Search results for "TACL"
showing 10 items of 204 documents
Fluid storage and migration properties of sheared Neptunian dykes
2019
Abstract Neptunian dykes are widely reported along the Tethyan carbonate platforms and are commonly considered as subsurface baffles or barriers to fluid flow. However, the fluid storage and migration properties of sheared Neptunian dykes are poorly known. For this reason, we investigate the inner structure and fluid flow properties of two Neptunian dykes, which can be characterized by different architectures if involved or not in brittle shearing processes. The dykes strike ca. WNW-ESE and crosscutting the tight Jurassic limestones exposed at Maranfusa Mt., NW Sicily, Italy. The unsheared and sheared Neptunian dykes are almost sub-vertical and at high-angle with respect to the horizontal p…
An assessment of the floristic composition, structure and possible origin of a liana forest in the Guayana Shield
2015
Liana is a life form that possess high importance in many neotropical forests. Density of climbers apparently increases with the intervention rate (eg. logging). The aim of this work is to characterize the structure, floristic composition and soils of a sector classified as Liana Forest (LF). We identified a LF sector in a not-logged area; three 1 ha square plots were measured (individuals ≥ 10 cm dbh, “diameter at breast height”). In each plot we evaluate four 100 m2 square understory sub-plots (all spermatophyta individuals < 10 cm dbh). LF has a low canopy (< 15 m) and is dominated by Alexa imperatricis and Pentaclethra macroloba. Basal area (20.4 m2ha-1) and diversity (H´= 2.6) ar…
Morphology of spermatheca in Scutelleridae (Hemiptera: Pentatomoidea) and its taxonomic significance
2016
AbstractStructures of spermatheca in 63 species of Scutelleridae (Hemiptera) representing 46 genera and all subfamilies currently recognised in the family were examined and compared. The morphology of three main parts of the spermatheca (receptacle, intermediate part, and spermathecal duct) was described and three main types of spermatheca in Scutelleridae were identified. The taxonomic importance of spermathecal features for the higher classification of scutellerids is discussed.
Press and bullfighting. The strength of the emotions
2018
Las corridas de toros fueron, tanto por el número asistentes como por la cantidad de festejos que se llevaron a cabo, el primer gran espectáculo de masas que se conoció en España. Enraizado en la fiesta popular, el espectáculo taurino será reconvertido en fiesta nacional a fines del siglo XIX, con el concurso de una prensa que crece en la misma medida que lo hace el sensacionalismo, y el interés de un Estado que utilizará las emociones de los toros para fomentar el amor a la patria. En este trabajo se aborda la dimensión cultural del festejo, su utilización política y el papel fundamental que juega la prensa. The bullfights were the first big spectacle of masses that was known in Spain, so …
A Revised Phylogeny of Discocerinini (Diptera: Ephydridae) with an Emphasis on Structures of the Proboscis
2016
Supplementary diagnostic characters of genera in the tribe Discocerinini are suggested. A new genus Aquachasma Zatwarnicki, type species: Discocerina leucoprocta Loew, 1861 is described with 24 new combinations of all included species. Genus Polytrichophora is divided into the nominate subgenus and a new subgenus Sklodowskopa Zatwarnicki, type species: Clasiopa duplosetosa Becker, 1896. Genus Orasiopa is divided into the nominate subgenus and a new subgenus Reymontopa Zatwarnicki, type species: Discocerina mera Cresson, 1939. The shape of the proboscis of all genera of Discocerinini is provided, including variability of cibarium and pseudotracheae. The ventral receptacles of 6 genera (Aquac…
Making Industrial Robots Smarter with Adaptive Reasoning and Autonomous Thinking for Real-Time Tasks in Dynamic Environments: A Case Study
2018
In order to extend the abilities of current robots in industrial applications towards more autonomous and flexible manufacturing, this work presents an integrated system comprising real-time sensing, path-planning and control of industrial robots to provide them with adaptive reasoning, autonomous thinking and environment interaction under dynamic and challenging conditions. The developed system consists of an intelligent motion planner for a 6 degrees-of-freedom robotic manipulator, which performs pick-and-place tasks according to an optimized path computed in real-time while avoiding a moving obstacle in the workspace. This moving obstacle is tracked by a sensing strategy based on ma-chin…
Visual contact with catadioptric cameras
2015
Abstract Time to contact or time to collision (TTC) is utmost important information for animals as well as for mobile robots because it enables them to avoid obstacles; it is a convenient way to analyze the surrounding environment. The problem of TTC estimation is largely discussed in perspective images. Although a lot of works have shown the interest of omnidirectional camera for robotic applications such as localization, motion, monitoring, few works use omnidirectional images to compute the TTC. In this paper, we show that TTC can be also estimated on catadioptric images. We present two approaches for TTC estimation using directly or indirectly the optical flow based on de-rotation strat…
Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments — a case study
2019
Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision a…
Clothoid-Based Three-Dimensional Curve for Attitude Planning
2019
Interest in flying robots, also known as unmanned aerial vehicles (UAVs), has grown during last years in both military and civil fields [1, 2]. The same happens to autonomous underwater vehicles (AUVs) [3]. These vehicles, UAVs and AUVs, offer a wide variety of possible applications and challenges, such as control, guidance or navigation [2, 3]. In this sense, heading and attitude control in UAVs is very important [4], particularly relevant in airplanes (fixed-wing flying vehicles), because they are strongly non-linear, coupled, and tend to be underactuated systems with non-holonomic constraints. Hence, designing a good attitude controller is a difficult task [5, 6, 7, 8, 9], where stabilit…
Scale invariant line matching on the sphere
2013
International audience; This paper proposes a novel approach of line matching across images captured by different types of cameras, from perspective to omnidirectional ones. Based on the spherical mapping, this method utilizes spherical SIFT point features to boost line matching and searches line correspondences using an affine invariant measure of similarity. It permits to unify the commonest cameras and to process heterogeneous images with the least distortion of visual information.