Rank estimation of trajectory matrix in motion segmentation

A novel technique for estimating the rank of the trajectory matrix in the local subspace affinity (LSA) motion segmentation framework is presented. This new rank estimation is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built with LSA. The result is an enhanced model selection technique for trajectory matrix rank estimation by which it is possible to automate LSA, without requiring any a priori knowledge, and to improve the final segmentation

Determining shoal membership: A comparison between momentary and trajectory-based methods

Miller and Gerlai proposed two methods for determining shoal membership in Danio rerio, one based on momentary mean inter-individual distances and the other on post hoc analysis of the trajectories of nearest-neighbor distances. We propose a method based on momentary nearest-neighbor distances and compare the three methods using simulation. In general, our method yielded results that were more similar to their second method than their first one, and is computationally simpler.

Reduction, Linearization and stability of relative equilibria for mechanical systems on riemannian manifolds

Consider a Riemannian manifold equipped with an infinitesimal isometry. For this setup, a unified treatment is provided, solely in the language of Riemannian geometry, of techniques in reduction, linearization, and stability of relative equilibria. In particular, for mechanical control systems, an explicit characterization is given for the manner in which reduction by an infinitesimal isometry, and linearization along a controlled trajectory "commute." As part of the development, relationships are derived between the Jacobi equation of geodesic variation and concepts from reduction theory, such as the curvature of the mechanical connection and the effective potential. As an application of our techniques, fiber and base stability of relative equilibria are studied. The paper also serves as a tutorial of Riemannian geometric methods applicable in the intersection of mechanics and control theory.

Meteotek08: sonda meteorològica

Treball de recerca realitzat per un alumne d'ensenyament secundari i guardonat amb un Premi CIRIT per fomentar l'esperit cientí­fic del Jovent l'any 2009. El projecte Meteotek08, s'inicia durant el mes de febrer del curs 07/08 i es deu a tres fets: la passió per l'electrònica i la informàtica, per la meteorologia i per l'espai. Així va sorgir la idea de la possibilitat de realitzar algun projecte que relacionés aquestes idees: una sonda meteorològica, capaç d'assolir altituds de més de 30.000m, fer un registre de les condicions atmosfèriques i, fins i tot, captar fotografies. Era una idea complexa de dur a terme, ja que es partia del res, excepte de l'experiència d'algun dels integrants en el camp de l'electrònica i la informàtica. Durant els primers mesos es van començar a crear els primers prototips i a aplicar les primeres idees, fins que malauradament el crèdit es va acabar el juny. Tot i això, el treball va continuar durant l'estiu, durant el qual es va deixar el projecte gairebé enllestit. Diversos problemes amb el mòdul de comunicacions via ràdio van comportar l'endarreriment del projecte fins el passat febrer de 2009. El llançament es va dur a terme el dia 28 de febrer. La població escollida va ser Bujaraloz, situada als Monegros, degut a la seva bona posició geogràfica. El llançament es va dur a terme amb èxit i el seguiment i recepció de dades es va fer amb 2 cotxes. Al cap de 2 hores i 10 minuts la sonda tocava terra de nou, i poca estona després era localitzada. Els resultats van ser totalment satisfactoris, i es van obtenir també bones fotografies.

Iconografia de Pèl & Ploma

Treball de recerca realitzat per alumnes d'ensenyament secundari i guardonat amb un Premi CIRIT per fomentar l'esperit científic del Jovent l'any 2009. Aquesta recerca ha consistit en fer una base de dades a partir de la iconografia de la revista modernista ''Pèl&Ploma''. Es tracta de fer un inventari de les il•lustracions que hi surten des de la primera publicació -3 de juny de 1899- fins a la número 76, publicat el 15 de maig de 1901. S’ha fet una fitxa de cadascuna de les imatges on s’hi recull: el nom de l'autor, el títol de l'obra, el número de la revista i la pàgina on apareix, la tècnica utilitzada i un petit comentari. A més, inclou una introducció general sobre la revista i una fitxa bibliogràfica de cada artista que hi participa.

Republicanismo, servidumbre y servicio doméstico

En este trabajo se exploran los condicionantes sociológicos e institucionales del mercado del servicio doméstico en Europa. Para ello se trabajó, básicamente, en tres líneas de investigación que aun están en curso. La primera, consiste en una exploración filosófica republicana, histórica y jurídica de la familia y la empresa capitalistas como instituciones que tienen una raigambre histórica común –la antigua domus, donde se desarrollaban todas las actividades productivas y reproductivas y que se caracterizaba constitutivamente por relaciones de dominación entre el propietario de los medios de producción y todos aquéllos que dependían de éste para subsistir-. Bajo el capitalismo, la familia –entendida ya como el hombre, su mujer e hijos legítimos- se constituyó en una institución eminentemente privada y las actividades desarrolladas en su seno quedaron fuera de lo que se consideró trabajo susceptible de reconocimiento económico. En este sentido, la normativa que regula al servicio doméstico como una relación laboral de carácter “especial” es un reflejo de la desvalorización socioeconómica de que ha sido objeto el trabajo reproductivo y la asociación conceptual entre la “improductividad” del ama de casa y la empleada doméstica. En la segunda línea del trabajo se exploraron las variaciones cuantitativas del mercado del servicio doméstico en Europa, cuya trayectoria presenta una forma de U entre la década de 1880 y mediados de la década de 1990. También mediante el análisis de fuentes secundarias de datos se pudieron establecer las profundas diferencias regionales que ha comportado este resurgimiento del empleo en servicios domésticos y su peso dentro de la estructura de empleo de cada sociedad. Por último, en la tercera se indagó la fluctuación histórica y geográfica de la oferta de trabajadoras domésticas en Europa, que pasó de las migraciones internas a las internacionales, coincidiendo con periodos de fuerte desigualdad económica entre las zonas expulsoras y receptoras.

