Visual Tracking, Pose Estimation, and Control for Aerial Vehicles

El principal objetivo de esta tesis es dotar a los vehículos aéreos no tripulados (UAVs, por sus siglas en inglés) de una fuente de información adicional basada en visión. Esta fuente de información proviene de cámaras ubicadas a bordo de los vehículos o en el suelo. Con ella se busca que los UAVs realicen tareas de aterrizaje o inspección guiados por visión, especialmente en aquellas situaciones en las que no haya disponibilidad de estimar la posición del vehículo con base en GPS, cuando las estimaciones de GPS no tengan la suficiente precisión requerida por las tareas a realizar, o cuando restricciones de carga de pago impidan añadir sensores a bordo de los vehículos. Esta tesis trata con tres de las principales áreas de la visión por computador: seguimiento visual y estimación visual de la pose (posición y orientación), que a su vez constituyen la base de la tercera, denominada control servo visual, que en nuestra aplicación se enfoca en el empleo de información visual para controlar los UAVs. Al respecto, esta tesis se ocupa de presentar propuestas novedosas que permitan solucionar problemas relativos al seguimiento de objetos mediante cámaras ubicadas a bordo de los UAVs, se ocupa de la estimación de la pose de los UAVs basada en información visual obtenida por cámaras ubicadas en el suelo o a bordo, y también se ocupa de la aplicación de las técnicas propuestas para solucionar diferentes problemas, como aquellos concernientes al seguimiento visual para tareas de reabastecimiento autónomo en vuelo o al aterrizaje basado en visión, entre otros. Las diversas técnicas de visión por computador presentadas en esta tesis se proponen con el fin de solucionar dificultades que suelen presentarse cuando se realizan tareas basadas en visión con UAVs, como las relativas a la obtención, en tiempo real, de estimaciones robustas, o como problemas generados por vibraciones. Los algoritmos propuestos en esta tesis han sido probados con información de imágenes reales obtenidas realizando pruebas on-line y off-line. Diversos mecanismos de evaluación han sido empleados con el propósito de analizar el desempeño de los algoritmos propuestos, entre los que se incluyen datos simulados, imágenes de vuelos reales, estimaciones precisas de posición empleando el sistema VICON y comparaciones con algoritmos del estado del arte. Los resultados obtenidos indican que los algoritmos de visión por computador propuestos tienen un desempeño que es comparable e incluso mejor al de algoritmos que se encuentran en el estado del arte. Los algoritmos propuestos permiten la obtención de estimaciones robustas en tiempo real, lo cual permite su uso en tareas de control visual. El desempeño de estos algoritmos es apropiado para las exigencias de las distintas aplicaciones examinadas: reabastecimiento autónomo en vuelo, aterrizaje y estimación del estado del UAV. Abstract The main objective of this thesis is to provide Unmanned Aerial Vehicles (UAVs) with an additional vision-based source of information extracted by cameras located either on-board or on the ground, in order to allow UAVs to develop visually guided tasks, such as landing or inspection, especially in situations where GPS information is not available, where GPS-based position estimation is not accurate enough for the task to develop, or where payload restrictions do not allow the incorporation of additional sensors on-board. This thesis covers three of the main computer vision areas: visual tracking and visual pose estimation, which are the bases the third one called visual servoing, which, in this work, focuses on using visual information to control UAVs. In this sense, the thesis focuses on presenting novel solutions for solving the tracking problem of objects when using cameras on-board UAVs, on estimating the pose of the UAVs based on the visual information collected by cameras located either on the ground or on-board, and also focuses on applying these proposed techniques for solving different problems, such as visual tracking for aerial refuelling or vision-based landing, among others. The different computer vision techniques presented in this thesis are proposed to solve some of the frequently problems found when addressing vision-based tasks in UAVs, such as obtaining robust vision-based estimations at real-time frame rates, and problems caused by vibrations, or 3D motion. All the proposed algorithms have been tested with real-image data in on-line and off-line tests. Different evaluation mechanisms have been used to analyze the performance of the proposed algorithms, such as simulated data, images from real-flight tests, publicly available datasets, manually generated ground truth data, accurate position estimations using a VICON system and a robotic cell, and comparison with state of the art algorithms. Results show that the proposed computer vision algorithms obtain performances that are comparable to, or even better than, state of the art algorithms, obtaining robust estimations at real-time frame rates. This proves that the proposed techniques are fast enough for vision-based control tasks. Therefore, the performance of the proposed vision algorithms has shown to be of a standard appropriate to the different explored applications: aerial refuelling and landing, and state estimation. It is noteworthy that they have low computational overheads for vision systems.

