Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots

Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360◦ field-of-view 3D laser scanner for mobile robots that avoids the high cost of commercial devices. The 3D scanner is based on spinning a Hokuyo UTM- 30LX-EX two-dimensional (2D) rangefinder around its optical center. The proposed design profits from lessons learned with the development of a previous 3D scanner with pitching motion. Intrinsic calibration of the new device has been performed to obtain both temporal and geometric parameters. The paper also shows the integration of the 3D device in the outdoor mobile robot Andabata.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Escuela intercultural inclusiva: estudio de caso sobre procesos de autoevaluación

The transformation of schools on the basis of inclusive intercultural models requires combining quality with equity through diversity. Multiculturalism and inclusion thus become quality factors, for effective schools for all. This paper considers how to facilitate these processes of change from the standpoint of the contributions of the School Improvement movement, using the Inclusive Intercultural School Construction Guide (cein Guide) as a tool for school self-evaluation. A case study of two primary schools in the Valencian region is presented, where an action-research process was conducted. Factors that facilitate the use of the cein Guide as a tool in the self-evaluation process and in decision making are identified through an analysis of the process that took place in the two schools during the first year. The school administration team is a key factor but cannot in itself guarantee success. There is a facilitator who contributes to success, but if the facilitator is not removed in time, the facilitator him- or herself may pose a threat to the process and endanger the project’s success. Discussion of the results suggests a need for an inclusive intercultural approach to school self-evaluation and the possible integration of the cein Guide into quality management models like the efqm model.La transformación de la escuela tomando como base modelos interculturales e inclusivos implica conjugar la calidad con la equidad desde la diversidad. De esta forma, inclusión e interculturalidad se convierten en factores de calidad para una escuela eficaz para todos. Este trabajo se plantea cómo facilitar estos procesos de cambio, desde las aportaciones de mejora de la escuela, utilizando la Guía para la construcción de la escuela intercultural inclusiva (Guía CEIN) como instrumento de autoevaluación escolar. Se presenta el estudio de caso de dos centros escolares de Educación Primaria de la Comunidad Valenciana, en los que se ha seguido un proceso de investigación-acción. El análisis de este proceso en ambas escuelas durante su primer año nos permite identificar los factores que facilitan el uso de la Guía CEIN como herramienta en el proceso de autoevaluación y toma de decisiones. En la investigación, observamos que el equipo directivo es clave, pero que no resulta suficiente para garantizar el éxito. Constatamos que la existencia de un agente facilitador contribuye al éxito, pero si este no se retira a tiempo puede ser considerado una amenaza y hacer fracasar el proyecto. La discusión de los resultados pone de manifiesto la necesidad de un enfoque intercultural inclusivo en los procesos de autoevaluación escolar y la posibilidad de integrar la Guía CEIN en modelos de gestión de la calidad como la Fundación Europea para la Gestión de la Calida