Deciding where to belong: gender differences in educational trajectories and migration in a rural Spanish town

From an anthropological perspective, formal post-secondary schooling is not an abstractentity with an intrinsic value that everyone finds desirable, but rather one alternative among many that young people evaluate from their different positions in the social field. The problem discussed in this paper is the diverging life trajectories that young men and women in a concrete rural context, at the end of the 20th century, shape for themselves at the ages of 14-16, a moment of decision created by national legislation regarding mandatory education (LGE, 1970, General Education Law, and LOGSE, 1990, General Organic Law of the Education System). Despite a strong cultural norm of equal inheritance divided among all children, male and female, and despite the equal educational opportunities provided by the Spanish State, different meanings of possession and use-rights over land and the resulting culturally accepted gendered division of work converge to orient men and women differently towards post-secondary schooling. Observation of the age, gender, and civil status structure of the population led to the preliminary query: Why do men and women, in this town, behave differently with respect to migration and marriage? The main hypothesis was that women’s longer school trajectories and resulting migration and men’s anchoring in the town and their higher rates of celibacy were not drastic changes in values, in the positional-relational sense of Bourdieu (1988, 2002), but the current outcome of previously existing dissimilar relations to property that produce dissimilar mobility. Through their schooling and work choices, young men and women, at very early ages, locate themselves in, or decide to belong to, different contexts that later reveal very different possibilities of finding marriage partners. This paper is based on an ethnographic study of a small rural town (302 inhabitants in 1950; 193 in 2000) near Leon. Although this paper deals with the situation in the final decades of the 20th century, we must also consider the first half of the century, where some elements that shape this situation have their roots. Fieldwork was carried out between 1988 and 2001, in periods of differing length and intensity. The social subjects discussed here are the domestic unit and its component members. They were studied in conjunction, analyzing the life-trajectory decisions of specific persons in the framework of the domestic unit and the relations among people and property which comprise it. The tried-and-true methods of ethnographic research –participant observation, interviews, and life-histories, etc.- were employed. Archival research was also important for producing demographic data. Demographic analysis, the analysis of the composition and transformation of domestic units, and the creation of life trajectories were among the principal techniques used. The theoretical analysis was oriented by Bourdieu’s (2002) framework of the social field, habitus, and difference.

Nonpersistence of resonant caustics in perturbed elliptic billiards

Caustics are curves with the property that a billiard trajectory, once tangent to it, stays tangent after every reflection at the boundary of the billiard table. When the billiard table is an ellipse, any nonsingular billiard trajectory has a caustic, which can be either a confocal ellipse or a confocal hyperbola. Resonant caustics —the ones whose tangent trajectories are closed polygons— are destroyed under generic perturbations of the billiard table. We prove that none of the resonant elliptical caustics persists under a large class of explicit perturbations of the original ellipse. This result follows from a standard Melnikov argument and the analysis of the complex singularities of certain elliptic functions.

Llorenç Tomàs i Costa : Els temps convulsos de la guerra de Successió i l'exili

Aproximació biogràfica al personatge de Llorenç Tomàs i Costa, canceller del Principat de Catalunya durant el govern de l'arxiduc Carles III (1705-1714)

Entre el Gulag y el supermercado : en busca de Alexander Zinoviev

Aquest treball, que còpia en part el títol del llibre de Symons, intenta configurar-se també sobre un doble plànol expositiu. El priemr pla el primer objectiu-, es el més obvi: oferir un panorama del contingut de les principals obres d'un autor, Alexander Zinoviev, i tractar de contextualitzar-les (efectuant per allò incursions al pensament d'altres autors - a mode de breus razzies predatòries). Però el treball aspira a incloure una segona trama: l'intent d'observar una trajectòria intel·lectual determinada -en aquest cas, la de Zinoviev- de d'una certa distància i esbrinar si pot extreure's alguna lliçó no ja de les teories que l'autor va consignar per escrit, sinó de l'actitud existencial i intel·lectual amb la que un individu es va enfrontar als cataclismes produïts pels successius derrumbaments i encumbraments de les grans ideologies de la seva època.

Structuring OER Using Learning Trajectories

The Wikiwijs program in the Netherlands is experimenting in structuring a repository with digital learning materials by labelling these materials with the learning goals and subjects handled by it. This makes it possible to create an interdependent arrangement of learning materials as building blocks for a curriculum. Such arrangements are called learning trajectories. A datamodel is presented in which the entities involved and their relationships are depicted. A first implementation of this is realized and published in September 2010.

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory

WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Knowledge integration within an applied mobile robot summer course

This paper presents the use of a mobile robot platform as an innovative educational tool in order to promote and integrate different curriculum knowledge. Hence, it is presented the acquired experience within a summer course named ldquoapplied mobile roboticsrdquo. The main aim of the course is to integrate different subjects as electronics, programming, architecture, perception systems, communications, control and trajectory planning by using the educational open mobile robot platform PRIM. The summer course is addressed to a wide range of student profiles. However, it is of special interests to the students of electrical and computer engineering around their final academic year. The summer course consists of the theoretical and laboratory sessions, related to the following topics: design & programming of electronic devices, modelling and control systems, trajectory planning and control, and computer vision systems. Therefore, the clues for achieving a renewed path of progress in robotics are the integration of several knowledgeable fields, such as computing, communications, and control sciences, in order to perform a higher level reasoning and use decision tools with strong theoretical base