Sea-floor videos and photographs (benthos) along 6 shelf profiles from the eastern Weddell Sea, Antarctica taken with remote operated vehicel CHEROKEE during Polarstern cruise ANT-XXI/2

The ROV operations had three objectives: (1) to check, whether the "Cherokee" system is suited for advanced benthological work in the high latitude Antarctic shelf areas; (2) to support the disturbance experiment, providing immediate visual Information; (3) to continue ecological work that started in 1989 at the hilltop situated at the northern margin of the Norsel Bank off the 4-Seasons Inlet (Weddell Sea). The "Cherokee" is was equipped with 3 video cameras, 2 of which support the operation. A high resolution Tritech Typhoon camera is used for scientific observations to be recorded. In addition, the ROV has a manipulator, a still camera, lights and strobe, compass, 2 lasers, a Posidonia transponder and an obstacle avoidance Sonar. The size of the vehicle is 160 X 90 X 90cm. In the present configuration without TMS (tether management system) the deployment has to start with paying out the full cable length, lay it in loops on deck and connect the glass fibres at the tether's spool winch. After a final technical check the vehicle is deployed into the water, actively driven perpendicular to the ship's axis and floatings are fixed to the tether. At a cable length of approx. 50 m, the tether is tightened to the depressor by several cable ties and both components are lowered towards the sea floor, the vehicle by the thruster's propulsion and the depressor by the ship's winch. At 5 m intervals the tether has to be tied to the single conductor cable. In good weather conditions the instruments supporting the navigation of the ROV, especially the Posidonia system, allow an operation mode to follow the ship's course if the ship's speed is slow. Together with the lasers which act as a scale in the images they also allow a reproducible scientific analysis since the transect can be plotted in a GIS system. Consequently, the area observed can be easily calculated. An operation as a predominantly drifting system, especially in areas with bottom near currents, is also possible, however, the connection of the tether at the rear of the vehicle is unsuitable for such conditions. The recovery of the system corresponds to that of the deployment. Most important is to reach the surface of the sea at a safe distance perpendicular to the ship's axis in order not to interfere with the ship's propellers. During this phase the Posidonia transponder system is of high relevance although it has to be switched off at a water depth of approx. 40 m. The minimum personal needed is 4 persons to handle the tether on deck, one person to operate the ship's winch, one pilot and one additional technician for the ROV's operation itself, one scientist, and one person on the ship's bridge in addition to one on deck for whale watching when the Posidonia system is in use. The time for the deployment of the ROV until it reaches the sea floor depends on the water depth and consequently on the length of the cable to be paid out beforehand and to be tightened to the single conductor cable. Deployment and recovery at intermediate water depths can last up to 2 hours each. A reasonable time for benthological observations close to the sea floor is 1 to 3 hours but can be extended if scientifically justified. Preliminary results: after a first test station, the ROV was deployed 3 times for observations related to the disturbance experiment. A first attempt to Cross the hilltop at the northern margin of the Norsel Bank close to the 4- Seasons Inlet was successful only for the first hundreds of metres transect length. The benthic community was dominated in biomass by the demosponge Cinachyra barbata. Due to the strong current of approx. 1 nm/h, the design of the system, and an expected more difficult current regime between grounded icebergs and the top of the hilltop the operation was stopped before the hilltop was reached. In a second attempt the hilltop was successfully crossed because the current and wind situation was much more suitable. In contrast to earlier expeditions with the "sprint" ROV it was the first time that both slopes, the smoother in the northeast and the steeper in the southwest were continuously observed during one cast. A coarse classification of the hilltop fauna shows patches dominated by single taxa: cnidarians, hydrozoans, holothurians, sea urchins and stalked sponges. Approximately 20 % of the north-eastern slope was devastated by grounding icebergs. Here the sediments consisted of large boulders, gravel or blocks of finer sediment looking like an irregularly ploughed field. On the Norsel Bank the Cinachyra concentrations were locally associated with high abundances of sea anemones. Total observation time amounted to 11.5 hours corresponding to almost 6-9 km transect length.