Design of a Windmill for the Water Pumping in a Sprinkle Irrigation System

Introduction: The use of the wind energy with practical ends is referred from old times; however at the present time it recovers validity for the necessity of finding alternative sources of energy in front of the conventional fossil fuel that is more and more scarce and it causes serious problems of environmental contamination.   Objective: Design a windmill for the extraction of water in a simple and efficient way, from the principles of a multiblades windmill and the use of materials recovered in the locality that allows the irrigation of the garlic cultivation with sprinkle irrigation system at the minimum possible cost.   Methodology: Different methodologies like the experience of the producers, established technical approaches for the selection of the relationship of speeds diameter of the rotor, coefficient of sustentation; haulage coefficient and attack angle were used. The analytic method was used for the calculation of the coefficient of solidity, the cord angles, the coefficient of power, the useful power, real flow, hydraulic power of the pump, total force in the piston, centrifugal force, sustentation force, drag force and the starting torque generated in a windmill.  Results: They were obtained starting from the wind speeds registered in the locality during 30 years of systematic studies and the defined parameters and calculated for the wind rotor and the volumetric pump.  It was possible to design a windmill with the mechanical and hydraulics characteristics appropriate to be used in the agriculture.  Conclusions: The investigation demonstrated that the design of the windmill allows to complete the demands of the pumping of water for the irrigation system when guaranteeing a real flow of 0,17 L s-1 and a volume of water of 0,30 L displaced by the pump in each revolution of the wind rotor. The power generated by the wind rotor satisfies the power required by the pump.       Introduction: The use of the wind energy with practical ends is referred from old times; however at the present time it recovers validity for the necessity of finding alternative sources of energy in front of the conventional fossil fuel that is more and more scarce and it causes serious problems of environmental contamination.   Objective: Design a windmill for the extraction of water in a simple and efficient way, from the principles of a multiblades windmill and the use of materials recovered in the locality that allows the irrigation of the garlic cultivation with sprinkle irrigation system at the minimum possible cost.   Methodology: Different methodologies like the experience of the producers, established technical approaches for the selection of the relationship of speeds diameter of the rotor, coefficient of sustentation; haulage coefficient and attack angle were used. The analytic method was used for the calculation of the coefficient of solidity, the cord angles, the coefficient of power, the useful power, real flow, hydraulic power of the pump, total force in the piston, centrifugal force, sustentation force, drag force and the starting torque generated in a windmill.  Results: They were obtained starting from the wind speeds registered in the locality during 30 years of systematic studies and the defined parameters and calculated for the wind rotor and the volumetric pump.  It was possible to design a windmill with the mechanical and hydraulics characteristics appropriate to be used in the agriculture.  Conclusions: The investigation demonstrated that the design of the windmill allows to complete the demands of the pumping of water for the irrigation system when guaranteeing a real flow of 0,17 L s-1 and a volume of water of 0,30 L displaced by the pump in each revolution of the wind rotor. The power generated by the wind rotor satisfies the power required by the pump.&nbsp

Design of a Windmill for the Water Pumping in a Sprinkle Irrigation System

Introduction: The use of the wind energy with practical ends is referred from old times; however at the present time it recovers validity for the necessity of finding alternative sources of energy in front of the conventional fossil fuel that is more and more scarce and it causes serious problems of environmental contamination.   Objective: Design a windmill for the extraction of water in a simple and efficient way, from the principles of a multiblades windmill and the use of materials recovered in the locality that allows the irrigation of the garlic cultivation with sprinkle irrigation system at the minimum possible cost.   Methodology: Different methodologies like the experience of the producers, established technical approaches for the selection of the relationship of speeds diameter of the rotor, coefficient of sustentation; haulage coefficient and attack angle were used. The analytic method was used for the calculation of the coefficient of solidity, the cord angles, the coefficient of power, the useful power, real flow, hydraulic power of the pump, total force in the piston, centrifugal force, sustentation force, drag force and the starting torque generated in a windmill.  Results: They were obtained starting from the wind speeds registered in the locality during 30 years of systematic studies and the defined parameters and calculated for the wind rotor and the volumetric pump.  It was possible to design a windmill with the mechanical and hydraulics characteristics appropriate to be used in the agriculture.  Conclusions: The investigation demonstrated that the design of the windmill allows to complete the demands of the pumping of water for the irrigation system when guaranteeing a real flow of 0,17 L s-1 and a volume of water of 0,30 L displaced by the pump in each revolution of the wind rotor. The power generated by the wind rotor satisfies the power required by the pump.       Introduction: The use of the wind energy with practical ends is referred from old times; however at the present time it recovers validity for the necessity of finding alternative sources of energy in front of the conventional fossil fuel that is more and more scarce and it causes serious problems of environmental contamination.   Objective: Design a windmill for the extraction of water in a simple and efficient way, from the principles of a multiblades windmill and the use of materials recovered in the locality that allows the irrigation of the garlic cultivation with sprinkle irrigation system at the minimum possible cost.   Methodology: Different methodologies like the experience of the producers, established technical approaches for the selection of the relationship of speeds diameter of the rotor, coefficient of sustentation; haulage coefficient and attack angle were used. The analytic method was used for the calculation of the coefficient of solidity, the cord angles, the coefficient of power, the useful power, real flow, hydraulic power of the pump, total force in the piston, centrifugal force, sustentation force, drag force and the starting torque generated in a windmill.  Results: They were obtained starting from the wind speeds registered in the locality during 30 years of systematic studies and the defined parameters and calculated for the wind rotor and the volumetric pump.  It was possible to design a windmill with the mechanical and hydraulics characteristics appropriate to be used in the agriculture.  Conclusions: The investigation demonstrated that the design of the windmill allows to complete the demands of the pumping of water for the irrigation system when guaranteeing a real flow of 0,17 L s-1 and a volume of water of 0,30 L displaced by the pump in each revolution of the wind rotor. The power generated by the wind rotor satisfies the power required by the pump.&nbsp

