Gravity mapping in the southern Weddell Sea region, Antarctica (Scale 1:2 000 000)

New maps of free-air and the Bouguer gravity anomalies on the Weddell Sea sector (70-81° S, 6-75° W) of Antarctica are presented. These maps are based on the first computer compilation of available gravity data collected by ''Sevmorgeologia'' in 1976-89 in the southern Weddell Sea and adjacent coasts of western Dronning Maud Land (WDML) and Coats Land. The accomplished gravity studies comprise airborne observations with a line spacing of about 20 km and conventional measurements at over-the-ice points, which were spaced at 10-30 km and supplemented by seismic soundings. Hence, anomalies on the maps represent mainly large-scale and deep crustal features. The dominant feature in free-air gravity map is a large dipolar gravity anomaly stretching along the continental margin. Following the major grain of seabed morphology this shelf-edge/slope anomaly (SESA) is clearly divided into three segments characterized by diverse anomaly amplitudes, wavelengths and trends. They are associated with continental margins of different geotectonic provinces of Antarctica surrounding the Weddell Sea. Apparent distinctions in the SESA signatures are interpreted as the gravity expression of tectonic, deep crustal structure segmentation of the continental margin. The prominent gravity highs (100-140 mGal) of the shelf edge anomaly mapped along WDML are assumed to represent high-density mantle injections intruded into the middle/lower crust during initial rifting of continental breakup. Enlarged wavelengths and diminished amplitudes of the gravity anomaly westwards, along the Weddell Sea embayment (WSE) margin, reflect a widening of the continental slope and a significant increase in thickness of underlying sediment strata. Low amplitude, negative free-air anomalies in the Filchner-Ronne Ice Shelves (FRIS) contrast sharply with the dominating positive anomalies offshore. This indicates a greater sedimentary thickness of the basin in this area. Crustal response to the enlarged sediment load is impressed in mostly positive features of the Bouguer gravity field observed here. Two pronounced positive Bouguer anomalies of 50-70 mGal and an average widths of 200 km dominate the Weddell Sea embayment margins towards the Antarctic Peninsula and the East Antarctic craton. They correlate well with very deep seabed troughs (> 1000 m below sea level). The gravity highs are most likely caused by a shallow upper mantle underneath graben-rift structures evolved at the margins of the WSE basin. A regional zone (> 100 km in width) of the prominent Bouguer and free-air negative anomalies (-40 to -60 mGal) adjacent Coats Land to the north of the ice shelf edge may indicate the presence of the thick old cratonic crust far offshore beneath the Weddell Sea Embayment.

Benthic and substrate cover data derived from a time series of photo-transect surveys for the Eastern Banks, Moreton Bay Australia, 2004-2015

This paper describes seagrass species and percentage cover point-based field data sets derived from georeferenced photo transects. Annually or biannually over a ten year period (2004-2015) data sets were collected using 30-50 transects, 500-800 m in length distributed across a 142 km**2 shallow, clear water seagrass habitat, the Eastern Banks, Moreton Bay, Australia. Each of the eight data sets include seagrass property information derived from approximately 3000 georeferenced, downward looking photographs captured at 2-4 m intervals along the transects. Photographs were manually interpreted to estimate seagrass species composition and percentage cover (Coral Point Count excel; CPCe). Understanding seagrass biology, ecology and dynamics for scientific and management purposes requires point-based data on species composition and cover. This data set, and the methods used to derive it are a globally unique example for seagrass ecological applications. It provides the basis for multiple further studies at this site, regional to global comparative studies, and, for the design of similar monitoring programs elsewhere.

Executive Managers in Large Mexican Family Businesses

The involvement of members of owners' families in the running of large family businesses in Mexico is decreasing. Although family members still hold key posts such as that of CEO, other executive posts tend to be delegated to professional salaried managers. Top managers, including family members, share some common characteristics. They are young compared with managers in other developed countries, their quality as human resources is high, and many of them are graduates of overseas MBA courses. Most of them are sufficiently experienced. Improvement of quality among top managers is a recent phenomenon in Mexico, and has been encouraged mainly by the following two factors. First, globalization of business activities was promoted by intense competition among firms under conditions of market liberalization. In order to equip themselves with the ability to cope with the globalization of their operations, large family businesses tried hard to improve the quality of top management, by training and educating existing managers, and/or by recruiting managers in the outside labor market. Second, developments in the Mexican economy during the 1990s led to a growth in the labor market for top managers Thus, business restructuring caused by bankruptcy, as well as mergers and acquisitions, privatization and so on, led to the dismissal of business managers who then entered the labor market in large numbers. The increasing presence of these managers in the labor market helped family businesses to recruit well-qualified senior executives.

The business management strategy of Iran's large apparel firms : overview of results from a questionnaire survey and interviews 2009-2011

This paper is an overview of the results from a questionnaire survey and subsequent supplementary interviews of Iran's large apparel firms conducted by the author in 2009-2011. Most of the large apparel firms in Iran are based in Tehran and have been in business for some twenty years. They have a solid business with regular customers, but in general have hesitated to expand the size of their firms. Following the relaxation of restrictions on the procurement of raw materials that existed in the 1990s, the results of survey and interviews show that the firms have developed new channels of procurement although they depend to a considerable degree on imported raw materials and machinery. They have managed to maintain their level of output even with the rapid increase in imports since 2000, although the number of firms has decreased. Low-priced Chinese products have basically not been their rivals; instead, the inflow of foreign name-brand products have hit them heavily.

Managing Industrial Simulator Visual Databases Using Geographic Information Systems

Geographic Information Systems are developed to handle enormous volumes of data and are equipped with numerous functionalities intended to capture, store, edit, organise, process and analyse or represent the geographically referenced information. On the other hand, industrial simulators for driver training are real-time applications that require a virtual environment, either geospecific, geogeneric or a combination of the two, over which the simulation programs will be run. In the final instance, this environment constitutes a geographic location with its specific characteristics of geometry, appearance, functionality, topography, etc. The set of elements that enables the virtual simulation environment to be created and in which the simulator user can move, is usually called the Visual Database (VDB). The main idea behind the work being developed approaches a topic that is of major interest in the field of industrial training simulators, which is the problem of analysing, structuring and describing the virtual environments to be used in large driving simulators. This paper sets out a methodology that uses the capabilities and benefits of Geographic Information Systems for organising, optimising and managing the visual Database of the simulator and for generally enhancing the quality and performance of the simulator.

