An interpretation of baroclinic initial value problems: results for simple basic states with nonzero interior PV gradients

In the Eady model, where the meridional potential vorticity (PV) gradient is zero, perturbation energy growth can be partitioned cleanly into three mechanisms: (i) shear instability, (ii) resonance, and (iii) the Orr mechanism. Shear instability involves two-way interaction between Rossby edge waves on the ground and lid, resonance occurs as interior PV anomalies excite the edge waves, and the Orr mechanism involves only interior PV anomalies. These mechanisms have distinct implications for the structural and temporal linear evolution of perturbations. Here, a new framework is developed in which the same mechanisms can be distinguished for growth on basic states with nonzero interior PV gradients. It is further shown that the evolution from quite general initial conditions can be accurately described (peak error in perturbation total energy typically less than 10%) by a reduced system that involves only three Rossby wave components. Two of these are counterpropagating Rossby waves—that is, generalizations of the Rossby edge waves when the interior PV gradient is nonzero—whereas the other component depends on the structure of the initial condition and its PV is advected passively with the shear flow. In the cases considered, the three-component model outperforms approximate solutions based on truncating a modal or singular vector basis.

The basic ingredients of the North Atlantic storm track. Part I: land-sea contrast and orography

Understanding and predicting changes in storm tracks over longer time scales is a challenging problem, particularly in the North Atlantic. This is due in part to the complex range of forcings (land–sea contrast, orography, sea surface temperatures, etc.) that combine to produce the structure of the storm track. The impact of land–sea contrast and midlatitude orography on the North Atlantic storm track is investigated through a hierarchy of GCM simulations using idealized and “semirealistic” boundary conditions in a high-resolution version of the Hadley Centre atmosphere model (HadAM3). This framework captures the large-scale essence of features such as the North and South American continents, Eurasia, and the Rocky Mountains, enabling the results to be applied more directly to realistic modeling situations than was possible with previous idealized studies. The physical processes by which the forcing mechanisms impact the large-scale flow and the midlatitude storm tracks are discussed. The characteristics of the North American continent are found to be very important in generating the structure of the North Atlantic storm track. In particular, the southwest–northeast tilt in the upper tropospheric jet produced by southward deflection of the westerly flow incident on the Rocky Mountains leads to enhanced storm development along an axis close to that of the continent’s eastern coastline. The approximately triangular shape of North America also enables a cold pool of air to develop in the northeast, intensifying the surface temperature contrast across the eastern coastline, consistent with further enhancements of baroclinicity and storm growth along the same axis.

The Arabidopsis bZIP Gene AtbZIP63 Is a Sensitive Integrator of Transient Abscisic Acid and Glucose Signals

Glucose modulates plant metabolism, growth, and development. In Arabidopsis (Arabidopsis thaliana), Hexokinase1 (HXK1) is a glucose sensor that may trigger abscisic acid (ABA) synthesis and sensitivity to mediate glucose-induced inhibition of seedling development. Here, we show that the intensity of short-term responses to glucose can vary with ABA activity. We report that the transient (2 h/4 h) repression by 2% glucose of AtbZIP63, a gene encoding a basic-leucine zipper (bZIP) transcription factor partially involved in the Snf1-related kinase KIN10-induced responses to energy limitation, is independent of HXK1 and is not mediated by changes in ABA levels. However, high-concentration (6%) glucose-mediated repression appears to be modulated by ABA, since full repression of AtbZIP63 requires a functional ABA biosynthetic pathway. Furthermore, the combination of glucose and ABA was able to trigger a synergistic repression of AtbZIP63 and its homologue AtbZIP3, revealing a shared regulatory feature consisting of the modulation of glucose sensitivity by ABA. The synergistic regulation of AtbZIP63 was not reproduced by an AtbZIP63 promoter-5`-untranslated region:beta-glucuronidase fusion, thus suggesting possible posttranscriptional control. A transcriptional inhibition assay with cordycepin provided further evidence for the regulation of mRNA decay in response to glucose plus ABA. Overall, these results indicate that AtbZIP63 is an important node of the glucose-ABA interaction network. The mechanisms by which AtbZIP63 may participate in the fine-tuning of ABA-mediated abiotic stress responses according to sugar availability (i.e., energy status) are discussed.

