Equations of motion for constrained systems

"Series title: Springerbriefs in applied sciences and technology, ISSN 2191-530X"

Análise configuracional dos grandes conjuntos urbanos na Região de Lisboa (1945-1974) : contributos da sintaxe espacial para a história de arte como história da cidade

A presente investigação debruça-se sobre o estudo dos grandes conjuntos urbanos, tendo como referência a área de Lisboa no período entre 1945 e 1974. O seu objetivo principal é compreender o padrão espacial e respetivas variantes destas formas urbanas relativamente recentes bem como avaliar o seu impato na estrutura global da cidade e da sociedade. Tomando como ponto de partida a história de arte como história da cidade, a tese toma como objeto o grande conjunto urbano e aponta a hipótese do estudo da relação forma-fundo como meio de obter informações relevantes que relacionem o uso e função com respeito ao desenho do espaço aberto. Como diferentes arranjos entre espaços abertos e fechados implicam tipos espaciais distintos (Medeiros 2013), o estudo da relação entre a forma (cheio) e o fundo (vazio) dos grandes conjuntos urbanos e respetivas variações, pode fornecer-nos informação espacial relevante, que nos permitem compreender melhor estas formas urbanas recentes. Usando a abordagem própria da teoria da sintaxe espacial (Hillier e Hanson 1984), do tipo configuracional, determinam-se as relações entre os vários elementos constituintes dos sistemas espaciais formados nestas urbanizações. Essas relações são depois analisadas através de medidas e variáveis topológicas que nos permitem identificar qualidades e valores espaciais para a sociedade. Os resultados obtidos a partir dessas variáveis e medidas permitem-nos, depois, avaliar os graus de ‘formalidade’ e ‘urbanidade’ em cada sistema (Holanda 2002). Consequentemente, a avaliação qualitativa das características espaciais que se pretendem obter nesta investigação, tem como base a avaliação quantitativa, permitindo assim comparar mais facilmente os diversos casos de estudo. De entre o conjunto de casos analisados, o estudo revela uma série de características comuns, que nos permitem identificar um padrão específico de urbanismo modernista que reflete claramente um conjunto de ideologias associadas a uma visão reformista da sociedade através do espaço. Mas por outro lado, existem também um conjunto de características particulares de cada caso, que reportam para a estrutura morfológica da cidade tradicional. No que reporta à hipótese de estudo levantada nesta investigação sobre a relação forma-fundo, verifica-se através da amostra que esta relação aparece invertida. Esta diferenciação deve-se ao abandono dos tradicionais sistemas de rua e de quarteirão, ainda presentes nas urbanizações de Alvalade e do Areeiro e a sua substituição pelo bloco livre em espaço aberto como nos casos de Alfragide, Portela e Olivais. Tal facto, como prova a teoria da Sintaxe Espacial ou Lógica Social do Espaço, traduziu-se necessariamente em diferentes modos de vida pública e privada e consequentemente de vida espacial e social. Assim concluímos, através da análise dos casos de estudo apresentados, que embora fazendo parte duma mesma ideologia urbana com características comuns (genótipo modernista), os mesmos apresentam resultados espaciais totalmente diferenciados o que justifica a dificuldade da sua análise comparativa.

Definition of multibody system

This chapter presents a general view of multibody system concept and definition by describing the main features associated with spatial systems. The mechanical components, which can be modeled as rigid or flexible, are constrained by kinematic pair of different types. Additionally, the bodies can be actuated upon by force elements and external forces due to interaction with environment. This chapter also presents some examples of application of multibody systems that can include automotive vehicles, mechanisms, robots and biomechanical systems.

Basic constraints between two vectors

This chapter deals with the characterization of the basic constraints between two vectors. This issue plays a crucial role in the formulation of constraint equations for mechanical joints. In particular, relations between two parallel and two perpendicular vectors are derived. Moreover, formulation for a vector that connects two generic points is presented. The material described here is developed under the framework of multibody systems formulation for spatial systems.

