Intelligent task-level grasp mapping for robot control

In the future, robots will enter our everyday lives to help us with various tasks.For a complete integration and cooperation with humans, these robots needto be able to acquire new skills. Sensor capabilities for navigation in real humanenvironments and intelligent interaction with humans are some of the keychallenges.Learning by demonstration systems focus on the problem of human robotinteraction, and let the human teach the robot by demonstrating the task usinghis own hands. In this thesis, we present a solution to a subproblem within thelearning by demonstration field, namely human-robot grasp mapping. Robotgrasping of objects in a home or office environment is challenging problem.Programming by demonstration systems, can give important skills for aidingthe robot in the grasping task.The thesis presents two techniques for human-robot grasp mapping, directrobot imitation from human demonstrator and intelligent grasp imitation. Inintelligent grasp mapping, the robot takes the size and shape of the object intoconsideration, while for direct mapping, only the pose of the human hand isavailable.These are evaluated in a simulated environment on several robot platforms.The results show that knowing the object shape and size for a grasping taskimproves the robot precision and performance

Adaption of Courses and Learning Environment to the User Context in dotLRN

The explosive growth of Internet during the last years has been reflected in the ever-increasing amount of the diversity and heterogeneity of user preferences, types and features of devices and access networks. Usually the heterogeneity in the context of the users which request Web contents is not taken into account by the servers that deliver them implying that these contents will not always suit their needs. In the particular case of e-learning platforms this issue is especially critical due to the fact that it puts at stake the knowledge acquired by their users. In the following paper we present a system that aims to provide the dotLRN e-learning platform with the capability to adapt to its users context. By integrating dotLRN with a multi-agent hypermedia system, online courses being undertaken by students as well as their learning environment are adapted in real time

Sistemas heterogéneos adaptativos basados en el contexto

Delivery context-aware adaptative heterogenous systems. Currently, many types of devices that have gained access to the network is large and diverse. The different capabilities and characteristics of them, in addition to the different characteristics and preferences of users, have generated a new goal to overcome: how to adapt the contents taking into account this heterogeneity, known as the “delivery context.” The concepts of adaptation and accessibility have been widely discussed and have resulted in many proposals, standards and techniques designed to solve the problem, making it necessary to refine the analysis of the issue to be considered in the process of adaptation. We present a tour of the various proposals and standards that have marked the area of heterogeneous systems works, and others who have worked since the real-time interaction through agents based platforms. All targeted to solve a common goal: the delivery context

El aprendizaje híbrido y los nuevos espacios personales de aprendizaje: entre el aula, la red y la calle

El trabajo colaborativo en las aulas de formación universitarias configura gran parte de las propuestas metodológicas de e-learning. En la actualidad, las plataformas que Internet ofrece hacen pensar que hay escenarios nuevos que permiten otro tipo de experiencias a nivel de docencia. Es imprescindible tener en cuenta los espacios personales de aprendizaje, pero también podemos hacer el ejercicio de utilizarlos para generar sinergias entre los aspectos educativos formales, no formales e informales por los que pasa una persona. Este aspecto pasa por introducir un modelo híbrido de enseñanza donde el aula virtual o la presencial utilice las informaciones que existen fuera de ella. La utilización de microbloggings, medios de comunicación mediante Internet y medios de comunicación “tradicionales” o “en papel” pueden conseguir un enlace entre la virtualidad y la presencialidad.

Avaluació de l’estructuració genètica humana a la Península Ibèrica i a d’altres regions del sudoest europeu: implicacions poblacionals i epidemiològiques

Els avenços en tècniques de genotipat de polimorfismes genètics a gran escala estan liderant una revolució en el camp de l’epidemiologia genètica i la genètica de poblacions humanes. La informació aportada per aquestes tècniques ha evidenciat l’existència d’estructuracions poblacionals que poden augmentar l’error en els estudis d’associació a escala genòmica (GWAS, genome-wide association studies). Estudis recents han demostrat la presència d’aquestes estructuracions a nivell interregional i intrarregional a Europa. El present projecte ha avaluat el grau d’estructuració genètica en poblacions de la Península Ibèrica i altres regions del sudoest europeu (Itàlia i França) per quantificar l’impacte que aquesta potencial estructuració pot tenir en el disseny d’estudis d’associació GWAS i reconstruir la història demogràfica de les poblacions de la Mediterrània. Per aconseguir aquests objectius, s’han analitzat mostres de DNA de 770 individus de 26 poblacions de la Península Ibèrica, França, Itàlia i d’altres països de la Mediterrània. Aquestes mostres van ser genotipades per 240000 SNPs utilitzant l’array 250K StyI d’Affymetrix en el marc d’aquest projecte o mitjançant altres arrays d’Affymetrix en els projectes internacionals HapMap i POPRES. S’han realitzat anàlisis estadístiques incloent anàlisis de components principals, Fst, identitat per descendència, desequilibri de lligament, barreres genètiques, etc. Aquests resultats han permés construir un marc de referència de la variabilitat en aquesta regió, avaluar el seu impacte en estudis d’associació i proposar mesures per evitar l’increment de qualsevol tipus d’error (tipus I i II) en estudis nacionals i internacionals. A més, també han permés reconstruir la història de les poblacions humanes de la Mediterrània així com analitzar les seves relacions demogràfiques. Donada la duració limitada d’aquesta acció (24 mesos, d’octubre de 2010 a setembre de 2012), els resultats d’aquest projecte es troben actualment en fase de redacció i conduiran a diverses publicacions en revistes internacionals i a la preparació de comunicacions a congressos.

