Underwater slam for estructured environments using and imaging sonar

Aquesta tesi tracta sobre el problema de la navegació per a vehicles submarins autònoms que operen en entorns artificials estructurats com ara ports, canals, plataformes marines i altres escenaris similars. A partir d'una estimació precisa de la posició en aquests entorns, les capacitats dels vehicles submarins s'incrementen notablement i s'obre una porta al seu funcionament autònom. El manteniment, inspecció i vigilància d'instal lacions marines són alguns exemples de possibles aplicacions. Les principals contribucions d'aquesta tesi consisteixen per una banda en el desenvolupament de diferents sistemes de localització per a aquelles situacions on es disposa d'un mapa previ de l'entorn i per l'altra en el desenvolupament d'una nova solució al problema de la Localització i Construcció Simultània de Mapes (SLAM en les seves sigles en anglès), la finalitat del qual és fer que un vehicle autònom creï un mapa de l'entorn desconegut que el rodeja i, al mateix temps, utilitzi aquest mapa per a determinar la seva pròpia posició. S'ha escollit un sonar d'imatges d'escaneig mecànic com a sensor principal per a aquest treball tant pel seu relatiu baix cost com per la seva capacitat per produir una representació detallada de l'entorn. Per altra banda, les particularitats de la seva operació i, especialment, la baixa freqúència a la que es produeixen les mesures, constitueixen els principals inconvenients que s'han hagut d'abordar en les estratègies de localització proposades. Les solucions adoptades per aquests problemes constitueixen una altra contribució d'aquesta tesi. El desenvolupament de vehicles autònoms i el seu ús com a plataformes experimentals és un altre aspecte important d'aquest treball. Experiments portats a terme tant en el laboratori com en escenaris reals d'aplicació han proporcionat les dades necessàries per a provar i avaluar els diferents sistemes de localització proposats.

Desenvolupament d'un sistema expert com a eina per a una millor gestió de la qualitat de les aigües fluvials

Avui en dia no es pot negar el fet que els humans són un component més de les conques fluvials i que la seva activitat afecta enormement la qualitat de les aigües. A nivell europeu, l'elevada densitat de població situada en les conques fluvials ha comportat un increment de la mala qualitat de les seves aigües fluvials. En les darreres dècades l'increment de les càrregues de nutrients en els sistemes aquàtics ha esdevingut un problema prioritari a solucionar per les administracions competents en matèria d'aigua. La gestió dels ecosistemes fluvials no és una tasca fàcil. Els gestors es troben amb què són sistemes molt complexos, donada l'estreta relació existent entre els ecosistemes fluvials i els ecosistemes terrestres que drenen. Addicionalment a la complexitat d'aquests sistemes es troba la dificultat associada de la gestió o control de les entrades de substàncies contaminants tant de fonts puntuals com difoses. Per totes aquestes raons la gestió de la qualitat de les aigües fluvials esdevé una tasca complexa que requereix un enfocament multidisciplinar. Per tal d'assolir aquest enfocament diverses eines han estat utilitzades, des de models matemàtics fins a sistemes experts i sistemes de suport a la decisió. Però, la major part dels esforços han estat encarats cap a la resolució de problemes de reduïda complexitat, fent que molts dels problemes ambientals complexos, com ara la gestió dels ecosistemes fluvials, no hagin estat vertaderament tractats. Per tant, es requereix l'aplicació d'eines que siguin de gran ajuda en els processos de presa de decisions i que incorporin un ampli coneixement heurístic i empíric: sistemes experts i sistemes de suport a la decisió. L'òptima gestió de la qualitat de l'aigua fluvial requereix una aproximació integrada i multidisciplinar, que pot ésser aconseguida amb una eina intel·ligent construïda sobre els conceptes i mètodes del raonament humà. La present tesi descriu la metodologia desenvolupada i aplicada per a la creació i construcció d'un Sistema Expert, així com el procés de desenvolupament d'aquest Sistema Expert, com el principal mòdul de raonament d'un Sistema de Suport a la Decisió Ambiental. L'objectiu principal de la present tesi ha estat el desenvolupament d'una eina d'ajuda en el procés de presa de decisions dels gestors de l'aigua en la gestió de trams fluvials alterats antròpicament per tal de millorar la qualitat de la seva aigua fluvial. Alhora, es mostra el funcionament de l'eina desenvolupada a través de dos casos d'estudi. Els resultats derivats del Sistema Expert desenvolupat, implementat i presentat en la present tesi mostren que aquests sistemes poden ésser eines útils per a millorar la gestió dels ecosistemes fluvials.

