A common mechanism underlying food choice and social decisions

People make numerous decisions every day including perceptual decisions such as walking through a crowd, decisions over primary rewards such as what to eat, and social decisions that require balancing own and others’ benefits. The unifying principles behind choices in various domains are, however, still not well understood. Mathematical models that describe choice behavior in specific contexts have provided important insights into the computations that may underlie decision making in the brain. However, a critical and largely unanswered question is whether these models generalize from one choice context to another. Here we show that a model adapted from the perceptual decision-making domain and estimated on choices over food rewards accurately predicts choices and reaction times in four independent sets of subjects making social decisions. The robustness of the model across domains provides behavioral evidence for a common decision-making process in perceptual, primary reward, and social decision making.

Respiratory rhythm generation: A modeling study of the respiratory central pattern generator and the phrenic motor neuron

The respiratory central pattern generator is a collection of medullary neurons that generates the rhythm of respiration. The respiratory central pattern generator feeds phrenic motor neurons, which, in turn, drive the main muscle of respiration, the diaphragm. The purpose of this thesis is to understand the neural control of respiration through mathematical models of the respiratory central pattern generator and phrenic motor neurons. ^ We first designed and validated a Hodgkin-Huxley type model that mimics the behavior of phrenic motor neurons under a wide range of electrical and pharmacological perturbations. This model was constrained physiological data from the literature. Next, we designed and validated a model of the respiratory central pattern generator by connecting four Hodgkin-Huxley type models of medullary respiratory neurons in a mutually inhibitory network. This network was in turn driven by a simple model of an endogenously bursting neuron, which acted as the pacemaker for the respiratory central pattern generator. Finally, the respiratory central pattern generator and phrenic motor neuron models were connected and their interactions studied. ^ Our study of the models has provided a number of insights into the behavior of the respiratory central pattern generator and phrenic motor neurons. These include the suggestion of a role for the T-type and N-type calcium channels during single spikes and repetitive firing in phrenic motor neurons, as well as a better understanding of network properties underlying respiratory rhythm generation. We also utilized an existing model of lung mechanics to study the interactions between the respiratory central pattern generator and ventilation. ^

(Table 1) 137Cs and 90Sr concentrations, salinity, and temperature in waters of the southeastern Baltic Sea on October 16, 2001

An analysis of variations in 137Cs and 90Sr concentrations in Baltic Sea surface waters after the accident at the Chernobyl nuclear power plant was performed. Instability of 137Cs concentrations during the short-term observations was found, when they differed 2- to 3-fold. Concentrations of 90Sr appeared to be more stable; meanwhile, their deviations sometimes exceeded ranges of experimental errors. By variations in the monthly average values of radionuclide concentrations in surface waters of the Baltic Sea in 1989-1995, no trend of water self-purification was observed. Theoretical results obtained confirmed a potential of formation and propagation of patches with increased concentrations of 137Cs in the southeastern Baltic Sea. The most reliable factor that controlled the process of self-purification of Baltic Sea water appeared to be the mean annual value of radionuclide concentration. Pronounced divergences were obtained between the measured and calculated mean annual concentrations of 137Cs and 90Sr in surface waters of the Baltic Sea in 1989-2001. These divergences are explained by potential influence of waters from the Gulf of Bothnia and by other additional supplies of radionuclides to marine environment, which were not included into mathematical models.

Thermal behaviour of Sunrise, a balloon-borne solar Telescope

Sunrise is a solar telescope, successfully flown in June 2009 with a long duration balloon from the Swedish Space Corporation Esrange launch site. The design of the thermal control of SUNRISE was quite critical because of the sensitivity to temperature of the optomechanical devices and the electronics. These problems got more complicated due the size and high power dissipation of the system. A detailed thermal mathematical model of SUNRISE was set up to predict temperatures. In this communication the thermal behaviour of SUNRISE during flight is presented. Flight temperatures of some devices are presented and analysed. The measured data have been compared with the predictions given by the thermal mathematical models. The main discrepancies between flight data and the temperatures predicted by the models have been identified. This allows thermal engineers to improve the knowledge of the thermal behaviour of the system for future missions.