Atlas visual de cincuenta y siete años de arquitectura

En 1929 aparece el primer número de AA (L’architecture d’aujourd’hui), en 1932 existe un número-Monografía sobre los hermanos Perret, escrita por Pierre Vago, en 1946 se consolida como revista mensual y bajo la fundación de Andre Bloc. El primer número de AA que tengo en mi biblioteca es el número 34 (febrero-Marzo) de 1951. Mediante la lectura observada de una colección como AA, la determinación de unos capítulos representativos y la elección de imágenes de su tiempo se explican estos 57 años de arquitectura, cuyos resultados de un proceso temporal disfrutamos desde hace aproximadamente veinte años. A principio de los años cincuenta un grupo de jóvenes arquitectos, denso e intercomunicado en los congresos CIAM se propone situar la realidad de la arquitectura en los principios y realidades de su tiempo y de los que se intuyen futuro. Resultados de la Segunda Gran Guerra no son solo tragedias humanas sino gran investigación y desarrollo concretada industrialmente, enormes movimientos de personas en Europa y una sociedad enormemente optimista en USA, todo esto producirá las grandes transformaciones sociales de los 60’ y sus concreciones tecnológicas, políticas y desarrollo. Muchos arquitectos, publicaciones, concursos o decisiones políticas o privadas han producido el catalogo de arquitecturas de estos años, desde el CIAM IX hasta el POMPIDOU, desde la casa GEHRY hasta el KUNSTHAL, desde BRASILIA hasta SIDNEY, desde COPLEJIDAD Y CONTRADICCIÓN hasta DELIRIOS DE NY, desde OSAKA hasta MUNICH. En todas han existido un esfuerzo enorme por concretar la realidad de nuestras aspiraciones desde las puramente ideológicas de introspección social, hasta las concreciones de imagen directa. Varias líneas he abierto en mi proceso de investigación, las he llamado “anillos” porque todas estas líneas tienen similitud con los “anillos de crecimiento” de los árboles en cuanto a como se presentan en la estructura de formación y ha la cantidad de información no solo interna sino externa que aportan sobre la estructura árbol, su medio y la historia. Igual que podemos saber las temperaturas o las pluviometría que cubrieron Europa en la edad media solo estudiando los anillos de crecimiento de nuestro árboles (su grosor), de igual forma repasando LOS CONCURSOS y sus resultados que existieron en los últimos cincuenta años, podemos entender las aspiraciones y concreciones de las sociedades y sus arquitectos en este tiempo. Cuatro capítulos, los mas determinantes son los elegidos para dar cuerpo a una TESIS de tamaño capaz: Las ideas, el futuro, las referencias y el presente son los capítulos que de forma visual intentan explicar el fruto arquitectónico, sus aspiraciones y sus concreciones. Las ideas sin ninguna duda, pertenecen a los padres de nuestro tiempo, son las del Team X, la reflexión sobre lo perecedero, las realidades programáticas, densidades o lo publico-privado son solo planetas en el universo de sus ideas. El futuro lo trazaron aquellos que empezaron a investigar, concretar o reflexionar sobre la incidencia tanto de los procesos industriales con sus nuevos materiales como de las nuevas concreciones urbanas que los movimientos migratorios producirían en las ciudades. Las referencias son las bibliotecas de carácter informativo-visual que han generado nuestro inventario icónico. El presente son las imágenes de referencia de nuestro tiempo-mediático, no solo las produce un arquitecto (en este caso R.Koolhas), pero si que es verdad que en las imágenes arquitectónicas de OMA se concreta todo el catalogo de arquitecturas del presente. ENGLISH SUMMARY The fisrt AA (l´Architecture d´Aujourd´hui) issue was published in 1929, three years later, in 1932, a monographic issue on Perret brothers was written by Pierre Vago and in 1946 the magazine was strongly established as a monthly publication under the direction of André Bloc. The oldest copy I own on my bookshelves is nº 34 printed in February-March 1951. While carefully reading a collection such as AA we are able to extract representative chapters and images that can explain a linear process lasting 57 years of fruitful architectural production of which consequences we have been enjoying the past twenty years. In the early fifties a compact group of young architects linked by the CIAM congress decided to encompass architectural reality to the needs and principles of their time. Not only big human tragedies arose from the Second World War but also some of the fastest industrial inventions due to a powerful will to development, that altogether with european migrations and a high standard of optimism in the United States headed to the peak transformations of the sixties and their technological and political development. A bunch of architects, magazines and architectural competitions sided by political and private decisions produced the architectural catalogue of those years, from CIAM IX to the Pompidou art centre, from Gerhy´s house to the Kunsthal museum, from Brasilia to Sidney, from “Complexity and Contradiction“ to “Delirious NY” and from Osaka all the way to Munich. All of them carried a vast effort towards the concretion of will, from social introspection to a more effective development of images. Several paths run across my investigation, namely “the rings”, as they tend to behave as a growing structure like a tree trunk, providing internal and external information not only of the vegetal element but also of the environment and events crossing its time. In the same direction as we are able to predict the weather in the Middle Age by means of studying our forests, we can use the architectural competitions ant their results for the past fifty years to understand the will and ambitions of these developing societies and their architects. To give shape to a sizeable thesis the selected information has been packed in four chapters: Ideas, Future, References and Present, each of them structured as an Image bank visualizing the architectural product, its will and specific ambition. The first group, Ideas, is devoted entirely to the step-fathers of present architecture, with ideas that belong to TEAM X and embrace the reflection about the transitory, the programmatic reality, density or the public-private debate as wandering planets of their ideal universe. The second group is dedicated to a Future that was traced by those engaged on industrial processes and new material investigation together with some others exploring new urban concretions brought to existence by the pressure of the after war migrations. The third group, References, have been shaped as a stock-list containing all our iconic cross-references. The last group, Present, brings together the icons of this media-time we live in and not only those produced by one single architect (Rem Koolhaas) even if his production embodies all architectural references at the moment.

