Poli[Papers] (Universitat Politècnica de València)
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Posicionamiento del brazo de un robot móvil como apoyo para superar obstáculos utilizando lógica difusa
Full text linkMultiple mobile robots have been developed that are capable of overcoming obstacles using various mechanisms. Among them, notable ones are those that implement a strategy designed to position the robot in front of the obstacle and use an attached arm to create additional support points that enable the robot to overcome the obstacle. Recently, this strategy has been improved, allowing the robot with an attached arm to surmount more complex (inclined) obstacles, with the robot positioned in any orientation relative to the obstacle. This work presents a fuzzy inference system that, based on the robot's orientation and the inclination of the surfaces forming the obstacle, determines the position the arm should adopt to generate an effective support point that allows overcoming the obstacle while minimizing the risk of tipping over during the operation. This system has been validated through theoretical models that assess the propensity to tip over, and using dynamic simulation. Finally, it has been implemented inreal tests with the robot Lázaro, demonstrating its applicability.Se han desarrollado múltiples robots móviles capaces de superar obstáculos utilizando varios mecanismos. Entre ellos, destacan aquellos que implementan una estrategia diseñada para ubicar al robot frente al obstáculo y utilizar un brazo acoplado para generar puntos de apoyo adicionales que permitan al robot superar el obstáculo. Recientemente se ha mejorado dicha estrategia, permitiendo que el robot con un brazo acoplado pueda superar obstáculos más complejos (inclinados), estando el robot ubicado en cualquier orientación con respecto al obstáculo. En este trabajo, se presenta un sistema de inferencia difuso que permite, a partir de la orientación del robot y la inclinación de las superficies que conforman el obstáculo, determinar la posición que debe adoptar el brazo para generar un punto de apoyo efectivo que permita superar el obstáculo mientras que se minimiza el riesgo de vuelco durante la operación. Dicho sistema, ha sido validado a través de modelos teóricos que evalúan la propensión al vuelco, y utilizando simulación dinámica. Finalmente, se ha implementado en pruebas reales con el robot Lázaro, demostrando su aplicabilidad
Didier Teissonnière 35 S. L’atelier de Le Corbusier
Full text link.Reseña del libro:
Didier Teissonnière 35 S. L’atelier de Le Corbusier. Éditions Norma, 2024.ISBN : 978-2376660910
Análisis sobre el uso de UAVs para estudiar la biota antártica: aplicaciones, impactos y perspectivas a futuro. Una revisión PRISMA
Full text linkUnmanned Aerial Vehicles (UAVs) have established themselves as effective tools for studying remote areas with high precision and low environmental impact, especially in regions such as Antarctica. However, knowledge gaps persist regarding their effects on the biota from this area. Therefore, the objective of this study was to conduct a systematic review of the literature on the use of UAVs in research on Antarctic biota, evaluating their applications, impacts, and future prospects. The PRISMA protocol (a standardized tool for the clear and comprehensive presentation of systematic reviews) was applied, selecting 42 articles published between 2014 and 2024 in English and Spanish. The results show an increase in the use of UAVs since 2018, mainly in studies of marine biota (72.1%), highlighting their usefulness in population censuses, health monitoring, and behavioural analysis. The use of multirotor drones (such as the DJI Phantom 3 and 4) with RGB or multispectral sensors predominated. However, only 37.2% of the studies specify both height and flight time, limiting their replicability. Although UAVs have improved data accuracy and reduced impact on wildlife, variable behavioural responses are observed across species, underscoring the need for standardized protocols. It is concluded that UAVs are valuable tools for conservation and environmental monitoring in Antarctica, but it is crucial to standardize their use, improve sensor quality, and expand their application to less-studied regions and biological groups.Los Vehículos Aéreos No Tripulados (UAVs) se han consolidado como herramientas eficaces para estudiar áreas remotas con alta precisión y bajo impacto ambiental, especialmente en zonas como la Antártida. No obstante, persisten vacíos de información sobre sus efectos en la biota de este entorno. Por ello, el objetivo de este estudio fue realizar una revisión sistemática de la literatura sobre el uso de UAVs en investigaciones sobre la biota antártica, evaluando sus aplicaciones, impactos y perspectivas a futuro. Se aplicó el protocolo PRISMA (herramienta estandarizada para la presentación clara y completa de revisiones sistemáticas), seleccionando 42 artículos publicados entre 2014 y 2024 en inglés y español. Los resultados muestran un incremento en el uso de UAVs desde 2018, principalmente en estudios de biota marina (72,1%), destacando su utilidad en censos poblacionales, monitoreo de la salud y análisis de comportamiento. Predominó el uso de los drones multirotor (como DJI Phantom 3 y 4) con sensores RGB o multiespectrales. Sin embargo, solo el 37,2% de los estudios especificaron tanto la altura como el tiempo de vuelo, limitando su replicabilidad. Aunque los UAVs han mejorado la precisión de los datos y reducido el impacto sobre la fauna, se observan respuestas conductuales variables entre especies, lo que subraya la necesidad de establecer protocolos estandarizados. Se concluye que los UAVs son herramientas valiosas para la conservación y monitoreo ambiental en la Antártida, pero es crucial estandarizar su uso, mejorar la calidad de los sensores y expandir su aplicación a regiones y grupos biológicos menos estudiados