Co-simulation Methodologies for Hybrid and Electric Vehicle Dynamics

In recent decades, full electric and hybrid electric vehicles have emerged as an alternative to conventional cars due to a range of factors, including environmental and economic aspects. These vehicles are the result of considerable efforts to seek ways of reducing the use of fossil fuel for vehicle propulsion. Sophisticated technologies such as hybrid and electric powertrains require careful study and optimization. Mathematical models play a key role at this point. Currently, many advanced mathematical analysis tools, as well as computer applications have been built for vehicle simulation purposes. Given the great interest of hybrid and electric powertrains, along with the increasing importance of reliable computer-based models, the author decided to integrate both aspects in the research purpose of this work. Furthermore, this is one of the first final degree projects held at the ETSII (Higher Technical School of Industrial Engineers) that covers the study of hybrid and electric propulsion systems. The present project is based on MBS3D 2.0, a specialized software for the dynamic simulation of multibody systems developed at the UPM Institute of Automobile Research (INSIA). Automobiles are a clear example of complex multibody systems, which are present in nearly every field of engineering. The work presented here benefits from the availability of MBS3D software. This program has proven to be a very efficient tool, with a highly developed underlying mathematical formulation. On this basis, the focus of this project is the extension of MBS3D features in order to be able to perform dynamic simulations of hybrid and electric vehicle models. This requires the joint simulation of the mechanical model of the vehicle, together with the model of the hybrid or electric powertrain. These sub-models belong to completely different physical domains. In fact the powertrain consists of energy storage systems, electrical machines and power electronics, connected to purely mechanical components (wheels, suspension, transmission, clutch…). The challenge today is to create a global vehicle model that is valid for computer simulation. Therefore, the main goal of this project is to apply co-simulation methodologies to a comprehensive model of an electric vehicle, where sub-models from different areas of engineering are coupled. The created electric vehicle (EV) model consists of a separately excited DC electric motor, a Li-ion battery pack, a DC/DC chopper converter and a multibody vehicle model. Co-simulation techniques allow car designers to simulate complex vehicle architectures and behaviors, which are usually difficult to implement in a real environment due to safety and/or economic reasons. In addition, multi-domain computational models help to detect the effects of different driving patterns and parameters and improve the models in a fast and effective way. Automotive designers can greatly benefit from a multidisciplinary approach of new hybrid and electric vehicles. In this case, the global electric vehicle model includes an electrical subsystem and a mechanical subsystem. The electrical subsystem consists of three basic components: electric motor, battery pack and power converter. A modular representation is used for building the dynamic model of the vehicle drivetrain. This means that every component of the drivetrain (submodule) is modeled separately and has its own general dynamic model, with clearly defined inputs and outputs. Then, all the particular submodules are assembled according to the drivetrain configuration and, in this way, the power flow across the components is completely determined. Dynamic models of electrical components are often based on equivalent circuits, where Kirchhoff’s voltage and current laws are applied to draw the algebraic and differential equations. Here, Randles circuit is used for dynamic modeling of the battery and the electric motor is modeled through the analysis of the equivalent circuit of a separately excited DC motor, where the power converter is included. The mechanical subsystem is defined by MBS3D equations. These equations consider the position, velocity and acceleration of all the bodies comprising the vehicle multibody system. MBS3D 2.0 is entirely written in MATLAB and the structure of the program has been thoroughly studied and understood by the author. MBS3D software is adapted according to the requirements of the applied co-simulation method. Some of the core functions are modified, such as integrator and graphics, and several auxiliary functions are added in order to compute the mathematical model of the electrical components. By coupling and co-simulating both subsystems, it is possible to evaluate the dynamic interaction among all the components of the drivetrain. ‘Tight-coupling’ method is used to cosimulate the sub-models. This approach integrates all subsystems simultaneously and the results of the integration are exchanged by function-call. This means that the integration is done jointly for the mechanical and the electrical subsystem, under a single integrator and then, the speed of integration is determined by the slower subsystem. Simulations are then used to show the performance of the developed EV model. However, this project focuses more on the validation of the computational and mathematical tool for electric and hybrid vehicle simulation. For this purpose, a detailed study and comparison of different integrators within the MATLAB environment is done. Consequently, the main efforts are directed towards the implementation of co-simulation techniques in MBS3D software. In this regard, it is not intended to create an extremely precise EV model in terms of real vehicle performance, although an acceptable level of accuracy is achieved. The gap between the EV model and the real system is filled, in a way, by introducing the gas and brake pedals input, which reflects the actual driver behavior. This input is included directly in the differential equations of the model, and determines the amount of current provided to the electric motor. For a separately excited DC motor, the rotor current is proportional to the traction torque delivered to the car wheels. Therefore, as it occurs in the case of real vehicle models, the propulsion torque in the mathematical model is controlled through acceleration and brake pedal commands. The designed transmission system also includes a reduction gear that adapts the torque coming for the motor drive and transfers it. The main contribution of this project is, therefore, the implementation of a new calculation path for the wheel torques, based on performance characteristics and outputs of the electric powertrain model. Originally, the wheel traction and braking torques were input to MBS3D through a vector directly computed by the user in a MATLAB script. Now, they are calculated as a function of the motor current which, in turn, depends on the current provided by the battery pack across the DC/DC chopper converter. The motor and battery currents and voltages are the solutions of the electrical ODE (Ordinary Differential Equation) system coupled to the multibody system. Simultaneously, the outputs of MBS3D model are the position, velocity and acceleration of the vehicle at all times. The motor shaft speed is computed from the output vehicle speed considering the wheel radius, the gear reduction ratio and the transmission efficiency. This motor shaft speed, somehow available from MBS3D model, is then introduced in the differential equations corresponding to the electrical subsystem. In this way, MBS3D and the electrical powertrain model are interconnected and both subsystems exchange values resulting as expected with tight-coupling approach.When programming mathematical models of complex systems, code optimization is a key step in the process. A way to improve the overall performance of the integration, making use of C/C++ as an alternative programming language, is described and implemented. Although this entails a higher computational burden, it leads to important advantages regarding cosimulation speed and stability. In order to do this, it is necessary to integrate MATLAB with another integrated development environment (IDE), where C/C++ code can be generated and executed. In this project, C/C++ files are programmed in Microsoft Visual Studio and the interface between both IDEs is created by building C/C++ MEX file functions. These programs contain functions or subroutines that can be dynamically linked and executed from MATLAB. This process achieves reductions in simulation time up to two orders of magnitude. The tests performed with different integrators, also reveal the stiff character of the differential equations corresponding to the electrical subsystem, and allow the improvement of the cosimulation process. When varying the parameters of the integration and/or the initial conditions of the problem, the solutions of the system of equations show better dynamic response and stability, depending on the integrator used. Several integrators, with variable and non-variable step-size, and for stiff and non-stiff problems are applied to the coupled ODE system. Then, the results are analyzed, compared and discussed. From all the above, the project can be divided into four main parts: 1. Creation of the equation-based electric vehicle model; 2. Programming, simulation and adjustment of the electric vehicle model; 3. Application of co-simulation methodologies to MBS3D and the electric powertrain subsystem; and 4. Code optimization and study of different integrators. Additionally, in order to deeply understand the context of the project, the first chapters include an introduction to basic vehicle dynamics, current classification of hybrid and electric vehicles and an explanation of the involved technologies such as brake energy regeneration, electric and non-electric propulsion systems for EVs and HEVs (hybrid electric vehicles) and their control strategies. Later, the problem of dynamic modeling of hybrid and electric vehicles is discussed. The integrated development environment and the simulation tool are also briefly described. The core chapters include an explanation of the major co-simulation methodologies and how they have been programmed and applied to the electric powertrain model together with the multibody system dynamic model. Finally, the last chapters summarize the main results and conclusions of the project and propose further research topics. In conclusion, co-simulation methodologies are applicable within the integrated development environments MATLAB and Visual Studio, and the simulation tool MBS3D 2.0, where equation-based models of multidisciplinary subsystems, consisting of mechanical and electrical components, are coupled and integrated in a very efficient way.

