Implementación hardware de un robot humanoide.

[ES]Este trabajo describe una serie de mejoras aplicables a un kit comercial de robot humanoide Robonova, con el fin de que este reproduzca el comportamiento cinemático del ser humano con mayor autonomía. Entre ellas destacan la implementación de sensores infrarrojos, sensores de posición, cámaras de visión y conexiones en serie de servomotores. Todo ello controlado desde un ordenador de placa reducida Raspberry Pi.

Desarrollo de una aplicación software para la monitorización de una instalación solar fotovoltaica.

[ES]El Dpto de Ingeniería Eléctrica en la ETSI de Bilbao dispone, en uno de sus laboratorios destinados a la docencia e investigación, de una instalación de generación solar fotovoltaica. Este TFG ha realizado una aplicación software que monitoriza dicha instalación, con el objetivo de poder posteriormente supervisar y analizar el funcionamiento óptimo de la misma.

Análisis de las capacidades del software de simulación robótica RobotStudio.

[ES]Por parte del Departamento de Ingeniería Mecánica existe la necesidad de profundizar en el conocimiento a la hora de utilizar softwares de simulación robótica. En este Trabajo de Fin de Grado en concreto se ha seleccionado el software RobotStudio como objeto de análisis con el cual se pretende destacar las opciones y capacidades de mayor interés que dicho software ofrece. El objetivo principal de este Trabajo de Fin de Grado es sintetizar los conocimientos obtenidos sobre el manejo del programa a través de la realización de una serie de tareas o simulaciones de creciente grado de complejidad con el mismo; para que dichos conocimientos puedan ser empleados posteriormente como apoyo didáctico en las clases teóricas impartidas por los profesores, así como en un entorno más profesional destinado a la práctica industrial.

Ampliación de funcionalidades de Kdenlive y documentación sobre desarrollo.

[ES]La edición de audio y video es una práctica muy frecuente actualmente en todas partes del mundo, tanto en ámbitos profesionales como domésticos. Tanto que para el año 2018, se prevé que el 80% del tráfico de internet serán descargas y subidas de videos. Para poder ofrecer edición de audio y video simple y potente a los usuarios, existen cantidades grandes de software de pago que pueden ser muy eficientes y pueden tener buenos resultados, pero puede que algunos usuarios no se puedan permitir tener acceso a ello por razones económicas o por no encontrarse en las plataformas de las que dispone el usuario, y de ahí nace el editor de videos Kdenlive, un editor de video de software libre desarrollado por una comunidad de usuarios y desarrolladores que juntos están haciendo que Kdenlive sea un programa al nivel de los editores de video comerciales. Aunque exista una gran comunidad de personas que se ayudan entre ellos, la documentación actual no está del todo enfocada a desarrolladores nuevos, sin experiencia previa. Éste trabajo tratará de añadir nuevas funcionalidades a Kdenlive, a petición de la comunidad de desarrolladores, así como crear una documentación que pueda ayudar a nuevos desarrolladores en poder concentrarse directamente en la tarea de programar, en vez de la búsqueda de información y formación previa sobre el programa.

Diseño e implementación de complemento OpenFlow para ejecución de mensajes en un tiempo predefinido en Software Defined Networks.

[ES]El objetivo de este trabajo es el diseño e implementación de un complemento adicional a OpenFlow que permita la ejecución de los mensajes en el switch dentro de un espacio de tiempo concreto que previamente ha sido definido. El primer paso será la definición de objetivos y especificaciones del trabajo, para posteriormente realizar el diseño de un escenario mediante el análisis de posibles alternativas, y que permitirá la consecución de dichos objetivos. A continuación se añadirá el código necesario para que los equipos sean capaces de realizar el envío y ejecución de los mensajes en el tiempo programado y se finalizará realizando simulaciones y pruebas tanto del funcionamiento como del formato que utilizan los mensajes intercambiados entre el controlador y los switches que maneja, con el objetivo de verificar la viabilidad del módulo desarrollado.

Caracterización del retardo en redes definidas por software para monitorizar el nivel de utilización de recursos.

