Controlling the transport of an ion: classical and quantum mechanical solutions

The accurate transport of an ion over macroscopic distances represents a challenging control problem due to the different length and time scales that enter and the experimental limitations on the controls that need to be accounted for. Here, we investigate the performance of different control techniques for ion transport in state-of-the-art segmented miniaturized ion traps. We employ numerical optimization of classical trajectories and quantum wavepacket propagation as well as analytical solutions derived from invariant based inverse engineering and geometric optimal control. The applicability of each of the control methods depends on the length and time scales of the transport. Our comprehensive set of tools allows us make a number of observations. We find that accurate shuttling can be performed with operation times below the trap oscillation period. The maximum speed is limited by the maximum acceleration that can be exerted on the ion. When using controls obtained from classical dynamics for wavepacket propagation, wavepacket squeezing is the only quantum effect that comes into play for a large range of trapping parameters. We show that this can be corrected by a compensating force derived from invariant based inverse engineering, without a significant increase in the operation time.

From First Contact to Close Encounters: A Developmentally Deep Perceptual System for a Humanoid Robot

This thesis presents a perceptual system for a humanoid robot that integrates abilities such as object localization and recognition with the deeper developmental machinery required to forge those competences out of raw physical experiences. It shows that a robotic platform can build up and maintain a system for object localization, segmentation, and recognition, starting from very little. What the robot starts with is a direct solution to achieving figure/ground separation: it simply 'pokes around' in a region of visual ambiguity and watches what happens. If the arm passes through an area, that area is recognized as free space. If the arm collides with an object, causing it to move, the robot can use that motion to segment the object from the background. Once the robot can acquire reliable segmented views of objects, it learns from them, and from then on recognizes and segments those objects without further contact. Both low-level and high-level visual features can also be learned in this way, and examples are presented for both: orientation detection and affordance recognition, respectively. The motivation for this work is simple. Training on large corpora of annotated real-world data has proven crucial for creating robust solutions to perceptual problems such as speech recognition and face detection. But the powerful tools used during training of such systems are typically stripped away at deployment. Ideally they should remain, particularly for unstable tasks such as object detection, where the set of objects needed in a task tomorrow might be different from the set of objects needed today. The key limiting factor is access to training data, but as this thesis shows, that need not be a problem on a robotic platform that can actively probe its environment, and carry out experiments to resolve ambiguity. This work is an instance of a general approach to learning a new perceptual judgment: find special situations in which the perceptual judgment is easy and study these situations to find correlated features that can be observed more generally.

Compact Representations for Fast Nonrigid Registration of Medical Images

We develop efficient techniques for the non-rigid registration of medical images by using representations that adapt to the anatomy found in such images. Images of anatomical structures typically have uniform intensity interiors and smooth boundaries. We create methods to represent such regions compactly using tetrahedra. Unlike voxel-based representations, tetrahedra can accurately describe the expected smooth surfaces of medical objects. Furthermore, the interior of such objects can be represented using a small number of tetrahedra. Rather than describing a medical object using tens of thousands of voxels, our representations generally contain only a few thousand elements. Tetrahedra facilitate the creation of efficient non-rigid registration algorithms based on finite element methods (FEM). We create a fast, FEM-based method to non-rigidly register segmented anatomical structures from two subjects. Using our compact tetrahedral representations, this method generally requires less than one minute of processing time on a desktop PC. We also create a novel method for the non-rigid registration of gray scale images. To facilitate a fast method, we create a tetrahedral representation of a displacement field that automatically adapts to both the anatomy in an image and to the displacement field. The resulting algorithm has a computational cost that is dominated by the number of nodes in the mesh (about 10,000), rather than the number of voxels in an image (nearly 10,000,000). For many non-rigid registration problems, we can find a transformation from one image to another in five minutes. This speed is important as it allows use of the algorithm during surgery. We apply our algorithms to find correlations between the shape of anatomical structures and the presence of schizophrenia. We show that a study based on our representations outperforms studies based on other representations. We also use the results of our non-rigid registration algorithm as the basis of a segmentation algorithm. That algorithm also outperforms other methods in our tests, producing smoother segmentations and more accurately reproducing manual segmentations.

