Fuzzy Predictive Controller for Mobile Robot Path Tracking

IFAC Intelligent Components and Instruments for Control Applications, Annecy, France 1997This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.Ministerio de Ciencia y Tecnología TAP95-0307Ministerio de Ciencia y Tecnología TAP96-884C

Examining the structure of ideas of reference in clinical and community samples

Aims: This study addresses the psychometric properties of a Spanish validation of the REF scale of ideas of reference (IRs) in detecting and following at-risk mental states and psychosis. Methods: A total of 9447 participants were distributed in three groups: 676 patients with various diagnoses-154 with psychotic disorders, 6291 youths aged 11 to 20, and 2480 adult participants aged 21 to 84. Results: Youths had higher scores than adults on IRs, observing a progressive decrease and stabilization in the twenties. Exploratory factor analysis provided a structure for the overall IRs score, with five first-order dimensions and one second-order dimension. Confirmatory factor analysis supported the structure with excellent fit. The REF scale was invariant across sex and samples. The internal consistency of the complete scale was excellent and acceptable across the five first-order factors. Strong relationships were found with the positive dimension of the community assessment of psychic experience-42, as well as with aberrant salience. Low and moderate relationships were found with public self-consciousness, anxiety, and depression. Youths and patients diagnosed with schizophrenia and other psychotic disorders had a high mean IRs frequency. Male sex, greater age (among the adults), and the "causal explanations", "Songs, newspapers, books" and laughing and commenting" REF subscales showed predictive power in the diagnostic categories of schizophrenia and other psychotic disorders

Intercalation and dynamics of hydrated Fe2+ in the vermiculites from Santa Olalla and Ojén

Although the intercalation of Fe3+ into layered phyllosicilicates-especially into smectites-attracted much attention in the past two decades, the information about Fe2+ loaded phyllosilicates is sparse. Here we present an investigation of the Fe2+ exchanged vermiculites from Santa Olalla and Ojén (Andalusia, Spain) by means of Mössbauer spectroscopy. The room temperature Mössbauer spectra are very similar to those of the starting compounds (Na forms) except for a decrease of the contribution of structural Fe3+ and a concomitant increase of the contribution of Fe2+ sites, indicating an internal redox process. The extent of this redox reaction is different for the two vermiculites. Thus, the intercalated Fe2+ acts as an electron mediator from the external medium to the structural Fe3+ ions. A new component attributable to intercalated Fe2+ is practically invisible in the room temperature Mössbauer spectra, but increases strongly and continuously during cooling to 4.2 K, where it is the dominant feature of the Mössbauer patterns. At 4.2 K, its quadruple splitting amounts to 3.31 mm/s, which is in excellent agreement with the quadrupole slitting of Fe2+ coordinated to six water molecules in a highly symmetric octahedral arrangement. The strong decrease of the Mössbauer-Lamb factor of this component with increasing temperature indicates a weak bonding of the Fe 2+ in the interlayer space

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

Early forest fire detection by vision-enabled wireless sensor networks

Wireless sensor networks constitute a powerful technology particularly suitable for environmental monitoring. With regard to wildfires, they enable low-cost fine-grained surveillance of hazardous locations like wildland-urban interfaces. This paper presents work developed during the last 4 years targeting a vision-enabled wireless sensor network node for the reliable, early on-site detection of forest fires. The tasks carried out ranged from devising a robust vision algorithm for smoke detection to the design and physical implementation of a power-efficient smart imager tailored to the characteristics of such an algorithm. By integrating this smart imager with a commercial wireless platform, we endowed the resulting system with vision capabilities and radio communication. Numerous tests were arranged in different natural scenarios in order to progressively tune all the parameters involved in the autonomous operation of this prototype node. The last test carried out, involving the prescribed burning of a 95 x 20-m shrub plot, confirmed the high degree of reliability of our approach in terms of both successful early detection and a very low false-alarm rate. Journal compilationMinisterio de Ciencia e Innovación TEC2009-11812, IPT-2011-1625-430000Office of Naval Research (USA) N000141110312Centro para el Desarrollo Tecnológico e Industrial IPC-2011100

