Localización gráfica de los expedientes patrimoniales de Vitoria en el AHPA

Direcciones de correo electrónico de las autoras: amaya999@hotmail.com ; nagores@hotmail.es

Visual SLAM using straight lines

The present thesis is focuses on the problem of Simultaneous Localisation and Mapping (SLAM) using only visual data (VSLAM). This means to concurrently estimate the position of a moving camera and to create a consistent map of the environment. Since implementing a whole VSLAM system is out of the scope of a degree thesis, the main aim is to improve an existing visual SLAM system by complementing the commonly used point features with straight line primitives. This enables more accurate localization in environments with few feature points, like corridors. As a foundation for the project, ScaViSLAM by Strasdat et al. is used, which is a state-of-the-art real-time visual SLAM framework. Since it currently only supports Stereo and RGB-D systems, implementing a Monocular approach will be researched as well as an integration of it as a ROS package in order to deploy it on a mobile robot. For the experimental results, the Care-O-bot service robot developed by Fraunhofer IPA will be used.

Automatización de los recorridos del robot en un sistema de exploración basado en comportamientos

Automatización de los recorridos del robot en un sistema de exploración basado en comportamientos. Se muestran los resultados obtenidos en las simulaciones con Player/Stage de un sistema de exploración basado en comportamientos, donde la localización se realiza mediante los estadísticos de INCA.

Desarrollo de rutinas de control y mejora delsoftware de programación de líneas CNC

El proyecto consiste en integrar el control de una marcadora neumática de COUTH en el control de una GT100 de forma que se pueda controlar la máquina completa desde una única interfaz hombre-máquina. Además de esto se ha mejorado la interfaz existente dándole un aspecto renovado y facilitando la navegabilidad. Por último, se optimizaron unas maniobras eléctricas importantes, mejorando así el conjunto de la máquina. Español

Software de control desarrollado en ROS para teleoperar de manera eficiente el robot Kuka Lightweight mediante el háptico Phantom Omni

La teleoperación o telerobótica es un campo de la robótica que se basa en el control remoto de robots esclavo por parte de un usuario encargado de gobernar, mediante un dispositivo maestro, la fuerza y movimiento del robot. Sobre dicho usuario recaen también las tareas de percepción del entorno, planificación y manipulación compleja. Concretamente se pretende desarrollar el control software necesario para teleoperar un manipulador esclavo, Kuka Lightweigh mediante un dispositivo háptico Phamton Omni, que se comporta como maestro, sin que afecten las diferencias dinámicas y estructurales existentes entre ambos dispositivos, aportando información adicional al operador para facilitar la operación. La principal motivación de la evolución de esta tecnología se debe a la necesidad de realizar trabajos en entornos hostiles, de difícil acceso, o perjudiciales para la salud del usuario.

Cannabis use and involuntary admission may mediate long-term adherence in first-episode psychosis patients: a prospective longitudinal study

Background: This study aimed to examine factors associated with treatment adherence in first-episode psychosis (FEP) patients followed up over 8 years, especially involuntary first admission and stopping cannabis use. Methods: This prospective, longitudinal study of FEP patients collected data on symptoms, adherence, functioning,and substance use. Adherence to treatment was the main outcome variable and was categorized as ‘good’ or ‘bad’. Cannabis use during follow-up was stratified as continued use, stopped use, and never used. Bivariate and logistic regression models identified factors significantly associated with adherence and changes in adherence over the 8-year follow-up period. Results: Of the 98 FEP patients analyzed at baseline, 57.1% had involuntary first admission, 74.4% bad adherence,and 52% cannabis use. Good adherence at baseline was associated with Global Assessment of Functioning score (p = 0.019), Hamilton Depression Rating Scale score (p = 0.017) and voluntary admission (p < 0.001). Adherence patterns over 8 years included: 43.4% patients always bad, 26.1% always good, 25% improved from bad to good. Among the improved adherence group, 95.7% had involuntary first admission and 38.9% stopped cannabis use. In the subgroup of patients with bad adherence at baseline, involuntary first admission and quitting cannabis use during follow up were associated with improved adherence. Conclusions: The long-term association between treatment adherence and type of first admission and cannabis use in FEP patients suggest targets for intervention to improve clinical outcomes.