Las independencias: [respuesta al cuestionario de Manuel Chust] (Dossier: Bicentenario, rastros y revelaciones de la Independencia)

Enrique Ayala es entrevistado por el historiador catalán Manuel Chust sobre la independencia de Hispanoamérica. Ayala plantea que la crisis de 1808 afectó la economía de la metrópoli, pero también posibilitó cambios en las relaciones de poder en las colonias: fue instalándose el control de los señores criollos sobre la tierra y de los comerciantes sobre las economías locales y regionales, la burocracia española debilitada conservó solo el manejo político, lo cual favoreció a las clases dominantes locales. Insiste en que las independencias deben ser vistas como procesos, cuyo éxito fue posible al convocarse a los actores populares e integrarse los esfuerzos de diversas colonias. Visualizar eso, afirma, fue uno de los mayores aportes de Simón Bolívar. Finalmente, no se llega a la Independencia por actos de personalidades determinantes, sino por el peso de protagonistas colectivos: notables criollos, grandes latifundistas y comerciantes de los puertos de primer orden, jefes de los ejércitos e intelectuales, la jerarquía de la Iglesia, y el apoyo británico a los insurgentes.

A national security strategy for England: Matthew Sutcliffe, the Earl of Essex, and the Cadiz Expedition of 1596

The English cleric Matthew Sutcliffe arguably produced the first comprehensive security concept in history. It had at its centre the war between England and Spain (1585-1604), and Sutcliffe advocated taking the war to the Iberian Peninsula to seize Philip II's main Atlantic ports, rather than remaining satisfied with the indirect combat of Spain in Flanders, defensive action against naval attacks on England and the guerre de course on Spanish shipping at sea. This approach seems to be at the heart of Essex's 1596 naval campaing against Spanish ports, which foundered on the bureaucratic politics of the Elizabethan government.

A new governance perspective on port–hinterland relationships: the Port Hinterland Impact (PHI) matrix

We develop a new governance perspective on port–hinterland linkages and related port impacts. Many stakeholders in a port’s hinterland now demand tangible economic benefits from port activities, as a precondition for supporting port expansion and infrastructural investments. We use a governance lens to assess this farsighted contracting challenge. We find that most contemporary economic impact assessments of port investment projects pay scant attention to the contractual relationship challenges in port-hinterland relationships. In contrast, we focus explicitly on the spatial distribution of such impacts and the related contractual relationship issues facing port authorities or port users and their stakeholders in the port hinterland. We introduce a new concept, the Port Hinterland Impact (PHI) matrix, which focuses explicitly on the spatial distribution of port impacts and related contractual relationship challenges. The PHI matrix offers insight into port impacts using two dimensions: logistics dedicatedness, as an expression of Williamsonian asset specificity in the sphere of logistics contractual relationships, and geographic reach, with a longer reach typically reflecting the need for more complex contacting to overcome ‘distance’ challenges with external stakeholders. We use the PHI matrix in our empirical, governance-based analysis of contractual relationships between the port authorities in Antwerp and Zeebrugge, and their respective stakeholders.

Towards a meta-analysis and toolkit for port-related socio-economic impacts: a review of socio-economic impact studies conducted for seaports

Port authorities increasingly need to communicate with a variety of external stakeholders in order to maintain and strengthen the societal acceptance of seaport activities. The availability of socio-economic impact studies on port authority and regional development agency websites has often made this information accessible to the public at large. However, the differences in methodologies adopted, in terms of selecting, defining and measuring various types of socio-economic impacts, sometimes lead to misconceptions as well as misleading comparisons across ports within and between regions. In this paper, we suggest guidelines for the design and application of a potential best practice from an interregional perspective (UK, France and Belgium), based on research in the framework of a European Commission co-funded project, ‘IMPACTE’. The paper also aims to develop guidelines for comparing the socio-economic impacts of ports across regional and national borders and discusses the development of a European port economic impact measurement toolkit. We analyse a sample of 33 recent socio-economic impact assessment reports in terms of methodologies adopted and types of impacts measured. The review shows a great diversity among these studies, leading to important differences between the impacts of port activity communicated to stakeholders.

