Detection and Tracking of Traffic Signs Using a Recursive Bayesian Decision Framework

In this paper we propose a new method for the automatic detection and tracking of road traffic signs using an on-board single camera. This method aims to increase the reliability of the detections such that it can boost the performance of any traffic sign recognition scheme. The proposed approach exploits a combination of different features, such as color, appearance, and tracking information. This information is introduced into a recursive Bayesian decision framework, in which prior probabilities are dynamically adapted to tracking results. This decision scheme obtains a number of candidate regions in the image, according to their HS (Hue-Saturation). Finally, a Kalman filter with an adaptive noise tuning provides the required time and spatial coherence to the estimates. Results have shown that the proposed method achieves high detection rates in challenging scenarios, including illumination changes, rapid motion and significant perspective distortion

Hydration of C3S, C2S and their Blends. Micro- and Nanoscale Characterization

This study forms part of wider research conducted under a EU 7 th Framework Programme (COmputationally Driven design of Innovative CEment-based materials or CODICE). The ultimate aim is the multi-scale modelling of the variations in mechanical performance in degraded and non-degraded cementitious matrices. The model is being experimentally validated by hydrating the main tri-calcium silicate (T1-C3S) and bi-calcium silicate (β-C2S), phases present in Portland cement and their blends. The present paper discusses micro- and nanoscale studies of the cementitious skeletons forming during the hydration of C3S, C2S and 70 % / 30 % blends of both C3S/C2S and C2S/C3S with a water/cement ratio of 0.4. The hydrated pastes were characterized at different curing ages with 29 Si NMR, SEM/TEM/EDS, BET, and nanoindentation. The findings served as a basis for the micro- and nanoscale characterization of the hydration products formed, especially C-S-H gels. Differences were identified in composition, structure and mechanical behaviour (nanoindentation), depending on whether the gels formed in C3S or C2S pastes. The C3S gels had more compact morphologies, smaller BET-N2 specific surface area and lesser porosity than the gels from C2S-rich pastes. The results of nanoindentation tests appear to indicate that the various C-S-H phases formed in hydrated C3S and C2S have the same mechanical properties as those formed in Portland cement paste. Compared to the C3S sample, the hydrated C2S specimen was dominated by the loose-packed (LP) and the low-density (LD) C-S-H phases, and had a much lower content of the high density (HD) C-S-H phase

Dynamic analysis of road vehicle-bridge systems under turbulent wind by means of Finite Element Models

When an automobile passes over a bridge dynamic effects are produced in vehicle and structure. In addition, the bridge itself moves when exposed to the wind inducing dynamic effects on the vehicle that have to be considered. The main objective of this work is to understand the influence of the different parameters concerning the vehicle, the bridge, the road roughness or the wind in the comfort and safety of the vehicles when crossing bridges. Non linear finite element models are used for structures and multibody dynamic models are employed for vehicles. The interaction between the vehicle and the bridge is considered by contact methods. Road roughness is described by the power spectral density (PSD) proposed by the ISO 8608. To consider that the profiles under right and left wheels are different but not independent, the hypotheses of homogeneity and isotropy are assumed. To generate the wind velocity history along the road the Sandia method is employed. The global problem is solved by means of the finite element method. First the methodology for modelling the interaction is verified in a benchmark. Following, the case of a vehicle running along a rigid road and subjected to the action of the turbulent wind is analyzed and the road roughness is incorporated in a following step. Finally the flexibility of the bridge is added to the model by making the vehicle run over the structure. The application of this methodology will allow to understand the influence of the different parameters in the comfort and safety of road vehicles crossing wind exposed bridges. Those results will help to recommend measures to make the traffic over bridges more reliable without affecting the structural integrity of the viaduct

The human side of social technology for climate change mitigation and human development: the case of "efficient stoves" in Brazil

Carbon management has gradually gained attention within the overall environmental management and corporate social responsibility agendas. The clean development mechanism, from Kyoto Protocol, was envisioned as connecting carbon market and sustainable development objectives in developing countries. Previous research has shown that this potential is rarely being achieved. The paper explores how the incorporation of the human side into carbon management reinforces its contribution to generate human development in local communities and to improve the company's image. A case study of a Brazilian company is presented, with the results of the application of an analytical model that incorporates the human side and human development. The selected project is an "efficient stoves" programme. "Efficient stoves" are recognised in Brazil as social technologies. Results suggest that the fact that social technologies value the human side of the technology plays a key role when it comes to analysing the co-benefits of the project implementation.

