Hierarchical path-finding for Navigation Meshes (HNA*)

Path-finding can become an important bottleneck as both the size of the virtual environments and the number of agents navigating them increase. It is important to develop techniques that can be efficiently applied to any environment independently of its abstract representation. In this paper we present a hierarchical NavMesh representation to speed up path-finding. Hierarchical path-finding (HPA*) has been successfully applied to regular grids, but there is a need to extend the benefits of this method to polygonal navigation meshes. As opposed to regular grids, navigation meshes offer representations with higher accuracy regarding the underlying geometry, while containing a smaller number of cells. Therefore, we present a bottom-up method to create a hierarchical representation based on a multilevel k-way partitioning algorithm (MLkP), annotated with sub-paths that can be accessed online by our Hierarchical NavMesh Path-finding algorithm (HNA*). The algorithm benefits from searching in graphs with a much smaller number of cells, thus performing up to 7.7 times faster than traditional A¿ over the initial NavMesh. We present results of HNA* over a variety of scenarios and discuss the benefits of the algorithm together with areas for improvement.Peer ReviewedPostprint (author's final draft

Trilogía: a tres décadas de existencia de una revista multidisciplinaria

The present article is a history summary of Trilogía, highlighting its value as a multidisciplinary journal in the context of open access to scientific information

Interpreting the time variable RM observed in the core region of the TeV blazar Mrk 421

In this work we interpret and discuss the time variable rotation measure (RM) found, for the first time over a 1-yr period, in the core region of a blazar. These results are based on a one-year, multi-frequency (15, 24, and 43 GHz) Very Long Baseline Array (VLBA) monitoring of the TeV blazar Markarian 421 (Mrk 421). We investigate the Faraday screen properties and its location with respect to the jet emitting region. Given that the 43 GHz radio core flux density and the RM time evolution suggest a similar trend, we explore the possible connection between the RM and the accretion rate. Among the various scenarios that we explore, the jet sheath is the most promising candidate for being the main source of Faraday rotation. During the one-year observing period the RM trend shows two sign reversals, which may be qualitatively interpreted within the context of the magnetic tower models. We invoke the presence of two nested helical magnetic fields in the relativistic jet with opposite helicities, whose relative contribution produce the observed RM values. The inner helical field has the poloidal component ($B_{\rm p}$) oriented in the observer's direction and produces a positive RM, while the outer helical field, with $B_{\rm p}$ in the opposite direction, produces a negative RM. We assume that the external helical field dominates the contribution to the observed RM, while the internal helical field dominates when a jet perturbation arises during the second observing epoch. Being the intrinsic polarization angle parallel to the jet axis, a pitch angle of the helical magnetic field $\phi\gtrsim 70^\circ$ is required. Additional scenarios are also considered to explain the observed RM sign reversals.Comment: 6 pages, 2 figures. Published on MNRA

Magnetized, Relativistic Jets

Extragalactic relativistic jets are composed by charged particles and magnetic fields, as inferred from the synchrotron emission that we receive from them. The Larmor radii of the particles propagating along the magnetic field are much smaller than the scales of the problem, providing the necessary coherence to the system to treat is as a flow. We can thus study them using relativistic magnetohydrodynamics. As a first step, we have studied the structure of steady-state configurations of jets by using numerical simulations. We have used a helical field configuration and have changed different relevant parameters that control the way in which the energy flux is distributed in jets (namely, the proportion of the energy flux carried by internal, kinetic or magnetic energy). Our results show significant differences among the different kinds of jets. Finally, we also report on results based on synthetic maps of our simulated jets.Comment: Submitted for publication in Proceedings of Science, as contribution to the proceedings of the XII Multifrequency Behaviour of High Energy Cosmic Sources Workshop, held in Palermo, 12-17 June 201

Modern approaches to control of a multiple hearth furnace in kaolin production

The aim of this thesis is to improve the overall efficiency of the multiple hearth furnace (MHF) in kaolin calcination by developing control strategies which incorporate machine learning based soft sensors to estimate mineralogy related constraints in the control strategy. The objective of the control strategy is to maximize the capacity of the furnace and minimize energy consumption while maintaining the product quality of the calcined kaolin. First, the description of the process of interest is given, highlighting the control strategy currently implemented at the calciner studied in this work. Next, the state of the art on control of calcination furnaces is presented and discussed. Then, the description of the mechanistic model of the MHF, which plays a key role in the testing environment, is provided and an analysis of the MHF dynamic behavior based on the industrial and simulated data is presented. The design of the mineralogy-driven control strategy for the multiple hearth furnace and its implementation in the simulation environment are also outlined. The analysis of the results is then presented. Furthermore, the extensive sampling campaign for testing the soft sensors and the control strategy logic of the industrial MHF is reported, and the results are analyzed and discussed. Finally, an introduction to Model Predictive Control (MPC) is presented, the design of the Linear MPC framework for the MHF in kaolin calcination is described and discussed, and future research is outlined

