Scene representation for object monitoring

In robotics, having a 3D representation of the environment where a robot is working can be very useful. In real-life scenarios, this environment is constantly changing for example by human interaction, external agents or by the robot itself. Thus, the representation needs to be constantly updated and extended to account for these dynamic scene changes. In this work we face the problem of representing the scene where a robot is acting. Moreover, we ought to improve this representation by reusing the information obtained in previous scenes. Our goal is to build a method to represent a scene and to update it while changes are produced. In order to achieve that, different aspects of computer vision such as space representation or feature tracking are discussed

More Money, Fewer Problems? Cross-Level Effects of Economic Deprivation on Political Representation

While equal political representation of all citizens is a fundamental democratic goal, it is hampered empirically in a multitude of ways. This study examines how the societal level of economic inequality affects the representation of relatively poor citizens by parties and governments. Using CSES survey data for citizens' policy preferences and expert placements of political parties, empirical evidence is found that in economically more unequal societies, the party system represents the preferences of relatively poor citizens worse than in more equal societies. This moderating effect of economic equality is also found for policy congruence between citizens and governments, albeit slightly less clear-cut.

The Sanskrit epics' representation of Vedic myths

Abstract: This book studies several mythical motifs, found in the Veda (especially in the Ùgveda) on the one hand and in one or both Sanskrit epics on the other: Agni's hiding, the theft of the Soma, Indra's rape of Ahalyå, Upamanyu's salvation by the Aßvins, and finally the representation of the Great War of the Mahåbhårata as a sacrifice. While it is often said that the subsequent Indian literature only paid "lipservice" to the Vedas without really knowing and even less understanding these texts, the present study not only shows that many Vedic myths are still kept alive in the Epics, but more importantly that their deep underlying meaning was perfectly understood by the epic mythmakers, and reactualized to fit the changed religious conditions of epic times. Résumé: Descriptif du livre Ce livre étudie plusieur motifs mythologiques qui se trouvent à la fois dans les Vedas (et spécialement dans le Ùgveda), et dans l'une ou l'autre des grandes épopées sanskrites, le Mahåbhårata et le Råmåyana. Ces motifs sont: la disparition d'Agni, le rapt du Soma, le viol d'Ahalyå par Indra, le sauvetage d'Upamanyu par les Aßvins, et enfin, la représentation de la grande guerre du Mahåbhårata comme un rite sacrificiel. On maintient souvent que la littérature plus tardive ne fait référence aux Vedas que pour la forme, sans pour autant réellement connaître et encore moins comprendre ces textes. Mais la présente étude montre tout au contraire que non seulement beaucoup de mythes védiques se retrouvent dans les épopées, mais encore ? ce qui est plus important ? que les mythographes de l'épopée avaient parfaitement compris leur sens profond, et l'avaient réactualisé pour répondre aux changements religieux de l'époque épique.

Representació de grans escenes urbanes emprant jerarquies d'impostors en relleu

Relief Mapping is giving great results for the creation of 3D impostor models. An impostor model is a simplication of an original geometric model that is used to replace it. Then, the original volume can be reproduced in a high quality representation with very few artifacts or cracks and a high compactness. We have studied the state of the art on Relief Impostors and some current techniques related to them. In particular, we have implemented the Omni-directional Relief Impostors (ORI) technique and its hierarchical extension (HORI), througn the usage of spatial partition methods. We expose an alternative to the spatial distribution and selection of the impostors. Furthermore, we show a different computation for the rendering view distance in order to guarantee a minimal quality for the simplified representation. Finally, we discuss the obtained results and propose some new ideas or approaches to enhance the efficiency and quality of the final rendering using ORIs' and HORIs' techniques. In addition, our implementation has involved a software engineering study in the Open Source field.

Effect of Mechanical and Geometric Mismatching on Fatigue and Damage of Welded Joints