Kinematic joints constraints

"Series title: Springerbriefs in applied sciences and technology, ISSN 2191-530X"

Propagation through fractal media: The Sierpinski gasket and the Koch curve

We present new analytical tools able to predict the averaged behavior of fronts spreading through self-similar spatial systems starting from reaction-diffusion equations. The averaged speed for these fronts is predicted and compared with the predictions from a more general equation (proposed in a previous work of ours) and simulations. We focus here on two fractals, the Sierpinski gasket (SG) and the Koch curve (KC), for two reasons, i.e. i) they are widely known structures and ii) they are deterministic fractals, so the analytical study of them turns out to be more intuitive. These structures, despite their simplicity, let us observe several characteristics of fractal fronts. Finally, we discuss the usefulness and limitations of our approa

La casa crecedera. El crecimiento programado de la vivienda con innovación europea y economía de medios latinoamericana

El concepto de casa crecedera, tal y como lo conocemos en la actualidad, se acuñó por primera vez en 1932 en el concurso Das Wachsende Haus organizado por Martin Wagner y Hans Poelzig dentro del marco de la Exposición Internacional Sonne, Luft und Haus für alle, promovida por la Oficina de Turismo de la ciudad de Berlín. En dicho concurso, se definía este tipo de vivienda como aquella célula básica o vivienda semilla que, dependiendo de las necesidades y posibilidades de los habitantes, podía crecer mediante otras estancias, conformando una vivienda completa en sí misma en cada fase de crecimiento. Numerosos arquitectos de primer orden, tales como Walter Gropius, Bruno Taut, Erich Mendelsohn o Hans Scharoun, participaron en este concurso, abriendo una nueva vía de exploración dentro de la vivienda flexible, la del crecimiento programado. A partir de ese momento, en Europa, y subsecuentemente en EEUU y otras regiones desarrolladas, se iniciaron numerosas investigaciones teóricas y prácticas en torno al fenómeno del crecimiento en la vivienda desde un enfoque vinculado a la innovación, tanto espacial como técnica. Por otro lado, aunque dentro del marco de la arquitectura popular de otros países, ya se ensayaban viviendas crecederas desde el siglo XVIII debido a que, por su tamaño, eran más asequibles dentro del mercado. Desde los años treinta, numerosos países en vías de desarrollo tuvieron que lidiar con migraciones masivas del campo a la ciudad, por lo que se construyeron grandes conjuntos habitacionales que, en numerosos casos, estaban conformados por viviendas crecederas. En todos ellos, la aproximación al crecimiento de la vivienda se daba desde una perspectiva diferente a la de los países desarrollados. Se primaba la economía de medios, el uso de sistemas constructivos de bajo costo y, en muchos casos, se fomentaba incluso la autoconstrucción guiada, frente a las construcciones prefabricadas ensambladas por técnicos especializados que se proponían, por ejemplo, en los casos europeos. Para realizar esta investigación, se recopiló información de estas y otras viviendas. A continuación, se identificaron distintas maneras de producir el crecimiento, atendiendo a su posición relativa respecto de la vivienda semilla, a las que se denominó mecanismos de ampliación, utilizados indistintamente sin tener en cuenta la ubicación geográfica de cada casa. La cuestión de porqué se prefiere un mecanismo en lugar de otro en un caso determinado, desencadenó el principal objetivo de esta Tesis: la elaboración de un sistema de análisis y diagnóstico de la vivienda crecedera que, de acuerdo a determinados parámetros, permitiera indicar cuál es la ampliación o sucesión de ampliaciones óptimas para una familia concreta, en una ubicación establecida. Se partió de la idea de que el crecimiento de la vivienda está estrechamente ligado a la evolución de la unidad de convivencia que reside en ella, de manera que la casa se transformó en un hábitat dinámico. Además se atendió a la complejidad y variabilidad del fenómeno, sujeto a numerosos factores socio-económicos difícilmente previsibles en el tiempo, pero fácilmente monitorizables según unos patrones determinados vinculados a la normatividad, el número de habitantes, el ahorro medio, etc. Como consecuencia, para el diseño del sistema de optimización de la vivienda crecedera, se utilizaron patrones evolutivos. Dichos patrones, alejados ya del concepto espacial y morfológico usualmente utilizado en arquitectura por figuras como C. Alexander o J. Habraken, pasaron a entenderse como una secuencia de eventos en el tiempo (espaciales, sociales, económicos, legales, etc.), que describen el proceso de transformación y que son peculiares de cada vivienda. De esta manera, el tiempo adquirió una especial importancia al convertirse en otro material más del proyecto arquitectónico. Fue en la construcción de los patrones donde se identificaron los mencionados mecanismos de ampliación, entendidos también como sistemas de compactación de la ciudad a través de la ocupación tridimensional del espacio. Al estudiar la densidad, mediante los conceptos de holgura y hacinamiento, se aceptó la congestión de las ciudades como un valor positivo. De esta forma, las posibles transformaciones realizadas por los habitantes (previstas desde un inicio) sobre el escenario del habitar (vivienda semilla), se convirtieron también en herramientas de proyecto urbano que responden a condicionantes del lugar y de los habitantes con distintas intensidades de crecimiento, ocupación y densidad. Igualmente, en el proceso de diseño del sistema de optimización, se detectaron las estrategias para la adaptabilidad y transformación de la casa crecedera, es decir, aquella serie de acciones encaminadas a la alteración de la vivienda para facilitar su ampliación, y que engloban desde sistemas constructivos en espera, que facilitan las costuras entre crecimiento y vivienda semilla, hasta sistemas espaciales que permiten que la casa altere su uso transformándose en un hábitat productivo o en un artefacto de renta. Así como los mecanismos de ampliación están asociados a la morfología, se descubrió que su uso es independiente de la localización, y que las estrategias de adaptabilidad de la vivienda se encuentran ligadas a sistemas constructivos o procesos de gestión vinculados a una región concreta. De esta manera, la combinación de los