Proposal of a dynamic performance index to analyze driving pattern effect on car emissions

The contributions of driver behaviour as well as surrounding infrastructure are decisive on pollutant emissions from vehicles in real traffic situations. This article deals with the preliminary study of the interaction between the dynamic variables recorded in a vehicle (driving pattern) and pollutant emissions produced over a given urban route. It has been established a “dynamic performance index”-DPI, which is calculated from some driving pattern parameters, which in turn depends on traffic congestion level and route characteristics, in order to determine whether the driving has been aggressive, normal or calm. Two passenger cars instrumented with a portable activity measurement system -to record dynamic variables- and on-board emission measurement equipment have been used. This study has shown that smooth driving patterns can reduce up to 80% NOX emissions and up to 20% of fuel in the same route

Environmental assessment of low speed policies for motor vehicle mobility in city centres

streets in local residential areas in large cities, real traffic tests for pollutant emissions and fuel consumption have been carried out in Madrid city centre. Emission concentration and car activity were simultaneously measured by a Portable Emissions Measurement System. Real life tests carried out at different times and on different days were performed with a turbo-diesel engine light vehicle equipped with an oxidizer catalyst and using different driving styles with a previously trained driver. The results show that by reducing the speed limit from 50 km h-1 to 30 km h-1, using a normal driving style, the time taken for a given trip does not increase, but fuel consumption and NOx, CO and PM emissions are clearly reduced. Therefore, the main conclusion of this work is that reducing the speed limit in some narrow streets in residential and commercial areas or in a city not only increases pedestrian safety, but also contributes to reducing the environmental impact of motor vehicles and reducing fuel consumption. In addition, there is also a reduction in the greenhouse gas emissions resulting from the combustion of the fuel.

A simulation method to estimate closing forces in car-sealing rubber elements

The door-closing process can reinforce the impression of a solid, rock-proof, car body or of a rather cheap, flimsy vehicle. As there are no real prototypes during rubber profile bidding-out stages, engineers need to carry out non-linear numerical simulations that involve complex phenomena as well as static and dynamic loads for several profile candidates. This paper presents a structured virtual design tool based on FEM, including constitutive laws and incompressibility constraints allowing to predict more realistically the final closing forces and even to estimate sealing overpressure as an additional guarantee of noise insulation. Comparisons with results of physical tests are performed.

Floating car data augmentation based on infrastructure sensors and neural networks

The development of new-generation intelligent vehicle technologies will lead to a better level of road safety and CO2 emission reductions. However, the weak point of all these systems is their need for comprehensive and reliable data. For traffic data acquisition, two sources are currently available: 1) infrastructure sensors and 2) floating vehicles. The former consists of a set of fixed point detectors installed in the roads, and the latter consists of the use of mobile probe vehicles as mobile sensors. However, both systems still have some deficiencies. The infrastructure sensors retrieve information fromstatic points of the road, which are spaced, in some cases, kilometers apart. This means that the picture of the actual traffic situation is not a real one. This deficiency is corrected by floating cars, which retrieve dynamic information on the traffic situation. Unfortunately, the number of floating data vehicles currently available is too small and insufficient to give a complete picture of the road traffic. In this paper, we present a floating car data (FCD) augmentation system that combines information fromfloating data vehicles and infrastructure sensors, and that, by using neural networks, is capable of incrementing the amount of FCD with virtual information. This system has been implemented and tested on actual roads, and the results show little difference between the data supplied by the floating vehicles and the virtual vehicles.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