Animalism and Person as a Basic Sort

In this paper Animalism is analysed. It will be argued that Animalism is correct in claiming (i) that being of a certain sort of animal S is a fundamental individuative substance sortal concept (animal of the species Homo Sapiens), (ii) that this implies that Animalism is correct in claiming that persons such as us are, by necessity, human beings, (iii) that remaining the same animal is a necessary condition for our identity over time. Contrary to Animalism it will be argued that this does not imply that person should be understood as a phased sortal concept. It will be argued that Animalism rests upon a prior conception of person, and that this implies that person must be understood as a basic substance sortal concept through which we have to individuate ourselves and others. It is further argued that this, together with the insights of Animalism, implies that persons, by necessity, are beings of a biological nature.

Effective teaching in universities: are students' basic needs being satisfied in large classes?

In a quest for a more efficient education system, many organizations have opted to increase class size. It is a common perception that large subjects are economical to run and small subjects are not. Many in the tertiary  education system have had concerns with issues involved in the teaching of large classes, including teaching quality and whether there are effective learning outcomes for students. As with any complex issue, there are several approaches that could be utilized to assess whether the needs of  stakeholders are being met. Stakeholders include the institution, the  teaching staff the community and the students. This study aims to assess whether universities are satisfying the needs of students as class size is increased The study focuses on satisfaction with large classes and includes an assessment of the satisfaction of students' psychological needs. These constructs are measured in small, medium and large classes to identify the change in the level of satisfaction. The study used a multi-method approach consisting of a literature review, a qualitative phase involving in depth  interviews, focus groups, and a quantitative survey The results show that while customer satisfaction is being met, the satisfaction of students' psychological needs are not being fully realised. It was also found that there were notable variations between individual students, the subjects being studied and degree streams of students taking the same subject. The implications of these findings and suggestions for further investigation are discussed in this paper.

Within and against performativity : discursive engagement in adult literacy and basic education