Desarrollo de una aplicación software para laboratorios remotos

Las prácticas en laboratorios forman una parte muy importante de la formación en todos los programas docentes. A pesar de esta importancia, la creación de un laboratorio no es una tarea fácil, ya que el hecho de equipar un laboratorio puede suponer un gran gasto económico, tanto inicial como posterior. Como solución, surge la educación a distancia, y en concreto los laboratorios virtuales, es decir, simulaciones de un laboratorio real utilizando modelos matemáticos. Por sus características y flexibilidad se han ido desarrollando laboratorios virtuales en el ámbito docente, pero no todas las áreas cuentan con tantas posibilidades o facilidades como en la electrónica. La mayoría de los laboratorios accesibles desde Internet que hay en la actualidad dentro de la enseñanza a distancia o formación online, son virtuales. El laboratorio que se ha desarrollado tiene como principal ventaja la realización de prácticas controlando instrumentos y circuitos reales de forma remota. El proyecto consiste en realizar un sistema software para implementar un laboratorio remoto en el área de la electrónica analógica, que pueda ser utilizado como complemento a las actividades formativas que se realizan en los laboratorios de los centros de enseñanza. El sistema completo también consta de un hardware controlado mediante buses de comunicación estándar, que permite la implementación de distintos circuitos analógicos, de tal forma que se pueda realizar prácticas sobre circuitos físicos reales. Para desarrollar un laboratorio lo más real posible, la aplicación que maneja el estudiante es un visor 3D. Con la utilización de un visor 3D lo que se pretende es tener un aumento de la realidad a la hora de realizar las prácticas de laboratorio remotamente. El sistema desarrollado cuenta con un sistema de comunicación basado en un modelo cliente-servidor: • Servidor: se encarga de procesar las acciones que realiza el cliente y controla y monitoriza los instrumentos y dispositivos del sistema hardware. • Cliente: sería el usuario final, que mediante un visor 3D comunica las acciones a realizar al servidor para que éste las procese. Practices in laboratories are a very important part of training in all educational programs. Despite this importance, the establishment of a laboratory is not an easy task, since the fact of equipping a laboratory can be a great economic budget, both initial and subsequent spending. As a solution, appears the education at distance (online), and in particular the virtual labs, namely simulations of a real laboratory by using mathematical models. Virtual laboratories in the field of teaching have been developed for its features and flexibility, but not all areas have so many possibilities or facilities as in electronics. The most accessible laboratories from the Internet that are currently accessible within the distance or e-learning (on-line) are virtual. The laboratory which has been developed has as a main advantage to make practices or exercises in the fact of controlling instruments and real circuits remotely. The project consists of making a software system in order to implement a remote laboratory in the area of analog electronics that can be used as a complement to the others training activities to be carried out. The complete system also consists of a controlled hardware by standard communication buses that allow the implementation of several analog circuits, in such a way that practices can control real physical circuits. To develop a laboratory as more realistic as possible, the application that manages the student is a 3D viewer. With the use of a 3D viewer, is intended to have an increase in reality when any student wants to access to laboratory practices remotely. The developed system has a communication system based on a model Client/Server: • Server: The system that handles actions provided by the client and controls and monitors the instruments and devices in the hardware system. • Client: The end user, which using a 3D viewer, communicates the actions to be performed at the server so that it will process them.

Simulación de maniobras de buques con sistemas de propulsión no convencional en aguas poco profundas

