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TECHNOLOGICAL SCIENCES (7)

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153 theses in 8 pages: 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8
  • EVALUATION OF HIGH PRESSURE INACTIVATION OF GRAM-POSITIVE MICROORGANISMS INOCULATED IN MILK AND CHEESE MODEL
    Author: LÓPEZ PEDEMONTE TOMÁS.
    Year: 2006.
    University: AUTÓNOMA DE BARCELONA [www.uab.es].
    Place of defense: FACULTAD DE VETERINARIA.
    Place of preparation: FACULTAD DE VETERINARIA, UNIVERSIDAD AUTÓNOMA DE BARCELONA.
    Summary: Objectives: The objectives comprised in this thesis are: to standardise a model cheese to be used as substrate in the experiments involved in this thesis; to assess the influence of High Hydrostatic Pressure (HHP) on the counts of lactic acid bacteria added for cheese manufacture; to study the influence of HHP (one-cycle vs two-cycle treatments) on the inactivation of spores of Bacillus cereus inoculated in cheeses made from raw milk and the possible increase of spores sensitivity due to the addition of nisin or lysozyme prior to cheese-making; to study the inactivation of Listeria monocytogenes in model cheeses after applying mild HHP treatments following the evolution of its counts and the presence of sublethally damaged cells over a 30-day storage period at 8ºC; to study the efficacy of HHP treatments on Staphylococcus aureus in model cheeses, the evolution of its counts during 30 days of ripening at 8 ºC and the probable formation of SE; to study the inactivation and evolution of S. aureus counts in model cheeses made from inoculated Ultra High Pressure (UHPH) treated milk assessing the benefit of combining a further HHP treatment 24 h after cheese production and the probable formation of SE; to assess the possibility of reducing counts of Mycobacterium avium subsp. paratuberculosis (MAP) in milk by mild HHP. Methods: Model cheese manufacturing process was standardised in order to achieve samples of approximately 25 g, 55% dry matter, 1.5% salt in moisture content and initial pH of 5. This protocol was used to produce cheese samples made from milk inoculated with B. cereus spores (in some series of experiments 22 mg/L of lysozyme or 0.05 or 1.56 mg/L of nisin were added to milk), or vegetative cells of S. aureus or L. monocytogenes. Also one series of experiments with blank cheeses (not inoculated with pathogenic cells) was performed to follow starter counts. Cheeses were vacuum-packed and stored up to 30 days at 8 ºC. One-day cheese samples were HHP as follows: for spore-inoculated samples treatment temperature was of 30 ºC and pressure conditions were 300, 400, 500 MPa by 15 min or a germinating cycle of 60 MPa applied by 210 min (G) alone or G followed by 300, 400 and 500 MPa 15 min treatments; for vegetative cell treatments were of 10 min at 300, 400 and 500 MPa at 5 or 20 ºC. Microbiological analysis of the samples was assessed on days 1, 2, 15 and 30 (except for B. cereus) using the following media: M-17, Tryptic Soy Agar (TSA) and TSA+3%NaCl for Lactococci, Bacillus cereus selective agar for B. cereus, Baird Parker (BP) supplemented with rabbit plasma fibrinogen (BP-RPF) for S. aureus, Listeria selective medium (LSM, Oxford formulation) and LSM with two over-layers of Brain Heart Infusion Agar supplemented with 0.6 g/L of yeast extract for L. monocytogenes. SE detection was followed by using the VIDAS SE system II (SET2, Bio-Mérieux s.a., Marcy-L'Etoile, France). Model cheeses were also manufactured from UHPH treated milk (330 MPa first stage and 30 MPa second stage at inlet temperatures (Tin) of 6 or 20 ºC) previously inoculated with S. aureus. Counts were assessed with BP and BP-RPF media and SE also assessed. In the series of experiments carried out with ultra high temperature milk inoculated with MAP strains, milk samples were pressurised 10 min at 300, 400 and 500 MPa at 5 or 20 ºC. Counts were assessed after an incubation period of 16 weeks in Herrold´s Egg Yolk Medium (HEY) supplemented with mycobactin J (2 ?g/mL) and onto tubes of agar solidified 7H9. Results: HHP treatments applied at 5 ºC (compared to 20 ºC) preserved better the starter counts in the cheeses studied, especially the first 15 days of storage which could certainly benefit cheese ripening. Starting from counts of 9.6-log cfu/g for 5 ºC HHP treatments of 300, 400 and 500 MPa resulted in initial counts (log cfu/g) of 7.6 +- 0.1, 7.4 +- 0.3 and 6.3 +- 0.1 and final counts of , 7.1+- 0.2, 4.7 +- 0.1 and 3.1 +- 0.1, respectively. Overall, counts of pathogen vegetative cells in 8 cheese 1ff8 did not significantly vary during its storage at 8 ºC for 30 days. On the contrary L. monocytogenes and S. aureus counts in HHP treated samples significantly decreased with storage time. Both L. monocytogenes strains behaved significantly different after 400 and 500 MPa, being CECT 4032 more sensitive. Initial reductions (log cfu/g) for 400 MPa at 20 ºC were approximately 2.9 for CECT 4032 and 1.5 for Scott A. They reached respectively, 5.3 and 4.6, after 30-day storage. For 500 MPa treatments, day-1 reductions of both strains were around 5-log cfu/g, and counts fell below quantification limit after 30 days. Injured cells (around 0.8-log cfu/g) were mostly observed in 400 MPa treated samples on days 1 and 2. For S. aureus, strain CECT 976 was more resistant than CECT 4013; initial reductions in 400 MPa treated samples were approximately 1.0 and 1.4-log cfu/g at 5 and 20 ºC, respectively. Maximum reductions obtained after 30 day storage were approximately 2.8-log cfu/g, for both strains. Higher reductions were reached for 500 MPa treatments. At 5 ºC we found 6.0 and 4.7-log cfu/g for S. aureus CECT 4013 and 976, respectively; and at 20 ºC they reached respectively 5.6 and 4.6-log cfu/g. Total inactivation was never achieved and SE was detected in all cheese samples containing CECT 976 before and after HHP and after 30 days ripening. For cheeses made from UHPH treated milk, counts of S. aureus in Control cheeses were approximately 8.5-log cfu/g showing no significant decreases during storage. In cheeses made from UHPH treated milk at Tin 6 ºC counts of S. aureus were 5.0 ± 0.3-log cfu/g at day 1, they decreased significantly to 2.8 ± 0.2-log cfu/g on day 15, and after 30 days of storage, they were below the detection limit. The use of an additional HHP treatment had a synergistic effect, increasing reductions up to 7.0 -log cfu/g from day 1. However, for both sort of cheeses of Tin 6 ºC samples, viable S. aureus cells were always encountered opposite to samples of Tin 20 ºC where complete inactivation of S. aureus was reached after 15 days of storage. SE were found in Controls but not in UHPH or UHPH+HHP treated samples. Regarding B. cereus spores, the use of the germinating cycle improved the efficiency of the whole treatment. When the second pressure-cycle was of 400 MPa, the initial inactivation was of approximately 1.6-log cfu/g which increased to 2.4-log cfu/g in the presence of the highest dose of nisin; lysozyme showed not to increase sensitivity of the spores to HHP. For nisin, (0.05 and 1.56 mg/L of milk) no