Generación y Gestión Optimizadas de la Base de Datos de un Visual para su Implementación en un Simulador de Formación

Los Sistemas de Información Geográfica están desarrollados para gestionar grandes volúmenes de datos, y disponen de numerosas funcionalidades orientadas a la captura, almacenamiento, edición, organización, procesado, análisis, o a la representación de información geográficamente referenciada. Por otro lado, los simuladores industriales para entrenamiento en tareas de conducción son aplicaciones en tiempo real que necesitan de un entorno virtual, ya sea geoespecífico, geogenérico, o combinación de ambos tipos, sobre el cual se ejecutarán los programas propios de la simulación. Este entorno, en última instancia, constituye un lugar geográfico, con sus características específicas geométricas, de aspecto, funcionales, topológicas, etc. Al conjunto de elementos que permiten la creación del entorno virtual de simulación dentro del cual se puede mover el usuario del simulador se denomina habitualmente Base de Datos del Visual (BDV). La idea principal del trabajo que se desarrolla aborda un tema del máximo interés en el campo de los simuladores industriales de formación, como es el problema que presenta el análisis, la estructuración, y la descripción de los entornos virtuales a emplear en los grandes simuladores de conducción. En este artículo se propone una metodología de trabajo en la que se aprovechan las capacidades y ventajas de los Sistemas de Información Geográfica para organizar, optimizar y gestionar la base de datos visual del simulador, y para mejorar la calidad y el rendimiento del simulador en general. ABSTRACT Geographic Information Systems are developed to handle enormous volumes of data and are equipped with numerous functionalities intended to capture, store, edit, organise, process and analyse or represent the geographically referenced information. On the other hand, industrial simulators for driver training are real-time applications that require a virtual environment, either geospecific, geogeneric or a combination of the two, over which the simulation programs will be run. In the final instance, this environment constitutes a geographic location with its specific characteristics of geometry, appearance, functionality, topography, etc. The set of elements that enables the virtual simulation environment to be created and in which the simulator user can move, is usually called the Visual Database (VDB). The main idea behind the work being developed approaches a topic that is of major interest in the field of industrial training simulators, which is the problem of analysing, structuring and describing the virtual environments to be used in large driving simulators. This paper sets out a methodology that uses the capabilities and benefits of Geographic Information Systems for organising, optimising and managing the visual Database of the simulator and for generally enhancing the quality and performance of the simulator.

An autonomic framework for enhancing the quality of data grid services

Data grid services have been used to deal with the increasing needs of applications in terms of data volume and throughput. The large scale, heterogeneity and dynamism of grid environments often make management and tuning of these data services very complex. Furthermore, current high-performance I/O approaches are characterized by their high complexity and specific features that usually require specialized administrator skills. Autonomic computing can help manage this complexity. The present paper describes an autonomic subsystem intended to provide self-management features aimed at efficiently reducing the I/O problem in a grid environment, thereby enhancing the quality of service (QoS) of data access and storage services in the grid. Our proposal takes into account that data produced in an I/O system is not usually immediately required. Therefore, performance improvements are related not only to current but also to any future I/O access, as the actual data access usually occurs later on. Nevertheless, the exact time of the next I/O operations is unknown. Thus, our approach proposes a long-term prediction designed to forecast the future workload of grid components. This enables the autonomic subsystem to determine the optimal data placement to improve both current and future I/O operations.

Riding out of the storm: How to deal with the complexity of grid and cloud management

Over the last decade, Grid computing paved the way for a new level of large scale distributed systems. This infrastructure made it possible to securely and reliably take advantage of widely separated computational resources that are part of several different organizations. Resources can be incorporated to the Grid, building a theoretical virtual supercomputer. In time, cloud computing emerged as a new type of large scale distributed system, inheriting and expanding the expertise and knowledge that have been obtained so far. Some of the main characteristics of Grids naturally evolved into clouds, others were modified and adapted and others were simply discarded or postponed. Regardless of these technical specifics, both Grids and clouds together can be considered as one of the most important advances in large scale distributed computing of the past ten years; however, this step in distributed computing has came along with a completely new level of complexity. Grid and cloud management mechanisms play a key role, and correct analysis and understanding of the system behavior are needed. Large scale distributed systems must be able to self-manage, incorporating autonomic features capable of controlling and optimizing all resources and services. Traditional distributed computing management mechanisms analyze each resource separately and adjust specific parameters of each one of them. When trying to adapt the same procedures to Grid and cloud computing, the vast complexity of these systems can make this task extremely complicated. But large scale distributed systems complexity could only be a matter of perspective. It could be possible to understand the Grid or cloud behavior as a single entity, instead of a set of resources. This abstraction could provide a different understanding of the system, describing large scale behavior and global events that probably would not be detected analyzing each resource separately. In this work we define a theoretical framework that combines both ideas, multiple resources and single entity, to develop large scale distributed systems management techniques aimed at system performance optimization, increased dependability and Quality of Service (QoS). The resulting synergy could be the key 350 J. Montes et al. to address the most important difficulties of Grid and cloud management.