mecanismos con las estrategias caracterizan el proceso de evolución de la vivienda, vinculándola a unos determinados condicionantes sociales, geográficos y por tanto, constructivos. Finalmente, a través de la adecuada combinación de mecanismos de ampliación y estrategias de adaptabilidad en el proyecto de la vivienda con crecimiento programado es posible optimizar su desarrollo en términos económicos, constructivos, sociales y espaciales. Como resultado, esto ayudaría no sólo a mejorar la vida de los habitantes de la vivienda semilla en términos cualitativos y cuantitativos, sino también a compactar las ciudades mediante sistemas incluyentes, ya que las casas crecederas proporcionan una mayor complejidad de usos y diversidad de relaciones sociales. ABSTRACT The growing house concept -as we currently know it- was used for the first time back in 1932 in the competition Das Wachsende Haus organized by Martin Wagner and Hans Poelzig during the International Exhibition Sonne, Luft und Haus für alle, promoted by Berlin's Tourist Office. In that competition this type of housing was defined as a basic cell or a seed house unit, and depending on the needs and capabilities of the residents it could grow by adding rooms and defining itself as a complete house unit during each growing stage. Many world-top class architects such as Walter Gropius, Bruno Taut, Erich Mendelsohn or Hans Scharoun, were part of this competition exploring a new path in the flexible housing field, the scheduled grownth. From that moment and on, in Europe -and subsequently in the USA and other developed areas- many theorical and pragmatical researchs were directed towards the growing house phenomena, coming from an initial approach related to innovation, spacial and technical innovation. Furthermore -inside the traditional architecture frame in other countries, growing houses were already tested in the XVIII century- mainly due to the size were more affordable in the Real State Market. Since the 30's decade many developing countries had to deal with massive migration movements from the countryside to cities, building large housing developments were -in many cases- formed by growing housing units. In all of these developing countries the growing house approach was drawn from a different perspective than in the developed countries. An economy of means was prioritized, the utilization of low cost construction systems and -in many cases- a guided self-construction was prioritized versus the prefabricated constructions set by specialized technics that were proposed -for instance- in the European cases. To proceed with this research, information from these -and other- housing units was gathered. From then and on different ways to perform the growing actions were identified, according to its relative position from the seed house unit, these ways were named as addition or enlargement mechanisms indifferently utilized without adknowledging the geographic location for each house. The question of why one addition mechanism is preferred over another in any given case became the main target of this Thesis; the ellaboration of an analysis and diagnosis system for the growing house -according to certain parameters- would allow to point out which is the addition or addition process more efficient for a certain family in a particular location. As a starting point the grownth of the housing unit is directly linked to the evolution of the family unit that lives on it, so the house becomes a dynamic habitat. The complexity and the variability of the phenomena was taken into consideration related to a great number of socio-economic factors hardly able to be foreseen ahead on time but easy to be monitored according to certain patterns linked to regulation, population, average savings, etc As a consequence, to design the optimization system for the growing house, evolutionary patterns were utilized. Those patterns far away from the spatial and morphologic concept normally utilized in Architecture by characters like C. Alexander or J. Habraken, started to be understood like a sequence of events on time (spatial events, social events, economic events, legal events, etc) that describes the transformation process and that are particular for each housing unit. Therefore time became something important as another ingredient in the Architectural Project. The before mentioned addition or enlargement mechanisms were identified while building the patterns; these mechanisms were also understood as city's system of compactation through the tridimendional ocupation of space. Studying density, thorough the concepts of comfort and overcrowding, traffic congestion in the city was accepted as a positive value. This way, the possible transformations made by the residents (planned from the begining) about the residencial scenary (seed house), also became tools of the urban project that are a response to site's distinctive features and to the residents with different grownth intensities, activities and density Likewise, during the process of designing the optimization system, strategies for adaptations and transformation of the growing house were detected, in other words, the serial chain of actions directed to modify the house easing its enlargement or addition, and that comprehends from constructive systems on hold -that smooths the costures between grownth and housing seed- to spatial systems that allows that the house modify its utilization, becoming a productive habitat or a rental asset. Because the enlargement mechanisms are linked to the morphology, it was discovered that the use it's not related to the location, and that the adaptation strategies of the houses are linked to constructive systems or management processes linked to a particular area. This way the combination of mechanisms and strategies characterizes the process of housing evolution, linking it to certain social and geographic peculiarities and therefore constructives. At last, through the certain combination of enlargement mechanisms and adaptability strategies in the housing with scheduled grownth project is possible to optimize its development in economic, constructive, social and spatial terms. As a result, this would help not only to improve the life of the seed house residents in qualitative and quantitative terms but also to compact the cities through inclusive systems, given that the growing houses provide a larger complexity of uses and social relations.

