon records exhibit significant precessional variations over the last 250 ka that are more pronounced during interglacials in comparison to glacial periods. High %-Andes values observed during periods of high austral summer insolation reflect the increased delivery of suspended sediments by Andean tributaries and enhanced Amazonian precipitation, in agreement with western Amazonian speleothem records. Increased Amazonian rainfall reflects the intensification of the South American monsoon in response to enhanced land-ocean thermal gradient and moisture convergence. However, low %-Amazon values obtained at 12° N during the same periods seem to contradict the increased delivery of Amazon sediments. We propose that reorganizations in surface ocean currents modulate the northwestward transport of Amazon material. In agreement with published records, the seasonal North Brazil Current retroflection is intensified (or prolonged in duration) during cold substages of the last 250 ka (which correspond to intervals of high DJF or low JJA insolation) and deflects eastward the Amazon sediment and freshwater plume.

Pb isotope and geochemical record of Arctic sediments

Elemental and Pb isotope measurements were performed on leachates and residues from surface sediments and two <50 cm cores (MC04 and MC16) collected along a NE-SW transect through Fram Strait. Geochemical and isotopic properties of residues from surface sediments define three distinct spatial domains within the Strait: 1) the easternmost edge of the Strait; 2) the eastern part of the Strait off the Svalbard margins; and 3) the western part of the Strait, influenced by supplies from Svalbard, the Nordic seas with possible contributions from northwestern Siberian margins, and sea ice and water outflow from the Arctic, respectively. Core MC16, in the third domain beneath the outflowing Arctic waters, spans the Last Glacial Maximum present interval. Sediments from this core were leached to obtain detrital (residues) and exchangeable (leachates) fractions. Detrital supplies to core MC16 are believed to originate mainly from melting of the overlying sea ice and thus can be used to document changes in Arctic sedimentary sources. Detrital 206Pb/204Pb and 208Pb/206Pb ratios illustrate two mixing trends, Trends A and B, corresponding to the pre- and post-Younger Dryas (YD) intervals, respectively. These trends represent binary mixtures with a common end-member (Canadian margins) and either a Siberian (Trend A) or Greenland (Trend B) margin end-member. The YD is marked by an isotopic excursion toward the Canadian end-member, suggesting a very active Beaufort Gyre possibly triggered by massive drainage of the Laurentide ice sheet. Pb isotope compositions of leachates, thought to represent the signature of the overlying water masses, define a unique linear trend coincident with Trend A. This suggests that water masses acquired their signature through exchange with particulate fluxes along the Canadian and Siberian continental margins.

(Table A1) Species list of the high Antarctic Weddell Sea food web

Human-induced habitat destruction, overexploitation, introduction of alien species and climate change are causing species to go extinct at unprecedented rates, from local to global scales. There are growing concerns that these kinds of disturbances alter important functions of ecosystems. Our current understanding is that key parameters of a community (e.g. its functional diversity, species composition, and presence/absence of vulnerable species) reflect an ecological network's ability to resist or rebound from change in response to pressures and disturbances, such as species loss. If the food web structure is relatively simple, we can analyse the roles of different species interactions in determining how environmental impacts translate into species loss. However, when ecosystems harbour species-rich communities, as is the case in most natural systems, then the complex network of ecological interactions makes it a far more challenging task to perceive how species' functional roles influence the consequences of species loss. One approach to deal with such complexity is to focus on the functional traits of species in order to identify their respective roles: for instance, large species seem to be more susceptible to extinction than smaller species. Here, we introduce and analyse the marine food web from the high Antarctic Weddell Sea Shelf to illustrate the role of species traits in relation to network robustness of this complex food web. Our approach was threefold: firstly, we applied a new classification system to all species, grouping them by traits other than body size; secondly, we tested the relationship between body size and food web parameters within and across these groups and finally, we calculated food web robustness. We addressed questions regarding (i) patterns of species functional/trophic roles, (ii) relationships between species functional roles and body size and (iii) the role of species body size in terms of network robustness. Our results show that when analyzing relationships between trophic structure, body size and network structure, the diversity of predatory species types needs to be considered in future studies.