Design and control of multi-finger haptic devices for dexterous manipulation

En la interacción con el entorno que nos rodea durante nuestra vida diaria (utilizar un cepillo de dientes, abrir puertas, utilizar el teléfono móvil, etc.) y en situaciones profesionales (intervenciones médicas, procesos de producción, etc.), típicamente realizamos manipulaciones avanzadas que incluyen la utilización de los dedos de ambas manos. De esta forma el desarrollo de métodos de interacción háptica multi-dedo dan lugar a interfaces hombre-máquina más naturales y realistas. No obstante, la mayoría de interfaces hápticas disponibles en el mercado están basadas en interacciones con un solo punto de contacto; esto puede ser suficiente para la exploración o palpación del entorno pero no permite la realización de tareas más avanzadas como agarres. En esta tesis, se investiga el diseño mecánico, control y aplicaciones de dispositivos hápticos modulares con capacidad de reflexión de fuerzas en los dedos índice, corazón y pulgar del usuario. El diseño mecánico de la interfaz diseñada, ha sido optimizado con funciones multi-objetivo para conseguir una baja inercia, un amplio espacio de trabajo, alta manipulabilidad y reflexión de fuerzas superiores a 3 N en el espacio de trabajo. El ancho de banda y la rigidez del dispositivo se han evaluado mediante simulación y experimentación real. Una de las áreas más importantes en el diseño de estos dispositivos es el efector final, ya que es la parte que está en contacto con el usuario. Durante este trabajo se ha diseñado un dedal de bajo peso, adaptable a diferentes usuarios que, mediante la incorporación de sensores de contacto, permite estimar fuerzas normales y tangenciales durante la interacción con entornos reales y virtuales. Para el diseño de la arquitectura de control, se estudiaron los principales requisitos para estos dispositivos. Entre estos, cabe destacar la adquisición, procesado e intercambio a través de internet de numerosas señales de control e instrumentación; la computación de equaciones matemáticas incluyendo la cinemática directa e inversa, jacobiana, algoritmos de detección de agarres, etc. Todos estos componentes deben calcularse en tiempo real garantizando una frecuencia mínima de 1 KHz. Además, se describen sistemas para manipulación de precisión virtual y remota; así como el diseño de un método denominado "desacoplo cinemático iterativo" para computar la cinemática inversa de robots y la comparación con otros métodos actuales. Para entender la importancia de la interacción multimodal, se ha llevado a cabo un estudio para comprobar qué estímulos sensoriales se correlacionan con tiempos de respuesta más rápidos y de mayor precisión. Estos experimentos se desarrollaron en colaboración con neurocientíficos del instituto Technion Israel Institute of Technology. Comparando los tiempos de respuesta en la interacción unimodal (auditiva, visual y háptica) con combinaciones bimodales y trimodales de los mismos, se demuestra que el movimiento sincronizado de los dedos para generar respuestas de agarre se basa principalmente en la percepción háptica. La ventaja en el tiempo de procesamiento de los estímulos hápticos, sugiere que los entornos virtuales que incluyen esta componente sensorial generan mejores contingencias motoras y mejoran la credibilidad de los eventos. Se concluye que, los sistemas que incluyen percepción háptica dotan a los usuarios de más tiempo en las etapas cognitivas para rellenar información de forma creativa y formar una experiencia más rica. Una aplicación interesante de los dispositivos hápticos es el diseño de nuevos simuladores que permitan entrenar habilidades manuales en el sector médico. En colaboración con fisioterapeutas de Griffith University en Australia, se desarrolló un simulador que permite realizar ejercicios de rehabilitación de la mano. Las propiedades de rigidez no lineales de la articulación metacarpofalange del dedo índice se estimaron mediante la utilización del efector final diseñado. Estos parámetros, se han implementado en un escenario que simula el comportamiento de la mano humana y que permite la interacción háptica a través de esta interfaz. Las aplicaciones potenciales de este simulador están relacionadas con entrenamiento y educación de estudiantes de fisioterapia. En esta tesis, se han desarrollado nuevos métodos que permiten el control simultáneo de robots y manos robóticas en la interacción con entornos reales. El espacio de trabajo alcanzable por el dispositivo háptico, se extiende mediante el cambio de modo de control automático entre posición y velocidad. Además, estos métodos permiten reconocer el gesto del usuario durante las primeras etapas de aproximación al objeto para su agarre. Mediante experimentos de manipulación avanzada de objetos con un manipulador y diferentes manos robóticas, se muestra que el tiempo en realizar una tarea se reduce y que el sistema permite la realización de la tarea con precisión. Este trabajo, es el resultado de una colaboración con investigadores de Harvard BioRobotics Laboratory. ABSTRACT When we interact with the environment in our daily life (using a toothbrush, opening doors, using cell-phones, etc.), or in professional situations (medical interventions, manufacturing processes, etc.) we typically perform dexterous manipulations that involve multiple fingers and palm for both hands. Therefore, multi-Finger haptic methods can provide a realistic and natural human-machine interface to enhance immersion when interacting with simulated or remote environments. Most commercial devices allow haptic interaction with only one contact point, which may be sufficient for some exploration or palpation tasks but are not enough to perform advanced object manipulations such as grasping. In this thesis, I investigate the mechanical design, control and applications of a modular haptic device that can provide force feedback to the index, thumb and middle fingers of the user. The designed mechanical device is optimized with a multi-objective design function to achieve a low inertia, a large workspace, manipulability, and force-feedback of up to 3 N within the workspace; the bandwidth and rigidity for the device is assessed through simulation and real experimentation. One of the most important areas when designing haptic devices is the end-effector, since it is in contact with the user. In this thesis the design and evaluation of a thimble-like, lightweight, user-adaptable, and cost-effective device that incorporates four contact force sensors is described. This design allows estimation of the forces applied by a user during manipulation of virtual and real objects. The design of a real-time, modular control architecture for multi-finger haptic interaction is described. Requirements for control of multi-finger haptic devices are explored. Moreover, a large number of signals have to be acquired, processed, sent over the network and mathematical computations such as device direct and inverse kinematics, jacobian, grasp detection algorithms, etc. have to be calculated in Real Time to assure the required high fidelity for the haptic interaction. The Hardware control architecture has different modules and consists of an FPGA for the low-level controller and a RT controller for managing all the complex calculations (jacobian, kinematics, etc.); this provides a compact and scalable solution for the required high computation capabilities assuring a correct frequency rate for the control loop of 1 kHz. A set-up for dexterous virtual and real manipulation is described. Moreover, a new algorithm named the iterative kinematic decoupling method was implemented to solve the inverse kinematics of a robotic manipulator. In order to understand the importance of multi-modal interaction including haptics, a subject study was carried out to look for sensory stimuli that correlate with fast response time and enhanced accuracy. This experiment was carried out in collaboration with neuro-scientists from Technion Israel Institute of Technology. By comparing the grasping response times in unimodal (auditory, visual, and haptic) events with the response times in events with bimodal and trimodal combinations. It is concluded that in grasping tasks the synchronized motion of the fingers to generate the grasping response relies on haptic cues. This processing-speed advantage of haptic cues suggests that multimodalhaptic virtual environments are superior in generating motor contingencies, enhancing the plausibility of events. Applications that include haptics provide users with more time at the cognitive stages to fill in missing information creatively and form a richer experience. A major application of haptic devices is the design of new simulators to train manual skills for the medical sector. In collaboration with physical therapists from Griffith University in Australia, we developed a simulator to allow hand rehabilitation manipulations. First, the non-linear stiffness properties of the metacarpophalangeal joint of the index finger were estimated by using the designed end-effector; these parameters are implemented in a scenario that simulates the behavior of the human hand and that allows haptic interaction through the designed haptic device. The potential application of this work is related to educational and medical training purposes. In this thesis, new methods to simultaneously control the position and orientation of a robotic manipulator and the grasp of a robotic hand when interacting with large real environments are studied. The reachable workspace is extended by automatically switching between rate and position control modes. Moreover, the human hand gesture is recognized by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of the approximation-to-the-object phase and then mapped to the robotic hand actuators. These methods are validated to perform dexterous manipulation of objects with a robotic manipulator, and different robotic hands. This work is the result of a research collaboration with researchers from the Harvard BioRobotics Laboratory. The developed experiments show that the overall task time is reduced and that the developed methods allow for full dexterity and correct completion of dexterous manipulations.

