Neural Controller for a Mobile Robot in a Nonstationary Enviornment

Recently it has been introduced a neural controller for a mobile robot that learns both forward and inverse odometry of a differential-drive robot through an unsupervised learning-by-doing cycle. This article introduces an obstacle avoidance module that is integrated into the neural controller. This module makes use of sensory information to determine at each instant a desired angle and distance that causes the robot to navigate around obstacles on the way to a final target. Obstacle avoidance is performed in a reactive manner by representing the objects and target in the robot's environment as Gaussian functions. However, the influence of the Gaussians is modulated dynamically on the basis of the robot's behavior in a way that avoids problems with local minima. The proposed module enables the robot to operate successfully with different obstacle configurations, such as corridors, mazes, doors and even concave obstacles.Air Force Office of Scientific Research (F49620-92-J-0499

Power Optimization of Multi-fluid Transportation Systems

6th IFAC/IFIP/IFORS/ IMACS Symposium on Information Control Problems in Manufacturing Technology, 26/09/1989. madrid.This paper presents an algorithm for optimizing the energy operating costs in multi-fluid transportation systems. The algorithm works in two steps. The first one consists of the computation of a function that measures the estimated minimum cost to the goal node. This computation involves the use of Bellman’s optimality principle and some heuristic rules in order to avoid the combinatorial explosion. During the second step the optimum trajectory is obtained with the help of the function mentioned above and using an accurate simulation of the transportation system. The algorithm is applied to a model of an oil pipeline system

Optimal Operation of Pipeline Transportation Systems

11th Triennial World Congress. Tallinn. Estonia. USSR. 1990This paper presents a simulator of an oil pipeline for scheduling purposes. The simulator includes an algorithm for optimizing the energy operating costs. The optimization algorithm works in two steps. The first one consists of the computation of a function that measures the estimated mininltun cost to the goal node. This computation involves the use of Bellman's optimality principle and of some heuristic rules in order to avoid the combinatorial explosion. During the second step the optinltmum trajectory is obtained with the help of the function mentioned above and using an accurate simulation of the transportation system. The simulation considers those aspects which are relevant t.o the optimization problem and takes into account the following factors: topology and topography of the network. non-linear characteristics of pumps and pipelines, variable demands of consumers, time changing prices of electrical energy and hydraulic equations throughout the system. The simulator is being used by CAMPSA (the major oil distribution company in Spain) Some results obtained with an oil pipeline system in Northern Spain are presented in the paper

Fracturas dentales : reconstrucciones

Presentamos las indicaciones, clasificación de fracturas y cavidades dentales. Exponemos algunos de los diferentes materiales de reconstrucción con las características particulares y aplicaciones. Describimos de forma genérica los pasos de las técnicas de estética dental para la reconstrucción de las piezas afectadas.We explain the indications and clasifications of the different fractures and cavity. We expose sorne of the different materials of reconstruction with theapplications and special caracteristics. We describe the steps of the cosmetic reconstruction

Taphonomy of a Mysticeti whale in the Lower Pliocene Huelva Sands Formation (Southern Spain)

This paper reports the occurrence of an incomplete fossil baleen whale skeleton in the Lower Pliocene Huelva Sands Formation (Guadalquivir basin) near the town of Bonares, southwestern Spain. The skeleton was found in the highly bioturbated glauconitic sandstone unit in association with Neopycnodonte cochlear shells. Several morphological features of the mandibles, scapula and vertebrae suggest that the specimen belongs in the suborden Mysticeti, family Balaenopteridae. Most bones show abrasion due to a long exposure on the seafloor, and some bones show shark tooth marks and both micro- and macro-bioerosion by scavengers. The position of the bones suggests that the carcass landed on the seafloor on its left side and then turned right side up. Sedimentological and paleontological features indicate that the whale was buried in shallow platform waters under low sedimentation rates