Late Pleistocene oxygen isotope record of biognic silica

We determined the isotopic composition of oxygen in marine diatoms in eight deep-sea cores recovered from the Atlantic sector of the Southern Ocean. The analytical reproducibility and core-to-core consistency of the isotopic signal suggests that diatom delta18O can be used as a new paleocenographic tool to reconstruct past variations in surface water characteristics and to generate 18O -isotope-based stratigraphy for the Southern Ocean. The data indicate that diatom delta18O reflects sea surface temperature and seawater isotopic composition and that diatoms retain their isotopic signal on timescales of a least 430 ka. The delta18O analyses of different diatom assemblages reveal that the isotopic signal is free of species effects and that the common Antarctic species have the same water-opal fractionation. The transition from the last glacial maximum (LGM) to the Holocene is fully recorded in high sedimentation rate cores. An 18O enrichment during the LGM, a post-LGM meltwater spike and an input of meltwater during the late Holocene are the main isotopic features observed in down core records. The origin of this meltwater was very likely melting icebergs and/or continental ice or by melting sea ice that had accumulated snow. The most pronounced meltwater effects are recorded in cores that are associated with the Weddel gyre. Our results provide the basis for extending isotope studies to oceanic regions devoid of carbonate; further, isotopic stratigraphies may be constructed for records and regions where they were previously not possible.

Distribution of foraminifera and other components in ODP Leg 188 sites

During Leg 188 of the Ocean Drilling Program (ODP), employing JOIDES Resolution, we drilled holes at three sites in the southern Indian Ocean in and near Prydz Bay, East Antarctica, between 28 January and 29 February 2000. The objectives of the voyage were to: - Core through sediments deposited when Antarctica underwent the transition from "greenhouse" to the modern "icehouse" state late in the Eocene or early in the Oligocene, at sites obtaining their sediment from the currently subglacial Gamburtsev Mountains that probably were the site of nucleation of the ice sheet (principally Site 1166); - Obtain a sediment record from times at which major changes in the ice sheet volume and characteristics took place as judged from oxygen isotope records, especially at ~23.7 Ma (Oligocene/Miocene boundary), 12-16 Ma (middle Miocene), and 2.7 Ma (late Pliocene) (mainly Site 1165); and - Sample through the upper Pliocene and Quaternary in an attempt to document fluctuations in the extent of the ice sheet over the continental shelf during the Quaternary (especially Site 1167). Paleogene foraminifer-bearing marine sections were not intersected, and thus discussion of marine sections is restricted to the Neogene. Foraminifers are not major contributors to Leg 188 chronostratigraphy but contribute to paleoenvironmental interpretation, to issues such as carbonate compensation depth (CCD) effects and source and history of sediment, and provide a basis for Sr and d18O studies. Chronostratigraphy for the various sections was compiled from diatoms, radiolarians, and paleomagnetism (Shipboard Scientific Party, 2001, doi:10.2973/odp.proc.ir.188.101.2001). Foraminifers were sporadic rather than continuous except in short intervals; however, the Neogene foraminifers from the region are very poorly known and the new records proved to be of significant value in paleoenvironmental interpretation. Only at Site 1167 did drilling intersect a section that yielded foraminifers virtually throughout. Other than for the very young section at each site, there is virtually no continuity of assemblages between sites and thus each section is treated here as separate and unrelated.

Stable isotope record, and abundances of ice rafted debris and Neogloboquadrina pachyderma in sediments of the Iberian margin

This paper documents the migration of the Polar Front (PF) over the Iberian margin during some of the cold climatic extremes of the last 45 ka. It is based on a compilation of robust and coherent paleohydrological proxies obtained from eleven cores distributed between 36 and 42°N. Planktonic delta18O (Globigerina bulloides), ice-rafted detritus concentrations, and the relative abundance of the polar foraminifera Neogloboquadrina pachyderma sinistral were used to track the PF position. These three data sets, compared from core to core, show a consistent evolution of the sea surface paleohydrology along the Iberian margin over the last 45 ka. We focused on five time slices representative of cold periods under distinct paleoenvironmental forcings: the 8.2 ka event and the Younger Dryas (two recent cold events occurring within high values of summer insolation), Heinrich events 1 and 4 (reflecting major episodes of massive iceberg discharges into the North Atlantic), and the Last Glacial Maximum (typifying the highest ice volume accumulated in the Northern Hemisphere). For each event, we generated schematic maps mirroring past sea surface hydrological conditions. The maps revealed that the Polar Front presence along the Iberian margin was restricted to Heinrich events. The sea surface conditions during the Last Glacial Maximum were close to those at present day, except for the northern sites which briefly experienced subarctic conditions.

