Análisis paramétrico de transiciones a bocinas

Las transiciones en guía de onda son las estructuras utilizadas en microondas para transferir y adaptar la señal que viaja en un determinado sistema de transmisión (por ejemplo, un cable coaxial) a otro sistema de transmisión o a un sistema radiante (por ejemplo, una antena de bocina). Los dos sistemas de transmisión entre los que la transición adapta la señal pueden ser distintos o del mismo tipo pero con alguna de sus dimensiones diferente. Existen diferentes transiciones de guía de onda que dependiendo de su utilidad son diseñadas y construidas con diferentes secciones: circular, rectangular, elíptica o incluso combinaciones de éstas. No es necesario que la sección de la guía presente una forma geométrica conocida pero los estándares que se van a seguir hacen referencia en concreto a secciones rectangulares y circulares. En el trabajo que aquí se desarrolla se pretende optimizar por medio de simulaciones paramétricas una transición entre cable coaxial con conector tipo K y una guía de onda de sección circular que sigue el estándar presentado por Flann, Millitech y Antarfs para la banda WR34. La transición que va a ser objeto de este estudio se denomina transición tapered o transición conformada. Este tipo de transiciones se caracterizan por variar una de sus dimensiones progresivamente hasta llegar al tamaño definido en el estándar correspondiente. La manera de realizar la optimización de la transición se basará en el estudio del parámetro S11 que presente la estructura a lo largo de la banda de trabajo. Ya que se sigue el estándar WR34 la banda de trabajo que éste comprende va de 21,7 a 33 GHz. Se pretende conseguir que la respuesta del parámetro S11 se encuentre por debajo de -20 dB en la banda de WR34 como resultado del diseño para poder contar de esta manera con una buena adaptación. Finalmente se propondrá un criterio a seguir para optimizar este tipo de transiciones siguiendo el objetivo de mejor adaptación teniendo en cuenta el impacto de cada tramo sobre el rango de frecuencias en el que influye y se presentarán las características finales que presenta la transición bajo estudio. En este documento se introduce de manera breve la utilidad de los transformadores de impedancias lambda cuartos en líneas de transmisión, el estado del arte de las diferentes técnicas para su diseño, y la propuesta de diseño y caracterización objeto del presente trabajo. Posteriormente, se presenta el caso de estudio para el diseño de la transición para ser integrada a una bocina de choke. Luego, se introduce el marco teórico del trabajo presentando algunos ejemplos ilustrativos de tramos de guía de onda rectangular y guía de onda circular, introduciendo adaptadores de λ/4 en simulaciones. A continuación, se explica la implementación del modelo bajo estudio en CST (Computer Simulation Technology) Studio Suite. Finalmente se presenta la discusión de los resultados obtenidos, las conclusiones y líneas futuras de trabajo. ABSTRACT. Waveguide transitions are structures used in microwave in order to transfer and adapt the signal that travels from a certain transmission system (e.g. coaxial cable) to other transmission system or to a radiant system (e.g. horn antenna). Both transmission systems between which the transition adapts the signal can be different or from the same type, but with differences in some of their dimensions. There are different waveguide transitions that, depending on their utility, are designed and constructed in different sections: circular, rectangular, elliptic or combinations of the former. The section of the guide does not have to have a known geometric shape, although the standards to be followed in this thesis apply to rectangular and circular sections. In the work here presented, we aim to optimize by means of parametric simulations, a transition between a coaxial cable with a K-type connector and a waveguide with circular section following the standard presented by Flann, Millitech y Antarfs for the band WR34. The transition studied is called tapered transition, which is characterized by the progressive variation of its dimensions, until reaching the defined size of the corresponding standard. The way of optimizing the transition will be based in the study of the parameter S11 presented by the structure along the bandwidth. Since the standard used is the WR34, the bandwidth can be defined from 21.7 up to 33 GHz. It is aimed that the response of the S11 parameter be lower equal than -20dB in the frequency band under study according to the design in order to be well matched. Finally, a criterion to follow is proposed in order to optimize these transitions type, following the better-match objective. That will be done taking into account the impact of each section on the frequency range in which influences and the final characteristics of the studied transition will be presented. In this document, it is briefly introduced the utility of quarter-wave impedance transformers in transmission lines, the state-of-art of the different techniques for their design, and the proposal of design and characterization aimed with this work. Afterwards, the study case for the design of the transition to be integrated with a choke horn antenna will be presented. Later, the theoretical frame work is introduced, giving some illustrative examples of rectangular and circular waveguide sections, and also introducing λ/4 adaptors in the simulations. Subsequently, the implementation of the model under study in CST (Computer Simulation Technology) Studio Suite will be explained. Finally, the discussion of the results, conclusion and future lines of the work are presented.

