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  • An automated multi-flume actograph for the study of behavioral rhythms of burrowing organism

     Sbragaglia, Valerio; Aguzzi, Jacopo; García, José Antonio; Sarria Gandul, David; Vilaró, M.; Gomariz Castro, Spartacus; Costa, C.; Menesatti, Paolo; Manuel Lazaro, Antonio; Sardá Amills, Francesc
    Journal of experimental marine biology and ecology
    Date of publication: 2013-06-16
    Journal article

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    Design of seismic acquisition system for volcanology  Open access

     Carreras Pons, Normandino; Manuel Lazaro, Antonio; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-07-01
    Journal article

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    This paper presents a new design based on acquisition system of the volcanic seismic data. Mainly, this system is composed of a microcontroller to manage the peripherals, a module to acquire the information of seismic sensor and a module of communications that contains the RF and GPS system. The prototype aims to be a very low power system allowing also working during a complete year.

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    Measuring system and power management of the Guanay II AUV  Open access

     Masmitjà Rusinyol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-08-01
    Journal article

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    Latest contribution to guanay II  Open access

     Masmitjà Rusinyol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-10-01
    Journal article

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  • Linear control of the yaw and rudder limitations for Cormoran AUV

     Gonzalez Agudelo, Julian; Masmitja Rusiñol, Ivan; Batlle Arnau, Carles; Gomariz Castro, Spartacus; Llorens Garcia, Ariadna
    International Workshop on Marine Technology
    Presentation's date: 2013-10-11
    Presentation of work at congresses

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  • Latest contributions to Guanay II

     Masmitja Rusiñol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus; Prat Tasias, Jordi; Del Rio Fernandez, Joaquin
    International Workshop on Marine Technology
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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  • Mathematical model of the Guanay II AUV

     Gonzalez Agudelo, Julian; Masmitjà Rusinyol, Ivan; Gomariz Castro, Spartacus; Batlle Arnau, Carles; Sarria Gandul, David; Del Rio Fernandez, Joaquin
    OCEANS MTS/IEEE
    Presentation's date: 2013-06-12
    Presentation of work at congresses

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    This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile, which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.

    This work presents a mathematical study to obtain the coefficients that define the dynamics of an autonomous underwater vehicle (AUV), the Guanay II vehicle, with 3 degrees of freedom. This dynamics is given by several forces and moments (hydrostatic, hydrodynamic, added masses and propellers), which largely depend on the vehicle geometry. The Guanay II AUV has been designed following a Myring profile,which improves the hydrodynamics of the vehicle but also yields a tractable mathematical model. The model describes the geometric characteristics of the vehicle and the disposition of the thrusters and has backward movement capacity. The model has been tested by means of simulations and a prototype has been validated in real navigation.

  • Design of seismic acquisition system for volcanology

     Carreras Pons, Normandino; Manuel Lazaro, Antonio; Gomariz Castro, Spartacus
    IMEKO World Congress
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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    This paper presents a new design based on acquisition system of the volcanic seismic data. Mainly, this system is composed of a microcontroller to manage the peripherals, a module to acquire the information of seismic sensor and a module of communications that contains the RF and GPS system. The prototype aims to be a very low power system allowing also working during a complete year.

  • Measuring system and power management of the Guanay II AUV

     Masmitja Rusiñol, Ivan; Gonzalez Agudelo, Julian; Masmitjà, Gerard; Gomariz Castro, Spartacus; Del Rio Fernandez, Joaquin
    Symposium on Measurements of Electrical Quantities
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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  • Precision timing in TDMA - based Wireless Sensor Network through IEEE 1588 standard

     Toma, Daniel Mihai; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio; Gomariz Castro, Spartacus; Carreras Pons, Normandino
    IMEKO World Congress
    Presentation's date: 2013-07-18
    Presentation of work at congresses

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    This paper proposes an energy-efficient time synchronization scheme for Wireless Sensor Networks (WSNs) based on the IEEE 1588 standard. Although a number of methods have been studied for time synchronization of WSNs, some applications require high precision time synchronization with very low power consumption. This paper presents a reduced implementation of IEEE 1588 precision time protocol (PTP) for WSNs. Within the proposed synchronization approach, a sensor node is synchronized using the timing message generated by a master node synchronized with GPS. This paper also presents experiments to evaluate the performance of the precision time synchronization of a slave-master pair of sensor nodes.

