Robust decoupled visual servoing based on structured light

This paper focuses on the problem of realizing a plane-to-plane virtual link between a camera attached to the end-effector of a robot and a planar object. In order to do the system independent to the object surface appearance, a structured light emitter is linked to the camera so that 4 laser pointers are projected onto the object. In a previous paper we showed that such a system has good performance and nice characteristics like partial decoupling near the desired state and robustness against misalignment of the emitter and the camera (J. Pages et al., 2004). However, no analytical results concerning the global asymptotic stability of the system were obtained due to the high complexity of the visual features utilized. In this work we present a better set of visual features which improves the properties of the features in (J. Pages et al., 2004) and for which it is possible to prove the global asymptotic stability

Sistema de Administración de Propiedades Proyecto de Software Libre Wakodi

El trabajo se centra en proporcionar una solución informática para la Administración de Propiedades haciendo uso de nuevas tecnologías y a su vez dotar de las herramientas necesarias para la construcción de una comunidad. El desarrollo de la solución pasa por la descripción de las herramientas empleadas y las etapas para su construcción, que incluyen el análisis, diseño, implementación y posterior implantación. Se hace énfasis en el Framework elegido para demostrar las ventajas de su aplicación. En la construcción de la comunidad se describen las herramientas utilizadas para la difusión del proyecto que incluyen la publicación de una página del proyecto, el uso de redes sociales y páginas publicitarias y la puesta en marcha de un software de colaboración para la administración del desarrollo del proyecto.

Chaos and order in the contemporary city. The impact of urban spatial structure on population density and commuting distance in Barcelona, 1986-2001.

One of the criticisms leveled at the model of dispersed city found all over the world is its unarticulated, random, and undifferentiated nature. To check this idea in the Barcelona Metropolitan Region, we estimated the impact of the urban spatial structure (CBD, subcenters and transportation infrastructures) over the population density and commuting distance. The results are unfavorable to the hypothesis of the increasing destructuring of cities given that the explanatory capacity of both functions improves over time, both when other control variables are not included and when they are included.

Spain in Europe 2004-2008

In March of 2004, the Observatory of European Foreign Policy published a special monograph about Spain in Europe (1996-2004) in digital format. The objective of the monograph was to analyse Spain’s foreign policy agenda and strategy during the period of José María Aznar’s presidency. As the title suggests, one of the initial suppositions of the analysis is the Europeanization of Spanish foreign activities. Is that how it was? Did Aznar’s Spain see the world and relate to it through Brussels? The publication was well received, considering the number of visits received and above all the institutions which asked to link the publication to their web pages. Among these, the EUobserver published the introduction to the piece in English titled Aznar: thinking locally, acting in Europe (described by the EUobserver as a paper of utmost importance). The fact that the elections were held three days after the tragic events of the 11th of March dramatically increased interest in Spain and the implications for Europe. This publication is the second of its type, in this case analysing the period of the Zapatero government (2004-2008). Once again the starting premise (the Europeanization of the agenda and the methods employed) has been considered by the analysts. And once again the articles collected in this publication serve to “triangulate” the analysis. Spain and Europe are two vertices (more or less distant, in essence and in form) which the authors handle in their analysis of the case (third vertex).

Hierarchical categorisation of tags for delicious

In the scenario of social bookmarking, a user browsing the Web bookmarks web pages and assigns free-text labels (i.e., tags) to them according to their personal preferences. In this technical report, we approach one of the practical aspects when it comes to represent users' interests from their tagging activity, namely the categorization of tags into high-level categories of interest. The reason is that the representation of user profiles on the basis of the myriad of tags available on the Web is certainly unfeasible from various practical perspectives; mainly concerning the unavailability of data to reliably, accurately measure interests across such fine-grained categorisation, and, should the data be available, its overwhelming computational intractability. Motivated by this, our study presents the results of a categorization process whereby a collection of tags posted at Delicious #http://delicious.com# are classified into 200 subcategories of interest.

