Acoustic assessment and distribution of the main pelagic fish species in ICES Subdivision 9a South during the ECOCADIZ-RECLUTAS 2017-10 Spanish survey (October 2017).

The present working document summarises the main results obtained during the ECOCADIZ‐RECLUTAS 2017‐10 Spanish (pelagic ecosystem‐) acoustic survey. The survey’s main objective is the acoustic assessment of anchovy and sardine juveniles (age 0 fish) in the recruitment areas of the Gulf of Cadiz. The survey was planned to be conducted by IEO between 12nd and 31st October 2017 in the Portuguese and Spanish shelf waters (20‐200 m isobaths) off the Gulf of Cadiz onboard the R/V Ramón Margalef. However, a serious breakdown of the vessel’s propulsion system detected in the afternoon of the 22th October led to the early termination of the survey in that day. Only the seven (7) easternmost acoustic transects were sampled, which were accompanied by the conduction of eight (8) fishing hauls. The resulting estimates are therefore referred to this surveyed area, which corresponded to the eastern sector of the Spanish shelf waters, comprising the shelf between Doñana and Cape Trafalgar, and they are not comparable to the previous available estimates. Anchovy abundance and biomass in that surveyed area were 1 492 million fish and 7 641 t. The abundance and biomass of age 0 anchovies in the surveyed area were estimated at 1 433 million fish and 7 290 t. This juvenile fraction accounted for 96% and 95% of the total estimated population abundance and biomass, respectively. The estimates for Gulf of Cadiz sardine in the surveyed area were of 591 million fish and 12 103 t. Estimates of age‐0 sardine were of 483 million fish and 8 778 t, 82% and 72% of the total population, respectively. These estimates cannot be compared with the remaining data points in the series because the abovementioned problems with acoustic sampling coverage

Acoustic assessment and distribution of anchovy and sardine in ICES Subdivision IXa South during the ECOCADIZ 2015‐07 Spanish survey (July‐August 2015) with notes on the distribution of other pelagic species

The present working document summarises a part of the main results obtained from the Spanish (pelagic ecosystem‐) acoustic survey conducted by IEO between 28th July and 10th August 2015 in the Portuguese and Spanish shelf waters (20‐200 m isobaths) off the Gulf of Cadiz onboard the R/V Miguel Oliver. The 21 foreseen acoustic transects were sampled. A total of 19 valid fishing hauls were carried out for echo‐trace ground‐truthing purposes. CUFES sampling (117 stations) was carried during the survey in order to describe the extension of the anchovy spawning area. A census of top predator species was also carried out along the sampled acoustic transects. This working document only provides abundance and biomass estimates for anchovy and sardine which are presented without age structure. The distribution of all the mid‐sized and small pelagic fish species susceptible of being acoustically assessed is also shown from the mapping of their back‐scattering energies. Sardine was the most frequent species in the fishing hauls, followed by horse mackerel, chub mackerel, anchovy and mackerel. However, the most abundant species in these hauls was anchovy, followed at quite a distance by blue jack mackerel, sardine, horse mackerel and chub mackerel. As usual, the bulk of the anchovy population was concentrated in the central part of the surveyed area, with the smallest anchovies mainly occurring in the surroundings of the Guadiana and Guadalquivir river mouths and Bay of Cadiz, and larger/older anchovies occurring in the westernmost waters. The total biomass estimated for anchovy, 21.3 kt (2 506 million fish), was slightly below the historical average, but it still in the range of population levels featuring to a recovered population. The comparison of these estimates with their spring counterparts from the PELAGO survey evidences almost identical values for the Portuguese waters, whereas the ECOCADIZ survey estimated in summer at about 1000 million and 11800 t less of anchovy in the Spanish waters. Such differences might be attributable to a possible overestimation of the acoustic energy attributed to anchovy in the Spanish waters of the Gulf by the PELAGO survey because of the difficulties in the discrimination of anchovy echoes in this area from a dense plankton layer where the species was embedded. Sardine was widely distributed all over the surveyed area but in the easternmost waters closer to the Strait of Gibraltar and showed two main nuclei of density: the coastal waters of the central part of the Gulf, and the inner‐mid shelf waters between Cape San Vicente and Cape Santa Maria. Sardine yielded a total of 23.5 kt (883 million fish), population levels which have showed some recovery from the lowest historical values recorded in the two previous years but still below the historical average. In contrast to the abovementioned for anchovy, ECOCADIZ survey estimated in summer 4 fold more sardine in Spanish waters than PELAGO survey in spring, with the juvenile fraction being the dominant in both seasons. The progressive incorporation (recruitment) of juveniles coming from successive spawning events may be the reason for such seasonal differences. INTRODUCTIO