Puente de ferrocarril sobre el Mittellandkanal en Braunschweig

The bridge over the Mittellandkanal is located in the municipality of Braunschweig, a city of Low Saxony located in Mid-North Germany, between Berlin and Hannover, 50 km away from this last city. The city of Braunschwig has 248.867 inhabitants (December 2010). The orography of the zone is practically even, with some slopes in the surrounding area, with a no important variation of the ground elevation, characterized by a big uniformity and a great visual quality. In this zone the canal flows from west to east, from the Dortmundkanal until the Elbe river, so it has a length of 325,3 km. The normal flora from the zone is farmland with some little forests not very big and not very important. But the Mittellandkanal lies at the North of Brauschweig, that means that in the zone of the canal there is a change between the urban area and the rural area. For this reason in the zone of the bridge we start to find farmlands and forest, however the constructions and buildings are still present in this area. The railway line that is going to be built will unite the North-center of Germany with the North-East of Germany because some of the following factors: •Overstress of the only existing line in the moment that connects Berlin with the North-East extreme of Germany. •No direct connection with the North-Easth Germany with other important German cities from South and West of Germany. •Replacement of the old existing one way line in the area that has to be renewed. •Modernization of the old railway lines of Germany. Schedule order by the European Union and the German Government. The actual lines of the zone do not have the necessary conditions and characteristics to satisfy the demand of the travelers that want to travel all over Germany with the railway avoiding using other transports like plan or car. For these reasons the necessity of the replacement of the old railway line and the aim to create a union with the North-East Germany that has a deficit of transport infrastructures and connections with the rest of the country and Europe. Although the new railway line provokes some disadvantages when constructing it is indispensable to build this railway line. The pass of the railway line through Braunschweig has not been random. The zone Braunschweig-Wolfsburg is a very industrialized area because of some companies like Wolkswagen and too because this zone is an important pass of important line from Berlin, South and East Germany. For all of these reasons the railway line goes through Braunschweig and connects to the city of Wolfsburg first, and after the North-East Germany zone.

Employment rate impacts of charging the Heavy Good Vehicle corridor (Madrid-Sevilla) across Spanish regions: a Random Utility Based Multiregional Input-Output approach

The implementation of a charging policy for heavy goods vehicles in European Union (EU) member countries has been imposed to reflect costs of construction and maintenance of infrastructure as well as externalities such as congestion, accidents and environmental impact. In this context, EU countries approved the Eurovignette directive (1999/62/EC) and its amending directive (2006 /38/EC) which established a legal framework to regulate the system of tolls. Even if that regulation seek s to increase the efficien cy of freight, it will trigger direct and indirect effects on Spain’s regional economies by increasing transport costs. This paper presents the development of a multiregional Input-Output methodology (MRIO) with elastic trade coefficients to predict in terregional trade, using transport attributes integrated in multinomial logit models. This method is highly useful to carry out an ex-ante evaluation of transport policies because it involves road freight transport cost sensitivity, and determine regional distributive and substitution economic effect s of countries like Spain, characterized by socio-demographic and economic attributes, differentiated region by region. It will thus be possible to determine cost-effective strategies, given different policy scenarios. MRIO mode l would then be used to determine the impact on the employment rate of imposing a charge in the Madrid-Sevilla corridor in Spain. This methodology is important for measuring the impact on the employment rate since it is one of the main macroeconomic indicators of Spain’s regional and national economic situation. A previous research developed (DESTINO) using a MRIO method estimated employment impacts of road pricing policy across Spanish regions considering a fuel tax charge (€/liter) in the entire shortest cost path network for freight transport. Actually, it found that the variation in employment is expected to be substantial for some regions, and negligible for others. For example, in this Spanish case study of regional employment has showed reductions between 16.1% (Rioja) and 1.4% (Madrid region). This variation range seems to be related to either the intensity of freight transport in each region or dependency of regions to transport intensive economic sect ors. In fact, regions with freight transport intensive sectors will lose more jobs while regions with a predominantly service economy undergo a fairly insignificant loss of employment. This paper is focused on evaluating a freight transport vehicle-kilometer charge (€/km) in a non-tolled motorway corridor (A-4) between Madrid-Sevilla (517 Km.). The consequences of the road pricing policy implementation show s that the employment reductions are not as high as the diminution stated in the previous research because this corridor does not affect the whole freight transport system of Spain.