Análisis de ataques avanzados y sus técnicas de detección

Los ataques a redes de información son cada vez más sofisticados y exigen una constante evolución y mejora de las técnicas de detección. Para ello, en este proyecto se ha diseñado e implementado una plataforma cooperativa para la detección de intrusiones basada en red. En primer lugar, se ha realizado un estudio teórico previo del marco tecnológico relacionado con este ámbito, en el que se describe y caracteriza el software que se utiliza para realizar ataques a sistemas (malware) así como los métodos que se utilizan para llegar a transmitir ese software (vectores de ataque). En el documento también se describen los llamados APT, que son ataques dirigidos con una gran inversión económica y temporal. Estos pueden englobar todos los malware y vectores de ataque existentes. Para poder evitar estos ataques, se estudiarán los sistemas de detección y prevención de intrusiones, describiendo brevemente los algoritmos que se tienden a utilizar en la actualidad. En segundo lugar, se ha planteado y desarrollado una plataforma en red dedicada al análisis de paquetes y conexiones para detectar posibles intrusiones. Este sistema está orientado a sistemas SCADA (Supervisory Control And Data Adquisition) aunque funciona sobre cualquier red IPv4/IPv6, para ello se definirá previamente lo que es un sistema SCADA, así como sus partes principales. Para implementar el sistema se han utilizado dispositivos de bajo consumo llamados Raspberry PI, estos se ubican entre la red y el equipo final que se quiera analizar. En ellos se ejecutan 2 aplicaciones desarrolladas de tipo cliente-servidor (la Raspberry central ejecutará la aplicación servidora y las esclavas la aplicación cliente) que funcionan de forma cooperativa utilizando la tecnología distribuida de Hadoop, la cual se explica previamente. Mediante esta tecnología se consigue desarrollar un sistema completamente escalable. La aplicación servidora muestra una interfaz gráfica que permite administrar la plataforma de análisis de forma centralizada, pudiendo ver así las alarmas de cada dispositivo y calificando cada paquete según su peligrosidad. El algoritmo desarrollado en la aplicación calcula el ratio de paquetes/tiempo que entran/salen del equipo final, procesando los paquetes y analizándolos teniendo en cuenta la información de señalización, creando diferentes bases de datos que irán mejorando la robustez del sistema, reduciendo así la posibilidad de ataques externos. Para concluir, el proyecto inicial incluía el procesamiento en la nube de la aplicación principal, pudiendo administrar así varias infraestructuras concurrentemente, aunque debido al trabajo extra necesario se ha dejado preparado el sistema para poder implementar esta funcionalidad. En el caso experimental actual el procesamiento de la aplicación servidora se realiza en la Raspberry principal, creando un sistema escalable, rápido y tolerante a fallos. ABSTRACT. The attacks to networks of information are increasingly sophisticated and demand a constant evolution and improvement of the technologies of detection. For this project it is developed and implemented a cooperative platform for detect intrusions based on networking. First, there has been a previous theoretical study of technological framework related to this area, which describes the software used for attacks on systems (malware) as well as the methods used in order to transmit this software (attack vectors). In this document it is described the APT, which are attacks directed with a big economic and time inversion. These can contain all existing malware and attack vectors. To prevent these attacks, intrusion detection systems and prevention intrusion systems will be discussed, describing previously the algorithms tend to use today. Secondly, a platform for analyzing network packets has been proposed and developed to detect possible intrusions in SCADA (Supervisory Control And Data Adquisition) systems. This platform is designed for SCADA systems (Supervisory Control And Data Acquisition) but works on any IPv4 / IPv6 network. Previously, it is defined what a SCADA system is and the main parts of it. To implement it, we used low-power devices called Raspberry PI, these are located between the network and the final device to analyze it. In these Raspberry run two applications client-server developed (the central Raspberry runs the server application and the slaves the client application) that work cooperatively using Hadoop distributed technology, which is previously explained. Using this technology is achieved develop a fully scalable system. The server application displays a graphical interface to manage analytics platform centrally, thereby we can see each device alarms and qualifying each packet by dangerousness. The algorithm developed in the application calculates the ratio of packets/time entering/leaving the terminal device, processing the packets and analyzing the signaling information of each packet, reating different databases that will improve the system, thereby reducing the possibility of external attacks. In conclusion, the initial project included cloud computing of the main application, being able to manage multiple concurrent infrastructure, but due to the extra work required has been made ready the system to implement this funcionality. In the current test case the server application processing is made on the main Raspberry, creating a scalable, fast and fault-tolerant system.