Evaluación de Germinación de Semillas Hortofrutícolas en Sustrato de Bio-carbón a Base de Cascara de Frutales.

39hojasLa calidad de las plántulas es uno de los aspectos más importantes en el establecimiento de plantaciones hortícolas. El biochar es considerado como alternativa para mejorar condiciones físicas, químicas y biológicas del suelo, mostrando potencial como sustrato de crecimiento; Este trabajo es el resultado de tres experimentos en diseño completamente al azar (uno por especie). Los tratamientos evaluados fueron cinco sustratos de siembra: suelo, turba y tres mezclas suelo con biochar al 10% (M/M), las variables de crecimiento y desarrollo se evaluaron en semillas y plántulas de tomate (Solanum lycopersicum), maracuyá (Passiflora edulis), y papaya (Carica papaya L.). El biochar se obtuvo a baja temperatura (450 °C), y la materia prima usada fueron cáscaras de maracuyá (Passiflora edulis), plátano (Musa paradisiaca L.) y naranja (Citrus sinensis). El biochar de maracuyá y plátano tuvieron un efecto deletéreo, las plantas sembradas en la mezcla suelo biochar de naranja presentaron un comportamiento estadísticamente igual (Prueba SNK) con respecto al tratamiento control (Turba).12.1 Obtención de la materia prima. ..................................................................... 20 12.2 Elaboración del Bio-char. ............................................................................... 20 12.3 Caracterización química de la materia prima de los sustratos. ............... 21 12.4 Formulación de sustratos. ............................................................................. 21 12.5 Caracterización del bio-carbón, suelo y sustratos de crecimiento. ......... 21 12.6 Tratamientos evaluados. ................................................................................ 22 12.7 Variables evaluadas. ...................................................................................... 22 12.8 Evaluación microbiológica de los sustratos de crecimiento. .................... 23BIO-CARBÓN - NUTRIENTES, DESECHOS FRUTALES, PLÁNTULAS - TOMATETesis (Ingeniería Agronómica) Universidad de los Llanos Orientales.Resultado para Obtener el Título de Ingeniero Agrónomo.PregradoIngeniería Agronómic

Relationship between rain and groundwater in the hydrogeological sectors of the South Basin of Ciego de Ávila