significant differences were found between counts at 24 h and 15 days after treatment. Reductions of MAP increased with pressure level. Significant differences were also found between MAP strains and the mediums used. Average reductions of 4-log cfu/mL after 500 MPa were obtained. Conclusions: HHP treatments higher or equal to 400 MPa coupled with a ripening process at 8 ºC during 30 days effectively reduced infectious L. monocytogenes and diminished toxigenic S. aureus in cheese to a level below which SE are normally produced. Treatments of 500 MPa resulted in higher inactivation levels but damaged starter cells and prevented its recovery during storage at 8 ºC. 400 MPa seems the most appropriate choice in order to achieve significant reductions of pathogen counts while preserving starter cells from excessive depletion. The safety level of cheese was surprisingly increased (regarding S. aureus) when the 330 MPa UHPH treatment was applied. The combined action of UHPH and the presence of healthy starter cells allowed reductions equal or higher to 7-log cfu/g and prevented SE production. The combination of UHPH at Tin 6 ºC with HHP treatments reduced S. aureus counts below detection level from the first day of storage at 8 ºC. Cycled HHP treatments permitted a certain amount of inactivation of spores of B. cereus; the use of nisin at both doses assayed synergistically improved the reduction values but lysozyme was incapable of increasing them. HHP treatments of 500 MPa proved to cause reductions of MAP counts in milk similar to those achieved with pasteurisation treatments.
  • RATING SYSTEMS OFDM-MIMO FOR FUTURE SYSTEMS 3G/4G MOBILE COMMUNICATION
    Author: QATAWNEH ABDULROHMAN.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: E.T.S. DE ING. DE TELECOMUNICACIÓN.
    Place of preparation: E.T.S. de Ingenieros de Telecomunicación.
    Summary: Winning a high bit rate is a critical need for many of the new telecommunications systems, and in particular to the fourth generation systems. In recent research has shown that systems OFDM-MIMO are promising technologies for future applications of wireless communications with high bit rate. The systems OFDM-MIMO are the best candidates for future communications system because of the combination of the advantages of OFDM and antennas MIMO.La choice of a suitable code space is considered very important in order to maximize possible I the systems OFDM-MIMO. The design of the code space can be done in terms of the possibility of estimating the parameters of the channel. The codes space differentials are essential in cases of rapid changes in the channel or simply when estimating the channel parameters is imposible.En this thesis introduces systems OFDM-MIMO differentials using codes space differentials: - code space unit diferencial- code Cayley space. Issues related to the benefits system OFDM-MIMO based on the code space unit MIMO channels for both broadband and narrowband. In this thesis also looks at the benefits system OFDM-MIMO based on the code Cayley differential to the terms of MIMO channel both broadband and narrowband. The search time is increased dramatically when increasing numbers of transmitting antennas and / or reception. For this reason, there is an urgent use of a decoder quick as spherical decoder. In this thesis, designing a decoding algorithm for the spherical system OFDM-MIMO differential based code Cayley. One of the challenges of decoding is the choice of spherical radius of the area. In this thesis, Cayley is optimized code with the aim of improving the benefits system OFDM-MIMO differential. The optimization codes are considered Cayley: - The code Cayley classic (with the parent pre-seleccionadas) - The code Cayley-TAST based on a technique called TAST (Threaded Algebraic Space Time). Code Cayley-TAST has advantages following on the code Cayley classic: Have better benefits because of the diversity spatially encoding parameters appear explicitly in the matrix Hermítica which is the code Cayley-TAST. However, using matrices pre-seleccionadas to form the code Cayley classic. This thesis is developed and optimized code named: Cayley-TAST without rotation. This code has better benefits also reduces the complexity of the system, when compared with other codes Cayley.Finalmente, presents some practical considerations systems OFDM-MIMO differentials: a) sub-portadoras pilots are used in correcting errors in frequency and reconfigurability of the channel. B) introduces a new family of WiMAX systems differential (D-WiMAX) based standard IEEE 802.16e (WiMAX-Móvil), as well as codes space differentials. It proposes two types of systems D-WiMAX according to the code used differential: 1) DUST-WiMAX: (Differential Unitary Space Time code- WiMAX), where the code applies to space unit. 2) Cayley-WiMAX: Here is used code Cayley-TAST without rotación.El system Cayley-WiMAX has the advantage of providing a binary 33% higher rate than the rate achieved maximum binary system in WiMAX modulation 64QAM.
  • CONTRIBUTION TO THE CHARACTERIZATION OF THE QUALITY OF TELECOMMUNICATIONS SERVICES
    Author: López Berzosa David.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: E.T.S. de Ing. de Telecomunicación.
    Place of preparation: Escuela Técnica Superior de Ingenieros de Telecomunicación.
    Summary: This first report analyzes the current state of the art related to the quality of service mainly from three points of view: regulatory, technical and management processes. He then proposes a methodology for modeling telematic services in response to the expectations of the end users. As shown in the figure below, the proposal addresses the issue through the unbundling process in four successive stages: extit (Identification, Characterization, and finally Parameterization Oversight.) This is achieved translate user requirements into specifications level service at the same time defining the set of activities and processes that ensure compliance with these levels of service. Subsequently analyzing the feasibility of the proposal through its application to a real scene of providing multimedia services on IP networks. The application of the methodology to a case of actual use can identify, based on consumer expectations target those factors with a higher rate of impact on the perceived quality (QoE). Thanks to the establishment of analytical relationships between perceived quality and network parameters observable and controllable is possible to define operating procedures for managing the service. Finally proposes an architecture that implements processes for the management and supervision of the quality delivered in a multimedia service. This architecture is capable of ensuring the controlled degradation of a video on demand service by regulating those observable and controllable parameters involved in the final process of decoding multimedia flow. Thanks to the development paradigm distributed and heavily decoupled used in defining the components, provides adaptability to future new features of the service (added services, new access interfaces) as well as new specifications existing service.
