Evaluación y diseño de un sistema de medida de posición por cable para un mecanismo de cinemática paralela 5R

[ES]El objetivo del presente proyecto es el de diseñar, construir y verificar la validez de un sistema de medida de posición mediante sensores por cable para un mecanismo de cinemática paralela 5R, extensible a cualquier otro mecanismo espacial o planar. En el presente informe el lector encontrará un análisis exhaustivo de los inconvenientes prácticos derivados de la naturaleza del método de monitorización propuesto, el desarrollo completo del modelo matemático obtenido para solventarlos, descripciones y planos sobre el montaje in situ del sistema de medida, resultados empíricos sobre el manipulador paralelo y posibles riesgos para la consecución del proyecto

Two and Three Finger Caging of Polygons and Polyhedra

Multi-finger caging offers a rigorous and robust approach to robot grasping. This thesis provides several novel algorithms for caging polygons and polyhedra in two and three dimensions. Caging refers to a robotic grasp that does not necessarily immobilize an object, but prevents it from escaping to infinity. The first algorithm considers caging a polygon in two dimensions using two point fingers. The second algorithm extends the first to three dimensions. The third algorithm considers caging a convex polygon in two dimensions using three point fingers, and considers robustness of this cage to variations in the relative positions of the fingers.

This thesis describes an algorithm for finding all two-finger cage formations of planar polygonal objects based on a contact-space formulation. It shows that two-finger cages have several useful properties in contact space. First, the critical points of the cage representation in the hand’s configuration space appear as critical points of the inter-finger distance function in contact space. Second, these critical points can be graphically characterized directly on the object’s boundary. Third, contact space admits a natural rectangular decomposition such that all critical points lie on the rectangle boundaries, and the sublevel sets of contact space and free space are topologically equivalent. These properties lead to a caging graph that can be readily constructed in contact space. Starting from a desired immobilizing grasp of a polygonal object, the caging graph is searched for the minimal, intermediate, and maximal caging regions surrounding the immobilizing grasp. An example constructed from real-world data illustrates and validates the method.

A second algorithm is developed for finding caging formations of a 3D polyhedron for two point fingers using a lower dimensional contact-space formulation. Results from the two-dimensional algorithm are extended to three dimension. Critical points of the inter-finger distance function are shown to be identical to the critical points of the cage. A decomposition of contact space into 4D regions having useful properties is demonstrated. A geometric analysis of the critical points of the inter-finger distance function results in a catalog of grasps in which the cages change topology, leading to a simple test to classify critical points. With these properties established, the search algorithm from the two-dimensional case may be applied to the three-dimensional problem. An implemented example demonstrates the method.

This thesis also presents a study of cages of convex polygonal objects using three point fingers. It considers a three-parameter model of the relative position of the fingers, which gives complete generality for three point fingers in the plane. It analyzes robustness of caging grasps to variations in the relative position of the fingers without breaking the cage. Using a simple decomposition of free space around the polygon, we present an algorithm which gives all caging placements of the fingers and a characterization of the robustness of these cages.

Unveiling the factors shaping the distribution of widely distributed alpine vertebrates, using multi-scale ecological niche modelling of the bat Plecotus macrobullaris

Several alpine vertebrates share a distribution pattern that extends across the South-western Palearctic but is limited to the main mountain massifs. Although they are usually regarded as cold-adapted species, the range of many alpine vertebrates also includes relatively warm areas, suggesting that factors beyond climatic conditions may be driving their distribution. In this work we first recognize the species belonging to the mentioned biogeographic group and, based on the environmental niche analysis of Plecotus macrobullaris, we identify and characterize the environmental factors constraining their ranges. Distribution overlap analysis of 504 European vertebrates was done using the Sorensen Similarity Index, and we identified four birds and one mammal that share the distribution with P. macrobullaris. We generated 135 environmental niche models including different variable combinations and regularization values for P. macrobullaris at two different scales and resolutions. After selecting the best models, we observed that topographic variables outperformed climatic predictors, and the abruptness of the landscape showed better predictive ability than elevation. The best explanatory climatic variable was mean summer temperature, which showed that P. macrobullaris is able to cope with mean temperature ranges spanning up to 16 degrees C. The models showed that the distribution of P. macrobullaris is mainly shaped by topographic factors that provide rock-abundant and open-space habitats rather than climatic determinants, and that the species is not a cold-adapted, but rather a cold-tolerant eurithermic organism. P. macrobullaris shares its distribution pattern as well as several ecological features with five other alpine vertebrates, suggesting that the conclusions obtained from this study might be extensible to them. We concluded that rock-dwelling and open-space foraging vertebrates with broad temperature tolerance are the best candidates to show wide alpine distribution in the Western Palearctic.