Tres notes sobre l’Ars predicandi populo de Francesc Eiximenis (autoria, datació i contingut) = Three notes on the Ars Predicandi populo of Francesc Eiximenis (authorship, date and content)

In spite of the fact that the Ars predicandi populo is attributed to Eiximenis in only one of the three extant manuscripts, there is no doubt that it is one of his works.First of all, the internal references to this treatise in the pages of Terç and Dotzè del Crestià are an irrefutable testimony and, secondly, the presence of an autographvolume of sermons which begins with the Ars in the inventory of the Eiximenis library made shortly after his death. The writing of the Ars and the collection of sermons which introduces it must be dated prior to the beginning of the Crestià encyclopedia (1379) because of the complexity that entailed the writing of a collection of three perhaps four volumes of sermons. Due to a series of formal and codicological reasons it must be concluded that the chapter entitled De consiliis circa predicacionem cannot be attributed to Eiximenis and thus be excluded from the Ars

Nucleotide, cytogenetic and expression impact of the human chromosome 8p23.1 inversion polymorphism

Background: The human chromosome 8p23.1 region contains a 3.8–4.5 Mb segment which can be found in different orientations (defined as genomic inversion) among individuals. The identification of single nucleotide polymorphisms (SNPs) tightly linked to the genomic orientation of a given region should be useful to indirectly evaluate the genotypes of large genomic orientations in the individuals. Results: We have identified 16 SNPs, which are in linkage disequilibrium (LD) with the 8p23.1 inversion as detected by fluorescent in situ hybridization (FISH). The variability of the 8p23.1 orientation in 150 HapMap samples was predicted using this set of SNPs and was verified by FISH in a subset of samples. Four genes (NEIL2, MSRA, CTSB and BLK) were found differentially expressed (p<0.0005) according to the orientation of the 8p23.1 region. Finally, we have found variable levels of mosaicism for the orientation of the 8p23.1 as determined by FISH. Conclusion: By means of dense SNP genotyping of the region, haplotype-based computational analyses and FISH experiments we could infer and verify the orientation status of alleles in the 8p23.1 region by detecting two short haplotype stretches at both ends of the inverted region, which are likely the relic of the chromosome in which the original inversion occurred. Moreover, an impact of 8p23.1 inversion on gene expression levels cannot be ruled out, since four genes from this region have statistically significant different expression levels depending on the inversion status. FISH results in lymphoblastoid cell lines suggest the presence of mosaicism regarding the 8p23.1 inversion.

Characterization and evolution of the novel gene family FAM90A in primates originated by multiple duplication and rearrangement events

Genomic plasticity of human chromosome 8p23.1 region is highly influenced by two groups of complex segmental duplications (SDs), termed REPD and REPP, that mediate different kinds of rearrangements. Part of the difficulty to explain the wide range of phenotypes associated with 8p23.1 rearrangements is that REPP and REPD are not yet well characterized, probably due to their polymorphic status. Here, we describe a novel primate-specific gene family, named FAM90A (family with sequence similarity 90), found within these SDs. According to the current human reference sequence assembly, the FAM90A family includes 24 members along 8p23.1 region plus a single member on chromosome 12p13.31, showing copy number variation (CNV) between individuals. These genes can be classified into subfamilies I and II, which differ in their upstream and 5′-untranslated region sequences, but both share the same open reading frame and are ubiquitously expressed. Sequence analysis and comparative fluorescence in situ hybridization studies showed that FAM90A subfamily II suffered a big expansion in the hominoid lineage, whereas subfamily I members were likely generated sometime around the divergence of orangutan and African great apes by a fusion process. In addition, the analysis of the Ka/Ks ratios provides evidence of functional constraint of some FAM90A genes in all species. The characterization of the FAM90A gene family contributes to a better understanding of the structural polymorphism of the human 8p23.1 region and constitutes a good example of how SDs, CNVs and rearrangements within themselves can promote the formation of new gene sequences with potential functional consequences.

Analysis of the multi-copy gene family FAM90A as a copy number variant in different ethnic backgrounds

Copy number variants contribute extensively to inter-individual genomic differences, but little is known about their inter-population variability and diversity. In a previous study (Bosch et al., 2007; 16:2572-2582), we reported that the primate-specific gene family FAM90A, which accounts for as many as 25 members in the human reference assembly, has expanded the number of FAM90A clusters across the hominoid lineage. Here we examined the copy number variability of FAM90A genes in 260 HapMap samples of European, African, and Asian ancestry, and showed significant inter-population differences (p<0.0001). Based on the recent study of Stranger et al. (2007; 315:848-853), we also explored the correlation between copy number variability and expression levels of the FAM90A gene family. Despite the high genomic variability, we found a low correlation between FAM90A copy number and expression levels, which could be due to the action of independent trans-acting factors. Our results show that FAM90A is highly variable in copy number between individuals and between populations. However, this variability has little impact on gene expression levels, thus highlighting the importance of genomic variability for genes located in regions containing segmental duplications.