Identifiering av parametrar till ackumulatortanken Solus1050 från consolar - en metodbeskrivning

This report describes the work done creating a computer model of a kombi tank from Consolar. The model was created with Presim/Trnsys and Fittrn and DF were used to identify the parameters. Measurements were carried out and were used to identify the values of the parameters in the model. The identifications were first done for every circuit separately. After that, all parameters are normally identified together using all the measurements. Finally the model should be compared with other measurements, preferable realistic ones. The two last steps have not yet been carried out, because of problems finding a good model for the domestic hot water circuit.The model of the domestic hot water circuit give relatively good results for low flows at 5 l/min, but is not good for higher flows. In the report suggestions for improving the model are given. However, there was not enough time to test this within the project as much time was spent trying to solve problems with the model crashing. Suggestions for improving the model for the domestic circuit are given in chapter 4.4. The improved equations that are to be used in the improved model are given by equation 4.18, 4.19 and 4.22.Also for the boiler circuit and the solar circuit there are improvements that can be done. The model presented here has a few shortcomings, but with some extra work, an improved model can be created. In the attachment (Bilaga 1) is a description of the used model and all the identified parameters.A qualitative assessment of the store was also performed based on the measurements and the modelling carried out. The following summary of this can be given: Hot Water PreparationThe principle for controlling the flow on the primary side seems to work well in order to achieve good stratification. Temperatures in the bottom of the store after a short use of hot water, at a coldwater temperature of 12°C, was around 28-30°C. This was almost independent of the temperature in the store and the DHW-flow.The measured UA-values of the heat exchangers are not very reliable, but indicates that the heat transfer rates are much better than for the Conus 500, and in the same range as for other stores tested at SERC.The function of the mixing valve is not perfect (see diagram 4.3, where Tout1 is the outlet hot water temperature, and Tdhwo and Tdhw1 is the inlet temperature to the hot and cold side of the valve respectively). The outlet temperature varies a lot with different temperatures in the storage and is going down from 61°C to 47°C before the cold port is fully closed. This gives a problem to find a suitable temperature setting and gives also a risk that the auxiliary heating is increased instead of the set temperature of the valve, when the hot water temperature is to low.Collector circuitThe UA-value of the collector heat exchanger is much higher than the value for Conus 500, and in the same range as the heat exchangers in other stores tested at SERC.Boiler circuitThe valve in the boiler circuit is used to supply water from the boiler at two different heights, depending on the temperature of the water. At temperatures from the boiler above 58.2°C, all the water is injected to the upper inlet. At temperatures below 53.9°C all the water is injected to the lower inlet. At 56°C the water flow is equally divided between the two inlets. Detailed studies of the behaviour at the upper inlet shows that better accuracy of the model would have been achieved using three double ports in the model instead of two. The shape of the upper inlet makes turbulence, that could be modelled using two different inlets. Heat lossesThe heat losses per m3 are much smaller for the Solus 1050, than for the Conus 500 Storage. However, they are higher than those for some good stores tested at SERC. The pipes that are penetrating the insulation give air leakage and cold bridges, which could be a major part of the losses from the storage. The identified losses from the bottom of the storage are exceptionally high, but have less importance for the heat losses, due to the lower temperatures in the bottom. High losses from the bottom can be caused by air leakage through the insulation at the pipe connections of the storage.

