Title: Stochastic exploration of ambiguities for nonrigid shape recovery Authors: Moreno-Noguer, Francesc; Fua, Pascal Abstract: Recovering the 3D shape of deformable surfaces from single images is known to be a highly ambiguous problem because many different shapes may have very similar projections. This is commonly addressed by restricting the set of possible shapes to linear combinations of deformation modes and by imposing additional geometric constraints. Unfortunately, because image measurements are noisy, such constraints do not always guarantee that the correct shape will be recovered. To overcome this limitation, we introduce a stochastic sampling approach to efficiently explore the set of solutions of an objective function based on point correspondences. This allows to propose a small set of ambiguous candidate 3D shapes and then use additional image information to choose the best one. As a proof of concept, we use either motion or shading cues to this end and show that we can handle a complex objective function without having to solve a difficult non-linear minimization problem. The advantages of our method are demonstrated on a variety of problems including both real and synthetic data.

Title: A complete analysis of axial piston pump leakage and output flow ripples Authors: Bergada Graño, Josep Maria; Kumar, Sushil; Davies, Dyfyr Ll.; Watton, John

Title: The effect of oil pressure and temperature on barrel film thickness and barrel dynamics of an axial piston pump Authors: Bergada Graño, Josep Maria; Davies, Dyfyr Ll.; Kumar, Sushil; Watton, John

Title: Axial piston pumps, new trends and development Authors: Bergada Graño, Josep Maria; Kumar, Sushil; Watton, John

Title: Copoliésteres alifáticos derivados del ácido galactárico diacetalizado Authors: Lavilla Aguilar, Cristina; Alla Bedahnane, Abdelilah; Martínez de Ilarduya Sáez de Asteasu, Domingo Antxon; Benito, Elena; García Martín, Maria de Gracia; Galbis Pérez, Juan Antonio; Muñoz Guerra, Sebastián

Title: An alternative method to quantify the electromagnetic immunity based on the Weibull distribution Authors: Fernández García, Raúl; Gil Galí, Ignacio Abstract: It is accepted that the electromagnetic interference should be addressed with statistical analysis. Usually the impact of electromagnetic interference on different electronic samples is evaluated and the average immunity level is used as a reference. However, this method does not provide enough information to know the probability of failure to the electromagnetic interferences of an electronic circuit. An alternative statistical analysis based on the Weibull distribution is presented. The typical and proposed methods have been compared in order to analyse the electromagnetic immunity performance of two types of operational amplifier. The results confirm the feasibility of the proposed method.

Title: Preface: Introduction to special issue Authors: Guasch Petit, Antonio; Piera, M

Title: The effect of piston grooves performance in an axial piston pumps via CFD analysis Authors: Kumar, Sushil; Bergada Graño, Josep Maria

Title: Optimal sizing of microgrids: a fast charging station case Authors: Corchero García, Cristina; Cruz Zambrano, Miguel; Heredia, F.-Javier (Francisco Javier); Cairo Molins, Josep Ignasi; Igualada Gonzalez, Lucia; Romero Ortega, Aitor Abstract: In this work we focus on the optimal design of electric vehicle charging stations. We consider investment, operational costs, physical constraints and different electricity pricing strategies. The size of the various components in the microgrid architecture and the suitability of the storage system are analysed. The electric vehicle charging demand is modelled through a queuing system.

Title: A new optimal electricity market bid model solved through perspective cuts Authors: Corchero García, Cristina; Mijangos Fernández, Eugenio; Heredia, F.-Javier (Francisco Javier) Abstract: On current electricity markets the electrical utilities are faced with very sophisticated decision making problems under uncertainty. Moreover, when focusing in the short-term management, generation companies must include some medium-term products that directly influence their short-term strategies. In this work, the bilateral and physical futures contracts are included into the day-ahead market bid following MIBEL rules and a stochastic quadratic mixed-integer programming model is presented. The complexity of this stochastic programming problem makes unpractical the resolution of large-scale instances with general-purpose optimization codes. Therefore, in order to gain efficiency, a polyhedral outer approximation of the quadratic objective function obtained by means of perspective cuts (PC) is proposed. A set of instances of the problem has been defined with real data and solved with the PC methodology. The numerical results obtained show the efficiency of this methodology compared with standard mixed quadratic optimization solvers.