Resveratrol Metabolites Modify Adipokine Expression and Secretion in 3T3-L1 Pre-Adipocytes and Mature Adipocytes

Objective: Due to the low bioavailability of resveratrol, determining whether its metabolites exert any beneficial effect is an interesting issue. Methods: 3T3-L1 maturing pre-adipocytes were treated during differentiation with 25 mu M of resveratrol or with its metabolites and 3T3-L1 mature adipocytes were treated for 24 hours with 10 mM resveratrol or its metabolites. The gene expression of adiponectin, leptin, visfatin and apelin was assessed by Real Time RT-PCR and their concentration in the incubation medium was quantified by ELISA. Results: Resveratrol reduced mRNA levels of leptin and increased those of adiponectin. It induced the same changes in leptin secretion. Trans-resveratrol-3-O-glucuronide and trans-resveratrol-4'-O-glucuronide increased apelin and visfatin mRNA levels. Trans-resveratrol-3-O-sulfate reduced leptin mRNA levels and increased those of apelin and visfatin. Conclusions: The present study shows for the first time that resveratrol metabolites have a regulatory effect on adipokine expression and secretion. Since resveratrol has been reported to reduce body-fat accumulation and to improve insulin sensitivity, and considering that these effects are mediated in part by changes in the analyzed adipokines, it may be proposed that resveratrol metabolites play a part in these beneficial effects of resveratrol.

Behavioral, neurochemical and morphological changes induced by the overexpression of munc18-1a in brain of mice: relevance to schizophrenia

Overexpression of the mammalian homolog of the unc-18 gene (munc18-1) has been described in the brain of subjects with schizophrenia. Munc18-1 protein is involved in membrane fusion processes, exocytosis and neurotransmitter release. A transgenic mouse strain that overexpresses the protein isoform munc18-1a in the brain was characterized. This animal displays several schizophrenia-related behaviors, supersensitivity to hallucinogenic drugs and deficits in prepulse inhibition that reverse after antipsychotic treatment. Relevant brain areas (that is, cortex and striatum) exhibit reduced expression of dopamine D-1 receptors and dopamine transporters together with enhanced amphetamine-induced in vivo dopamine release. Magnetic resonance imaging demonstrates decreased gray matter volume in the transgenic animal. In conclusion, the mouse overexpressing brain munc18-1a represents a new valid animal model that resembles functional and structural abnormalities in patients with schizophrenia.

The First Occurrence in the Fossil Record of an Aquatic Avian Twig-Nest with Phoenicopteriformes Eggs: Evolutionary Implication

14 p.

Lehia ez perfektua-ri buruzko notak

Para quien es de utilidad: - Alumnos de Tª Microeconómica IV, curso 3º LE. - Alumnos de las asignaturas de Tª de Juegos y Organización Industrial del Máster en Economía: Instrumentos del Análisis Económico. Estas notas sobre competencia imperfecta están dedicadas al estudio de estructuras de mercado caracterizadas por la existencia de poder de mercado. Se estudia en primer lugar el monopolio, dedicando una atención especial a los diferentes tipos de discriminación de precios. A continuación se presenta la Tª de juegos no cooperativos y se muestra su utilidad para analizar diferentes fenómenos económicos caracterizados por la interdependencia estratégica. Finalmente, se estudian diferentes modelos de competencia oligopolística y la estabilidad de los acuerdos colusivos.

Notas sobre fascismo y mundo antiguo en España

Comunicación presentada en el II Congresso Peninsular de Historia Antigua (Coimbra, 1990)

Estudio de series temporales y composición química del material particulado atmosférico en distintas áreas del País Vasco

286 p. : il. col.

Advances towards behaviour-based indoor robotic exploration

215 p.

Unilateral vs. Bilateral link-formation: Bridging the gap

We provide a model that bridges the gap between two benchmark models of strategic network formation: Jackson and Wolinsky' s model based on bilateral formation of links, and Bala and Goyal's two-way fl ow model, where links can be unilaterally formed. In the model introduced and studied here a link can be created unilaterally. When it is only supported by one of the two players the fl ow through the link suffers a certain decay, but when it is supported by both the fl ow runs without friction. When the decay in links supported by only one player is maximal (i.e. there is no flow) we have Jackson and Wolinsky 's connections model without decay, while when flow in such links is perfect we have Bala and Goyal' s two-way flow model. We study Nash, strict Nash and pairwise stability for the intermediate models. Efficiency and dynamics are also examined.

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