  • STRUCTURES FOTONICAS BIESTABLES COMPUTER AND SWITCHING
    Author: HURTADO VILLAVIEJA ANTONIO.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: ETSI TELECOMUNICACION.
    Place of preparation: ETSI TELECOMUNICACION (UPM).
    Summary: This argument reflects the work done on the theoretical modeling, simulation and experiment of Biestabilidad Optical Amplifiers appearing in Laser Semiconductor subjected to external injection of power and its potential use for Computer Applications and Optical switching. It has used an analytical model to study theoretically the biestabilidad optics in a Semiconductor Optical Amplifier Vertical Cavity (VCSOA, Vertical-Cavity Semiconductor Optical Amplifier) operated in polarized reflection and with a stream below its threshold level. It has described the existence of three different forms of biestabilidad optics: clockwise, in the form of butterfly and clockwise. In addition, it has been observed that the inclusion of a greater number of periods in the DBR (Distributed Bragg Reflector) higher reduces at least an order of magnitude, the optical power needed for obtaining biestabilidad optic clockwise. This result suggests the development of logic gates completely optical cavity vertical and low power. The biestabilidad optics has also been studied experimentally in a VCSOA working to 1550nm. The VCSOA surgery in polarized reflection and with a stream below as much above its current threshold. It was experimentally demonstrated the existence of two different forms of biestabilidad optics, in clockwise and clockwise in a VCSOA working to 1550nm, the wavelength commonly used in the current optical telecommunications networks, which opens the possibility of practical applications of this new type of devices. It has also studied the possible use of biestabilidad optic applications for Computer and Optical switching. It has been simulated optically programmable logic cell capable of providing the full set of Boolean logic functions directly into the optical domain. Finally, it has been demonstrated experimentally switching optical signals readiness to two different wavelength with a Semiconductor Optical Amplifier for Distributed Feedback (DFBSOA, Distributed Feedback Semiconductor Optical Amplifier), which works to 1550nm.
  • ANALYSIS OF THE ASSESSMENT PROCESS AND INTEGRATED MANAGEMENT OF PROJECTS. APPLICATION TO THE CONSTRUCTION SECTOR
    Author: ORTIZ GONZÁLEZ MANUEL AGUSTÍN.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: E.T.S. DE INGENIEROS DE MONTES.
    Place of preparation: ESCUELA TÉCNICA SUPERIOR DE INGENIEROS DE MONTES (UPM).
    Summary: All along our life we have been involved in the development of a project, either as designers and others as executors or partners in projects in third. Tmabién we found we certainly with problems arising from poor definition of a unit or chapter of a project, either with solutions that even though they were well defined, in practice were major problems of enforcement or it was not feasible to its realization unavailability of material, human and machinery needed, making it impossible to realize as they were conceived. These problems are widespread in most projects, and it is through this work on 'Analysis of Process Assessment and Management Integrated Projects and its Application to the Construction Sector' where it is providing solutions and answers to these problems establishing a methodology and techniques and tools necessary to minimize these problems by developing processes of the Integrated Management Project which will optimize resource allocation, as well as ensuring the achievement of the objectives proposed Scope , Cost and Timeline, within the Quality of projects and also seeking to get a fourth objective: The Customer Satisfaction. Throughout this work sets the stage for the development of the project, through the leadership of projects, presenting it as a single body and structured, comprising the different fields of knowledge. Defining clearly the three fundamental documents:-Area constitution-Phrasing the scope of Project Management Plan Project The last, namely the Project Management Plan is subdivided into:-range management plan - '' ' schedule-'' 'cost-' '' Management Staff-'' 'communications-' '' risk-'' 'procurement This analyzes the development of the Integrated Management Project, which is more apart from the performance of Project Management, by integrating all their actions from the first step of the project, running when it was delivered and has been launched. We believe that, through the Integrated Management Project, ensures the achievement of the project's success, so we are confident that eventually implantandose, providing advantages and achievements that will benefit everyone.
  • MÉTODOLOGIA FOR RECOGNIZING ENVIRONMENTAL CONDITIONS AND REGULATORY COMPLIANCE, THE INSTALLATION OF A FACTORY FOR WOOD PULP AND PAPER IN THE COUNCIL OF TURNED (LA CORUNA, SPAIN)
    Author: GOMEZ-ARNAU DIAZ-CAÑABATE GONZALO.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: E.T.S. DE INGENIEROS DE MONTES.
    Place of preparation: E.T.S. DE INGENIEROS DE MONTES.
    Summary: THE THESIS TRAFFICKING IN FORMULATING A PROCEDURE METHODOLOGY TO PARTIENDO AN ENVIRONMENTAL RECOGNITION OF THE STATUS OF A FACTORY OF PULP AND PAPER INDUSTRY, BRING TO DETERMINE THE METHODOLOGY TO FOLLOW FOR KEEPING THE NEW LEGISLATION. CURRENTLY, WITH THE INCORPORATION OF THE ORDER OF THE SPANISH DIRECTIVE 96/61/EC THROUGH LAW 16/2002 of 1 July, INDUSTRY MUST ADAPT BIN YOUR PLANTS AND PROCEDURES TO THE CONDITIONS TO FIX THIS LEGISLATION IN RELATION TO CONTROL AND INTEGRATED PREVENTIVE contamination. REGULATION TO BE CITED THE REGULAR LAW IS IN PHASE OF DRAFT WITH TIME FOR REVIEW BY THE PARTIES COMPETENT AND INTEREST GROUPS. WITH THESE PREMISES OF LEGISLATION, HE UNDERSTANDS WHAT IS THE KEY FOR INDUSTRY, WITH AN CONTAR METHODOLOGICAL BASE THAT MAY HELP TO SET THE PROCEDURE FOR AGIL TO GET THE ENVIRONMENTAL AUTHORIZATION OF INTEGRATED PERFORMANCE OF FACILITIES. THEREFORE, CAN RESUMIR THE PURPOSE OF A THESIS WITH THREE OR VARIABLES CONCEPTS THAT ACTUAN AT PRESENT FORM INTIMAMENTE LIGADOS: A) FROM THE POINT OF VIEW OF THE PRINCIPLES OF SUSTAINABLE DEVELOPMENT, NECESSARY STEPS TO INDUSTRIES OF SUCH VERAZ MAY ADECUARSE FORM TO THE LIMITS AND CONDITIONALITY POLICY IMPOSING. B) SECTORIALMENTE, BIN INDUSTRY IS THE OBLIGATION TO ADAPT THEIR LEGISLATIVE PROCEDURES TO THE DEMANDS THAT A FUTURE IN NEAR OBLIGUE REGULATION OF LAW IPPC. C) AS A RESULT OF PARAGRAPHS EARLIER, THERE IS A METHODOLOGY DEFINIDA OBLIGATIONS FACILITE Or CONDUZCA TO COMPLIANCE WITH THE ENVIRONMENTAL REQUIREMENTS
  • TERRITORIES AND CAPITALISM
    Author: SERRANO MUÑOZ EDUARDO.