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    Linear control of the yaw and rudder limitation for Cormoran AUV  Open access

     Gonzalez Agudelo, Julian; Masmitja Rusiñol, Ivan; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-10-01
    Journal article

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  • Linear control of the yaw and rudder limitations

     Gonzalez Agudelo, Julian; Masmitja Rusiñol, Ivan; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-07-01
    Journal article

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    This work presents a detailed situation about the linear control design for the yaw in the Cormoran autonomous underwater vehicle (auv). The development includes the physical limitations of the rudder that involve more constraints for the control. The whole system is simulated in simulink and three different controls (P, PD, PID) are compared.

  • Latest contributions to Guanay II

     Masmitja Rusiñol, Ivan; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2013-07-01
    Journal article

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    This work presents the last contributions incorporated into AUV Guanay II, these have been emerged after some test fields, tests in the swimming pool and in the ocean, such as Mar Menor and Mar Mediterrani. These improvements are: First in the communication and control systems, for a more fluid communication a WiFi system has been incorporated, this allows access to PC-104 of Guanay II without disassemble it; second, a new RF system to connect and disconnect the electronics and a new method to charge the batteries have been designed; third, a new driver for lateral motor has been developed that allows control the motor in both directions; then the software of the vehicle and the base station has been upgraded to obtain a major and better user control; finally, a new ballast system has been incorporated. All of new contributions have been tested in the laboratory and in the field.

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    AUV based multi-vehicle collaboration: Salinity studies in Mar Menor coastal lagoon  Open access

     Gonzalez Agudelo, Julian; Masmitja, Ivan; Gomariz Castro, Spartacus; Molino, Erik; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio; Busquets, J; Guerrero, A; Lopez, F; Carreras, M; Ribas, D; Carrera, A; Candela, C; Ridao, P; Sousa, J; Calado, P; Pinto, J; Sousa, A; Martins, R; Borrajo, D; Olaya, A; Garau, B; Gonzalez, I; Torres, S; Rajan, R; McCann, M; Gilabert Cervera, Javier
    IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles
    Presentation's date: 2012-04-10
    Presentation of work at congresses

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    An experiment with different AUVs was carried out in the Mar Menor Coastal Lagoon from October 31 to November 5 in order to measure and assess the influence of the water from the Mar Menor on the adjacent area of the Mediterranean. This was carried out as a result of the meeting held between several institutions from the Iberian Peninsula and EEUU (see Vilanova Marine Science/Robotics Meeting 2010). The experiment was to launch several AUVs at the same time in different zones of the Mediterranean and Mar Menor lagoon. AUVs took salinity data trying to do a coordinated mission during two operative days (November 3 and November 5). Others days of the experiment were used to the vehicle’s preparation and error correction (November 2 and November 4). This paper presents the steps followed in preparation and operative days with the set of AUVs. This paper presents also the salinity results obtained during these missions.

  • Limitations of linear control for Cormoran-AUV

     Gonzalez Agudelo, Julian; Benezra, Andreina; Gomariz Castro, Spartacus; Sarria Gandul, David
    IEEE International Instrumentation and Measurement Technology Conference
    Presentation's date: 2012-05-13
    Presentation of work at congresses

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    This work shows a mathematic calculation of the hydrodynamic model for the Cormoran-AUV, together with a linear controller which is valid in a certain range of speeds. It also presents the navigation instruments needed to work correctly. The mathematic model has been simplified to three degrees of freedom of movement and the whole system has been simulated using the Matlab Simulink Software. The system has been linearized for different velocities to design a linear control PD for each one of them. The performance of each PD controller is studied, and some limitations in the implementation of the control have been detected. For the case of low speeds, the desired path doesn’t reach the goals of control’s design using the non-linear model. This behavior motivated the search of a valid range of speeds for the nonlinear model. Different paths have been simulated using this control and their results have been compared trhough the performance in the rising time and the establish time.