Analysis of Finite Microstrip Structures Using an Efficient Implementation of the Integral Equation Technique

An efficient numerical implementation of the Integral Equation technique (IE) has been developed for the analysis of the electrical characteristics of finite microstrip structures. The technique formulates a volume version of the IE for the finite dielectric objects, and a standard surface IE technique for the metallic areas. The system of integral equations formu- lated are solved with special numerical techniques described in this paper. The input impedances of several microstrip antennas have been computed, showing good agreement with respect mea- surements. The technique has shown to be accurate even for complex geometries containing several stacked dielectric layers. The radiation patterns of the structures have also been com- puted, and measured results from real manufactured hardware confirm that backside radiation and secondary lobes are accurately predicted by the theoretical model. The paper also discuss a suitable excitation model for finite size ground planes, and investigates the possibilities for an independent meshing of the metallic areas and the dielectric objects inside a given geom- etry. The practical value of the approach derived is that microstrip circuits can be designed minimizing the volume and size of the dielectric substrates.This work has been supported bythe Spanish National Project ESP2001-4546-PE, and RegionalSeneca Project PB/4/FS/02

Acoustic assessment and distribution of anchovy and sardine juveniles in the ICES Subdivision IXa South during the ECOCÁDIZ-RECLUTAS 1009 Spanish Survey (October-November 2009).

ECOCÁDIZ‐RECLUTAS 1009 survey is the first attempt by the IEO of acoustically assessing the abundance of anchovy and sardine juveniles in their main recruitment areas off the Gulf of Cádiz. The survey was conducted between 26th October and 5th November 2009 onboard the Spanish R/V Emma Bardán. In order to achieve a better sampling coverage of juveniles, the acoustic sampling grid was more intensive (4 nm‐spaced transects) than the adopted one in conventional surveys. Unfortunately, the initially planned survey area limits and the ship‐time available (17 transects over waters shallower than 50 m depth between Tavira and Chipiona, and 11 days) showed both insufficient due to a deeper bathymetric distribution of anchovy juveniles than expected and the sucession of a series of unforeseen problems which led to drastically reduce the actual sampled area to only 6 transects from the easternmost zone. Acoustic estimates from this last area are available for anchovy (2 771 t, 524 million fish), sardine (25 167 t, 500 millions), chub mackerel (17 627 t, 152 millions) and Mediterranean horse‐mackerel (17 005 t, 159 millions). The abundance and biomass of age 0 anchovies in the surveyed area were estimated at 2 588 t and 510 million fish, respectively, i.e. 93% and 97% of the total estimated anchovy biomass and abundance. Sardine estimates were not age‐structured but the abundance and biomass of juveniles smaller than 17 cm were estimated at 3 382 t and 130 millions, 13% and 26% of the total estimated species’ biomass and abundance. An approximate evaluation of the impact of the incomplete coverage of the anchovy juvenile distribution during the survey was carried out by comparison of our data with the resulting yields and location of positive fishing stations from a groundfish survey carried out just after the present survey.Versión del edito

Acoustic assessment and distribution of the main pelagic fish species in the ICES Subdivision IXa South during the ECOCÁDIZ-RECLUTAS 1112 Spanish survey (November 2012).

ECOCÁDIZ-RECLUTAS 1112 survey is the second survey by the IEO of acoustically assessing the abundance of anchovy and sardine juveniles in their main recruitment areas off the Gulf of Cádiz. The survey was conducted between 10th and 27th November 2012 onboard the Spanish R/V Emma Bardán and its sampled area was restricted only to the Spanish waters of the Gulf of Cádiz between 10 and 200 m depth.Versión del edito

Acoustic assessment and distribution of the main pelagic fish species in the ICES Subdivision IXa South during the ECOCADIZ 0813 Spanish survey (August 2013).

