Comment on "Another look at the uniform rope sliding over the edge of a smooth table"

Comment on "Another look at the uniform rope sliding over the edge of a smooth table"

Arquitectura de Control para la Conducción Autónoma de Vehículos en Entornos Urbanos y Autovías

Hoy en día, el desarrollo tecnológico en el campo de los sistemas inteligentes de transporte (ITS por sus siglas en inglés) ha permitido dotar a los vehículos con diversos sistemas de ayuda a la conducción (ADAS, del inglés advanced driver assistance system), mejorando la experiencia y seguridad de los pasajeros, en especial del conductor. La mayor parte de estos sistemas están pensados para advertir al conductor sobre ciertas situaciones de riesgo, como la salida involuntaria del carril o la proximidad de obstáculos en el camino. No obstante, también podemos encontrar sistemas que van un paso más allá y son capaces de cooperar con el conductor en el control del vehículo o incluso relegarlos de algunas tareas tediosas. Es en este último grupo donde se encuentran los sistemas de control electrónico de estabilidad (ESP - Electronic Stability Program), el antibloqueo de frenos (ABS - Anti-lock Braking System), el control de crucero (CC - Cruise Control) y los más recientes sistemas de aparcamiento asistido. Continuando con esta línea de desarrollo, el paso siguiente consiste en la supresión del conductor humano, desarrollando sistemas que sean capaces de conducir un vehículo de forma autónoma y con un rendimiento superior al del conductor. En este trabajo se presenta, en primer lugar, una arquitectura de control para la automatización de vehículos. Esta se compone de distintos componentes de hardware y software, agrupados de acuerdo a su función principal. El diseño de la arquitectura parte del trabajo previo desarrollado por el Programa AUTOPIA, aunque introduce notables aportaciones en cuanto a la eficiencia, robustez y escalabilidad del sistema. Ahondando un poco más en detalle, debemos resaltar el desarrollo de un algoritmo de localización basado en enjambres de partículas. Este está planteado como un método de filtrado y fusión de la información obtenida a partir de los distintos sensores embarcados en el vehículo, entre los que encontramos un receptor GPS (Global Positioning System), unidades de medición inercial (IMU – Inertial Measurement Unit) e información tomada directamente de los sensores embarcados por el fabricante, como la velocidad de las ruedas y posición del volante. Gracias a este método se ha conseguido resolver el problema de la localización, indispensable para el desarrollo de sistemas de conducción autónoma. Continuando con el trabajo de investigación, se ha estudiado la viabilidad de la aplicación de técnicas de aprendizaje y adaptación al diseño de controladores para el vehículo. Como punto de partida se emplea el método de Q-learning para la generación de un controlador borroso lateral sin ningún tipo de conocimiento previo. Posteriormente se presenta un método de ajuste on-line para la adaptación del control longitudinal ante perturbaciones impredecibles del entorno, como lo son los cambios en la inclinación del camino, fricción de las ruedas o peso de los ocupantes. Para finalizar, se presentan los resultados obtenidos durante un experimento de conducción autónoma en carreteras reales, el cual se llevó a cabo en el mes de Junio de 2012 desde la población de San Lorenzo de El Escorial hasta las instalaciones del Centro de Automática y Robótica (CAR) en Arganda del Rey. El principal objetivo tras esta demostración fue validar el funcionamiento, robustez y capacidad de la arquitectura propuesta para afrontar el problema de la conducción autónoma, bajo condiciones mucho más reales a las que se pueden alcanzar en las instalaciones de prueba. ABSTRACT Nowadays, the technological advances in the Intelligent Transportation Systems (ITS) field have led the development of several driving assistance systems (ADAS). These solutions are designed to improve the experience and security of all the passengers, especially the driver. For most of these systems, the main goal is to warn drivers about unexpected circumstances leading to risk situations such as involuntary lane departure or proximity to other vehicles. However, other ADAS go a step further, being able to cooperate with the driver in the control of the vehicle, or even overriding it on some tasks. Examples of this kind of systems are the anti-lock braking system (ABS), cruise control (CC) and the recently commercialised assisted parking systems. Within this research line, the next step is the development of systems able to replace the human drivers, improving the control and therefore, the safety and reliability of the vehicles. First of all, this dissertation presents a control architecture design for autonomous driving. It is made up of several hardware and software components, grouped according to their main function. The design of this architecture is based on the previous works carried out by the AUTOPIA Program, although notable improvements have been made regarding the efficiency, robustness and scalability of the system. It is also remarkable the work made on the development of a location algorithm for vehicles. The proposal is based on the emulation of the behaviour of biological swarms and its performance is similar to the well-known particle filters. The developed method combines information obtained from different sensors, including GPS, inertial measurement unit (IMU), and data from the original vehicle’s sensors on-board. Through this filtering algorithm the localization problem is properly managed, which is critical for the development of autonomous driving systems. The work deals also with the fuzzy control tuning system, a very time consuming task when done manually. An analysis of learning and adaptation techniques for the development of different controllers has been made. First, the Q-learning –a reinforcement learning method– has been applied to the generation of a lateral fuzzy controller from scratch. Subsequently, the development of an adaptation method for longitudinal control is presented. With this proposal, a final cruise control controller is able to deal with unpredictable environment disturbances, such as road slope, wheel’s friction or even occupants’ weight. As a testbed for the system, an autonomous driving experiment on real roads is presented. This experiment was carried out on June 2012, driving from San Lorenzo de El Escorial up to the Center for Automation and Robotics (CAR) facilities in Arganda del Rey. The main goal of the demonstration was validating the performance, robustness and viability of the proposed architecture to deal with the problem of autonomous driving under more demanding conditions than those achieved on closed test tracks.