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    Salinity studies in mar Menor using Guanay II AUV  Open access

     Gonzalez Agudelo, Julian; Masmitja Rusinyol, Ivan; Del Rio Fernandez, Joaquin; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2012-01-01
    Journal article

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    Data acquisition system for volcanic seismic  Open access

     Carreras Pons, Normandino; Gomariz Castro, Spartacus; Parisi Baradad, Vicenç; Del Rio Fernandez, Joaquin
    Instrumentation viewpoint
    Date of publication: 2012-12-01
    Journal article

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    This paper presents a design that is being created for the acquisition of volcanic seismic data. This system is composed by a microcontroller to management the peripherals, a module to acquire the information of seismic sensor and the module of communications that is composed of the RF and the GPS system. The prototype will be a very low power system and it will allow work during a complete year.

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    Ballast system for Guanay II AUV  Open access

     Gonzalez Agudelo, Julian; Masmitja Rusinyol, Ivan; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2012-12-01
    Journal article

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  • PELIGRO VOLCÁNICO Y EVALUACIÓN DEL RIESGO EN TENERIFE

     Carbonell Ventura, Montserrat; Segalas Coral, Jordi; Prat Farran, Joana d'Arc; Manuel Lazaro, Antonio; Gomariz Castro, Spartacus
    Participation in a competitive project

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    AUV-2011-Underwater robotics experiment in the Mar Menor coastal lagoon  Open access

     Gilabert, Javier; Gomariz Castro, Spartacus; Molino Minero Re, Erik; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio; Carreras, Marc; Ridau, Pere; Sousa, Joao; Martins, Ricardo; Borrajo, Daniel; Olaya, Angel; Garau, Bartolomé; González, Ignacio; Busquets, Javier; Guerrero, Antonio; García-Córdova, Francisco; Rajan, Kanna
    International Workshop on Marine Technology
    Presentation's date: 2011-09-22
    Presentation of work at congresses

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    As a result of the meeting held at SARTI in November 2010 (http://sites2.upc.edu/~www-sarti/web/cat/meeting/meeting.php) we are planning to conducta n AUVs experiment in order to determine the influence domain of the saltier plume of water going out the Mar Menor lagoon towards the Mediterranean Sea through The Estacio cannel. This goal, besides the relevance to understand the influence of the lagoon on the Mediterranean Sea, offers the challenge of cordinating, for first time, a fleet of AUVs from different research institutions of Spain and Portugal. Experiments like this will follow in the future. These engineering and process oriented challenges are aligned along two primary and two secondary goals: 1) Primary goals: a) Deployment of a heterogeneous mix of mobile assets to densely simple a confined meso-scale area (<50 Sq. Km). While no lower bound on this number is envisioned, we expect at least 3 vehicles in the water simultaneously; b) Obtaining, interpreting and validating science data obtained by in-situ assets including AUVs; 2) Secondary goals: a) Detection of prominent scientific features of intererest in-situ by AUVs and b) Detection of such features using ship/shore based human-in-the-loop. A visible side-effect of these primary goals would also ensure that the participating institutions are able to cohesively work together to plan, launch and deploy assets and in the process understand the scientific drivers of the proposed field experiment. The AUVs planned to be involved in the experiment are: GUANAY II (SARTI, UPC), Sparus (U. of Girona), ÆGIR (UPCT), SEACON and NAUV (LSTS, U. of Porto). An Slocum Glider (SOCIB) will also be involved.

  • Design and construction of the GUANAY-II autonomous underwater vehicle

     Gomariz Castro, Spartacus; Gonzalez Agudelo, Julian; Arbos Martos, Alejandro; Masmitja Rusinyol, Ivan; Masmitja Rusinyol, Gerard; Prat Tasias, Jordi
    IEEE Oceanic Engineering Society
    Presentation's date: 2011-06-07
    Presentation of work at congresses

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    This paper presents the design and construction of Guanay II vehicle. It is an autonomous underwater vehicle that navigates over the sea surface and, at certain fixed points, dives vertically to obtain a profile of a water column. The designed vehicle has a double hull structure. The external fiberglass hull,which is not watertight, has been designed in accordance with Myring profiles to provide a good hydrodynamic performance.The watertight module located inside the external hull is made of aluminum and contains the immersion actuator, power batteries and the electronic system to control vehicle operations. The control system is divided in several subsystems: navigation, propulsion/immersion, safety, communication and data acquisition. The vehicle is 2300mm long by 320mm wide, and weighs 90kg.

