Groundwater use in Spain: an overview in light of the EU Water Framework Directive

In semi-arid regions, aquifers provide a series of practical advantages that make them preferential sources of water supply. In Spain, groundwater meets about one-fifth of the total water demand and is used to irrigate over one-third of the total irrigated land. This article examines groundwater use in Spain from the perspective of the EU Water Framework Directive. Analysis of different sector uses suggests that core problems (and solutions) related to groundwater lie in agricultural uses and that the Directive's environmental requirements remain distant from reality on the ground, where economic, political and social reasons prevail on legal obligations set by national and supranational authorities.     

Terrain Modelling from Feature Primitives

We introduce a compact hierarchical procedural model that combines feature‐based primitives to describe complex terrains with varying level of detail. Our model is inspired by skeletal implicit surfaces and defines the terrain elevation function by using a construction tree. Leaves represent terrain features and they are generic parametrized skeletal primitives, such as mountains, ridges, valleys, rivers, lakes or roads. Inner nodes combine the leaves and subtrees by carving, blending or warping operators. The elevation of the terrain at a given point is evaluated by traversing the tree and by combining the contributions of the primitives. The definition of the tree leaves and operators guarantees that the resulting elevation function is Lipschitz, which speeds up the sphere tracing used to render the terrain. Our model is compact and allows for the creation of large terrains with a high level o detail using a reduced set of primitives. We show the creation of different kinds of landscapes and demonstrate that our model allows to efficiently control the shape and distribution of landform features.     

Air‐ground Matching: Appearance‐based GPS‐denied Urban Localization of Micro Aerial Vehicles

In this paper, we address the problem of globally localizing and tracking the pose of a camera‐equipped micro aerial vehicle (MAV) flying in urban streets at low altitudes without GPS. An image‐based global positioning system is introduced to localize the MAV with respect to the surrounding buildings. We propose a novel air‐ground image‐matching algorithm to search the airborne image of the MAV within a ground‐level, geotagged image database. Based on the detected matching image features, we infer the global position of the MAV by back‐projecting the corresponding image points onto a cadastral three‐dimensional city model. Furthermore, we describe an algorithm to track the position of the flying vehicle over several frames and to correct the accumulated drift of the visual odometry whenever a good match is detected between the airborne and the ground‐level images. The proposed approach is tested on a 2 km trajectory with a small quadrocopter flying in the streets of Zurich. Our vision‐based global localization can robustly handle extreme changes in viewpoint, illumination, perceptual aliasing, and over‐season variations, thus outperforming conventional visual place‐recognition approaches. The dataset is made publicly available to the research community. To the best of our knowledge, this is the first work that studies and demonstrates global localization and position tracking of a drone in urban streets with a single onboard camera.     

A robot learning from demonstration framework to perform force-based manipulation tasks

This paper proposes an end-to-end learning from demonstration framework for teaching force-based manipulation tasks to robots. The strengths of this work are manyfold. First, we deal with the problem of learning through force perceptions exclusively. Second, we propose to exploit haptic feedback both as a means for improving teacher demonstrations and as a human–robot interaction tool, establishing a bidirectional communication channel between the teacher and the robot, in contrast to the works using kinesthetic teaching. Third, we address the well-known what to imitate? problem from a different point of view, based on the mutual information between perceptions and actions. Lastly, the teacher’s demonstrations are encoded using a Hidden Markov Model, and the robot execution phase is developed by implementing a modified version of Gaussian Mixture Regression that uses implicit temporal information from the probabilistic model, needed when tackling tasks with ambiguous perceptions. Experimental results show that the robot is able to learn and reproduce two different manipulation tasks, with a performance comparable to the teacher’s one.     

QoS aggregation for service orchestrations based on workflow pattern rules and MCDM method: evaluation at design time and runtime

Service consumers satisfaction is considered today as one of the main concern to be ensured by service providers, especially with the spread of concurrency and the increase of functionally equivalent services. This satisfaction is closely related to quality of service (QoS) perceived by service consumers. In this context, we propose an approach to determine the satisfaction degree corresponding to the QoS of service-based applications, with regard to service consumers’ QoS expectations. Our approach is based on a preference model, which is built only on the basis of service consumer’s provided information. This preference model is also based on the 2-additive Choquet operator that takes into account preferential dependencies. In this paper, we target both design time and runtime aggregation of QoS of service-based applications.     

Note: The intermodulation lockin analyzer

Nonlinear systems can be probed by driving them with two or more pure tones while measuring the intermodulation products of the drive tones in the response. We describe a digital lockin analyzer which is designed explicitly for this purpose. The analyzer is implemented on a field-programmable gate array, providing speed in analysis, real-time feedback, and stability in operation. The use of the analyzer is demonstrated for intermodulation atomic force microscopy. A generalization of the intermodulation spectral technique to arbitrary drive waveforms is discussed.     

A strong direct product theorem for quantum query complexity

We show that quantum query complexity satisfies a strong direct product theorem. This means that computing k copies of a function with fewer than k times the quantum queries needed to compute one copy of the function implies that the overall success probability will be exponentially small in k. For a boolean function f, we also show an XOR lemma—computing the parity of k copies of f with fewer than k times the queries needed for one copy implies that the advantage over random guessing will be exponentially small. We do this by showing that the multiplicative adversary method, which inherently satisfies a strong direct product theorem, characterizes bounded-error quantum query complexity. In particular, we show that the multiplicative adversary bound is always at least as large as the additive adversary bound, which is known to characterize bounded-error quantum query complexity.