The field of adult literacy and basic education (ALBE) has undergone dramatic changes in recent years with the advent of labour market programs, accreditation, competency-based assessment and competitive tendering for program funds. Teachers' working conditions have deteriorated and their professional autonomy has been eroded. ALBE has been increasingly instrumentalised to fulfil the requirements of a marketised economy and conform to its norms. The beliefs and value systems which traditionally underpinned the work of ALBE teachers have been reframed according to the principle of 'performativity' and the demands of the 'performative State' (Lyotard, 1984: 46, Yeatman 1994: 110). The destabilisation of teachers' working lives can be understood as a manifestation of the 'postmodern condition' (Lyotard 1984; Harvey 1989): the collapse of the certainties and purposes of the past; the proliferation of technologies; the impermanence and intensification of work; the commodification of knowledge and curricula; and the dissolving of boundaries between disciplines and fields of knowledge. The critiques of the modernist grand narratives which underpin progressivist and critical approaches to adult literacy pedagogy have further undermined the traditional points of reference of ALBE teachers. In this thesis I examine how teachers are teaching, surviving, resisting, and 'living the contradictions' (Seddon 1994) in the context of struggles to comply with and resist the requirements of performativity. Following Foucault and a number of feminist poststructuralist authors, I have applied the notions of 'discursive engagement' and 'the politics of discourse' (Yeatman 1990a) as a way of theorising the interplay between imposed change and teachers' practice. I explore the discursive practices which take place at the interface between the 'new' policy discourses and older, naturalised discourses; how teachers are engaged by and are engaging with discourses of performativity; how teachers are discursively constructing adult literacy pedagogy; what new, hybrid discourses of 'good practice' are emerging; and the micropractices of resistance which teachers are enacting in their speech and in their practice. My purpose was to develop knowledge which would support the reflexivity of teachers; to enrich the theoretical languages that teachers could draw upon in trying to make sense of their situation; and to use those languages in speaking about the dilemmas of practice. I used participatory action research as a means of producing knowledge about teachers' practices, structured around their agency, and reflecting their standpoint (Harding 1993). I describe two separate action research projects in which teachers of ALBE participated. I reflect on both projects in the light of poststructuralist theory and consider them as instances of what Lather calls 'within/against research' (Lather 1989: 27). I analyse written and spoken texts produced in both projects which reflect teachers' responses to competency-based assessment and other features of the changing context. I use a method of discourse mapping to describe the discursive field and the teachers' discursive practices. Three main configurations of discourse are delineated: 'progressivism', 'professional teacher' and 'performativity'. The teachers mainly position themselves within a hybridising 'progressivist /professional teacher' discourse, as a discourse of resistance to 'performative' discourse. In adapting their pedagogies, the teachers are in some degree taking the language and world view of performativity into their own vocabularies and practices. The discursive picture I have mapped is complex and contradictory. On one hand, the 'progressivist /professional teacher' discourse appears to endure and to take strength from the articulation into it of elements of performative discourse, creating new possibilities for discursive transformation. On the other hand, there are signs that performative discourse is colonising and subsuming progressivist /professional teacher discourse. At times, both of these tendencies are apparent in the one text. Six micropractices of resistance are identified within the texts: 'rational critique', 'objectification', 'subversion', 'refusal', 'humour' and 'the affirmation of desire'. These reflect the teachers' agency in making discursive choices on the micro level of their every day practices. Through those micropractices, the teachers are engaging with and resisting the micropractices and meanings of performativity. I apply the same multi-layered method of analysis to an examination of discursive engagement in pedagogy by analysing a transcript of the teachers' discussion of critical incidents in their classrooms. Their classroom pedagogies are revealed as complex, situated and eclectic. They are combining and integrating their 'embodied' and their 'institutional' powers, both 'seducing' (McWilliam 1995) and 'regulating' (Gore 1993) as they teach. A strong ethical project is apparent in the teachers' sense of social responsibility, in their determination to adhere to valued traditions of previous times, and in their critical self-awareness of the ways in which they use their institutional and embodied powers in the classroom. Finally, l look back on the findings, and reflect on the possibilities of discursive engagement and the politics of discourse as a framework for more strategic practice in the current context. This research provides grounds for hope that, by becoming more self-conscious about how we engage discursively, we might become more strategic in our everyday professional practice. Not withstanding the constraints (evident in this study) which limit the strategic potential of the politics of discourse, there is space for teachers to become more reflexive in their professional, pedagogical and political praxis. Development of more deliberate, self-reflexive praxis might lead to a 'postmodern democratic polities' (Yeatman 1994: 112) which would challenge the performative state and the system of globalised capital which it serves. Short abstract Adult literacy and basic education (ALBE) teachers have experienced a period of dramatic policy change in recent years; in particular, the introduction of competency-based assessment and competitive tendering for program funds. 'Discourse politics' provides a way of theorising the interplay between policy-mediated institutional change and teachers' practice. The focus of this study is 'discursive engagement'; how teachers are engaged by and are engaging with discourses of performativity. Through two action research projects, texts were generated of teachers talking and writing about how they were responding to the challenges, and developing their pedagogies in the new policy environment. These texts have been analysed and several patterns of discursive engagement delineated, named and illustrated. The strategic potential of 'discourse polities' is explored in the light of the findings.

Regeneration of class III furcation defects with basic fibroblast growth factor (b-FGF) associated with GTR. A descriptive and histometric study in dogs

Background: the poor predictability of periodontal regenerative treatment of Class III furcation defects stimulates the study of alternatives to improve its results, such as the use of polypeptide growth factors. The objective of this study was to evaluate, both histologically and histometrically, the effects of topical application of basic fibroblast growth factor (b-FGF) associated with guided tissue regeneration (GTR) in the treatment of Class III defects surgically induced in dogs.Methods: All second and fourth premolars of 5 mongrel dogs were used and randomly assigned to one of three treatment groups: group 1 (control), treated with scaling and root planing, tetracycline hydrochloride (125 mg/ml) conditioning, and GTR with a collagen membrane; group 2, same treatment as group 1 plus 0.5 mg of b-FGF; group 3, same treatment as group 1 plus 1.0 mg of b-FGF. After a 90-day healing period, routine histologic processing and staining with hematoxylin and eosin and Masson trichrome were performed.Results: the descriptive analysis indicated better regenerative results in both groups treated with b-FGF while the histometric data, analyzed by means of analysis of variance (ANOVA), showed greater filling of the defects in group 2 in comparison to the defects in groups 3 and 1, respectively, which was represented by a smaller area of plaque-occupied space (P = 0.004) as well as a greater amount of newly formed cementum (P = 0.002).Conclusions: These results indicate that b-FGF, especially in smaller doses, may enhance the regenerative results in Class III furcation lesions, leading to greater filling of these defects with both mineralized and non-mineralized tissues.