Title: Real time diagnosis for a large gas turbine based on a deep model of the controller Authors: Guasch Petit, Antonio; Sarrate Estruch, Ramon Abstract: The ESPRIT project 6862 TIGER addresses the development of a real-time knowledge based diagnosis system for two gas turbines: a large scale industrial gas turbine and an auxiliary power unit for aviation. The project will combine the qualitative model based with the rule based diagnosis approach. This paper describes the rule based approach taken in the development of a real-time diagnostic system for a large scale gas turbine. Deep models will be automatically extracted from the deterministic knowledge embedded within the controller ladder logic diagrams. Heuristic knowledge will be extracted from the domain expert and engineering manuals.

Title: Comblike Ionic Complexes of Poly(gamma-glutamic acid) and Alkanoylcholines Derived from Fatty Acids Authors: Tolentino, Ainhoa; León, Salvador; Alla Bedahnane, Abdelilah; Martínez de Ilarduya Sáez de Asteasu, Domingo Antxon; Muñoz Guerra, Sebastián Abstract: A series of ionic complexes with almost stoichio- metric composition have been “ synthesized ” from bacterial poly( ? - glutamic acid) and alkanoylcholines derived from fatty acids with 12, 14, 16, and 18 carbon atoms. The complexes were stable up to temperatures close to 200 ° C and were non-water-soluble but readily soluble in organic solvents. In the solid state they adopted the biphasic structure typical of comblike systems with the polypeptide chains arranged in sheets and periodically separated by a para ffi nic phase which was partially crystallized for C14, C16, and C18. The window width of the layered structure was estimated by SAXS to be within the 3.6 ? 4.5 nm range, and WAXS showed that the alkyl tails were crystallized in a hexagonally packed lattice with a d 100 spacing of 0.41 nm. These complexes displayed reversible melting of the para ffi nic phase in the 40 ? 65 ° C range at temperatures with values increasing with the length of the alkanoyl group. A slight expansion of the intersheet distance occurred at melting followed by contraction upon heating at higher temperatures but without signi fi cant alteration of the layered structure. The 13 C CP-MAS NMR analysis revealed the underlying polymethylene anti -to- gauche conformational conversion that takes place at the thermal transition. An energy-based simulation study of the crystallization process a ff orded a molecular picture of the complex and evidenced the favoring e ff ect of the choline structure on the packing of the alkyl side

Title: Técnicas de simulación Authors: Guasch Petit, Antonio; Hüber, Robert

Title: Task-based parallel breadth-first search in heterogeneous environments Authors: Munguía, Lluis Miquel; Bader, David A.; Ayguadé Parra, Eduard Abstract: Breadth-first search (BFS) is an essential graph traversal strategy widely used in many computing applications. Because of its irregular data access patterns, BFS has become a non-trivial problem hard to parallelize efficiently. In this paper, we introduce a parallelization strategy that allows the load balancing of computation resources as well as the execution of graph traversals in hybrid environments composed of CPUs and GPUs. To achieve that goal, we use a fine-grained task-based parallelization scheme and the OmpSs programming model. We obtain processing rates up to 2.8 billion traversed edges per second with a single GPU and a multi-core processor. Our study shows high processing rates are achievable with hybrid environments despite the GPU communication latency and memory coherence.