The present working document summarises the main results from the Spanish (pelagic ecosystem‐) acoustic survey conducted by IEO between 2nd and 13th August 2013 in the Portuguese and Spanish shelf waters (20‐200 m isobaths) off the Gulf of Cadiz onboard the R/V “Cornide de Saavedra”. The survey dates were somewhat delayed in relation to the usual ones and to the anchovy (Engraulis encrasicolus) peak spawning as well. Abundance and biomass estimates are given for all the mid‐sized and small pelagic fish species susceptible of being acoustically assessed according to their occurrence and abundance levels in the study area. The distribution of these species is also shown from the mapping of their back‐scattering energies. The bulk of the anchovy population was concentrated in the Spanish shelf, with a residual nucleus to the west of Cape Santa Maria. A delay of the usual survey dates may be the reason of a higher relative importance of smaller anchovies in the population as a probable consequence of the incorporation of the first waves of recently recruited juveniles to the adult population. The total biomass estimated for anchovy was 8.5 thousand tonnes (609 million fish), the lowest estimate in its series. Sardine showed a distribution pattern almost complementary to that described for anchovy, with higher densities occurring over the inner‐middle shelf of both extremes of the surveyed area, mainly west to Cape Santa Maria, and in shallower waters than anchovy. Sardine yielded a total of 9.7 thousand tonnes (232 million fish). The 2013 sardine estimate was also the lowest one in its series and corroborates a clear recent decline in the population which has also been evidenced by the PELAGO surveys. Chub mackerel was present all over the surveyed area although showed a more “oceanic” distribution in the westernmost waters. The species was the most important in terms of assessed biomass, rendering estimates of 31.3 thousand tonnes (333 million fish). Acoustic estimates for jack and horse‐mackerel species (Trachurus spp.), and bogue (Boops boops) are also given in the WD. No acoustic estimates either for mackerel S. scombrus or round sardinella (Sardinella aurita) were computed because their incidental occurrence in the study area during the survey

Analysis and implementation of different topologies of transversal filters in planar technology

This paper uses a simple configuration to implement microwave transversal filters based on microstrip technology. The structure is of second order and implements two transmission zeros and two reflection zeros in the frequency response of the filter. The basic configuration consists of input and output ports coupled in a shunt configuration to two printed resonators of different lengths. A modification of the original structure is introduced to allow an additional direct coupling between the source and the load. Depending on the value and the sign of the coupling terms, different frequency responses can be obtained. In this way, small modifications in the basic structure allow to obtain band-pass or band-stop responses. Following this circuit topology, the paper discusses the possibilities to have transmission zeros in the real or in the complex plane and their effects on the frequency response and on the group delay of the filter. Also, two practical implementations in microstrip technology are proposed, and a third filter implementing group delay equalization is demonstrated. Measured results confirm theoretical predictions and validate the structures for practical applications.Ministerio de Educación y Ciencia, Ref. TEC2007-67630-C03-02. Fundación Séneca, Ref. 08833/PI/0

Design of a polishing tool for collaborative robotics using minimum viable product approach

