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This paper presents a detailed description of the simulation environment employed in the development of the autonomous navigation module of an underwater vehicle. The simulation module includes simple linear equations describing the vehicle dynamics, a specification to describe the seabed as well as the target to be tracked (pipeline or cable), and a(More)
This paper presents the design considerations and posterior development of the software architecture for the autonomous navigation of an underwater vehicle. Particularly, the desired trajectory generation module is described. The vehicle is robust enough to allow surveys at depths of several thousands of meters. The objective of the project was to evaluate(More)
The design considerations of a low-cost adaptation of an autonomous underwater vehicle (AUV) devoted to pipeline and cable inspections is presented in this article. Periodic surveys are need in the preventive maintenance of submarine infrastructure of off-shore industries. The advantages of doing them with AUVs instead of remote operated vehicles or towed(More)
PURPOSE The study of coronary flow reserve on the reperfused myocardium damaged by 90 minutes of severe ischemia. MATERIAL AND METHODS Nine mongrel dogs of either sex, weighing 12 to 17 kg were studied. Each dog was anesthesiated with 30 mg of pentobarbital and ventilated with room air. A thoracotomy was done and the left descendent coronary artery was(More)
PURPOSE The study of the ultrastructural features of the coronary microvessels in postischemic reperfusion. MATERIAL AND METHODS Five mongrel dogs of either sex, weighing 2 to 17 kg were studied Each dog was anesthetized with 30 mg. of pentobarbital and ventilated with room air. A thoracotomy was done and the left descendent coronary artery was isolated.(More)
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