Multirobot Tethering for Localization and Control

Particle filtering has proven to be an effective localization method for wheeled autonomous vehicles. For a given map, a sensor model, and observations, occasions arise where the vehicle could equally likely be in many locations of the map. Because particle filtering algorithms may generate low confidence pose estimates under these conditions, more robust localization strategies are required to produce reliable pose estimates. This becomes more critical if the state estimate is an integral part of system control. We investigate the use of particle filter estimation techniques on a hovercraft vehicle. The marginally stable dynamics of a hovercraft require reliable state estimates for proper stability and control. We use the Monte Carlo localization method, which implements a particle filter in a recursive state estimate algorithm. An H-infinity controller, designed to accommodate the latency inherent in our state estimation, provides stability and controllability to the hovercraft. In order to eliminate the low confidence estimates produced in certain environments, a multirobot system is designed to introduce mobile environment features. By tracking and controlling the secondary robot, we can position the mobile feature throughout the environment to ensure a high confidence estimate, thus maintaining stability in the system. A laser rangefinder is the sensor the hovercraft uses to track the secondary robot, observe the environment, and facilitate successful localization and stability in motion.

School leaders as both colonized and colonizers: understanding professional identity in an era of no child left behind

This study positioned the federal No Child Left Behind (NCLB) Act of 2002 as a reified colonizing entity, inscribing its hegemonic authority upon the professional identity and work of school principals within their school communities of practice. Pressure on educators and students intensifies each year as the benchmark for Adequate Yearly Progress under the NCLB policy is raised, resulting in standards-based reform, scripted curriculum and pedagogy, absence of elective subjects, and a general lack of autonomy critical to the work of teachers as they approach each unique class and student (Crocco & Costigan, 2007; Mabry & Margolis, 2006). Emphasis on high stakes standardized testing as the indicator for student achievement (Popham, 2005) affects educators’ professional identity through dramatic pedagological and structural changes in schools (Day, Flores, & Viana, 2007). These dramatic changes to the ways our nation conducts schooling must be understood and thought about critically from school leaders’ perspectives as their professional identity is influenced by large scale NCLB school reform. The author explored the impact No Child Left Behind reform had on the professional identity of fourteen, veteran Illinois principals leading in urban, small urban, suburban, and rural middle and elementary schools. Qualitative data were collected during semi-structured interviews and focus groups and analyzed using a dual theoretical framework of postcolonial and identity theories. Postcolonial theory provided a lens from which the author applied a metaphor of colonization to principals’ experiences as colonized-colonizers in a time of school reform. Principal interview data illustrated many examples of NCLB as a colonizing authority having a significant impact on the professional identity of school leaders. This framework was used to interpret data in a unique and alternative way and contributed to the need to better understand the ways school leaders respond to district-level, state-level, and national-level accountability policies (Sloan, 2000). Identity theory situated principals as professionals shaped by the communities of practice in which they lead. Principals’ professional identity has become more data-driven as a result of NCLB and their role as instructional leaders has intensified. The data showed that NCLB has changed the work and professional identity of principals in terms of use of data, classroom instruction, Response to Intervention, and staffing changes. Although NCLB defines success in terms of meeting or exceeding the benchmark for Adequate Yearly Progress, principals’ view AYP as only one measurement of their success. The need to meet the benchmark for AYP is a present reality that necessitates school-wide attention to reading and math achievement. At this time, principals leading in affluent, somewhat homogeneous schools typically experience less pressure and more power under NCLB and are more often labeled “successful” school communities. In contrast, principals leading in schools with more heterogeneity experience more pressure and lack of power under NCLB and are more often labeled “failing” school communities. Implications from this study for practitioners and policymakers include a need to reexamine the intents and outcomes of the policy for all school communities, especially in terms of power and voice. Recommendations for policy reform include moving to a growth model with multi-year assessments that make sense for individual students rather than one standardized test score as the measure for achievement. Overall, the study reveals enhancements and constraints NCLB policy has caused in a variety of school contexts, which have affected the professional identity of school leaders.

