The fast growth of PV installed capacity in Spain has led to an increase in the demand for analysis of installed PV modules. One of the topics that manufacturers, promoters, and owners of the plants are more interested in is the possible degradation of PV modules. This paper presents some findings of PV plant evaluations carried out during last years. This evaluation usually consists of visual inspections, I-Vcurve field measurements (the whole plant or selected areas), thermal evaluations by IR imaging and, in some cases, measurements of the I-V characteristics and thermal behaviours of selected modules in the plant, chosen by the laboratory. Electroluminescence technique is also used as a method for detecting defects in PV modules. It must be noted that new defects that arise when the module is in operation may appear in modules initially defect-free (called hidden manufacturing defects). Some of these hidden defects that only appear in normal operation are rarely detected in reliability tests (IEC61215 or IEC61646) due to the different operational conditions of the module in the standard tests and in the field (serial-parallel connection of many PV modules, power inverter influence, overvoltage on wires, etc.).

As part of a research program on the evolution of somatosensory systems in vertebrates, the dorsal column nucleus (DCN) was studied with (immuno)histochemical and tract-tracing techniques in anurans (the large green frog, Rana perezi, and the clawed toad, Xenopus laevis). The anuran DCN contains some nicotinamide adenine dinucleotide phosphate diaphorase-positive neurons, very little calbindin D-28k, and a distinct parvalbumin-positive cell population. The anuran DCN is innervated by primary and non-primary spinal afferents, by primary afferents from cranial nerves V, VII, IX, and X, by serotonin-immunoreactive fibers, and by peptidergic fibers. Non-primary DCN afferents from the spinal cord appear to arise throughout the spinal cord, but particularly from the ipsilateral dorsal gray. The present study focused on the efferent connections of the DCN, in particular the targets of the medial lemniscus. The medial lemniscus could be traced throughout the brainstem and into the diencephalon. Along its course, the medial lemniscus gives off collaterals to various parts of the reticular formation, to the octavolateral area, and to the granular layer of the cerebellum. At mesencephalic levels, the medial lemniscus innervates the lateral part of the torus semicircularis as well as various tegmental nuclei. A striking difference between the two species studied is that while in R. perezi medial lemniscal fibers do not reach the tectum mesencephali, in X. laevis, intermediate and deep tectal layers are innervated. Beyond the midbrain, both dorsal and ventral thalamic areas are innervated by the medial lemniscus. The present study shows that the anuran "lemniscal pathway" is basically similar to that of amniotes.

The quality assurance procedures associated with the financing of large PV plants are becoming increasingly more relevant to the PV scene in general. In this context, PV performance modelling is required in order to predict the energy yield and to rate the operating plant performance. Despite the availability of PV performance models since the early days of photovoltaics, the emergence of new proposals and the current debate on the development of an energy rating standard means that this can still be considered an open question. In the specific context of Quality Assurance Procedures, PV performance models must not only be accurate but must also be based on features specifically supported by manufacturers (datasheet information), in order to maintain the chain of responsibility in the event of failure. This paper reviews the currently available PV performance models with regard to accuracy and also compliance with datasheet specifications and guarantees. Accuracy is assessed through a meticulous measurement campaign conducted on PV arrays of four different technologies at a PV plant located in Navarra (northern Spain). The models reviewed are classified into physical models, based on the full I-V curve, and empirical models, which are solely based on the maximum power point (MPP). Despite the fact that physical models and MPP models with more than three parameters are currently widely used, this paper shows that empirical models with just three independent parameters suffice to accurately describe the relationship between PV array performance and operating conditions and are more easily derived from standard datasheet information. This result suggests that 3-parameter empirical models are the best option for PV performance modelling in the context of technical quality assurance procedures.

The localization of nitrergic cells and fibers and cholinergic cells has been analyzed in the spinal cord of the anuran amphibian Rana perezi. Histochemistry for nicotinamide adenine dinucleotide phosphate–diaphorase and nitric oxide synthase immunohistochemistry revealed a concurrent pattern of labeled structures. A large population of nitrergic spinal neurons was found from the level of the obex to the filum terminale. They are abundant in the dorsal horn and intermediate gray matter, but also occur in territories of the ventral horn and, only occasionally, in somatic motoneurons. Numerous nitrergic fibers were present in the spinal white matter, particularly in the dorsal and dorsolateral funiculi. A special arrangement of nitrergic axons is present in Lissauer's tract, where a collateral system is formed. Cholinergic cells, revealed by choline acetyltransferase immunohistochemistry, were observed throughout the spinal cord. The somatic motoneurons were the most conspicuously immunoreactive cells. A large population of cholinergic cells forms a discontinuous column in the intermediate gray, from the third spinal segment to lumbar segments. These cells were organized in a medially located or intercalated cell group, and a laterally located intermediolateral group. Numerous scattered cholinergic cells were present in the central zone of the ventral horn and were absent in the dorsal horn. Double‐labeling experiments revealed a high degree of codistribution of nitrergic and cholinergic cells, mainly in the intermediate gray, but colocalization of both markers in the same neurons was not found. This result contrasts with the situation found in mammals and raises the question of whether coexpression of both substances was acquired in spinal cord neurons through evolution only in amniotes or, even, only in mammals. J. Comp. Neurol. 419:451–470, 2000. © 2000 Wiley‐Liss, Inc.