Análisis, modelado e igualación no lineal de arrays paramétricos acústicos

La presente Tesis analiza y desarrolla metodología específica que permite la caracterización de sistemas de transmisión acústicos basados en el fenómeno del array paramétrico. Este tipo de estructuras es considerado como uno de los sistemas más representativos de la acústica no lineal con amplias posibilidades tecnológicas. Los arrays paramétricos aprovechan la no linealidad del medio aéreo para obtener en recepción señales en el margen sónico a partir de señales ultrasónicas en emisión. Por desgracia, este procedimiento implica que la señal transmitida y la recibida guardan una relación compleja, que incluye una fuerte ecualización así como una distorsión apreciable por el oyente. Este hecho reduce claramente la posibilidad de obtener sistemas acústicos de gran fidelidad. Hasta ahora, los esfuerzos tecnológicos dirigidos al diseño de sistemas comerciales han tratado de paliar esta falta de fidelidad mediante técnicas de preprocesado fuertemente dependientes de los modelos físicos teóricos. Estos están basados en la ecuación de propagación de onda no lineal. En esta Tesis se propone un nuevo enfoque: la obtención de una representación completa del sistema mediante series de Volterra que permita inferir un sistema de compensación computacionalmente ligero y fiable. La dificultad que entraña la correcta extracción de esta representación obliga a desarrollar una metodología completa de identificación adaptada a este tipo de estructuras. Así, a la hora de aplicar métodos de identificación se hace indispensable la determinación de ciertas características iniciales que favorezcan la parametrización del sistema. En esta Tesis se propone una metodología propia que extrae estas condiciones iniciales. Con estos datos, nos encontramos en disposición de plantear un sistema completo de identificación no lineal basado en señales pseudoaleatorias, que aumenta la fiabilidad de la descripción del sistema, posibilitando tanto la inferencia de la estructura basada en bloques subyacente, como el diseño de mecanismos de compensación adecuados. A su vez, en este escenario concreto en el que intervienen procesos de modulación, factores como el punto de trabajo o las características físicas del transductor, hacen inviables los algoritmos de caracterización habituales. Incluyendo el método de identificación propuesto. Con el fin de eliminar esta problemática se propone una serie de nuevos algoritmos de corrección que permiten la aplicación de la caracterización. Las capacidades de estos nuevos algoritmos se pondrán a prueba sobre un prototipo físico, diseñado a tal efecto. Para ello, se propondrán la metodología y los mecanismos de instrumentación necesarios para llevar a cabo el diseño, la identificación del sistema y su posible corrección, todo ello mediante técnicas de procesado digital previas al sistema de transducción. Los algoritmos se evaluarán en términos de error de modelado a partir de la señal de salida del sistema real frente a la salida sintetizada a partir del modelo estimado. Esta estrategia asegura la posibilidad de aplicar técnicas de compensación ya que éstas son sensibles a errores de estima en módulo y fase. La calidad del sistema final se evaluará en términos de fase, coloración y distorsión no lineal mediante un test propuesto a lo largo de este discurso, como paso previo a una futura evaluación subjetiva. ABSTRACT This Thesis presents a specific methodology for the characterization of acoustic transmission systems based on the parametric array phenomenon. These structures are well-known representatives of the nonlinear acoustics field and display large technological opportunities. Parametric arrays exploit the nonlinear behavior of air to obtain sonic signals at the receptors’side, which were generated within the ultrasonic range. The underlying physical process redunds in a complex relationship between the transmitted and received signals. This includes both a strong equalization and an appreciable distortion for a human listener. High fidelity, acoustic equipment based on this phenomenon is therefore difficult to design. Until recently, efforts devoted to this enterprise have focused in fidelity enhancement based on physically-informed, pre-processing schemes. These derive directly from the nonlinear form of the wave equation. However, online limited enhancement has been achieved. In this Thesis we propose a novel approach: the evaluation of a complete representation of the system through its projection onto the Volterra series, which allows the posterior inference of a computationally light and reliable compensation scheme. The main difficulty in the derivation of such representation strives from the need of a complete identification methodology, suitable for this particular type of structures. As an example, whenever identification techniques are involved, we require preliminary estimates on certain parameters that contribute to the correct parameterization of the system. In this Thesis we propose a methodology to derive such initial values from simple measures. Once these information is made available, a complete identification scheme is required for nonlinear systems based on pseudorandom signals. These contribute to the robustness and fidelity of the resulting model, and facilitate both the inference of the underlying structure, which we subdivide into a simple block-oriented construction, and the design of the corresponding compensation structure. In a scenario such as this where frequency modulations occur, one must control exogenous factors such as devices’ operation point and the physical properties of the transducer. These may conflict with the principia behind the standard identification procedures, as it is the case. With this idea in mind, the Thesis includes a series of novel correction algorithms that facilitate the application of the characterization results onto the system compensation. The proposed algorithms are tested on a prototype that was designed and built for this purpose. The methodology and instrumentation required for its design, the identification of the overall acoustic system and its correction are all based on signal processing techniques, focusing on the system front-end, i.e. prior to transduction. Results are evaluated in terms of input-output modelling error, considering a synthetic construction of the system. This criterion ensures that compensation techniques may actually be introduced, since these are highly sensible to estimation errors both on the envelope and the phase of the signals involved. Finally, the quality of the overall system will be evaluated in terms of phase, spectral color and nonlinear distortion; by means of a test protocol specifically devised for this Thesis, as a prior step for a future, subjective quality evaluation.