Title: Pain and anxiety treatment based on social robot interaction with children to improve patient experience. Ongoing research Authors: Angulo Bahón, Cecilio; Garriga Berga, Carles; Luaces, Carlos; Perez Payarols, Jaume; Albo-Canals, Jordi; Díaz Boladeras, Marta Abstract: A major focus for children’s quality of life programs in hospitals is improving their experiences during procedures. In anticipation of treatment, children may become anxious and during procedures pain appears. The aim of this article is to introduce a proposal to design pioneering techniques based on the use of social robots to improve the patient experience by eliminating or minimizing pain and anxiety. According to this proposed challenge, this research aims to design and develop specific human-social robot interaction with pet robots. Robot interactive behavior will be designed based on modular skills using soft-computing paradigms.

Title: Estudi de l'helicòpter coaxial UAV i disseny del controlador Authors: Graugés Agustí, Gerard Abstract: En aquest document es presenta un estudi complet sobre l’helicòpter coaxial UAV, la seva dinàmica, i control automàtic. En primer lloc s’analitzen els factors que intervenen en la física de l’helicòpter, per a acabar presentant un model no lineal que descrigui el sistema. A partir de simulacions, es valida el model no lineal i es procedeix a linealitzar-lo, amb l’objectiu final de dissenyar un controlador automàtic per l’helicòpter. A continuació de l’estudi sobre els aspectes de control, es presenta el controlador, i es mostren els resultats obtinguts. A la part final de l’estudi es presenten les conclusions extretes. Aquest document, també inclou al final un càlcul del pressupost de l’estudi, un anàlisi mediambiental, i la bibliografia emprada.

Title: Sistema per a la caracterització d'altaveus Authors: Nomen Escoda, Oriol Abstract: El present document recull el disseny mecànic d’un sistema de caracterització d’altaveus realitzat per a l’empresa Amate Electroacústica S.L. en el marc d’un conveni de col·laboració amb el CDEI-UPC (Centre de Disseny d’Equips Industrials de la Universitat Politècnica de Catalunya), el CGIP i el LEAM. L’objectiu del present treball ha estat dissenyar els mecanismes de posicionament de l’altaveu per tal de poder realitzar caracteritzacions de l’altaveu en 3D dins d’una cambra anecoica. D’aquesta manera, s’ha definit un primer mecanisme amb dos eixos perpendiculars entre si, que mou l’altaveu realitzant l’escombrat d’una semiesfera, i un segon mecanisme que permet el moviment del micròfon que adquireix la senyal sonora de l’altaveu, per tal de poder variar la distància d’adquisició de la senyal. Aquest sistema permet al client caracteritzar-se els altaveus que produeix a les seves pròpies instal·lacions, donant un gran valor afegit al seu producte i estalviant-se els costos d’externalització dels serveis de caracterització. Per tal de dissenyar el sistema, s’ha partit d’unes especificacions amb el client que defineixen els requeriments que el sistema ha de respectar. Per tal de dimensionar els mecanismes, s’han utilitzat mètodes de selecció de motors tals com el mètode del pla ?-W (potència transitòria - energia cinètica doble) basat en el concepte de potència transitòria, així com mètodes de càlcul amb elements finits per al càlcul estructural de la màquina. El sistema de caracterització d’altaveus ha estat fabricat i posat en funcionament satisfactòriament rebent el Premi a l’Impuls a la Recerca i a la Innovació de la Cambra de Comerç de Terrassa l’any 2009.

Title: Estudio de un turbofan Authors: López Granero, Jose Manuel Description: El objetivo que este proyecto persigue es el de mostrar el diseño de un turbofan en todo su conjunto. Debido a que este proceso de diseño es muy complejo y normalmente se necesitan grandes grupos de ingenieros para su desarrollo, el alcance del mismo dentro de un proyecto final de carrera queda muy limitado. No obstante, se intenta dar una visión general de lo que es este proceso de diseño y mostrar el camino a seguir a partir del trabajo desarrollado.

