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Urban regeneration and industrial archaeology, dating back between the fourties and the fifties of the 20th century, has drawn attention to architecture, equipment and evidence of human manufacturing, widening the scope of Heritage Preservation in Europe and all over the world. Scholars detected an overall and quite similar development of the approach to industrial Heritage throughout time in the western world, from an early spontaneus interest, through an exploitation mostly based on economic purposes, towards a more recent preservative and inclusive attitude in regenerating buildings and sites, that has a strong support from the voluntary sector in UK. This paper reports the concept and main achievements of a team that, since the seventies, has being pioneering an interdisciplinary, cost-effective and yet preservative approach to abandoned production sites. Blending economic return and true attention to people and site specificity, innovation and campaigns for protection and proper reuse, this approach has been proving to be able to decline the different acceptations of sustainability and, as for conceptual and operational aspects, presents some interesting food for thought.

Onitsha is a city in southeastern Nigeria driven by an urban market phenomenon. It is currently the third largest urban area in Africa, trailing behind Cairo and Lagos, respectively. The constructions of spatialities, and under the notion of terra nullius and extreme otherness in post-colonial Africa, worsened the challenges of rapid and uncontrolled urban growth. The paper provides insights on how the successive political events on the African continent shaped the manifestations of contemporary spatialities and potential pathways to reverse the trend. A review of planning approaches in Nigeria was conducted, starting from colonial cantonments to current epoch of extreme uncertainty, and through the lens of Onitsha markets spatialities. The markets in Onitsha reveal emergent forms of spatialities in response to the extreme otherness and uncertainty in the city. The paper presents arguments on the need to rethink the current architecture, urban design, and planning practices and pedagogies beyond alterity, while embracing the complexity of post-colonial urban Africa. It also provides an opportunity for developing alternative theorizing, tools and frameworks towards equitable and livable urban futures.

This paper is part of a broader research project, which aims to explore multi-scale methods and strategies (from territorial to building scale) and multidisciplinary approaches to recover underused areas in the mountains of Northern Italy. For decades, these territories have suffered from high incidences of abandonment phenomena due to their proximity to metropolitan areas, leading to loss of care and an increase in territorial fragility. Nevertheless, they are rich in cultural meaning expressed it’s in the close relationship between natural and anthropogeographical landscapes. In this framework, identity value is an essential element for the protection and care of the territories themselves and as a planning tool to establish the resilience of these territories. This paper aims to focus on the area of the Highlands of Bergamo, which are complex places since they are almost close to the urban center of Milan, but are areas considered marginal in terms of wider logic. In fact, in the past years, the Orobic massif has been one of the main objects of industrial and tourist exploitation (the 1960s-80s), before suffering from abandonment phenomena that have forced and continue to push these areas to the point of major reconsideration. In this direction, the paper points out which are the most critical points to consider for the rebirth of these neglected mountains.

The paper aims to remember the scientific and human contributions of Giovanni Carbonara. He was a professor emeritus of Restoration, and the director of the School of Specialisation in Restoration of Monuments (now, Architectural and Landscape Heritage), in which he lavished his high intellectual and human value with courage and respect. His students have taken up his teachings in various activities, from teaching to research, and professional works. Since the Seventies of the 20th Century, his research has touched many fields of conservation, analytical study, protection, education, and management of cultural heritage. He was an intellectual also involved in various institutional fields for conservation. He was concerned with looking at the teachings of the past with an eye focused on the updates and new developments in the restoration’s thought. He was a promoter of the ‘critical-conservative’ line of restoration.

To enable collaborative modeling activities online digital tools are essential. In this paper we present a holistic and adaptable concept for the development and implementation of modeling activities – which could especially be fruitful in times of homeschooling and distance learning. The concept is based on two digital tools: Jupyter Notebooks and a communication platform with video conferences.We carried out this concept in the context of two types of modeling activities: guided modeling days, where the students work on previously prepared and didactically developed digital learning material, and modeling weeks, in which the students work on open problems from research and industry very freely. In this paper the usage of Jupyter Notebook in modeling activities is presented and illustrated with the example of the optimization of a solar power plant. On top, we share our experiences in online modeling activities with high-school students in Germany.

Despite decades-old political commitments to mainstreaming children’s rights in policy initiatives, there remains inadequacy of children’s rights-based monitoring and evaluation instruments for this progress. As an effort to address this gap, the paper seeks to conceptualise the children’s rights-based approach and to propose its application to policy analysis. Recognising children as rights holders and the state as the primary duty bearer, the core of the children’s rights-based approach is at ensuring the enjoyment and realisation of children’s rights through a number of principles. This paper’s proposed assessment framework focuses on the state’s legal structure, policy measures, and outcomes achieved in the realisation and enjoyment of children’s rights and the evaluation of policy progress under child rights norms and principles. Accordingly, the children’s rights-based policy analysis is designed to be based on two sets of indicators that reflect the state’s policy commitment and child rights principles.