Los requisitos cada vez más exigentes en cuanto a misiones, limitaciones operacionales y ambientales así como nuevas tecnologías, imponen permanentemente retos a los arquitectos navales para generar alternativas de buques y valorar su bondad en las primeras etapas del proyecto. Este es el caso de los Buques Patrulleros de Apoyo Fluvial Pesados PAF-P, que por requerimiento de la Armada Nacional de Colombia ha diseñado y construido COTECMAR. Los PAF-P, son buques fluviales cuya relación Manga-Calado excede la mayoría de los buques existentes (B/T=9,5), debido principalmente a las restricciones en el calado a consecuencia de la escasa profundidad de los ríos. Estos buques están equipados con sistemas de propulsión acimutales tipo “Pum-Jet”. Las particularidades del buque y del ambiente operacional, caracterizado por ríos tropicales con una variabilidad de profundidad dependiente del régimen de lluvias y sequía, así como la falta de canalización y la corriente, hacen que la maniobrabilidad y controlabilidad sean fundamentales para el cumplimiento de su misión; adicionalmente, no existen modelos matemáticos validados que permitan predecir en las primeras etapas del diseño la maniobrabilidad de este tipo de buques con los efectos asociados por profundidad. La presente tesis doctoral aborda el desarrollo de un modelo matemático para simulación de maniobrabilidad en aguas poco profundas de buques con relación manga-calado alta y con propulsores acimutales tipo “Pump-Jet”, cuyo chorro además de entregar el empuje necesario para el avance del buque, genera la fuerza de gobierno en función del ángulo de orientación del mismo, eliminando la necesidad de timones. El modelo matemático ha sido validado mediante los resultados obtenidos en las pruebas de maniobrabilidad a escala real del PAF-P, a través de la comparación de trayectorias, series temporales de las variables de estado más significativas y parámetros del círculo evolutivo como son diámetro de giro, diámetro táctico, avance y transferencia. El plan de pruebas se basó en técnicas de Diseño de Experimentos “DOE” para racionalizar el número de corridas en diferentes condiciones de profundidad, velocidad y orientación del chorro (ángulo de timón). En el marco de la presente investigación y para minimizar los errores por efectos ambientales y por inexactitud en los instrumentos de medición, se desarrolló un sistema de adquisición y procesamiento de datos de acuerdo con los lineamientos de ITTC. La literatura existente describe los efectos negativos de la profundidad en los parámetros de maniobrabilidad de buques convencionales (Efecto tipo S), principalmente las trayectorias descritas en los círculos evolutivos aumentan en la medida que disminuye la profundidad; no obstante, en buques de alta relación manga-calado, B/T=7,51 (Yoshimura, y otros, 1.988) y B/T=6,38 (Yasukawa, y otros, 1.995) ha sido reportado el efecto contrario (Efecto tipo NS Non Standart). Este último efecto sin embargo, ha sido observado mediante experimentación con modelos a escala pero no ha sido validado en pruebas de buques a escala real. El efecto tipo NS en buques dotados con hélice y timones, se atribuye al mayor incremento de la fuerza del timón comparativamente con las fuerzas del casco en la medida que disminuye la profundidad; en el caso de estudio, el fenómeno está asociado a la mejor eficiencia de la bomba de agua “Pump-Jet”, debido a la resistencia añadida en el casco por efecto de la disminución de la profundidad. Los resultados de las pruebas con buque a escala real validan el excelente desempeño de esta clase de buques, cumpliendo en exceso los criterios de maniobrabilidad existentes y muestran que el diámetro de giro y otras características de maniobrabilidad mejoran con la disminución de la profundidad en buques con alta relación manga-calado. ABSTRACT The increasingly demanding requirements in terms of missions, operational and environmental constraints as well as new technologies, constantly impose challenges to naval architects to generate alternatives and asses their performance in the early stages of design. That is the case of Riverine Support Patrol Vessel (RSPV), designed and built by COTECMAR for the Colombian Navy. RSPV are riverine ships with a Beam-Draft ratio exceeding most of existing ships (B/T=9,5), mainly due to the restrictions in draft as a result of shallow water environment. The ships are equipped with azimuthal propulsion system of the “Pump-Jet” type. The peculiarities of the ship and the operational environment, characterized by tropical rivers of variable depth depending on the rain and dry seasons, as well as the lack channels and the effect of water current, make manoeuvrability and controllability fundamental to fulfill its mission; on the other hand, there are not validated mathematical models available to predict the manoeuvrability of such ships with the associated water depth effects in the early stages of design. This dissertation addresses the development of a mathematical model for shallow waters’ manoeuvrability simulation of ships with high Beam-Draft ratio and azimuthal propulsion systems type “Pump-Jet”, whose stream generates the thrust required by the ship to advance and also the steering force depending on the orientation angle, eliminating the need of rudders. The mathematical model has been validated with the results of RSPV’s full scale manoeuvring tests, through a comparison of paths, time series of state variables and other parameters taken from turning tests, such as turning diameter, tactical diameter, advance and transfer. The test plan was developed applying techniques of Design of Experiments “DOE”, in order to rationalize the number of runs in different conditions of water depth, ship speed and jet stream orientation (rudder angle). A data acquisition and processing system was developed, following the guidelines of ITTC, as part of this research effort, in order to minimize errors by environmental effects and inaccuracy in measurement instruments, The negative effects of depth on manoeuvrability parameters for conventional ships (Effect Type S: the path described by the ship during turning test increase with decrease of water depth), has been documented in the open literature; however for wide-beam ships, B/T=7,51 (Yoshimura, y otros, 1.988) and B/T=6,38 (Yasukawa, y otros, 1.995) has been reported the opposite effect (Type NS). The latter effect has been observed thru model testing but until now had not been validated with full-scale results. In ships with propellers and rudders, type NS effect is due to the fact that increment of rudder force becomes larger than hull force with decrease of water depth; in the study case, the phenomenon is associated with better efficiency of the Pump-Jet once the vessel speed becomes lower, due to hull added resistance by the effect of the decrease of water depth. The results of full scale tests validates the excellent performance of this class of ships, fulfilling the manoeuvrability criteria in excess and showing that turning diameter and other parameters in high beam-draft ratio vessels do improve with the decrease of depth.

BaTboT: a biologically inspired flapping and morphing bat robot actuated by SMA-based artificial muscles