InN/GaN heterojunction electrical behavior

Indium nitride (InN) has been the subject of intense research in recent years. Some of its most attractive features are its excellent transport properties such as its small band edge electron effective mass, high electron mobilities and peak drift velocities, and high frequency transient drift velocity oscillations [1]. These suggest enormous potential applications for InN in high frequency electronic devices. But to date the high unintentional bulk electron concentration (n~1018 cm-3) of undoped InN samples and the surface electron accumulation layer make it a hard task to create a reliable metalsemiconductor Schottky barrier. Some attempts have been made to overcome this problem by means of material oxidation [2] or deposition of insulators [3]. In this work we present a way to obtain an electrical rectification behaviour by means of heterojunction growth. Due to the big band gap differences among nitride semiconductors, it’s possible to create a structure with high band offsets. In InN/GaN heterojunctions, depending on the GaN doping, the magnitude of conduction and valence band offset are critical parameters which allow distinguishing among different electrical behaviours. The earliest estimate of the valence band offset at an InN–GaN heterojunction in a wurtzite structure was measured to be ~0.85 eV [4], while the Schottky barrier heights were determined to be ~ 1,4 eV [5].We grew In-face InN layer with varying thickness (between 150 nm and 1 mm) by plasma assisted molecular beam epitaxy (PA-MBE) on GaNntemplates (GaN/Al2O3), with temperatures ranging between 300°C and 450°C. The different doping in GaN template (Si doping, Fe doping and Mg doping) results in differences in band alignments of the two semiconductors changing electrical barriers for carriers and consequently electrical conduction behaviour. The processing of the devices includes metallization of the ohmic contacts on InN and GaN, for which we used Ti/Al/Ni/Au. Whereas an ohmic contact on InN is straightforward, the main issue was the fabrication of the contact on GaN due to the very low decomposition temperature of InN. A standard ohmic contact on GaN is generally obtained by high temperature rapid thermal annealing (RTA), typically done between 500ºC and 900ºC[6]. In this case, the limitation due to the presence of In-face InN imposes an upper limit on the temperature for the thermal annealing process and ohmic contact formation of about 450°C. We will present results on the morphology of the InN layers by X-Ray diffraction and SEM, and electrical measurements, in particular current-voltage and capacitance-voltage characteristics.

O 1s excitation and ionization processes in the CO2 molecule studied via detection of low-energy fluorescence emission

Oxygen 1s excitation and ionization processes in the CO2 molecule have been studied with dispersed and non-dispersed fluorescence spectroscopy as well as with the vacuum ultraviolet (VUV) photon?photoion coincidence technique. The intensity of the neutral O emission line at 845 nm shows particular sensitivity to core-to-Rydberg excitations and core?valence double excitations, while shape resonances are suppressed. In contrast, the partial fluorescence yield in the wavelength window 300?650 nm and the excitation functions of selected O+ and C+ emission lines in the wavelength range 400?500 nm display all of the absorption features. The relative intensity of ionic emission in the visible range increases towards higher photon energies, which is attributed to O 1s shake-off photoionization. VUV photon?photoion coincidence spectra reveal major contributions from the C+ and O+ ions and a minor contribution from C2+. No conclusive changes in the intensity ratios among the different ions are observed above the O 1s threshold. The line shape of the VUV?O+ coincidence peak in the mass spectrum carries some information on the initial core excitation

