Estudio del crecimiento subcrítico de grietas en papel : análisis estadístico y correlación por emisión acústica.

Tesis (Maestría en Ciencias de la Ingeniería Mecánica con Especialidad en Materiales) UANL, 2011.

Realisation of a Target Classifier For Noise Sources in the Ocean

This thesis addresses one of the emerging topics in Sonar Signal Processing.,viz.the implementation of a target classifier for the noise sources in the ocean, as the operator assisted classification turns out to be tedious,laborious and time consuming.In the work reported in this thesis,various judiciously chosen components of the feature vector are used for realizing the newly proposed Hierarchical Target Trimming Model.The performance of the proposed classifier has been compared with the Euclidean distance and Fuzzy K-Nearest Neighbour Model classifiers and is found to have better success rates.The procedures for generating the Target Feature Record or the Feature vector from the spectral,cepstral and bispectral features have also been suggested.The Feature vector ,so generated from the noise data waveform is compared with the feature vectors available in the knowledge base and the most matching pattern is identified,for the purpose of target classification.In an attempt to improve the success rate of the Feature Vector based classifier,the proposed system has been augmented with the HMM based Classifier.Institutions where both the classifier decisions disagree,a contention resolving mechanism built around the DUET algorithm has been suggested.

Acoustic radiation and scattering from cylindrical bodies and analysis of transducer arrays

New mathematical methods to analytically investigate linear acoustic radiation and scattering from cylindrical bodies and transducer arrays are presented. Three problems of interest involving cylinders in an infinite fluid are studied. In all the three problems, the Helmholtz equation is used to model propagation through the fluid and the beam patterns of arrays of transducers are studied. In the first problem, a method is presented to determine the omni-directional and directional far-field pressures radiated by a cylindrical transducer array in an infinite rigid cylindrical baffle. The solution to the Helmholtz equation and the displacement continuity condition at the interface between the array and the surrounding water are used to determine the pressure. The displacement of the surface of each transducer is in the direction of the normal to the array and is assumed to be uniform. Expressions are derived for the pressure radiated by a sector of the array vibrating in-phase, the entire array vibrating in-phase, and a sector of the array phase-shaded to simulate radiation from a rectangular piston. It is shown that the uniform displacement required for generating a source level of 220 dB ref. μPa @ 1m that is omni directional in the azimuthal plane is in the order of 1 micron for typical arrays. Numerical results are presented to show that there is only a small difference between the on-axis pressures radiated by phased cylindrical arrays and planar arrays. The problem is of interest because cylindrical arrays of projectors are often used to search for underwater objects. In the second problem, the errors, when using data-independent, classical, energy and split beam correlation methods, in finding the direction of arrival (DOA) of a plane acoustic wave, caused by the presence of a solid circular elastic cylindrical stiffener near a linear array of hydrophones, are investigated. Scattering from the effectively infinite cylinder is modeled using the exact axisymmetric equations of motion and the total pressures at the hydrophone locations are computed. The effect of the radius of the cylinder, a, the distance between the cylinder and the array, b, the number of hydrophones in the array, 2H, and the angle of incidence of the wave, α, on the error in finding the DOA are illustrated using numerical results. For an array that is about 30 times the wavelength and for small angles of incidence (α<10), the error in finding the DOA using the energy method is less than that using the split beam correlation method with beam steered to α; and in some cases, the error increases when b increases; and the errors in finding the DOA using the energy method and the split beam correlation method with beam steered to α vary approximately as a7 / 4 . The problem is of interest because elastic stiffeners – in nearly acoustically transparent sonar domes that are used to protect arrays of transducers – scatter waves that are incident on it and cause an error in the estimated direction of arrival of the wave. In the third problem, a high-frequency ray-acoustics method is presented and used to determine the interior pressure field when a plane wave is normally incident on a fluid cylinder embedded in another infinite fluid. The pressure field is determined by using geometrical and physical acoustics. The interior pressure is expressed as the sum of the pressures due to all rays that pass through a point. Numerical results are presented for ka = 20 to 100 where k is the acoustic wavenumber of the exterior fluid and a is the radius of the cylinder. The results are in good agreement with those obtained using field theory. The directional responses, to the plane wave, of sectors of a circular array of uniformly distributed hydrophones in the embedded cylinder are then computed. The sectors are used to simulate linear arrays with uniformly distributed normals by using delays. The directional responses are compared with the output from an array in an infinite homogenous fluid. These outputs are of interest as they are used to determine the direction of arrival of the plane wave. Numerical results are presented for a circular array with 32 hydrophones and 12 hydrophones in each sector. The problem is of interest because arrays of hydrophones are housed inside sonar domes and acoustic plane waves from distant sources are scattered by the dome filled with fresh water and cause deterioration in the performance of the array.