Bats are animals that posses high maneuvering capabilities. Their wings contain dozens of articulations that allow the animal to perform aggressive maneuvers by means of controlling the wing shape during flight (morphing-wings). There is no other flying creature in nature with this level of wing dexterity and there is biological evidence that the inertial forces produced by the wings have a key role in the attitude movements of the animal. This can inspire the design of highly articulated morphing-wing micro air vehicles (not necessarily bat-like) with a significant wing-to-body mass ratio. This thesis presents the development of a novel bat-like micro air vehicle (BaTboT) inspired by the morphing-wing mechanism of bats. BaTboT’s morphology is alike in proportion compared to its biological counterpart Cynopterus brachyotis, which provides the biological foundations for developing accurate mathematical models and methods that allow for mimicking bat flight. In nature bats can achieve an amazing level of maneuverability by combining flapping and morphing wingstrokes. Attempting to reproduce the biological wing actuation system that provides that kind of motion using an artificial counterpart requires the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators. Thus, NiTinol Shape Memory Alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. This antagonistic configuration of SMA-muscles response to an electrical heating power signal to operate. This heating power is regulated by a proper controller that allows for accurate and fast SMA actuation. Morphing-wings will enable to change wings geometry with the unique purpose of enhancing aerodynamics performance. During the downstroke phase of the wingbeat motion both wings are fully extended aimed at increasing the area surface to properly generate lift forces. Contrary during the upstroke phase of the wingbeat motion both wings are retracted to minimize the area and thus reducing drag forces. Morphing-wings do not only improve on aerodynamics but also on the inertial forces that are key to maneuver. Thus, a modeling framework is introduced for analyzing how BaTboT should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, an attitude controller is proposed. The attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands. This novel flight control approach is aimed at incrementing net body forces (Fnet) that generate propulsion. Mimicking the way how bats take advantage of inertial and aerodynamical forces produced by the wings in order to both increase lift and maneuver is a promising way to design more efficient flapping/morphing wings MAVs. The novel wing modulation strategy and attitude control methodology proposed in this thesis provide a totally new way of controlling flying robots, that eliminates the need of appendices such as flaps and rudders, and would allow performing more efficient maneuvers, especially useful in confined spaces. As a whole, the BaTboT project consists of five major stages of development: - Study and analysis of biological bat flight data reported in specialized literature aimed at defining design and control criteria. - Formulation of mathematical models for: i) wing kinematics, ii) dynamics, iii) aerodynamics, and iv) SMA muscle-like actuation. It is aimed at modeling the effects of modulating wing inertia into the production of net body forces for maneuvering. - Bio-inspired design and fabrication of: i) skeletal structure of wings and body, ii) SMA muscle-like mechanisms, iii) the wing-membrane, and iv) electronics onboard. It is aimed at developing the bat-like platform (BaTboT) that allows for testing the methods proposed. - The flight controller: i) control of SMA-muscles (morphing-wing modulation) and ii) flight control (attitude regulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BaTboT’s wings. - Experiments: it is aimed at quantifying the effects of properly wing modulation into aerodynamics and inertial production for maneuvering. It is also aimed at demonstrating and validating the hypothesis of improving flight efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Windtunnel experiments will be oriented to discuss and demonstrate how the wings can considerably affect the dynamics/aerodynamics of flight and how to take advantage of wing inertia modulation that the morphing-wings enable to properly change wings’ geometry during flapping. Resumen: Los murciélagos son mamíferos con una alta capacidad de maniobra. Sus alas están conformadas por docenas de articulaciones que permiten al animal maniobrar gracias al cambio geométrico de las alas durante el vuelo. Esta característica es conocida como (alas mórficas). En la naturaleza, no existe ningún especimen volador con semejante grado de dexteridad de vuelo, y se ha demostrado, que las fuerzas inerciales producidas por el batir de las alas juega un papel fundamental en los movimientos que orientan al animal en vuelo. Estas características pueden inspirar el diseño de un micro vehículo aéreo compuesto por alas mórficas con redundantes grados de libertad, y cuya proporción entre la masa de sus alas y el cuerpo del robot sea significativa. Esta tesis doctoral presenta el desarrollo de un novedoso robot aéreo inspirado en el mecanismo de ala mórfica de los murciélagos. El robot, llamado BaTboT, ha sido diseñado con parámetros morfológicos muy similares a los descritos por su símil biológico Cynopterus brachyotis. El estudio biológico de este especimen ha permitido la definición de criterios de diseño y modelos matemáticos que representan el comportamiento del robot, con el objetivo de imitar lo mejor posible la biomecánica de vuelo de los murciélagos. La biomecánica de vuelo está definida por dos tipos de movimiento de las alas: aleteo y cambio de forma. Intentar imitar como los murciélagos cambian la forma de sus alas con un prototipo artificial, requiere el análisis de métodos alternativos de actuación que se asemejen a la biomecánica de los músculos que actúan las alas, y evitar el uso de sistemas convencionales de actuación como servomotores ó motores DC. En este sentido, las aleaciones con memoria de forma, ó por sus siglas en inglés (SMA), las cuales son fibras de NiTinol que se contraen y expanden ante estímulos térmicos, han sido usados en este proyecto como músculos artificiales que actúan como bíceps y tríceps de las alas, proporcionando la funcionalidad de ala mórfica previamente descrita. De esta manera, los músculos de SMA son mecánicamente posicionados en una configuración antagonista que permite la rotación de las articulaciones del robot. Los actuadores son accionados mediante una señal de potencia la cual es regulada por un sistema de control encargado que los músculos de SMA respondan con la precisión y velocidad deseada. Este sistema de control mórfico de las alas permitirá al robot cambiar la forma de las mismas con el único propósito de mejorar el desempeño aerodinámico. Durante la fase de bajada del aleteo, las alas deben estar extendidas para incrementar la producción de fuerzas de sustentación. Al contrario, durante el ciclo de subida del aleteo, las alas deben contraerse para minimizar el área y reducir las fuerzas de fricción aerodinámica. El control de alas mórficas no solo mejora el desempeño aerodinámico, también impacta la generación de fuerzas inerciales las cuales son esenciales para maniobrar durante el vuelo. Con el objetivo de analizar como el cambio de geometría de las alas influye en la definición de maniobras y su efecto en la producción de fuerzas netas, simulaciones y experimentos han sido llevados a cabo para medir cómo distintos patrones de modulación de las alas influyen en la producción de aceleraciones lineales y angulares. Gracias a estas mediciones, se propone un control de vuelo, ó control de actitud, el cual incorpora información inercial de las alas para la definición de referencias de aceleración angular. El objetivo de esta novedosa estrategia de control radica en el incremento de fuerzas netas para la adecuada generación de movimiento (Fnet). Imitar como los murciélagos ajustan sus alas con el propósito de incrementar las fuerzas de sustentación y mejorar la maniobra en vuelo es definitivamente un tópico de mucho interés para el diseño de robots aéros mas eficientes. La propuesta de control de vuelo definida en este trabajo de investigación podría dar paso a una nueva forma de control de vuelo de robots aéreos que no necesitan del uso de partes mecánicas tales como alerones, etc. Este control también permitiría el desarrollo de vehículos con mayor capacidad de maniobra. El desarrollo de esta investigación se centra en cinco etapas: - Estudiar y analizar el vuelo de los murciélagos con el propósito de definir criterios de diseño y control. - Formular modelos matemáticos que describan la: i) cinemática de las alas, ii) dinámica, iii) aerodinámica, y iv) actuación usando SMA. Estos modelos permiten estimar la influencia de modular las alas en la producción de fuerzas netas. - Diseño y fabricación de BaTboT: i) estructura de las alas y el cuerpo, ii) mecanismo de actuación mórfico basado en SMA, iii) membrana de las alas, y iv) electrónica abordo. - Contro de vuelo compuesto por: i) control de la SMA (modulación de las alas) y ii) regulación de maniobra (actitud). - Experimentos: están enfocados en poder cuantificar cuales son los efectos que ejercen distintos perfiles de modulación del ala en el comportamiento aerodinámico e inercial. El objetivo es demostrar y validar la hipótesis planteada al inicio de esta investigación: mejorar eficiencia de vuelo gracias al novedoso control de orientación (actitud) propuesto en este trabajo. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos son realizados utilizando un túnel de viento con la instrumentación necesaria para llevar a cabo las mediciones de desempeño respectivas. En los resultados se discutirá y demostrará que la inercia producida por las alas juega un papel considerable en el comportamiento dinámico y aerodinámico del sistema y como poder tomar ventaja de dicha característica para regular patrones de modulación de las alas que conduzcan a mejorar la eficiencia del robot en futuros vuelos.