Application of discriminant function analysis and change-point problem in dating volcanic ashes

The application of Discriminant function analysis (DFA) is not a new idea in the study of tephrochrology. In this paper, DFA is applied to compositional datasets of two different types of tephras from Mountain Ruapehu in New Zealand and Mountain Rainier in USA. The canonical variables from the analysis are further investigated with a statistical methodology of change-point problems in order to gain a better understanding of the change in compositional pattern over time. Finally, a special case of segmented regression has been proposed to model both the time of change and the change in pattern. This model can be used to estimate the age for the unknown tephras using Bayesian statistical calibration

Using appearance and context for outdoor scene object classification

We propose a probabilistic object classifier for outdoor scene analysis as a first step in solving the problem of scene context generation. The method begins with a top-down control, which uses the previously learned models (appearance and absolute location) to obtain an initial pixel-level classification. This information provides us the core of objects, which is used to acquire a more accurate object model. Therefore, their growing by specific active regions allows us to obtain an accurate recognition of known regions. Next, a stage of general segmentation provides the segmentation of unknown regions by a bottom-strategy. Finally, the last stage tries to perform a region fusion of known and unknown segmented objects. The result is both a segmentation of the image and a recognition of each segment as a given object class or as an unknown segmented object. Furthermore, experimental results are shown and evaluated to prove the validity of our proposal

A Novel Breast Tissue Density Classification Methodology

It has been shown that the accuracy of mammographic abnormality detection methods is strongly dependent on the breast tissue characteristics, where a dense breast drastically reduces detection sensitivity. In addition, breast tissue density is widely accepted to be an important risk indicator for the development of breast cancer. Here, we describe the development of an automatic breast tissue classification methodology, which can be summarized in a number of distinct steps: 1) the segmentation of the breast area into fatty versus dense mammographic tissue; 2) the extraction of morphological and texture features from the segmented breast areas; and 3) the use of a Bayesian combination of a number of classifiers. The evaluation, based on a large number of cases from two different mammographic data sets, shows a strong correlation ( and 0.67 for the two data sets) between automatic and expert-based Breast Imaging Reporting and Data System mammographic density assessment

SLAM using an Imaging Sonar for Partially Structured Underwater Environments

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach

Análisis del ciclo económico en una economía con rigideces nominales y un amplio sector informal

En este trabajo se construye un modelo de Equilibrio General Dinámico Estocástico (DSGE) con sector informal y rigideces en precios, usando como marco de análisis la teoría de búsqueda y emparejamiento del mercado de trabajo. El objetivo principal es analizar el efecto de los diferentes tipos de choques económicos sobre las principales variables del mercado laboral, en una economía con presencia importante del sector informal. Igualmente se estudia el efecto de la política monetaria, ya que la presencia de este sector afecta la dinámica del ciclo económico, y por ende los mecanismos de transmisión de la política monetaria. En particular, se analiza la dinámica del modelo bajo diferentes reglas de política monetaria y se compara el bienestar agente representativo generado por cada una de estas reglas.

Análisis de la importancia de los programas MBA en la formación de ejecutivos líderes, y su evolución dentro del contexto colombiano.

El presente trabajo de investigación permitirá acercar al lector a un entendimiento más completo acerca de la oferta actual de programas MBA que existen en las principales universidades del mundo. Con un enfoque más segmentado y especializado en la Escuela de Administración de la Universidad del Rosario; se pretenderá analizar el impacto profesional que ejercen estos programas, los cuales han tomado una relevancia significante en el campo laboral de las empresas, tanto nacionales como internacionales.

Implementación de metodologías logísticas para la optimización de operaciones de adecuación y acondicionamiento de vehículos para el SITP en Bogotá

Hoy en día, Bogotá cuenta con aproximadamente 15800 buses de servicio público, no obstante, alrededor de un 45% de esta flota se encuentra en un estado crítico. La existencia de modelos de buses previos al 2003, la falta de revisiones periódicas, negligencias en el cumplimiento de los requisitos para la prestación del servicio, la resistencia al cambio por parte de los transportistas, y demás factores dificultan la labor de actualizar y unificar la flota en el actual plan del Sistema Integrado de Transporte de la ciudad. El Sistema integrado de transporte procura introducir un sistema confiable, eficaz, y rápido que se adapte a la creciente necesidad de movilidad en Bogotá. Este sistema tiene como propósito la integración del sistema Transmilenio con la estructura tradicional de transporte masivo; se pretende complementar, fortalecer e integrar todos los eslabones de transporte segmentado que existen en la ciudad. Las primeras fases del sistema pretenden cambiar la estructura de flota afiliadora a operadora como funciona en Transmilenio, crear un sistema organizado e integrado de buses de servicio público (Urbano, Especial, Complementario, Troncal y Alimentador), y asegurar la calidad en el servicio. El presente proyecto pretende evaluar, analizar y optimizar los procesos que permitirían la adecuación extensiva de la flota de transporte público para su introducción al Sistema Integrado de Transporte. Los procesos principales incluyen la adecuación de todos los vehículos antiguos (modelos anteriores al 2003 pasan por un proceso de reparación, mantenimiento, acondicionamiento) y la implementación de sistemas de tecnológicos. En adición, se plantea crear un sistema homogéneo que permite estándares de calidad y facilidad de mantenimiento.