Contribuciones en sistemas de adquisición de datos inteligentes para entornos de fusión por confinamiento magnético

Los sistemas de adquisición de datos utilizados en los diagnósticos de los dispositivos de fusión termonuclear se enfrentan a importantes retos planteados en los dispositivos de pulso largo. Incluso en los dispositivos de pulso corto, en los que se analizan los datos después de la descarga, existen aún una gran cantidad de datos sin analizar, lo cual supone que queda una gran cantidad de conocimiento por descubrir dentro de las bases de datos existentes. En la última década, la comunidad de fusión ha realizado un gran esfuerzo para mejorar los métodos de análisis off‐line para mejorar este problema, pero no se ha conseguido resolver completamente, debido a que algunos de estos métodos han de resolverse en tiempo real. Este paradigma lleva a establecer que los dispositivos de pulso largo deberán incluir dispositivos de adquisición de datos con capacidades de procesamiento local, capaces de ejecutar avanzados algoritmos de análisis. Los trabajos de investigación realizados en esta tesis tienen como objetivo determinar si es posible incrementar la capacidad local de procesamiento en tiempo real de dichos sistemas mediante el uso de GPUs. Para ello durante el trascurso del periodo de experimentación realizado se han evaluado distintas propuestas a través de casos de uso reales elaborados para algunos de los dispositivos de fusión más representativos como ITER, JET y TCV. Las conclusiones y experiencias obtenidas en dicha fase han permitido proponer un modelo y una metodología de desarrollo para incluir esta tecnología en los sistemas de adquisición para diagnósticos de distinta naturaleza. El modelo define no sólo la arquitectura hardware óptima para realizar dicha integración, sino también la incorporación de este nuevo recurso de procesamiento en los Sistemas de Control de Supervisión y Adquisición de Datos (SCADA) utilizados en la comunidad de fusión (EPICS), proporcionando una solución completa. La propuesta se complementa con la definición de una metodología que resuelve las debilidades detectadas, y permite trazar un camino de integración de la solución en los estándares hardware y software existentes. La evaluación final se ha realizado mediante el desarrollo de un caso de uso representativo de los diagnósticos que necesitan adquisición y procesado de imágenes en el contexto del dispositivo internacional ITER, y ha sido testeada con éxito en sus instalaciones. La solución propuesta en este trabajo ha sido incluida por la ITER IO en su catálogo de soluciones estándar para el desarrollo de sus futuros diagnósticos. Por otra parte, como resultado y fruto de la investigación de esta tesis, cabe destacar el acuerdo llevado a cabo con la empresa National Instruments en términos de transferencia tecnológica, lo que va a permitir la actualización de los sistemas de adquisición utilizados en los dispositivos de fusión. ABSTRACT Data acquisition systems used in the diagnostics of thermonuclear fusion devices face important challenges due to the change in the data acquisition paradigm needed for long pulse operation. Even in shot pulse devices, where data is mainly analyzed after the discharge has finished , there is still a large amount of data that has not been analyzed, therefore producing a lot of buried knowledge that still lies undiscovered in the data bases holding the vast amount of data that has been generated. There has been a strong effort in the fusion community in the last decade to improve the offline analysis methods to overcome this problem, but it has proved to be insufficient unless some of these mechanisms can be run in real time. In long pulse devices this new paradigm, where data acquisition devices include local processing capabilities to be able to run advanced data analysis algorithms, will be a must. The research works done in this thesis aim to determining whether it is possible to increase local capacity for real‐time processing of such systems by using GPUs. For that, during the experimentation period, various proposals have been evaluated through use cases developed for several of the most representative fusion devices, ITER, JET and TCV. Conclusions and experiences obtained have allowed to propose a model, and a development methodology, to include this technology in systems for diagnostics of different nature. The model defines not only the optimal hardware architecture for achieving this integration, but also the incorporation of this new processing resource in one of the Systems of Supervision Control and Data Acquisition (SCADA) systems more relevant at the moment in the fusion community (EPICS), providing a complete solution. The final evaluation has been performed through a use case developed for a generic diagnostic requiring image acquisition and processing for the international ITER device, and has been successfully tested in their premises. The solution proposed in this thesis has been included by the ITER IO in his catalog of standard solutions for the development of their future diagnostics. This has been possible thanks to the technologic transfer agreement signed with xi National Instruments which has permitted us to modify and update one of their core software products targeted for the acquisition systems used in these devices.

