On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Perfil de la infraestructura logística de Colombia

En el siguiente documento se presenta una caracterización detallada sobre la situación de la infraestructura logística de Colombia, partiendo del estado en el cual se encuentra a nivel nacional y luego evidenciando, en lo posible, las ventajas y retos que existen con respecto a Latino América y el mundo. Actualmente Colombia presenta un rezago en su infraestructura, sus redes viales no son suficientes ni aptas para las operaciones de las empresas, las líneas férreas son obsoletas, las zonas portuarias no logran tener interconexiones óptimas con el centro del país y la capacidad de las terminales aéreas son un factor de retraso en actividades comerciales. Así mismo, la presencia de las zonas francas y de los parques industriales es menor con respecto a la importancia que estos tienen para el comercio nacional e internacional. Se revisarán cada uno de los modos de transporte: Red vial, red ferroviaria, transporte marítimo, red fluvial y sistema aéreo, en conjunto con la infraestructura que requiere cada uno para lograr ser eficientes y competitivos. Para cada modo se exponen sus antecedentes, la infraestructura, los equipos y tipos de cargas manejados en el país, los problemas y retos que se deben enfrentar, así como los aspectos legales que lo rodean y los planes a futuro. De igual forma, es importante estudiar las zonas francas y parques industriales como modos de apoyo y facilitadores para llevar a cabo el comercio de manera más efectiva y competitiva. Se presentará, al igual que en los modos de transporte, un resumen de los antecedentes, los problemas y retos más determinantes, la normativa legal que los acoge y los planes y políticas establecidos para los próximos años. Como parte importante del tránsito de mercancías para el comercio entre naciones, la zona sur del país es caracterizada para dar un diagnóstico actual de su infraestructura y de cómo esta afecta las operaciones. Finalmente, se pretende dar un panorama del cumplimiento de los proyectos establecidos por el gobierno en su Política Nacional Logística y en las políticas relacionadas con infraestructura y transporte, completando así, el diagnóstico de la infraestructura logística de Colombia. xii Lo anterior pretende evidenciar el desfase que existe entre el crecimiento económico y la infraestructura logística colombiana, que en conjunto con los sistemas de transporte y los medios de apoyo al comercio, resulta en una pérdida de competitividad del país a nivel internacional.

Optimització del procés productiu d'engreixament porcí. Un enfocament operatiu

Aquest treball de tesis doctoral tracta de la Optimització de la fase d'engreix. L'objectiu és determinar les condicions d'enviament a sacrifici d'un lot d'animals des d'un punt de vista operatiu. En primer lloc es fa una anàlisi de la cadena de producció de carn porcina, resaltant-ne els canvis del sector que han influit en la fase d'engreixament. La conclusió d'aquesta anàlisi és el plantejament d'un model per prendre decisions degut al canvi de paradigma que s'evidencia: els productors de porcs en la fase d'engreix cal que orientin la gestió del paràmetres operatius i els productes finals a les exigències i gustos dels seus clients. Seguidament, es presenta el sistema d'ajut a la decisió basat en un model biològic que explica l'evolució de les variables productives (pes i consum de pinso). A més també prediu les variables associades a característiques de la canal, com són el percentatge de magre, la proporció de peces, el rendiment i el greix intramuscular. El sistema té en compte tres mercats de carn porcina alternatius: 1) basat en pes viu, 2) basat en mèrits de la canal (percentatge de magre) y 3) basat en el valor de les peces nobles resultants de l'especejament de l'animal. L'objetiu del sistema és determinar la millor estratègia d'enviament per a cadascun dels genotips que s'han estudiat (alternatives de producció) depenent del mercat on seran enviats els animals. A més, també ha estat estudiat l'efecte de la variabilitat biològica dels animals dins del lot sobre els valors econòmics. També s'ha considerat l'opció d'enviar els animals en diverses etapes per tal d'homogeneitzar el pes dels animals enviats. Aquest problema ha estat estudiat seguint l'enfocament de programació dinàmica. En els darrers capítols es presenten quatre aplicacions del model que s'han desenvolupat al llarg del treball. En un futur els mercats de carn porcina tindran la tendència a ser més definits, per tant la producció en la fase d'engreixament porcí hauria d'integrar i tenir en compte les demandes i les exigències del consumidor.