Photoelectrocatalytical degradation of basic blue 41 dye using nanoporous semiconductor of Ti/TiO2

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Electromyographic validation of basic exercises for physical conditioning programmes V. The comparison of the response in the deltoid muscle (anterior portion) and the pectoralis major muscle (clavicular portion) determined by the frontal-lateral cross, dumbbells and the rowing exercises

The action potential level for shoulder muscles deltoid-anterior portion (DA) and pectoralis major-clavicular portion (PMC) determined by four different modalities of execution of rowing exercises, each one with two different grips, was recorded. These were compared with the action potential level determined for the same muscles by four different modalities of execution of the frontal-lateral cross, dumbbells exercises. Twenty-four male volunteers were examined using a 2 channel TECA TE4 electromyograph and Hewlett Packard surface electrodes. The statistic analysis showed significant (p<0,05) superiority for all the frontal-lateral cross, dumbbells exercises in comparison to all rowing exercises for the PMC, for the DA this generalized supremacy was not observed.

On estimating the basic reproduction number in distinct stages of a contagious disease spreading

In epidemiology, the basic reproduction number R-0 is usually defined as the average number of new infections caused by a single infective individual introduced into a completely susceptible population. According to this definition. R-0 is related to the initial stage of the spreading of a contagious disease. However, from epidemiological models based on ordinary differential equations (ODE), R-0 is commonly derived from a linear stability analysis and interpreted as a bifurcation parameter: typically, when R-0 >1, the contagious disease tends to persist in the population because the endemic stationary solution is asymptotically stable: when R-0 <1, the corresponding pathogen tends to naturally disappear because the disease-free stationary solution is asymptotically stable. Here we intend to answer the following question: Do these two different approaches for calculating R-0 give the same numerical values? In other words, is the number of secondary infections caused by a unique sick individual equal to the threshold obtained from stability analysis of steady states of ODE? For finding the answer, we use a susceptibleinfective-recovered (SIR) model described in terms of ODE and also in terms of a probabilistic cellular automaton (PCA), where each individual (corresponding to a cell of the PCA lattice) is connected to others by a random network favoring local contacts. The values of R-0 obtained from both approaches are compared, showing good agreement. (C) 2012 Elsevier B.V. All rights reserved.

Are Today’s Medical School Graduates Performing the Same Number of Medical Procedures Compared to Graduates Ten Years Ago? A case for Simulation?

INTRODUCTION: Medical schools are charged with providing both a strong basic science and clinical curriculum for their students. In most institutions instruction in performing the core clinical procedures is part of the curriculum, but because of many constraints do medical students practice these procedures as many times as medical students in the past? Several studies have concluded that medical students today feel incompetent to perform basic clinical procedures at the time of graduation. [See PDF for complete abstract]

Chemical composition and isotopic ratios of basic lavas from Iceland and the surrounding ocean floor

Major and trace dement data are used to establish the nature and extent of spatial and temporal chemical variations in basalts erupted in the Iceland region of the North Atlantic Ocean. The ocean floor samples are those recovered by legs 38 and 49 of the Deep Sea Drilling Project. Within each of the active zones on Iceland there are small scale variations in the light rare earth elements and ratios such as K/Y: several central complexes and their associated fissure swarms erupt basalts with values of K/Y distinct from those erupted at adjacent centres; also basalts showing a wide range of immobile trace element ratios occur together within single vertical sections and ocean floor drill holes. Although such variations can be explained in terms of the magmatic processes operating on Iceland they make extrapolations from single basalt samples to mantle sources underlying the outcrop of the sample highly tenuous. 87Sr/86Sr ratios measured for 25 of the samples indicate a total range from 0.7028 in a tholeiite from the Reykjanes Ridge to 0.7034 in an alkali basalt from Iceland and are consistent with other published ratios from the region. A positive correlation between 87Sr/86Sr and Ce/Yb ratios indicates the existence of systematic isotopic and elemental variations in the mantle source region. An approximately fivefold variation in Ce/Yb ratio observed in basalts with the same 87Sr/86Sr ratio implies that different degrees and types of partial melting have been involved in magma genesis from a single mantle composition. 87Sr/86Sr ratios above 0.7028, Th/U ratios close to 4 and La/Ta ratios close to 10 distinguish most basalts erupted in this part of the North Atlantic Ocean from normal mid-ocean ridge basalt (N-type MORB) - although N-type MORB has been erupted at extinct spreading axes just to the north and northeast of Iceland as well as the presently active Iceland-Jan Mayen Ridge. Comparisons with the hygromagmatophile element and radiogenic isotope ratios of MORB and the estimated primordial mantle indicate that the mantle sources producing Iceland basalts have undergone previous depletion followed by more recent enrichment events. A veined mantle source region is proposed in preference to the mantle plume model to explain the chemical variations.

