Probabilistic mapping with mobile robots in structured environments

La mayor parte de los entornos diseñados por el hombre presentan características geométricas específicas. En ellos es frecuente encontrar formas poligonales, rectangulares, circulares . . . con una serie de relaciones típicas entre distintos elementos del entorno. Introducir este tipo de conocimiento en el proceso de construcción de mapas de un robot móvil puede mejorar notablemente la calidad y la precisión de los mapas resultantes. También puede hacerlos más útiles de cara a un razonamiento de más alto nivel. Cuando la construcción de mapas se formula en un marco probabilístico Bayesiano, una especificación completa del problema requiere considerar cierta información a priori sobre el tipo de entorno. El conocimiento previo puede aplicarse de varias maneras, en esta tesis se presentan dos marcos diferentes: uno basado en el uso de primitivas geométricas y otro que emplea un método de representación cercano al espacio de las medidas brutas. Un enfoque basado en características geométricas supone implícitamente imponer un cierto modelo a priori para el entorno. En este sentido, el desarrollo de una solución al problema SLAM mediante la optimización de un grafo de características geométricas constituye un primer paso hacia nuevos métodos de construcción de mapas en entornos estructurados. En el primero de los dos marcos propuestos, el sistema deduce la información a priori a aplicar en cada caso en base a una extensa colección de posibles modelos geométricos genéricos, siguiendo un método de Maximización de la Esperanza para hallar la estructura y el mapa más probables. La representación de la estructura del entorno se basa en un enfoque jerárquico, con diferentes niveles de abstracción para los distintos elementos geométricos que puedan describirlo. Se llevaron a cabo diversos experimentos para mostrar la versatilidad y el buen funcionamiento del método propuesto. En el segundo marco, el usuario puede definir diferentes modelos de estructura para el entorno mediante grupos de restricciones y energías locales entre puntos vecinos de un conjunto de datos del mismo. El grupo de restricciones que se aplica a cada grupo de puntos depende de la topología, que es inferida por el propio sistema. De este modo, se pueden incorporar nuevos modelos genéricos de estructura para el entorno con gran flexibilidad y facilidad. Se realizaron distintos experimentos para demostrar la flexibilidad y los buenos resultados del enfoque propuesto. Abstract Most human designed environments present specific geometrical characteristics. In them, it is easy to find polygonal, rectangular and circular shapes, with a series of typical relations between different elements of the environment. Introducing this kind of knowledge in the mapping process of mobile robots can notably improve the quality and accuracy of the resulting maps. It can also make them more suitable for higher level reasoning applications. When mapping is formulated in a Bayesian probabilistic framework, a complete specification of the problem requires considering a prior for the environment. The prior over the structure of the environment can be applied in several ways; this dissertation presents two different frameworks, one using a feature based approach and another one employing a dense representation close to the measurements space. A feature based approach implicitly imposes a prior for the environment. In this sense, feature based graph SLAM was a first step towards a new mapping solution for structured scenarios. In the first framework, the prior is inferred by the system from a wide collection of feature based priors, following an Expectation-Maximization approach to obtain the most probable structure and the most probable map. The representation of the structure of the environment is based on a hierarchical model with different levels of abstraction for the geometrical elements describing it. Various experiments were conducted to show the versatility and the good performance of the proposed method. In the second framework, different priors can be defined by the user as sets of local constraints and energies for consecutive points in a range scan from a given environment. The set of constraints applied to each group of points depends on the topology, which is inferred by the system. This way, flexible and generic priors can be incorporated very easily. Several tests were carried out to demonstrate the flexibility and the good results of the proposed approach.

Da resistência à luta pela visibilidade: um estudo sobre o modo de vida de jovens de comunidades faxinalenses