Diseño e implementación de librería funcional para lectura y control remoto de contadores eléctricos de última generación

El siguiente trabajo explora en primer lugar el protocolo de transmisión de datos IEC 870-5-102,el cual está definido como un estándar internacional para la transmisión de totales integrados, más tarde analizaremos su aplicación en un sistema de lectura de contadores eléctricos en remoto. Este protocolo de transmisión de datos para tele-lectura nos ayuda a solventar el problema en la construcción de un sistema de lectura para contadores eléctricos. ABSTRACT This paper explored the IEC 870-5-102 transmission protocol firstly, which is the international standard for the transmission of integrated totals, and then analyze its insufficiencies in the application of electric remote-metering system. The data transmission protocol of energy remote-metering system solves the problems in the construction of an implementation for metering the information inside meters.

Desarrollo de un sistema de arañas inteligentes para la extracción de datos de empresas

El presente proyecto de fin de grado es uno de los resultados generados en un proyecto de financiación privada por parte de Telefónica consistente en el desarrollo y posterior implantación de un sistema para minería de datos de empresas presentes en Internet. Este TFG surge a partir de un proyecto que el grupo de investigación AICU-LABS (Mercator) de la UPM ha desarrollado para Telefónica, y tiene como elemento principal el desarrollo de Agentes web (también llamados robots software, “softbots” o “crawlers”) capaces de obtener datos de empresas a partir de sus CIF a través de internet. El listado de empresas nos los proporciona Telefónica, y está compuesto por empresas que no son clientes de Telefónica en la actualidad. Nuestra misión es proporcionarles los datos necesarios (principalmente teléfono, correo electrónico y dirección de la empresa) para la creación de una base de datos de potenciales clientes. Para llevar a cabo esta tarea, se ha realizado una aplicación que, a partir de los CIF que nos proporcionan, busque información en internet y extraiga aquella que nos interese. Además se han desarrollado sistemas de validación de datos para ayudarnos a descartar datos no válidos y clasificar los datos según su calidad para así maximizar la calidad de los datos producidos por el robot. La búsqueda de datos se hará tanto en bases de datos online como, en caso de localizarlas, las propias páginas web de las empresas. ABSTRACT This Final Degree Project is one of the results obtained from a project funded by Telefónica. This project consists on the development and subsequent implantation of a system which performs data mining on companies operating on the Internet. This document arises from a project the research group AICU-LABS (Mercator) from the Universidad Politécnica de Madrid has developed for Telefónica. The main goal of this project is the creation of web agents (also known as “crawlers” or “web spiders”) able to obtain data from businesses through the Internet, knowing only their VAT identification number. The list of companies is given by Telefónica, and it is composed by companies that are not Telefónica’s customers today. Our mission is to provide the data required (mainly phone, email and address of the company) to create a database of potential customers. To perform this task, we’ve developed an application that, starting with the given VAT numbers, searches the web for information and extracts the data sought. In addition, we have developed data validation systems, that are capable of discarding low quality data and also sorting the data according to their quality, to maximize the quality of the results produced by the robot. We’ll use both the companies’ websites and external databases as our sources of information.