[ES]Este proyecto busca caracterizar el retardo sufrido por los mensajes de estadísticas en las redes definidas por software cuando la red se encuentra en estado de saturación. Para ello, se utilizarán los paquetes OpenFlow que utiliza el controlador OpenDaylight para comunicarse con los nodos presentes en la red, a través de ellos se podrán monitorizar los recursos consumidos por los servicios instalados. Toda la monitorización se llevará a cabo desde el controlador, el módulo de monitorización optimizado en este proyecto permitirá al controlador conocer el valor promedio del ancho de banda consumido en instantes de tiempo de hasta un segundo en todos los nodos de la red donde se hayan instalado los servicios. Estos valores podrán ser utilizados para controlar el ancho de banda consumido por los distintos servicios dentro de una red, realizando acciones desde el propio controlador sobre aquellos servicios que superen el límite establecido.

Report upon the commercial fisheries in the Lancashire River Authority Area and their effect upon rod angling and spawning stock in the rivers and particularly the River Lune

The stock of salmon in any river is largely dependent upon the escapement of sufficient fish to ensure that an adequate quantity of ova is deposited and full use is made of all suitable spawning areas. At the present time, no accurate information is available on the numbers of fish entering rivers. Therefore, catch returns provide valuable information on fish stocks. This report summarises the catch returns for salmon in the Lancashire River Authority in the North of England for the years 1960-1964. Rivers included are the Lune, Ribble, Kent, Leven and Duddon.

Environmental quality standards to protect identified uses of controlled waters: salmonid fisheries, cyprinid fisheries, migratory fisheries, commercial harvesting of marine fish for public consumption, commercial harvesting of shellfish for for public consumption

This report considers the development of environmental quality standards (EQSs) for the salmonid fishery, cyprinid fishery, migratory fishery, commercial harvesting of marine fish for public consumption and commercial harvesting of shellfish for public consumption uses of controlled surface waters. Previous reports have been used to identify those parameters necessary for the maintenance of these five uses. Each water use is considered in a separate section within which identified parameters are discussed and standards proposed, a summary of the proposed standards is presented at the beginning of the relevant section. For salmonid, cyprinid and migratory fisheries, EQSs for substances in water have been proposed for the protection of these fisheries. For the commercial harvesting of marine fish and shellfish for public consumption uses 'Warning Levels' of substances in waters have been proposed. These 'Warning Levels' have been proposed by considering data on bioaccumulation and food standards and aim to prevent acceptable intake values and concentrations in fish/shellfish flesh exceeding statutory or recommended levels. For the commercial harvesting of marine fish for public consumption it has been concluded that the current EQSs for most List II substances for the protection of salt water life should be adequately stringent to protect this use, however for the commercial harvesting of shellfish for public consumption, these List II EQSs do not appear adequate to protect this use and more stringent 'Warning Levels' have been proposed. For all five uses considered in this report there has been found to be limited information on a number of the parameters considered and in general for indigenous species, this has been found to be especially so when considering migratory fisheries and the commercial harvesting of marine fish and shellfish.

La txalaparta digital: Un análisis de la txalaparta a través del desarrollo de software

239 p. + anexos

Species compositions of elasmobranchs caught by three different commercial fishing methods off southwestern Australia, and biological data for four abundant bycatch species

Commercial catches taken in southwestern Australian waters by trawl fisheries targeting prawns and scallops and from gillnet and longline fisheries targeting sharks were sampled at different times of the year between 2002 and 2008. This sampling yielded 33 elasmobranch species representing 17 families. Multivariate statistics elucidated the ways in which the species compositions of elasmobranchs differed among fishing methods and provided benchmark data for detecting changes in the elasmobranch fauna in the future. Virtually all elasmobranchs caught by trawling, which consisted predominantly of rays, were discarded as bycatch, as were approximately a quarter of the elasmobranchs caught by both gillnetting and longlining. The maximum lengths and the lengths at maturity of four abundant bycatch species, Heterodontus portusjacksoni, Aptychotrema vincentiana, Squatina australis, and Myliobatis australis, were greater for females than males. The L50 determined for the males of these species at maturity by using full clasper calcification as the criterion of maturity did not differ significantly from the corresponding L50 derived by using gonadal data as the criterion for maturity. The proportions of the individuals of these species with lengths less than those at which 50% reach maturity were far greater in trawl samples than in gillnet and longline samples. This result was due to differences in gear selectivity and to trawling being undertaken in shallow inshore waters that act as nursery areas for these species. Sound quantitative data on the species compositions of elasmobranchs caught by commercial fisheries and the biological characteristics of the main elasmobranch bycatch species are crucial for developing strategies for conserving these important species and thus the marine ecosystems of which they are part.