Underwater Target Localization, Tracking and Classification

Underwater target localization and tracking attracts tremendous research interest due to various impediments to the estimation task caused by the noisy ocean environment. This thesis envisages the implementation of a prototype automated system for underwater target localization, tracking and classification using passive listening buoy systems and target identification techniques. An autonomous three buoy system has been developed and field trials have been conducted successfully. Inaccuracies in the localization results, due to changes in the environmental parameters, measurement errors and theoretical approximations are refined using the Kalman filter approach. Simulation studies have been conducted for the tracking of targets with different scenarios even under maneuvering situations. This system can as well be used for classifying the unknown targets by extracting the features of the noise emanations from the targets.

Modellierung und numerische Simulation der Thermoregulation von Früh- und Neugeborenen

Bei frühgeborenen Säuglingen spielt die Thermoregulation zur Aufrechterhaltung einer überlebenswichtigen Körpertemperatur durch Wärmeproduktion, -abgabe bzw. -aufnahme eine entscheidende Rolle. Der Einsatz moderner Inkubatoren soll die körpereigenen Thermoregulatoren unterstützen, und es ist im Hinblick auf verschiedene medizinische Fragestellungen wünschenswert, diesen Prozess modellieren zu können. Wir stellen ein einfaches Modell auf der Basis von partiellen Differentialgleichungen vor und beschreiben detailliert die numerische Simulation mit Hilfe einer Finite-Volumen-Methode. Dazu wird ein zweidimensionales Modell eines Frühgeborenen trianguliert und das Modell diskretisiert. Zahlreiche numerische Resultate zeigen die Qualität unseres Modells.

Multisensor Modeling Underwater with Uncertain Information

This thesis develops an approach to the construction of multidimensional stochastic models for intelligent systems exploring an underwater environment. It describes methods for building models by a three- dimensional spatial decomposition of stochastic, multisensor feature vectors. New sensor information is incrementally incorporated into the model by stochastic backprojection. Error and ambiguity are explicitly accounted for by blurring a spatial projection of remote sensor data before incorporation. The stochastic models can be used to derive surface maps or other representations of the environment. The methods are demonstrated on data sets from multibeam bathymetric surveying, towed sidescan bathymetry, towed sidescan acoustic imagery, and high-resolution scanning sonar aboard a remotely operated vehicle.

A Distributed Model for Mobile Robot Environment-Learning and Navigation

A distributed method for mobile robot navigation, spatial learning, and path planning is presented. It is implemented on a sonar-based physical robot, Toto, consisting of three competence layers: 1) Low-level navigation: a collection of reflex-like rules resulting in emergent boundary-tracing. 2) Landmark detection: dynamically extracts landmarks from the robot's motion. 3) Map learning: constructs a distributed map of landmarks. The parallel implementation allows for localization in constant time. Spreading of activation computes both topological and physical shortest paths in linear time. The main issues addressed are: distributed, procedural, and qualitative representation and computation, emergent behaviors, dynamic landmarks, minimized communication.

Integració d’ una unitat inercial i d’ un giroscopi de fibra òptica en un robot submarí i desenvolupament d’ un sistema de posicionament dins una piscina

El Grup de Visió per Computador i Robòtica (VICOROB) del departament d'Electrònica, Informàtica i Automàtica de la Universitat de Girona investiga en el camp de la robòtica submarina. Al CIRS (Centre d’Investigació en Robòtica Submarina), laboratori que forma part del grup VICOROB, el robot submarí Ictineu és la principal eina utilitzada per a desenvolupar els projectes de recerca. Recentment, el CIRS ha adquirit un nou sistema de sensors d' orientació basat en una unitat inercial i un giroscopi de fibra òptica. Aquest projecte pretén realitzar un estudi d' aquests dispositius i integrar-los al robot Ictineu. D' altra banda, aprofitant les característiques d’aquests sensors giroscopics i les mesures d' un sonar ja integrat al robot, es vol desenvolupar un sistema de localització capaç de determinar la posició del robot en el pla horitzontal de la piscina en temps real