Porting and performance analysis of EC-Earth System on the BSC-MareNostrum Supercomputer

Earth System Models (ESM) have been successfuly developed over past few years, and are currently beeing used for simulating present day-climate, seasonal to interanual predictions of climate change. The supercomputer performance plays an important role in climate modeling since one of the challenging issues for climate modellers is to efficiently and accurately couple earth System components on present day computers architectures. At the Barcelona Supercomputing Center (BSC), we work with the EC- Earth System Model. The EC- Earth is an ESM, which currently consists of an atmosphere (IFS) and an ocean (NEMO) model that communicate with each other through the OASIS coupler. Additional modules (e.g. for chemistry and vegetation ) are under development. The EC-Earth ESM has been ported successfully over diferent high performance computin platforms (e.g, IBM P6 AIX, CRAY XT-5, Intelbased Linux Clusters, SGI Altix) at diferent sites in Europ (e.g., KNMI, ICHEC, ECMWF). The objective of the first phase of the project was to identify and document the issues related with the portability and performance of EC-Earth on the MareNostrum supercomputer, a System based on IBM PowerPC 970MP processors and run under a Linux Suse Distribution. EC-Earth was successfully ported to MareNostrum, and a compilation incompatibilty was solved by a two step compilation approach using XLF version 10.1 and 12.1 compilers. In addition, the EC-Earth performance was analyzed with respect to escalability and trace analysis with the Paravear software. This analysis showed that EC-Earth with a larger number of IFS CPUs (<128) is not feasible at the moment since some issues exists with the IFS-NEMO balance and MPI Communications.

The migration towards Digital Terrestrial Television: challenges for public policy and public broadcasters

This paper initially identifies the main transformations of the television system that are caused by digitalization. Its development in several broadcasting platforms is analyzed as well as the particular obstacles and requirements that are detected for each of them. Due to its technical characteristics and its historical link to the public services, the terrestrial network requires migration strategies different from those strictly commercial, and public intervention might be needed. The paper focuses on such migration strategies towards DTT and identifies the main issues for public intervention in the areas of the digital scenario: technology, business and market transformation and the reception field. Moreover, it describes and classifies the challenges that public broadcasters should confront due to digitalization. This paper finally concludes that the leadership of the public broadcasters during the migration towards DTT is an interesting tool for public policy. The need for foster the digitalization of the terrestrial platform and to achieve certain social and public goal besides the market interest brings an opportunity for public institutions and public broadcasters to work together. That leading role could also be positive for the public service to face its necessary redefinition and reallocation within the digital context.

Disease-corrected haematopoietic progenitors from Fanconi anemia induced pluripotent stem cells

The generation of induced pluripotent stem (iPS) cells has enabled the derivation of patient-specific pluripotent cells andprovided valuable experimental platforms to model human disease. Patient-specific iPS cells are also thought to hold greattherapeutic potential, although direct evidence for this is still lacking. Here we show that, on correction of the genetic defect,somatic cells from Fanconi anaemia patients can be reprogrammed to pluripotency to generate patient-specific iPS cells. These cell lines appear indistinguishable from human embryonic stem cells and iPS cells from healthy individuals. Most importantly, we show that corrected Fanconi-anaemia-specific iPS cells can give rise to haematopoietic progenitors of the myeloid and erythroid lineages that are phenotypically normal, that is, disease-free. These data offer proof-of-concept that iPS cell technology can be used for the generation of disease-corrected, patient-specific cells with potential value for cell therapy applications.

A variant in the gene FUT9 is associated with susceptibility to placental malaria infection

Malaria in pregnancy forms a substantial part of the worldwide burden of malaria, with an estimated annual death toll of up to 200,000 infants, as well as increased maternal morbidity and mortality. Studies of genetic susceptibility to malaria have so far focused on infant malaria, with only a few studies investigating the genetic basis of placental malaria, focusing only on a limited number of candidate genes. The aim of this study therefore was to identify novel host genetic factors involved in placental malaria infection. To this end we carried out a nested case-control study on 180 Mozambican pregnant women with placental malaria infection, and 180 controls within an intervention trial of malaria prevention. We genotyped 880 SNPs in a set of 64 functionally related genes involved in glycosylation and innate immunity. A SNP located in the gene FUT9, rs3811070, was significantly associated with placental malaria infection (OR = 2.31, permutation p-value = 0.028). Haplotypic analysis revealed a similarly strong association of a common haplotype of four SNPs including rs3811070. FUT9 codes for a fucosyl-transferase that is catalyzing the last step in the biosynthesis of the Lewis-x antigen, which forms part of the Lewis blood group-related antigens. These results therefore suggest an involvement of this antigen in the pathogenesis of placental malaria infection.