A novel methodology for planning reliable wireless sensor networks

Wireless sensor networks (WSNs) have shown their potentials in various applications, which bring a lot of benefits to users from both research and industrial areas. For many setups, it is envisioned thatWSNs will consist of tens to hundreds of nodes that operate on small batteries. However due to the diversity of the deployed environments and resource constraints on radio communication, sensing ability and energy supply, it is a very challenging issue to plan optimized WSN topology and predict its performance before real deployment. During the network planning phase, the connectivity, coverage, cost, network longevity and service quality should all be considered. Therefore it requires designers coping with comprehensive and interdisciplinary knowledge, including networking, radio engineering, embedded system and so on, in order to efficiently construct a reliable WSN for any specific types of environment. Nowadays there is still a lack of the analysis and experiences to guide WSN designers to efficiently construct WSN topology successfully without many trials. Therefore, simulation is a feasible approach to the quantitative analysis of the performance of wireless sensor networks. However the existing planning algorithms and tools, to some extent, have serious limitations to practically design reliable WSN topology: Only a few of them tackle the 3D deployment issue, and an overwhelming number of works are proposed to place devices in 2D scheme. Without considering the full dimension, the impacts of environment to the performance of WSN are not completely studied, thus the values of evaluated metrics such as connectivity and sensing coverage are not sufficiently accurate to make proper decision. Even fewer planning methods model the sensing coverage and radio propagation by considering the realistic scenario where obstacles exist. Radio signals propagate with multi-path phenomenon in the real world, in which direct paths, reflected paths and diffracted paths contribute to the received signal strength. Besides, obstacles between the path of sensor and objects might block the sensing signals, thus create coverage hole in the application. None of the existing planning algorithms model the network longevity and packet delivery capability properly and practically. They often employ unilateral and unrealistic formulations. The optimization targets are often one-sided in the current works. Without comprehensive evaluation on the important metrics, the performance of planned WSNs can not be reliable and entirely optimized. Modeling of environment is usually time consuming and the cost is very high, while none of the current works figure out any method to model the 3D deployment environment efficiently and accurately. Therefore many researchers are trapped by this issue, and their algorithms can only be evaluated in the same scenario, without the possibility to test the robustness and feasibility for implementations in different environments. In this thesis, we propose a novel planning methodology and an intelligent WSN planning tool to assist WSN designers efficiently planning reliable WSNs. First of all, a new method is proposed to efficiently and automatically model the 3D indoor and outdoor environments. To the best of our knowledge, this is the first time that the advantages of image understanding algorithm are applied to automatically reconstruct 3D outdoor and indoor scenarios for signal propagation and network planning purpose. The experimental results indicate that the proposed methodology is able to accurately recognize different objects from the satellite images of the outdoor target regions and from the scanned floor plan of indoor area. Its mechanism offers users a flexibility to reconstruct different types of environment without any human interaction. Thereby it significantly reduces human efforts, cost and time spent on reconstructing a 3D geographic database and allows WSN designers concentrating on the planning issues. Secondly, an efficient ray-tracing engine is developed to accurately and practically model the radio propagation and sensing signal on the constructed 3D map. The engine contributes on efficiency and accuracy to the estimated results. By using image processing concepts, including the kd-tree space division algorithm and modified polar sweep algorithm, the rays are traced efficiently without detecting all the primitives in the scene. The radio propagation model iv is proposed, which emphasizes not only the materials of obstacles but also their locations along the signal path. The sensing signal of sensor nodes, which is sensitive to the obstacles, is benefit from the ray-tracing algorithm via obstacle detection. The performance of this modelling method is robust and accurate compared with conventional methods, and experimental results imply that this methodology is suitable for both outdoor urban scenes and indoor environments. Moreover, it can be applied to either GSM communication or ZigBee protocol by varying frequency parameter of the radio propagation model. Thirdly, WSN planning method is proposed to tackle the above mentioned challenges and efficiently deploy reliable WSNs. More metrics (connectivity, coverage, cost, lifetime, packet latency and packet drop rate) are modeled more practically compared with other works. Especially 3D ray tracing method is used to model the radio link and sensing signal which are sensitive to the obstruction of obstacles; network routing is constructed by using AODV protocol; the network longevity, packet delay and packet drop rate are obtained via simulating practical events in WSNet simulator, which to the best of our knowledge, is the first time that network simulator is involved in a planning algorithm. Moreover, a multi-objective optimization algorithm is developed to cater for the characteristics of WSNs. The capability of providing multiple optimized solutions simultaneously allows users making their own decisions accordingly, and the results are more comprehensively optimized compared with other state-of-the-art algorithms. iMOST is developed by integrating the introduced algorithms, to assist WSN designers efficiently planning reliable WSNs for different configurations. The abbreviated name iMOST stands for an Intelligent Multi-objective Optimization Sensor network planning Tool. iMOST contributes on: (1) Convenient operation with a user-friendly vision system; (2) Efficient and automatic 3D database reconstruction and fast 3D objects design for both indoor and