Molecular analysis of RNA1 and RNA2 sequences from a betanodavirus isolated from giant grouper (Epinephelus lanceolatus) in Australia

Betanodavirus infections have a significant impact through direct losses and trade restrictions for aquaculture sectors in Australia. The giant grouper, Epinephelus lanceolatus, is a high-value, fast-growing species with significant aquaculture potential. With subacute to chronic mortalities reported from a commercial aquaculture facility in northern Queensland, the viral nervous necrosis in the affected fish was confirmed using a RT-qPCR followed by virus isolation using the SSN-1 cell line. The RNA1 and RNA2 segments were sequenced and nucleotide sequences were compared with betanodavirus sequences from GenBank. Phylogenetic analysis revealed that both these sequences clustered with sequences representing red spotted grouper nervous necrosis virus genotype and showed high sequence identity to virus sequences affecting other grouper species. This is the first report confirming infection by betanodavirus in E. lanceolatus from Australia with successful isolation of the virus in a cell culture system, and analysis of nearly full length RNA1 and RNA2 sequences.

El héroe trágico en la cinematografía moderna

La presente investigación se sustentó con teóricos especializados en los conceptos de posmodernidad, cine, tragedia y héroe, para identificar en la película El club de la pelea (Fight Club, David Fincher. 1999), el perfil del héroe trágico posmoderno como un personaje en la narrativa de ficción. En la primera parte del estudio, Nietzsche, Aristóteles y Joseph Campbell sirven como base para definir los conceptos de: tragedia y héroe. Posteriormente, se exponen las teorías de autores como Habermas, Lyotard y Jameson, para fundamentar los conceptos modernidad y posmodernidad. Al final, se presentan autores como Lauro Zavala, Ramón Carmona, David Bordwell y José Luis Sánchez Noriega, para definir las características del cine y su evolución hasta su concepción posmoderna, así como los mecanismos del análisis fílmico. Después de analizar los conceptos, se aplicarán en el análisis fílmico en Fight Club, al héroe trágico posmoderno en su personaje co-protagónico Tyler Durden, interpretado por el actor Brad Pitt.

Bioprospecting for culturable actinobacteria with antimicrobial properties isolated from rivers in Colombian Orinoquia

Purpose: To Isolate and characterize Actinobacteria with antimicrobial activity from Guaviare River (Colombia). Methods: Water and sediment samples were collected from Guaviare River. Direct plating, heat and CaCO3 methods were used to isolate Actinobacteria. Six bacterial strains were tested using T-Streak method: Escherichia coli ATCC 23724, Staphylococus aureus ATCC 25923, Acinetobacter baumannii ATCC 19606, Bacillus subtilis ATCC 21556, Klebsiella pneumoniae ATCC 700603, Chromobacterium violaceum ATCC 31532. Strains of Fusarium sp. H24, Trichoderma harzianum H5 and Colletotrichum gloeosporioides were tested using Kirby-Bauer method. Isolates with high antimicrobial activity were selected for further taxonomic identification. Results: A total of 374 actinobacteria isolates were obtained. Seven isolates exhibited high antimicrobial activity (p < 0.05) and were confirmed as members of Streptomycetaceae family. Of these, three isolates showed differential phenotypic and genotypic profiles, indicating that they may represent new species. Conclusions: To date, this is the first study of this type in Colombian Orinoquia and indicates that this promising source of Actinobacteria from aquatic sediments with the ability to produce antimicrobial secondary metabolites.

L’épave du Machault, 1760 : entre tradition et innovation.

Cette étude s’intéresse à l’industrie de la construction navale pour le milieu du XVIIIe siècle en France dans la région de Bayonne. L’objectif est de documenter la relation qu’entretiennent les pratiques de construction traditionnelles et innovatrices à cette période. L’architecture de la frégate le Machault est au cœur de cette analyse. Construit en 1757 à Bayonne et perdu en 1760, le Machault a été fouillé, documenté et parallèlement récupéré par les archéologues de Parcs Canada entre 1969 et 1972 à Ristigouche dans la baie des Chaleurs, Québec. Cette étude constitue la première analyse architecturale approfondie menée sur ces vestiges. L’analyse est réalisée en trois temps qui correspondent aux trois grandes étapes de la chaine opératoire de la construction du navire. Tout d’abord, il est question d’aborder l’aspect de la foresterie afin de saisir la nature de la ressource forestière mobilisée pour la construction de la frégate. Ensuite, ce mémoire se penche sur la conception architecturale des navires qui renvoie à un aspect plus théorique, car il relève de la façon dont les formes du navire ont été « pensées ». Enfin, la charpenterie est abordée afin de saisir la séquence d’assemblage du navire. Ensemble, ces trois grands aspects dressent un portrait général de la construction navale pour la région de Bayonne au milieu du XVIIIe siècle.