Evaluación del tiempo de reacción en velocistas con y sin discapacidad auditiva: aplicaciones para la inclusión

Este trabajo de investigación trata de aportar luz al estudio del tiempo de reacción (TR) en velocistas con y sin discapacidad auditiva desde las Ciencias del Deporte. El planteamiento del presente estudio surgió al cuestionarnos la existencia de las diferencias en cuanto al TR visual y auditivo aplicado a velocistas con y sin discapacidad auditiva, pensando en el desarrollo futuro de competiciones inclusivas entre ambos colectivos. Por ello, este estudio trata de resolver las dificultades que los velocistas con discapacidad se encuentran habitualmente en las competiciones. A priori, los atletas con discapacidad auditiva compiten en inferioridad de condiciones como consecuencia de una salida que no parece la más adecuada para ellos (desde los tacos, han de mirar hacia la pistola del juez o el movimiento de un rival). El documento se divide en tres partes. En la primera parte se realiza la pertinente revisión del marco teórico y justificación del estudio. La segunda parte se centra en los objetivos de la investigación, el material y el método, donde se muestran los resultados, discusión y conclusiones del estudio realizado, así como las limitaciones del presente trabajo y sus futuras líneas de investigación. La tercera parte corresponde a la bibliografía y la cuarta parte a los anexos. En la primera parte, presentamos el marco teórico compuesto por cinco capítulos organizan la fundamentación que hemos realizado como revisión sobre los aspectos más destacados del TR, determinado por las características de la tarea y otros factores que influyen en el TR como objeto de nuestro estudio. Después exponemos los principales aspectos estructurales y funcionales del sistema nervioso (SN) relacionados con el TR visual y auditivo. Tras ello se expone la realidad del deporte para personas con discapacidad auditiva, indagando en sus peculiaridades y criterios de elegibilidad que tiene ese colectivo dentro del ámbito deportivo. A continuación abordamos el estudio de la salida de velocidad en el atletismo, como aspecto clave que va a guiar nuestra investigación, especialmente los parámetros determinantes en la colocación de los tacos de salida para atletas con y sin discapacidad auditiva, la posición de salida y la propia colocación de los estímulos en dicha situación. Es la segunda parte se desarrolla el trabajo de investigación que tiene como objetivos estudiar los valores de TR visual simple manual, TR en salida de tacos y los tiempos de desplazamiento a los 10m y 20m de velocistas con y sin discapacidad auditiva, así como analizar las posibles diferencias en TR según posición y tipo de estímulo luminoso, respecto a ambos grupos de atletas. Como tercer objetivo de estudio se evalúa cualitativamente, por parte de los propios atletas, el dispositivo luminoso utilizado. La toma de datos de este estudio se llevó a cabo entre los meses de febrero y mayo del 2014, en el módulo de atletismo del Centro de Alto Rendimiento Joaquín Blume (Madrid), con dos grupos de estudio, uno de 9 velocistas con discapacidad auditiva (VDA), conformando éstos el 60% de toda la población en España, según el número de las licencias de la FEDS en la modalidad de atletismo (velocistas, pruebas de 100 y 200 m.l.), en el momento del estudio, y otro de 13 velocistas sin discapacidad (VsDA) que se presentaron de manera voluntaria con unos mismos criterios de inclusión para ambos grupos. Para la medición y el registro de los datos se utilizaron materiales como hoja de registro, Medidor de Tiempo de Reacción (MTR), tacos de salida, ReacTime®, dispositivo luminoso conectado a los tacos de salida, células fotoeléctricas, ordenador y software del ReacTime, y cámara de video. La metodología utilizada en este estudio fue de tipo correlacional, analizando los resultados del TR simple manual según vía sensitiva (visual y auditiva) entre los dos grupos de VDA y VsDA. También se estudiaron los TR desde la salida de tacos en función de la colocación del dispositivo luminoso (en el suelo y a 5 metros, vía visual) y pistola de salida atlética (vía auditiva) así como el tiempo de desplazamiento a los 10m (t10m) y 20m (t20m) de ambos grupos de velocistas. Finalmente, se desarrolló y llevó a cabo un cuestionario de evaluación por parte de los atletas VDA con el objetivo de conocer el grado de satisfacción después de haber realizado la serie de experimentos con el dispositivo luminoso y adaptado para sistemas de salida en la velocidad atlética. Con el objetivo de comprobar la viabilidad de la metodología descrita y probar en el contexto de análisis real el protocolo experimental, se realizó un estudio piloto con el fin de conocer las posibles diferencias del TR visual desde los tacos de salida en velocistas con discapacidad auditiva, usando para dicha salida un estímulo visual mediante un dispositivo luminoso coordinado con la señal sonora de salida (Soto-Rey, Pérez-Tejero, Rojo-González y Álvarez-Ortiz, 2015). En cuanto a los procedimientos estadísticos utilizados, con el fin de analizar la distribución de los datos y su normalidad, se aplicó la prueba de Kolmogorov-Smirnof, dicha prueba arrojó resultados de normalidad para todas las variables analizadas de las situaciones experimentales EA, EVsuelo y EV5m. Es por ello que en el presente trabajo de investigación se utilizó estadística paramétrica. Como medidas descriptivas, se calcularon el máximo, mínimo, media y la desviación estándar. En relación a las situaciones experimentales, para estudiar las posibles diferencias en las variables estudiadas dentro de cada grupo de velocistas (intragrupo) en la situación experimental 1 (MTR), se empleó una prueba T de Student para muestras independientes. En las situaciones experimentales 2, 3 y 4, para conocer las diferencias entre ambos grupos de velocistas en cada situación, se utilizó igualmente la prueba T para muestras independientes, mientras que un ANOVA simple (con post hoc Bonferroni) se utilizó para analizar las diferencias para cada grupo (VDA y VsDA) por situación experimental. Así mismo, se utilizó un ANOVA de medidas repetidas, donde el tipo de estímulo (situación experimental) fue la variable intra-grupo y el grupo de velocistas participantes (VDA y VsDA) la entre-grupo, realizándose esta prueba para evaluar en cada situación el TR, t1m0 y t20m y las interacciones entre las variables. Para el tratamiento estadístico fue utilizado el paquete estadístico SPSS 18.0 (Chicago, IL, EEUU). Los niveles de significación fueron establecidos para un ≤0.05, indicando el valor de p en cada caso. Uno de los aspectos más relevantes de este trabajo es la medición en diferentes situaciones, con instrumentación distinta y con situaciones experimentales distintas, del TR en velocistas con y sin discapacidad auditiva. Ello supuso el desarrollo de un diseño de investigación que respondió a las necesidades planteadas por los objetivos del estudio, así como el desarrollo de instrumentación específica (Rojo-Lacal, Soto-Rey, Pérez-Tejero y Rojo-González, 2014; Soto-Rey et al., 2015) y distintas situaciones experimentales que reprodujeran las condiciones de práctica y competición real de VsDA y VDA en las pruebas atléticas de velocidad, y más concretamente, en las salidas. El análisis estadístico mostró diferencias significativas entre los estímulos visuales y sonoros medidos con el MTR, siendo menor el TR ante el estímulo visual que ante el sonoro, tanto para los atletas con discapacidad auditiva como para los que no la presentaron (TR visual, 0.195 s ± 0.018 vs 0.197 s ± 0.022, p≤0.05; TR sonoro 0.230 s ± 0.016 vs 0.237 s ± 0.045, p≤0.05). Teniendo en cuenta los resultados según población objeto de estudio y situación experimental, se registraron diferencias significativas entre ambas poblaciones, VDA y VsDA, siendo más rápidos los VDA que VsDA en la situación experimental con el estímulo visual en el suelo (EVsuelo, 0.191 ±0.025 vs 0.210 ±0.025, p≤0.05, respectivamente) y los VsDA en la situación experimental con el estímulo auditivo (EA, 0.396 ±0.045 vs 0.174 ±0.021, p≤0.05), aunque sin diferencias entre ambos grupos en la situación experimental con el estímulo visual a 5m de los tacos de salida. Es de destacar que en el TR no hubo diferencias significativas entre EA para VsDA y EVsuelo para VDA. El ANOVA simple registró diferencias significativas en todas las situaciones experimentales dentro de cada grupo y para todas las variables, por lo que estadísticamente, las situaciones experimentales fueron diferentes entre sí. En relación al de ANOVA medidas repetidas, la prueba de esfericidad se mostró adecuada, existiendo diferencias significativas en las varianzas de los pares de medias: el valor de F indicó que existieron diferencias entre las diferentes situaciones experimentales en cuanto a TR, incluso cuando éstas se relacionaban con el factor discapacidad (factor interacción, p≤0,05). Por ello, queda patente que las situaciones son distintas entre sí, también teniendo en cuenta la discapacidad. El η2 (eta al cuadrado, tamaño del efecto, para la interacción) indica que el 91.7% de la variación se deben a las condiciones del estudio, y no al error (indicador de la generalización de los resultados del estudio). Por otro lado, la evaluación del dispositivo luminoso fue positiva en relación a la iluminación, comodidad de uso, ubicación, color, tamaño, adecuación del dispositivo y del equipamiento necesario para adaptar al sistema de salida. La totalidad de los atletas afirman rotundamente que el dispositivo luminoso favorecería la adaptación al sistema de salida atlética para permitir una competición inclusiva. Asimismo concluyen que el dispositivo luminoso favorecería el rendimiento o mejora de marca en la competición. La discusión de este estudio presenta justificación de las diferencias demostradas que el tipo de estímulo y su colocación son clave en el TR de esta prueba, por lo que podríamos argumentar la necesidad de contar con dispositivos luminosos para VDA a la hora de competir con VsDA en una misma prueba, inclusiva. El presente trabajo de investigación ha demostrado, aplicando el método científico, que el uso de estos dispositivos, en las condiciones técnicas y experimentales indicadas, permite el uso por parte del VDA, usando su mejor TR visual posible, que se muestra similar (ns) al TR auditivo de VsDA, lo que indica que, para competiciones inclusivas, la salida usando el semáforo (para VDA) y la salida habitual (estímulo sonoro) para VsDA, puede ser una solución equitativa en base a la evidencia demostrada en este estudio. De esta manera, y como referencia, indicar que la media de los TR de los velocistas en la final de los 100 m.l. en los Juegos Olímpicos de Londres 2012 fue de 0.162 ±0.015. De esta manera, creemos que estos parámetros sirven de referencia a técnicos deportivos, atletas y futuros trabajos de investigación. Las aplicaciones de este trabajo permitirán modificaciones y reflexiones en forma de apoyo al entrenamiento y la competición para el entrenador, o juez de salida en la competición que, creemos, es necesaria para proporcionar a este colectivo una atención adecuada en las salidas, especialmente en situaciones inclusivas de práctica. ABSTRACT This research aims to study of reaction time (RT) in sprinters with and without hearing impairment from the Sports Science perspective. The approach of this study came asking whether there were differences in the visual and auditory RT applied to sprinters with and without hearing impairment, thinking about the future development of inclusive competition between the two groups. Therefore, this study attempts to resolve the difficulties commonly founded by sprinters with hearing impairments during competitions. A priori, sprinters with hearing impairment would compete in a disadvantage situation as a result of the use of a staring signal not suitable for them (from the blocks, they have to look to the judge´s pistol or the movement of an opponent). The document is divided into three parts. In the first part of the review of relevant theoretical framework and justification of the study is presented. The second part focuses on the research objectives, material and method, where results, discussion and conclusions of the study, as well as the limitations of this study and future research are presented. The third part contains references and the fourth, annexes. In the first part, we present the theoretical framework consisting of five chapters, organizing the state of the art of RT, determined by the characteristics of the task and other factors that influence the RT as object of our study. Then we present the main structural and functional aspects of the nervous system associated with visual and auditory RT. After that, sport for people with hearing disabilities is presented, investigating its peculiarities and eligibility criteria is that group within the deaf sport. Finally, we discuss the theoretical foundation of the study of start speed in athletics as a key aspect that will guide our research, especially the determining parameters in placing the starting blocks for athletes with and without hearing impairment, the starting position and the actual placement of stimuli in such a situation. The second part of the research aims to study the values of simple manual visual RT, RT start from blocks and travel times up to 10m and 20m of sprinters with and without hearing impairment, and to analyze possible differences in RT as position and type of light stimulus with respect to both groups of athletes. The third objective of the study is to assess the pertinence of the lighting device developed and used in the study, in a qualitatively way by athletes themselves. Data collection for this study was carried out between February and May 2014, in the Athletics module at the High Performance Centre Joaquin Blume (Madrid) with the two study groups: 9 sprinters with hearing impairments(VDA, reaching 60% of the population in Spain, according to the number of licenses for athletics at FEDS: sprint, 100 and 200 m.l., at the time of the study), and another 13 sprinters without disability (VsDA) who voluntarily presented themselves, with same inclusion criteria for both groups. For measuring and data collection materials such as recording sheet, gauge reaction time (MTR), starting blocks, ReacTime®, luminous device connected to the starting blocks, photocells, computer and software ReacTime, and video camera were used. The methodology used in this study was correlational, analyzing the results of simple manual RT according sensory pathway (visual and auditory) between the two groups (VsDA and VDA). Also auditory and visual RT was studied depending the placement of the start light signal (on the ground and 5 meters, visual pathway) and athletic start gun signal (auditory pathway, conventional situation) and travel time up to 10m (t10m) and 20m (t20m) for both groups of sprinters. Finally, we developed and carried out an evaluation questionnaire for VDA athletes in order to determine the degree of satisfaction after completing the series of experiments with lighting device and adapted to start systems in athletic speed. In order to test the feasibility of the methodology described and tested in the context of real analysis of the experimental protocol, a pilot study in order to know the possible differences visual RT from the starting blocks in sprinters with hearing impairments was performed, to said output using a visual stimulus coordinated by a lighting device with sound output signal (Soto-Rey Perez-Tejero, Rojo-González y Álvarez-Ortiz, 2015). For the statistical procedures, in order to analyze the distribution of the data and their normality, Kolmogorov-Smirnov test was applied, this test yielded normal results for all variables analyzed during EA, EVsuelo and EV5m experimental situations. Parametric statistics were used in this research. As descriptive measures, the maximum, minimum, mean and standard deviation were calculated. In relation to experimental situations, to study possible differences in the variables studied in each group sprinters (intragroup) in the experimental situation 1 (MTR), a Student t test was used for independent samples. Under the experimental situations 2, 3 and 4, to know the differences between the two groups of sprinters in every situation, the T test for independent samples was used, while a simple ANOVA (with post hoc Bonferroni) was used to analyze differences for each group (VDA and VsDA) by experimental situation. Likewise, a repeated measures ANOVA, where the type of stimulus (experimental situation) was variable intra-group and participants sprinters group (VDA and VsDA) the variable between-group, was performed to assess each situation for RT, t10m and t20m, and also interactions between variables. For the statistical treatment SPSS 18.0 (Chicago, IL, USA) was used. Significance levels were set for  ≤0.05, indicating the value of p in each case. One of the most important aspects of this work is the measurement of RT in sprinters with and without hearing impairment in different situations, with different instrumentation and different experimental situations. This involved the development of a research design that responded to the needs raised by the study aims and the development of specific instrumentation (Rojo-Lacal, Soto-Rey Perez-Tejero and Rojo-Gonzalez, 2014; Soto-Rey et al., 2015) and different experimental situations to reproduce the conditions of practical and real competition VsDA and VDA in athletic sprints, and more specifically, at the start. Statistical analysis showed significant differences between the visual and sound stimuli measured by the MTR, with lower RT to the visual stimulus that for sound, both for athletes with hearing disabilities and for those without (visual RT, 0.195 s ± 0.018 s vs 0.197 ± 0.022, p≤0.05; sound RT 0.230 s ± 0.016 vs 0.237 s ± 0.045, p≤0.05). Considering the results according to study population and experimental situation, significant differences between the two populations, VDA and VsDA were found, being faster the VDA than VsDA in the experimental situation with the visual stimulus on the floor (EVsuelo, recorded 0.191 s ± 0.025 vs 0.210 s ± 0.025, p≤0.05, respectively) and VsDA in the experimental situation with the auditory stimulus (EA, 0.396 s ± 0.045 vs 0.174 s ± 0.021, p≤0.05), but no difference between groups in the experimental situation with the 5m visual stimulus to the starting blocks. It is noteworthy that no significant differences in EA and EVsuelo between VsDA to VDA, respectively, for RT. Simple ANOVA showed significant differences in all experimental situations within each group and for all variables, so statistically, the experimental situations were different. Regarding the repeated measures ANOVA, the sphericity test showed adequate, and there were significant differences in the variances of the pairs of means: the value of F indicated that there were differences between the different experimental situations regarding RT, even when they were related to the disability factor (factor interaction, p≤0.05). Therefore, it is clear that the situations were different from each other, also taking into account impairment. The η2 (eta squared, effect size, for interaction) indicates that 91.7% of the variation is due to the conditions of the study, not by error (as indicator of the generalization potential of the study results). On the other hand, evaluation of the light signal was positively related to lighting, ease of use, location, color, size, alignment device and equipment necessary to adapt the start system. All the athletes claim strongly in favor of the lighting device adaptation system to enable athletic competition inclusive. Also they concluded that light device would enhance performance or would decrease their RT during the competition. The discussion of this study justify the type of stimulus and the start light positioning as key to the RT performance, so that we could argue the need for lighting devices for VDA when competing against VsDA the same competition, inclusive. This research has demonstrated, applying the scientific method, that the use of these devices, techniques and given experimental conditions, allows the use of the VDA, using his best visual RT, shown similar (ns) auditory RT of VsDA, indicating that for inclusive competitions, the start signal using the light (for VDA) and the usual start (sound stimulus) to VsDA can be an equitable solution based on the evidence shown in this study. Thus, and as a reference, indicate that the average of the RT sprinters in the 100 m. final at the 2012 Summer Olympic Games was 0.162 s ± 0.015. Thus, we believe that these parameters become a reference to sports coaches, athletes and future research. Applications of this work will allow modifications and reflections in the form of support for training and competition for the coach, or judge, as we believe is necessary to provide adequate attention to VDA in speed starts, especially in inclusive practice situations.