After ten years, drawing indiscriminately the neighborhoods of Valencia, for no other reason than to observe and represent every corner of the city, we finally decided to use the communicative capacity of drawing as a tool to reclaim El Cabanyal’s negletic state of abandonment, that has been going through for many years, regardless its political burden. After setting this goal and analysing the morphological and social history of this neighborhood, we decided to travel the streets and rooftops of El Cabanyal, talk to its people, and draw, in situ, those different spaces, shapes, colors, atmospheres ... giving rise to dozens of drawings that immortalize the (still alive) remains of this urban ecosystem. Paper-shaped witnesses sketched with latent architectures, persecuted and threatened by oblivion that will accompany us during the course of this paper. After ten years, drawing indiscriminately the neighborhoods of Valencia, for no other reason than to observe and represent every corner of the city, we finally decided to use the communicative capacity of drawing as a tool to reclaim El Cabanyal’s negletic state of abandonment, that has been going through for many years, regardless its political burden. After setting this goal and analysing the morphological and social history of this neighborhood, we decided to travel the streets and rooftops of El Cabanyal, talk to its people, and draw, in situ, those different spaces, shapes, colors, atmospheres ... giving rise to dozens of drawings that immortalize the (still alive) remains of this urban ecosystem. Paper-shaped witnesses sketched with latent architectures, persecuted and threatened by oblivion that will accompany us during the course of this paper.

In this paper we analyse the Soca Chapel in Canelones (Uruguay), which was built in 1960. This was the first religious building designed by Antonio Bonet Castellana (1913-89) and the only one he completed. Using data stored in the architect’s archive, we have re-drawn the entire work, reconstructing the chapel’s ritual path and including as active elements both the adjoining pavilion and the outer walls to create new graphical documentation that provides previously unpublished information. We also discuss another chapel that appears in the Soca files held in the architect’s archive. The analysis presented in this paper will provide additional data for anyone interested in better understanding this architectural work.

Despite the worldwide increase in entre­preneurship education offered at univer­sities, there is an ongoing debate whether and under which conditions this type of education contributes to foster students’ entrepreneurial competencies. There is no consensus on what entrepreneurial com­petencies means, neither on the charac­teristics of the pedagogical interventions needed, especially on what refers to the measurement of these interventions. This paper argues that universities need to de­velop learning environments in the context of non-formal education. Non-formal ed­ucation is proposed to fit better with the enhancement of entrepreneurial compe­tencies, as it offers the flexibility required to facilitate experimentation and to allow students to gather entrepreneurial experi­ence. Additionally, in this paper arguments are developed to show how formative evaluation systems suit entrepreneurial pedagogic interventions. Therefore, a com­prehensive proposal that facilitates the ac­quisition of entrepreneurial competencies, the main pedagogical characteristics that should inspire the different educational programs and their relationships with the different types of entrepreneurial compe­tencies are exposed. The article ends with the design of a formative evaluation system that highlights the importance of reflection as an element of the evaluation process and the entrepreneurial learning process.

In the European Space of Higher Education, the cultural features of the millennials, the development of technology and the shift in the understanding of the students’ learning process, have played a vital role in the development and evolution of gamification-based teaching practices. Gamification is related to the development of skills, motivation and commitment of students. The aim of this paper is to provide evidence of the benefits of gamification in the training itinerary of Business Administration students. To this end, two different experiences have been selected, based on the skills students train and the added value that these skills may provide. In the first case, this paper presents empirical evidence of the improvement on the final grade of students who have participated in the gamification experience. The benefits of the second experience are diverse and reach students, universities and companies. The success of both experiences is linked to their adaptation to the cultural traits of the millennials, whose learning process is conditioned by technology and by other features identified in literature. The second experience responds to the necessary collaboration between university and business, as well as the generation of networks.

There are different devices capable of discriminating optical and optoelectronic noise, however, the cost of its implementation and maintenance is expensive. This paper examines the possibility of digitally integrating Finite Impulse Response (FIR) filters into the transducer of an OSS systems to obtain better performance in a real operating environment. In this paper we propose the evaluation of the implementation of different FIR filters in different photo-sensors transducers, such as the Light-Dependent Resistor (LDR) and the Light Emitting Diode (LED).

This paper presents the design and application of passivity–based control theory for distributed energy resources (DERs) integration through voltage source converters (VSC) in ac single–phase grids. The Hamiltonian representation of these grids facilitates the development of passive controllers that guarantee stability in the sense of Lyapunov for their closed–loop operation. The non–autonomous dynamic modeling of these systems is transformed into an incremental model, which allows solving the tracking as a regulation problem. The main contribution of this paper is in the ability to control the active and reactive power transference between DERs and the ac single–phase grid depending on the availability of the primary energy resource and the capacity of the converters. Simulations results show that all proposed controllers attain the control objective, reaching the same dynamic performance as classical proportional–integral controllers and guaranteeing asymptotic stability. All simulations are developed under the MATLAB/Simulink environment through the SimPowerSystems tool.