Cordes gitanes : la influència del flamenc en l'escriptura per a viola clàssica

Aquest treball sorgeix amb l'intenció d'enriquir el meu propi llenguatge musical a través d'una cultura i d' una música màgica. És un petit viatge sobre els orígens del flamenc, dels gitanos, una recerca sobre recursos tècnics del meu instrument per poder acostar-me a la veu humana, i nombrant a personatges com Falla o Lorca, dos dels màxims exponents que van apostar completament per aquesta música.

Bartók i els seus dos últims concerts

La idea inicial d’aquest projecte rau en el meu interès per aprofundir en dues obres: una, escrita per a viola, i l’altra, per a piano. La controvèrsia musicològica sobre l’autenticitat del Concert per a viola de Bartók, una obra cabdal dins del repertori d’aquest instrument, i la coincidència cronològica que aquest concert manté amb el Concert per a piano núm. 3 d’aquest mateix compositor han estat, finalment, el focus central de Bartók i els seus dos últims concerts. Mitjançant la informació extreta de llibres sobre el compositor, articles, tesis i partitures, les pàgines següents són el reflex del meu apropament als últims anys de la vida de Bartók, a la història que s’amaga darrere d’ambdues obres i als paral·lelismes que conté aquesta música.

Inference with the lognormal distribution

Several estimators of the expectation, median and mode of the lognormal distribution are derived. They aim to be approximately unbiased, efficient, or have a minimax property in the class of estimators we introduce. The small-sample properties of these estimators are assessed by simulations and, when possible, analytically. Some of these estimators of the expectation are far more efficient than the maximum likelihood or the minimum-variance unbiased estimator, even for substantial samplesizes.

La Inefabilidad de la metáfora. Breve reflexión sobre la significación metafórica en la cultura como conversación

El debate sobre qué significan las metáforas es una constante en diversas áreas del pensamiento contemporáneo. Desde los estudios literarios hasta la ciencia cognitiva o la lingüística, la metáfora se ha interpretado como una instancia del lenguaje fundamental para comprender no sólo cómo nos comunicamos, sino cómo funciona nuestra mente. Por su parte, la idea de una contingencia del lenguaje y la acción comunicativa, en la que los individuos de una comunidad lingüística sientan las bases de sudesarrollo, gana terreno para una comprensión más práctica y veraz del progreso social. Desde estos supuestos, la reflexión desarrollada en estas páginas tendrá como propósito rediscutir algunas nociones y teorías sobre la metáfora y sus relaciones con los conceptos de «verdad» y «significado», tratando deubicarla en los marcos del uso y la conversación cultural en la contingencia de nuestro lenguaje.

Cultural differences on seeking information: an eye tracking study

The main goal of this research is to investigate how people with different cultural background differ in their interaction style and visual behavior on search engine results pages (SERP), more specifically between groups from the Middle Eastern region vs. Western Europe. We conducted a controlled eye-tracking experiment to explore and evaluate the visual behavior of Arabs and Spaniardusers when scanning through the first page of the search results in Google. Big differences can be observed in the 4 aspects studied: U.A.E. participants stayed on the SERPs for longer, they read more results and they read each snippet in a more complete way than Spaniards. In Spain, people tended to scan the SERP, reading less text on each snippet, and choose a result among the first top rankedones without hardly seeing those in bottom positions.

Me interesa : web de notícies personal

El projecte tracta d'un portal web que té com a funció principal mostrar informació de diferents pàgines web en una sola plana web a través dels RSS. La web mostra la informació de diferents maneres: - L'usuari visitant podrà consultar aquella informació que desitgi d'entre tota la informació general de la que disposa la web. - L'usuari registrat pot personalitzar aquella informació que és del seu interès i organitzar-la al gust. Es disposa d'una part per l'administració de la web on es gestiona tota la informació general i es poden consultar informes analítics.