Diseño y Desarrollo de un Robot de Inspección de Tuberías

El siguiente trabajo presenta un desarrollo innovador de un Robot de Inspección de Tuberías, el cual fue diseñado para operación de Tuberías Verticales (RETOV Robot de operación en tuberías Verticales (siglas en Español)). Cuando RETOV es usado para inspeccionar pozos petroleros, puede ser controlado desde la superficie, esto permite al operador la inspección y monitoreo del pozo. Esto es efectuado a través de una interfaz de usuario que controla el Robot. RETOV fue diseñado con anillos articulados que abrazan la tubería, un nuevo sistema de amortiguación y ruedas móviles brinda la posibilidad de navegar y evitar obstáculos en la tubería realizando tres tipos de movimientos: rotación, traslación y helicoidal. Adicionalmente RETOV fue diseñado para realizar inspección entre dos tuberías(la tubería de producción y el pozo petrolero), con un sistema de seguridad y una estructura liviana, RETOV puede ser equipado con sensores para medir las variables de interés en el pozo. El diseño de la mecánica y el programa de control, la instrumentación, los modelos matemáticos y resultados de las pruebas han sido descritos en esta Tesis. The following Doctoral Thesis presents an innovative application of a Pipe Inspection Robot, which was designed especially as Operation Robot in Vertical Pipes (RETOV) (Robot for operation vertical pipes (Spanish acronyms)). When RETOV is used to inspect Oil Well, can be controlled from the surface, it´s allow the operator the well inspection and monitoring. This is done through our interface that controls the robot. The RETOV was designed with an articulated ring systems that embrace the pipe, a new damping systems and mobile wheels bring the possibility to navigate and avoid obstacles into the well, performing three types of movement: Rotational, translational and screw. Additional, RETOV was designed to perform the inspection between two pipes (pipe and oil well production), with a security braking systems and lightweight structure; RETOV can be equipment with sensors to measure the variables of interest in the well. The hardware and Software design, the instrumentation, the mathematical models, and the test results have been described in this thesis.