Alta velocidad ferroviaria en California(USA): quinta parte (V) LAV San Francisco–Sacramento (Bay Crossing Alternative) = High speed railway in California (USA): fith part (V) HSRL San Francisco–Sacramento (Bay Crossing Alternative)

Implantación de la Red de Alta velocidad Ferroviaria en California. Tramo San Francisco-Sacramento. Este artículo de la serie “Alta velocidad Ferroviaria en California (CHSRS), se ocupa de la línea San Francisco– Sacramento “Bay Crossing Alternative”, que cierra la red de alta velocidad ferroviaria del Estado de California, permitiendo en la terminal HSR de Sacramento, conectar con la línea Fresno–Sacramento, en coincidencia de trazados para en el futuro prolongar la red californiana de alta velocidad ferroviaria hasta su entronque con la del Estado de Nevada, vía Tahoe Lake–Reno. La línea San Francisco–Sacramento “Bay Crossing Alternative”, consta de tres trayectos: El primero de ellos “San Francisco urbano” va desde la terminal HSR “San Francisco Airport”, donde termina la alternativa “Golden Gate” de la línea Fresno–San Francisco, hasta el viaducto de acceso al Paso de la Bahía, que constituye el segundo trayecto “San Francisco–Richmond”, trayecto estrella de la red, de 15,48 Km de longitud sobre la Bahía de San Francisco, con desarrollo a través de 11,28 Km en puente colgante múltiple, con vanos de 800 m de luz y 67 m de altura libre bajo el tablero que permite la navegación en la Bahía. El tercer trayecto “Richmond–Sacramento” cruza la Bahía de San Pablo con un puente colgante de 1,6 Km de longitud y tipología similar a los múltiples de la Bahía de San Francisco, pasa por Vallejo (la por plazo breve de tiempo, antigua capital del Estado de California) y por la universitaria Davis, antes de finalmente llegar a la HSR Terminal Station de Sacramento Roseville. This article of the series “California High Speed Railway System”(CHSRS) treats on Line San Francisco–Sacramento “Bay Crossing Alternative” (BCA). This line closes the system of California high speed state railway, and connects with the line Fresno–Sacramento “Stockton Arch Alternative”, joining its alignments in the HSR Terminal of Sacramento Roseville. From this station it will be possible, in the future, to extend the Californian railway system till the Nevada railway system, vía Tahoe Lake and Reno. The BCA consists of three sections: The first one passing through San Francisco city, goes from HSR San Francisco Airport Terminal Station (where the line Fresno–San Francisco “Golden Gate Alternative” ends), up to the Viaduct access at the Bay Crossing. The second section San Francisco–Richmond, constitutes the star section of the system, with 15,48 Km length on the San Francisco Bay, where 11,28 Km in multi suspension bridge, 800 m span and 67 m gauge under panel, to allow navigation through the Bay. The third section Richmond–Sacramento crosses the San Pablo Bay through another suspension bridge of similar typology to that of San Francisco Bay crossing; pass through Vallejo (the ancient and for a short time Head of the State of California) and through Davis, university city, to arrive to the HSR Terminal Station of Sacramento Roseville.