Exploración clínica en estomatología veterinaria

La exploración clínica se basa en un conjunto de normas y maniobras encaminadas al estudio de síntomas para la determinación diagnóstica de patologías, y al establecimiento de un tratamiento adecuado y específico. Explicamos la exploración sistemática que debe ponerse en práctica en el campo de la Estomatología Veterinaria, pudiendo así determinar las afecciones de los tejidos blandos y duros.For the diagnostic of different oral pathologies we use several techniques. We will establish a specific treatment for each one. We describe a sistemic exploration that is used in veterinary dentistry and afecting both, soft and hard tissues

Characterization of neutrino signals with radiopulses in dense media through the LPM effect

We discuss the possibilities of detecting radio pulses from high energy showers in ice, such as those produced by PeV and EeV neutrino interactions. It is shown that the rich radiation pattern structure in the 100 MHz to few GHz allows the separation of electromagnetic showers induced by photons or electrons above 100 PeV from those induced by hadrons. This opens up the possibility of measuring the energy fraction transmitted to the electron in a charged current electron neutrino interaction with adequate sampling of the angular distribution of the signal. The radio technique has the potential to complement conventional high energy neutrino detectors with flavor information.Comment: 5 pages, 4 ps figures. Submitted to Phys. Rev. Let

Observation of the Askaryan Effect: Coherent Microwave Cherenkov Emission from Charge Asymmetry in High Energy Particle Cascades

We present the first direct experimental evidence for the charge excess in high energy particle showers predicted nearly 40 years ago by Askaryan. We directed bremsstrahlung photons from picosecond pulses of 28.5 GeV electrons at the SLAC Final Focus Test Beam facility into a 3.5 ton silica sand target, producing electromagnetic showers several meters long. A series of antennas spanning 0.3 to 6 GHz were used to detect strong, sub-nanosecond radio frequency pulses produced whenever a shower was present. The measured electric field strengths are consistent with a completely coherent radiation process. The pulses show 100% linear polarization, consistent with the expectations of Cherenkov radiation. The field strength versus depth closely follows the expected particle number density profile of the cascade, consistent with emission from excess charge distributed along the shower. These measurements therefore provide strong support for experiments designed to detect high energy cosmic rays and neutrinos via coherent radio emission from their cascades.Comment: 10 pages, 4 figures. Submitted to Phys. Rev. Let

Influence of shower fluctuations and primary composition on studies of the shower longitudinal development

We study the influence of shower fluctuations, and the possible presence of different nuclear species in the primary cosmic ray spectrum, on the experimental determination of both shower energy and the proton air inelastic cross section from studies of the longitudinal development of atmospheric showers in fluorescence experiments. We investigate the potential of track length integral and shower size at maximum as estimators of shower energy. We find that at very high energy (~10^19-10^20 eV) the error of the total energy assignment is dominated by the dependence on the hadronic interaction model, and is of the order of 5%. At lower energy (~10^17-10^18 eV), the uncertainty of the energy determination due to the limited knowledge of the primary cosmic ray composition is more important. The distribution of depth of shower maximum is discussed as a measure of the proton-air cross section. Uncertainties in a possible experimental measurement of this cross section introduced by intrinsic shower fluctuations, the model of hadronic interactions, and the unknown mixture of primary nuclei in the cosmic radiation are numerically evaluated.Comment: 12 pages, 11 figures, 4 table

Prospects for observations of high-energy cosmic tau neutrinos

We study prospects for the observations of high-energy cosmic tau neutrinos (E \geq 10^6 GeV) originating from proton acceleration in the cores of active galactic nuclei. We consider the possibility that vacuum flavor neutrino oscillations induce a tau to muon neutrino flux ratio greatly exceeding the rather small value expected from intrinsic production. The criterias and event rates for under water/ice light Cerenkov neutrino telescopes are given by considering the possible detection of downgoing high-energy cosmic tau neutrinos through characteristic double shower events.Comment: 10 pages, Revtex, 3 figures included with eps