This is an Author's Accepted Manuscript of an article published in Carlos Perez-Vidal, Luis Gracia, Samuel Sanchez-Caballero, J. Ernesto Solanes, Alessandro Saccon & Josep Tornero (2019) Design of a polishing tool for collaborative robotics using minimum viable product approach, International Journal of Computer Integrated Manufacturing, 32:9, 848-857, DOI: 10.1080/0951192X.2019.1637026 [copyright Taylor & Francis], available online at: http://www.tandfonline.com/10.1080/0951192X.2019.1637026[EN] A collaborative tool for robotic polishing is developed in this work in order to allow the simultaneous operation of the robot system and human operator to cooperatively carry out the polishing task. For this purpose, the collaborative environment is detailed and the polishing application is designed. Moreover, the polishing tool is developed and its implementation using the minimum viable product approach is obtained. Furthermore, a robust hybrid position-force control is proposed to use the developed tool attached to a robot system and some experiments are given to show its performance.This work was supported in part by the Ministerio de Ciencia e Innovacion (Spanish Government) under project [DPI2017-87656-C2-1-R] and the Generalitat Valenciana under Grant [VALi+ d APOSTD/2016/044].Perez-Vidal, C.; Gracia Calandin, LI.; Sanchez-Caballero, S.; Solanes Galbis, JE.; Saccon, A.; Tornero Montserrat, J. (2019). Design of a polishing tool for collaborative robotics using minimum viable product approach. International Journal of Computer Integrated Manufacturing. 32(9):848-857. https://doi.org/10.1080/0951192X.2019.1637026S848857329Alders, K., M. Lehe, and G. Wan. 2001. “Method for the Automatic Recognition of Surface Defects in Body Shells and Device for Carrying Out Said Method” US Patent 6,320,654, Accessed 2001 November. https://www.google.ch/patents/US6320654Alexopoulos, K., Mavrikios, D., & Chryssolouris, G. (2013). ErgoToolkit: an ergonomic analysis tool in a virtual manufacturing environment. International Journal of Computer Integrated Manufacturing, 26(5), 440-452. doi:10.1080/0951192x.2012.731610Andres, J., Gracia, L., & Tornero, J. (2011). Calibration and control of a redundant robotic workcell for milling tasks. International Journal of Computer Integrated Manufacturing, 24(6), 561-573. doi:10.1080/0951192x.2011.566284Arnal, L., Solanes, J. E., Molina, J., & Tornero, J. (2017). Detecting dings and dents on specular car body surfaces based on optical flow. Journal of Manufacturing Systems, 45, 306-321. doi:10.1016/j.jmsy.2017.07.006Blank, S. 2010. “Perfection By Subtraction - The Minimum Feature Set”. Accessed 2018 August. http://steveblank.com/2010/03/04/perfection-by-subtraction-the-minimum-feature-set/Dimeas, F., & Aspragathos, N. (2016). Online Stability in Human-Robot Cooperation with Admittance Control. IEEE Transactions on Haptics, 9(2), 267-278. doi:10.1109/toh.2016.2518670Fitzgerald, C. “Developing Baxter, A new industrial robot with common sense for U.S. manufacturing.” 2013.Gracia, L., Sala, A., & Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems, 60(1), 1-15. doi:10.1016/j.robot.2011.07.008Gracia, L., Sala, A., & Garelli, F. (2014). Robot coordination using task-priority and sliding-mode techniques. Robotics and Computer-Integrated Manufacturing, 30(1), 74-89. doi:10.1016/j.rcim.2013.08.003Gracia, L., Solanes, J. E., Muñoz-Benavent, P., Valls Miro, J., Perez-Vidal, C., & Tornero, J. (2018). Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback. Mechatronics, 52, 102-118. doi:10.1016/j.mechatronics.2018.04.008Julius, R., Schürenberg, M., Schumacher, F., & Fay, A. (2017). Transformation of GRAFCET to PLC code including hierarchical structures. Control Engineering Practice, 64, 173-194. doi:10.1016/j.conengprac.2017.03.012. E. K. (2016). TOWARDS AN AUTOMATED POLISHING SYSTEM - CAPTURING MANUAL POLISHING OPERATIONS. International Journal of Research in Engineering and Technology, 05(07), 182-192. doi:10.15623/ijret.2016.0507030Khan, A. M., Yun, D., Zuhaib, K. M., Iqbal, J., Yan, R.-J., Khan, F., & Han, C. (2017). Estimation of Desired Motion Intention and compliance control for upper limb assist exoskeleton. International Journal of Control, Automation and Systems, 15(2), 802-814. doi:10.1007/s12555-015-0151-7Kirschner, D., Velik, R., Yahyanejad, S., Brandstötter, M., & Hofbaur, M. (2016). YuMi, Come and Play with Me! A Collaborative Robot for Piecing Together a Tangram Puzzle. Interactive Collaborative Robotics, 243-251. doi:10.1007/978-3-319-43955-6_29Mohammad, A. E. K., Hong, J., & Wang, D. (2018). Design of a force-controlled end-effector with low-inertia effect for robotic polishing using macro-mini robot approach. Robotics and Computer-Integrated Manufacturing, 49, 54-65. doi:10.1016/j.rcim.2017.05.011Nagata, F., Hase, T., Haga, Z., Omoto, M., & Watanabe, K. (2007). CAD/CAM-based position/force controller for a mold polishing robot. Mechatronics, 17(4-5), 207-216. doi:10.1016/j.mechatronics.2007.01.003Nakamura, Y., Hanafusa, H., & Yoshikawa, T. (1987). Task-Priority Based Redundancy Control of Robot Manipulators. The International Journal of Robotics Research, 6(2), 3-15. doi:10.1177/027836498700600201Ries, E. 2009. “What is the Minimum Viable Product”. March. Accessed 2018 August. http://venturehacks.com/articles/minimum-viable-productRobinson, F. 2001 “A Proven Methodology to Maximize Return on Risk”. Accessed 2018 August. http://www.syncdev.com/minimum-viable-productShepherd, S., & Buchstab, A. (2014). KUKA Robots On-Site. Robotic Fabrication in Architecture, Art and Design 2014, 373-380. doi:10.1007/978-3-319-04663-1_26SYMPLEXITY. “Symbiotic Human-Robot Solutions for Complex Surface Finishing Operations.” European project funded by E.U. through the H2020. Project no. 637080. Call: H2020-FoF-2014. Topic: FoF-06-2014. Starting date: 01/ 01/2015.Duration: 48 months. Accessed 2019 March. https://www.symplexity.eu/Vihlborg, P., I. Bryngelsson, B. Lindgren, L. G. Gunnarsson, and P. Graff. 2017. “Associatio between vibration exposure and hand-arm vibration symptoms in a Swedish mechanical industry.” February 2017.Vogel, J., Haddadin, S., Jarosiewicz, B., Simeral, J. D., Bacher, D., Hochberg, L. R., … van der Smagt, P. (2015). An assistive decision-and-control architecture for force-sensitive hand–arm systems driven by human–machine interfaces. The International Journal of Robotics Research, 34(6), 763-780. doi:10.1177/027836491456153