In a previous paper the authors compared the AC-AC converters, useful for the frequency regulation in hydroelectric microplants varying the power dissipated in ballasts loads, with the new proposal consisting in a bridge three-phase rectifier using diodes with a serial switch with the load that is switched with symmetric angle. The paper showed that the aforementioned rectifier accomplishes to improve the power factor at the generator output, except for low power consumed by users, near to its minimal value. A way to solve this problem consists in to use three bridge single-phase rectifier using diodes with a serial switch with the load that is switched with symmetric angle. As a consequence, the objective of this article is to carry out a comparison between the aforementioned single-phase rectifier and the AC-AC converter, regarding the power factor at the output of the electric generator of hydroelectric micro-plants that regulate frequency by means of the ballast-load method.

Inside a Mediterranean scenario of population asymmetries, this paper talks about and ongoing research that aims to highlight issues, identify a working method and tools able to support sustainable regenerative design strategies for abandoned historical small(er) towns and their landscapes, especially in inlands contexts. With these objectives, the research chooses Basilicata region, in the South of Italy, as emblematic for its structural marginality- morphological, infrastructural, social and economic -, bio-cultural diverse and diffused heritage and its seemingly unreversible depopulation process. Aging, low birth rates and high level of emigration has produced the abandonment of small(er) towns, of rural areas and, by the contrary, an increasing wilderness, changing the millennial settlement structure and impacting on socio-ecological resilience. Inside the theoretical framework of landscape/ecological urbanism and related design- oriented experimentations, the constellation of abandoned small(er) towns are interpreted as urban densities of a performative bio-cultural green infrastructure that could support, through design, the contemporary challenge of sustainable development, with a relational and glocal approach. Small(er) towns regeneration is view inside a more complex, interdisciplinary and holistic frame in which inter-scalarity, flux, dynamic and time variability are crucial. Performative bio-cultural green infrastructure, through the multiplication of public space, could support sustainable processes, in an ecological, economic and social sense. From an applicational point of view, the research intends to build a dynamic atlas for the regeneration of abandoned small(er) towns; the atlas is conceived both as a reading and a design tool able to support polyphonic and open process of sustainable regeneration.

The Mosteirinho de São Francisco was built around 1635, in a period when the Dutch dominated the northeast of Brazil. It is a building of simple architecture but representative of this singular historical context. It was declared as national heritage in 1966, but today it is abandoned, in an advanced state of degradation, and involved in a judicial process regarding its property. This paper presents the main results of the architectural and conservation studies on the building, as well as the methodology to create a 3D model of its current state as a basis for designing an adaptive reuse proposal that seeks to rescue its heritage values.

The geometric analysis and the design and execution process of the springs of the starred vault that covers the Chapel of the Lonja de los Mercaderes in Valencia (Spain), built in the late 15th century is the subject of study and research in this paper. The springs of other starred vaults are also mentioned, such as the one that covered the chapter house of the Valldigna monastery (Simat, Valencia) or those of the church of San Bartolomé in Jávea (Alicante). The geometry of the basket arches that start from the springs, the arrangement of the courses in the tas-de-charge, and the way in which the intersection of the five arches that start from the springs occurs in a horizontal plane located above the springer corbel, is shown. Other geometric relationships are shown, such as the one that relates the height of the horizontal spring planes with the general geometry of the vault; or the way in which the springs were designed and executed with the finality of relating or ruling out possible authorship of other vaults.

This paper presents a family of mechanisms of two degrees of freedom for implementing variable geometry hybrid wheels. These mechanisms are capable of transforming a circular wheel into a hybrid wheel with multiple legs. In this paper we describe the main attributes and advantages of these mechanisms, which we named HeIse Wheels. In addition, various terms and concepts related to the mathematical modeling of these devices are defined. The family of mechanisms consists of 14 original designs, which represent a sound solution to the problem of wheel-hybrid wheel transformation.

This paper proposes the design and development of a telescope network scheduler for the GLORIA telescope network. This telescope network, which main objective is helping users to get involved in astronomy research, is composed by 18 heterogeneous telescopes located in different countries. These telescopes are managed by the scheduler to execute the observations requested by the users. A key module of this scheduler is the telescope decision algorithm which objective is to avoid serving an observation to a telescope that cannot execute it. This paper proposes two different algorithms: the first one is based on weather forecast, and the other one is based on fuzzy logic. Both algorithms were deployed and used into the GLORIA network, an analysis of the results and a performance comparative between both algorithm are shown in this paper. As well, the scheduler architecture based on a hybrid distributed-centralised schema is detailed.