    Year: 2006.
    University: GRANADA [www.ugr.es].
    Place of defense: E.T.S. DE ARQUITECTURA DE GRANADA.
    Place of preparation: ESCUELA TÉCNICA SUPERIOR DE ARQUITECTURA DE SEVILLA.
    Summary: An inquiry on the conditions relating to the construction and management of living space of the modern capitalist and especially the conditions epistémicas conceptual and technicians dedicated to the task. Both the concept of territory as others used or built ad hoc intend to enable them to overcome mental blocks can think creatively and the ongoing transformation of the profession architects. It examines the 3 stages of modern capitalism analyze its moments of transition and its impact on our discipline. All this has been used tools thinkers such as Michel Foucault, Gilles Deleuze, Pierre Bourdieu, Gregory Bateson, etc.. Special attention is devoted to cibermundo, characterizing it as the territorial fold characteristic of capitalism posfordista (now), the same way lque territory urban gave pre-modern societies. The issues discussed are varied: networks, technologies and mechanical workers, biodispositivos, fields of social professionals, the problem of the activity of an artist, the reformulation of economic concepts (capital, ownership, market competitive, etc.). The mutations associated with the introduction of the machines on the second and third order, the invention of modern housing, and so on., but always trying to flee the dichotomous logic.
  • UNSTABLE RAYLEIGH-TAYLOR SOLIDS ACCELERATED.
    Author: SERNA MORENO MARÍA DEL CARMEN.
    Year: 2006.
    University: CASTILLA-LA MANCHA [www.uclm.es].
    Place of defense: E.T.S.INGENIEROS INDUSTRIALES.
    Place of preparation: ESCUELA TÉCNICA SUPERIOR DE INGENIEROS INDUSTRIALES (UCLM).
    Summary: Simulations are conducted through the Finite Elements Method for the study of the instability linear Rayleigh-Taylor (RT) on the surface of solid accelerated. Today there is an analytical model to resolve the problem completely RT in solid, although there are partial solutions for perfectly elastic solids given by Plohr and Sharp (1998), limited numbers of Atwood equal to one, and Terrones (2005) , limited to the stage asymptotic media semi-infinitos. The knowledge acquired by conducting simulations has contributed to the development of analytical models presented in Piriz et al. (2005), Media semi-infinitos and Piriz et al. (2006), for solid small thickness, which is working at present. While approximate, the latter two models describe the evolution of complete instability (transitional stages and asymptotic) without restriction on the number of Atwood. In turn, these analytical models are essential as a guide for conducting simulations and the subsequent physical interpretation of its results.
  • STUDY THE POTENTIAL OF AROMATIC WINE VARIETIES GROWN IN MINORITY CASTILLA LA MANCHA.
    Author: SANCHEZ PALOMO LORENZO EVA.
    Year: 2006.
    University: CASTILLA-LA MANCHA [www.uclm.es].
    Place of defense: F.CIENCIAS QUIMICAS.
    Place of preparation: FACULTAD DE CIENCIAS QUIMICAS DE CIUDAD REAL.
    Summary: The main objectives of this report were studying the adequacy of the different techniques of extraction of volatile compounds of grapes and musts, the application of different oenological practices to increase the variety of white wines young varieties grown in Castilla-La Mancha and knowledge of the aromatic potential of musts and wines from grape varieties and white ink of this same region by studying its composition and its sensory characteristics volatile Chapter I. Extraction Techniques of Volatile Compounds of Grapes and Mostos - has been compared capacity extraction of volatile compounds of musts techniques in solid phase extraction (SPE), and simultaneous extraction and distillation (SDE) with the extraction liquid (LLE). All techniques allowed the identification and quantification of a sufficient number of compounds scent of motorbikes to enable its characterization. The technical advantages of BDS introduced as the use of a smaller volume of solvent and a shorter extraction but submitted a low recovery of more polar compounds and the formation of devices. The technique HS-SPME can be used as a fast and efficient method for determining the maturity of aromatic grapes using a fiber PDMS / DVB exposed for 20 minutes to space head of the sample heated at 70Â ° C. Chapter II. Techniques for improving the flavor of white wines youth. It has studied the influence of different techniques for enhancing the flavor of wine primary among which ripeness of the vintage, the use of enzymes glicosidásicas and maceration pre-fermentativa. The wines produced from the Riesling grape variety introduced high concentration of compounds terpénicos and C13-norisoprenoides free and glicosídicamente linked. Sensorialmente were characterized by floral aromas, fresh and fruity. The musts and wines of the variety moscato Grain Menudo presented sufficient quantities of compounds terpénicos free and linked to reveal terms sensory character amoscatelado. The musts and wines of the variety Albillo were characterized by high concentrations of compounds C6 and bencénicos. The maturity of the harvest, directly influences the flavor of wine so that when the harvest is early contain larger amounts of composite C6 and smaller quantities of compounds varietal, but this influence depends primarily on the variety of grape used in elaborating. - Treatment of wine with enzymes glicosidásicas slightly modifies the chemical composition of wine, but the biggest differences were evident from the point of view sensory increasing the intensity of most of the attributes of sensory-profile maceration pre-fermentativa during 15 and 23 hours a controlled temperature of 18Â ° C increases the concentration of most compounds varietal which is reflected in the sensory profile of wines especially when it comes to wine grape varieties produced from neutral. Chapter III. Characterization of the potential of wine grapes, and red wine musts minority varieties grown in Castilla-La Mancha. The comparison has been made with traditional methods of determining the maturity of the harvest with the Sensory Analysis of Quantitative Description grapes as a method to predict the date of harvest and identify sensory characteristics of the wines. It has studied the potential of aromatic red varieties minority of Castilla-La Mancha, on the basis of chemical and sensory distinctive characteristics of each wine. - The proposed method Sensory Analysis Description 8 Cuantita 847 tive of the grapes as an alternative method and / or supplementary rates maturity traditionally used. - It has been characterized and linked the free fraction of the scent of musts and wines red varieties minority of Castilla-La Mancha. The musts and wines varieties Cencibel, Rojal and Tortosí had high concentrations of compounds C6. The wines of the variety Bobal had significant concentrations of compounds bencénicos while wines of the variety Agria Moravia were characterized by high concentrations of compounds terpénicos and C13-norisoprenoides. - The differences in the chemical composition of the wines were evident from the point of view sensorial.Los wine varieties and Cencibel CFA had an increased intensity of the smell of red fruits, leather and the notes to snuff highlighted in wines Moravia Fresh Rojal, Bobal and Tortosí, while wines of the variety Agria Moravia were characterized by floral aroma and passion fruit. - All varieties studied showed a potential aromatic interesting from the point of view of chemical and sensory. - The recovery of these varieties would on the one hand an increase of biodiversity and on the other would increase the supply to consumers of wines monovarietales and 'coupages', which promotes the differentiation of our wines in the domestic and international markets.