Una base de datos de inventarios de vegetación: HISPAVEG

Las bases de datos de inventarios de vegetación son una importante fuente de información en relación a un conjunto amplio de aspectos del medio natural, entre los que destacan los efectos de la gestión forestal en la diversidad vegetal, los estudios de autoecología basados en modelos de distribución de especies y la observación a largo plazo de las comunidades vegetales. Desde esta valoración esta comunicación presenta HispaVeg, una base de datos de inventarios de vegetación online, abierta y viva, con las siguientes características y resultados: Permite introducir inventarios de vegetación con diversas metodologías (estructural, como la fisionómica-estructural de Ruiz de la Torre y de la escuela de Zurich-Montpelier). En la actualidad contiene 2.663 inventarios históricos del profesor Juan Ruiz de la Torre realizados entre los años 1950 y 2000, de superficie de parcela entre 400 y 3.600 m2, tanto de formaciones arboladas como de matorrales y pastizales, con número medio de especies por inventario de 34 y distribuidos por toda la España peninsular e Islas Baleares, en un intervalo altitudinal entre 0 y 2880 m.

Fertilización y N2O. Implicaciones en la huella de carbono.

Todos los alimentos obtenidos de origen vegetal llevan asociada una cierta cantidad de emisiones de Gases de Efecto Invernadero (GEI), que se cuantifican a través de su huella de carbono. De los GEI, la agricultura es principalmente responsable de la emisión de óxido nitroso (N2O), que es el que presenta mayor poder de calentamiento global. La metodología del IPCC, aparte de sobreestimar con su valor por defecto las emisiones de N2O de nuestros agrosistemas, no tiene en cuenta el fin último de la agricultura que es satisfacer la demanda mundial de alimentos, fibras y combustibles. Por ello, en este artículo se propone evaluar las emisiones de N2O en base al rendimiento del cultivo. Posteriormente, se enumeran una serie de buenas prácticas agrícolas cuyo fin es aumentar la eficiencia del uso del N por parte del cultivo así como reducir las emisiones de N2O.

Nitrous oxide emissions from European agriculture - an analysis of variability and drivers of emissions from field experiments

Nitrous oxide emissions from a network of agricultural experiments in Europe were used to explore the relative importance of site and management controls of emissions. At each site, a selection of management interventions were compared within replicated experimental designs in plot-based experiments. Arable experiments were conducted at Beano in Italy, El Encin in Spain, Foulum in Denmark, Logarden in Sweden, Maulde in Belgium CE1, Paulinenaue in Germany, and Tulloch in the UK. Grassland experiments were conducted at Crichton, Nafferton and Peaknaze in the UK, Godollo in Hungary, Rzecin in Poland, Zarnekow in Germany and Theix in France. Nitrous oxide emissions were measured at each site over a period of at least two years using static chambers. Emissions varied widely between sites and as a result of manipulation treatments. Average site emissions (throughout the study period) varied between 0.04 and 21.21 kg N2O-N ha−1yr−1, with the largest fluxes and variability associated with the grassland sites. Total nitrogen addition was found to be the single most important deter- minant of emissions, accounting for 15 % of the variance (using linear regression) in the data from the arable sites (p<0.0001), and 77 % in the grassland sites. The annual emissions from arable sites were significantly greater than those that would be predicted by IPCC default emission fac- tors. Variability of N2O emissions within sites that occurred as a result of manipulation treatments was greater than that resulting from site-to-site and year-to-year variation, highlighting the importance of management interventions in contributing to greenhouse gas mitigation

The potential of organic fertilizers and water management to reduce N2O emissions in Mediterranean climate cropping systems. A review.