Implementação de um CRM analítico na Fundação INATEL

As soluções informáticas de Customer Relationship Management (CRM) e os sistemas de suporte à informação, designados por Business Intelligence (BI), permitem a recolha de dados e a sua transformação em informação e em conhecimento, vital para diferenciação das organizações num Mundo globalizado e em constante mudança. A construção de um Data Warehouse corporativo é fundamental para as organizações que utilizam vários sistemas operacionais de modo a ser possível a agregação da informação. A Fundação INATEL – uma fundação privada de interesse público, 100% estatal – é um exemplo deste tipo de organização. Com uma base de dados de clientes superior a 250.000, atuando em áreas tão diferentes como sejam o Turismo, a Cultura e o Desporto, sustentado em mais de 25 sistemas informáticos autónomos. A base de estudo deste trabalho é a procura de identificação dos benefícios da implementação de um CRM Analítico na Fundação INATEL. Apresentando-se assim uma metodologia para a respetiva implementação e sugestão de um modelo de dados para a obtenção de uma visão única do cliente, acessível a toda a organização, de modo a garantir a total satisfação e consequente fidelização à marca INATEL. A disponibilização desta informação irá proporcionar um posicionamento privilegiado da Fundação INATEL e terá um papel fundamental na sua sustentabilidade económica.

A multi-scale framework for strategic management of diffuse pollution

A multi-scale framework for decision support is presented that uses a combination of experiments, models, communication, education and decision support tools to arrive at a realistic strategy to minimise diffuse pollution. Effective partnerships between researchers and stakeholders play a key part in successful implementation of this strategy. The Decision Support Matrix (DSM) is introduced as a set of visualisations that can be used at all scales, both to inform decision making and as a communication tool in stakeholder workshops. A demonstration farm is presented and one of its fields is taken as a case study. Hydrological and nutrient flow path models are used for event based simulation (TOPCAT), catchment scale modelling (INCA) and field scale flow visualisation (TopManage). One of the DSMs; The Phosphorus Export Risk Matrix (PERM) is discussed in detail. The PERM was developed iteratively as a point of discussion in stakeholder workshops, as a decision support and education tool. The resulting interactive PERM contains a set of questions and proposed remediation measures that reflect both expert and local knowledge. Education and visualisation tools such as GIS, risk indicators, TopManage and the PERM are found to be invaluable in communicating improved farming practice to stakeholders. (C) 2008 Elsevier Ltd. All rights reserved.

Mitigation of diffuse phosphorus pollution during rewetting of fen peat soils: A trans-European case study

Intensive cultivation of fen peat soils (Eutric Histosols) for agricultural purposes, started in Europe about 250 years ago, resulting in decreased soil fertility, increased oxidation of peat and corresponding CO2-emissions to the atmosphere, nutrient transfer to aquatic ecosystems and losses in the total area of the former native wetlands. To prevent these negative environmental effects set-aside programs and rewetting measures were promoted in recent years. Literature results and practical experiences showed that large scale rewetting of intensively used agricultural Histosols may result in the mobilisation of phosphorus (P), its transport to adjacent surface waters and an accelerated eutrophication risk. The paper summarises results from an international European Community sponsored research project and demonstrates how results obtained at different scales and from different scientific disciplines were compiled to derive a strategy to carry out rewetting measures. A decision support system (DSS) for a hydrologically sensitive area in the Droemling catchment in north-eastern Germany was developed and is presented as a tool to regulate rewetting in order to control P release. It is demonstrated that additional laboratory experiments to identify essential processes of P release during rewetting and the site-specific management of the water table, the involvement of specific knowledge and experience of the stakeholders are necessary to develop an applicable DSS. The presented DSS is practically used to prevent freshwater resources from diffuse P pollution.