Reconstrucción 3D histórica y difusión digital del patrimonio arquitectónico en peligro: el caso del Monasterio de Nuestra Señora del Risco (Amavida, Ávila)
Full text linkThis study explores an innovative methodology to valorize and digitally disseminate endangered architectural heritage, focusing on the Monasterio de Nuestra Señora del Riscoin Amavida, Ávila, Spain. The project aims to connect the historical reconstruction of the monastery at its period of maximum relevance, in the 18thcentury, with its current state. This approach uses images generated from a three-dimensional (3D) model and a 4D virtual tour. It integrates various aspects of the building, including architectural elements, site features, and potential functions. The virtual reconstruction meticulously represents decorative elements, furniture, and interior lighting to recreate the atmosphere of prayer, work, and communal life that characterized the monastic space. The project focuses on an endangered architectonic asset, under the assumption that cultural heritage serves as a testament to human history and creativity, encapsulating the essence of past civilizations. However, contemporary challenges, such as historical structures frequently becoming abandoned, pose significant threats to this heritage. The Monasterio de Nuestra Señora del Risco, with its unique architectural and historical value, exemplifies these challenges. After a long period of abandonment, from 1835 onwards, its structure was severely damaged and the building was at risk of complete loss. This study aims to address these issues through a comprehensive digital reconstruction and dissemination strategy. The applied methodology involves several phases, including bibliographic review, fieldwork, plus the use of advanced digital techniques. The bibliographic review sourced information from various archives and historical documents; fieldwork included the documentation and analysis of the remaining architectural elements, both onsite and displaced within the surrounding villages. Photogrammetry and UAV (Unmanned Aerial Vehicle) technology captured detailed images and generated a 3D model of the monastery. Specific software (SketchUp and Lumion) created a detailed model of the monastery. This model integrates data from photogrammetric surveys and historical records, ensuring accuracy and fidelity to the original structure. The 4D virtual tour allows users to explore the monastery in both its historical and current states; this provides a comprehensive understanding of its evolution over time. The digital reconstruction reveals the monastery's architectural complexity and historical significance. Key features include the unique building layout, influenced by the rugged terrain and the integration of the sacred cave into the monastic structure. To capture this, a detailed geometric survey was required; the reason is that there are differences in terms of spatial arrangement which are notable with respect to similar examples of heritage. Among these, San Jerónimo de Guisando and Aldeanueva de Santa Cruz, used as a reference for decorations and styles should be mentioned. The project also identifies and documents displaced architectural elements, contributing to a more complete understanding of the monastery’s original form. The digital reconstruction and virtual tour serve as powerful tools for heritage conservation and education. When dealing with 4Dreconstructions, it was necessary to set the exact periods for the representation. In this case, the selected period was the 18thcentury, as it corresponded to the moment of greatest relevance in the environment, when the whole complex had already been built. Hence, this project highlights the architectural richness of the monastery, and underscores its historical and cultural significance. The careful element representation, together with the identification of dislocated assets from the monastery, provides an enriched vision of the historical legacy, promoting its valorization and conservation. The project offers an immersive experience that enhances public awareness and appreciation of the monastery's historical and cultural value. This approach also demonstrates that digital techniques have great potential to support the preservation and revitalization of endangered heritage sites. The project underscores the importance of integrating digital technologies in heritage conservation, offering a