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    Hydrodynamic model, simulation and linear control for Cormoran-AUV  Open access

     Benezra, Andreina; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus; Garcia, Albert
    International Workshop on Marine Technology
    Presentation's date: 2011-09-22
    Presentation of work at congresses

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    This work shows the mathematic calculation for obtention of a Cormoran-AUV hydrodynamic model, it also shows a linar control design for a path tracking. The model has been simplified to three degrees of freedom of movement and the whole system has been simulated using Matlab Simulink Software. The system has been linearizated for different velocities to design a linear control for each one of them. However, all resulting systems can be controlled by a unique linear control due characteristics of the vehicle. The designed control is a PD controller, which avoids the position error since the pole of the vehicle model is at the origin. Different paths have been simulated using this control and their results have been comparated in both rising time as establish time.

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    Desarrollo de un vehículo de observación oceanográfica autónomo  Open access

     Gonzalez Agudelo, Julian; Masmitja, Ivan; Masmitja, Gerard; Prats, Jordi; Gomariz Castro, Spartacus
    Workshop Español de Robótica
    Presentation's date: 2011-11-28
    Presentation of work at congresses

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    En este trabajo se presenta el diseño y construcción del vehículo Guanay II. Es un vehículo autónomo submarino que navega sobre la superficie marina y en determinados puntos preestablecidos realiza inmersiones en vertical para obtener perfiles de la columna de agua. El vehículo diseñado tiene una estructura de doble casco. La estructura exterior, realizada en fibra de vidrio y no estanca,ha sido diseñada acorde con los perfiles de Myring para proporcionar al vehículo un buen comportamiento hidrodinámico. En el interior de esta estructura se acopla un módulo cilíndrico estanco de aluminio que contiene el actuador de inmersión, las baterías de alimentación y el sistema electrónico para el control de operaciones del vehículo. El sistema de control se encuentra dividido en los sistemas de: navegación, propulsión e inmersión, seguridad, comunicación y adquisición de datos. El vehículo mide 2.300mm de largo por 320mm de ancho y tiene un peso de 90kg.

  • AUV-2011-Underwater robotics experiment in the Mar Menor coastal lagoon  Open access

     Gilabert, Javier; Gomariz Castro, Spartacus; Molino Minero Re, Erik; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio; Carreras, Marc; Ridau, Pere; Sousa, Joao; Martins, Ricardo; Borrajo, Daniel; Olaya, Angel; Garau, Bartolomé; González, Ignacio; Busquets, Javier
    Instrumentation viewpoint
    Date of publication: 2011-09-01
    Journal article

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    in the 4th edition of MARTECH WORKSHOP which will be held in the city of Cádiz on September 2011. As in previous editions, MARTECH 2011 has been opened to all research groups working on the development of marine technologies and applications as well as companies involved in this field interested in display their products and developments. As a novelty MARTECH 2011 expands the topics covered in previous editions in order to address issues related to operational oceanography systems, new technologies for renewable marine energy and the technologies related to the offshore aquaculture. We sincerely hope, that the 77 contributions that you will find in the next pages provide you information of your interest. Warm Regards, MIGUEL BRUNO MEJÍAS Organizing Committee Martech 2011

  • APORTACIONES A LA INTEROPERABILIDAD EN LAS REDES DE SENSORES APLICADOS A LA MONITORIZACIÓN SUBMARINA

     Del Rio Fernandez, Joaquin
    Defense's date: 2011-10-21
    Department of Electronic Engineering, Universitat Politècnica de Catalunya
    Theses

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  • Aportaciones a la caracterización y minimización del ruido en los sismómetros marinos

     Roset Juan, Francesc Xavier
    Defense's date: 2011-07-29
    Department of Electronic Engineering, Universitat Politècnica de Catalunya
    Theses

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  • Hydrodynamic model, simulation and linear control for cormoran-auv  Open access

     Gomariz Castro, Spartacus; Gonzalez Agudelo, Julian; Benezra, Andreina
    Instrumentation viewpoint
    Date of publication: 2011-11-01
    Journal article