A targeted association study of immunity genes and networks suggests novel associations with placental malaria infection

A large proportion of the death toll associated with malaria is a consequence of malaria infection during pregnancy, causing up to 200,000 infant deaths annually. We previously published the first extensive genetic association study of placental malaria infection, and here we extend this analysis considerably, investigating genetic variation in over 9,000 SNPs in more than 1,000 genes involved in immunity and inflammation for their involvement in susceptibility to placental malaria infection. We applied a new approach incorporating results from both single gene analysis as well as gene-gene interactionson a protein-protein interaction network. We found suggestive associations of variants in the gene KLRK1 in the single geneanalysis, as well as evidence for associations of multiple members of the IL-7/IL-7R signalling cascade in the combined analysis. To our knowledge, this is the first large-scale genetic study on placental malaria infection to date, opening the door for follow-up studies trying to elucidate the genetic basis of this neglected form of malaria.

Asymmetric information and trade policy

Economists understand protectionism as a costly mechanism to redistribute from the average citizen to special-interest groups; yet political platforms that deviate from free trade have surprising popular appeal. I present an explanation based on heterogeneous information across citizens whose voting decision has an intensive margin. For each politician and each sector, the optimal trade-policy choice caters to the preferences of those voters who are more likely to be informed of that proposal. An overall protectionist bias emerges because in every industry producers are better informed than consumers. This asymmetry emerges in equilibrium because co-workers share industry-specific knwoledge, and because producers have greater incentives to engage in costly learning about their sector. My model implies that more widespread information about trade policy for an industry is associated with lower protection. Cross-sectoral evidence on U.S. non-tariff barriers and newspaper coverage is consistent with this prediction.

Strategic ambiguity in electoral competition

Many have observed that political candidates running for election areoften purposefully expressing themselves in vague and ambiguous terms. In thispaper we provide a simple formal model of this phenomenon. We model theelectoral competition between two candidates as a two--stage game. In thefirst stage of the game two candidates simultaneously choose their ideologies,and in the second stage they simultaneously choose their level of ambiguity.Our results show that ambiguity, although disliked by voters, may be sustainedin equilibrium. The introduction of ambiguity as a strategic choice variablefor the candidates can also serve to explain why candidates with the sameelectoral objectives end up ``separating'', that is, assuming different ideological positions.

Parallelizing remote sensing image geometric correction

Remote sensing spatial, spectral, and temporal resolutions of images, acquired over a reasonably sized image extent, result in imagery that can be processed to represent land cover over large areas with an amount of spatial detail that is very attractive for monitoring, management, and scienti c activities. With Moore's Law alive and well, more and more parallelism is introduced into all computing platforms, at all levels of integration and programming to achieve higher performance and energy e ciency. Being the geometric calibration process one of the most time consuming processes when using remote sensing images, the aim of this work is to accelerate this process by taking advantage of new computing architectures and technologies, specially focusing in exploiting computation over shared memory multi-threading hardware. A parallel implementation of the most time consuming process in the remote sensing geometric correction has been implemented using OpenMP directives. This work compares the performance of the original serial binary versus the parallelized implementation, using several multi-threaded modern CPU architectures, discussing about the approach to nd the optimum hardware for a cost-e ective execution.

Generación de cursos virtuales adaptativos en SCORM e IMS-LD

The use of virtual learning environments it’s more and more frequent in all education levels. However, this increasing use of such environments also implies that the different stages now used in the processes of teaching-learning need to be considered. Student users in a virtual learning environment are faced, not only to the problems related to acquire the knowledge of their course, but also to technological problems as information overloading, getting used to web surfing, computer use, etc. One way to minimize the impact caused by heterogeneity existing in virtual learning environments is to adapt several aspects to the specific characteristics from the user and his context. From this point of view, this work shows a model for an integral user that has been used to generate a virtual course that can interoperate between ELearning platforms. This course has been created using the SCORM reference model and the IMSLD specification

Journal and country rankings in instrumentation and ocean engineering

The purpose of this paper is to highlight scientific information resources that list journal and country rankings. These databases usually focus on the use of citation counts and number of publications to evaluate the interest, visibility and impact of research performance. The exposed resources are platforms that provide added value to authors improving their knowledge about research trends and also where to submit their papers.