Abstract: Introduction: Groundwater constitutes the main source of water in the province of Ciego de Ávila, Cuba; especially in agriculture, which occupies the main economic line, however the overexploitation of aquifers in the southern basin of the province puts the sustainability of this important resource at risk, which is renewed through the natural recharge of rainfall. Objective: To determine the relationship between precipitation and groundwater levels in the hydrogeological sectors CA-II-2 and CA-II-3 of the Ciego de Ávila South Basin, which can constitute a way for the efficient use of water for irrigation purposes in this area of ​​great agricultural importance. Methodology: In the development of the research, different methodologies were used: selection of the most representative rain gauges, calculation of effective precipitation, determination of accumulated monthly and annual rainfall; as well as the annual rainfall of the wet and dry periods, completion of rainfall series by the linear regression method, use of the HidroEsta 2 program to obtain the mean hiperanual rainfall and the historical mean levels, absolute minimum and maximum of all the selected wells. The mean rainfall of the area of ​​the sectors was determined with the Isohyet method and the charts of hiperanual limnigrams were constructed using the BARHIS software. Results: The investigation showed that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m; where 7.21 m is the absolute average value. The year 1988 had great variations in rainfall, levels and the exploitation of groundwater. This study suggests the need to take measures that contribute to the rational use of groundwater in this overexploited basin due to the intensive use of water resources in agricultural irrigation. Conclusions: The study carried out was able to verify that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m, with absolute averages of 6.52 and 7.21 m respectively. The year 1988 presented high variability in rainfall, underground levels and the exploitation of groundwater.Abstract: Introduction: Groundwater constitutes the main source of water in the province of Ciego de Ávila, Cuba; especially in agriculture, which occupies the main economic line, however the overexploitation of aquifers in the southern basin of the province puts the sustainability of this important resource at risk, which is renewed through the natural recharge of rainfall. Objective: To determine the relationship between precipitation and groundwater levels in the hydrogeological sectors CA-II-2 and CA-II-3 of the Ciego de Ávila South Basin, which can constitute a way for the efficient use of water for irrigation purposes in this area of ​​great agricultural importance. Methodology: In the development of the research, different methodologies were used: selection of the most representative rain gauges, calculation of effective precipitation, determination of accumulated monthly and annual rainfall; as well as the annual rainfall of the wet and dry periods, completion of rainfall series by the linear regression method, use of the HidroEsta 2 program to obtain the mean hiperanual rainfall and the historical mean levels, absolute minimum and maximum of all the selected wells. The mean rainfall of the area of ​​the sectors was determined with the Isohyet method and the charts of hiperanual limnigrams were constructed using the BARHIS software. Results: The investigation showed that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m; where 7.21 m is the absolute average value. The year 1988 had great variations in rainfall, levels and the exploitation of groundwater. This study suggests the need to take measures that contribute to the rational use of groundwater in this overexploited basin due to the intensive use of water resources in agricultural irrigation. Conclusions: The study carried out was able to verify that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m, with absolute averages of 6.52 and 7.21 m respectively. The year 1988 presented high variability in rainfall, underground levels and the exploitation of groundwater

Relationship between rain and groundwater in the hydrogeological sectors of the South Basin of Ciego de Ávila

Abstract: Introduction: Groundwater constitutes the main source of water in the province of Ciego de Ávila, Cuba; especially in agriculture, which occupies the main economic line, however the overexploitation of aquifers in the southern basin of the province puts the sustainability of this important resource at risk, which is renewed through the natural recharge of rainfall. Objective: To determine the relationship between precipitation and groundwater levels in the hydrogeological sectors CA-II-2 and CA-II-3 of the Ciego de Ávila South Basin, which can constitute a way for the efficient use of water for irrigation purposes in this area of ​​great agricultural importance. Methodology: In the development of the research, different methodologies were used: selection of the most representative rain gauges, calculation of effective precipitation, determination of accumulated monthly and annual rainfall; as well as the annual rainfall of the wet and dry periods, completion of rainfall series by the linear regression method, use of the HidroEsta 2 program to obtain the mean hiperanual rainfall and the historical mean levels, absolute minimum and maximum of all the selected wells. The mean rainfall of the area of ​​the sectors was determined with the Isohyet method and the charts of hiperanual limnigrams were constructed using the BARHIS software. Results: The investigation showed that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m; where 7.21 m is the absolute average value. The year 1988 had great variations in rainfall, levels and the exploitation of groundwater. This study suggests the need to take measures that contribute to the rational use of groundwater in this overexploited basin due to the intensive use of water resources in agricultural irrigation. Conclusions: The study carried out was able to verify that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m, with absolute averages of 6.52 and 7.21 m respectively. The year 1988 presented high variability in rainfall, underground levels and the exploitation of groundwater.Abstract: Introduction: Groundwater constitutes the main source of water in the province of Ciego de Ávila, Cuba; especially in agriculture, which occupies the main economic line, however the overexploitation of aquifers in the southern basin of the province puts the sustainability of this important resource at risk, which is renewed through the natural recharge of rainfall. Objective: To determine the relationship between precipitation and groundwater levels in the hydrogeological sectors CA-II-2 and CA-II-3 of the Ciego de Ávila South Basin, which can constitute a way for the efficient use of water for irrigation purposes in this area of ​​great agricultural importance. Methodology: In the development of the research, different methodologies were used: selection of the most representative rain gauges, calculation of effective precipitation, determination of accumulated monthly and annual rainfall; as well as the annual rainfall of the wet and dry periods, completion of rainfall series by the linear regression method, use of the HidroEsta 2 program to obtain the mean hiperanual rainfall and the historical mean levels, absolute minimum and maximum of all the selected wells. The mean rainfall of the area of ​​the sectors was determined with the Isohyet method and the charts of hiperanual limnigrams were constructed using the BARHIS software. Results: The investigation showed that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m; where 7.21 m is the absolute average value. The year 1988 had great variations in rainfall, levels and the exploitation of groundwater. This study suggests the need to take measures that contribute to the rational use of groundwater in this overexploited basin due to the intensive use of water resources in agricultural irrigation. Conclusions: The study carried out was able to verify that the average rainfall in the area is 1303.6 mm, higher than the historical average for the province. The water levels in the aquifer range between 0.84 and 12.98 m, with absolute averages of 6.52 and 7.21 m respectively. The year 1988 presented high variability in rainfall, underground levels and the exploitation of groundwater