Charts for the rapid estimation of percentages of plants and/or animals in samples

The need to estimate percentages and/or numbers occurs frequently during practical research work; accurate but rapid estimates can be useful when planning research programmes. Charts are provided that may be used as a visual aid to estimating numbers of animals/plants in a specific situation, for example, the number of fish fry in a subsample from a hatchery tank, or the percentage composition of a sample such as the percentage algal cover in a pond.

Avaliação dos algoritmos de Picard-Krylov e Newton-Krylov na solução da equação de Richards

A engenharia geotécnica é uma das grandes áreas da engenharia civil que estuda a interação entre as construções realizadas pelo homem ou de fenômenos naturais com o ambiente geológico, que na grande maioria das vezes trata-se de solos parcialmente saturados. Neste sentido, o desempenho de obras como estabilização, contenção de barragens, muros de contenção, fundações e estradas estão condicionados a uma correta predição do fluxo de água no interior dos solos. Porém, como a área das regiões a serem estudas com relação à predição do fluxo de água são comumente da ordem de quilômetros quadrados, as soluções dos modelos matemáticos exigem malhas computacionais de grandes proporções, ocasionando sérias limitações associadas aos requisitos de memória computacional e tempo de processamento. A fim de contornar estas limitações, métodos numéricos eficientes devem ser empregados na solução do problema em análise. Portanto, métodos iterativos para solução de sistemas não lineares e lineares esparsos de grande porte devem ser utilizados neste tipo de aplicação. Em suma, visto a relevância do tema, esta pesquisa aproximou uma solução para a equação diferencial parcial de Richards pelo método dos volumes finitos em duas dimensões, empregando o método de Picard e Newton com maior eficiência computacional. Para tanto, foram utilizadas técnicas iterativas de resolução de sistemas lineares baseados no espaço de Krylov com matrizes pré-condicionadoras com a biblioteca numérica Portable, Extensible Toolkit for Scientific Computation (PETSc). Os resultados indicam que quando se resolve a equação de Richards considerando-se o método de PICARD-KRYLOV, não importando o modelo de avaliação do solo, a melhor combinação para resolução dos sistemas lineares é o método dos gradientes biconjugados estabilizado mais o pré-condicionador SOR. Por outro lado, quando se utiliza as equações de van Genuchten deve ser optar pela combinação do método dos gradientes conjugados em conjunto com pré-condicionador SOR. Quando se adota o método de NEWTON-KRYLOV, o método gradientes biconjugados estabilizado é o mais eficiente na resolução do sistema linear do passo de Newton, com relação ao pré-condicionador deve-se dar preferência ao bloco Jacobi. Por fim, há evidências que apontam que o método PICARD-KRYLOV pode ser mais vantajoso que o método de NEWTON-KRYLOV, quando empregados na resolução da equação diferencial parcial de Richards.

Gêneros textuais em ambiente digital e leitura: o caso da hiperficção exploratória

As Tecnologias da Informação e comunicação (TICS) e a Internet vêm proporcionando novas formas de interação e comunicação entre os indivíduos no meio digital. Dessa forma, surgem novos gêneros textuais e releituras de gêneros já existentes do meio físico, mas que se adaptam às peculiaridades do meio digital. Os gêneros em meio digital, como são recentes, não possuem muitas investigações sobre ele. Por isso, optamos por pesquisar esta área. Dentre a diversidade de gêneros do ambiente virtual, destacamos em nossa pesquisa as narrativas hiperficcionais ou hiperficções. A hiperficção possui características de gêneros do ambiente físico, mas se concretiza com características próprias de seu ambiente, transfigurando-se, assim, em um possível gênero digital. A hiperficção pode ser colaborativa ou exploratória e, normalmente, está alocada em sites de literatura ou projetos em literatura digital. Possuem como característica principal a hipertextualidade e o uso do link, da imagem e do som, configurando-se em um texto multimodal (ALONSO, 2011; SANTOS, 2010). Esta pesquisa concentra-se sobre as hiperficções exploratórias, uma vez que não há um número substancial de pesquisas sobre as mesmas, como acontece com as hiperficções colaborativas. Há, na academia, discussões sobre o ato de ler, se este exige (ou não) posicionamentos diversificados para textos digitais em comparação com os impressos. Estudos recentes não confirmam uma diferença significativa no ato de ler textos digitais, mas concordam com a necessidade de conhecimento e domínio do suporte e do gênero do qual o texto faz parte (COSCARELI, 2012). Partindo deste pressuposto, considerando a leitura em meio digital, e propondo um diálogo entre linguística e literatura, o presente trabalho verifica se a hiperficção se constitui enquanto gênero textual em ambiente digital (MARCUSCHI, 2008) e se é um gênero exclusivo deste meio. Assim, nosso objetivo geral é mapear a hiperficção e discutir suas características, considerando os pressupostos teóricos dos gêneros textuais digitais. Como objetivos específicos, pretendemos elaborar uma listagem de hiperficções, catalogá-las de acordo com seus elementos e descrevê-las a partir de suas características emergentes. Além disso, ponderamos em que medida a leitura do gênero textual em ambiente digital hiperficção exige um posicionamento diferenciado do leitor, principalmente aos gêneros textuais impressos. Trata-se de um estudo documental exploratório e descritivo de base qualitativa com amostra de hiperficções em língua inglesa, portuguesa e espanhola, coletadas em sites na internet, no período de junho de 2012 a maio de 2013