Study of the lateral pass width for conventional and ultrasonic vibrations-assisted ball burnishing on Ti-6Al-4V specimens

Ball burnishing is a technological finishing process based on plastic deformation of the objective surface by means of a hard ball gliding over it. Along with its easiness of application, possible on the same machine where machining was performed [1], burnishing is a comprehensive process able to achieve surface roughness improvements, and compressive residual stresses up to deep layers of the material [2]. Burnishing results have proved to be depending of a proper selection of parameters, which must be correctly controlled during the process. That is the case of burnishing force or the number of passes [3]. Among these parameters, the lateral pass width has proved to be influential on the surface roughness results, due to the behavior that most materials show when being plastically deformed. In effect, the applied force makes the material to flow to the borders of the burnishing imprint, giving way to a pile-up effect. This paper deals with indentation experiments on Ti-6Al-4V to deepen in the burnishing process of this material. Single burnishing imprints are geometrically characterized combining different levels of force, number of passes, and comparing the conventional process with that assisted with vibrations. An optimal lateral pass width is thus determined, and technological recommendations are made for future applications of the process.Peer ReviewedPostprint (author's final draft

A new species of Schizopera (Copepoda: Harpacticoida: Miraciidae) from Colombia

Objective. The present contribution aims at the description of a new species of the genus Schizopera. Materials and methods. Water samples were collected in littoral areas with mangrove and macrophytes, and in the limnetic zone. Twenty five liters of water were taken. Water samples were filtered with a zooplankton net (45μm) and preserved in 70% ethanol. The filtered samples were concentrated to 100 ml and examined in a Bogorov camera. Copepods were separated. Observations and drawings of S. evelynae sp. nov. were made at a magnification of 1000X. Results. Schizopera evelynae sp. nov. seems to be closely related to S. giselae Jiménez -Álvarez 1988 and to S. pratensis Noodt 1958 based on the armature formula of P1-P4, but can be separated from these two species based on the relative length of P1ENP, length/width ratio of P1ENP2, relative length of the outer proximal and distal spines on P4EXP3, shape of the exopod and relative length of the exopodal setae of the female P5, shape and length/width ratio of the male P2ENP2, and male P5 baseoendopodal lobe:exopod length ratio. A key to the species of Schizopera from America is given. Conclusion. A new species of the genus Schizopera is described. The Colombian material shares most characters with S. giselae and S. pratensis

La autoconfianza en la decisión de adquirir una tarjeta de crédito en Bogotá

78 páginas : ilustraciones, gráficosEl consumidor cuenta con innumerables factores que influyen al momento de decidir que producto elegir o comprar, los cuales se construyen desde la educación hasta la cultura en la que se ha desenvuelto a lo largo de los años. Uno de estos factores que tienen incidencia es la autoconfianza que el consumidor se tenga, la cual se ha adquirido a lo largo de las decisiones que haya realizado durante su vida. Por esta razón, la autoconfianza está relacionada con aspectos psicológicos y comportamentales del consumidor. El proceso de la toma de decisiones de compra está presente en los productos y servicios de todo sector económico, incluyendo el financiero. Este último, objeto de esta investigación, a pesar de ser usado por la mayoría de las personas, tiene atado en Colombia, específicamente en Bogotá, concepciones culturales que lo convierten en un sector de mayor cuidado. Lo anterior se debe a que se está hablando del dinero producto del trabajo del consumidor y con el que se construirá su futuro, razón por la cual, las decisiones son tomadas con gran cautela.The consumer has innumerable factors that influence when deciding which product to choose or buy, which are built from education to the culture in which it has developed over the years. One of these factors that have an impact is the self-confidence that the consumer has, which has been acquired throughout the decisions made during his life. For this reason, self-confidence is related to psychological and behavioral aspects of the consumer. The purchase decision process is present in the products and services of every economic sector, including the financial sector. The latter, the subject of this research, despite being used by most people, has attached in Colombia, specifically in Bogota, cultural concepts that makes it a more careful sector. This is due to the fact that they are talking about money, that is the product of the consumer's work and which their future will be built with, which is why decisions are taken with great caution.Magíster en MercadeoMaestrí

Situación y perspectiva de la educación bibliotecológica en Chile

Diagnosis of present situation and trends of the development of education in librarianship in Chile, considering the framework of the national high education policy