Política de la lengua. Enunciados, poder y sociedad

El objetivo de este artículo es mostrar que el lenguaje está íntimamente vinculado con el mundo social y que aclarar tal relación depende de considerar en un mismo plano de dependencia a los enunciados y a las acciones –lo que obliga considerar al lenguaje como un tipo de comportamiento compartido. Eso quiere decir que el lenguaje no sirve solamente a las necesidades de la vida social como medio de intercomprensión. Sobre un fondo relativamente autónomo –caracterizable en las consideraciones sobre los matices semánticos introducidos por las significaciones implícitas– el lenguaje funciona en condiciones de realización que son relaciones sociales altamente segmentadas y jerarquizadas. La hipótesis es que el lenguaje se realiza socialmente, en la medida en que facilita a los individuos una forma de contacto. También insistimos en que como punto de partida para el análisis del carácter social del lenguaje es necesario reconocer el valor performativo que tienen los enunciados en cuanto comportan, en el ámbito de los hechos del habla, un cierto poder realizativo ajustado a condiciones sociales que determinan los caminos de tal realización.-----The aim of this article is to show that the language is intimately linked with the social world and that to clarify such a relation depends on considering in the same plane of dependence the enunciates and the actions - what it leads to consider the language as a type of shared behavior. That means that the language not only serves to the needs of the social life as way of interunderstanding. On a bottom relatively autonomous –caracterizable in the considerations on the semantic shades introduced by the implicit significances– the language works in conditions of accomplishment that are social relations highly segmented and ranked The hypothesis is that the language is made in the measure in which it facilitates a form of contact to the individuals. Also we insist that as point of item (game) for the analysis of the social character of the language it is necessary to recognize the interpretative value that has the enunsates in all that they endure, in the area of the facts of the speech, a certain execute-power fitted to social conditions that determine the ways of such a accomplishment.

Rigideces nominales en una economía con un amplio sector informal

La presencia del sector informal es una de las principales características del mercado de trabajo en países en vías de desarrollo como Colombia. Esta problemática ha sido ampliamente estudiada en los últimos años debido a su gran impacto en la economía y a que el funcionamiento del mercado de traba jo, los salarios y los precios se comportan de una manera diferente al de los países desarrollados. Una política monetaria y fiscal responsable debe tener en cuenta estas especificidades. La presencia del sector informal es una de las principales características del mercado de trabajo en países en vías de desarrollo como Colombia. Esta problemática ha sido ampliamente estudiada en los últimos años debido a su gran impacto en la economía y a que el funcionamiento del mercado de trabajo, los salarios y los precios se comportan de una manera diferente al de los países desarrollados. Una política monetaria y fiscal responsable debe tener en cuenta estas especificidades.

Estructura salarial y segmentación en el mercado laboral de Colombia: un análisis de las siete principales ciudades, 2001-2005

Este documento se concentra en el estudio de las diferencias salariales mediante la comparación de las distribuciones de los salarios para las siete principales ciudades colombianas en el periodo 2001-2005 con datos de la Encuesta Continua de Hogares. Se detectan diferencias significativas que se explican a la luz de la teoría del capital humano y de segmentación laboral; mediante la estimación de ecuaciones de salarios a partir de las características socioeconómicas de los trabajadores junto con efectos particulares para región y rama de actividad económica que resultan significativos dando evidencia de segmentación del mercado laboralen Colombia. El componente de los salarios que es particular a la región y a la actividad económica se explica a partir de variables macroeconómicas como el crecimiento económico, la dotación sectorial de factores, el costo de vida y el desempleo a nivel regional.