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As part of a research program on the evolution of somatosensory systems in vertebrates, the various components of ascending spinal projections were studied with in vivo and in vitro tract-tracing techniques in representative species of amphibians (the large green frog, Rana perezi, the clawed toad, Xenopus laevis and the ribbed newt, Pleurodeles waltl). Three main ascending sensory channels, each with largely separate targets, were demonstrated: 1. Ascending projections via the dorsal funiculus include primary and nonprimary projections that ascend to terminate mainly in the dorsal column nucleus at obex levels. A small component ascends farther rostralwards to terminate in the reticular formation, the octavolateral area, the trigeminal nuclear complex, and in the granular layer of the cerebellum. 2. Projections ascending via the dorsolateral funiculus reach other spinal and supraspinal targets than the dorsal funicular fibers, mainly ipsilaterally. At upper cervical cord and obex levels, many fibers innervate a region considered the amphibian homologue of the lateral cervical nucleus of mammals. In the medulla, these fibers ascend ventral to the descending trigeminal tract to terminate in the dorsal column and the solitary tract nuclei, and more rostrally, in the reticular formation, the descending trigeminal nucleus and the medial aspect of the ventral octaval nucleus. Major projections reach the area between the facial motor nucleus and the ventral octaval nucleus, and a mediolateral subcerebellar band. These projections arise in neurons located mainly in the ipsilateral deep dorsal and lateral fields throughout the spinal cord. 3. Ascending spinal projections via the ventral quadrant of the spinal cord (the ventral and ventrolateral funiculi) ascend throughout the brainstem up to the diencephalon. Along its course, this component innervates various parts of the reticular formation, the octavolateral area, the granular layer of the cerebellum, the region ventromedial and ventrolateral to the isthmic nucleus, and the subcerebellar region. In the mesencephalon, the torus semicircularis, the midbrain tegmentum and, sparsely, the tectum mesencephali are innervated. Beyond the midbrain, various dorsal and particularly ventral thalamic nuclei and the posterior tubercle are innervated by this ascending sensory channel. The cells of origin of some of these projections were observed in the dorsal, and to a lesser extent, in the lateral and ventral spinal fields of the spinal cord. Evidence for the presence of these three main ascending sensory channels throughout vertebrates will be discussed. The presence of such channels appears to be a shared character in the brain of both amniotes and anamniotes.

Evidence is presented for an anuran homologue of the mammalian spinocervicothalamic system. In vitro tract-tracing experiments with biotinylated dextran amine Xenopus laevis show that ascending spinal fibres from all levels of the spinal cord, passing via the dorsolateral funiculus, terminate in a cell area ventrolateral to the dorsal column nucleus. This cell area can be considered a possible homologue of the mammalian lateral cervical nucleus. After tracer applications to the ventral thalamus or to the torus semicircularis (both targets for somatosensory projections), the anuran lateral cervical nucleus was retrogradely labelled contralateral to the application sites. Tracer applications to the dorsolateral funiculus at the obex level and rostral spinal cord resulted in labelling of the cells of origin of the spinocervical tract. These were found, mainly ipsilaterally, in the ventral part of the dorsal horn, and were rather evenly distributed throughout the spinal cord. These data suggest the presence of an anuran homologue of the mammalian spinocervicothalamic system. A brief survey of the literature shows that such a system is much more common in vertebrates than previously thought.

SUMMARYThe proposed algorithm integrates in a single planner the global motion planning and local obstacle avoidance capabilities. It efficiently guides the robot in a dynamic environment. This eliminates some of the traditional problems of planned architectures (model-plan-act scheme) while obtaining many of the qualities of behavior-based architectures. The computational efficiency of the method allows the planner to operate at high-rate sensor frequencies. This avoids the need for using both a collision-avoidance algorithm and a global motion planner for navigation in a cluttered environment. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. Operating on a simple grid-based world model, the method uses a fast marching technique to determine a motion plan on a Voronoi extended transform extracted from the environment model. In addition to this real-time response ability, the method produces smooth and safe robot trajectories.