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    in the 4th edition of MARTECH WORKSHOP which will be held in the city of Cádiz on September 2011. As in previous editions, MARTECH 2011 has been opened to all research groups working on the development of marine technologies and applications as well as companies involved in this field interested in display their products and developments. As a novelty MARTECH 2011 expands the topics covered in previous editions in order to address issues related to operational oceanography systems, new technologies for renewable marine energy and the technologies related to the offshore aquaculture. We sincerely hope, that the 77 contributions that you will find in the next pages provide you information of your interest. Warm Regards, MIGUEL BRUNO MEJÍAS Organizing Committee Martech 2011

  • Fine-scale bird monitoring from light unmanned aircraft systems

     Bota, Gerard; Viñolo, Carlos; Sardà-Palomera, Francesc; Pallares Valls, Oriol; Sazatornil, Victor; Bretons, LLuis; Gomariz Castro, Spartacus
    IBIS
    Date of publication: 2011-11-07
    Journal article

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  • Aplicación de aeromodelos no tripulados (UAV) para el seguimiento de avifauna

     Sardà-Palomera, Francesc; Bota, G; Viñolo, Carlos; Pallares Valls, Oriol; Sazatornil, V.; Sardá Amills, Francesc; Gomariz Castro, Spartacus
    Congreso español de ornitología
    Presentation's date: 2010-12-04
    Presentation of work at congresses

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    Development of a control system for an autonomous underwater vehicle  Open access

     Masmitja Rusinyol, Ivan; Masmitja Rusinyol, Gerard; Gonzalez Agudelo, Julian; Shariat-Panahi Ghaderinejad, Shahram; Gomariz Castro, Spartacus
    Autonomous Underwater Vehicles
    Presentation's date: 2010-09-01
    Presentation of work at congresses

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    This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle's autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

    Postprint (author’s final draft)

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    Guanay II underwater autonoumus vehicle  Open access

     Gomariz Castro, Spartacus; Molino Minero Re, Erik; Del Rio Fernandez, Joaquin
    Instrumentation viewpoint
    Date of publication: 2010-10-01
    Journal article

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    Linear control design for a path planning of AUV-Cormoran  Open access

     Gonzalez Agudelo, Julian; Benezra, Andreina; Gomariz Castro, Spartacus; Manuel Lazaro, Antonio
    Instrumentation viewpoint
    Date of publication: 2010-12-01
    Journal article

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    This work shows a linearization for a AUV-Cormoran dynamic mathematical model with the aim of designing linear controllers for trajectory control. The model is developed under 3 degrees of freedom and the whole system has been simulated in Matlab Simulink environment. The linearization model is based on understanding the dynamics of the vehicle under different operating speeds, which present a different behavior, yet to be controlled by a single linear controller. For the linear control has raised the PD control that allows eliminate the position error, performing simulations of different trajectories and comparing its results in stability.

  • Aportaciones a la identificación de señales impulsivas generadas por impactos  Open access

     Molino Minero Re, Erik
    Defense's date: 2010-05-31
    Department of Electronic Engineering, Universitat Politècnica de Catalunya
    Theses