N-methyl-d-aspartate receptor activation and visual activity induce elongation factor-2 phosphorylation in amphibian tecta: A role for N-methyl-d-aspartate receptors in controlling protein synthesis

N-methyl-d-aspartate receptor (NMDAR) activation has been implicated in forms of synaptic plasticity involving long-term changes in neuronal structure, function, or protein expression. Transcriptional alterations have been correlated with NMDAR-mediated synaptic plasticity, but the problem of rapidly targeting new proteins to particular synapses is unsolved. One potential solution is synapse-specific protein translation, which is suggested by dendritic localization of numerous transcripts and subsynaptic polyribosomes. We report here a mechanism by which NMDAR activation at synapses may control this protein synthetic machinery. In intact tadpole tecta, NMDAR activation leads to phosphorylation of a subset of proteins, one of which we now identify as the eukaryotic translation elongation factor 2 (eEF2). Phosphorylation of eEF2 halts protein synthesis and may prepare cells to translate a new set of mRNAs. We show that NMDAR activation-induced eEF2 phosphorylation is widespread in tadpole tecta. In contrast, in adult tecta, where synaptic plasticity is reduced, this phosphorylation is restricted to short dendritic regions that process binocular information. Biochemical and anatomical evidence shows that this NMDAR activation-induced eEF2 phosphorylation is localized to subsynaptic sites. Moreover, eEF2 phosphorylation is induced by visual stimulation, and NMDAR blockade before stimulation eliminates this effect. Thus, NMDAR activation, which is known to mediate synaptic changes in the developing frog, could produce local postsynaptic alterations in protein synthesis by inducing eEF2 phosphorylation.

The interphotoreceptor retinoid binding protein gene in therian mammals: Implications for higher level relationships and evidence for loss of function in the marsupial mole

The subclass Theria of Mammalia includes marsupials (infraclass Metatheria) and placentals (infraclass Eutheria). Within each group, interordinal relationships remain unclear. One limitation of many studies is incomplete ordinal representation. Here, we analyze DNA sequences for part of exon 1 of the interphotoreceptor retinoid binding protein gene, including 10 that are newly reported, for representatives of all therian orders. Among placentals, the most robust clades are Cetartiodactyla, Paenungulata, and an expanded African clade that includes paenungulates, tubulidentates, and macroscelideans. Anagalida, Archonta, Altungulata, Hyracoidea + Perissodactyla, Ungulata, and the “flying primate” hypothesis are rejected by statistical tests. Among marsupials, the most robust clade includes all orders except Didelphimorphia. The phylogenetic placement of the monito del monte and the marsupial mole remains unclear. However, the marsupial mole sequence contains three frameshift indels and numerous stop codons in all three reading frames. Given that the interphotoreceptor retinoid binding protein gene is a single-copy gene that functions in the visual cycle and that the marsupial mole is blind with degenerate eyes, this finding suggests that phenotypic degeneration of the eyes is accompanied by parallel changes at the molecular level as a result of relaxed selective constraints.

Requirement of the nicotinic acetylcholine receptor β2 subunit for the anatomical and functional development of the visual system

In the mammalian visual system the formation of eye-specific layers at the thalamic level depends on retinal waves of spontaneous activity, which rely on nicotinic acetylcholine receptor activation. We found that in mutant mice lacking the β2 subunit of the neuronal nicotinic receptor, but not in mice lacking the α4 subunit, retinofugal projections do not segregate into eye-specific areas, both in the dorso-lateral geniculate nucleus and in the superior colliculus. Moreover, β2−/− mice show an expansion of the binocular subfield of the primary visual cortex and a decrease in visual acuity at the cortical level but not in the retina. We conclude that the β2 subunit of the nicotinic acetylcholine receptor is necessary for the anatomical and functional development of the visual system.

Molecular Genetic Basis of Opposite Gene by Environment Interactions in Reading Disability and Attention Deficit/Hyperactivity Disorder

The goal of this study is to better understand the genetic basis of Reading Disability (RD) and Attention Deficit Hyperactivity Disorder (ADHD) by examining molecular G x E interactions with parental education for each disorder. Research indicates that despite sharing genetic risk factors, RD and ADHD are influenced by different types of G x E interactions with parental education - a diathesis stress interaction in the case of ADHD and a bioecological interaction in RD. In order to resolve this apparent paradox, we conducted a preliminary study using behavioral genetic methods to test for G x E interactions in RD and the inattentive subtype of ADHD (ADHD-I) in the same sample of monozygotic and dizygotic Colorado Learning Disabilities Research Center same-sex twin pairs (DeFries et al., 1997), and our findings were consistent with the literature. We posited a genetic hypothesis for this opposite pattern of interactions, which suggests that only genes specific to each disorder enter into these opposite interactions, not the shared genes underlying their comorbidity. This study sought to further investigate this paradox using molecular genetics methods. We examined multiple candidate genes identified for RD or related language phenotypes and those identified for ADHD for G x E interactions with parental education. The specific aims of this study were as follows: 1) partition known risk alleles for RD and/or related language phenotypes and ADHD-I into those which are pleiotropic and non-pleiotropic by testing each risk allele for association with both RD and ADHD-I, 2) explore the main effects of parental education on both RD and ADHD-I, 3) address G-E correlations, and 4) conduct exploratory G x E interaction analyses in order to test the genetic hypothesis. Analyses suggested a number of pleiotropic genes that influence both RD and ADHD; however, results did not remain after correcting for multiple comparisons. Although exploratory G x E interaction findings were not significant after multiple comparison correction, results suggested a G x E interaction in the bioecological direction with KIAA0319, parental education, and ADHD-I. Given the limited power in the current study, replication of these findings with larger samples is necessary.