Patterns of location and hotel evolution: the case of Torremolinos

Torremolinos constituye un caso destacable que resalta la estrecha vinculación que existe entre el tipo de desarrollo turístico y los patrones de localización de la industria hotelera. Este estudio muestra la evolución de un destino maduro de sol y playa, que ha creado una notable oferta hotelera a lo largo del tiempo. Para comprender la distribución temporal y espacial de la oferta hotelera, se propone un modelo de localización de la actividad hotelera. Las herramientas de análisis utilizadas han sido la recopilación de la información documental y estadística relativa a los hoteles, las ortofotografías aéreas para el estudio de los cambios de usos del suelo, el análisis estadístico para conocer el comportamiento espacial y el trabajo de campo para localizar los establecimientos hoteleros. La investigación comprueba la existencia de clusters espaciales como estrategia de implantación del sector hotelero de Torremolinos.Proyecto de investigación “Crisis y reestructuración de los espacios turísticos del litoral español” (CSO2015-64468-P). Financiado por el Ministerio de Economía, Industria y Competitividad (Subdivisión de programas temáticos científico-técnico) y los Fondos FEDER (Unión Europea)

Análisis de las variables que facilitan y dificultan la atención a la diversidad, según la percepción de psicopedagogos y profesorado de secundaria

En el contexto de la Atención a la Diversidad en la Educación Secundaria, y ante la necesidad de un enfoque inclusivo que permita transformar la escuela en una escuela para todos, nos planteamos cuáles son las variables facilitadoras y limitadoras que perciben los profesionales de la educación implicados en la tarea cotidiana de dar respuesta educativa a la heterogeneidad de las aulas. El estudio, de corte cualitativo, se ha realizado a través de grupos de discusión y entrevistas semiestructuradas que nos han permitido conocer la opinión de profesionales de 16 centros de la provincia de Castellón, España, y de sacar algunas conclusiones e implicaciones pedagógicas sobre los factores que favorecen la innovación y aquellos que la obstaculizan. Entre estas conclusiones destacan aquellas que hacen alusión a la mejora de los procesos formativos del profesorado de Educación Secundaria; a la mejora también de los procesos de evaluación educativa; a la participación de las familias y la comunidad; al apoyo por parte de la Administración educativa y al establecimiento de planes de transformación y mejora de los centros

Inclusive cultures, policies and practices in Spanish compulsory secondary education schools: teachers’ perceptions in ordinary and specific teaching contexts

This article presents a study that attempts to inquire into the indicators related with inclusive education by taking into account teachers’ responses in the ordinary and specific teaching contexts (experts in special education needs, specialists in therapeutic pedagogy and compensatory education or specific programmes organised to accommodate diversity). We used a Spanish translation of the Index for Inclusion, which has been adapted and divided into three Likert-type scales about inclusive cultures, organisation in the teaching–learning context and inclusive practices. We did a t-test to detect any significant differences in teachers’ responses in terms of the ordinary or specific teaching contexts in which they work. No significant differences were seen in the items related to cultures and organisation, but we found significant differences in 12 of the 36 items of the inclusive practices scale. Finally, we discuss the role of the processes for innovation and transformation in secondary schools and provide key factors to build an intercultural inclusive schoo