Basic and other measurements of radiation from the Baseline Surface Radiation Network (BSRN) Station Ny-Ålesund in the years 1992 to 2013, reference list of 253 datasets

At Ny-Ålesund (78.9° N), Svalbard, surface radiation measurements of up- and downward short- and longwave radiation are operated since August 1992 in the frame of the Baseline Surface Radiation Network (BSRN), complemented with surface and upper air meteorology since August 1993. The long-term observations are the base for a climatological presentation of the surface radiation data. Over the 21-year observation period, ongoing changes in the Arctic climate system are reflected. Particularly, the observations indicate a strong seasonality of surface warming and related changes in different radiation parameters. The annual mean temperature at Ny-Ålesund has risen by +1.3 ± 0.7 K per decade, with a maximum seasonal increase during the winter months of +3.1 ± 2.6 K per decade. At the same time, winter is also the season with the largest long-term changes in radiation, featuring an increase of +15.6 ± 11.6 W/m**2 per decade in the downward longwave radiation. Furthermore, changes in the reflected solar radiation during the months of snow melt indicate an earlier onset of the warm season by about 1 week compared to the beginning of the observations. The online available dataset of Ny-Ålesund surface radiation measurements provides a valuable data source for the validation of satellite instruments and climate models.

Inhomogeneous source uniformization using a shell mixer Köhler integrator

High flux and high CRI may be achieved by combining different chips and/or phosphors. This, however, results in inhomogeneous sources that, when combined with collimating optics, typically produce patterns with undesired artifacts. These may be a combination of spatial, angular or color non-uniformities. In order to avoid these effects, there is a need to mix the light source, both spatially and angularly. Diffusers can achieve this effect, but they also increase the etendue (and reduce the brightness) of the resulting source, leading to optical systems of increased size and wider emission angles. The shell mixer is an optic comprised of many lenses on a shell covering the source. These lenses perform Kohler integration to mix the emitted light, both spatially and angularly. Placing it on top of a multi-chip Lambertian light source, the result is a highly homogeneous virtual source (i.e, spatially and angularly mixed), also Lambertian, which is located in the same position with essentially the same size (so the average brightness is not increased). This virtual light source can then be collimated using another optic, resulting in a homogeneous pattern without color separation. Experimental measurements have shown optical efficiency of the shell of 94%, and highly homogeneous angular intensity distribution of collimated beams, in good agreement with the ray-tracing simulations.

Simulación en tiempo real de vehículos industriales con modelos multicuerpo de gran complejidad