Relationship Maintenance in Couples with a Partner Who Has Attention Deficit Hyperactivity Disorder

The body of research on the relationship functioning of adults with attention deficit hyperactivity disorder (ADHD) is relatively small; the aim of the present study is to advance our understanding of this topic. It has been estimated that three to ten percent of children and one to five percent of adults have impairing symptoms of ADHD, which is a total of 4 million children and 4-5 million adults in the U.S. (Wender, 2000). A recent prevalence study found that approximately 4.4% of adults in the U.S. meet the criteria for a diagnosis of ADHD (Kessler et al., 2006). Children with ADHD show innate temperamental characteristics, usually inattentiveness, distractibility, impulsivity, restlessness, demandingness, hyperreactivity, low tolerance for frustration, temperoutbursts, bossiness and stubbornness, and mood lability, along with an innate proclivity for academic underachievement. It has been estimated that one- to two-thirds of children with ADHD have symptoms that continue into adulthood, and for 40-50% of these adults, these symptoms are serious enough to cause impairment in functioning (Everett & Everett, 1999; Wender, 2000). Research suggests that the majority of cases are transmitted genetically, but some may be due to exposure to environmental toxins such as lead. Consumption of excess sugar or allergies to food may exacerbate or mimic ADHD symptoms in some children, but they are not a cause of ADHD (Wender, 2000). One hypothesized cause of the symptoms associated with ADHD is a deficit in the brain's executive functioning (Barkley & Gordon, 2002). Executive functioning can be conceptualized as the ability to inhibit, organize, and plan behaviors. Barkley and Gordon (2002) define it as the abilityto self-direct and regulate behaviors toward future goals, including social behaviors and goals. Other research suggests that executive functioning consists of inhibition, control of interference, verbal and nonverbal working memory, emotional regulation, attention, verbal fluency, visual scanning, and processing speed. Studies have shown impairments in these areas among adults with ADHD (Barkley & Gordon, 2002; Barkley, Murphy & Kwasnik, 1996; Goldstein, 2002).

Examining the relationship among genes, attention bias to emotion, and depression in youth

The investigation of biologically initiated pathways to psychological disorder is critical to advance our understanding of mental illness. Research has suggested that attention bias to emotion may be an intermediate trait for depression associated with biologically plausible candidate genes, such as the serotonin transporter (5-HTTLPR) and catechol-o-methyl-transferase (COMT) genes, yet there have been mixed findings in regards to the precise direction of effects. The experience of recent stressful life events (SLEs) may be an important, yet currently unstudied, moderator of the relationship between genes and attention bias as SLEs have been associated with both gene expression and attention to emotion. Additionally, although attention biases to emotion have been studied as a possible intermediate trait associated with depression, no study has examined whether attention biases within the context of measured genetic risk lead to increased risk for clinical depressive episodes over time. Therefore, this research investigated both whether SLEs moderate the link between genetic risk (5-HTTLPR and COMT) and attention bias to emotion and whether 5-HTTLPR and COMT moderated the relationship between attention biases to emotional faces and clinical depression onset prospectively across 18 months within a large community sample of youth (n= 467). Analyses revealed a differential effect of gene. Youth who were homozygous for the low expressing allele of 5-HTTLPR (S/S) and had experienced more recent SLEs within the last three months demonstrated preferential attention toward negative emotional faces (angry and sad). However, youth who were homozygous for the high expressing COMT genotype (Val/Val) and had experienced more recent SLEs showed attentional avoidance of positive facial expressions (happy). Additionally, youth who avoided negative emotion (i.e., anger) and were homozygous for the S allele of the 5-HTTLPR gene were at greater risk for prospective depressive episode onset. Increased risk for depression onset was specific to the 5-HTTLPR gene and was not found when examining moderation by COMT. These findings highlight the importance of examining risk for depression across multiple levels of analysis, such as combined genetic, environmental, and cognitive risk, and is the first study to demonstrate clear evidence of attention biases to emotion functioning as an intermediate trait predicting depression.

Inclusion of immersive virtual learning environments and visual control systems to support the learning of students with Asperger syndrome

This paper presents the use of immersive virtual reality systems in the educational intervention with Asperger students. The starting points of this study are features of these students' cognitive style that requires an explicit teaching style supported by visual aids and highly structured environments. The proposed immersive virtual reality system, not only to assess the student's behavior and progress, but also is able to adapt itself to the student's specific needs. Additionally, the immersive reality system is equipped with sensors that can determine certain behaviors of the students. This paper determines the possible inclusion of immersive virtual reality as a support tool and learning strategy in these particular students' intervention. With this objective two task protocols have been defined with which the behavior and interaction situations performed by participant students are recorded. The conclusions from this study talks in favor of the inclusion of these virtual immersive environments as a support tool in the educational intervention of Asperger syndrome students as their social competences and executive functions have improved.

Visual and optical performance and quality of life after implantation of posterior chamber phakic intraocular lens

Purpose To evaluate visual, optical, and quality of life (QoL) outcomes and intercorrelations after bilateral implantation of posterior chamber phakic intraocular lenses. Methods Twenty eyes with high to moderate myopia of 10 patients that underwent PRL implantation (Phakic Refractive Lens, Carl Zeiss Meditec AG) were examined. Refraction, visual acuity, photopic and low mesopic contrast sensitivity (CS) with and without glare, ocular aberrations, as well as QoL outcomes (National Eye Institute Refractive Error Quality of Life Instrument-42, NEI RQL-42) were evaluated at 12 months postoperatively. Results Significant improvement in uncorrected (UDVA) and best-corrected distance (CDVA) visual acuities were found postoperatively (p < 0.01), with significant reduction in spherical equivalent (p < 0.01). Low mesopic CS without glare was significantly better than measurements with glare for 1.5, 3, and 6 cycles/degree (p < 0.01). No significant correlations between higher order root mean square (RMS) with CDVA (r = −0.26, p = 0.27) and CS (r ≤ 0.45, p ≥ 0.05) were found. Postoperative binocular photopic CS for 12 cycles/degree and 18 cycles/degree correlated significantly with several RQL-42 scales. Glare index correlated significantly with CS measures and scotopic pupil size (r = −0.551, p = 0.04), but not with higher order RMS (r = −0.02, p = 0.94). Postoperative higher order RMS, postoperative primary coma and postoperative spherical aberration was significant higher for 5-mm pupil diameter (p < 0.01) compared with controls. Conclusions Correction of moderate to high myopia by means of PRL implantation had a positive impact on CS and QoL. The aberrometric increase induced by the surgery does not seem to limit CS and QoL. However, perception of glare is still a relevant disturbance in some cases possibly related to the limitation of the optical zone of the PRL.