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    En este trabajo tesis se estudia el procesado de señales impulsivas generadas por impactos entre cuerpos rígidos. Uno de los problemas que se encuentran al trabajar con impactos es que su análisis generalmente se ve limitado a mediciones indirectas: debido a que las colisiones no se desarrollan directamente sobre el sensor, o bien, porque no es posible instrumentalizar el objeto de colisiona. Esto ocasiona que entre el sensor y el punto de impacto exista un medio de propagación que distorsiona la señal medida. El desarrollo principal de esta tesis se enfoca al problema de cómo compensar o reducir los efectos de dicha distorsión. Para ello, se han investigado y desarrollado los siguientes puntos:1) Estudio de la teoría mecánica del impacto y desarrollo de un modelo matemático del proceso de impacto entre dos cuerpos rígidos. A través de este estudio se investigan las características de las señales impulsivas generadas por colisiones. 2) Definición de una metodología experimental para generar impactos repetibles y determinar los parámetros del modelo matemático. La metodología se sustenta en el diseño e implementación de un prototipo experimental para generar impactos controlados, entre un objeto de prueba y un impactor sensorizado. Para realizar los experimentos se han seleccionado como objetos de prueba un conjunto de cilindros, de aluminio, acero, bronce y latón, en distintos tamaños. Mediante un minucioso estudio y cálculo de los parámetros experimentales, se ha comprobado la validez del modelo matemático. 3) Estudio del problema de la medición indirecta y propuesta de un método de procesado de señales, basado en redes neuronales artificiales, para determinar un filtro inverso que permite estimar la señal del impacto (la fuerza del impacto en función del tiempo). Esta metodología adapta el proceso de entrenamiento a las características de las señales impulsivas que se generan durante una colisión, y que se han identificado a través del estudio y modelado del proceso de impacto. El entrenamiento hace uso de señales reales, que provienen de impactos experimentales generados a distintas velocidades de impacto, y de señales generadas por el modelo matemático. 4) Propuesta de una metodología para estimar el tipo de material y la masa de los objetos de prueba que colisionan. La problemática que se encuentra en este análisis radica en que tanto los objetos como sus respuestas, tienen características similares. Con el método que se propone en este trabajo de tesis, se busca identificar de forma correcta las características de los objetos. El procedimiento considera la extracción de parámetros de las señales vibratorias de los objetos y del uso de redes neuronales para identificar las respuestas.5) Proceso de evaluación experimental de los métodos propuestos. Para determinar la validez de los métodos de procesado antes descrito, primero se analizan los sensores más adecuados para este tipo de señales, que al ser de muy corta duración tienen un ancho de banda muy grande. En segundo lugar, se ha implementado un sistema medición y adquisición para señales impulsivas. Los resultados obtenidos muestran la validez de los métodos propuestos. Con respecto al modelo, se ha verificado su validez con los datos de los distintos objetos de prueba. Asimismo, se ha comprobado que con las señales experimentales, también de los distintos objetos de prueba, el método propuesto para mitigar la distorsión debida a la medición indirecta opera de forma correcta. De la misma forma, el método propuesto para identificar el tipo de material y la masa de los objetos, ha generado resultados satisfactorios.

    In this thesis, the processing of impulsive signals generated by impacts between rigid bodies is investigated. One of the problems found when working with impacts is that their analysis is generally limited to indirect measurements: because collisions do not develop directly on the sensor, or it is not possible to install the sensor on the colliding bodies. This means that between the sensor and the point of impact there is a propagation medium that distorts the measured signal.The main effort of this thesis focuses on the problem of how to compensate or to reduce the effects of such distortion. To do this, the following points have been investigated and developed:1) The study of the mechanical impact theory and the development of a mathematical model of the impact process between two rigid bodies. Through this study, the characteristics of the impulsive signals generated by collisions are investigated.2) Definition of an experimental methodology for generating repeatable impacts and for determining the parameters of the mathematical model. The methodology is based on the design and implementation of an experimental prototype for generating controlled impacts between a test object and a sensorized impactor. To perform the experiments, a set of different test objects have been selected, cylinders made form aluminum, steel, bronze and brass in different sizes. Through a careful study and calculation of the experimental parameters, the validity of the mathematical model has been verified.3) Study of the indirect measurement problem, and proposal of a signal processing method, based on artificial neural networks, to determine an inverse filter in order to estimate the impacting signal (the impact force as a function of the time). This methodology adapts the training process to the characteristics of the impulsive signals that are generated during a collision, and that have been identified through the study and modeling of the impact process. The training uses real signals, which come from experimental impacts generated at different impacting velocities, and signals generated by a mathematical model of the impacting force.4) Proposal for a methodology to estimate the type of material and mass of test objects that collide. The problem found in this analysis is that both, the objects and their responses, have similar characteristics. With the method proposed in this thesis, it is possible to identify correctly the characteristics of one of the objects. The procedure considers the extraction of parameters from the vibrating signals of the objects, and then uses a neural network to classify those parameters.5) Evaluation process of the proposed methods. To determine the validity of the processing methods described above, first, the selection of the most appropriate sensors to acquire these signals has been analyzed (this signals have a very short duration and very large bandwidth). Secondly, a measurement and acquisition system for impulsive signals has been implemented.The experimental results show the validity of the proposed methods. In the case of the model, its validity has been verified with data from different test objects, made from different materials. Also, the proposed method used to deal with the distortion due to the indirect measurement has been tested with experimental data, from impacts with different test objects, and the results show that it operates properly. Likewise, the proposed method to identify the type of material and mass of the test objects has generated satisfactory results.