El objetivo de esta Tesis ha sido la consecución de simulaciones en tiempo real de vehículos industriales modelizados como sistemas multicuerpo complejos formados por sólidos rígidos. Para el desarrollo de un programa de simulación deben considerarse cuatro aspectos fundamentales: la modelización del sistema multicuerpo (tipos de coordenadas, pares ideales o impuestos mediante fuerzas), la formulación a utilizar para plantear las ecuaciones diferenciales del movimiento (coordenadas dependientes o independientes, métodos globales o topológicos, forma de imponer las ecuaciones de restricción), el método de integración numérica para resolver estas ecuaciones en el tiempo (integradores explícitos o implícitos) y finalmente los detalles de la implementación realizada (lenguaje de programación, librerías matemáticas, técnicas de paralelización). Estas cuatro etapas están interrelacionadas entre sí y todas han formado parte de este trabajo. Desde la generación de modelos de una furgoneta y de camión con semirremolque, el uso de tres formulaciones dinámicas diferentes, la integración de las ecuaciones diferenciales del movimiento mediante métodos explícitos e implícitos, hasta el uso de funciones BLAS, de técnicas de matrices sparse y la introducción de paralelización para utilizar los distintos núcleos del procesador. El trabajo presentado en esta Tesis ha sido organizado en 8 capítulos, dedicándose el primero de ellos a la Introducción. En el Capítulo 2 se presentan dos formulaciones semirrecursivas diferentes, de las cuales la primera está basada en una doble transformación de velocidades, obteniéndose las ecuaciones diferenciales del movimiento en función de las aceleraciones relativas independientes. La integración numérica de estas ecuaciones se ha realizado con el método de Runge-Kutta explícito de cuarto orden. La segunda formulación está basada en coordenadas relativas dependientes, imponiendo las restricciones por medio de penalizadores en posición y corrigiendo las velocidades y aceleraciones mediante métodos de proyección. En este segundo caso la integración de las ecuaciones del movimiento se ha llevado a cabo mediante el integrador implícito HHT (Hilber, Hughes and Taylor), perteneciente a la familia de integradores estructurales de Newmark. En el Capítulo 3 se introduce la tercera formulación utilizada en esta Tesis. En este caso las uniones entre los sólidos del sistema se ha realizado mediante uniones flexibles, lo que obliga a imponer los pares por medio de fuerzas. Este tipo de uniones impide trabajar con coordenadas relativas, por lo que la posición del sistema y el planteamiento de las ecuaciones del movimiento se ha realizado utilizando coordenadas Cartesianas y parámetros de Euler. En esta formulación global se introducen las restricciones mediante fuerzas (con un planteamiento similar al de los penalizadores) y la estabilización del proceso de integración numérica se realiza también mediante proyecciones de velocidades y aceleraciones. En el Capítulo 4 se presenta una revisión de las principales herramientas y estrategias utilizadas para aumentar la eficiencia de las implementaciones de los distintos algoritmos. En primer lugar se incluye una serie de consideraciones básicas para aumentar la eficiencia numérica de las implementaciones. A continuación se mencionan las principales características de los analizadores de códigos utilizados y también las librerías matemáticas utilizadas para resolver los problemas de álgebra lineal tanto con matrices densas como sparse. Por último se desarrolla con un cierto detalle el tema de la paralelización en los actuales procesadores de varios núcleos, describiendo para ello el patrón empleado y las características más importantes de las dos herramientas propuestas, OpenMP y las TBB de Intel. Hay que señalar que las características de los sistemas multicuerpo problemas de pequeño tamaño, frecuente uso de la recursividad, y repetición intensiva en el tiempo de los cálculos con fuerte dependencia de los resultados anteriores dificultan extraordinariamente el uso de técnicas de paralelización frente a otras áreas de la mecánica computacional, tales como por ejemplo el cálculo por elementos finitos. Basándose en los conceptos mencionados en el Capítulo 4, el Capítulo 5 está dividido en tres secciones, una para cada formulación propuesta en esta Tesis. En cada una de estas secciones se describen los detalles de cómo se han realizado las distintas implementaciones propuestas para cada algoritmo y qué herramientas se han utilizado para ello. En la primera sección se muestra el uso de librerías numéricas para matrices densas y sparse en la formulación topológica semirrecursiva basada en la doble transformación de velocidades. En la segunda se describe la utilización de paralelización mediante OpenMP y TBB en la formulación semirrecursiva con penalizadores y proyecciones. Por último, se describe el uso de técnicas de matrices sparse y paralelización en la formulación global con uniones flexibles y parámetros de Euler. El Capítulo 6 describe los resultados alcanzados mediante las formulaciones e implementaciones descritas previamente. Este capítulo comienza con una descripción de la modelización y topología de los dos vehículos estudiados. El primer modelo es un vehículo de dos ejes del tipo chasis-cabina o furgoneta, perteneciente a la gama de vehículos de carga medianos. El segundo es un vehículo de cinco ejes que responde al modelo de un camión o cabina con semirremolque, perteneciente a la categoría de vehículos industriales pesados. En este capítulo además se realiza un estudio comparativo entre las simulaciones de estos vehículos con cada una de las formulaciones utilizadas y se presentan de modo cuantitativo los efectos de las mejoras alcanzadas con las distintas estrategias propuestas en esta Tesis. Con objeto de extraer conclusiones más fácilmente y para evaluar de un modo más objetivo las mejoras introducidas en la Tesis, todos los resultados de este capítulo se han obtenido con el mismo computador, que era el top de la gama Intel Xeon en 2007, pero que hoy día está ya algo obsoleto. Por último los Capítulos 7 y 8 están dedicados a las conclusiones finales y las futuras