This paper introduces the Time Series Simulation for Benchmarking of Reconstruction Techniques (TISSBERT) dataset, intended to provide a benchmark for the validation and comparison of time series reconstruction methods. Such methods are routinely used to estimate vegetation characteristics from optical remotely sensed data, where the presence of clouds decreases the usefulness of the data. As for their validation, these methods have been compared with previously published ones, although with different approaches, which sometimes lead to contradictory results. We designed the TISSBERT dataset to be generic so that it could simulate realistic reference and cloud-contaminated time series at global scale. To that end, we estimated both cloud-free and cloud-contaminated Normalized Difference Vegetation Index (NDVI) statistics for randomly selected control points and each day of the year from the Long Term Data Record Version 4 (LTDR-V4) dataset by assuming different statistical distributions. The best approach was then applied to the whole dataset, and validity of the results were estimated through the Kolmogorov-Smirnov statistic. The dataset elaboration is described thoroughly along with how to use it. The advantages and drawbacks of this dataset are then discussed, which emphasize the realistic simulation of the cloud-contaminated and reference time series. This dataset can be obtained from the authors upon demand. It will be used in a next paper to compare widely used NDVI time series reconstruction methods.

The work presented below is part of the results of a research project at "Universidad Politécnica de Madrid". In this paper we analyze the project for Murcia airport, which was done by Fernando Higueras under the guidance of Félix Candela. Some of the unpublished original documents of the project are included in the paper. The source of them are the Official Colleges of Architects of Madrid and Cataluña. In addition, the authors of the paper have done a 3D reconstruction that allowed to analyze the airport. The project is compounded by hyperbolic-paraboloid surfaces, such as those that Candela developed during the 50s. If it had been built, it would have become the largest cantilever done by Felix Candela using the "umbrella" structure.

Todo videojuego cuenta con un sistema de penalizaciones y recompensas que ya implica una carga ética implícita. Sin em­bargo, algunos títulos despliegan una na­rrativa estructurada capaz de generar un contexto complejo que propone dilemas éticos para el desarrollo de una narrativa emergente. En este artículo nos centrare­mos en analizar el puzle dramático basa­do en dilemas éticos como una forma de tejer el diseño narrativo y la jugabilidad que permite activar situaciones complejas que ponen al jugador en aprietos éticos y que promueven retos mentales y emocio­nales. Analizaremos las estrategias lúdicas y narrativas de Gods Will Be Watching (De­constructeam, 2014), Papers, please (Lu­cas Pope, 2013) y This war of mine (11 Bit Studios, 2014) y los discursos que generan a través de la agencia del jugador que, además, nos permiten reflexionar sobre aspectos controvertidos de las sociedades actuales.

In this article the challenge of detecting areas linked to transnational environmental crimes in the Amazon rainforest is addressed using Geospatial Intelligence data, open access Sentinel-2 imagery provided by the Copernicus programme, as well as the cloud processing capabilities of the Google Earth Engine platform. For this, a dataset consisting of 6 classes with a total of 30,000 labelled and geo-referenced 13-band multispectral images was generated, which is used to feed advanced Geospatial Artificial Intelligence models (deep convolutional neural networks) specialised in image classification tasks. With the dataset presented in this paper it is possible to obtain a classification overall accuracy of 96.56%. It is also demonstrated how the results obtained can be used in real applications to support decision making aimed at preventing Transnational Environmental Crimes in the Amazon rainforest. The AmazonCRIME Dataset is made publicly available in the repository: https://github.com/jp-geoAI/AmazonCRIME.git.

This paper describes different possibilities to answer the question of automatically creating a choreography for musical fountains using mathematical modeling. The possibilities for an implementation range from a short project in the middle school, which has large parts in mathematics, to long-term projects, which deal with the physical background, an implementation with the help of the computer and in the highest expansion stage even a technical realization. In the article different variants are described, supplemented by experiences from practice and extension possibilities are pointed out. All in all, the readers should be enabled to design and practically implement their own project according to the individual local conditions such as time frame, learning level of the target group and possibilities for interdisciplinary cooperation. (This article is a translation and update of the German first edition Bracke, M. Capraro, P. (2021)).

Due to developments in the financial marketplace, digitalization of finance and easy access to financial products, financial literacy is becoming increasingly important. The paper at hand introduces parts of a learning environment for mathematics classes that focuses on mathematical modelling and financial literacy. After theoretical considerations, two worksheets are presented, which deal with influences of the interest rate on the repayment of loans. Based on the description of a test run, the usability of the worksheets in class is concluded.

Heterogeneity can be taken into account in the classroom by using self-differentiating tasks. From a mathematical-didactic point of view, modelling tasks are of particular interest in this regard because of this. The paper focuses on the heterogeneity dimension of mathematical achievement and modelling competence of 15-year-old students. First results of a case study will be described in how far the processes of a modelling task vary with regard to the aspect of achievement levels.