Title: Design of a three dimensional wall jet facility Authors: Gelabert Roqueta, Josep Abstract: The three dimensional wall jets can be found in some important industrial applications such as burners, boilers, gas turbine combustion chambers, vertical landing airplanes and fuel injection systems. This engineering field requires specific facilities where experiments and investigations can be undertaken. First the scope of the project contained the design, the building and the testing of the facility, but this scope had to be reduced in order to be able to finish the project in the established time. In Figure 1 is shown a schematic three dimensional view of the elements which will compose the entire facility.The project purpose is to design a facility which permits the measurement and study of the three dimensional wall jets using water and meant to use optical devices to measure the properties of the flow. After a deep review of the literature, I started to find the way to design in the most accurate manner the test section of the facility. However, the first results obtained for the dimensions of the test section were too large and I had to find the way to give a better design to achieve smaller dimensions. There is not a single method to follow to design such a facility like this, which makes it more complicated than it could seem at the first instance. Once the size of the test section was found, I continued with stress analysis iii simulations which were helpful in order to choose the material for the test section and ensure that this part of the facility would be able to handle such a large amount of water. Afterwards, the flow conditioner was designed. The flow conditioner is composed by a conical expansion, different wire screens, a straightener and a contraction which ensures that the flow at the exit of the flow conditioner has the desired characteristics. Finally, the last part of the design was the selection of a water pump that could ensure that the water could flow through all the devices and satisfy the requirements set for the flow.

Title: Study of a lunar satellite navigation system Authors: Saura Carretero, Gemma Abstract: The objective of the present study is to hold a preliminary analysis and design of a lunar global satellite navigation system able to provide accurate positional information to operators on the surface or in low lunar orbits. The outcome is a set of indications concerning the implications inherent in such a system. This set of indications consists in the main objectives, requirements and constraints needed during the definition and implementation of an infrastructure for global precise positioning on the lunar surface. In any preliminary mission analysis it is important to determine the design drivers. In our case, the main drivers are the orbital height, the number of satellites in the constellation, the orbital inclination and the number of orbital planes. These four parameters are the main characteristics that define the constellation performance, therefore their final selection is crucial for the mission success. In our case, two constraints have been applied in order to determine the constellation: (1) no more than three orbital planes and (2) no more than 18 satellites. The constellation selection process has been carried out with the help of computer simulation. Thanks to it, we were able to choose the constellation whose parameters combination resulted in the best performance. The final constellation has a height of 6500 km, three orbital planes, 15 satellites and an inclination of 90°. In order to maintain the correct performance of the constellation, a station-keeping strategy has been developed. Computer simulation of the chosen constellation allowed us to quantify the perturbation effects on the satellites and to identify which perturbation is the primary source of orbital deviations. Central body gravitation, third body-perturbations and solar radiation pressure have been computed for a period of one year with the result of a propellant (also known as ?v) budget of 1 km/s. Payload selection is an important step in the design process. The characterization of its mass, power and thermal requirements, and components influences the design of all the other subsystems. Relativistic effects on time are taken into account because the accuracy of the system depends on clock errors. The study concludes that, although relativistic effects on time are less significant on the constellation than on the terrestrial GPS system, they still need to be corrected. This study also undertakes a preliminary design of the satellite subsystems. Power and mass budget are made and a preliminary analysis of the propulsion, thermal and communications subsystems are also carried out. The proposed preliminary satellite design consists in a 1000kg-1600W class platform which will transmit in the L-band (to the lunar surface) and in the X-band (to the Earth). If the station-keeping is carried out by a bipropellant thruster, the propellant budget needed is 225 kg. However, some indications for electrical propulsion for the station-keeping maneuvers are also provided. The thermal environment is the biggest challenge of the mission because of the Earth eclipses1. They can last more than 5 hours which leads to the temperature getting as low as -35°C. During lunar2 eclipses, secondary batteries can produce around 1300 W which will probably not be sufficient to maintain the spacecraft temperature within operational limits during Earth eclipses, so an extra set of batteries will be needed.