outdoor environments; (3) It provides multiple multi-objective optimized 3D deployment solutions and allows users to configure the network properties, hence it can adapt to various WSN applications; (4) Deployment solutions in the 3D space and the corresponding evaluated performance are visually presented to users; and (5) The Node Placement Module of iMOST is available online as well as the source code of the other two rebuilt heuristics. Therefore WSN designers will be benefit from v this tool on efficiently constructing environment database, practically and efficiently planning reliable WSNs for both outdoor and indoor applications. With the open source codes, they are also able to compare their developed algorithms with ours to contribute to this academic field. Finally, solid real results are obtained for both indoor and outdoor WSN planning. Deployments have been realized for both indoor and outdoor environments based on the provided planning solutions. The measured results coincide well with the estimated results. The proposed planning algorithm is adaptable according to the WSN designer’s desirability and configuration, and it offers flexibility to plan small and large scale, indoor and outdoor 3D deployments. The thesis is organized in 7 chapters. In Chapter 1, WSN applications and motivations of this work are introduced, the state-of-the-art planning algorithms and tools are reviewed, challenges are stated out and the proposed methodology is briefly introduced. In Chapter 2, the proposed 3D environment reconstruction methodology is introduced and its performance is evaluated for both outdoor and indoor environment. The developed ray-tracing engine and proposed radio propagation modelling method are described in details in Chapter 3, their performances are evaluated in terms of computation efficiency and accuracy. Chapter 4 presents the modelling of important metrics of WSNs and the proposed multi-objective optimization planning algorithm, the performance is compared with the other state-of-the-art planning algorithms. The intelligent WSN planning tool iMOST is described in Chapter 5. RealWSN deployments are prosecuted based on the planned solutions for both indoor and outdoor scenarios, important data are measured and results are analysed in Chapter 6. Chapter 7 concludes the thesis and discusses about future works. vi Resumen en Castellano Las redes de sensores inalámbricas (en inglés Wireless Sensor Networks, WSNs) han demostrado su potencial en diversas aplicaciones que aportan una gran cantidad de beneficios para el campo de la investigación y de la industria. Para muchas configuraciones se prevé que las WSNs consistirán en decenas o cientos de nodos que funcionarán con baterías pequeñas. Sin embargo, debido a la diversidad de los ambientes para desplegar las redes y a las limitaciones de recursos en materia de comunicación de radio, capacidad de detección y suministro de energía, la planificación de la topología de la red y la predicción de su rendimiento es un tema muy difícil de tratar antes de la implementación real. Durante la fase de planificación del despliegue de la red se deben considerar aspectos como la conectividad, la cobertura, el coste, la longevidad de la red y la calidad del servicio. Por lo tanto, requiere de diseñadores con un amplio e interdisciplinario nivel de conocimiento que incluye la creación de redes, la ingeniería de radio y los sistemas embebidos entre otros, con el fin de construir de manera eficiente una WSN confiable para cualquier tipo de entorno. Hoy en día todavía hay una falta de análisis y experiencias que orienten a los diseñadores de WSN para construir las topologías WSN de manera eficiente sin realizar muchas pruebas. Por lo tanto, la simulación es un enfoque viable para el análisis cuantitativo del rendimiento de las redes de sensores inalámbricos. Sin embargo, los algoritmos y herramientas de planificación existentes tienen, en cierta medida, serias limitaciones para diseñar en la práctica una topología fiable de WSN: Sólo unos pocos abordan la cuestión del despliegue 3D mientras que existe una gran cantidad de trabajos que colocan los dispositivos en 2D. Si no se analiza la dimensión completa (3D), los efectos del entorno en el desempeño de WSN no se estudian por completo, por lo que los valores de los parámetros evaluados, como la conectividad y la cobertura de detección, no son lo suficientemente precisos para tomar la decisión correcta. Aún en menor medida los métodos de planificación modelan la cobertura de los sensores y la propagación de la señal de radio teniendo en cuenta un escenario realista donde existan obstáculos. Las señales de radio en el mundo real siguen una propagación multicamino, en la que los caminos directos, los caminos reflejados y los caminos difractados contribuyen a la intensidad de la señal recibida. Además, los obstáculos entre el recorrido del sensor y los objetos pueden bloquear las señales de detección y por lo tanto crear áreas sin cobertura en la aplicación. Ninguno de los algoritmos de planificación existentes modelan el tiempo de vida de la red y la capacidad de entrega de paquetes correctamente y prácticamente. A menudo se emplean formulaciones unilaterales y poco realistas. Los objetivos de optimización son a menudo tratados unilateralmente en los trabajos actuales. Sin una evaluación exhaustiva de los parámetros importantes, el rendimiento previsto de las redes inalámbricas de sensores no puede ser fiable y totalmente optimizado. Por lo general, el modelado del entorno conlleva mucho tiempo y tiene un coste muy alto, pero ninguno de los trabajos actuales propone algún método para modelar el entorno de despliegue 3D con eficiencia y precisión. Por lo tanto, muchos investigadores están limitados por este problema y sus algoritmos sólo se pueden evaluar en el mismo escenario, sin la posibilidad de probar la solidez y viabilidad para las implementaciones en diferentes entornos. En esta tesis, se propone una nueva metodología de planificación así como una herramienta inteligente de planificación de redes de sensores inalámbricas para ayudar a los diseñadores a planificar WSNs fiables de una manera eficiente. En primer lugar, se propone un nuevo método para modelar demanera eficiente y automática los ambientes interiores y exteriores en 3D. Según nuestros conocimientos hasta la fecha, esta es la primera vez que las ventajas del algoritmo de _image understanding_se aplican para reconstruir automáticamente los escenarios exteriores e interiores en 3D para analizar la propagación de la señal y viii la planificación