Differences between innovative and non-innovative microenterprises: internal factors

This exploratory study presents a comparison between two samples of microenterprises. One sample is formed by companies involved in product innovation during the current economic crisis and the other is formed by companies not involved in product innovation during the same period. The comparison analyzes which internal factors, supported by the literature as the influential factors of small business innovation, are significant when explaining the main differences between innovative microenterprise and non-innovative ones. The results suggest that the factors related to the organization and activity of the company are the factors which explain the differences between these two types of firms, rather than those factors related to micro-entrepreneurs own profile.

Estudio de la utilización de las cenizas de cenicero de centrales termoeléctricas de carbón como adición del cemento portland : análisis comparativo con las cenizas volantes

El empleo de nuevas adiciones en el cemento se plantea como una vía para que éste sea un material más sostenible. En este contexto, las cenizas de fondo o cenicero de las centrales termoeléctricas de carbón actualmente se están llevando a vertederos creando un problema medioambiental o se están empleando con usos minoritarios. Sin embargo, la presente Tesis doctoral demuestra cómo este material puede ser empleado como un componente principal de los cementos portland mezclado en una proporción optimizada con las cenizas volantes o solo. Por tanto, este estudio se puede considerar como un trabajo prenormativo que cubre las demandas de la sociedad tanto económicas como ambientales. Se han estudiado las propiedades químicas, físicas y mecánicas de las cenizas de fondo o cenicero de las centrales termoeléctricas de carbón como una adición potencial de los cementos portland (con adiciones) en comparación con los cementos portland con cenizas volantes. En consecuencia, el objeto de la presente Tesis Doctoral es el análisis de las prestaciones de morteros elaborados con clínkeres de cemento portland y cenizas de fondo o cenicero con cenizas volantes de las centrales termoeléctricas de carbón en unos porcentajes similares a los correspondientes a los CEM II/A-V, CEM II/B-V y CEM IV/A (V) de la UNE-EN 197-1:2011. La caracterización de las cenizas de fondo o cenicero y de las cenizas volantes de las centrales termoeléctricas de carbón se ha realizado mediante las técnicas analíticas de FRX, ICP, análisis químicos, DRX, densidad, granulometría láser, superficie específica Blaine, ATD, TG, puzolanicidad, MEB y EDX; mientras que la caracterización de las mezclas se ha realizado mediante análisis químico (análisis químico, FRX e ICP y), DRX, MIP, granulometría láser, puzolanicidad, MEB y EDX, agua de consistencia normal, inicio y final de fraguado, estabilidad de volumen, colorimetría, calor de hidratación, DTA y TG, asícomo ensayos de resistencia; resistencia a flexión y compresión y ensayos de durabilidad (carbonatación natural, resistencia al hielo-deshielo, resistencia a la acción de los sulfatos y resistencia a la reacción árido-álcali). Finalmente, se han comprobado las propiedades de las cenizas de cenicero y cenizas volantes en hormigones, realizando ensayos de resistencia a compresión y resistividad. Los resultados obtenidos indican que la sustitución parcial o completa de las cenizas volantes por las de cenicero no tiene un efecto tecnológicamente importante en las propiedades ni mecánicas ni durables, incluso los mejora en determinados aspectos. Por tanto, se recomienda la normalización de las cenizas de fondo o cenicero de las centrales termoeléctricas de carbón como componente principal de los cementos portland comunes de la UNE-EN 197-1:2011. Actualmente, la mayoría de las cenizas de fondo se consideran como un residuo que no tiene un posible uso. Sólo se han encontrado algunos datos relativos a la aplicación de este material combinado con cenizas volantes como un componente principal de los cementos portland. Por tanto, la realización de un estudio integrado considerando aspectos que van desde la caracterización de las cenizas hasta las mezclas de conglomerante y la hidratación de éstas, desarrollo de resistencias y demás prestaciones y durabilidad (carbonatación natural, resistencia al hielo-deshielo, resistencia a la acción de los sulfatos y resistencia a la reacción árido-álcali), así