Vigilância e monitorização dos espaços marítimos sob soberania ou jurisdição portuguesa

Portugal tem uma das maiores Zonas Económicas Exclusivas a nível mundial, encerrando este espaço marítimo uma riqueza que ainda não se encontra devidamente aferida, mas que se julga ser enorme. Por ela passam anualmente milhares de navios, com os mais diversos destinos e transportando as mais variadas cargas. A posição geostratégica do país coloca-o no centro de algumas das mais movimentadas rotas marítimas, sendo por isso de extrema importância vigiar e monitorizar as águas portuguesas, por forma a garantir que as leis e regulamentos de direito internacional marítimo são cumpridos e que o interesse nacional é devidamente salvaguardado. Deste modo, a presente dissertação tem como objeto de estudo os sistemas de vigilância e monitorização marítimos, pretendendo constituir-se como um contributo para a melhoria do atual sistema de vigilância e monitorização dos espaços marítimos sob soberania ou jurisdição portuguesa, focando-se, para tal, nos sistemas aéreos e espaciais para a deteção de meios de superfície. Para tal, numa primeira parte considera-se estudar o ambiente marítimo e as ameaças que o afetam. Na segunda parte estudam-se os atuais sistemas que contribuem para o conhecimento situacional marítimo em Portugal culminando na terceira parte com o estudo dos meios e sensores que permitem melhorar a cobertura do espaço marítimo, com o objetivo final de garantir a segurança no mar. Através do estudo realizado foi possível concluir-se que as aeronaves não tripuladas afiguram-se como o futuro mais imediato para o esclarecimento do panorama marítimo, sendo que os satélites surgem numa segunda linha, pois apesar dos seus custos mais elevados, poderão também dar um enorme contributo para o conhecimento situacional marítimo ao serem capazes de cobrir maiores áreas e mais rapidamente.

Transmit diversity vs. spatial multiplexing in modern MIMO systems

A contemporary perspective on the tradeoff between transmit antenna diversity andspatial multiplexing is provided. It is argued that, in the context of most modern wirelesssystems and for the operating points of interest, transmission techniques that utilizeall available spatial degrees of freedom for multiplexing outperform techniques that explicitlysacrifice spatial multiplexing for diversity. In the context of such systems, therefore,there essentially is no decision to be made between transmit antenna diversity and spatialmultiplexing in MIMO communication. Reaching this conclusion, however, requires thatthe channel and some key system features be adequately modeled and that suitable performancemetrics be adopted; failure to do so may bring about starkly different conclusions. Asa specific example, this contrast is illustrated using the 3GPP Long-Term Evolution systemdesign.