detailed description of the methodology employed for the documentation and recreation of the monastery. This methodology can serve as a model for similar initiatives aimed at preserving and disseminating endangered architectural heritage.Este trabajo presenta un enfoque innovador para la valorización y difusión del patrimonio arquitectónico en peligro, tomando como caso de estudio el Monasterio de Nuestra Señora del Risco. A través de imágenes generadas a partir de un modelo tridimensional (3D) y de una visita virtual 4D, se busca conectar la reconstrucción histórica del monasterio en su momento de máximo esplendor, el siglo XVIII, con su estado actual, mostrando las transformaciones sufridas a lo largo del tiempo. La reconstrucción virtual integra diversos aspectos del edificio: elementos arquitectónicos, características del emplazamiento y posibles funcionalidades. Asimismo, se ha incorporado a la visita virtual información relativa a la actual ubicación de elementos arquitectónicos originarios del monasterio, actualmente deslocalizados. Este enfoque demuestra las capacidades interpretativas y divulgativas de las técnicas digitales que, a pesar de sus limitaciones, contribuyen significativamente a una mejor comprensión del pasado. De igual forma, se plantea como objetivo la identificación de bienes deslocalizados originarios de un bien patrimonial en peligro. Este proyecto, además de transmitir la riqueza arquitectónica del monasterio, resalta su importancia histórica y cultural. La cuidadosa representación de los elementos decorativos, mobiliario e iluminación interior permite recrear la atmósfera de oración, trabajo y vida comunitaria que caracterizó a este espacio monástico. Con ello también se ofrece una visión enriquecida del legado histórico y se promueve su valorización y conservación. El edificio estudiado presenta una singular distribución en planta, fruto de lo accidentado del terreno y de su origen ligado al culto a la roca de la cueva. Esto ha supuesto un particular reto en la reconstrucción, precisando un análisis de los restos (incluyendo adquisición de datos geométricos con fotogrametría); además, se realizó su comparación con otros ejemplos de patrimonio abulense que, si bien presentan elementos comunes, tienen en su mayoría plantas más canónicas que el caso de estudio planteado
Reseña de: Enseñar y aprender gramática en contextos multilingües
No full textThe teaching of grammar has long been a subject of ongoing debate, oscillating between rigid approaches and more open, reflective proposals that connect grammar with critical thinking and real language use. The reviewed volume aligns with the latter perspective and is centered on the EGRAMINT project, led by Carmen Rodríguez-Gonzalo and developed by the GIEL Research Group at the University of Valencia. The work offers an innovative approach to grammar instruction in multilingual contexts, moving beyond traditional models based on rote memorization, and instead advocating for a reflective, contextualized pedagogy closely tied to writing. Structured in three parts—conceptual framework, classroom implementation, and educational research—the volume bridges theory and practice through collaborative experiences involving researchers and schoolteachers from various Spanish regions. Using didactic sequences, it promotes an interlinguistic grammar approach grounded in cross-linguistic comparison, communicative function, and metalinguistic reflection. Particularly notable is the integration of grammar teaching with writing instruction and the use of the Integrated Language Curriculum (TIL), which fosters the transfer of knowledge across languages. This work makes a valuable contribution to methodological renewal, combining a strong commitment to classroom practice, research rigor, and a transformative vision of the classroom as a space for shared construction of pedagogical knowledge.La enseñanza de la gramática ha sido objeto de debate constante, entre enfoques cerrados y propuestas abiertas que la vinculan con la reflexión crítica y el uso real del lenguaje. En esta línea se sitúa el volumen reseñado, centrado en el proyecto EGRAMINT, liderado por Carmen Rodríguez-Gonzalo y desarrollado por el Grupo GIEL de la Universitat de València. La obra plantea una propuesta innovadora para enseñar gramática en contextos multilingües, superando modelos tradicionales centrados en la memorización, y apostando por una pedagogía reflexiva, contextualizada y orientada a la escritura. Estructurado en tres partes —marco conceptual, implementación en el aula e investigación didáctica—, el volumen articula teoría y práctica mediante experiencias colaborativas entre investigadores y docentes de diversas comunidades autónomas. A través de secuencias didácticas, se promueve una gramática interlingüística basada en el contraste entre lenguas, la función comunicativa y la reflexión metalingüística. Destaca la integración con la enseñanza de la escritura y el enfoque del Tratamiento Integrado de las Lenguas (TIL), que facilita la transferencia de conocimientos entre lenguas. La obra constituye una valiosa contribución a la renovación metodológica, combinando compromiso con la práctica docente, rigor investigativo y voluntad transformadora del aula como espacio de construcción compartida de conocimiento