Mode II fracture energy in the adhesive bonding of dissimilar substrates: carbon fibre composite to aluminium joints

The end-notched flexure (ENF) test calculates the value of mode II fracture energy in adhesive bonding between the substrates of same nature. Traditional methods of calculating fracture energy in the ENF test are not suitable in cases where the thickness of the adhesive is non-negligible compared with adherent thicknesses. To address this issue, a specific methodology for calculating mode II fracture energy has been proposed in this paper. To illustrate the applicability of the proposed method, the fracture energy was calculated by the ENF test for adhesive bonds between aluminium and a composite material, which considered two different types of adhesive (epoxy and polyurethane) and various surface treatments. The proposed calculation model provides higher values of fracture energy than those obtained from the simplified models that consider the adhesive thickness to be zero, supporting the conclusion that the calculation of mode II fracture energy for adhesives with non-negligible thickness relative to their adherents should be based on mathematical models, such as the method proposed in this paper, that incorporate the influence of this thickness.

Computational Methods for Identification of Vibrating Structures

System identification deals with the problem of building mathematical models of dynamical systems based on observed data from the system" [1]. In the context of civil engineering, the system refers to a large scale structure such as a building, bridge, or an offshore structure, and identification mostly involves the determination of modal parameters (the natural frequencies, damping ratios, and mode shapes). This paper presents some modal identification results obtained using a state-of-the-art time domain system identification method (data-driven stochastic subspace algorithms [2]) applied to the output-only data measured in a steel arch bridge. First, a three dimensional finite element model was developed for the numerical analysis of the structure using ANSYS. Modal analysis was carried out and modal parameters were extracted in the frequency range of interest, 0-10 Hz. The results obtained from the finite element modal analysis were used to determine the location of the sensors. After that, ambient vibration tests were conducted during April 23-24, 2009. The response of the structure was measured using eight accelerometers. Two stations of three sensors were formed (triaxial stations). These sensors were held stationary for reference during the test. The two remaining sensors were placed at the different measurement points along the bridge deck, in which only vertical and transversal measurements were conducted (biaxial stations). Point estimate and interval estimate have been carried out in the state space model using these ambient vibration measurements. In the case of parametric models (like state space), the dynamic behaviour of a system is described using mathematical models. Then, mathematical relationships can be established between modal parameters and estimated point parameters (thus, it is common to use experimental modal analysis as a synonym for system identification). Stable modal parameters are found using a stabilization diagram. Furthermore, this paper proposes a method for assessing the precision of estimates of the parameters of state-space models (confidence interval). This approach employs the nonparametric bootstrap procedure [3] and is applied to subspace parameter estimation algorithm. Using bootstrap results, a plot similar to a stabilization diagram is developed. These graphics differentiate system modes from spurious noise modes for a given order system. Additionally, using the modal assurance criterion, the experimental modes obtained have been compared with those evaluated from a finite element analysis. A quite good agreement between numerical and experimental results is observed.

Fuzzy Optimal Control for Double Inverted Pendulum

In this paper a fuzzy optimal control for stabilizing an upright position a double inverted pendulum (DIP) is developed and compared. Modeling is based on Euler-Lagrange equations. This results in a complicated nonlinear fast reaction, unstable multivariable system. Firstly, the mathematical models of double pendulum system are presented. The weight variable fuzzy input is gained by combining the fuzzy control theory with the optimal control theory. Simulation results show that the controller, which the upper pendulum is considered as main control variable, has high accuracy, quick convergence speed and higher precision.

AUTOFLY-Aid: Flight Deck Automation Support with Dynamic 4D Trajectory Management for Responsive and Adaptive Airborne Collision Avoidance

AUTOFLY-Aid Project aims to develop and demonstrate novel automation support algorithms and tools to the flight crew for flight critical collision avoidance using “dynamic 4D trajectory management”. The automation support system is envisioned to improve the primary shortcomings of TCAS, and to aid the pilot through add-on avionics/head-up displays and reality augmentation devices in dynamically evolving collision avoidance scenarios. The main theoretical innovative and novel concepts to be developed by AUTOFLY-Aid project are a) design and development of the mathematical models of the full composite airspace picture from the flight deck’s perspective, as seen/measured/informed by the aircraft flying in SESAR 2020, b) design and development of a dynamic trajectory planning algorithm that can generate at real-time (on the order of seconds) flyable (i.e. dynamically and performance-wise feasible) alternative trajectories across the evolving stochastic composite airspace picture (which includes new conflicts, blunder risks, terrain and weather limitations) and c) development and testing of the Collision Avoidance Automation Support System on a Boeing 737 NG FNPT II Flight Simulator with synthetic vision and reality augmentation while providing the flight crew with quantified and visual understanding of collision risks in terms of time and directions and countermeasures.

Modeling Piezoelectric Harvesting Materials in Road Traffic Applications.