  • VISUAL INSPECTION OF A VEHICLE USING AIR AUTONOMOUS DETECTION AND TRACKING FEATURES IN OUTDOOR SPACES
    Author: MEJIAS ALVAREZ LUIS OSCAR.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: E.T.S. ING. INDUSTRIALES.
    Place of preparation: E.T.S. ING. INDUSTRIALES.
    Summary: The aim of this thesis has been to design robots guided by aerial vision. The use of sensors in visual aerial robots to perform tasks such as avoidance of obstacles, tracking targets or detection features, allows such robots serve viewers intelligent applications for inspection, patrolling and monitoring, digital aerial reconstruction, and so on. Moreover, the use of computer vision can reduce uncertainty and increase the versatility and overall performance when doing robotic tasks. This thesis deals with the problem of visual servo control of a vehicle air autonomous outdoor spaces, especially an autonomous helicopter. This paper proposes computer vision techniques that allow a vehicle aerial maneuvers while making tracking features, which allow among other applications, align the car with a given target. She explores visual servo control techniques using directly the position of the features in the image to generate referrals speed flight control, namely the task specified in the workspace of the sensor. This strategy requires no calibration procedures of the camera or 3D reconstruction of the scene, which are subject to errors and require high-capacity computing. Although the problem of visual inspection has been well studied for the case of terrestrial robot or robots articulated, this has not happened in the case of robots in the air and on the specific problems mentioned in this dissertation, as is to generate slogans reference from the detection of objects in the image, without an understanding of its position in space. The proposal of this thesis has been tested and validated using different test platforms, through numerous pilot tests. Different factors were investigated which affect system performance, factors such as processing speed, vibrations, control strategies, and environmental conditions such as lighting, texture changes, and so on. Experiments done in the autonomous helicopters used show that the strategy can be used to control the movement vertical, horizontal and longitudinal this vehicle, and similarly visually follow an objective and guide the path of the helicopter.
  • INTEGRATION OF KNOWLEDGE DISCOVERY TECHNIQUES IN DATABASE WITHIN MODELS PROCESS ENGINEERING USABILITY
    Author: González María Paula.
    Year: 2006.
    University: LLEIDA [www.udl.es].
    Place of defense: EPS - Universitat de Lleida.
    Place of preparation: EPS - Universitat de Lleida.
    Summary: Usability is a software quality defined by ISO standards and related to the ease of use and learning of interfaces. The Usability Engineering provides models of the software development process where usability is the main goal to achieve. All these process models include an assessment phase where it is carried out, inter alia, a qualitative assessment of the usability through a methodology called QUT (Qualitative Usability Testing). QUT The methodology includes a range of methods to collect data on the usability which then must be analyzed to determine their relevance. This process of analysis incorporates assessment techniques based on the interpretation of judgments expressed by users and experts in natural language, with a consequent increased risk associated with the bias of the evaluation team that interprets those judgments. That is why the Usability Engineering poses as a challenge within QUT include mechanisms to help improve this problem. In addition, the existing methodology QUT is raised for the evaluation of a system in particular, becoming very complicated when you want to assess the usability of a group of systems within the same context of use in order to obtain a diagnosis qualitative usability of this context. This thesis provides solutions to the two issues of the preceding paragraph. First is the methodology QUTKDD, which extends the existing methodology QUT through incorporating techniques of Knowledge Discovery in Databases (KDD by Knowledge Discovery in Databases) to justify the usability problems found. The KDD is a discipline from the Artificial Intelligence-related non-trivial extraction patterns new, previously unknown and potentially useful for large databases. Based on data provided by users and experts, QUTKDD allows not only analyze each issue of usability of a more impartial, but also power generation patterns problems usability new, previously undetected by the evaluation team. Based on the methodology QUTKDD, this thesis also presents a new methodology called QUTCKDD, especially targeted to evaluate the usability of contexts for use as a whole, beginning with the joint study of the usability of a sample of systems within the context of use under consideration. It is studying the feasibility of the two proposed methodologies both from the standpoint of the Usability Engineering, and from the point of view of KDD. In addition, it includes three Tests Concept, which allows test the adequacy of methodologies QUTKDD and QUTCKDD from an empirical point of view. It analyzes the potential impact of technological performance and raises new lines of inquiry that open from working here presentado.Biblioteca
  • IMPORTANCE OF HYGIENIC CONTROL OF THE SURFACES FAST FOOD AND TRADITIONAL TECHNIQUES TO PREVENT AND / OR MINIMIZE CROSS-CONTAMINATION
    Author: FUSTER VALLS NURIA.
    Year: 2006.
    University: AUTÓNOMA DE BARCELONA [www.uab.es].
    Place of defense: FACULTAT DE VETERINARIA.
    Place of preparation: FACULTAD DE VETERINARIA.