Validación de modelos neuronales mediante la matriz de ganancias relativas
Full text linkThe main objective of this work is to present a procedure that complements the traditional ones, such as the analysis of the mean square error, in the validation processes of neural models of non-linear multivariable dynamic systems (MIMO). To this purpose, a comparison is made between the degree of coupling presented by these MIMO systems, in terms of their input and output variables, with respect to the level of intrinsic coupling presented by a neural model. This proposal is based on the calculation of the relative gain matrix (MGR) as a tool to make such a comparison of the neural models and real systems. Specifically, the process of calculating the MGR for a NARX neural network is detailed. In order to determine the efficiency of this proposal, different studies are carried out by comparatively assessing the relative gain λ11 of different MIMO systems of dimension 2x2. In particular, a fully decoupled MIMO system is addressed first, followed by a coupled MIMO system. In the first phase, a mathematical study is carried out. Subsequently, with the coupled MIMO system, the study is extended to a practical approach, without considering the mathematical model of the system. The results obtained endorse the initial hypotheses of this work, making it possible to strengthen the process of adjusting neural models.Este trabajo tiene como objetivo principal presentar un procedimiento que complemente a los tradicionales, como es el análisis del error cuadrático medio, en los procesos de validación de modelos neuronales de sistemas multivariables dinámicos (MIMO) no lineales. Para ello, se lleva a cabo una comparativa entre el grado de acoplamiento que presentan dichos sistemas MIMO, entre sus variables de entrada y salida, con respecto al nivel de acoplamiento intrínseco que presenta un modelo neuronal. Esta propuesta se basa en el cálculo de la matriz de ganancias relativas (MGR) como herramienta para realizar dicha comparativa entre los modelos neuronales y los sistemas reales. Específicamente, se detalla el proceso del cálculo de la MGR para una red neuronal de tipo NARX. Con objeto de determinar la eficiencia de esta propuesta, se realizan diferentes estudios valorando comparativamente la ganancia relativa λ11 que presentan diferentes sistemas MIMO de dimensión 2x2. Concretamente, se aborda por un lado el estudio de un sistema MIMO completamente desacoplado, y por otro el de uno acoplado. En una primera fase se plantea un estudio matemático. Posteriormente, con el sistema MIMO acoplado se amplía el estudio hacia un enfoque práctico, sin considerar el modelo matemático de dicho sistema. Los resultados obtenidos refrendan las hipótesis de partida de este trabajo, permitiendo robustecer el proceso de ajuste de modelos neuronales
Do gender-pairings and age/proficiency interplay in LRE production? A preliminary study with young CLIL learners
Full text linkMany studies have explored Language-Related Episodes (LREs) during collaborative dialogue. However, research on the factors affecting LRE production in children, especially regarding gender-pairings in CLIL contexts, remains limited (e.g., Martínez-Adrián & Gutiérrez-Mangado, 2022). Also, no studies have tackled the interplay between gender-pairings and age/proficiency in LRE production amongst young learners. To fill this gap, the study involved CLIL learners aged 9–11 who worked in same- and mixed-gender dyads to complete an oral picture-based narrative task. The LREs were analysed based on the amount, nature (meaning vs form) and resolution (target-like, non-target-like or unresolved). The preliminary results indicate that same-gender dyads seem to outperform mixed-gender pairs in both groups as they produce more LREs. Also, as age/proficiency increases, same-gender dyads tend to produce more target-like LREs. Thus, despite significant proficiency differences between both groups, the tendency towards working better in matched-gender pairs seems to persist throughout middle childhood
The Spanish Academic Collocation List
Full text linkPhraseology plays a crucial role in academic texts, with collocation use key to demonstrating high competence in academic writing. Even for native speakers with limited experience in academic genres, academic collocations present challenges. Despite their importance, however, no sufficiently representative repertoire of academic collocations in Spanish has been developed as a resource for students, similar to those available for academic English. To address this gap, this article proposes a reference list of academic collocations in Spanish, designed for integrated in an academic writing tool and as a support for Spanish for Academic Purposes. Collocations were extracted from an academic corpus using NLP techniques and applying frequency and distribution criteria and Universal Dependency parsing. The resulting list was manually validated to ensure it includes useful collocations for Spanish students across various academic fields