En esta comunicación se presenta el método para obtener modelos equivalentes eléctricos de materiales piezoeléctricos utilizados en entornos con tráfico vial para aplicaciones "Energy Harvesting". Los resultados experimentales se procesan para determinar la estructura topológica óptima y la tecnología de los elementos semiconductores utilizados en la etapa de entrada del sistema de alimentación "harvesting". Asimismo se presenta el modelo de la fuente de alimentación no regulada bajo demanda variable de corriente. Abstract: The method to obtain electrical equivalent models of piezoelectric materials used in energy harvesting road traffic environment is presented in this paper. The experimental results are processed in order to determine the optimal topological structure and technology of the semiconductor elements used in the input stage of the power harvesting system. The non regulated power supply model under variable current demand is also presented.

Morteros acumuladores con parafinas microencapsuladas para el aprovechamiento de la energía solar en suelos radiantes

Esta Tesis plantea la pregunta de si el uso de morteros con parafinas microencapsuladas combinado con colectores solares térmicos puede reducir el consumo de energías convencionales, en un sistema tradicional de suelo radiante. Se pretende contribuir al conocimiento acerca del efecto que produce en el edificio, el calor latente acumulado en suelos radiantes, utilizando morteros de cemento Portland con material de cambio de fase (PCM), en conjunto con la energía solar. Para cumplir con este propósito, la investigación se desarrolla considerando diversos aspectos. En primer lugar, se revisa y analiza la documentación disponible en la actualidad, de almacenamiento de energía mediante calor latente en la construcción, y en particular la aplicación de microcápsulas de PCM en morteros y suelos radiantes. También se revisa la documentación relacionada con la aplicación de la energía solar térmica y en suelo radiante. Se analiza la normativa vigente respecto al material, a los colectores solares y al suelo radiante. Se verifica que no hay normativa relacionada con mortero-PCM, debido a esto se aplica en la investigación una adaptación de la existente. La fase experimental desarrollada esta principalmente dirigida a la cuantificación, caracterización y evaluación de las propiedades físicas, mecánicas y térmicas del mortero de cemento Portland con parafinas microencapsuladas. Los resultados obtenidos y su análisis, permiten conocer el comportamiento de este tipo de morteros, con las diferentes variables aplicadas en la investigación. Además, permite disponer de la información necesaria, para crear una metodología para el diseño de morteros con parafina microencapsulada, tanto del punto de vista de su resistencia a la compresión y contenido de PCM, como de su comportamiento térmico como acumulador de calor. Esto se logra procesando la información obtenida y generando modelos matemáticos, para dosificar mezclas, y predecir la acumulación de calor en función de su composición. Se determinan los tipos y cantidades de PCM, y el cemento más adecuado. Se obtienen importantes conclusiones respecto a los aspectos constructivos a considerar en la aplicación de morteros con PCM, en suelo radiante. Se analiza y evalúa la demanda térmica que se puede cubrir con el suelo radiante, utilizando morteros con parafina microencapsulada, a través de la acumulación de energía solar producida por colectores solares, para condiciones climáticas, técnicas y tipologías constructivas específicas. Se determina que cuando los paneles cubren más de 60 % de la demanda por calefacción, se puede almacenar en los morteros con PCM, el excedente generado durante el día. Se puede cubrir la demanda de acumulación de energía con los morteros con PCM, en la mayoría de los casos analizados. Con esto, se determina que el uso de morteros con PCM, aporta a la eficiencia energética de los edificios, disminuyendo el consumo de energías convencionales, reemplazándola por energía solar térmica. En esta investigación, el énfasis está en las propiedades del material mortero de cemento-PCM y en poder generar metodologías que faciliten su uso. Se aborda el uso de la energía solar, para verificar que es posible su acumulación en morteros con PCM aplicados en suelo radiante, posibilitando el reemplazo de energías convencionales. Quedan algunos aspectos de la aplicación de energía solar a suelo radiante con morteros con PCM, que no han sido tratados con la profundidad que requieren, y que resultan interesantes de evaluar en este tipo de aplicaciones constructivas, como entre otros, los relacionados con la cuantificación de los ahorros de energía en las diferentes estaciones del año, de la estabilización de temperaturas internas, su análisis de costo y la optimización de este tipo de sistemas para utilización en verano, los que dan pie para otras Tesis o proyectos de investigación. ABSTRACT This Thesis proposes the question of whether the use of mortars with microencapsulated paraffin combined with solar thermal collectors can reduce conventional energy consumption in a traditional heating floor system. It aims to contribute to knowledge about the effect that it has on the building, the latent heat accumulated in heating floor, using Portland cement mortars with phase change material (PCM), in conjunction with solar energy. To fulfill this purpose, the research develops it considering various aspects. First, it reviews and analyzes the documentation available today, about energy storage by latent heat in the building, and in particular the application of PCM microcapsules in mortars and heating floors. It also reviews the documentation related to the application of solar thermal energy and heating floor. Additionally, it analyzes the current regulations regarding to material, solar collectors and heating floors. It verifies that there aren’t regulations related to PCM mortar, due to this, it applies an adaptation in the investigation. The experimental phase is aimed to the quantification, mainly, characterization and evaluation of physical, mechanical and thermal properties of Portland cement mortar with microencapsulated paraffin. The results and analysis, which allow us to know the behavior of this type of mortars with different variables applied in research. It also allows having the information necessary to create a methodology for designing mortars with microencapsulated paraffin, both from the standpoint of its resistance to compression and PCM content, and its thermal performance as a heat accumulator. This accomplishes by processing the information obtained, and generating mathematical models for dosing mixtures, and predicting heat accumulation depending on their composition. The research determines the kinds and amounts of PCM, and the most suitable cement. Relevant conclusions obtain it regarding constructive aspects to consider in the implementation of PCM mortars in heating floor. Also, it analyzes and evaluates the thermal demand that it can be covered in heating floor using microencapsulated paraffin mortars, through the accumulation of solar energy produced by solar collectors to weather conditions, technical and specific building typologies. It determines that if the panels cover more than 60% of the demand for heating, the surplus generated during the day can be stored in PCM mortars. It meets the demand of energy storage with PCM mortars, in most of the cases analyzed. With this, it determines that the use of PCM mortars contributes to building energy efficiency, reducing consumption of conventional energy, replacing it with solar thermal energy. In this research approaches the use of solar energy to determine that it’s possible to verify its accumulation in PCM mortars applied in heating floor, enabling the replacement of conventional energy. The emphasis is on material properties of PCM mortar and, in order to generate methodologies to facilitate their use. There are some aspects of solar energy application in PCM mortars in heating floor, which have not been discussed with the depth required, and that they are relevant to evaluate in this kind of construction applications, including among others: the applications related to the energy savings quantification in different seasons of the year, the stabilizing internal temperatures, its cost analysis and optimization of these systems for use in summer, which can give ideas for other thesis or research projects.