    Summary: Despite the absence of a legal document requiring the microbiological control surfaces, in most environments in the food sector, increasingly, the food industry is aware of how important it is to verify the plan for cleaning and disinfection. Thus, the cleaning and disinfection programs are designed with the objective of reducing, and in some cases, eliminate the burden and bacterial remnants of organic and inorganic matter of food surfaces. Thus, it is intended to minimize the risk of cross-contamination to ensure a safe product and quality. Currently, a factor to consider in designing the plan is the elimination of sanitation structures called biofilms, which had not been taken into consideration until we have developed systems that allow you to make their detection. So much so that in recent years there had been a growing interest in research, development and / or improvement of techniques fast, reliable and simple to assess the contamination of surfaces. However, knowledge about its validity in practical industrial use is still low. This paper describes and compares traditional techniques and quick to evaluate microbiological contamination on surfaces and the formation of biofilms in condicones experimental, especially this study has been carried out with pathogenic microorganisms alterantes and as L.monocytogenes and later and with the experience gained, has conducted a survey of monitoring and setting limits in a critical food industry. In addition, the work underscores the importance of isolating microorganisms in the industrial environment and the potential and future prospects for using the techniques described in the industrial environment as tools to verify the cleanliness and control surfaces. Moreover, this work reflects the experience gained during three months abroad in which they evaluated the efficacy different antimicrobial substances on skin of animals for possible implementation within the methods of decontamination of channels that are regulated in the United States of America.
  • BIODEGRADACIÓ D'HIDROCARBURS ALIFÀTICS CLORATS PER FONGS LIGNINOLÍTICS
    Author: MARCO URREA ERNEST.
    Year: 2006.
    University: AUTÓNOMA DE BARCELONA [www.uab.es].
    Place of defense: DEPARTAMENTO DE INGENIERÍA QUÍMICA.
    Place of preparation: DEPARTAMENTO DE INGENIERIA QUIMICA.
    Summary: Trichloroethylene (TCE) and perchloroethylene (PCE) are chlorinated aliphatic hydrocarbons which have been widely used in industrial cleaning solutions. TCE and PCE are ranked sixteenth and thirty first, respectively, on the EPA 2005 Comprehensive Environmental Response, Compensation, and Liability Act (CERCLA; commonly known as Superfund) priority list for hazardous substances. Since TCE and PCE are among the most common organic pollutants found in groundwater, there have been many investigations in the past to study microbial degradation and bioremediation of environments contaminated by TCE and PCE. Most of the studies to date have focused on reductive dechlorination of TCE and PCE to less chlorinated ethenes by anaerobic bacteria. However, in many of the studies, these compounds were shown to undergo incomplete dehalogenation to toxic products (such as cis-1,2,-dichloroethylene) and carcinogenic intermediate (such as vinyl chloride), which poses an important limitation to the use
  • QUANTIFICACIÓ, IDENTIFICACIÓ I TIPIFICACIÓ OF LLEVATS VÍNICS MITJANÇANT L'ÚS OF DIFERENTS TÈCNIQUES MOLECULARS
    Author: Hierro Crivillé Núria.
    Year: 2006.
    University: ROVIRA I VIRGILI [www.urv.cat].
    Place of defense: Universidad Rovira i Virgili.
    Place of preparation: Universidad Rovira i Virgili.
    Summary: In this work we have developed and validated a series of molecular techniques for the characterization, identification and quantification of interest wine yeasts to better understand the development of different species of yeast during alcoholic fermentation and its contribution to the final product. Two techniques have been developed for rapid identification and senzillas, ERIC-PCR and REP-PCR based on random amplification of repetitive sequences in the bacterial genome (REP elements and ERIC). We adapt these techniques for the characterization and identification of levadueas vínicas and complement this work with the use of PCR-ISS (PCR-Intron Splice Sites), a technique already used in the identification of yeast strain level. To check the validity of the three techniques developed, a study was conducted in different ecological conditions of fermentation. Also in this ecological study examined the effect of the degree of maturation of the grapes and the practice of cold maceration on the population dynamics of the alcoholic fermentation. It also developed a method for detection and quantification of yeast vínicas without the need for growth plate, the technique of real-time PCR. Some specific primers were designed to detect and quantify yeast total, total viable yeast, Saccharomyces spp. And Hanseniaspora spp. With these techniques quantification also found to be valid to quantify samples from alcoholic fermentations.
  • DEVELOPMENT OF A PRICING MODEL MOTORWAY CONCESSIONS BASED ON THE THEORY OF REAL OPTIONS. VALIDATION THROUGH THE ANALYSIS OF HISTORICAL DATA CONCESSIONS IN SERVICE.
    Author: LARA GALERA ANTONIO LORENZO.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: E.T.S.I. DE CAMINOS, CANALES Y PUERTOS.
    Place of preparation: ESCUELA TÉCNICA SUPERIOR DE INGENIEROS DE CAMINOS, CANALES Y PUERTOS.
    Summary: ONLINE RESEARCH CENTRADA IN THE ANALYSIS OF INVESTMENT CLIMATE FOR UNCERTAINTY IN IMPLEMENTING THE THEORY OF OPTIONS FOR VALUATION OF REAL MOTORWAYS
  • MODEL FOR DEFINING AUTOMATIC CORRELATION BETWEEN ONTOLOGIES AND RELATIONAL MODELS
    Author: Barrasa Rodríguez Jesús.
    Year: 2006.
    University: POLITÉCNICA DE MADRID [www.upm.es].
    Place of defense: Facultad de Informática.
    Place of preparation: Facultad de Informática.
    Summary: The work contained in this thesis focuses on the association of semantics explicit ontologies based on relational data sources with the aim of carrying out an improved exploitation of the content of these sources. It proposes an integrated framework for the discovery semiautomatic, the formal expression, evaluation and exploitation correlation between semantics and ontologies relational databases. This framework will be based on a model for defining semantic correspondences between ontologies and relational models which operates within the language extensible and declarative R2O. The exploitation of the correlation is geared to the generation of semantic content from the content of the database-a process referred to in the literature as enrichment or upgrade-.
  • INFORMATION SOURCES SELECTION METHODOLOGY FOR RECOMMENDER SYSTEMS BASED ON INTRINSICS CHARACTERISTICS AND TRUST MEASURE.
    Author: Aciar Silvana Vanesa.
    Year: 2006.
    University: GIRONA [www.udg.es].
    Place of defense: Universitat de Girona.
    Place of preparation: Universitat de Girona.