Drought, pod yield, pre-harvest Aspergillus infection and aflatoxin contamination on peanut in Niger

Soil moisture and soil temperature affect pre-harvest infection with Aspergillus flavus and production of aflatoxin. The objectives of our field research in Niger, West Africa, were to: (i) examine the effects of sowing date and irrigation treatments on pod yield, infection with A. flavus and aflatoxin concentration; and (ii) to quantify relations between infection, aflatoxin concentration and soil moisture stress. Seed of an aflatoxin susceptible peanut cv. JL24 was sown at two to four different sowing dates under four irrigation treatments (rainfed and irrigation at 7, 14 and 21 days intervals) between 1991 and 1994, giving 40 different 'environments'. Average air and soil temperatures of 28-34 degrees C were favourable for aflatoxin contamination. CROPGRO-peanut model was used to simulate the occurrence of moisture stress. The model was able to simulate yields of peanut well over the 40 environments (r(2) = 0.67). In general, early sowing produced greater pod yields, as well as less infection and lower aflatoxin concentration. There were negative linear relations between infection (r(2) = 0.62) and the average simulated fraction of extractable soil water (FESW) between flowering and harvest, and between aflatoxin concentration (r(2) = 0.54) and FESW in the last 25 days of pod-filling. This field study confirms that infection and aflatoxin concentration in peanut can be related to the occurrence of soil moisture stress during pod-filling when soil temperatures are near optimal for A. flavus. These relations could form the basis of a decision-support system to predict the risk of aflatoxin contamination in peanuts in similar environments. (c) 2005 Elsevier B.V. All rights reserved.

An integrated mathematical model to evaluate nutrient partition in dairy cattle between the animal and its environment

In the past decade, a number of mechanistic, dynamic simulation models of several components of the dairy production system have become available. However their use has been limited due to the detailed technical knowledge and special software required to run them, and the lack of compatibility between models in predicting various metabolic processes in the animal. The first objective of the current study was to integrate the dynamic models of [Brit. J. Nutr. 72 (1994) 679] on rumen function, [J. Anim. Sci. 79 (2001) 1584] on methane production, [J. Anim. Sci. 80 (2002) 2481 on N partition, and a new model of P partition. The second objective was to construct a decision support system to analyse nutrient partition between animal and environment. The integrated model combines key environmental pollutants such as N, P and methane within a nutrient-based feed evaluation system. The model was run under different scenarios and the sensitivity of various parameters analysed. A comparison of predictions from the integrated model with the original simulation models showed an improvement in N excretion since the integrated model uses the dynamic model of [Brit. J. Nutr. 72 (1994) 6791 to predict microbial N, which was not represented in detail in the original model. The integrated model can be used to investigate the degree to which production and environmental objectives are antagonistic, and it may help to explain and understand the complex mechanisms involved at the ruminal and metabolic levels. A part of the integrated model outputs were the forms of N and P in excreta and methane, which can be used as indices of environmental pollution. (C) 2004 Elsevier B.V All rights reserved.

HDC poinsettia tracker: flexible graphical tracking software

Growing pot poinsettia and similar crops involves careful crop monitoring and management to ensure that height specifications are met. Graphical tracking represents a target driven approach to decision support with simple interpretation. HDC (Horticultural Development Council) Poinsettia Tracker implements a graphical track based on the Generalised Logistic Curve, similar to that of other tracking packages. Any set of curve parameters can be used to track crop progress. However, graphical tracks must be expected to be site and cultivar specific. By providing a simple Curve fitting function, growers can easily develop their own site and variety specific ideal tracks based on past records with increasing quality as more seasons' data are added. (C) 2009 Elsevier B.V. All rights reserved.

The automatic identification and prioritisation of criminal networks from police crime data

The identification of criminal networks is not a routine exploratory process within the current practice of the law enforcement authorities; rather it is triggered by specific evidence of criminal activity being investigated. A network is identified when a criminal comes to notice and any associates who could also be potentially implicated would need to be identified if only to be eliminated from the enquiries as suspects or witnesses as well as to prevent and/or detect crime. However, an identified network may not be the one causing most harm in a given area.. This paper identifies a methodology to identify all of the criminal networks that are present within a Law Enforcement Area, and, prioritises those that are causing most harm to the community. Each crime is allocated a score based on its crime type and how recently the crime was committed; the network score, which can be used as decision support to help prioritise it for law enforcement purposes, is the sum of the individual crime scores.