Robustness and Recoverability in Transport Logistics

Abstract Transport is the foundation of any economy: it boosts economic growth, creates wealth, enhances trade, geographical accessibility and the mobility of people. Transport is also a key ingredient for a high quality of life, making places accessible and bringing people together. The future prosperity of our world will depend on the ability of all of its regions to remain fully and competitively integrated in the world economy. Efficient transport is vital in making this happen. Operations research can help in efficiently planning the design and operating transport systems. Planning and operational processes are fields that are rich in combinatorial optimization problems. These problems can be analyzed and solved through the application of mathematical models and optimization techniques, which may lead to an improvement in the performance of the transport system, as well as to a reduction in the time required for solving these problems. The latter aspect is important, because it increases the flexibility of the system: the system can adapt in a faster way to changes in the environment (i.e.: weather conditions, crew illness, failures, etc.). These disturbing changes (called disruptions) often enforce the schedule to be adapted. The direct consequences are delays and cancellations, implying many schedule adjustments and huge costs. Consequently, robust schedules and recovery plans must be developed in order to fight against disruptions. This dissertation makes contributions to two different fields: rail and air applications. Robust planning and recovery methods are presented. In the field of railway transport we develop several mathematical models which answer to RENFE’s (the major railway operator in Spain) needs: 1. We study the rolling stock assignment problem: here, we introduce some robust aspects in order to ameliorate some operations which are likely to fail. Once the rolling stock assignment is known, we propose a robust routing model which aims at identifying the train units’ sequences while minimizing the expected delays and human resources needed to perform the sequences. 2. It is widely accepted that the sequential solving approach produces solutions that are not global optima. Therefore, we develop an integrated and robust model to determine the train schedule and rolling stock assignment. We also propose an integrated model to study the rolling stock circulations. Circulations are determined by the rolling stock assignment and routing of the train units. 3. Although our aim is to develop robust plans, disruptions will be likely to occur and recovery methods will be needed. Therefore, we propose a recovery method which aims to recover the train schedule and rolling stock assignment in an integrated fashion all while considering the passenger demand. In the field of air transport we develop several mathematical models which answer to IBERIA’s (the major airline in Spain) needs: 1. We look at the airline-scheduling problem and develop an integrated approach that optimizes schedule design, fleet assignment and passenger use so as to reduce costs and create fewer incompatibilities between decisions. Robust itineraries are created to ameliorate misconnected passengers. 2. Air transport operators are continuously facing competition from other air operators and different modes of transport (e.g., High Speed Rail). Consequently, airline profitability is critically influenced by the airline’s ability to estimate passenger demands and construct profitable flight schedules. We consider multi-modal competition including airline and rail, and develop a new approach that estimates the demand associated with a given schedule; and generates airline schedules and fleet assignments using an integrated schedule design and fleet assignment optimization model that captures the impacts of schedule decisions on passenger demand.