    Summary: The work developed in this thesis presents an in-depth study and provides innovative solutions in the field of recommender systems. The methods used by these systems to carry out recommendations, such as Content-Based Filtering (CBF), Collaborative Filtering (CF) and Knowledge-Based Filtering, require information from users to predict preferences for certain products. This may be demographic information (genre, age and address), evaluations given to certain products in the past or information about their interests. There are two ways of obtaining this information: users offer it explicitly or the system can retrieve the implicit information available in the purchase and search history. For example, the movie recommender system MovieLens (http://movielens.umn.edu/login) asks users to rate at least 15 movies on a scale of * to * * * * * (awful, ... , must be seen). The system generates recommendations based on these evaluations. When users are not registered into the site and it has not information about them, recommender systems make recommendations according to the site search history. Amazon.com (http://www.amazon.com) make recommendations according to the site search history or recommend the best selling products. Nevertheless, these systems suffer from a certain lack of information [Adomavicius, 2005]. This problem is generally solved with the acquisition of additional information; users are asked about their interests or that information is searched for in additional available sources. The solution proposed in this thesis is to look for that information in various sources, specifically those that contain implicit information about user preferences. These sources can be structured like databases with purchasing information or they can be unstructured sources like review pages where users write their experiences and opinions about a product they buy or possess. We have found three fundamental problems to achieve this objective: 1- The identification of sources with suitable information for recommender systems. 2- The definition of criteria that allows the comparison and selection of the most suitable sources. 3- Retrieving the information from unstructured sources. In this sense, the proposed thesis has developed: 1- A methodology that allows the identification and selection of the most suitable sources. Criteria based on the characteristics of sources and a trust measure has been used to solve the problem of identifying and selecting sources. 2- A mechanism to retrieve unstructured information from users available on the Web. Text mining techniques and ontologies have been used to extract information and structure it appropriately for use by the recommenders The contributions of the work developed in this doctoral thesis are: 1- Definition of a set of characteristics to classify relevant sources of information for recommender systems. 2- Development of a measure of relevance of sources according to characteristics defined in previous point. 3- Application of a trust measure to obtain the most reliable sources. Confidence is measured from the perspective of improving the recommendation; a reliable source is one that leads to improved recommendations. 4- Development of an algorithm to select, from a set of possible sources, the most relevant and reliable ones according to measures defined in previous points. 5- Definition of an ontology to structure information about user preferences that are available on the Internet. 6. The creation of a mapping process that automatically extracts information about user preferences available on the web and put in the ontology. These contributions allow us the achievement of two important objectives: 1- Improving recommendations using alternative sources of information that are relevant and trustworthy. 2- Obtaining implicit information about user available on the Internet.
  • ADVANCES IN ANIMAL BLOOD PROCESSING, DEVELOPMENT OF A BIOPRESERVATION SYSTEM AND INSIGHTS ON THE FUNCTIONAL PROPERTIES OF PLASMA.
    Author: DÀVILA RIBOT EDUARD.
    Year: 2006.
    University: GIRONA [www.udg.es].
    Place of defense: UNIVERSIDAD DE GERONA.
    Place of preparation: UNIVERSITAT DE GIRONA.
    Summary: Blood is a product which is obtained in significant quantities in the slaughterhouse industry with a high potential for recovery. Currently, most systems for collecting blood do not use some stringent hygiene measures, so that it becomes a product with low microbiological quality. Consequently, its use is not very challenging from an economic point of view, because the qualities that enable the production of high added value often lost. In order to increase interest in his recovery, we should implement a simple and inexpensive system to ensure the quality of blood during harvesting and storage. Furthermore, it enhanced the production of blood through the use of its functional properties in respect to the production of food ingredients. Chapter I is included in a bill proposing the use of lactic acid bacteria as crop bioconservador of blood, a simple and low cost to the stability of the blood, both microbiological and physical chemistry during their storage. First, it conducted the identification of a collection of strains of lactic acid bacteria by genotypic methods. These strains had been isolated previously tanks blood, and had studied their ability antagonist face certain micro indicators. His identification found that the diversity of strains LAB present on the premises only corresponded to the following species: Lactococcus garvieae, Lactobacillus reuteri, Lactobacillus murinus, Enterococcus raffinosus, Enterococcus disparate, Enterococcus hirae, Lactobacillus mucosae and Streptococcus bovis. The first four accounted for 95% of all colonies isolated and were equally distributed in all plants sampled. Secondly, it was determined the ability of blood conservation maintained at 15 ° C for 12 strains selected according to the inhibition which had proved in previous trials conservation plate. The results showed that 5 of the 12 strains used inhibited the growth of microorganisms indicators, and demonstrated the positive impact of the presence of LAB face physicochemical alterations caused by the pollutant microbiota, especially in the disruption of the functional properties of the plasma. The two strains that showed the best results were selected for testing bioconservación to 5 ° C. It was decided to enrich the blood with inulin, a power source for selective activity LAB. Tests bioconservación blood enriched with inulin to 2% showed that the addition of the strains had positive effects compared to the growth of coniformes, Pseudomonas spp., Hemolytic and proteolytic bacteria, and found that the inoculation of the strain PS99 (E. raffinosus) might be suitable for maintaining the quality of the blood in terms of cooling, especially in terms of preventing its decline in cases of ruptured cold chain. Chapter II is part of a project that aims to improve the comprehensive use of blood, the case of the plasma fraction, focuses on the study of the functionality of its main constituent. Knowing the contribution of the major components can allow improving the functionality of food ingredients arising from them. The fractions that were investigated were: plasma, serum albumin and globulins. The functional properties that were studied under various conditions of pH (4.5 to 7.5), were: gel, solubility, and capabilities blowing and emulsifiers. In addition to establishing the results of all samples in terms of its functionality, studies were conducted using biochemical analysis calorimétrico differential spectroscopy FT-Raman and electrophoresis. It also investigated the interactions proteína-proteína between different const 8 ituyente cc7 s: a comparison between the plasma and serum fibrinogen unveiled's contribution, and the comparison between serum albumin and globulins isolated interactions between them. On the other hand, we developed a method to characterize the microstructure of the gels that allow the study of the structural conformation of all fractions. The results of the properties of gel showed that all components had different thermal properties, which contributed so specific protein aggregation suffered by the plasma when subjected to a process of gel-induced heat. It was determined that the formation of covalent bonds, the development of weak unions and changes in the component of the secondary structure involved in the formation of gels from all fractions. They, in turn, showed macroscopic properties individuals in terms of their profile texture and water-holding capacity. It was found that fibrinogen interaccionaba of selectively with albumin during the gel, which globulins compactes gels formed in all pH conditions studied and that the interplay of globulins albumin conferred with a hardness in the gels significantly higher than expected in mixtures of the two fractions. As for the solubility of the fractions, all showed higher values, higher than 85%. The surface properties, on the other hand, showed significant differences between the samples, in some cases modified by the pH. The foaming ability of the fractions was high, with the exception of globulins at pH 6.0 and 7.5, and the stability of the foam was greater in albumin and plasma samples at pH 6.0. The ability emulsifier from all fractions were similar, but the stability of emulsions showed big differences. At pH 7.5, albumin and globulins filed a stability far superior to plasma and serum, and the same fractions to acid pH. With all this, it was concluded that the functional properties of the plasma could be reconducidas toward specific food requirements through the reformulation of its natural composition, enhancing those effects through the pH control. The results presented in this thesis could help the recovery of blood industrial hog slaughterhouses by the knowledge gained on improving its collection system and the development of functional food ingredients with interesting properties.