SPATIAL CORRELATION BETWEEN PHYSICAL PROPERTIES OF SOIL AND WEEDS IN TWO MANAGEMENT SYSTEMS

The spatial correlation between soil properties and weeds is relevant in agronomic and environmental terms. The analysis of this correlation is crucial for the interpretation of its meaning, for influencing factors such as dispersal mechanisms, seed production and survival, and the range of influence of soil management techniques. This study aimed to evaluate the spatial correlation between the physical properties of soil and weeds in no-tillage (NT) and conventional tillage (CT) systems. The following physical properties of soil and weeds were analyzed: soil bulk density, macroporosity, microporosity, total porosity, aeration capacity of soil matrix, soil water content at field capacity, weed shoot biomass, weed density, Commelina benghalensis density, and Bidens pilosa density. Generally, the ranges of the spatial correlations were higher in NT than in CT. The cross-variograms showed that many variables have a structure of combined spatial variation and can therefore be mapped from one another by co-kriging. This combined variation also allows inferences about the physical and biological meanings of the study variables. Results also showed that soil management systems influence the spatial dependence structure significantly.

Effect of spatial processes on the evolution of ecological niches and dispersal in metacommunity systems

RésuméLa coexistence de nombreuses espèces différentes a de tout temps intrigué les biologistes. La diversité et la composition des communautés sont influencées par les perturbations et l'hétérogénéité des conditions environnementales. Bien que dans la nature la distribution spatiale des conditions environnementales soit généralement autocorrélée, cet aspect est rarement pris en compte dans les modèles étudiant la coexistence des espèces. Dans ce travail, nous avons donc abordé, à l'aide de simulations numériques, la coexistence des espèces ainsi que leurs caractéristiques au sein d'un environnement autocorrélé.Afin de prendre en compte cet élément spatial, nous avons développé un modèle de métacommunauté (un ensemble de communautés reliées par la dispersion des espèces) spatialement explicite. Dans ce modèle, les espèces sont en compétition les unes avec les autres pour s'établir dans un nombre de places limité, dans un environnement hétérogène. Les espèces sont caractérisées par six traits: optimum de niche, largeur de niche, capacité de dispersion, compétitivité, investissement dans la reproduction et taux de survie. Nous nous sommes particulièrement intéressés à l'influence de l'autocorrélation spatiale et des perturbations sur la diversité des espèces et sur les traits favorisés dans la métacommunauté. Nous avons montré que l'autocorrélation spatiale peut avoir des effets antagonistes sur la diversité, en fonction du taux de perturbations considéré. L'influence de l'autocorrélation spatiale sur la capacité de dispersion moyenne dans la métacommunauté dépend également des taux de perturbations et survie. Nos résultats ont aussi révélé que de nombreuses espèces avec différents degrés de spécialisation (i.e. différentes largeurs de niche) peuvent coexister. Toutefois, les espèces spécialistes sont favorisées en absence de perturbations et quand la dispersion est illimitée. A l'opposé, un taux élevé de perturbations sélectionne des espèces plus généralistes, associées avec une faible compétitivité.L'autocorrélation spatiale de l'environnement, en interaction avec l'intensité des perturbations, influence donc de manière considérable la coexistence ainsi que les caractéristiques des espèces. Ces caractéristiques sont à leur tour souvent impliquées dans d'importants processus, comme le fonctionnement des écosystèmes, la capacité des espèces à réagir aux invasions, à la fragmentation de l'habitat ou aux changements climatiques. Ce travail a permis une meilleure compréhension des mécanismes responsables de la coexistence et des caractéristiques des espèces, ce qui est crucial afin de prédire le devenir des communautés naturelles dans un environnement changeant.AbstractUnderstanding how so many different species can coexist in nature is a fundamental and long-standing question in ecology. Community diversity and composition are known to be influenced by heterogeneity in environmental conditions and disturbance. Though in nature the spatial distribution of environmental conditions is frequently autocorrelated, this aspect is seldom considered in models investigating species coexistence. In this work, we thus addressed several questions pertaining to species coexistence and composition in spatially autocorrelated environments, with a numerical simulations approach.To take into account this spatial aspect, we developed a spatially explicit model of metacommunity (a set of communities linked by dispersal of species). In this model, species are trophically equivalent, and compete for space in a heterogeneous environment. Species are characterized by six life-history traits: niche optimum, niche breadth, dispersal, competitiveness, reproductive investment and survival rate. We were particularly interested in the influence of environmental spatial autocorrelation and disturbance on species diversity and on the traits of the species favoured in the metacommunity. We showed that spatial autocorrelation can have antagonistic effects on diversity depending on disturbance rate. Similarly, spatial autocorrelation interacted with disturbance rate and survival rate to shape the mean dispersal ability observed in the metacommunity. Our results also revealed that many species with various degrees of specialization (i.e. different niche breadths) can coexist together. However specialist species were favoured in the absence of disturbance, and when dispersal was unlimited. In contrast, high disturbance rate selected for more generalist species, associated with low competitive ability.The spatial structure of the environment, together with disturbance and species traits, thus strongly impacts species diversity and, more importantly, species composition. Species composition is known to affect several important metacommunity properties such as ecosystem functioning, resistance and reaction to invasion, to habitat fragmentation and to climate changes. This work allowed a better understanding of the mechanisms responsible for species composition, which is of crucial importance to predict the fate of natural metacommunities in changing environments