The future of high technology welded constructions will be characterised by higher strength materials and improved weld quality with respect to fatigue resistance. The expected implementation of high quality high strength steel welds will require that more attention be given to the issues of crack initiation and mechanical mismatching. Experiments and finite element analyses were performed within the framework of continuum damage mechanics to investigate the effect of mismatching of welded joints on void nucleation and coalescence during monotonic loading. It was found that the damage of undermatched joints mainly occurred in the sandwich layer and the damageresistance of the joints decreases with the decrease of the sandwich layer width. The damage of over-matched joints mainly occurred in the base metal adjacent to the sandwich layer and the damage resistance of the joints increases with thedecrease of the sandwich layer width. The mechanisms of the initiation of the micro voids/cracks were found to be cracking of the inclusions or the embrittled second phase, and the debonding of the inclusions from the matrix. Experimental fatigue crack growth rate testing showed that the fatigue life of under-matched central crack panel specimens is longer than that of over-matched and even-matched specimens. Further investigation by the elastic-plastic finite element analysis indicated that fatigue crack closure, which originated from the inhomogeneousyielding adjacent to the crack tip, played an important role in the fatigue crack propagation. The applicability of the J integral concept to the mismatched specimens with crack extension under cyclic loading was assessed. The concept of fatigue class used by the International Institute of Welding was introduced in the parametric numerical analysis of several welded joints. The effect of weld geometry and load condition on fatigue strength of ferrite-pearlite steel joints was systematically evaluated based on linear elastic fracture mechanics. Joint types included lap joints, angle joints and butt joints. Various combinations of the tensile and bending loads were considered during the evaluation with the emphasis focused on the existence of both root and toe cracks. For a lap joint with asmall lack-of-penetration, a reasonably large weld leg and smaller flank angle were recommended for engineering practice in order to achieve higher fatigue strength. It was found that the fatigue strength of the angle joint depended strongly on the location and orientation of the preexisting crack-like welding defects, even if the joint was welded with full penetration. It is commonly believed that the double sided butt welds can have significantly higher fatigue strength than that of a single sided welds, but fatigue crack initiation and propagation can originate from the weld root if the welding procedure results in a partial penetration. It is clearly shown that the fatigue strength of the butt joint could be improved remarkably by ensuring full penetration. Nevertheless, increasing the fatigue strength of a butt joint by increasing the size of the weld is an uneconomical alternative.

The representation of EFL teachers’ views on the role of English as a Lingua Franca

El creciente número de hablantes no nativos de inglés en el mundo constituye la base a partir de la cual se han hecho recientes afirmaciones alrededor de la necesidad de enfatizar el papel del inglés como lingua franca en las clases de inglés. Este artículo investiga la visión de los profesores catalanes de inglés al respecto mediante un cuestionario centrado en aspectos como la preferencia de profesores nativos o no nativos, el conocimiento cultural idóneo para el profeso- rado de inglés, y la variedad de inglés escogida. Los resultados indican que el profesorado está influido por la supremacía del hablante nativo y una visión del inglés todavía restringida a las comunidades de hablantes nativos, con algunas diferencias significativas encontradas entre distintos grupos de profesores.

Representation of Sound Objects within Early-Stage Auditory Areas: A Repetition Effect Study Using 7T fMRI.

Environmental sounds are highly complex stimuli whose recognition depends on the interaction of top-down and bottom-up processes in the brain. Their semantic representations were shown to yield repetition suppression effects, i. e. a decrease in activity during exposure to a sound that is perceived as belonging to the same source as a preceding sound. Making use of the high spatial resolution of 7T fMRI we have investigated the representations of sound objects within early-stage auditory areas on the supratemporal plane. The primary auditory cortex was identified by means of tonotopic mapping and the non-primary areas by comparison with previous histological studies. Repeated presentations of different exemplars of the same sound source, as compared to the presentation of different sound sources, yielded significant repetition suppression effects within a subset of early-stage areas. This effect was found within the right hemisphere in primary areas A1 and R as well as two non-primary areas on the antero-medial part of the planum temporale, and within the left hemisphere in A1 and a non-primary area on the medial part of Heschl's gyrus. Thus, several, but not all early-stage auditory areas encode the meaning of environmental sounds.

A geometric chracterization of the nucleolus of the assignment game

Maschler et al. (1979) caracteritzen geomètricament la intersecció del kernel i del core en els jocs cooperatius, demostrant que les distribucions que pertanyen a ambdós conjunts es troben en el punt mig d’un cert rang de negociació entre parelles de jugadors. En el cas dels jocs d’assignació, aquesta caracterització vol dir que el kernel només conté aquells elements del core on el màxim que un jugador pot transferir a una parella òptima és igual al màxim que aquesta parella li pot transferir, sense sortir-se’n del core. En aquest treball demostrem que el nucleolus d’un joc d’assignació queda caracteritzat si requerim que aquesta propietat de bisecció es compleixi no només per parelles, sinó també per coalicions entre sectors aparellades òptimament.