Visual Tracking, Pose Estimation, and Control for Aerial Vehicles

El principal objetivo de esta tesis es dotar a los vehículos aéreos no tripulados (UAVs, por sus siglas en inglés) de una fuente de información adicional basada en visión. Esta fuente de información proviene de cámaras ubicadas a bordo de los vehículos o en el suelo. Con ella se busca que los UAVs realicen tareas de aterrizaje o inspección guiados por visión, especialmente en aquellas situaciones en las que no haya disponibilidad de estimar la posición del vehículo con base en GPS, cuando las estimaciones de GPS no tengan la suficiente precisión requerida por las tareas a realizar, o cuando restricciones de carga de pago impidan añadir sensores a bordo de los vehículos. Esta tesis trata con tres de las principales áreas de la visión por computador: seguimiento visual y estimación visual de la pose (posición y orientación), que a su vez constituyen la base de la tercera, denominada control servo visual, que en nuestra aplicación se enfoca en el empleo de información visual para controlar los UAVs. Al respecto, esta tesis se ocupa de presentar propuestas novedosas que permitan solucionar problemas relativos al seguimiento de objetos mediante cámaras ubicadas a bordo de los UAVs, se ocupa de la estimación de la pose de los UAVs basada en información visual obtenida por cámaras ubicadas en el suelo o a bordo, y también se ocupa de la aplicación de las técnicas propuestas para solucionar diferentes problemas, como aquellos concernientes al seguimiento visual para tareas de reabastecimiento autónomo en vuelo o al aterrizaje basado en visión, entre otros. Las diversas técnicas de visión por computador presentadas en esta tesis se proponen con el fin de solucionar dificultades que suelen presentarse cuando se realizan tareas basadas en visión con UAVs, como las relativas a la obtención, en tiempo real, de estimaciones robustas, o como problemas generados por vibraciones. Los algoritmos propuestos en esta tesis han sido probados con información de imágenes reales obtenidas realizando pruebas on-line y off-line. Diversos mecanismos de evaluación han sido empleados con el propósito de analizar el desempeño de los algoritmos propuestos, entre los que se incluyen datos simulados, imágenes de vuelos reales, estimaciones precisas de posición empleando el sistema VICON y comparaciones con algoritmos del estado del arte. Los resultados obtenidos indican que los algoritmos de visión por computador propuestos tienen un desempeño que es comparable e incluso mejor al de algoritmos que se encuentran en el estado del arte. Los algoritmos propuestos permiten la obtención de estimaciones robustas en tiempo real, lo cual permite su uso en tareas de control visual. El desempeño de estos algoritmos es apropiado para las exigencias de las distintas aplicaciones examinadas: reabastecimiento autónomo en vuelo, aterrizaje y estimación del estado del UAV. Abstract The main objective of this thesis is to provide Unmanned Aerial Vehicles (UAVs) with an additional vision-based source of information extracted by cameras located either on-board or on the ground, in order to allow UAVs to develop visually guided tasks, such as landing or inspection, especially in situations where GPS information is not available, where GPS-based position estimation is not accurate enough for the task to develop, or where payload restrictions do not allow the incorporation of additional sensors on-board. This thesis covers three of the main computer vision areas: visual tracking and visual pose estimation, which are the bases the third one called visual servoing, which, in this work, focuses on using visual information to control UAVs. In this sense, the thesis focuses on presenting novel solutions for solving the tracking problem of objects when using cameras on-board UAVs, on estimating the pose of the UAVs based on the visual information collected by cameras located either on the ground or on-board, and also focuses on applying these proposed techniques for solving different problems, such as visual tracking for aerial refuelling or vision-based landing, among others. The different computer vision techniques presented in this thesis are proposed to solve some of the frequently problems found when addressing vision-based tasks in UAVs, such as obtaining robust vision-based estimations at real-time frame rates, and problems caused by vibrations, or 3D motion. All the proposed algorithms have been tested with real-image data in on-line and off-line tests. Different evaluation mechanisms have been used to analyze the performance of the proposed algorithms, such as simulated data, images from real-flight tests, publicly available datasets, manually generated ground truth data, accurate position estimations using a VICON system and a robotic cell, and comparison with state of the art algorithms. Results show that the proposed computer vision algorithms obtain performances that are comparable to, or even better than, state of the art algorithms, obtaining robust estimations at real-time frame rates. This proves that the proposed techniques are fast enough for vision-based control tasks. Therefore, the performance of the proposed vision algorithms has shown to be of a standard appropriate to the different explored applications: aerial refuelling and landing, and state estimation. It is noteworthy that they have low computational overheads for vision systems.

KATS: A Knowledge Acquisition Tool Based on Electronic Document Processing

This paper describes a particular knowledge acquisition tool for the construction and maintenance of the knowledge model of an intelligent system for emergency management in the field of hydrology. This tool has been developed following an innovative approach directed to end-users non familiarized in computer oriented terminology. According to this approach, the tool is conceived as a document processor specialized in a particular domain (hydrology) in such a way that the whole knowledge model is viewed by the user as an electronic document. The paper first describes the characteristics of the knowledge model of the intelligent system and summarizes the problems that we found during the development and maintenance of such type of model. Then, the paper describes the KATS tool, a software application that we have designed to help in this task to be used by users who are not experts in computer programming. Finally, the paper shows a comparison between KATS and other approaches for knowledge acquisition.