  • REDES DE SENSORES SUBMARINOS ACÚSTICOS APLICADOS AL SEGUIMIENTO DE ESPECIES DE INTERES COMERCIAL

     Shariat-Panahi Ghaderinejad, Shahram; Gomariz Castro, Spartacus; Cadena Muñoz, Francisco Javier; Nogueras Cervera, Marc; Molino Minero Re, Erik; Sarria Gandul, David; Miquel Masalles, Jaume; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio; Olive Duran, Joaquim
    Participation in a competitive project

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  • Reconeixement als Mèrits Docents d'Especial Qualitat

     Gomariz Castro, Spartacus
    Award or recognition

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  • Considerations of the electronic control system for autonomous underwater vehicle  Open access

     Masmitja Rusinyol, Ivan; Masmitja Rusinyol, Gerard; Gonzalez Agudelo, Julian; Gomariz Castro, Spartacus
    Instrumentation viewpoint
    Date of publication: 2010-12-01
    Journal article

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    Following our traditional edition line, on this issue our magazine presents the annual summary of the different projects and research developed by SARTI research group, during 2010. The research projects undertaken by SARTI, in collaboration with other Spanish and international research teams, are linked to the development of instrumentation technology for marine applications, as well as for general industry. SARTI began its activities in 2000, and this year is the 10th year of our activity. Therefore it is the right time to introduce this issue, the No 10, of our magazine Instrumentation ViewPoint. We encourage you to collaborate in future issues of this journal, and to attend the next year’s congress: INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY, MARTECH 2011, on September 22 and 23, in Cadiz, Spain.

  • Access to the full text
    Development of a low-cost autonomous oceanographic observation vehicle  Open access

     Gomariz Castro, Spartacus; Prat Tasias, Jordi; Ruiz, Antonio Galo; Gaya Suñer, Pedro Francisco; Del Rio Fernandez, Joaquin
    OCEANS MTS/IEEE
    Presentation's date: 2009-05-11
    Presentation of work at congresses

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    This work proposes the development of a low-cost ocean observation vehicle. This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column according to a pre-established plan. Its design means production costs are low and efficiency is increased. Also, the vehicle is able to make high resolution space and time measurements simultaneously. GPS navigation allows the platform to move along the surface of the water while a radio-modem provides direct communication links and telemetry. The vehicle measures 1885mm by 320mm wide. It weighs 76kg. It navigates at a speed of 1.5m/s at 80% at full propulsion power and reaches a maximum depth of 20m. It is a vehicle of electrical propulsion with an autonomy of 3-5 hours. This work outlines the mechanical and electronic design of the vehicle, as well as considerations for navigational and immersion experiments.

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    Sea seismometer coupling on the sediment  Open access

     Roset Juan, Francesc Xavier; Carbonell Ventura, Montserrat; Manuel Lazaro, Antonio; Gomariz Castro, Spartacus
    IMEKO World Congress
    Presentation's date: 2009-09-06
    Presentation of work at congresses

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    We can obtain the performance of the marine seismometer upon the sediment to know its coupling in the bottom sea. This paper deals with the coupling parameters in order to obtain the geophone response through the frequency. The use of the shake table and vibration calibrator allows to deduce the coupling transfer function between the geophone and the sediment sea without using a detailed model of interaction sensor/seabed.

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    Autonomous vehicle development for vertical submarine observation  Open access

     Gomariz Castro, Spartacus; Pallares Valls, Oriol; Prat Tasias, Jordi; Arbos Martos, Alejandro; Viñolo, Carlos
    Instrumentation viewpoint
    Date of publication: 2009-10-01
    Journal article

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    This work proposes the development of an ocean observation vehicle. This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain the profiles of a water column according to a pre-established plan. Its design provides lower production cost and higher efficiency. GPS navigation allows the platform to move along the surface of the water while a radio-modem provides direct communication links and telemetry.