High-SNR analytical performance of spatial multiplexing MIMO systems with CSI

In this paper, we investigate the average andoutage performance of spatial multiplexing multiple-input multiple-output (MIMO) systems with channel state information at both sides of the link. Such systems result, for example, from exploiting the channel eigenmodes in multiantenna systems. Dueto the complexity of obtaining the exact expression for the average bit error rate (BER) and the outage probability, we deriveapproximations in the high signal-to-noise ratio (SNR) regime assuming an uncorrelated Rayleigh flat-fading channel. Moreexactly, capitalizing on previous work by Wang and Giannakis, the average BER and outage probability versus SNR curves ofspatial multiplexing MIMO systems are characterized in terms of two key parameters: the array gain and the diversity gain. Finally, these results are applied to analyze the performance of a variety of linear MIMO transceiver designs available in the literature.

Spatial filtering for pilot-aided WCDMA systems: a semi-blind subspace approach

This paper proposes a spatial filtering technique forthe reception of pilot-aided multirate multicode direct-sequencecode division multiple access (DS/CDMA) systems such as widebandCDMA (WCDMA). These systems introduce a code-multiplexedpilot sequence that can be used for the estimation of thefilter weights, but the presence of the traffic signal (transmittedat the same time as the pilot sequence) corrupts that estimationand degrades the performance of the filter significantly. This iscaused by the fact that although the traffic and pilot signals areusually designed to be orthogonal, the frequency selectivity of thechannel degrades this orthogonality at hte receiving end. Here,we propose a semi-blind technique that eliminates the self-noisecaused by the code-multiplexing of the pilot. We derive analyticallythe asymptotic performance of both the training-only andthe semi-blind techniques and compare them with the actual simulatedperformance. It is shown, both analytically and via simulation,that high gains can be achieved with respect to training-onlybasedtechniques.

Spatial variability of soil physical properties in two management systems in sugarcane crop

The aim of this study was to characterize the spatial variability of soil bulk density (Bd), soil moisture content (θ) and total porosity (Tp) in two management systems of sugarcane harvesting, with or without burning, in a Haplustox soil, in the 0-0.20 m layer. The study area is located in Rio Brilhante, state of Mato Grosso do Sul, Brazil, in Eldorado Sugar Mill. The plots have presented 180 m length, and 145.6 m width, totaling 90 points distributed in the form of a grid of nine rows by ten columns, with points spaced 20 m from its neighbor. Soil samples were collected at 0-0.20 m layer in 2007/2008 and 2008/2009 crops. The harvest with burning system had a higher density compared to mechanized harvest, in the two study periods. The moisture content as well as the porosity increased proportionally with the decrease of the density of the harvest burning system compared to the mechanized.