Neptune: a hil simulator for multiple UUVs

This paper overviews the field of graphical simulators used for AUV development, presents the taxonomy of these applications and proposes a classification. It also presents Neptune, a multivehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

Graphical simulators for AUV development

A long development time is needed from the design to the implementation of an AUV. During the first steps, simulation plays an important role, since it allows for the development of preliminary versions of the control system to be integrated. Once the robot is ready, the control systems are implemented, tuned and tested. The use of a real-time simulator can help closing the gap between off-line simulation and real testing using the already implemented robot. When properly interfaced with the robot hardware, a real-time graphical simulation with a "hardware in the loop" configuration, can allow for the testing of the implemented control system running in the actual robot hardware. Hence, the development time is drastically reduced. These paper overviews the field of graphical simulators used for AUV development proposing a classification. It also presents NEPTUNE, a multi-vehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

Estudi de l’expansió de carrers en ciutats al llarg del temps

El Projecte s’ha desenvolupat dintre del Grup de Geometria i Gràfics de la Udg on es treballa amb projectes de desenvolupament urbanístic 3D. L’objectiu del projecte consisteix en construir una aplicació per simular l’evolució de ciutats expandint els carrers al llarg del temps. L’aplicació es desenvoluparà dintre del projecte urbanEngine incorporant la possibilitat d’expandir ciutats com una extensió d’aquest. A més es vol dissenyat una interfície gràfica d’usuari que faciliti les tasques de configuració i supervisió del sistema

Estudio del proceso de calificación energética de un edificio de salida de telecabinas situado en Espui ‪(‬Lleida‪)‬ mediante herramientas de simulación energética

Per tal que un edifici de sortida de telecabines d'Espui obtingui una qualificació energètica, es fa un estudi mitjançant sistemes de simulació energètica

SIMVAC: desenvolupament d'un simulador d'una granja de vaques

En aquest projecte s'ha desenvolupat una aplicació que permet simular la producció de llet en una granja de vaques. El projecte està enfocat com a una eina d'ensenyament per a la Facultat de Veterinària de la UAB, per facilitar als seus alumnes una forma de realitzar les pràctiques sobre la producció de llet d'una granja de vaques. L'objectiu principal del projecte serà la implementació d'un programari que permeti aquesta simulació. Aquesta aplicació té com a base un servidor Web format pel servidor Apache HTTP, el servidor Apache Tomcat i el sistema gestor de base de dades MySQL. A partir d'aquests i mitjançant l'entorn de programació Eclipse Galileo s'ha implementat un simulador dins d'un Servlet de Java, que permet als alumnes un accés remot al simulador per tal que es pugin realitzar les pràctiques des de qualsevol ordinador amb connexió a Internet.

A distributed environment for virtual and/or real experiments for underwater robots

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments

Modeling of hybrid systems by piecewise decomposition

Piecewise linear models systems arise as mathematical models of systems in many practical applications, often from linearization for nonlinear systems. There are two main approaches of dealing with these systems according to their continuous or discrete-time aspects. We propose an approach which is based on the state transformation, more particularly the partition of the phase portrait in different regions where each subregion is modeled as a two-dimensional linear time invariant system. Then the Takagi-Sugeno model, which is a combination of local model is calculated. The simulation results show that the Alpha partition is well-suited for dealing with such a system

A Tool for optimum design of Waste Water Treatment Plants under uncertainty

L’objectiu principal és presentar un nou prototipus d’eina per al disseny de les plantes de tractament d’aigües residuals utilitzant models mecànics dinàmics quantificant la incertesa

Plataforma distribuida para la clasificación de clases de isomorfia de curvas hiperelípticas de género 2 sobre cuerpos finitos de característica 2

Análisis, desarrollo e implementación de una plataforma distribuida constituida por varios ordenadores de una red local en un sistema Grid, utilizando la técnica de Harvesting. De forma concreta lo que se calculará con la plataforma será un problema matemático consistente en la clasificación de curvas hiperelípticas de género 2 sobre cuerpos binarios. Los resultados de este proyecto pueden ser válidos con fines criptográficos de forma general. Se pretende separar el cálculo matemático de la plataforma, para que ésta sea reutilizable.