This paper is practice-oriented and reports on a mathematical modelling unit specifically developed for first-year engineering students in a South African context. The main idea with the unit was to foster students’ mathematical modelling competency development. This idea supports an essential goal of mathematics teaching, that is to enable students to solve real - world problems by means of mathematics. The unit consists of five lessons and several tasks, carefully planned to consider students’ mathematical pre-knowledge, the demands of the first-year mathematics (calculus) curriculum and the intended competency development. The unit was linked to the mathematical topic of functions and taught for different groups of students according to two different teaching designs, similar to the designs used in the German DISUM project. 144 first year engineering students from the extended curriculum programme of a large public university were divided in three groups and exposed to the unit. An empirical evaluation of the intervention (with a pre-post-test design) showed a significant competency growth for all groups, with substantial differences, dependent on the teaching design. Some strengths and shortcomings of the unit will be identified and implications for future practice will be discussed.

Mathematical modeling can be promoted in regular lessons as well as in project form. Both options have advantages and disadvantages and provide different challenges, but also opportunities for students and teachers. Since 2001, teachers in Hamburg have the opportunity to participate with their students in modeling projects organized by members of the University of Hamburg. In this paper, the perspective of teachers, some of whom have been participating in modeling activities for more than five years, on the opportunities, but also on the difficulties of participation are presented. In addition, the views of over 200 students regarding their participation in the modeling days are outlined.

Since 2000 the Zentrum f¨ur Mathematik in Bensheim (ZFM) and the Technical University Darmstadt (TUDa) have organized an annual autumn school for mathematically highly talented pupils in their last year of school. For one week, the participants work in groups on application problems, which first need to be transformed into mathematics and then be solved by mathematical analyzation and numerical approximation and implementation on a computer. Finally, the results are presented. The problems are very realistic. Only minor details may be skipped, to make the problem easier to handle and to focus on the main issue at hand, but only if they do not affect the basic result. For some of the problems there exist similar, but much simpler, counterparts that can be solved in a shorter time period even in a usual school setting. Solving those simple problems opens the outlook to the hard problems if they are mentioned before. This paper examines two applications that led to mathematical problems from analysis and geometry.

In Germany, there is quite a tradition of modeling projects, carried out by different universities all over Germany. Since 2001, different modeling projects has been conducted by the working group on Didactics of Mathematics of Department of Education of the University of Hamburg. In this paper, the current project, the Hamburg Modeling Days, is described in detail. One goal of this project is to enable students to gain experience in working on modeling problems and to acquire modeling competencies. Furthermore, prospective teachers are supported in their professionalization for teaching mathematical modeling, especially with respect to the supervision of students working on modeling problems. Finally, practicing teachers are in the implementation of modeling problems in mathematics classes.

This paper shows the restoration work carried out on the mudbrick structures uncovered at the Iron Age (c. 1300-300 BC) site of Salūt, in central Oman. In the region, traditional earthen architecture represented the key building technique until modern times. The traditional concept of constant upkeep is arguably the only way of efficiently preserving ancient structures. However, different mud plaster compositions were tested which could provide a better aspect and a lower static load on the structures. The work strategy was meant to be sustainable from an economic, ecological, and sociological point of view, as it also aimed at documenting and hopefully reviving the traditional earthen architecture currently endangered by the disinterest of younger generations.

This paper adopts the form of a log book of experiences, observations, interpretations, ideas and resources obtained as a result of using digital information models to address the needs of the institutions and managers of the Archaeological Site of Itálica (CAI, after the Spanish initials) between 2006 and 2021. The problems related to the knowledge and management of the site vary enormously both in scale and complexity. We discuss them here in chronological order to provide a vision of how digital geometric registration and information models have played an increasingly important role at this type of heritage site. The significance of the case study resides both in the importance of the remains, recognised since the 18th century, and in the difficulty of applying systematic processes to manage the site today.

Empirical research on ubiquitous learning has been centralized in students as the only learners in the digital age, while literature on u-learning in teachers is insufficient. For this reason, this paper focused on answering the research question: how is ubiquitous learning developed in university teachers? This with the purpose of identifying the advances and problems to be solved so that u-learning in the university context is a reality. A quantitative, descriptive, and exploratory research approach was used. A semi-structured questionnaire was also prepared, which was answered by 10 university professors belonging to a Mexican public institution. Among the main results, it is highlighted that the learning of teachers is configured in any place, space and time that is relevant for the institutional or personal educational projects of teachers. In fact, their main motivations for learning are linked to improving their teaching practice, although they are not subordinated to this purpose. In addition, teachers take advantage of both structured and spontaneous learning opportunities that arise at the time, but that are relevant in their institutional life as a teacher, researcher, and other significant roles. Based on these results, it is recommended that before designing and implementing a teacher training or update, it is investigated whether these are in tune with the interests of the teachers involved. The aim is to involve teachers at a higher level.