A personal perspective on literature searches in remote areas

The article is focused on the author's personal perspective on literature searches in remote areas. Topics covered are: literature searching; collection of key articles; catalog local fisheries library holdings; budgets; documentation of research results; and the author's thought for the future.

Breeding populations of seabirds in California, 1989-1991. Volume I - population estimates

In 1989-1991, the U.S. Fish and Wildlife Service surveyed breeding populations of seabirds on the entire California coast. This study was sponsored by the Minerals Management Service in relation to outer continental shelf oil and gas leasing. At 483 nesting sites (excluding terns and skimmers in southern California), we estimated 643,307 breeding birds of 21 seabird species including: 410 Fork-tailed Storm-petrel (Oceanodroma furcata); 12,551 Leach's Storm-petrel (O. leucorhoa); 7,209 Ashy Storm-petrel (O. homochroa); 274 Black Storm-petrel (O. melania); 11,916 Brown Pelican (Pelecanus occidentalis); 10,037 Double-crested Cormorant (Phalacrocorax auritus); 83,394 Brandt's Cormorant (P. penicillatus); 14,345 Pelagic Cormorant (P. pelagicus); 888 Black Oystercatcher (Haemotopus bachmani); 4,764 California Gull (Larus californicus); 61,760 Western Gull (L. occidentalis); 2,838 Caspian Tern (Sterna caspia) (excluding southern California); 3,550 Forster's Tern (S. forsteri) (excluding southern California); 272 Least Tern (S. albifrons) (excluding southern California); 351,336 Common Murre (Uria aalge); 15,470 Pigeon Guillemot (Cepphus columba); 1,821 Marbled Murrelet (Brachyramphus marmoratus); 1,760 Xantus' Murrelet (Endomychura hypoleuca); 56,562 Cassin's Auklet (Ptychoramphus aleuticus); 1,769 Rhinoceros Auklet (Cerorhinca monocerata); and 276 Tufted Puffin (Fratercula cirrhata). The inland, historical or hybrid breeding status of American White Pelican (P. erythrorynchus), American Oystercatcher (H. palliatus), Heermann's Gull (L. heermanni), Ring-billed Gull (L. delawarensis), Glaucous-winged Gull (L. glaucescens) and Black Tern (Chlidonias niger) are discussed. Estimates for Gull-billed Tern (S. nilotica), Royal Tern (S. maxima), Elegant Tern (S. elegans) and Black Skimmer (Rhynchops niger) will be included in the final draft of this report. Overall numbers were slightly lower than reported in 1975-1980 surveys (summarized in Sowls et al. 1980. Catalog of California seabird colonies. U.S. Dept. Int., Fish Wildl. Serv., Biol. Serv. Prog., FWS/OBS 37/80). Recent declines were found or suspected for Fork-tailed Storm-petrel, Leach's Storm-petrel, White Pelican, Black Tern, Caspian Tern, Least Tern, Common Murre and Marbled Murrelet. Recent increases were found or suspected for Brown Pelican, Double-crested cormorant, California Gull, Western Gull, Forster's Tern and Rhinoceros Auklet. Similar numbers were found for other species or trends could not be determined without additional surveys, studies and/or more in-depth comparisons with previous surveys. The status of terns and skimmers in southern California has not yet been finalized.