de la red. Los resultados experimentales indican que la metodología propuesta es capaz de reconocer con precisión los diferentes objetos presentes en las imágenes satelitales de las regiones objetivo en el exterior y de la planta escaneada en el interior. Su mecanismo ofrece a los usuarios la flexibilidad para reconstruir los diferentes tipos de entornos sin ninguna interacción humana. De este modo se reduce considerablemente el esfuerzo humano, el coste y el tiempo invertido en la reconstrucción de una base de datos geográfica con información 3D, permitiendo así que los diseñadores se concentren en los temas de planificación. En segundo lugar, se ha desarrollado un motor de trazado de rayos (en inglés ray tracing) eficiente para modelar con precisión la propagación de la señal de radio y la señal de los sensores en el mapa 3D construido. El motor contribuye a la eficiencia y la precisión de los resultados estimados. Mediante el uso de los conceptos de procesamiento de imágenes, incluyendo el algoritmo del árbol kd para la división del espacio y el algoritmo _polar sweep_modificado, los rayos se trazan de manera eficiente sin la detección de todas las primitivas en la escena. El modelo de propagación de radio que se propone no sólo considera los materiales de los obstáculos, sino también su ubicación a lo largo de la ruta de señal. La señal de los sensores de los nodos, que es sensible a los obstáculos, se ve beneficiada por la detección de objetos llevada a cabo por el algoritmo de trazado de rayos. El rendimiento de este método de modelado es robusto y preciso en comparación con los métodos convencionales, y los resultados experimentales indican que esta metodología es adecuada tanto para escenas urbanas al aire libre como para ambientes interiores. Por otra parte, se puede aplicar a cualquier comunicación GSM o protocolo ZigBee mediante la variación de la frecuencia del modelo de propagación de radio. En tercer lugar, se propone un método de planificación de WSNs para hacer frente a los desafíos mencionados anteriormente y desplegar redes de sensores fiables de manera eficiente. Se modelan más parámetros (conectividad, cobertura, coste, tiempo de vida, la latencia de paquetes y tasa de caída de paquetes) en comparación con otros trabajos. Especialmente el método de trazado de rayos 3D se utiliza para modelar el enlace de radio y señal de los sensores que son sensibles a la obstrucción de obstáculos; el enrutamiento de la red se construye utilizando el protocolo AODV; la longevidad de la red, retardo de paquetes ix y tasa de abandono de paquetes se obtienen a través de la simulación de eventos prácticos en el simulador WSNet, y según nuestros conocimientos hasta la fecha, es la primera vez que simulador de red está implicado en un algoritmo de planificación. Por otra parte, se ha desarrollado un algoritmo de optimización multi-objetivo para satisfacer las características de las redes inalámbricas de sensores. La capacidad de proporcionar múltiples soluciones optimizadas de forma simultánea permite a los usuarios tomar sus propias decisiones en consecuencia, obteniendo mejores resultados en comparación con otros algoritmos del estado del arte. iMOST se desarrolla mediante la integración de los algoritmos presentados, para ayudar de forma eficiente a los diseñadores en la planificación de WSNs fiables para diferentes configuraciones. El nombre abreviado iMOST (Intelligent Multi-objective Optimization Sensor network planning Tool) representa una herramienta inteligente de planificación de redes de sensores con optimización multi-objetivo. iMOST contribuye en: (1) Operación conveniente con una interfaz de fácil uso, (2) Reconstrucción eficiente y automática de una base de datos con información 3D y diseño rápido de objetos 3D para ambientes interiores y exteriores, (3) Proporciona varias soluciones de despliegue optimizadas para los multi-objetivo en 3D y permite a los usuarios configurar las propiedades de red, por lo que puede adaptarse a diversas aplicaciones de WSN, (4) las soluciones de implementación en el espacio 3D y el correspondiente rendimiento evaluado se presentan visualmente a los usuarios, y (5) El _Node Placement Module_de iMOST está disponible en línea, así como el código fuente de las otras dos heurísticas de planificación. Por lo tanto los diseñadores WSN se beneficiarán de esta herramienta para la construcción eficiente de la base de datos con información del entorno, la planificación práctica y eficiente de WSNs fiables tanto para aplicaciones interiores y exteriores. Con los códigos fuente abiertos, son capaces de comparar sus algoritmos desarrollados con los nuestros para contribuir a este campo académico. Por último, se obtienen resultados reales sólidos tanto para la planificación de WSN en interiores y exteriores. Los despliegues se han realizado tanto para ambientes de interior y como para ambientes de exterior utilizando las soluciones de planificación propuestas. Los resultados medidos coinciden en gran medida con los resultados estimados. El algoritmo de planificación x propuesto se adapta convenientemente al deiseño de redes de sensores inalámbricas, y ofrece flexibilidad para planificar los despliegues 3D a pequeña y gran escala tanto en interiores como en exteriores. La tesis se estructura en 7 capítulos. En el Capítulo 1, se presentan las aplicaciones de WSN y motivaciones de este trabajo, se revisan los algoritmos y herramientas de planificación del estado del arte, se presentan los retos y se describe brevemente la metodología propuesta. En el Capítulo 2, se presenta la metodología de reconstrucción de entornos 3D propuesta y su rendimiento es evaluado tanto para espacios exteriores como para espacios interiores. El motor de trazado de rayos desarrollado y el método de modelado de propagación de radio propuesto se describen en detalle en el Capítulo 3, evaluándose en términos de eficiencia computacional y precisión. En el Capítulo 4 se presenta el modelado de los parámetros importantes de las WSNs y el algoritmo de planificación de optimización multi-objetivo propuesto, el rendimiento se compara con los otros algoritmos de planificación descritos en el estado del arte. La herramienta inteligente de planificación de redes de sensores inalámbricas, iMOST, se describe en el Capítulo 5. En el Capítulo 6 se llevan a cabo despliegues reales de acuerdo a las soluciones previstas para los escenarios interiores y exteriores, se miden los datos importantes y se analizan los resultados. En el Capítulo 7 se concluye la tesis y se discute acerca de los trabajos futuros.