  • CONTRIBUCIÓ TO POSICIONAMENT DINÀMIC ROBOT MÒBILS PER MITJÀ D'UN SISTEMA LÀSER.
    Author: Font Llagunes Josep Maria.
    Year: 2006.
    University: GIRONA [www.udg.es].
    Place of defense: Escola Politècnica Superior.
    Place of preparation: Escola Politècnica Superior.
    Summary: This thesis addresses the problem of dynamic positioning of mobile robots when in the course of his movement are performed measurements of the angular orientation on the robot, the line between one of its known position and points of the environment. The dynamic positioning of a mobile robot is designed to calculate, at every moment and while it is in motion, the position of a robot and its orientation in the workplace. It is believed that the measurements angular -relativas to robot- are performed using a laser positioning system. This system consists of a rotating laser head with its stator fixed robot- measuring angles, and a set of reflectors reflectors installed on the walls of the working environment. The head emits a laser beam that sweeps horizontally and that the environment is reflected in the same direction when it affects a reflector. The reflected beam is detected by an optical sensor, and a high resolution encoder measures its angle relative to the robot. Starting from a minimum of three and angular measurements of the position of the reflectors partners it is possible to calculate the position and orientation of the robot using geometrical methods of triangulation, provided that the measurements correspond to the same configuration of the robot. The previous condition is fulfilled when the robot is at rest (static positioning). However, when the robot moves measurements correspond to different configurations of the vehicle, why they are performed in different moments of time. This raises what is known as "the problem of dynamic positioning." Under these conditions, the geometric triangulation methods can not be applied consistently directly from measurements performed by the sensor. The main contribution of the thesis is the development of a dynamic algorithm based on an extended Kalman filter (EKF, Extended Kalman Filter) estimated that in every instance the state formed by the angles associated with reflectors employees, although there is no direct measurement of sensor. Thus we get a simulation of the evolution of each angle between direct measurements of the sensor. The equation governing the evolution angle, which is the equation transition of EKF- is state entries measures hodométricas of turning the wheels of the robot, and depends on the particular robot kinematics. In this thesis are considered cinematic three widely used in mobile robotics: The kinematic differential, kinematics tricycle, and kinematics with omnidirectional wheels slip directional. Using the EKF state angle that occurs, the angles are known to the same configuration of the robot at any instant, and thus guarantees the consistent use of geometric equations of triangulation to calculate the position and orientation of robot. The method of dynamic positioning it intends to have an early estimate angular momentum, and the second phase of calculating the geometric positioning of triangulation. As is evident along the thesis, the fact that the EKF angle has the equation linear -porqué the extent vector components state are directly measured by the sensor- improves the convergence of the filter compared to other versions of the EKF they have a non-linear equation measure. Referring to the positioning triangulation, if you have three measurements angular -relativas to robot- for three points and out of the environment, the thesis are considered two methods: triangulation based on the intersection of arcs capable, and by triangulation intersection of lines. In triangulation based on arcs can be determined firstly the position of the vehicle through the intersection of the circles that define arcs capable, and once it knows the position can be calculated for guidance. It is believed, in a first approximation, spreading a narrow angle. And then, as the EKF state angle that is presented determines each instant estimation of the angles of each reflector and the error considered gaussian, is a statistical survey of positioning errors considering normal angles. For the latter case is justified, through the generation of maps error sesgo- use of the first-order approximation of the equations of triangulation to determine the best estimate of positioning and for the calculation of the spread of the bug. To apply for triangulation intersection of straight lines, we need an estimate of the orientation of the robot prior to the calculation of its position. The thesis is improved geometric present a method in the literature in which determines the orientation of the robot basis of an approximation of himself through an iterative approach that minimizes the perimeter of a triangle. The contribution of the thesis in this problem is to demonstrate that there is a relationship between analytic geometry of this triangle and the orientation of the robot. So the orientation can be calculated directly without having to go to the iterative method, once given orientation can be calculated position intersecando two of the three lines available. Finally, the argument is conducted computer simulations and experiments with an actual prototype to validate the accuracy of the method for estimation of dynamic positioning that has developed. The computer simulations are done with mathematical software MATLAB v7.1. It simulates the operation of the method in seven different trajectories, and are held 500 simulations of each trajectory with different errors in the measurements -hodométricas and sensor láser- to obtain the mean and the standard deviation of the errors in positioning. The results are compared with those obtained by the EKF state positional método widely utilizado- who believes positioning directly from each of the angular measurements. It is noted that the method developed leads to better results because the initial positioning error decreases faster. The experimental validation using a mobile robot developed and designed in the Department of Mechanical Engineering of UPC: the mobile robot SPHERIK-3x3, which has an omnidirectional kinematics (3 degrees of freedom) and uses three directional wheels sliding roller spherical with a design that ensures the invariance of the Jacobian. The robot incorporates sensors hodométricos and laser sensor and uses a metrological system (consisting of two encoders and a linear potentiometer) to measure the precise positioning of the robot in the course of their movement. The positioning determined by the dynamic method developed compared with the measuring system for determining metrological positioning errors. Errors also the method are compared with those obtained when using the EKF classic positional status. The work presented in this thesis proposes a new technique for dynamic positioning of mobile robots, and covers various areas related to robotics such as mechanical engineering, automation and information technology industry. The main contributions are presenting a proactive approach angle estimate that ensures consistent use of geometric equations of triangulation, the improved method of triangulation based intersection of straight lines in literature, and the design and implementation of a metrological experimental system to determine the accuracy of different methods of dynamic positioning for mobile robots.
  • PRINCIPLES OF PHOTOGRAMMETRY CONVERGENCE IN THE ARCHITECTURAL PHOTOGRAMMETRY.
    Author: GARCÍA LEÓN JOSEFA.
    Year: 2006.
    University: EXTREMADURA [www.unex.es].
    Place of preparation: UNIVERSIDAD DE EXTREMADURA.
    Summary: The aim of the thesis is to explore, analyze and propose a workflow with commercial programs to build a digital model of dense surfaces and accurate through various images of the same object with geometry convergent.
153 theses in 8 pages: 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8
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