Preserving Established Communications in IPv6 Multi-homed Sites with MEX

This research was supported by the SAM (Advanced Mobility Services) project, funded by the Spanish National R&D Programme under contract MCYT TIC2002-04531-C04-03.A proper support for multimedia communications transport has to provide fault tolerance capabilities such as the preservation of established connections in case of failures. While multi-homing addresses this issue, the currently available solution based in massive BGP route injection presents serious scalability limitations, since it contributes to the exponential growth of the BGP table size. Alternative solutions proposed for IPv6 fail to provide equivalent facilities to the current BGP based solution. In this paper we present MEX (Muti-homing through EXtension header) a novel proposal for the provision of IPv6 multi-homing capabilities. MEX preserves overall scalability by storing alternative route information in end-hosts while at the same time reduces packet loss by allowing routers to re-route in-course packets. This behavior is enabled by conveying alternative route information within packets inside a newly defined Extension Header. The resulting system provides fault tolerance capabilities and preserves scalability, while the incurred costs, namely deployment and packet overhead, are only imposed to those that benefit from it. An implementation of the MEX host and router components is also presented.Publicad

Regionalization and connectivity in the Gulf of Cádiz and Alborán Sea implication for marine spatial planning and coastal management

This work proposes a regionalization of marine waters south of the Iberian Peninsula based on empirical orthogonal functions and GIS analysis. The regions identified are consistent and correspond to hydrological mesoscale and macroscale structures well characterized from physical and biological viewpoints. Although it is difficult to determine the boundaries of a fluid continuously moving, the procedure used recognizes the most frequent patterns and can be used to reference geographically the most likely position of the limit among the regions. Once established the regions, the connectivity among them is addressed by means of geostrophic currents derived from altimetry data. The main geostrophic circulation pattern depict an elevate connectivity in the area that might facilitate the conservation and recovering of species, but also imply a higher vulnerability to negative externalities and highlight the need of models, marine spatial planning, and coastal management approaches that includes the pelagic ecosystem and connectivity of the seas. Furthermore, the results confirm that the cooperation between public authorities at different levels (local, regional, state) as well as among riparian countries is essential for marine spatial planning and prevention of potential risk derived from upcoming marine activities in the framework of the 2020 agenda and Blue Growth strategy.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Hexavalent Chromium Removal by a Paecilomyces sp. Fungal Strain Isolated from Environment

A resistant and capable fungal strain in removing hexavalent chromium was isolated from an environment near of Chemical Science Faculty, located in the city of San Luis Potosí, Mexico. The strain was identified as Paecilomyces sp., by macro- and microscopic characteristics. Strain resistance of the strain to high Cr (VI) concentrations and its ability to reduce chromium were studied. When it was incubated in minimal medium with glucose, another inexpensive commercial carbon source like unrefined and brown sugar or glycerol, in the presence of 50 mg/L of Cr (VI), the strain caused complete disappearance of Cr (VI), with the concomitant production of Cr (III) in the growth medium after 7 days of incubation, at 28°C, pH 4.0, 100 rpm, and an inoculum of 38 mg of dry weight. Decrease of Cr (VI) levels from industrial wastes was also induced by Paecilomyces biomass. These results indicate that reducing capacity of chromate resistant filamentous fungus Cr (VI) could be useful for the removal of Cr (VI) pollution

Aplicación de la teoría de robots manipuladores a la biomecánica del brazo humano1

ResumenEste artículo presenta la aplicación de un conjunto de técnicas propias de la teoría de los robots manipuladores al estudio del movimiento del brazo humano. Para ello el brazo humano se modela como un robot manipulador redundante. En particular se aplica el concepto de índices de desempeño para predecir posturas óptimas del brazo durante la realización de tareas. En el estudio se incluyen tanto posiciones estáticas, como secuencias de posiciones para la formulación de trayectorias óptimas de movimiento