Synchronizing a modular robot colony for cooperative tasks based on intrainter robot communications

The implementation of robotic cooperative tasks such as pushing an object toward a desired destination or manipulating an object using mobile robots or robotic arms requires motion coordination between the robot colony. When a robot is built by the union of several robots, such as modular robot systems, it is critical to have the complete coordination of each robot configuration within the colony and also overall robot coordination of the colony. The paper presents a demonstration of parallel motion for modular robot configurations through the combination of two types of communications, i.e., Inter-robot and Intra-robot communications. The two types of communications are described and implemented in a real modular robot system. Experiments are executed to show the performance of the robot colony synchronizatio

Modelling of Modular Robot Configurations Using Graph Theory

Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in a mathematical way, forward kinematics can be obtained

Methodology for the metric restoration of the historical cartography applied to Francisco Coello's cartografic series of the Royal Site of Aranjuez

Hojas Kilométricas (Kilometric Sheets). Specifically, the study focuses on those sheets referring to the city centre and surrounding area of the Royal Site of Aranjuez, a town in the south of the Province of Madrid. The aim of this study is to restore the actual size and measurements of scanned images of the Hojas Kilométricas. This would allow us, among other things, to reestablish both the format and scale of the original plans. To achieve this goal it is necessary to rectify and then georeference these images, i.e. assign them a geographic reference system. This procedure is essential in the overlaying and comparison of the Hojas Kilométricas of the Royal Site with other historical cartography as well as other sources related to the same area from different time periods. Subsequent research would allow us, for example, to reconstruct the time-evolution of the urban area, to spot new construction and to pinpoint the locations of any altered or missing buildings or architectural features. In addition, this would allow us to develop and integrate databases for GIS models applicable to the management of our cultural heritage

Fitoextracción de metales en suelos contaminados por la minería

99 páginas. Maestría en Ciencias e Ingeniería Ambientales.En el presente trabajo de tesis se llevó a cabo un estudio sobre el impacto ambiental que existe en los suelos y en el medio de la cabecera municipal de Noria de Ángeles, Zacatecas y sus alrededores, ya que se encuentra muy de cerca grandes depósitos de desechos mineros, los cuales son producto de la actividad minera que tuvo su origen en las décadas de los 80´s y 90´s, así como la presa de jales, en donde eran vertidos grandes cantidades de contaminantes como producto de procesos metalúrgicos para la extracción del mineral. Se realizó la caracterización del suelo mediante un trayecto que parte desde la tepetatera de mayor tamaño hasta la denominada presa de jales, pasando por el poblado que se encuentra en medio de la tepetatera y de la presa. Posterior al estudio se hizo el análisis de la contaminación que existe mediante las muestras recolectadas del suelo de la zona de estudio para los parámetros que se determinaron, así como el contenido de contaminantes que permitió conocer en forma clara y detallada el impacto ambiental que existe actualmente en la región. A través de los resultados se observó que la zona del jal rojo es la más contaminada, seguida de la presa de jales, rebasando los límites máximos permitidos por la NOM-147 SEMARNAT/SSA 1-2004, principalmente Zn, Pb y Cu, mientras que, en los suelos de los sitios correspondientes a la tepetatera, el poblado y el ejido los resultados indicaron que las concentraciones de estos metales, no se consideran aún contaminados. Además, se recolectaron diferentes tipos de plantas nativas en los diferentes sitios de los suelos estudiados, donde se determinó la concentración de éstos metales tomando en cuenta el tipo de planta y sus características en cuanto a tamaño, juventud, resistencia y adaptación, asimismo se seleccionaron las que mejor capacidad de bioacumulación presentaron para una fitoextracción metálica y de ser posible una fitorremediación de los suelos más contaminados. Se estudió Pasto Inglés (Lolium perenne) para utilizarlo como planta fitoextractora. Se midió el índice de bioacumulación y el porcentaje de eficiencia para cada metal durante su crecimiento a los 45, 90, 135 y 180 días. Se concluye que el pasto inglés presentó buenos resultados en la fitoextracción de metales, la cual toleró los niveles de metales presentes en los suelos que se analizaron y demostró ser una planta ideal para su implementación en fitoextracción.In the present thesis work it was carried out a study on the environmental impact exists in the soil and in the middle of the municipal head of Noria de Angeles, Zacatecas and its surroundings as it is located very near large deposits of waste miners, which are products of mining which originated in the decades of the 80's and 90 and the tailings dam where were discharges large amounts of contaminants as a result of metallurgical processes for extraction mineral. Soil characterization was performed using a route that starts from the larger to tepetatera called tailings dam, through the village located amid tepetatera and dam. Post-study analysis contamination exists by samples collected soil from the study area for the parameters were determined, and the pollutant content yielded information in clear and detailed environmental impact that currently exists is made in the region. Through the results it was observed that the red zone is the most polluted jal, followed by the tailings dam, beyond the maximum limits allowed by the NOM-147 SEMARNAT / SSA 1-2004, mainly Zn, Pb and Cu, while in the soils of the sites corresponding to the tepetatera, the town and the ejido results indicated that concentrations of these metals are not considered yet contaminated. Also different types of native plants were collected in different sites of the soils studied, where the concentration of these metals is determined by taking into account the type of plant and its characteristics in terms of size, youth, resistance and adaptation also been selected and bioaccumulation best presented to a metal phytoextraction and if possible the phytoremediation of contaminated soils. English Grass (Lolium perenne) was studied for use as fitoextractora plant. Was measured bioaccumulation index and percent efficiency for each metal during growth at 45, 90, 135 and 180 days. It is concluded that the English Grass showed good results in phytoextraction of metals, which allowed the levels of metals in soils were analyzed and proved to be an ideal for deployment in phytoextraction plant.Consejo Nacional de Ciencia y Tecnología (México)

Psychographic Traits Identification based on political ideology: An author analysis study on spanish politicians tweets posted in 2020

In general, people are usually more reluctant to follow advice and directions from politicians who do not have their ideology. In extreme cases, people can be heavily biased in favour of a political party at the same time that they are in sharp disagreement with others, which may lead to irrational decision making and can put people’s lives at risk by ignoring certain recommendations from the authorities. Therefore, considering political ideology as a psychographic trait can improve political micro-targeting by helping public authorities and local governments to adopt better communication policies during crises. In this work, we explore the reliability of determining psychographic traits concerning political ideology. Our contribution is twofold. On the one hand, we release the PoliCorpus-2020, a dataset composed by Spanish politicians’ tweets posted in 2020. On the other hand, we conduct two authorship analysis tasks with the aforementioned dataset: an author profiling task to extract demographic and psychographic traits, and an authorship attribution task to determine the author of an anonymous text in the political domain. Both experiments are evaluated with several neural network architectures grounded on explainable linguistic features, statistical features, and state-of-the-art transformers. In addition, we test whether the neural network models can be transferred to detect the political ideology of citizens. Our results indicate that the linguistic features are good indicators for identifying finegrained political affiliation, they boost the performance of neural network models when combined with embedding-based features, and they preserve relevant information when the models are tested with ordinary citizens. Besides, we found that lexical and morphosyntactic features are more effective on author profiling, whereas stylometric features are more effective in authorship attribution.publishedVersio

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)