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    An autonomous vehicle development for submarine observation  Open access

     Gomariz Castro, Spartacus; Prat Tasias, Jordi; Gaya Suñer, Pedro Francisco; Sole Rovira, Juan
    Journal of maritime research
    Date of publication: 2009-08-01
    Journal article

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    En este proyecto se desarrolla un vehículo de observación oceánica de bajo coste, híbrido entre los Autonomous Underwater Vehicles (AUV) y los Autonomous Surface Vehicles (ASV), esto es, que se traslada por la superficie del mar y realiza inmersiones verticales para la obtención de perfiles de la columna de agua de acuerdo con un plan previamente establecido. Estas dos características de la plataforma de observación propuesta, abaratan los costes de producción e incrementarían su eficiencia. El desplazamiento superficial de la plataforma permite la navegación mediante GPS y la comunicación directa y telemetría mediante radiomódem. Las dimensiones del vehículo son 1.885 mm de longitud y 320 de diámetro exterior, y posee un peso de 76 kg. En las pruebas de navegación alcanzó una velocidad de 1.5 m/s a un 80% de potencia de propulsion y una profundidad máxima de 20m. El vehículo posee una propulsión eléctrica con autonomía de 3-5 horas.

  • E-MARTECH'08

     Shariat-Panahi Ghaderinejad, Shahram; Roset Juan, Francesc Xavier; Cadena Muñoz, Francisco Javier; Nogueras Cervera, Marc; Vidal Oliveras, Neus; Gomariz Castro, Spartacus; Del Rio Fernandez, Joaquin; Manuel Lazaro, Antonio
    Participation in a competitive project

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    Autonomous vehicle development for vertical submarine observation  Open access

     Gomariz Castro, Spartacus; Prat Tasias, Jordi; Arbos Martos, Alejandro; Pallares Valls, Oriol; Viñolo, Carlos
    THIRD INTERNATIONAL WORKSHOP ON MARINE TECHNOLOGY
    Presentation's date: 2009-11-19
    Presentation of work at congresses

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    This work proposes the development of an ocean observation vehicle. This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain the profile of a water column according to a pre-established plan. Its design provides lower production cost and higher efficiency. GPS navigation allows the platform to move along the surface of the water while a radio-modem provides direct communication links and telemetry.

  • ESONET NoE 2009. Report on funded exchange of personnel

     Manuel Lazaro, Antonio; Del Rio Fernandez, Joaquin; Shariat-Panahi Ghaderinejad, Shahram; Trullols Farreny, Enric; Carbonell Ventura, Montserrat; Gomariz Castro, Spartacus; Toma, Daniel Mihai; Molino Minero Re, Erik
    Date: 2009-12-01
    Report

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  • Development of a low-cost autonomous oceanographic observation vehicle

     Gomariz Castro, Spartacus
    OCEANS MTS/IEEE
    Presentation's date: 2009-10-26
    Presentation of work at congresses

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  • Design of an electronic system for positioning and navigation applied to an aircraft to scale

     Gomariz Castro, Spartacus; Prat, J
    Instrumentation viewpoint
    Date of publication: 2009-01
    Journal article

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  • Diseño de un controlador difuso supervisor para la regulación de un convertidor conmutado elevador

     Gomariz Castro, Spartacus; Guinjoan Gispert, Francisco
    Revista de ingeniería
    Date of publication: 2008-11
    Journal article

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  • Acoplamiento hidrodinámico oleaje-corriente, tasas de dispersión e implicaciones interdisciplinarias en la zona costera.

     Gomariz Castro, Spartacus; Tintore Subirana, Joaquin
    Participation in a competitive project

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  • Development of an autonomous oceanographic observation platform

     Gomariz Castro, Spartacus; Soler Villanueva, Jaume; Gaya Suñer, Pedro Francisco; Prat Tasias, Jordi
    II International Workshop on Marine Technology (MARTECH 2007)
    Presentation of work at congresses

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  • Development of an autonomous oceanographic observation platform

     Gomariz Castro, Spartacus; Soler Villanueva, Jaume; Gaya Suñer, Pedro Francisco; Prat Tasias, Jordi
    Instrumentation viewpoint
    Date of publication: 2007-10
    Journal article

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