Bibliography of synthesis documents on selected coastal ocean topics

This compilation of references to works which synthesize information on coastal topics is intended to be useful to resource managers in decision making processes. However, the utility must be understand in terms of its limited coverage. The bibliography is not inclusive of all the published materials on the topics selected. Coverage is clearly defined in the following paragraph. The time span of the bibliography is limited to references that were published from I983 to 1993, except for a last-minute addition of a few 1994 publications. All searches were done in mid- to late-1993. The bibliography was compiled from searches done on the following DIALOG electronic databases: Aquatic Sciences and Fisheries Abstracts, BlOSlS Previews, Dissertation Abstracts Online, Life Sciences Collection, NTlS (National Technical lnformation Service), Oceanic Abstracts, Pollution Abstracts, SciSearch, and Water Resources Abstracts. In addition, two NOAA electronic datases were searched: the NOAA Library and lnformation Catalog and the NOAA Sea Grant Depository Database. Synthesis of information is not an ubiquitous term used in database development. In order to locate syntheses of required coastal topics, 89 search terms were used in combinations which required 10 searches from each file. From the nearly 6,000 citations which resulted from the electronic searches, the most appropriate were selected to produce this bibliography. The document was edited and indexed using Wordperfect software. When available, an abstract has been included. Every abstract was edited. The bibliography is subdivided into four main topics or sections: ecosystems, coastal water body conditions, natural disasters, and resource management. In the ecosystems section, emphasis is placed on organisms in their environment on the major coastlines of the U.S. In the second section, coastal water body conditions, the environment itself is emphasized. References were found for the Alaskan coast, but none were found for Hawaii. The third section, on natural disasters, emphasizes environmental impacts resulting from natural phenomena. Guidelines, planning and management reports, modelling documents, strategic and restoration plans, and environmental economics related to sustainability are included in the fourth section, resource management. Author, geographic, and subject indices indices are provided. The authors would like to thank Victor Omelczenko and Terry Seldon of the NOAA Sea Grant Office for access to and training on the NOAA Sea Grant Depository Database. We are grateful also to Dorothy Anderson, Philip Keavey, and Elizabeth Petersen who reviewed the draft document.

Performance assessment of XACML authorizations for supply chain traceability web services

Service-Oriented Architecture (SOA) and Web Services (WS) offer advanced flexibility and interoperability capabilities. However they imply significant performance overheads that need to be carefully considered. Supply Chain Management (SCM) and Traceability systems are an interesting domain for the use of WS technologies that are usually deemed to be too complex and unnecessary in practical applications, especially regarding security. This paper presents an externalized security architecture that uses the eXtensible Access Control Markup Language (XACML) authorization standard to enforce visibility restrictions on trace-ability data in a supply chain where multiple companies collaborate; the performance overheads are assessed by comparing 'raw' authorization implementations - Access Control Lists, Tokens, and RDF Assertions - with their XACML-equivalents. © 2012 IEEE.

Layered Architecture for Secure E-Commerce Applications

We present a layered architecture for secure e-commerce applications and protocols with fully automated dispute-resolution process, robust to communication failures and malicious faults. Our design is modular, with precise yet general-purpose interfaces and functionalities, and allows usage as an underlying secure service to different e-commerce, e-banking and other distributed systems. The interfaces support diverse, flexible and extensible payment scenarios and instruments, including direct buyer-seller payments as well as (the more common) indirect payments via payment service providers (e.g. banks). Our design is practical, efficient, and ensures reliability and security under realistic failure and delay conditions.

基于扩展XACML的策略管理

在XACML（extensible access control markup language）和其管理性策略草案的基础上，针对目前XACML访问控制框架的特点，提出将XACML策略管理权限判定归结为利用委托策略对一个委托判定请求的判定，使用XML（extensible markup language）模式定义了此委托判定请求语法，描述了将策略管理请求规约为一个委托判定请求的过程，以及根据委托策略进行委托判定请求的判定过程，通过这种方法可以利用委托策略，对策略管理请求是否有效进行判断，从而实现基于扩展XACML的策略管理。

高性能的XML解析器OnceXMLParser

XML(extensible markup language)解析器是分析、处理XML文档的基础软件.研究高性能验证型XML解析器的实现.开发了支持3种解析模型的XML解析器OnceXMLParser,该解析器通过了严格的XML兼容性测试和API兼容性测试.OnceXMLParser具有轻量级体系结构并进行了多方面的性能优化,包括高效的词法分析、基于统计分析的自动机实现、合理的资源分配策略以及语言层次上的优化.性能测试结果表明,OnceXMLParser具有出色的解析性能.

移动分布式环境下服务适配系统研究

移动环境给分布式资源共享特别是服务发现和资源定位带来了新的挑战。本文分析了移动性给服务发现和资源定位机制带来的特殊性,介绍了具有服务主动适配能力的服务适配原型系统Service Catalog Net,给出了其中的关键技术:适应移动性需求的支持多样性的服务模型、服务主动适配策略以及基于模糊匹配的服务定位机制。