Environmental problems related to the use of synthetic fertilizers and to organic waste management have led to increased interest in the use of organic materials as an alternative source of nutrients for crops, but this is also associated with N2O emissions. There has been an increasing amount of research into the effects of using different types of fertilization on N2O emissions under Mediterranean climatic conditions, but the findings have sometimes been rather contradictory. Available information also suggests that water management could exert a high influence on N2O emissions. In this context, we have reviewed the current scientific knowledge, including an analysis of the effect of fertilizer type and water management on direct N2O emissions. A meta-analysis of compliant reviewed experiments revealed significantly lower N2O emissions for organic as opposed to synthetic fertilizers (23% reduction). When organic materials were segregated in solid and liquid, only solid organic fertilizer emissions were significantly lower than those of synthetic fertilizers (28% reduction in cumulative emissions). The EF is similar to the IPCC factor in conventionally irrigated systems (0.98% N2O-N N applied−1), but one order of magnitude lower in rainfed systems (0.08%). Drip irrigation produces intermediate emission levels (0.66%). Differences are driven by Mediterranean agro-climatic characteristics, which include low soil organic matter (SOM) content and a distinctive rainfall and temperature pattern. Interactions between environmental and management factors and the microbial processes involved in N2O emissions are discussed in detail. Indirect emissions have not been fully accounted for, but when organic fertilizers are applied at similar N rates to synthetic fertilizers, they generally make smaller contributions to the leached NO3− pool. The most promising practices for reducing N2O through organic fertilization include: (i) minimizing water applications; (ii) minimizing bare soil; (iii) improving waste management; and (iv) tightening N cycling through N immobilization. The mitigation potential may be limited by: (i) residual effect; (ii) the long-term effects of fertilizers on SOM; (iii) lower yield-scaled performance; and (iv) total N availability from organic sources. Knowledge gaps identified in the review included: (i) insufficient sampling periods; (ii) high background emissions; (iii) the need to provide N2O EF and yield-scaled EF; (iv) the need for more research on specific cropping systems; and (v) the need for full GHG balances. In conclusion, the available information suggests a potential of organic fertilizers and water-saving practices to mitigate N2O emissions under Mediterranean climatic conditions, although further research is needed before it can be regarded as fully proven, understood and developed.

Meta-analysis of strategies to control nitrate leaching in irrigated agricultural systems and their effects on crop yield.

Nitrate leaching (NL) is an important N loss process in irrigated agriculture that imposes a cost on the farmer and the environment. A meta-analysis of published experimental results from agricultural irrigated systems was conducted to identify those strategies that have proven effective at reducing NL and to quantify the scale of reduction that can be achieved. Forty-four scientific articles were identified which investigated four main strategies (water and fertilizer management, use of cover crops and fertilizer technology) creating a database with 279 observations on NL and 166 on crop yield. Management practices that adjust water application to crop needs reduced NL by a mean of 80% without a reduction in crop yield. Improved fertilizer management reduced NL by 40%, and the best relationship between yield and NL was obtained when applying the recommended fertilizer rate. Replacing a fallow with a non-legume cover crop reduced NL by 50% while using a legume did not have any effect on NL. Improved fertilizer technology also decreased NL but was the least effective of the selected strategies. The risk of nitrate leaching from irrigated systems is high, but optimum management practices may mitigate this risk and maintain crop yields while enhancing environmental sustainability.

Role of maize stover incorporation on nitrogen oxide emissions in a non-irrigated Mediterranean barley field.

Aims Agricultural soils in semiarid Mediterranean areas are characterized by low organic matter contents and low fertility levels. Application of crop residues and/or manures as amendments is a cost-effective and sustainable alternative to overcome this problem. However, these management practices may induce important changes in the nitrogen oxide emissions from these agroecosystems, with additional impacts on carbon dioxide emissions. In this context, a field experiment was carried out with a barley (Hordeum vulgare L.) crop under Mediterranean conditions to evaluate the effect of combining maize (Zea mays L.) residues and N fertilizer inputs (organic and/or mineral) on these emissions. Methods Crop yield and N uptake, soil mineral N concentrations, dissolved organic carbon (DOC), denitrification capacity, N2O, NO and CO2 fluxes were measured during the growing season. Results The incorporation of maize stover increased N2O emissions during the experimental period by c. 105 %. Conversely, NO emissions were significantly reduced in the plots amended with crop residues. The partial substitution of urea by pig slurry reduced net N2O emissions by 46 and 39 %, with and without the incorporation of crop residues respectively. Net emissions of NO were reduced 38 and 17 % for the same treatments. Molar DOC:NO 3 − ratio was found to be a robust predictor of N2O and NO fluxes. Conclusions The main effect of the interaction between crop residue and N fertilizer application occurred in the medium term (4–6 month after application), enhancing N2O emissions and decreasing NO emissions as consequence of residue incorporation. The substitution of urea by pig slurry can be considered a good management strategy since N2O and NO emissions were reduced by the use of the organic residue.