Resumen: En este trabajo se presenta una familia grande de reguladores saturados tipo hiperbólicos para robots manipuladores. La propuesta considera a la ganancia proporcional constante y a la ganancia derivativa variable con sintonía automática definida en función del error de posición, velocidad de movimiento y un factor de inyección de amortiguamiento para modificar la velocidad de respuesta del robot. La acción de control derivativa con ganancia variable permite reducir sobreimpulsos, oscilaciones y rizo, tal que alcance el estado estacionario en forma suave. Asimismo, se presenta la propuesta de una función estricta de Lyapunov que permite demostrar la estabilidad asintótica global de la ecuación en lazo cerrado. Para mostrar el desempeño y funcionalidad de la familia propuesta de esquemas de control, un análisis comparativo experimental fue desarrollado entre siete estructuras de control, cinco reguladores pertenecen a la familia propuesta, y dos algoritmos de control bien conocidos como son el proporcional derivativo (PD) y tangente hiperbólico (Tanh). Los resultados experimentales fueron obtenidos con un robot manipulador de transmisión directa de tres grados de libertad. Abstract: In this paper a family with a large number of hyperbolictype saturated regulators for robot manipulators, was presented. The proposed regulators consider a constant proportional gain while the derivative variable gain is self-tuned according to a function that depends on the position error, speed of motion and a damping factor, in order to modify the velocity of the transient response of the robot. The derivative control with variable gain enables reduced overshots, oscillations and ripple, enabling a smooth arrival to the steady state. The paper also proposes a strict Lyapunov function which enables the demonstration of asymptotic global stability of the closed-loop equation. In order to illustrate the performance and functionality of the proposed family of control schemes, an experimental comparison between seven control schemes was implemented. Five of these control schemes belong to the proposed family while two additional control schemes are well-known strategies such as the proportional-derivative (PD) and hyperbolic tangent (Tanh) control schemes. The experiments were performed by using a three degree-of-freedom, direct-drive robot manipulator. Palabras clave: Regulador, Función de saturación, Ganancia Variable, Manipulador robótico, Algoritmos de control, Keywords: Regulator, Variable gain, Robotic manipulator, Control algorithm

This paper presents an experimental platform for studying the effects of hardware vulnerabilities in mobile robots. The platform is designed so that the hardware, involved in the navigation process, can be monitored during the robot operation and, if desired, their behavior can be altered, allowing the simulation of a failure. The paper shows a particular case of study: the I2C Bus vulnerability when some anomalies appear in the clock signal. A set of experimental results confirm the interest of the studied vulnerabilities and the applicability of the developed platform.

Resumen: En este artículo se presenta un modelo dinámico para un recuperador de gases - sales fundidas incluido en una planta de demostración de una tecnología de hibridación de plantas termosolares con otras fuentes de energías renovables. Tanto el demostrador como el modelo se han desarrollado en el ámbito del proyecto HYSOL. Este trabajo describe brevemente dicho proyecto, su tecnología, demostrador y principalmente el modelo dinámico del recuperador, cuyo estado estacionario ha sido comparado con los cálculos de diseño. El artículo se completa con simulaciones dinámicas donde se estudia la convergencia del modelo, la contribución de los distintos procesos físicos a la transferencia de calor y el impacto de las condiciones ambientales a las pérdidas térmicas. Abstract: In this paper, a dynamic model of a molten salt -gas heat recovery system of a demonstrator for a hybrid renewable solar thermal power plant, developed in the scope of the HYSOL project, is presented. This work describes briefly the HYSOL project, its technology, the demonstrator and mainly the developed heat recovery system dynamic model; its steady state has been compared to the expected results from plant design calculations. This paper is completed with dynamic simulations where, the model convergence is studied, the contribution of the different heat transfer processes is analyzed, and the impact of the environment conditions to thermal losses is evaluated. Palabras clave: Almacenamiento térmico, Energía solar de concentración, Turbina de vapor, Turbina de gas, Modelica, Keywords: Thermal storage, Concentrating solar power, Steam turbine, Gas turbine, Modelica

The historical context of Ankara is relatively complex due to the breaking points in its history. First, Ankara became the showcase of the newly established Turkish Republic and a new city center designed in isolation with the old one to represent the modernity of the Republic. Second, with the 1980 coup and expansion of the military zones, the new city center expanded unplanned and unexpected. Last, after the coup attempt in 2016, the large military zones in the city center are decided to be relocated to the city’s peripheries. This study points out the importance of this recent decision on the historical landscape of Ankara and proposes that it could be a potential for repairing the urban memory of the city. According to these massive changes, Ankara lost many of her historical references and the continuity of the urban memory. In this context, this paper thoroughly discusses the remaking of military zones in the city center, their historical presence, and possible interactions with the city’s needs. Understanding these areas as potential catalysts for repairing the historical landscape requires developing a new perspective, which embraces complex relations and multiple voices. Dialogic and polyphonic thinking encompasses the city’s inherent multiplicity, relationality, incompleteness, and historical assets.

