La Carrera de Telecomunicación vista por los alumnos que la han realizado

Peer Reviewe

Como ven la calidad de la enseñanza los alumnos de telecos de Madrid

Peer Reviewe

El Fracaso escolar en el primer curso de carrera de la Escuela de teleco de Madrid

Peer Reviewe

Guerra en la Universidad: arqueología del conflicto en la ciudad universitaria de Madrid

En este artículo describimos los resultados de la prospección y excavaciones llevadas a cabo en restos de la Guerra Civil Española en la Ciudad Universitaria de Madrid. Los terrenos universitarios se convirtieron en frente de guerra durante la mayor parte del conflicto y jugaron un papel destacado en la Batalla de Madrid (noviembre-diciembre 1936)

Mobile robot path planning using Voronoi diagram and fast marching

For navigation in complicated environments, a robot must reach a compromise between efficient trajectories and ability to react to unexpected environmental events. This paper presents a new sensorbased path planner, which gives a fast local or global motion plan capable to incorporate new obstacles data. Within the first step, the safest areas in the environment are extracted by means of a Voronoi Diagram. Within the second step, the fast marching method is applied to the Voronoi extracted areas so as to get the trail. This strategy combines map-based and sensor-based designing operations to supply a reliable motion plan, whereas it operates at the frequency of the sensor. The most interesting characteristics are high speed and reliability, as the map dimensions are reduced to a virtually one-dimensional map and this map represents the safest areas within the environment. Additionally, the Voronoi Diagram is calculated in open areas with all reasonably shaped obstacles. This fact permits to use the planned trajectory methodology in complex environments wherever different Voronoi-based strategies will not work.Publicad

Robot Formations Control Using Fast Marching

This paper presents the application of the Voronoi Fast Marching (V FM) method to the Control of Robot Formations. The V FM method uses the propagation of a wave (Fast Marching) operating on the world model to de- termine a motion plan over a viscosity map (similar to the refraction index in optics) extracted from the updated map model. The computational effciency of the method allows the planner to operate at high rate sensor frequencies. This method allows us to maintain good response time and smooth and safe planned trajectories. The navigation function can be classiffed as a type of potential field, but it has no local minima, it is complete (it finds the solu- tion path if it exists) and it has a complexity of order n (O(n)), where n is the number of cells in the environment map. The results presented in this paper show how the proposed method behaves with mobile robot formations and generates trajectories of good quality without problems of local minima when the formation encounters non-convex obstacles

Distribución espacial del riesgo de precipitaciones extremas en el Pirineo Aragonés Occidental

Extreme rainfall events are very unusual and tend to provoke high magnitude geomorphic processes, with catastrophic economic and human consequences. The hazard is even higher in mountain areas, with huge topographic gradients and high geomorphic instability These extreme events occur with a low frequency and an apparently erratic spatial distribution. This is the reason why the current pluviometric records are inadequate or insufficient for studying the spatial and temporal organisation of the most intense rainstorms. In this paper the spatial distribution of the extreme rainfalls in the Central Spanish Pyrenees has been assessed. A map of extreme precipitation hazard with uncertainty,using statistical techniques and GIS, is proposed. A critical analysis of the statistical methods used in the study of extreme rainfall events is done. Such methods need a study of the statistical significance in order to test their reliabilityLos eventos pluviométricos extremos son episodios lluviosos de gran intensidad capaces de desencadenar procesos geomorfológicos de gran magnitud eimportantes consecuencias en pérdidas económicas y humanas, como conocemos por ejemplos recientes e históricos. Estos efectos devastadores son si cabe mayores en áreas de montaña, de gran energía topográfica e inestabilidad geomorfológica. Además de su intensidad, estos episodios se caracterizan por su baja frecuencia temporal y por presentar una distribución espacial aparentemente errática. Este carácter extremo hace que las series pluviométricas normalmente disponibles sean poco adecuadas para el estudio de las precipitaciones máximas.En este artículo se estudia la distribución espacial del riesgo de precipitaciones extremas en el Pirineo occidental aragonés, buscando posibles patrones geográficos y explorando la posibilidad de realizar una cartografía del riesgo de precipitaciones extremas mediante técnicas estadísticas y SIG. Se revisa la metodología estadística habitual en el estudio de los eventos extremos (ajuste de los datos a una ley de probabilidad y cálculo de períodos de retorno). Este tipo de modelos, muy sensibles a los datos, requieren un estudio de significación estadística para comprobar su fiabilidad

Adaptive Evolving Strategy for Dextrous Robotic Manipulation

A robot task can be represented as a set of trajectories conformed by a sequence of poses. In this way it is possible to teach a mobile robot to accomplish a manipulation task, and also to reproduce it. Nevertheless robot navigation may normally introduce inaccuracies in localization due to natural events as wheel-slides, causing a mismatch between the end-effector and the objects or tools the robot is supposed to interact with. We propose an algorithm for adapting manipulation trajectories for different locations. The adaptation is achieved by optimizing in position, orientation and energy consumption. The approach is built over the basis of Evolution Strategies, and only uses forward kinematics permitting to avoid all the inconveniences that inverse kinematics imply, as well as convergence problems in singular kinematic configurations. Manipulation paths generated with this algorithm can achieve optimal performance, sometimes even improving original path smoothness. Experimental results are presented to verify the algorithm.The research leading to these results has received funding from the RoboCity2030-II-CM project (S2009/DPI-1559), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.Publicad

Robot formation motion planning using Fast Marching

This paper presents the application of the Voronoi Fast Marching (VFM) method to path planning of mobile formation robots. The VFM method uses the propagation of a wave (Fast Marching) operating on the world model to determine a motion plan over a viscosity map (similar to the refraction index in optics) extracted from the updated map model. The computational efficiency of the method allows the planner to operate at high rate sensor frequencies. This method allows us to maintain good response time and smooth and safe planned trajectories. The navigation function can be classified as a type of potential field, but it has no local minima, it is complete (it finds the solution path if it exists) and it has a complexity of order n(O(n)), where n is the number of cells in the environment map. The results presented in this paper show how the proposed method behaves with mobile robot formations and generates trajectories of good quality without problems of local minima when the formation encounters non-convex obstacles.This work has been supported by the CAM Project S2009/DPI-1559/ROBOCITY2030 II, developed by the research team RoboticsLab at the University Carlos III of Madrid.Publicad