como los ensayos de resistencia en hormigón es totalmente novedoso. Como resultado final se propone incorporar estas nuevas adiciones en aplicaciones particulares y en la norma más apropiada para ello. Los resultados han demostrado que la sustitución completa o parcial de las cenizas volantes por cenizas de fondo o cenicero de las centrales termoeléctricas de carbón en cementos de los tipos CEM II/A-V, CEM II/B-V y CEM IV/A no afecta de forma significativa en la resistencia a compresión a 1, 3 ,7, 28 ni 90 días ni a la durabilidad. En parte esto se debe a que la composición química de ambas cenizas es muy similar en la mayoría de los elementos tales como Fe2O3, TiO2, P2O5, SrO2, aunque en algún caso, como en el ZnO, se encuentra alguna ligera diferencia. Por tanto, se pueden esperar unas ligeras diferencias en el mecanismo de hidratación de las diferentes mezclas estudiadas. La presencia de los óxidos mencionados afectará a la composición de la fase acuosa y, en consecuencia, podrían ser elementos lixiviables. Asimismo, influyen de distinta manera en propiedades tales como los tiempos de fraguado y en la durabilidad. New additions to the cement are needed to achieve a more sustainable construction material. Within this context, bottom ashes produced in coal-fired power stations are currently wastes which are dumped provoking an environmental problem. Only in few cases are being used in minor applications. However, the present PhD Thesis shows how this material can be used as a main constituent of Portland cement when it is mixed in an optimised proportion with fly ashes or added to the Portland clinker alone. Therefore, this study may also be considered as a pre-standardization work which covers both the environmental and economic demands of society. Chemical, physical and mechanical characteristics of pulverized coal combustion bottom ash used as a potential constituent of Portland cements (with additions) are studied in comparison to Portland cements with fly ashes. Therefore, the aim of this experimental PhD Thesis is the analysis of the performance of mortars made of clinker of Portland cement and bottom and/or fly ashes in similar proportions to those of CEM II/A-V, CEM II/B-V and CEM IV/A (V) according to EN 197-1:2011. Characterisation of bottom and fly ashes has been done by XRF, ICP, chemical analyses, XRD, density, laser granulometry, Blaine, ATD, TG, pozzolanity, SEM and EDS. Characterisation of bottom and fly ashes mixes has been perform by chemical analyses, XRF, ICP, XRD, MIP, laser granulometry, pozzolanity, SEM, EDS, setting time, soundness, colorimetric test, heat of hydration, ATD, TG, compressive strength, and durability tests (natural carbonation, frost-thaw resistance, sulphate resistance and silica-alkali resistance). In conclusion, it can be established that partial or complete replacement of fly ash by bottom ash has neither significant effect on mechanical nor durability properties. Even, they are improved in several aspects. Therefore, it is recommended to standardise the bottom ash as a main cement constituent of the European standard EN 197-1:2011. Nowadays, most bottom ashes are considered as waste without any potential re-use. Only a few papers deal with the study of this material and its use mixed with fly ashes to be employed as a main constituent of Portland cement. Therefore, the execution of an integrated study considering together aspects from the initial characterization of the ashes and blinder mixes to the hydration steps, strength achievement, leading behaviour and durability (natural carbonation, sulphate attack, aggregate-alcali reaction and freeze-thaw resistance) is totally new. As result, it is proposed to include this new addition for particular applications in the appropriate cement standard. The results have shown that with regard to the compressive strength at 1, 3, 7, 28 and 90 days, partial or complete replacement of fly ash by bottom ash in CEM II/A-V, CEM II/B-V and CEM IV/A has no more significant effects. Partially, this can be explained because the bottom ash contains a similar amount of most of the elements, Fe2O3, TiO2, P2O5, SrO2, and so on, instead of ZnO. Therefore, slight hydration differences are expected. The presence of such oxides might have a significant effect on pore solution concentration and so will be leachable constituents. They will also play an important role in the cement properties such as setting times and durability.