líneas de investigación que pueden derivar del trabajo realizado en esta Tesis. Los objetivos de realizar simulaciones en tiempo real de vehículos industriales de gran complejidad han sido alcanzados con varias de las formulaciones e implementaciones desarrolladas. ABSTRACT The objective of this Dissertation has been the achievement of real time simulations of industrial vehicles modeled as complex multibody systems made up by rigid bodies. For the development of a simulation program, four main aspects must be considered: the modeling of the multibody system (types of coordinates, ideal joints or imposed by means of forces), the formulation to be used to set the differential equations of motion (dependent or independent coordinates, global or topological methods, ways to impose constraints equations), the method of numerical integration to solve these equations in time (explicit or implicit integrators) and the details of the implementation carried out (programming language, mathematical libraries, parallelization techniques). These four stages are interrelated and all of them are part of this work. They involve the generation of models for a van and a semitrailer truck, the use of three different dynamic formulations, the integration of differential equations of motion through explicit and implicit methods, the use of BLAS functions and sparse matrix techniques, and the introduction of parallelization to use the different processor cores. The work presented in this Dissertation has been structured in eight chapters, the first of them being the Introduction. In Chapter 2, two different semi-recursive formulations are shown, of which the first one is based on a double velocity transformation, thus getting the differential equations of motion as a function of the independent relative accelerations. The numerical integration of these equations has been made with the Runge-Kutta explicit method of fourth order. The second formulation is based on dependent relative coordinates, imposing the constraints by means of position penalty coefficients and correcting the velocities and accelerations by projection methods. In this second case, the integration of the motion equations has been carried out by means of the HHT implicit integrator (Hilber, Hughes and Taylor), which belongs to the Newmark structural integrators family. In Chapter 3, the third formulation used in this Dissertation is presented. In this case, the joints between the bodies of the system have been considered as flexible joints, with forces used to impose the joint conditions. This kind of union hinders to work with relative coordinates, so the position of the system bodies and the setting of the equations of motion have been carried out using Cartesian coordinates and Euler parameters. In this global formulation, constraints are introduced through forces (with a similar approach to the penalty coefficients) are presented. The stabilization of the numerical integration is carried out also by velocity and accelerations projections. In Chapter 4, a revision of the main computer tools and strategies used to increase the efficiency of the implementations of the algorithms is presented. First of all, some basic considerations to increase the numerical efficiency of the implementations are included. Then the main characteristics of the code’ analyzers used and also the mathematical libraries used to solve linear algebra problems (both with dense and sparse matrices) are mentioned. Finally, the topic of parallelization in current multicore processors is developed thoroughly. For that, the pattern used and the most important characteristics of the tools proposed, OpenMP and Intel TBB, are described. It needs to be highlighted that the characteristics of multibody systems small size problems, frequent recursion use and intensive repetition along the time of the calculation with high dependencies of the previous results complicate extraordinarily the use of parallelization techniques against other computational mechanics areas, as the finite elements computation. Based on the concepts mentioned in Chapter 4, Chapter 5 is divided into three sections, one for each formulation proposed in this Dissertation. In each one of these sections, the details of how these different proposed implementations have been made for each algorithm and which tools have been used are described. In the first section, it is shown the use of numerical libraries for dense and sparse matrices in the semirecursive topological formulation based in the double velocity transformation. In the second one, the use of parallelization by means OpenMP and TBB is depicted in the semi-recursive formulation with penalization and projections. Lastly, the use of sparse matrices and parallelization techniques is described in the global formulation with flexible joints and Euler parameters. Chapter 6 depicts the achieved results through the formulations and implementations previously described. This chapter starts with a description of the modeling and topology of the two vehicles studied. The first model is a two-axle chassis-cabin or van like vehicle, which belongs to the range of medium charge vehicles. The second one is a five-axle vehicle belonging to the truck or cabin semi-trailer model, belonging to the heavy industrial vehicles category. In this chapter, a comparative study is done between the simulations of these vehicles with each one of the formulations used and the improvements achieved are presented in a quantitative way with the different strategies proposed in this Dissertation. With the aim of deducing the conclusions more easily and to evaluate in a more objective way the improvements introduced in the Dissertation, all the results of this chapter have been obtained with the same computer, which was the top one among the Intel Xeon range in 2007, but which is rather obsolete today. Finally, Chapters 7 and 8 are dedicated to the final conclusions and the future research projects that can be derived from the work presented in this Dissertation. The objectives of doing real time simulations in high complex industrial vehicles have been achieved with the formulations and implementations developed.