A Survey on Underwater Acoustic Sensor Network Routing Protocols

Underwater acoustic sensor networks (UASNs) have become more and more important in ocean exploration applications, such as ocean monitoring, pollution detection, ocean resource management, underwater device maintenance, etc. In underwater acoustic sensor networks, since the routing protocol guarantees reliable and effective data transmission from the source node to the destination node, routing protocol design is an attractive topic for researchers. There are many routing algorithms have been proposed in recent years. To present the current state of development of UASN routing protocols, we review herein the UASN routing protocol designs reported in recent years. In this paper, all the routing protocols have been classified into different groups according to their characteristics and routing algorithms, such as the non-cross-layer design routing protocol, the traditional cross-layer design routing protocol, and the intelligent algorithm based routing protocol. This is also the first paper that introduces intelligent algorithm-based UASN routing protocols. In addition, in this paper, we investigate the development trends of UASN routing protocols, which can provide researchers with clear and direct insights for further research.

Estudio, ensamblaje, caracterización y ensayos de dos modelos reales de RPA

Un dron o un RPA (del inglés, Remote Piloted Aircraft) es un vehículo aéreo no tripulado capaz de despegar, volar y aterrizar de forma autónoma, semiautónoma o manual, siempre con control remoto. Además, toda aeronave de estas características debe ser capaz de mantener un nivel de vuelo controlado y sostenido. A lo largo de los años, estos aparatos han ido evolución tanto en aplicaciones como en su estética y características físicas, siempre impulsado por los requerimientos militares en cada momento. Gracias a este desarrollo, hoy en día los drones son uno más en la sociedad y desempeñan tareas que para cualquier ser humano serían peligrosas o difíciles de llevar a cabo. Debido a la reciente proliferación de los RPA, los gobiernos de los distintos países se han visto obligados a redactar nuevas leyes y/o modificar las ya existentes en relación a los diferentes usos del espacio aéreo para promover la convivencia de estas aeronaves con el resto de vehículos aéreos. El objeto principal de este proyecto es ensamblar, caracterizar y configurar dos modelos reales de dron: el DJI F450 y el TAROT t810. Para conseguir un montaje apropiado a las aplicaciones posteriores que se les va a dar, antes de su construcción se ha realizado un estudio individualizado en detalle de cada una de las partes y módulos que componen estos vehículos. Adicionalmente, se ha investigado acerca de los distintos tipos de sistemas de transmisión de control remoto, vídeo y telemetría, sin dejar de lado las baterías que impulsarán al aparato durante sus vuelos. De este modo, es sabido que los RPA están compuestos por distintos módulos operativos: los principales, todo aquel módulo para que el aparato pueda volar, y los complementarios, que son aquellos que dotan a cada aeronave de características adicionales y personalizadas que lo hacen apto para diferentes usos. A lo largo de este proyecto se han instalado y probado diferentes módulos adicionales en cada uno de los drones, además de estar ambos constituidos por distintos bloques principales, incluyendo el controlador principal: NAZA-M Lite instalado en el dron DJI F450 y NAZA-M V2 incorporado en el TAROT t810. De esta forma se ha podido establecer una comparativa real acerca del comportamiento de éstos, tanto de forma conjunta como de ambos controladores individualmente. Tras la evaluación experimental obtenida tras diversas pruebas de vuelo, se puede concluir que ambos modelos de controladores se ajustan a las necesidades demandadas por el proyecto y sus futuras aplicaciones, siendo más apropiada la elección del modelo M Lite por motivos estrictamente económicos, ya que su comportamiento en entornos recreativos es similar al modelo M V2. ABSTRACT. A drone or RPA (Remote Piloted Aircraft) is an unmanned aerial vehicle that is able to take off, to fly and to land autonomously, semi-autonomously or manually, always connected via remote control. In addition, these aircrafts must be able to keep a controlled and sustained flight level. Over the years, the applications for these devices have evolved as much as their aesthetics and physical features both boosted by the military needs along time. Thanks to this development, nowadays drones are part of our society, executing tasks potentially dangerous or difficult to complete by humans. Due to the recent proliferation of RPA, governments worldwide have been forced to draft legislation and/or modify the existing ones about the different uses of the aerial space to promote the cohabitation of these aircrafts with the rest of the aerial vehicles. The main objective of this project is to assemble, to characterize and to set-up two real drone models: DJI F450 and TAROT t810. Before constructing the vehicles, a detailed study of each part and module that composes them has been carried out, in order to get an appropriate structure for their expected uses. Additionally, the different kinds of remote control, video and telemetry transmission systems have been investigated, including the batteries that will power the aircrafts during their flights. RPA are made of several operative modules: main modules, i.e. those which make the aircraft fly, and complementary modules, that customize each aircraft and equip them with additional features, making them suitable for a particular use. Along this project, several complementary modules for each drone have been installed and tested. Furthermore, both are built from different main units, including the main controller: NAZA-M Lite installed on DJI F450 and NAZA-M V2 on board of TAROT t810. This way, it has been possible to establish an accurate comparison, related to the performance of both models, not only jointly but individually as well. After several flight tests and an experimental evaluation, it can be concluded that both main controller models are suitable for the requirements fixed for the project and the future applications, being more appropriate to choose the M Lite model strictly due to economic reasons, as its performance in recreational environment is similar to the M V2.