Influence of denitrifiers abundance on N2O emissions in long term tillage system under a rainfed legume crop

Current studies about nitrous oxide (N2O) emissions from legume crops have raised considerable doubt, observing a high variability between sites (0.03-7.09 kg N2O–N ha−1 y -1) [1]. This high variability has been associated to climate and soil conditions, legume species and soil management practices (e.g. conservation or conventional tillage). Conservation tillage (i.e. no tillage (NT) and minimum tillage (MT)) has spread during the last decades because promotes several positive effects (increase of soil organic content, reduction of soil erosion and enhancement of carbon (C) sequestration). However, these benefits could be partly counterbalanced by negative effects on the release of N2O emissions. Among processes responsible for N2O production and consumption in soils, denitrification plays an importantrole both in tilled and no-tilled ropping systems [2]. Recently, amplification of functional bacterial genes involved in denitrification is being used to examine denitrifiers abundance and evaluate their influence on N2O emissions. NirK and nirS are functional genes encoding the cytochrome cd1 and copper nitrite reductase, which is the key enzyme regulating the denitrification process.

N2O emissions and N efficiency due to tillage systems and crop rotation under a rainfed Mediterranean agroecosystem

Application of nitrogen (N) fertilizers in agricultural soils increases the risk of N loss to the atmosphere in the form of ammonia (NH3), nitrous oxide (N2O) and nitric oxide (NO)and the water bodies as nitrate (NO3-). The implementation of agricultural management practices can affect these losses. In Mediterranean irrigation systems, the greatest losses of NO3-through leaching occur within the irrigation and the intercropperiod. One way to abate these losses during the intercrop period is the use of cover crops that absorb part of the residual N from the root zone (Gabriel and Quemada, 2011). Moreover, during the following crop, these species could be applied as amendments to the soil, providing both C and N to the soil. This effect of cover and catch crops on decreasing the pool of N potentially lost has focused primarily on NO3-leaching. The aim of this work was to evaluate the effect of cover crops on N2O emission during the in tercrop period in a maize system and its subsequent incorporation into the soil in the following maize crop.

La armonización europea para la determinación de la superficie forestal disponible para suministro de madera y/o leña (COST FP1001)

Para definir estrategias de mitigación del cambio global y poder plantearse objetivos para la estimación de energía procedente de la biomasa a nivel nacional y Europeo, así como para apoyar la propuesta de un aumento del uso de madera como una decisión posterior al Protocolo de Kioto, es necesario conocer la disponibilidad de madera en Europa sobre una base sostenible. Además, escenarios futuros en el ámbito de la UE destacan un déficit en el abastecimiento de madera en comparación con su consumo. Dicha información armonizada es urgente para mejorar la base de cálculo para la toma de decisiones sobre los sistemas forestales, el medio ambiente y el sector de la energía. Con ese objetivo se ha creado la Acción Cost FP1001 USEWOOD ?Mejora de datos e información sobre el suministro de los recursos madereros: una aproximación europea desde los inventarios forestales nacionales multi-recursos?. En este trabajo se presentan además de las líneas de acción de este proyecto, las diferentes aproximaciones de los países europeos para la determinación de la superficie forestal disponible para suministro de madera y/o leña, las restricciones que consideran los diferentes países para su determinación y las posibilidades de armonización a nivel europeo.

N-Management using Nitrification inhibitor DMPP to Reduce Nitrogen Oxide Emissions in Mediterranean Winter Barley.

Increasing nitrogen (N) use efficiency during crop production is paramount both from an economic and environmental perspective. A proposed measure to achieve it is to split the addition of fertilizers with more than on application. For a winter crop under Mediterranean climatic conditions, the most common application pattern consists of a basal fertilization (October-November) an a top-dressing (February-March).

La estimación de los árboles añosos en el Inventario Forestal Nacional

El estudio de los árboles añosos es fundamental para la estimación de la biodiversidad puesto que son nicho ecológico de numerosas especies indicadoras de aves, insectos, líquenes, hongos y briofitos. Sin embargo, no existen definiciones claras para su identificación en los Inventarios Forestales Nacionales debido a que la variable edad no es muestreada en la mayoría de los países y los datos que se recogen no son homogéneos. El objetivo de este trabajo es presentar una metodología aplicable en Inventarios Forestales Nacionales que permita determinar cuándo un árbol es añoso a partir de la medición de su diámetro normal. Esta metodología se fundamenta en modelos mixtos no lineales edad dominante-diámetro a través de los cuales se determinan diámetros límite específicos para cada especie. Se exponen ejemplos de dos especies de pinos de la península ibérica, uno de ámbito mediterráneo, Pinus halepensis Mill.y otro de ámbito eurosiberiano, las poblaciones atlánticas de Pinus pinaster Aiton. Este estudio posibilita la consideración de los árboles añosos en la toma de decisiones en los planes de gestión forestal.