Rapid prototyping framework for visual control of autonomous micro aerial vehicles

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro Aerial Vehicles (MAV). We have applied a combination of a proxy-based network communication architecture and a custom Application Programming Interface. This allows multiple experimental configurations, like drone swarms or distributed processing of a drone’s video stream. Currently, the framework supports a low-cost MAV: the Parrot AR.Drone. Real tests have been performed on this platform and the results show comparatively low figures of the extra communication delay introduced by the framework, while adding new functionalities and flexibility to the selected drone. This implementation is open-source and can be downloaded from www.vision4uav.com/?q=VC4MAV-FW

Genetic fuzzy-based steering wheel controller using a mass-produced car

Intelligent Transportation Systems (ITS) cover a broad range of methods and technologies that provide answers to many problems of transportation. Unmanned control of the steering wheel is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle to reproduce the steering of a human driver. To this end, information is recorded about the car's state while being driven by human drivers and used to obtain, via genetic algorithms, appropriate fuzzy controllers that can drive the car in the way that humans do. These controllers have satisfy two main objectives: to reproduce the human behavior, and to provide smooth actions to ensure comfortable driving. Finally, the results of automated driving on a test circuit are presented, showing both good route tracking (similar to the performance obtained by persons in the same task) and smooth driving.

Intelligent automatic overtaking system using vision for vehicle detection

There is clear evidence that investment in intelligent transportation system technologies brings major social and economic benefits. Technological advances in the area of automatic systems in particular are becoming vital for the reduction of road deaths. We here describe our approach to automation of one the riskiest autonomous manœuvres involving vehicles – overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manœuvre. To this end, a fuzzy-logic based controller was developed to emulate how humans overtake. Its input is information from the vision system and from a positioning-based system consisting of a differential global positioning system (DGPS) and an inertial measurement unit (IMU). Its output is the generation of action on the vehicle’s actuators, i.e., the steering wheel and throttle and brake pedals. The system has been incorporated into a commercial Citroën car and tested on the private driving circuit at the facilities of our research center, CAR, with different preceding vehicles – a motorbike, car, and truck – with encouraging results.

Crop row detection in maize fields inspired on the human visual perception

This paper proposes a new method, oriented to image real-time processing, for identifying crop rows in maize fields in the images. The vision system is designed to be installed onboard a mobile agricultural vehicle, that is, submitted to gyros, vibrations, and undesired movements. The images are captured under image perspective, being affected by the above undesired effects. The image processing consists of two main processes: image segmentation and crop row detection. The first one applies a threshold to separate green plants or pixels (crops and weeds) from the rest (soil, stones, and others). It is based on a fuzzy clustering process, which allows obtaining the threshold to be applied during the normal operation process. The crop row detection applies a method based on image perspective projection that searches for maximum accumulation of segmented green pixels along straight alignments. They determine the expected crop lines in the images. The method is robust enough to work under the above-mentioned undesired effects. It is favorably compared against the well-tested Hough transformation for line detection.

A Multi Ant Colony Optimization algorithm for a Mixed Car Assembly Line

This paper presents an ant colony optimization algorithm to sequence the mixed assembly lines considering the inventory and the replenishment of components. This is a NP-problem that cannot be solved to optimality by exact methods when the size of the problem growth. Groups of specialized ants are implemented to solve the different parts of the problem. This is intended to differentiate each part of the problem. Different types of pheromone structures are created to identify good car sequences, and good routes for the replenishment of components vehicle. The contribution of this paper is the collaborative approach of the ACO for the mixed assembly line and the replenishment of components and the jointly solution of the problem.

Using floating car data to analyse the effects of ITS measures and eco-driving

The road transportation sector is responsible for around 25% of total man-made CO2 emissions worldwide. Considerable efforts are therefore underway to reduce these emissions using several approaches, including improved vehicle technologies, traffic management and changing driving behaviour. Detailed traffic and emissions models are used extensively to assess the potential effects of these measures. However, if the input and calibration data are not sufficiently detailed there is an inherent risk that the results may be inaccurate. This article presents the use of Floating Car Data to derive useful speed and acceleration values in the process of traffic model calibration as a means of ensuring more accurate results when simulating the effects of particular measures. The data acquired includes instantaneous GPS coordinates to track and select the itineraries, and speed and engine performance extracted directly from the on-board diagnostics system. Once the data is processed, the variations in several calibration parameters can be analyzed by comparing the base case model with the measure application scenarios. Depending on the measure, the results show changes of up to 6.4% in maximum speed values, and reductions of nearly 15% in acceleration and braking levels, especially when eco-driving is applied.