Esta pesquisa tem como objetivo central compreender as perspectivas de futuro de jovens faxinalenses. Para isso, buscamos entender as particularidades de sua forma de vida, desafios, problemas, potencialidades, sua relação com as comunidades e os possíveis fatores que influenciam na aproximação ou distanciamento entre eles e seus territórios. Os faxinais constituem uma forma particular de organização camponesa reconhecida como Comunidade Tradicional. Possuem como principal característica o uso de áreas em comum, chamadas de criadouro comunitário. Neste espaço, as famílias criam seus animais à solta, preservam grande parte da vegetação nativa, constroem suas casas e mantêm a dinâmica comunitária. Quanto ao uso comum das áreas, muitos proprietários permitem que não proprietários de terras morem e usufruam da área do criador comunitário, a partir de acordos estabelecidos entre os envolvidos. Historicamente, os faxinais vêm sofrendo fortes pressões por grande parte do sistema econômico, do modelo de agricultura considerada moderna e do poder público, que invadem seus territórios, destroem a natureza, geram preconceito, forçam a diminuição e o fechamento das áreas de uso comum, e expulsam famílias das comunidades. Apesar de intensas pressões, inúmeras famílias seguem resistindo e dando continuidade ao seu tradicional modo de vida. Para compreender as estratégias de resistência e as perspectivas de futuro, participamos de espaços coletivos das comunidades, empreendemos oficinas, conversas informais com lideranças comunitárias e com os jovens, sendo que com os jovens ainda realizamos, em grupos, a técnica percurso comentado. A partir das análises dos dados obtidos em campo, sistematizamos algumas estratégias que as comunidades faxinalenses utilizaram e utilizam para resistir a condições sociais e econômicas degradantes, que, no limite, visam à sua finalização. Interpretamos a relação das comunidades com o Movimento Articulação Puxirão dos Povos Faxinalenses (APF) como essencial para o desenvolvimento das estratégias, que se manifestam na educação, na geração de renda, nas associações comunitárias, na produção agroecológica, nos espaços coletivos, na religiosidade e no enraizamento, que promovem relações diferenciadas com o território e com o modo de vida. Fatores que mobilizam formas de resistência, fortalecimento das comunidades, reorganização das tradições e, consequentemente, contribuem com a construção de planos e perspectivas de futuro dos jovens faxinalenses, que lutam e resistem pela manutenção e desenvolvimento de suas comunidades

Developing Emotional Security Among Children Who Have Been Adopted

This study investigated the development of emotional security among 6-10 year old children who have been adopted by exposing them to an experimental condition during which they could engage with either a live dog or a robotic dog. The live dog was a certified therapy dog; the robotic dog was a FurReal® toy marketed by Hasbro as "Biscuit." Utilizing a mixed-method embedded experimental design, the experimental condition was intentionally structured to promote engagement between the participant and the dog or robot. 43 children who had been adopted from the child welfare system were randomly assigned to one of two groups. One group was exposed to a therapy dog (n=22), while another was exposed to the social robotic dog (n=21). The development of emotional security was targeted for measurement in this study using the "Reading the Mind in the Eyes Test," a test of social understanding that has been linked in the literature to oxytocin- a hormone premised to be a marker of the development of emotional security. Physiological anxiety was also measured as an indicator of emotional security using the Revised Child Manifest Anxiety Scale-2 (RCMAS-2). Both measures were administered before and after exposure to the experimental condition. A linear mixed-effect regression analysis showed that for boys only, there was a significant effect of engagement with either companion on social understanding (p<.01). Social understanding decreased as engagement increased. A second model indicated that for boys only, their history of animal cruelty had a significant effect on physiological anxiety (p<.05). If boys had an animal cruelty history, their anxiety was reduced after the exposure to either the dog or robot. Interpretations of the findings suggest that there are differences among children who have been adopted and have a history of animal cruelty that differentially influences their development of emotional security. Social work interventions designed for practice with children who have been adopted will need to assess the presence of these variations and develop appropriate treatment protocols.

The Rio Salado Riparian Habitat Restoration Area: Managing the Southwestern Willow Flycatcher

The following document identifies the impact to the current management plan of the Rio Salado Riparian Habitat Restoration Area in the event the endangered Southwestern Willow Flycatcher is found nesting at the project site. Rio Salado is managed by the City of Phoenix Parks and Recreation Department, and consists of a low-flow channel with native vegetation and wildlife along the Salt River. This paper analyzes the regulatory responsibilities of project site management and discusses the necessary adjustments to the management plan. Despite the current absence of the Southwestern Willow Flycatcher from Rio Salado, management should enter into a Safe Harbor Agreement with the U.S. Fish and Wildlife Service to legally protect themselves from the regulations stipulated in the Endangered Species Act.

Integration of Sustainable Development Principles into a Community Park

Characteristics of six operating hot spring recreational facilities were reviewed to identify opportunities for integrating a range of sustainable design and operation approaches into a community park. Potential operating cost savings were evaluated for a conceptual landscape project, bathhouse project, and swimming pool project that reduced the use of electricity, natural gas, water, the discharge of water, and solid waste generation. The projects showed a combined cost savings of approximately $40,000 per year by adopting passive solar design, energy efficient lighting, native vegetation, water efficient fixtures, and a natural swimming pool. The greatest potential operating cost reductions were observed for cutbacks in the use of swimming pool water and reductions in natural gas needed for building and swimming pool heating.