This paper presents the way of proceeding graphically, through architectural drawing, during the rationalist period in the Canary Islands. For this purpose, we have used a paradigmatic figure among the architects who developed their professional activity in the islands, his name is Miguel Martín Fernández de la Torre, who estudied architecture at the Madrid School of Architecture. The architectural proposals made in his professional development have been carried out in the different islands of the archipelago, we are going to concentrate on some works of his large graphic production, these exemplify his production; some of these works are registered in the Iberian DOCOMOMO. The drawing of rationalism in the Canary Islands, seen through the drawings of this architect, is framed within the coordinates of Spanish rationalism, which confirms that the communication networks between professionals functioned in a fairly fluid manner; likewise, the contribution of international information is also confirmed.

On 13th June 2021, Animación.es: una historia en una exposición closed its doors at the Imprenta Municipal de Madrid. It was the largest exhibition held to date on the history and production processes of Spanish animation and it had to face an extremely complicated context, due to the restrictions on mobility caused by the COVID-19 pandemic, which hindered attendance. In the paper we review the process of creation and planning of the exhibition, the numerous difficulties it had to face, and the impact and urgency of such proposals in the promotion of animation in Spain.

Since the XIX century, temporary architecture and installations have transited ways that sometimes match in the use of certain elements, such as, mirrors. This text, centered in the study of two cases of spaces made with mirrors, has as objective to identify the links between some of the works created from both artistic practices. To do so, this paper is divided into two parts, the first one is devoted to mirror mazes, and the second one to habitable kaleidoscopes. Each section proposes first, a historic route trough some of the most relevant works from both artistic practices, and later, a comparative study in which the works’ similarities and differences in shape and objectives are pointed. This will allow us to glimpse the parallelism that exists, specially between specific works of Gustav Castan and Olafur Eliasson, who from different scopes and times have developed works in which, among other traits, the use of mirrors stands out.

Presently, electric power systems based on microgrids are reaching an important position in different locations around the world. The multiple distributed generation technologies employed in modern microgrids allow a joint operation of renewable and non-renewable energy sources with many types of loads. Nonetheless, induction motor (IM) type dynamic loads represent one of the most critical factors that make microgrid systems vulnerable to scenarios that could trigger voltage instability. This paper proposes the incorporation of FACTS (flexible ac transmission system) devices to improve the dynamic voltage stability of microgrids with high dynamic load penetration. The work focuses on the impact of including a DSTATCOM (distribution static compensator) in a microgrid with high IM type dynamic load penetration when a fault occurs that causes the microgrid isolation. Various case studies are analyzed using the CIGRÉ microgrid test system. The results show the improvements in the voltage stability of the microgrid with the coordination of distributed generation technologies and the DSTATCOM.

Pitch control of wind turbines is complex due to the intrinsic non-linear behavior of these devices, and the external disturbances they are subjected to related to changing wind conditions and other meteorological phenomena. This difficulty is even higher in the case of floating offshore turbines, due to ocean currents and waves. Neural networks and other intelligent control techniques have been proven very useful for the modeling and control of these complex systems. Thus, this paper presents different intelligent control configurations applied to wind turbine pitch control. Direct pitch control based on neural networks and reinforcement learning, and some hybrid control configurations are described. The usefulness of neuro-estimators for the improvement of controllers is also presented. Finally, some of these techniques are used in an application example with a land wind turbine model.

Nowadays our students are quite discouraged attending lectures and working. This leads teachers to introduce changes in their lectures which conduct them to design new learning activities as the basis of their teaching. This paper proposes a model for designing learning activities in basic engineering courses. The proposed activities aim to motivate students, promote learning and strengthen the generic skills of oral communication, teamwork and autonomous learning.The paper discusses the use of two templates to design activities. The former contains general information about the activity, while the latter contains all the details for the development of the activity. Usually the latter will serve as material for students to develop the activity; however in some cases it will be necessary to add some additional documentation (web, guides, etc.).The paper describes how to apply the proposed model to five learning activities of basic engineering programming courses. Moreover, the article proposes the usage of two rubrics to assess two of the activities. Finally, the paper presents the student ratings for the learning activities developed. In general, students are satisfied with the activities and they found the activities helpful for enhancing their learning and for acquiring new skills.

This paper presents a bio-inspired hybrid algorithm for shape detection applicable to solar estimation in solar power plants. The objective is to locate and characterise the shape of a cloud over a solar power plant based on low level irradiance measurement with a small fleet of Unmanned Aerial Vehicles (UAVs) equipped with direct normal irradiance sensors. Toe hybrid algorithm takes inspiration and adapts ideas of the ant colony optimisation algorithm (ACO) and also uses a standard cover area algorithm, separating the field into two grids, one for each layer of the algorithm, to find the area affected by the cloud. Once the low irradiance zone is located by one of the UAVs, the others go to help it. This team delimits the cloud border using concepts of an image processing technique. Finally, the algorithm is tested by simulations.