L’épave du Machault, 1760 : entre tradition et innovation

Cette étude s’intéresse à l’industrie de la construction navale pour le milieu du XVIIIe siècle en France dans la région de Bayonne. L’objectif est de documenter la relation qu’entretiennent les pratiques de construction traditionnelles et innovatrices à cette période. L’architecture de la frégate le Machault est au cœur de cette analyse. Construit en 1757 à Bayonne et perdu en 1760, le Machault a été fouillé, documenté et parallèlement récupéré par les archéologues de Parcs Canada entre 1969 et 1972 à Ristigouche dans la baie des Chaleurs, Québec. Cette étude constitue la première analyse architecturale approfondie menée sur ces vestiges. L’analyse est réalisée en trois temps qui correspondent aux trois grandes étapes de la chaine opératoire de la construction du navire. Tout d’abord, il est question d’aborder l’aspect de la foresterie afin de saisir la nature de la ressource forestière mobilisée pour la construction de la frégate. Ensuite, ce mémoire se penche sur la conception architecturale des navires qui renvoie à un aspect plus théorique, car il relève de la façon dont les formes du navire ont été « pensées ». Enfin, la charpenterie est abordée afin de saisir la séquence d’assemblage du navire. Ensemble, ces trois grands aspects dressent un portrait général de la construction navale pour la région de Bayonne au milieu du XVIIIe siècle.

Evaluation and Process Improvement of Federal Excess Property for Fire Departments

Currently, there are two federal programs related to excess federal property in which the South Carolina Forestry Commission participates. There is a need to streamline the process for applying for federal excess property as well as tracking its location once it has been received and assigned.

Inscape, the inshape of the trinity: a genetic analysis of Gerard Manley Hopkins’ "God’s Grandeur" and "The Windhover"

Les théories poétiques de l’inscape et du sprung rhythm établies par le poète britannique Gerard Manley Hopkins (1844-1889) ont dérouté les critiques des années durant. La plupart d’entre eux se sont appuyés sur les poèmes publiés en quête d’indices quant à la signification de ses théories. Cette thèse approfondit l’analyse mise de l’avant en révélant que la genèse de la théorie de l’inscape provient des notes de Hopkins — alors étudiant de premier cycle — sur le philosophe présocratique Parménide, et est influencée par les commentaires sur l’oeuvre De la nature du philosophe. Un examen des lettres de Hopkins à ses collègues poètes Robert Bridges et Richard Watson Dixon révèle que le sprung rhythm découle de l’inscape, sa théorie de base. La technique du sprung rhythm consiste donc en l’application de l’inscape au schéma métrique de la poésie. Cette étude établit d’abord une définition opérationnelle de chacune de ces théories pour ensuite les appliquer aux manuscrits afin de déterminer dans quelle mesure Hopkins y adhérait et les exploitait lors de la rédaction de deux de ses poèmes canoniques, God’s Grandeur et The Windhover. L’étude s’inscrit ainsi dans le champ de la critique génétique, une approche mise au point en France, particulièrement à l’Institut des textes et manuscrits modernes (ITEM). Ce sont donc sur des oeuvres littéraires françaises ou sur des textes en prose qu’ont porté la majorité des analyses à ce sujet. Suppressions, ajouts, substitutions et constantes entre différentes versions témoignent de ce qu’étaient les priorités de Hopkins dans sa quête pour atteindre l’effet désiré. Par conséquent, cette thèse s’efforce de dévoiler la signification des théories poétiques de Hopkins en établissant leur genèse et leur application respectives dans deux de ses poèmes selon une perspective de critique génétique. Elle contribue également à enrichir la critique génétique en l’appliquant à des oeuvres littéraires écrites en anglais et sous forme de poésie plutôt que de prose. Enfin, son objectif ultime est de raviver l’intérêt pour le poète Hopkins en tant que sujet viable d’étude, et de favoriser l’appréciation de ses prouesses tant comme théoricien poétique que comme poète.

Supervivencia y mortalidad por tipo de terapia de reemplazo renal, en pacientes con enfermedad renal crónica terminal, en una cohorte de pacientes asegurados en Colombia

En Colombia se ha podido establecer que la incidencia y mortalidad de la Enfermedad Renal Crónica Terminal continúan en aumento en los últimos 6 años a pesar de las estrategias de intervención para prevención y control de la enfermedad implementadas nivel nacional. Este trabajo busca establecer la línea de base para la población asegurada en Colombia, frente a la supervivencia de pacientes en terapia de remplazo renal (TRR).