Consentimiento, deliberación y libertad interna en el matrimonio.

Material incluido en el volumen especial de la revista del Instituto Martín de Azpilcueta, Universidad de Navarra : Ius Canonicum (1999), en honor de Javier Hervada

Soluble polythiophenes as anticorrosive additives for marine epoxy paints

This study compares the resistance against corrosion of a marine epoxy primer modified with Zn-3(PO4)(2) (10 wt%) or a small concentration (0.3 wt%) of conducting polymer (CP) as inorganic or organic anticorrosive pigment, respectively. More specifically, the behavior of three different CPs has been evaluated: polyaniline (PAni) emeraldine base, poly(3-thiophen-3-yl-acrylic acid methyl ester) and poly(2-thiophen-3-yl-malonic acid dimethyl ester), the latter two being soluble polythiophene (PTh) derivatives bearing carboxylate side groups. In a first stage, the structural, thermal, and mechanical properties of all the modified epoxy coatings were characterized using infrared spectroscopy, thermogravimetric analyses and stress-strain assays, respectively. After this, accelerated corrosion assays have evidenced that the degree of protection imparted by a small concentration of PAni is higher than that obtained using 10wt% of Zn-3(PO4)(2). Indeed, PAni has been found to be more effective as anticorrosive additive than the two PTh derivatives. This fact has been attributed to the electroactivity of the former, which is higher than that of the latter. Thus, the ability to store charge has been proposed to be also responsible of protection against corrosion imparted by organic additives, based on CPs.Peer ReviewedPostprint (author’s final draft

Navigation capabilities of mid-cost GNSS/INS vs. smartphone analysis and comparison in urban navigation scenarios

Proceedings of: 17th International Conference on Information Fusion (FUSION 2014): Salamanca, Spain 7-10 July 2014.High accuracy navigation usually require expensive sensors and/or its careful integration into a complex and finely tuned system. Smartphones pack a high number of sensors in a portable format, becoming a source of low-quality information with a high heterogeneity and redundancy. This work compares pure GNSS/INS capabilities on both types of platform, and discuss the weaknesses/opportunities offered by the smartphone. The analysis is carried out in a modular context-aware sensor fusion architecture developed for a previous work. It intends to serve as a preparation for answering bigger questions: can smartphones provide robust and high-quality navigation in vehicles? In which conditions? Where are the limits in the different navigation scenarios?This work was supported in part by Projects MINECO TEC2012-37832-C02-01, CICYT TEC2011-28626-C02-02, CAM CONTEXTS (S2009/TIC-1485)Publicad

Robustness of a high-resolution central scheme for hydrodynamic simulations in full general relativity

A recent paper by Lucas-Serrano et al. indicates that a high-resolution central (HRC) scheme is robust enough to yield accurate hydrodynamical simulations of special relativistic flows in the presence of ultrarelativistic speeds and strong shock waves. In this paper we apply this scheme in full general relativity (involving {\it dynamical} spacetimes), and assess its suitability by performing test simulations for oscillations of rapidly rotating neutron stars and merger of binary neutron stars. It is demonstrated that this HRC scheme can yield results as accurate as those by the so-called high-resolution shock-capturing (HRSC) schemes based upon Riemann solvers. Furthermore, the adopted HRC scheme has increased computational efficiency as it avoids the costly solution of Riemann problems and has practical advantages in the modeling of neutron star spacetimes. Namely, it allows simulations with stiff equations of state by successfully dealing with very low-density unphysical atmospheres. These facts not only suggest that such a HRC scheme may be a desirable tool for hydrodynamical simulations in general relativity, but also open the possibility to perform accurate magnetohydrodynamical simulations in curved dynamic spacetimes.Comment: 4 pages, to be published in Phys. Rev. D (brief report

Analysis of a sensor fusion hybrid solution for indoor/outdoor robot navigation

Proceedings of: 5th ESA Workshop on Satellite Navigation Technologies and European Workshop on GNSS Signals and Signal Processing (NAVITEC 2010). Noordwij, Netherlands, 8-10 December 2010Autonomous mobile robots need robust, flexible and accurate navigation algorithms. One approach consists in fusing as many information sources as possible, integrating measures from internal sensors with data obtained from external sensing entities. This work presents a solution for combined indoor/outdoor robot navigation, and analyzes some preliminary results in an outdoor environment using a Particle Filter for GPS/INS sensor fusion. Experiments are based in predesigned trajectories which have been simulated in first place and then reproduced using a robotic platform. As a concluding remark, some considerations about the use of Particle Filters and the differences between simulated and real data are presentedThis work was supported in part by Projects ATLANTIDA, CICYT TIN2008-06742-C02-02/TSI, CICYT TEC2008- 06732-C02-02/TEC, SINPROB, CAM MADRINET S- 0505/TIC/0255 DPS2008-07029-C02-02.Publicad

Neighborhood-based Regularization of Proposal Distribution for Improving Resampling Quality in Particle Filters

Proceedings of: 14th International Conference on Information Fusion (FUSION 2011). Chicago, Illinois, USA 5-8 July 2011Particle Filter is a sequential Montecarlo algorithm extensively used for solving estimation problems with non-linear and non-Gaussian features. In spite of its relative simplicity, it is known to suffer some undesired effects that can spoil its performance. Among these problems we can account the one known as sample depletion. This paper reviews the different causes of sample depletion and the many solutions proposed in the existing literature. It also introduces a new strategy for particle resampling which relies in a local linearization of the proposal distribution. The particles drawn using the proposed method are not affected by sample impoverishment and can indirectly lead to better results thanks to a reduction in the plant noise employed, as well to increased performance because of requiring a lower number of particles to achieve same results.Publicad