The increase of the population age drives to a new focus of study, the elder people. Specifically, the impact of architectural environments on physical, sensory, and cognitive capacities of the elderly is a study subject of growing interest. And so, it becomes necessary to research about the interaction between the elderly and the constructed environment. Accordingly, architectural simulation through VR goggles provides an environmental perception introducing the “immersion” concept and allows for the research tasks using innovative techniques. Aiming to fill the gap in the research field regarding the senior people and their visual perception of architectural space, this paper develops a virtual simulation system of architectural environments to conduct the colour research within the framework of a broader research project (MODIFICA). Thus, an online interactive tool is created, considering the user visual ergonomics, to be used to assess architectural environments from anywhere with an internet connection. Finally, this tool has been validated through its application in a concrete practical case, with senior participants.

In this work we present an application case of high school level probability concepts to solve an interesting real problem. In particular, we try to shed some light on uncertainties faced, at the beginning of the school year 2020-2021, by infant and primary schools and families with children in these educational stages in relation to possible temporary confinements of bubble groups that may occur as a result of positive COVID19 cases in them. These uncertainties lead centres and families to live in fear and anxiety the likelihood of suffering these confinements. In this paper, we present a simple probabilistic model using only high school level concepts and based on data about bubble group confinements during the first four weeks of the school year in nursery and primary schools in the Valencian Community (Spain), which allows us to make a prediction of the likelihood of centres and families to be confined for the remainder of the academic year. According to our model, the probability that centres will have to apply one or more bubble groups in the remainder of the course is quite high, while for families it is not too worrying, especially if they are not numerous. Also, we estimate the productivity impact related to working parents needs to look after their confined children which, as we show, is very low.

The proposed research focuses on the museum context of the city of Turin (Italy), within an ongoing framework agreement between the Politecnico di Torino and the Museum of Oriental Art (MAO). It aims at the construction of a model for the management of the workflow that includes the digital survey, the 3D virtual modelling and the digital fabrication of the tactile models of the artworks and the exhibition spaces. The paper starts with an overview on the methods of conservation and dissemination of cultural and architectural heritage, on the accessibility of museums and on tactile perception and graphics. It presents the first outcomes of the designed workflow with a special focus on the digital fabrication experiments on the vaulted system of the atrium of Palazzo Mazzonis (MAO home). The founding idea is that tactile exploration of artifacts helps the visitor engagement, making the museum experience more educationally incisive and more inclusive, in a “Design for All” perspective.

In this paper, a control scheme to regulate the speed in an electric vehicle with two electric motors in the rear axle. In order to make a turn in the vehicle a differential speed in the motors is needed. A detailed mathematical model of the electric vehicle is included, comprising the dynamics of the components in the system, as well as their interconnections. An inverse kinematic controller is presented to calculate the required speed references for the motors. Taking into account the references, a robust sliding mode controller is presented, to guarantee the stability of the complete system. The proposed control scheme was tested in closed - loop through simulations to prove the performance. The results show a good performance under different perturbations, such that parameter variations and external disturbances, in this case, driver mass and road slope. Furthermore, the discretization and a proposal to implement the control scheme controller in an embedded system are presented.

Time synchronization is a key requirement in several application domains based on real-time distributed systems. Therefore, it is a research area of interest, especially in lines such as the transfer of time and frequency, the design of clocks and oscillators, and the use of synchronization in communication networks. This work focuses on the transfer of time between elements of a distributed system for the synchronization of their clocks and the software they execute. Currently, there are different protocols to synchronize autonomous nodes, but they have some drawbacks that make them unsuitable for certain types of distributed systems. This paper presents a method for synchronizing the execution of distributed software on a local area network. Additionally, the functional safety analysis of the method is developed and the measures it must implement to achieve a SIL2 are proposed. The method has been implemented and validated by executing it in a realistic physical distributed system, obtaining promising results.

The teaching of colour in the basic course of the Hochschule für Gestaltung Ulm is an evidence of the revolutionary renewal of the teachings of the German school in the second half of the 20th century. The basic training of the future designers and architects of the new industrial society undergoes an innovative change of direction in which colour overcomes its exclusive condition as a plastic element. The paper develops the pedagogical itinerary from the colour applied as a hue to the colour used as a code. The review and comparison of teaching experiences reveals the influence of the courses given by the former members of the Bauhaus on the transformative work carried out by Tomás Maldonado. The initial teaching fluctuates between an analytical and an experimental perspective to culminate in problem solving in which color is one more parameter of a programmed process.