Development and validation of AMANDA, a new algorithm for selecting highly relevant regions in Molecular Interaction Fields

Descriptors based on Molecular Interaction Fields (MIF) are highly suitable for drug discovery, but their size (thousands of variables) often limits their application in practice. Here we describe a simple and fast computational method that extracts from a MIF a handful of highly informative points (hot spots) which summarize the most relevant information. The method was specifically developed for drug discovery, is fast, and does not require human supervision, being suitable for its application on very large series of compounds. The quality of the results has been tested by running the method on the ligand structure of a large number of ligand-receptor complexes and then comparing the position of the selected hot spots with actual atoms of the receptor. As an additional test, the hot spots obtained with the novel method were used to obtain GRIND-like molecular descriptors which were compared with the original GRIND. In both cases the results show that the novel method is highly suitable for describing ligand-receptor interactions and compares favorably with other state-of-the-art methods.

Suitability of GRIND-based principal properties for the description of molecular similarity and ligand-based virtual screening

The information provided by the alignment-independent GRid Independent Descriptors (GRIND) can be condensed by the application of principal component analysis, obtaining a small number of principal properties (GRIND-PP), which is more suitable for describing molecular similarity. The objective of the present study is to optimize diverse parameters involved in the obtention of the GRIND-PP and validate their suitability for applications, requiring a biologically relevant description of the molecular similarity. With this aim, GRIND-PP computed with a collection of diverse settings were used to carry out ligand-based virtual screening (LBVS) on standard conditions. The quality of the results obtained was remarkable and comparable with other LBVS methods, and their detailed statistical analysis allowed to identify the method settings more determinant for the quality of the results and their optimum. Remarkably, some of these optimum settings differ significantly from those used in previously published applications, revealing their unexplored potential. Their applicability in large compound database was also explored by comparing the equivalence of the results obtained using either computed or projected principal properties. In general, the results of the study confirm the suitability of the GRIND-PP for practical applications and provide useful hints about how they should be computed for obtaining optimum results.

Implantació d'una xarxa de telecomunicacions a Catalunya

Aquest projecte està centrat a analitzar els diferents escenaris i tecnologies per a proveir Internet i serveis de connectivitat entre ciutats internacionals (Barcelona, Tarragona, Lleida, Girona i Milà). Així es defineixen tres tipus de xarxes dissenyades per a satisfer els requisits dels nostres clients. Aquests clients són usuaris residencials i petites empreses, hospitals icompanyies d'assegurances internacionals. Tots ells requereixen de diferentample de banda, seguretat i tecnologies, per a cadascun d'ells, s'ha desenvolupat un anàlisi extens que detalla la xarxa lògica i física.Finalment, hem realitzat una simulació per ordinador utilitzant OPNET amb elpropòsit d'avaluar la xarxa física dissenyada prèviament. Els resultats obtinguts van ser presentats i analitzats.

Analysis of the role of mobility-lifetime products in the performance of amorphous silicon p-i-n solar cells

An analytical model of an amorphous silicon p-i-n solar cell is presented to describe its photovoltaic behavior under short-circuit conditions. It has been developed from the analysis of numerical simulation results. These results reproduce the experimental illumination dependence of short-circuit resistance, which is the reciprocal slope of the I(V) curve at the short-circuit point. The recombination rate profiles show that recombination in the regions of charged defects near the p-i and i-n interfaces should not be overlooked. Based on the interpretation of the numerical solutions, we deduce analytical expressions for the recombination current and short-circuit resistance. These expressions are given as a function of an effective ¿¿ product, which depends on the intensity of illumination. We also study the effect of surface recombination with simple expressions that describe its influence on current loss and short-circuit resistance.

Algebraic decay of velocity fluctuations in a confined fluid

Computer simulations of a colloidal particle suspended in a fluid confined by rigid walls show that, at long times, the velocity correlation function decays with a negative algebraic tail. The exponent depends on the confining geometry, rather than the spatial dimensionality. We can account for the tail by using a simple mode-coupling theory which exploits the fact that the sound wave generated by a moving particle becomes diffusive.

Computer simulation study of liquid lithium at 470 and 843 K

Both structural and dynamical properties of 7Li at 470 and 843 K are studied by molecular dynamics simulation and the results are comapred with the available experimental data. Two effective interatomic potentials are used, i.e., a potential derived from the Ashcroft pseudopotential [Phys. Lett. 23, 48 (1966)] and a recently proposed potential deduced from the neutral pseudoatom method [J. Phys.: Condens. Matter 5, 4283 (1993)]. Although the shape of the two potential functions is very different, the majority of the properties calculated from them are very similar. The differences among the results using the two interaction models are carefully discussed.