This work proposes the use of a hybrid acoustic and optical indoor positioning system for the accurate 3D positioning of Unmanned Aerial Vehicles (UAVs). The acoustic module of this system is based on a Time-Code Division Multiple Access (T-CDMA) scheme, where the sequential emission of five spread spectrum ultrasonic codes is performed to compute the horizontal vehicle position following a 2D multilateration procedure. The optical module is based on a Time-Of-Flight (TOF) camera that provides an initial estimation for the vehicle height. A recursive algorithm programmed on an external computer is then proposed to refine the estimated position. Experimental results show that the proposed system can increase the accuracy of a solely acoustic system by 70–80% in terms of positioning mean square error.

The aim of this work is to propose an alternative way for wine classification and prediction based on an electronic nose (e-nose) combined with Independent Component Analysis (ICA) as a dimensionality reduction technique, Partial Least Squares (PLS) to predict sensorial descriptors and Artificial Neural Networks (ANNs) for classification purpose. A total of 26 wines from different regions, varieties and elaboration processes have been analyzed with an e-nose and tasted by a sensory panel. Successful results have been obtained in most cases for prediction and classification.

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This work benefits from the capability of the iPhone's or iPad's microphone to acquire high-frequency sound for accurate acoustic code identification. Although the maximum theoretical value for the frequency response of the built-in iOS device microphone is 20 kHz, emissions with frequencies close to 22 kHz have been experimentally detected. The frequencies used in this work are in the range from 18 to 22 kHz, which are high enough to be inaudible for almost every people but low enough to be generated by standard sound hardware.The aim of this work is to develop an inexpensive indoor positioning system where the user gets its location by using an iOS device's microphone. For this purpose a third-generation iPad is used for high-frequency sound data acquisition and neither external acquisition system nor ultrasonic microphone are required.The capability of iOS devices to acquire acoustic signals in the vicinity of 20 kHz has been successfully demonstrated. This fact allows the use of this kind of device for acoustic code detection and accurate positioning by means of multilateration.

We show experimentally that several types of selfing occur simultaneously in DrosophyJlum Jusitanicum: prior, competitive, insect-facilitated, delayed and geitonogamous. In addition, we report evidence of c1eistogamy in the flower bud. All types of selfing were successful in producing fruits and seeds; however, geitonogamy did not occur uniformly throughout the flowering period in this species. We also report the absence of cryptic self-incompatibility: the germination rate and pollen tube growth rate of cross pollen were no greater than those of self pollen when both types were placed on stigmas of the same flower (mixed pollination). There was a tendency for self pollen to be more vigorous than cross pollen but it just failed to reach significance.