GMonE: a complete approach to cloud monitoring

The inherent complexity of modern cloud infrastructures has created the need for innovative monitoring approaches, as state-of-the-art solutions used for other large-scale environments do not address specific cloud features. Although cloud monitoring is nowadays an active research field, a comprehensive study covering all its aspects has not been presented yet. This paper provides a deep insight into cloud monitoring. It proposes a unified cloud monitoring taxonomy, based on which it defines a layered cloud monitoring architecture. To illustrate it, we have implemented GMonE, a general-purpose cloud monitoring tool which covers all aspects of cloud monitoring by specifically addressing the needs of modern cloud infrastructures. Furthermore, we have evaluated the performance, scalability and overhead of GMonE with Yahoo Cloud Serving Benchmark (YCSB), by using the OpenNebula cloud middleware on the Grid’5000 experimental testbed. The results of this evaluation demonstrate the benefits of our approach, surpassing the monitoring performance and capabilities of cloud monitoring alternatives such as those present in state-of-the-art systems such as Amazon EC2 and OpenNebula.

Arquitectura antidesertización. Fluidez, biodiversidad, hidrofilia y transpirabilidad

La escasez de recursos, la desertización creciente y el previsible calentamiento global forman un escenario físico sin precedentes que urge la revisión de las relaciones entre arquitectura y agua en la urbanización de los paisajes secos, donde la aridez es el factor limitante principal. Cuestionar la idea de escasez, la de residuo o la de confort es el punto de partida para analizar la hidrología urbana. La condición ubicua y dinámica del agua, sus continuos cambios de estado y las implicaciones energéticas y ambientales involucradas argumentan a favor de un entendimiento integral, holístico, que aborda el diseño en relación a lo paisajístico, lo infraestructural y lo ambiental como un único ámbito de investigación, planteado en términos no solo de materia o de escasez, sino de energía. Este trabajo se interesa por el rol de la arquitectura en este proyecto conjunto, integral, del espacio físico con el ciclo hidrológico donde lo orgánico, lo geológico y lo atmosférico están ligados, y donde las categorías de lo hidrológico y lo hidráulico se confunden. Las profundas implicaciones culturales en la construcción de la naturaleza urbana y en la relación con el cuerpo humano adquieren especial notoriedad en los modelos de paisaje y de espacio público adoptados, importados desde las geografías húmedas, y en la estigmatización del agua desde los presupuestos del higienismo decimonónico, que conduce al hidrofugado general de una ciudad aséptica y estéril, que se extiende hasta las envolventes de fachadas estancas y los interiores blancos y satinados. La búsqueda de referentes salta la modernidad hacia contextos de baja energía como el oasis tradicional de las tierras áridas, que concilia la formación de un ecosistema productivo con la climatización de un espacio público exterior, o los ambientes aislados de la investigación aeroespacial, con ciclos cerrados de materia. Las condiciones del ciclo del agua, como la vinculación con el suelo y el territorio, la capacidad de disolver, de mezclarse y de lavar, su volumen variable y su papel como termorregulador señalan el interés que características físicas como la fluidez, la biodiversidad, la hidrofilia y la transpirabilidad tienen para una arquitectura con competencias hidráulicas y un espacio urbano transparente a los procesos del agua. La morfología y localización, la elección de escalas, jerarquías y relaciones entre espacios y la reformulación de los sistemas constructivos aparecen como herramientas y categorías propias desde las que proponer mejores respuestas a problemas como la deshidratación, la erosión y la contaminación. Una urbanización permeable e hidrófila que absorba el agua como un recurso valioso, nuevos ensamblajes para la bioquímica urbana (que introduzcan una idea de limpieza más próxima a fertilidad que a la desinfección), y el diseño de las condiciones atmosféricas a través de una arquitectura transpirable, que se empapa y rezuma frescor, son las claves de este nuevo proyecto. La ciudad se piensa como una síntesis multiescalar de espacios hidráulicos que aporta mayor resiliencia frente a la desertificación y las condiciones climáticas extremas, y mayor visibilidad en la escena pública al agua y a las inevitables conexiones entre ecología y economía. Pero también es una oportunidad para revisar las categorías disciplinares, para renovar las consistencias materiales, las calidades ambientales y las relaciones entre el cuerpo y el espacio. ABSTRACT The shortage of resources, foreseeable global warming and increasing desertification create an unprecedented prospect that question the existing relationships between water and architecture, in the urbanization of the arid lands. The awareness of the huge volumes of water that pierce unnoticed through urban space, their impact on the landscape as well as on environmental qualities, promote a design field where cultural, social and political considerations intersect, related to the body and the physical experience of space within the built environment. Fluidity and ubiquity, solution ability, variability and cyclical processes are characteristic of water as material, directly related with the fields of potential, chemical and thermal energy and the reality of its mass, as it occupies a changing volume in space. These are also the imposing cross sections that water introduces into the project, that argue in favor of a comprehensive and holistic understanding, of addressing design in relationship to landscape, infrastructure and environmental issues as a one single area of research. This work attempts to investigate how architecture, with its specific tools, can partake in the design of water cycle in the space, linking the organic, geological, and atmospheric, blurring the lines between hydrology and hydraulic. It aims to identify issues, within the continuous query associated with water, that deal with the architectural project and may have here better results. The deep cultural implications in the construction of urban nature and the relationship with the body, acquire special notoriety in the models of landscape and public space adopted, imported from humid geographies. Also in the stigmatization of water from the premises of nineteenth- century hygienics, which lead to the entire waterproofing of an aseptic and sterile city, to the sealed facades and white and polished interiors. The search for alternative references goes beyond modernity towards a mindset of low energy, as the traditional oasis of arid lands, which aims to reconcile the formation of a productive ecosystem with the conditioning of an outdoor public space, or the controlled environments of aerospace research, with closed cycles of matter. Fluidity, biodiversity, hydrophilicity and breathability are characteristic of an architecture with hydraulic competences. The distributing phenomenon of water, its necessary connectivity to the ground and to small cycles in the ecosystems, shows strong affinities with an infrastructural architecture, as an alternative to large-scale centralized networks. Its volume has approximated to the dimensions of the built space, promoting a new found condition of coexistence. A permeable and hydrophilic urbanization absorbs water as a valuable resource; new assemblies for urban biochemistry introduce an idea of sanitation closer to fertility than to disinfection; a breathable architecture that soaks and exudes freshness design the atmospheric conditions: these are the essential components of this new project. The city is understood as a synthesis of multi-scale hydraulic spaces that provides greater resilience against desertification and increases the visibility of water and the linkages between ecology and economy in the public scene. It is also an opportunity to review the disciplinary categories of architecture, the material consistencies, the environmental qualities and the relationship between body and space.