An approach to coded structured light to obtain three dimensional information

The human visual ability to perceive depth looks like a puzzle. We perceive three-dimensional spatial information quickly and efficiently by using the binocular stereopsis of our eyes and, what is mote important the learning of the most common objects which we achieved through living. Nowadays, modelling the behaviour of our brain is a fiction, that is why the huge problem of 3D perception and further, interpretation is split into a sequence of easier problems. A lot of research is involved in robot vision in order to obtain 3D information of the surrounded scene. Most of this research is based on modelling the stereopsis of humans by using two cameras as if they were two eyes. This method is known as stereo vision and has been widely studied in the past and is being studied at present, and a lot of work will be surely done in the future. This fact allows us to affirm that this topic is one of the most interesting ones in computer vision. The stereo vision principle is based on obtaining the three dimensional position of an object point from the position of its projective points in both camera image planes. However, before inferring 3D information, the mathematical models of both cameras have to be known. This step is known as camera calibration and is broadly describes in the thesis. Perhaps the most important problem in stereo vision is the determination of the pair of homologue points in the two images, known as the correspondence problem, and it is also one of the most difficult problems to be solved which is currently investigated by a lot of researchers. The epipolar geometry allows us to reduce the correspondence problem. An approach to the epipolar geometry is describes in the thesis. Nevertheless, it does not solve it at all as a lot of considerations have to be taken into account. As an example we have to consider points without correspondence due to a surface occlusion or simply due to a projection out of the camera scope. The interest of the thesis is focused on structured light which has been considered as one of the most frequently used techniques in order to reduce the problems related lo stereo vision. Structured light is based on the relationship between a projected light pattern its projection and an image sensor. The deformations between the pattern projected into the scene and the one captured by the camera, permits to obtain three dimensional information of the illuminated scene. This technique has been widely used in such applications as: 3D object reconstruction, robot navigation, quality control, and so on. Although the projection of regular patterns solve the problem of points without match, it does not solve the problem of multiple matching, which leads us to use hard computing algorithms in order to search the correct matches. In recent years, another structured light technique has increased in importance. This technique is based on the codification of the light projected on the scene in order to be used as a tool to obtain an unique match. Each token of light is imaged by the camera, we have to read the label (decode the pattern) in order to solve the correspondence problem. The advantages and disadvantages of stereo vision against structured light and a survey on coded structured light are related and discussed. The work carried out in the frame of this thesis has permitted to present a new coded structured light pattern which solves the correspondence problem uniquely and robust. Unique, as each token of light is coded by a different word which removes the problem of multiple matching. Robust, since the pattern has been coded using the position of each token of light with respect to both co-ordinate axis. Algorithms and experimental results are included in the thesis. The reader can see examples 3D measurement of static objects, and the more complicated measurement of moving objects. The technique can be used in both cases as the pattern is coded by a single projection shot. Then it can be used in several applications of robot vision. Our interest is focused on the mathematical study of the camera and pattern projector models. We are also interested in how these models can be obtained by calibration, and how they can be used to obtained three dimensional information from two correspondence points. Furthermore, we have studied structured light and coded structured light, and we have presented a new coded structured light pattern. However, in this thesis we started from the assumption that the correspondence points could be well-segmented from the captured image. Computer vision constitutes a huge problem and a lot of work is being done at all levels of human vision modelling, starting from a)image acquisition; b) further image enhancement, filtering and processing, c) image segmentation which involves thresholding, thinning, contour detection, texture and colour analysis, and so on. The interest of this thesis starts in the next step, usually known as depth perception or 3D measurement.

Geomorphological Map of Ribbed Moraines on the Dubawnt Lake Palaeo-Ice Stream Bed: A Signature of Ice Stream Shut-down?

The beds of active ice streams in Greenland and Antarctica are largely inaccessible, hindering a full understanding of the processes that initiate, sustain and inhibit fast ice flow in ice sheets. Detailed mapping of the glacial geomorphology of palaeo-ice stream tracks is, therefore, a valuable tool for exploring the basal processes that control their behaviour. In this paper we present a map that shows detailed glacial geomorphology from a part of the Dubawnt Lake Palaeo-Ice Stream bed on the north-western Canadian Shield (Northwest Territories), which operated at the end of the last glacial cycle. The map (centred on 63 degrees 55 '' 42'N, 102 degrees 29 '' 11'W, approximate scale 1:90,000) was compiled from digital Landsat Enhanced Thematic Mapper Plus satellite imagery and digital and hard-copy stereo-aerial photographs. The ice stream bed is dominated by parallel mega-scale glacial lineations (MGSL), whose lengths exceed several kilometres but the map also reveals that they have, in places, been superimposed with transverse ridges known as ribbed moraines. The ribbed moraines lie on top of the MSGL and appear to have segmented the individual lineaments. This indicates that formation of the ribbed moraines post-date the formation of the MSGL. The presence of ribbed moraine in the onset zone of another palaeo-ice stream has been linked to oscillations between cold and warm-based ice and/or a patchwork of cold-based areas which led to acceleration and deceleration of ice velocity. Our hypothesis is that the ribbed moraines on the Dubawnt Lake Ice Stream bed are a manifestation of the process that led to ice stream shut-down and may be associated with the process of basal freeze-on. The precise formation of ribbed moraines, however, remains open to debate and field observation of their structure will provide valuable data for formal testing of models of their formation.