Controle de uma plataforma inercial estabilizada com três graus de liberdade.

Esta dissertação apresenta o desenvolvimento de uma plataforma inercial autônoma com três graus de liberdade para aplicação em estabilização de sensores - por exemplo, gravimétricos estacionários e embarcados - podendo ser utilizada também para estabilização de câmeras. O sistema é formado pela Unidade de Medida Inercial, IMU, desenvolvida utilizando um sensor micro eletromecânico, MEMS - que possui acelerômetro, giroscópio e magnetômetros nos três eixos de orientação - e um microcontrolador para aquisição, processamento e envio dos dados ao sistema de controle e aquisição de dados. Para controle dos ângulos de inclinação e orientação da plataforma, foi implementado um controlador PID digital utilizando microcontrolador. Este recebe os dados da IMU e fornece os sinais de controle utilizando as saídas PWM que acionam os motores, os quais controlam a posição da plataforma. Para monitoramento da plataforma foi desenvolvido um programa para aquisição de dados em tempo real em ambiente Matlab, por meio do qual se pode visualizar e gravar os sinais da IMU, os ângulos de inclinação e a velocidade angular. Testou-se um sistema de transmissão de dados por rádio frequência entre a IMU e o sistema de aquisição de dados e controle para avaliar a possibilidade da não utilização de slip rings ou fios entre o eixo de rotação e os quadros da plataforma. Entretanto, verificou-se a inviabilidade da transmissão em razão da baixa velocidade de transmissão e dos ruídos captados pelo receptor de rádio frequência durante osmovimentos da plataforma. Sendo assim, dois pares de fios trançados foram utilizados fios para conectar o sensor inercial ao sistema de aquisição e processamento.

EmotiBlog: a finer-grained and more precise learning of subjectivity expression models

The exponential growth of the subjective information in the framework of the Web 2.0 has led to the need to create Natural Language Processing tools able to analyse and process such data for multiple practical applications. They require training on specifically annotated corpora, whose level of detail must be fine enough to capture the phenomena involved. This paper presents EmotiBlog – a fine-grained annotation scheme for subjectivity. We show the manner in which it is built and demonstrate the benefits it brings to the systems using it for training, through the experiments we carried out on opinion mining and emotion detection. We employ corpora of different textual genres –a set of annotated reported speech extracted from news articles, the set of news titles annotated with polarity and emotion from the SemEval 2007 (Task 14) and ISEAR, a corpus of real-life self-expressed emotion. We also show how the model built from the EmotiBlog annotations can be enhanced with external resources. The results demonstrate that EmotiBlog, through its structure and annotation paradigm, offers high quality training data for systems dealing both with opinion mining, as well as emotion detection.