Information technology outsourcing in financial services

Regulatory pressures and strong competitiveness, as well as the need to control costs and remain up to date with information technologies have turned outsourcing into a basic tool at the disposal of financial entities. Our paper has as its aim to show the peculiarities of information technology outsourcing in the financial services industry, additionally suggesting a decision framework which can help firms minimise risks.

Análisis multitemporal del cambio de uso del suelo, en el Paisaje Terrestre Protegido Miraflor Moropotente Nicaragua, 1993-2011

El análisis multitemporal permite detectar cambios entre diferentes fechas de referencia, deduciendo la evolución del medio natural o las repercusiones de la acción humana sobre el medio. El propósito del estudio fue evaluar el cambio de uso del suelo en el Paisaje Terrestre Miraflor Moropotente en el período 1993-2011, a través de imágenes satelitales, a fin de determinar el estado de fragmentación del paisaje. Los cambios de usos de suelo fueron derivados de la clasificación de tres imágenes Landsat TM, con una resolución espacial de 30 metros tomadas en febrero de 1993, abril de 2000 y enero 2011. Se realizó una verificación en campo para la identificación de coberturas de suelo y la corroboración en las imágenes satelitales. La fragmentación se realizó con el cálculo de métricas e índices de fragmentación a nivel del paisaje. Los principales resultados muestran que los cambios de uso de suelo están determinados por la degradación antrópica, principalmente en la conversión de la vegetación nativa a espacios agrícolas y la expansión de la ganadería. El crecimiento demográfico y los monocultivos van ejerciendo presión sobre el bosque, transformando zonas de vocación forestal a cultivos agrícolas. Los cambios de cobertura han significado un paisaje fragmentado con diferentes grados de perturbación, que conllevan a una disminución de la superficie de hábitats naturales, reducción del tamaño de los fragmentos y aislamientos de los mismos.

Low-density koala (Phascolarctos cinereus) populations in the mulgalands of south-west Queensland. IV. Abundance and conservation status

Urban encroachment on dense, coastal koala populations has ensured that their management has received increasing government and public attention. The recently developed National Koala Conservation Strategy calls for maintenance of viable populations in the wild. Yet the success of this, and other, conservation initiatives is hampered by lack of reliable and generally accepted national and regional population estimates. In this paper we address this problem in a potentially large, but poorly studied, regional population in the State that is likely to have the largest wild populations. We draw on findings from previous reports in this series and apply the faecal standing-crop method (FSCM) to derive a regional estimate of more than 59 000 individuals. Validation trials in riverine communities showed that estimates of animal density obtained from the FSCM and direct observation were in close agreement. Bootstrapping and Monte Carlo simulations were used to obtain variance estimates for our population estimates in different vegetation associations across the region. The most favoured habitat was riverine vegetation, which covered only 0.9% of the region but supported 45% of the koalas. We also estimated that between 1969 and 1995 similar to 30% of the native vegetation associations that are considered as potential koala habitat were cleared, leading to a decline of perhaps 10% in koala numbers. Management of this large regional population has significant implications for the national conservation of the species: the continued viability of this population is critically dependent on the retention and management of riverine and residual vegetation communities, and future vegetation-management guidelines should be cognisant of the potential impacts of clearing even small areas of critical habitat. We also highlight eight management implications.

Comparison of the particulate organic carbon and permanganate oxidation methods for estimating labile soil organic carbon

Forty-four soils from under native vegetation and a range of management practices following clearing were analysed for ‘labile’ organic carbon (OC) using both the particulate organic carbon (POC) and the 333 mm KmnO4 (MnoxC) methods. Although there was some correlation between the 2 methods, the POC method was more sensitive by about a factor of 2 to rapid loss in OC as a result of management or land-use change. Unlike the POC method, the MnoxC method was insensitive to rapid gains in TOC following establishment of pasture on degraded soil. The MnoxC method was shown to be particularly sensitive to the presence of lignin or lignin-like compounds and therefore is likely to be very sensitive to the nature of the vegetation present at or near the time of sampling and explains the insensitivity of this method to OC gain under pasture. The presence of charcoal is an issue with both techniques, but whereas the charcoal contribution to the POC fraction can be assessed, the MnoxC method cannot distinguish between charcoal and most biomolecules found in soil. Because of these limitations, the MnoxC method should not be applied indiscriminately across different soil types and management practices.