MCDA: análise de decisão multicritério como ferramenta de avaliação de instalações portuárias: o caso dos terminais de contêineres brasileiros

Este trabalho busca avaliar, com suporte da metodologia MCDA - análise de decisão multicritério, os terminais de contêineres brasileiros quanto a suas potencialidades como vetores de crescimento sustentado da economia, no médio e longo prazo, para priorização de investimentos públicos e privados. O trabalho se consubstancia em um levantamento bibliográfico do tema decisório, que lhe serve de base, seguido de um estudo do tema portuário, a fim de levantar os fatores que tornam viável o florescimento e desenvolvimento de um sítio portuário, além de buscar tendências do setor de contêineres no Brasil. Após estas etapas, foi desenvolvido uma modelagem para o problema de avaliação dos terminais, com ajuda do software Expert Choice. Os resultados obtidos apontam para uma alteração sensível de paradigma no panorama portuário nacional em um cenário futuro. Portos que hoje se localizam na parte superior da lista de movimentação de contêineres, à frente nas estatísticas, podem não ter para onde se expandir, enquanto outros, que se encontram menos pujantes, podem florescer nas próximas décadas, devido às características de cada sítio portuário. As mais relevantes foram selecionadas como critérios do modelo desenvolvido, são eles: águas abrigadas, retroáreas, acessos terrestres e marítimos, equacionamento de questões ambientais, localização estratégica, vocação regional, extensão de cais e áreas de expansão. Entre as conclusões deste estudo, pode-se citar: 1 - O Porto de Santos, tradicional líder do ranking nacional em movimentação de contêineres, deve se manter entre os primeiros, graças à sua proximidade com o principal centro econômico e industrial nacional, a região da grande São Paulo, embora esteja com sua capacidade perto do limite operacional, conta com áreas de expansão, como o projeto Barnabé-Bagres. 2 - Outro porto que se destacou na classificação final foi o de Itaguaí, já hoje com movimentação crescente e enorme potencial de crescimento na área de contêineres. Possui excelente condição de águas abrigadas, boa localização estratégica, entre Rio de Janeiro e São Paulo, dois pólos econômicos fortes, com influência decisiva no cenário nacional, e que dispõe de consistente plano de expansão, especialmente relacionado ao aumento de contêineres.

Assesment of port governance in Brazil: a managerial perspective on the port of Santos

The role of maritime transportation within international trade was drastically revamped during the inception of the globalization process, which enhanced the contribution of ports in world economy as main logistics gateways for global production and trade. As a result, the relationship between ports and governments has changed. Devolution ideologies that had been applied in other industries decades ago were now being considered by governments for the port industry. Many central governments sought to extract themselves from commercial activities of ports and devolving this responsibility to local governments, communities or private entities. The institution of devolution programs also changed the governance structures of ports further influencing port performance. Consequently, the recent worldwide trend towards devolution in the port industry has spawned considerable variety of governance models that are now set in place around the world. While some countries opt for more decentralized structures others prefer to retain a centralization of powers. In this way some governments consider local features and national integration more than others, which ultimately influence the success of a port reform implementation. Nevertheless, the prime intent of governments is now to maximize the efficiency and performance of their domestic ports. This issue intends to examine the changed port governance environment in Brazil by determining how and why imposed port reforms of the Brazilian federal government have been affecting the overall performance of the national port system, over the last decades, using the Port of Santos as a sample upon an exploratory study. For that, the study will use a contingency theory-based framework – the Matching Framework - that views port performance as a function of the fit among the dimensions of external operating environment, strategy and structure of a port organization. In essence, the greater the fit among these dimensions the better the expected performance of a port will be, and vice-versa. Port managers, government officials and academics alike shall be interested in this document.

Análise dos fundamentos do modelo value-based health care delivery à luz das teorias de estratégia