Comparison among monitoring strategies to assess water flow dynamic and soil hydraulic properties in agricultural soils

Irrigated agriculture is usually performed in semi-arid regions despite scarcity of water resources. Therefore, optimal irrigation management by monitoring the soil is essential, and assessing soil hydraulic properties and water flow dynamics is presented as a first measure. For this purpose, the control of volumetric water content, θ, and pressure head, h, is required. This study adopted two types of monitoring strategies in the same experimental plot to control θ and h in the vadose zone: i) non-automatic and more time-consuming; ii) automatic connected to a datalogger. Water flux was modelled with Hydrus-1D using the data collected from both acquisition strategies independently (3820 daily values for the automatic; less than 1000 for the non-automatic). Goodness-of-fit results reported a better adjustment in case of automatic sensors. Both model outputs adequately predicted the general trend of θ and h, but with slight differences in computed annual drainage (711 mm and 774 mm). Soil hydraulic properties were inversely estimated from both data acquisition systems. Major differences were obtained in the saturated volumetric water content, θs, and the n and α van Genuchten model shape parameters. Saturated hydraulic conductivity, Ks, shown lower variability with a coefficient of variation range from 0.13 to 0.24 for the soil layers defined. Soil hydraulic properties were better assessed through automatic data acquisition as data variability was lower and accuracy was higher.

Development and programming of Geophonino: A low cost Arduino-based seismic recorder for vertical geophones

The commercial data acquisition systems used for seismic exploration are usually expensive equipment. In this work, a low cost data acquisition system (Geophonino) has been developed for recording seismic signals from a vertical geophone. The signal goes first through an instrumentation amplifier, INA155, which is suitable for low amplitude signals like the seismic noise, and an anti-aliasing filter based on the MAX7404 switched-capacitor filter. After that, the amplified and filtered signal is digitized and processed by Arduino Due and registered in an SD memory card. Geophonino is configured for continuous registering, where the sampling frequency, the amplitude gain and the registering time are user-defined. The complete prototype is an open source and open hardware system. It has been tested by comparing the registered signals with the ones obtained through different commercial data recording systems and different kind of geophones. The obtained results show good correlation between the tested measurements, presenting Geophonino as a low-cost alternative system for seismic data recording.

Fire behaviour of tabique walls

This paper present a study on the behaviour of tabique walls, concerning its fire resistance. This work is based on the experimental analysis of real scale tabique panels. Such walls were made in pine wood with an earth-based mortar finishing. In order to assess the earth-based mortar thickness effect on the fire resistance of the wall, three specimens were tested with three different mortar thicknesses of 15 mm, 10 mm and 5 mm. The earth-based mortar was previously analysed in the laboratory. The wooden structures were constructed based on traditional tabique technique. The experimental models were tested in a fire-resistance furnace, according to the ISO 834 standard fire. Temperatures were recorded using two data acquisition systems (spot measuring and field measuring). Fire resistance of test elements is expressed as the time during which the appropriate criteria have been satisfied so that one can predict the time before collapse, increasing both people and property safety. The obtained results are of great importance as they allow to improve the knowledge on tabique walls behaviour subjected to fire conditions. Two performance criteria were verified: the integrity criteria and the insulation criteria.

Connection Establishment Algorithm for Multidestination Protocol

Connection establishment is a fundamental function for any connection-oriented network protocol and the efficiency of this function defines the flexibility and responsiveness of the protocol. This process initializes data transmission and performs transmission parameters negotiation, what makes it mandatory process and integral part of entire transmission. Thus, the duration of the connection establishment will affect the transmission process duration. This paper describes an implementation of a handshake algorithm, designed for connection with multiple peers, that is used in Reliable Multi-Destination Transport(RMDT) protocol, its optimization and testing.

Automated In Situ Water Quality Sensor Workshop, February 14-16, 1978 : [proceedings] /

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