Identification of the causes of subsoil ammonium accumulations in southeastern Queensland

Unusually high concentrations of exchangeable-NH4+ (up to 270 kg-N/ha) were observed in a Vertisol below 1 m in southeast Queensland. This study aimed to identify the source of this NH4+. Preliminary sampling of native vegetation and cropping areas had found that elevated NH4+was only present under cropped soil, indicating that clearing was linked to the NH4+formation. Mechanisms of NH4+formation that may have occurred in the subsoil after clearing were hypothesised to be a) mineralisation of organic-N; b) NO3- reduction to NH4+; and/or c) the release of fixed-NH4+. In addition it was proposed that nitrification was inhibited in the subsoil, and that this allowed any NH4+formed to accumulate over time. Incubation experiments to examine nitrification rates revealed that nitrification was undetectable, and appeared to be limited by a combination of subsoil acidity and low numbers of nitrifying organisms. Mineralisation studies also revealed that the mineralisation of organic-N was undetectable, and that mineralising organisms were limited by acidity. A small amount of nitrate ammonification could be observed with the aid of a 15N tracer if the soil was waterlogged. However, this NH4+was insufficient to account for the overall NH4+accumulation, and these waterlogged conditions were not observed in the field. Concentrations of fixed- NH4+ measured were also too low to have been responsible for the accumulation of exchangeable-NH4+. It was concluded that none of the proposed hypotheses of NH4+formation could account for the NH4+accumulation observed.

Measurements of generalisation based on information geometry

Neural networks are statistical models and learning rules are estimators. In this paper a theory for measuring generalisation is developed by combining Bayesian decision theory with information geometry. The performance of an estimator is measured by the information divergence between the true distribution and the estimate, averaged over the Bayesian posterior. This unifies the majority of error measures currently in use. The optimal estimators also reveal some intricate interrelationships among information geometry, Banach spaces and sufficient statistics.

Social and seasonal plasticity of the electric fish, Brachyhypopomus gauderio

The South American electric knifefish, Brachyhypopomus gauderio, uses weakly electric fields to see and communicate in the dark. Only one study to date has investigated natural behavior in this species during the breeding season; this study proposed that B. guarerio has an exploded lek polygyny breeding system. To test this hypothesis, artificial marshes simulating the native vegetation, temperature, and water conductivities of the South American subtropics were created to study seasonal variation in associative behavior of B. gauderio during the breeding and non-breeding seasons. Mark/recapture methods were used to keep track of individual fish and their dispersion inside the experimental designs. The experimental design proved to be extremely successful at eliciting reproduction. Differences were found in seasonal variations of social behaviors between adult and juvenile populations. Although no apparent sex. differences in movement patterns were found during the breeding season; a trend for male-male aversion was found, suggesting male-male avoidance as a possible strategy guiding aspects of social behaviors in this species. Further, movement may be a tactic for mate seeking as the individuals who moved the most during the breeding season obtained the most opposite sex interactions. These findings support the exploded lek polygyny model. Social interactions are subject to complex regulation by social, physiologic and ecological factors; the extent to which these associations are repeatable may provide novel insights on the evolution of sociality as it has been shaped by natural selection.

Qualidade do solo da camada de cobertura final em área de disposição de resíduos no semiárido tropical

The final disposal of municipal solid waste in unsuitable areas without an infrastructure that meets the health measures and environmental protection, coupled with the lack of technical criteria in phase and decommissioning of the dump can promote environmental degradation. Alternatively to minimize the impacts of this activity for the stabilization of the area by isolating the massive waste with implementation of an adequate and finished by a layer of soil for plant growth final cover system. In this context, the present study aimed to evaluate the quality of the final cover in the area of a disabled dump the tropical semi-arid region in order to assist the process of recovery of these areas. The study area is located in the tropical semi-arid region in São João do Sabugi /RN. Soil samples were collected in the dump area and bushland as a benchmark of quality. To which they were subjected to analysis of physical attributes (particle density, bulk density, grain size and porosity), chemical properties (pH, K + , Na+ , Ca2 + , Mg2 + and Al3 + exchangeable, potential acidity, available phosphorus, sum of bases, CEC, base saturation, aluminum saturation, saturation Na + and adsorption ratio sodium, total organic carbon and total nitrogen) and total and soluble concentrations of heavy metals (Mn, Pb, Zn, Cd, Cu, Mo, Co, Cr, Ba and Ni). The differences between physical and chemical soil under native forest and final cover showing reduction of soil quality in the area off to the dump, which hinders the development of native vegetation and the recovery of the area. The absence of superior waterproofing to allow vertical transfer between the solid waste and the final cover promoted enrichment by chemical elements and heavy metals in excess can impair revegetation. Deficiencies found in the construction process of the final cover point to the need for intervention to accelerate the process of stabilization and recovery of the area of the local ecosystem