O setor de saúde, globalmente, apresenta problemas relacionados aos seus custos, qualidade e acesso. Porter e Teisberg (2004, 2006) propuseram modelo de gestão específico para a administração estratégica na área, o Value-Based Health Care Delivery (VBHCD). O modelo teve relativa repercussão e vem influenciando muitos atores no setor. Contudo, o modelo vem sendo aceito sem o devido questionamento de seus fundamentos e consistência com a teoria em estratégia. O presente trabalho busca, por meio de um ensaio teórico, analisar o modelo proposto à luz de paradigmas gerais da estratégia empresarial como, por exemplo, o modelo de Porter e a Visão Baseada em Recursos (RBV). Inicialmente, o artigo sintetiza as explicações teóricas do modelo porteriano clássico e da RBV. Em seguida, o VBHCD é examinado comparado a essas explicações, buscando-se relações e, eventualmente, contradições. Conclui-se que o modelo VBHCD não se alinha integralmente a nenhum corpo teórico isoladamente. Mesmo sendo proposto por Porter, parte de seus fundamentos advém, na verdade, de outras correntes teóricas. Esta abordagem integradora de teorias concorrentes, apesar de presente na literatura, ainda apresenta dificuldades e barreiras, um aspecto que não está explícito no modelo

The Panama canal expansion mega project : a case study and stakeholder´s analysis

As globalization increases integration, a new playing field is emerging which is driving the need for operational efficiencies and alignment of complementary capabilities among countries to build sustainable models and integrated offerings. As demands increase, companies are turning to effective project management as means to control operations and countries are increasing the amount of mega projects to boost their competitiveness and global footprint. Given the scale, complexity, political nature, multicultural makeup, and high level of visibility; mega projects rely on successful stakeholder management to effectively manage its operational, tactical, and strategic levels to execute their mission. This paper examines the success drivers of mega projects and presents an in depth stakeholder assessment of the Panama Canal Expansion mega project to identify the perceived value to its stakeholder community. The stakeholder categories include: the Panama Canal Authority, subcontractors executing the expansion project, customers of the canal in Panama and U.S., as well as the communities surrounding the Panama Canal and ports in the U.S. East Coast. The conclusion of this paper captures the relationship between the effective stakeholder engagement from the Panama Canal Authority, the perceived value of the Panamanian stakeholders, and compares it to U.S. based mega projects being executed simultaneously to allow the U.S. East Coast ports to accommodate increased cargo volumes.

Design of boundary-scan testing in CMOS image sensors for industrial applications: internship repor

Tests on printed circuit boards and integrated circuits are widely used in industry,resulting in reduced design time and cost of a project. The functional and connectivity tests in this type of circuits soon began to be a concern for the manufacturers, leading to research for solutions that would allow a reliable, quick, cheap and universal solution. Initially, using test schemes were based on a set of needles that was connected to inputs and outputs of the integrated circuit board (bed-of-nails), to which signals were applied, in order to verify whether the circuit was according to the specifications and could be assembled in the production line. With the development of projects, circuit miniaturization, improvement of the production processes, improvement of the materials used, as well as the increase in the number of circuits, it was necessary to search for another solution. Thus Boundary-Scan Testing was developed which operates on the border of integrated circuits and allows testing the connectivity of the input and the output ports of a circuit. The Boundary-Scan Testing method was converted into a standard, in 1990, by the IEEE organization, being known as the IEEE 1149.1 Standard. Since then a large number of manufacturers have adopted this standard in their products. This master thesis has, as main objective: the design of Boundary-Scan Testing in an image sensor in CMOS technology, analyzing the standard requirements, the process used in the prototype production, developing the design and layout of Boundary-Scan and analyzing obtained results after production. Chapter 1 presents briefly the evolution of testing procedures used in industry, developments and applications of image sensors and the motivation for the use of architecture Boundary-Scan Testing. Chapter 2 explores the fundamentals of Boundary-Scan Testing and image sensors, starting with the Boundary-Scan architecture defined in the Standard, where functional blocks are analyzed. This understanding is necessary to implement the design on an image sensor. It also explains the architecture of image sensors currently used, focusing on sensors with a large number of inputs and outputs.Chapter 3 describes the design of the Boundary-Scan implemented and starts to analyse the design and functions of the prototype, the used software, the designs and simulations of the functional blocks of the Boundary-Scan implemented. Chapter 4 presents the layout process used based on the design developed on chapter 3, describing the software used for this purpose, the planning of the layout location (floorplan) and its dimensions, the layout of individual blocks, checks in terms of layout rules, the comparison with the final design and finally the simulation. Chapter 5 describes how the functional tests were performed to verify the design compliancy with the specifications of Standard IEEE 1149.1. These tests were focused on the application of signals to input and output ports of the produced prototype. Chapter 6 presents the conclusions that were taken throughout the execution of the work.