Comparative analysis of the relationship between anterior and posterior corneal shape analyzed by Scheimpflug photography in normal and keratoconus eyes

Background To analyze and compare the relationship between anterior and posterior corneal shape evaluated by a tomographic system combining the Scheimpflug photography and Placido-disc in keratoconus and normal healthy eyes, as well as to evaluate its potential diagnostic value. Methods Comparative case series including a sample of 161 eyes of 161 subjects with ages ranging from 7 to 66 years and divided into two groups: normal group including 100 healthy eyes of 100 subjects, and keratoconus group including 61 keratoconus eyes of 61 patients. All eyes received a comprehensive ophthalmologic examination including an anterior segment analysis with the Sirius system (CSO). Antero-posterior ratios for corneal curvature (k ratio) and shape factor (p ratio) were calculated. Logistic regression analysis was used to evaluate if some antero–posterior ratios combined with other clinical parameters were predictors of the presence of keratoconus. Results No statistically significant differences between groups were found in the antero–posterior k ratios for 3-, 5- and 7-mm diameter corneal areas (p ≥ 0.09). The antero–posterior p ratio for 4.5- and 8-mm diameter corneal areas was significantly higher in the normal group than in the keratoconus group (p < 0.01). The k ratio for 3, 5, and 7 mm was significantly higher in the keratoconus grade IV subgroup than in the normal group (p < 0.01). Furthermore, significant differences were found in the p ratio between the normal group and the keratoconus grade II subgroup (p ≤ 0.01). Finally, the logistic regression analysis identified as significant independent predictors of the presence of keratoconus (p < 0.01) the 8-mm anterior shape factor, the anterior chamber depth, and the minimal corneal thickness. Conclusions The antero-posterior k and p ratios are parameters with poor prediction ability for keratoconus, in spite of the trend to the presence of more prolate posterior corneal surfaces compared to the anterior in keratoconus eyes.

The orchestration of modes and EFL audio-visual comprehension: A multimodal discourse analysis of vodcasts

This thesis explores the role of multimodality in language learners’ comprehension, and more specifically, the effects on students’ audio-visual comprehension when different orchestrations of modes appear in the visualization of vodcasts. Firstly, I describe the state of the art of its three main areas of concern, namely the evolution of meaning-making, Information and Communication Technology (ICT), and audio-visual comprehension. One of the most important contributions in the theoretical overview is the suggested integrative model of audio-visual comprehension, which attempts to explain how students process information received from different inputs. Secondly, I present a study based on the following research questions: ‘Which modes are orchestrated throughout the vodcasts?’, ‘Are there any multimodal ensembles that are more beneficial for students’ audio-visual comprehension?’, and ‘What are the students’ attitudes towards audio-visual (e.g., vodcasts) compared to traditional audio (e.g., audio tracks) comprehension activities?’. Along with these research questions, I have formulated two hypotheses: Audio-visual comprehension improves when there is a greater number of orchestrated modes, and students have a more positive attitude towards vodcasts than traditional audios when carrying out comprehension activities. The study includes a multimodal discourse analysis, audio-visual comprehension tests, and students’ questionnaires. The multimodal discourse analysis of two British Council’s language learning vodcasts, entitled English is GREAT and Camden Fashion, using ELAN as the multimodal annotation tool, shows that there are a variety of multimodal ensembles of two, three and four modes. The audio-visual comprehension tests were given to 40 Spanish students, learning English as a foreign language, after the visualization of vodcasts. These comprehension tests contain questions related to specific orchestrations of modes appearing in the vodcasts. The statistical analysis of the test results, using repeated-measures ANOVA, reveal that students obtain better audio-visual comprehension results when the multimodal ensembles are constituted by a greater number of orchestrated modes. Finally, the data compiled from the questionnaires, conclude that students have a more positive attitude towards vodcasts in comparison to traditional audio listenings. Results from the audio-visual comprehension tests and questionnaires prove the two hypotheses of this study.

Behavioral Differences in the Upper and Lower Visual Hemifields in Shape and Motion Perception.

Perceptual accuracy is known to be influenced by stimuli location within the visual field. In particular, it seems to be enhanced in the lower visual hemifield (VH) for motion and space processing, and in the upper VH for object and face processing. The origins of such asymmetries are attributed to attentional biases across the visual field, and in the functional organization of the visual system. In this article, we tested content-dependent perceptual asymmetries in different regions of the visual field. Twenty-five healthy volunteers participated in this study. They performed three visual tests involving perception of shapes, orientation and motion, in the four quadrants of the visual field. The results of the visual tests showed that perceptual accuracy was better in the lower than in the upper visual field for motion perception, and better in the upper than in the lower visual field for shape perception. Orientation perception did not show any vertical bias. No difference was found when comparing right and left VHs. The functional organization of the visual system seems to indicate that the dorsal and the ventral visual streams, responsible for motion and shape perception, respectively, show a bias for the lower and upper VHs, respectively. Such a bias depends on the content of the visual information.

Visual thalamocortical projections in the flying fox: Parallel pathways to striate and extrastriate areas

We studied thalamic projections to the visual cortex in flying foxes, animals that share neural features believed to resemble those present in the brains of early primates. Neurones labeled by injections of fluorescent tracers in striate and extrastriate cortices were charted relative to the architectural boundaries of thalamic nuclei. Three main findings are reported: First, there are parallel lateral geniculate nucleus (LGN) projections to striate and extrastriate cortices. Second, the pulvinar complex is expansive, and contains multiple subdivisions. Third, across the visual thalamus, the location of cells labeled after visual cortex injections changes systematically, with caudal visual areas receiving their strongest projections from the most lateral thalamic nuclei, and rostral areas receiving strong projections from medial nuclei. We identified three architectural layers in the LGN, and three subdivisions of the pulvinar complex. The outer LGN layer contained the largest cells, and had strong projections to the areas V1, V2 and V3. Neurones in the intermediate LGN layer were intermediate in size, and projected to V1 and, less densely, to V2. The layer nearest to the origin of the optic radiation contained the smallest cells, and projected not only to V1, V2 and V3, but also, weakly, to the occipitotemporal area (OT, which is similar to primate middle temporal area) and the occipitoparietal area (OP, a third tier area located near the dorsal midline). V1, V2 and V3 received strong projections from the lateral and intermediate subdivisions of the pulvinar complex, while OP and OT received their main thalamic input from the intermediate and medial subdivisions of the pulvinar complex. These results suggest parallels with the carnivore visual system, and indicate that the restriction of the projections of the large- and intermediatesized LGN layers to V1, observed in present-day primates, evolved from a more generalized mammalian condition. (C) 2004 IBRO. Published by Elsevier Ltd. All rights reserved.