Correction of shading effects in vision-based UUV localization

This paper describes the improvements achieved in our mosaicking system to assist unmanned underwater vehicle navigation. A major advance has been attained in the processing of images of the ocean floor when light absorption effects are evident. Due to the absorption of natural light, underwater vehicles often require artificial light sources attached to them to provide the adequate illumination for processing underwater images. Unfortunately, these flashlights tend to illuminate the scene in a nonuniform fashion. In this paper a technique to correct non-uniform lighting is proposed. The acquired frames are compensated through a point-by-point division of the image by an estimation of the illumination field. Then, the gray-levels of the obtained image remapped to enhance image contrast. Experiments with real images are presented

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory

Underwater SLAM in a marina environment

This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach

El desenvolupament auditiu : la discriminació de la informació acústica de l'entorn viari. 'El desarrollo auditivo : la discriminación de la información acústica del entorno viario'.

Obtener algunas conclusiones sobre el desarrollo auditivo humano que nos permitan diseñar pautas para la elaboración de un programa de educación vial dirigido a niños de edades comprendidas entre los 6 y los 11 años. 86 niños de 6 años, 67 de 7 años, 80 de 8 años, 46 de 9 años, 72 de 10 años, 48 de 11 años y 128 adultos; la mitad aproximadamente féminas y la mitad hombres; la mitad aproximadamente procedente de zonas rurales y la mitad de zona urbana. Se tuvieron en cuenta fundamentalmente cuatro variables: la edad, el sexo, la zona de residencia y la presencia de algún tipo de hipoacusia (un oído o ambos oídos); se realizó una audiometría a todos los participantes. Se diseñó una batería de pruebas basadas en la discriminación de sonidos, la identificación de sonidos del entorno vial, la asociación de sonidos a ilustraciones, la percepción auditiva del movimiento en distancia, la percepción del riesgo a partir de la información auditiva y la atención visual selectiva. Se administró la batería de pruebas en salas adecuadamente aisladas de sonidos del exterior. Todas las pruebas se realizaron en soportes informáticos que permitían el registro directo del tiempo de reacción y del número de errores; estas dos variables dependientes son las que se utilizaron en el posterior análisis de los datos. Los niños mayores de 8 años obtuvieron umbrales auditivos similares a los de los adultos, los de 6 y 7 años mostraban umbrales significativamente superiores; en las pruebas de reconocimiento y asociación de sonidos a ilustraciones no aparecieron diferencias por edades; en la percepción auditiva de movimiento se formaron tres grupos según su nivel de competencia: 6-7 años, 8-11 años y adultos. Los niños de la zona rural obtenían mejores resultados que los de ciudad, excepto en los cambios de frecuencia, en los que los de ciudad obtenían valores más precisos; los niños no cometen más situaciones arriesgadas que los adultos en una prueba de percepción del riesgo a partir de la información auditiva, sin embargo, desaprovechan más oportunidades de cruzar la calle. El origen de las diferencias comportamentales según la edad parece provenir de la capacidad de percepción auditiva del movimiento en distancia y en la nula competencia de los niños menores de 9 años para usar los cambios tonales.

La lectura expressiva d'escrits literaris a l'aula : una estratègia de descodificació de textos per formar lectors lingüísticament competents. 'La lectura expresiva de escritos literarios en el aula : una estrategia de descodificación de textos para formar lectores lingüísticamente competentes'.

Resumen de la autora en catalán. Este artículo forma parte de la monografía 'Recerques i propostes del professorat'

Novus modus per augmentar la competència en la llengua i cultures pròpies des del llatí mitjançant la utilització de la xarxa informàtica www.icarus.cat. 'Novus modus para aumentar la competencia en la lengua y culturas propias desde el latín mediante la utilización de la red informática www.icarus.cat'.

Resumen basado en el de la autora.

Contaminación acústica.

Unidad de lectura pensada para alumnos de quinto curso de educación primaria