Fatores intervenientes na competitividade dos portos brasileiros: um estudo de caso no Nordeste

A competitividade portuária intensificou-se a partir dos anos 1980/90, influenciada pelo aumento no comércio internacional e pelas reformas portuárias que se seguiram. Entre os fatores que a determinam, há alguns que estão acima do poder de atuação de um dado porto, como a concessão de subsídios governamentais em portos de países ou estados concorrentes. Consideram-se três áreas em que um porto pode atuar para modificar sua posição competitiva: infra-estrutura, operações e facilitação ao comércio através do porto. Foi realizada uma pesquisa sobre trinta e oito fatores intervenientes na competitividade dos portos, agrupados em seis conjuntos, relacionados dois a dois às três áreas mencionadas. A pesquisa examinou a relevância dos trinta e oito fatores para a competitividade portuária através de questionários apresentados a sessenta usuários de portos nordestinos com vinculação passada, presente ou potencial pelo porto de Natal. Complementarmente pesquisou a opinião desses usuários sobre a competitividade dos cinco portos inseridos no estudo de caso: Fortaleza (CE), Natal (RN), Pecém (CE), Salvador (BA) e Suape (PE). Os resultados obtidos destacaram a importância conferida pelos usuários à agilidade na liberação aduaneira, a fatores relacionados à utilização de contêineres e ao calado do porto. Os usuários foram consultados entre abril e maio de 2004 e consideraram Pecém (CE) como o porto mais competitivo entre os cinco

Calibração cega de receptores cinco-portas baseada em separação cega de fontes

The exponential growth in the applications of radio frequency (RF) is accompanied by great challenges as more efficient use of spectrum as in the design of new architectures for multi-standard receivers or software defined radio (SDR) . The key challenge in designing architecture of the software defined radio is the implementation of a wide-band receiver, reconfigurable, low cost, low power consumption, higher level of integration and flexibility. As a new solution of SDR design, a direct demodulator architecture, based on fiveport technology, or multi-port demodulator, has been proposed. However, the use of the five-port as a direct-conversion receiver requires an I/Q calibration (or regeneration) procedure in order to generate the in-phase (I) and quadrature (Q) components of the transmitted baseband signal. In this work, we propose to evaluate the performance of a blind calibration technique without additional knowledge about training or pilot sequences of the transmitted signal based on independent component analysis for the regeneration of I/Q five-port downconversion, by exploiting the information on the statistical properties of the three output signals

Desenvolvimento de antenas de microfita com aberturas nos patches condutores através do método da segmentação

Microstrip antennas are widely used in modern telecommunication systems. This is particularly due to the great variety of geometries and because they are easily built and integrated to other high frequency devices and circuits. This work presents a study of the properties of the microstrip antenna with an aperture impressed in the conducting patch. Besides, the analysis is performed for isotropic and anisotropic dielectric substrates. The Multiport Network Model MNM is used in combination with the Segmentation Method and the Greens function technique in the analysis of the considered microstrip antenna geometries. The numerical analysis is performed by using the boundary value problem solution, by considering separately the impedance matrix of the structure segments. The analysis for the complete structure is implemented by choosing properly the number and location of the neighboor element ports. The numerial analysis is performed for the following antenna geometries: resonant cavity, microstrip rectangular patch antenna, and microstrip rectangular patch antenna with aperture. The analysis is firstly developed for microstrip antennas on isotropic substrates, and then extended to the case of microstrip antennas on anisotropic substrates by using a Mapping Method. The experimental work is described and related to the development of several prototypes of rectangular microstrip patch antennas wtih and without rectangular apertures. A good agreement was observed between the simulated and measured results. Thereafter, a good agreement was also observed between the results of this work and those shown in literature for microstrip antennas on isotropic substrates. Furthermore, results are proposed for rectangular microstrip patch antennas wtih rectangular apertures in the conducting patch