Rediseño del tutor automático de un laboratorio virtual

El siguiente trabajo abarca todo el proceso llevado a cabo para el rediseño de un sistema automático de tutoría que se integra con laboratorios virtuales desarrollados para la realización de prácticas por parte de estudiantes dentro de entornos virtuales tridimensionales. Los principales objetivos de este rediseño son la mejora del rendimiento del sistema automático de tutoría, haciéndolo más eficiente y por tanto permitiendo a un mayor número de estudiantes realizar una práctica al mismo tiempo. Además, este rediseño permitirá que el tutor se pueda integrar con otros motores gráficos con un coste relativamente bajo. Se realiza en primer lugar una introducción a los principales conceptos manejados en este trabajo así como algunos aspectos relacionados con trabajos previos a este rediseño del tutor automático, concretamente la versión anterior del tutor ligada a la plataforma OpenSim. Acto seguido se detallarán qué requisitos funcionales cumplirá así como las ventajas que aportará este nuevo diseño. A continuación, se explicará el desarrollo del trabajo donde se podrá ver cómo se ha reestructurado el antiguo sistema de tutoría, la aplicación de un diseño orientado a objetos y los distintos paquetes y clases que lo conforman. Por último, se detallarán las conclusiones obtenidas durante el desarrollo del trabajo así como la implicación del trabajo aquí mostrado en futuros desarrollos.---ABSTRACT--- The following work shows the process that has been carried out in order to redesign an automatic tutoring system that can be integrated into virtual laboratories developed for supporting students’ practices in 3D virtual environments. The main goals of this redesign are the improvement of automatic tutoring system performance, making it more efficient and therefore allowing more students to perform a practice at the same time. Furthermore, this redesign allows the tutor to be integrated with other graphic engines with a relative low cost. Firstly, we begin with an introduction to the main concepts used in this work and some aspects concerning the related previous works to this automatic tutoring system redesign, such as the previous version of the tutoring system bound to OpenSim. Secondly, it will be detailed what functional requirements are met and what advantages this new tutoring system will provide. Next, it will be explained how this work has been developed, how the previous tutoring system has been restructured, how an object-oriented design is applied and the classes and packages derived from this design. Finally, it will be outlined the conclusions drawn in the development of this work as well as how this work will take part in future works.

REFLEXOS INDIVIDUAIS DO USO PESSOAL E EXCESSIVO DE COMUNICADORES INSTANTÂNEOS NO AMBIENTE DE TRABALHO

A Internet está inserida no cotidiano do indivíduo, e torna-se cada vez mais acessível por meio de diferentes tipos de dispositivos. Com isto, diversos estudos foram realizados com o intuito de avaliar os reflexos do seu uso excessivo na vida pessoal, acadêmica e profissional. Esta dissertação buscou identificar se a perda de concentração e o isolamento social são alguns dos reflexos individuais que o uso pessoal e excessivo de aplicativos de comunicação instantânea podem resultar no ambiente de trabalho. Entre as variáveis selecionadas para avaliar os aspectos do uso excessivo de comunicadores instantâneos tem-se a distração digital, o controle reduzido de impulso, o conforto social e a solidão. Através de uma abordagem de investigação quantitativa, utilizaram-se escalas aplicadas a uma amostra de 283 pessoas. Os dados foram analisados por meio de técnicas estatísticas multivariadas como a Análise Fatorial Exploratória e para auferir a relação entre as variáveis, a Regressão Linear Múltipla. Os resultados deste estudo confirmam que o uso excessivo de comunicadores instantâneos está positivamente relacionado com a perda de concentração, e a variável distração digital exerce uma influência maior do que o controle reduzido de impulso. De acordo com os resultados, não se podem afirmar que a solidão e o conforto social exercem relações com aumento do isolamento social, devido à ausência do relacionamento entre os construtos.

GenEST, a powerful bidirectional link between cDNA sequence data and gene expression profiles generated by cDNA-AFLP

The release of vast quantities of DNA sequence data by large-scale genome and expressed sequence tag (EST) projects underlines the necessity for the development of efficient and inexpensive ways to link sequence databases with temporal and spatial expression profiles. Here we demonstrate the power of linking cDNA sequence data (including EST sequences) with transcript profiles revealed by cDNA-AFLP, a highly reproducible differential display method based on restriction enzyme digests and selective amplification under high stringency conditions. We have developed a computer program (GenEST) that predicts the sizes of virtual transcript-derived fragments (TDFs) of in silico-digested cDNA sequences retrieved from databases. The vast majority of the resulting virtual TDFs could be traced back among the thousands of TDFs displayed on cDNA-AFLP gels. Sequencing of the corresponding bands excised from cDNA-AFLP gels revealed no inconsistencies. As a consequence, cDNA sequence databases can be screened very efficiently to identify genes with relevant expression profiles. The other way round, it is possible to switch from cDNA-AFLP gels to sequences in the databases. Using the restriction enzyme recognition sites, the primer extensions and the estimated TDF size as identifiers, the DNA sequence(s) corresponding to a TDF with an interesting expression pattern can be identified. In this paper we show examples in both directions by analyzing the plant parasitic nematode Globodera rostochiensis. Various novel pathogenicity factors were identified by combining ESTs from the infective stage juveniles with expression profiles of ∼4000 genes in five developmental stages produced by cDNA-AFLP.