Gestão de Custos através do Custeio Baseado em Atividades (ABC): um estudo de caso em um projeto de desenvolvimento de software

O contexto da era da informação exige novas habilidades para competir com sucesso, tanto para empresas industriais como para as de serviços. Desde o seu surgimento, a Engenharia de Software tem enfrentado o desafio em estimar, controlar e gerenciar custos no processo de desenvolvimento de software. Os custos são parte de um projeto de software e nem sempre são claramente mensurados. Algumas desenvolvedoras de software são caracterizadas como prestadoras de serviços e as organizações que prestam serviços possuem as mesmas dificuldades em termos gerenciais que as indústrias, elas precisam de sistemas de gestão adequados para gerir seus custos, logo seus recursos. Nesse contexto é que os sistemas de informações contábeis estão inseridos, fornecendo respostas que os gestores necessitam para tomar decisões. Os custos são exemplos desse tipo de informação, pois o seu conhecimento é indispensável para uma boa gerência dos recursos organizacionais. O Custeio Baseado em Atividades (ABC) é uma ferramenta contábil útil para o gerenciamento estratégico dos custos uma vez que os sistemas de custeio tradicionais já não atendem essa necessidade das organizações. Diante desse cenário, o objetivo geral dessa dissertação é aplicar a metodologia de custeio baseado em atividades em um projeto de desenvolvimento de software com a finalidade de gestão de custos. Este pesquisa caracteriza-se como qualitativa descritiva e faz uso do método do estudo de caso. Através desse estudo foi possível comprovar a utilidade do ABC como instrumento de auxílio na gestão de custos nas organizações que prestam serviços em desenvolvimento de software, pois possibilita a visualização da maneira que os recursos são consumidos pelas atividades que agregam e não agregam valor ao negócio e ao cliente.

Observer-reported skate bycatch in the commercial groundfish fisheries of Alaska

We analyzed skate catch data collected by observers in the North Pacific Groundfish Observer Program (NPGOP) from 1998 through 2008 to document recent changes in the identification of skates by observers and to examine the species composition of observed skate catch in Alaska’s groundfish fisheries as well as recent trends in skate retention by commercial fishermen. Historically, almost all skate bycatch has been reported by NPGOP observers as “skate unidentified.” However, since 2004 observers have been trained to identify skates to the genus and species level. In 2008 over 95% of all skates were identified at least to the genus level, and over 50% were identified to species. The most common species of skates identified by observers in groundfish fisheries are Bathyraja parmifera (Alaska skate), Raja binoculata (big skate), and Bathyraja aleutica (Aleutian skate). Species composition of reported skate catch generally reflects recent survey-derived biomass estimates, with B. parmifera dominating the catches in the Bering Sea and, to a lesser extent, in the Aleutian Islands region, and species of the genus Raja dominating catches in the Gulf of Alaska. A relatively high percentage of the skate catch on longline vessels is still reported at the family or genus level because of difficulties in the identification of skates not brought onboard the vessel. For the larger skate species, the proportion retained for processing has increased in recent years as the market price for skate product has increased. Although observed skate catch does not give a complete account of skate bycatch in the fisheries of the region, observer data provide critical information for the appropriate management of skate populations in Alaska.

Dividing population genetic distance data with the software Partitioning Optimization with Restricted Growth Strings (PORGS): an application for Chinook salmon (Oncorhynchus tshawytscha), Vancouver Island, British Columbia

A new method of finding the optimal group membership and number of groupings to partition population genetic distance data is presented. The software program Partitioning Optimization with Restricted Growth Strings (PORGS), visits all possible set partitions and deems acceptable partitions to be those that reduce mean intracluster distance. The optimal number of groups is determined with the gap statistic which compares PORGS results with a reference distribution. The PORGS method was validated by a simulated data set with a known distribution. For efficiency, where values of n were larger, restricted growth strings (RGS) were used to bipartition populations during a nested search (bi-PORGS). Bi-PORGS was applied to a set of genetic data from 18 Chinook salmon (Oncorhynchus tshawytscha) populations from the west coast of Vancouver Island. The optimal grouping of these populations corresponded to four geographic locations: 1) Quatsino Sound, 2) Nootka Sound, 3) Clayoquot +Barkley sounds, and 4) southwest Vancouver Island. However, assignment of populations to groups did not strictly reflect the geographical divisions; fish of Barkley Sound origin that had strayed into the Gold River and close genetic similarity between transferred and donor populations meant groupings crossed geographic boundaries. Overall, stock structure determined by this partitioning method was similar to that determined by the unweighted pair-group method with arithmetic averages (UPGMA), an agglomerative clustering algorithm.