Efficient hybrid monocular-stereo approach to on-board, video-based traffic sign detection and tracking

In this paper we propose an innovative method for the automatic detection and tracking of road traffic signs using an onboard stereo camera. It involves a combination of monocular and stereo analysis strategies to increase the reliability of the detections such that it can boost the performance of any traffic sign recognition scheme. Firstly, an adaptive color and appearance based detection is applied at single camera level to generate a set of traffic sign hypotheses. In turn, stereo information allows for sparse 3D reconstruction of potential traffic signs through a SURF-based matching strategy. Namely, the plane that best fits the cloud of 3D points traced back from feature matches is estimated using a RANSAC based approach to improve robustness to outliers. Temporal consistency of the 3D information is ensured through a Kalman-based tracking stage. This also allows for the generation of a predicted 3D traffic sign model, which is in turn used to enhance the previously mentioned color-based detector through a feedback loop, thus improving detection accuracy. The proposed solution has been tested with real sequences under several illumination conditions and in both urban areas and highways, achieving very high detection rates in challenging environments, including rapid motion and significant perspective distortion

Sistema supervisor central de eventos en entorno ferroviario

En el campo del ferrocarril es necesaria tecnología avanzada que ayude en la seguridad de los trenes y de los pasajeros, en caso de viajes comerciales. Para ello en los pasos a nivel es necesario tener mecanismos que detallen cualquier incidencia, o cualquier anomalía respecto a las vías, bajadas de vayas, etc. Aquí toma vida esta aplicación llamada SCSE (Sistema Supervisor Central de Eventos en Entorno Ferroviario), que ofrece una cantidad importante de información. Esta aplicación recoge en el momento toda la información de los distintos pasos a nivel; y nos dice dónde está fallando el paso, si hay un error en la subida/bajada de vayas, si el semáforo no ha cambiado de color a tiempo... y lo hace visual en la pantalla. Con esta aplicación se pretende ofrecer una mayor eficacia en seguridad, una mayor rapidez en reparación de incidencias y una organización dentro de la empresa para poder ver sobre que se está trabajando.---ABSTRACT---In the field of rail technology is needed to assist in the safety of trains and passengers in case of commercial travel. To do this on level crossings is necessary to have mechanisms that detail any incident or any matter relating to rails etc. Here comes alive this application called SCSE (Central Events Supervisor System Environment Railway), which provides a significant amount of information. This application collects in the moment all the information of the different level crossings; and it tells us where it is failing level crossing, if there is an error in the up / down, if the light has not changed color in time ... and makes visual on the screen. With this application is intended to provide more effective security, a faster repair incidents and organization inside the company to see on which they are working.

The genetics of pain and pain inhibition.

The present review summarizes the current state of knowledge about the genetics of pain-related phenomena and illustrates the scope and power of genetic approaches to the study of pain. We focus on work performed in our laboratories in Jastrzebiec, Poland; Portland, OR; and Los Angeles, which we feel demonstrates the continuing usefulness of classical genetic approaches, especially when used in combination with newly available molecular genetic techniques.

Influence of using slag cement on the microstructure and durability related properties of cement grouts for micropiles

Today, the use of micropiles for different applications has become very common. In Spain, the cement grouts for micropiles are prepared using ordinary Portland cement and w:c ratio 0.5, although the micropiles standards do not restrict the cement type to use, provided that it reaches a certain compressive strength. In this study, the influence of using slag cement on the microstructure and durability related properties of cement grouts for micropiles have been studied until 90 hardening days, compared to an ordinary Portland cement. Finally, slag cement grouts showed good service properties, better than ordinary Portland cement ones.

Impedance spectroscopy study of the effect of environmental conditions in the microstructure development of OPC and slag cement mortars

In this work, the microstructure of mortars made with an ordinary Portland cement and slag cement has been studied. These mortars were exposed to four different constant temperature and relative humidity environments during a 180-day period. The microstructure has been studied using impedance spectroscopy, and mercury intrusion porosimetry as a contrast technique. The impedance spectroscopy parameters make it possible to analyze the evolution of the solid fraction formation for the studied mortars and their results are confirmed with those obtained using mercury intrusion porosimetry. The development of the pore network of mortars is affected by the environment. However, slag cement mortars are more influenced by temperature while the relative humidity has a greater influence on the OPC mortars. The results show that slag cement mortars hardened under non-optimal environments have a more refined microstructure than OPC mortars for the studied environmental conditions.

New England Railroads, 1838 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Sketch of the states of Massachusetts, Connecticut, and Rhode Island, and parts of New Hampshire & New York exhibiting the several rail road routes completed, constructing, chartered & contemplated : published by order of the Legislature of Massachusetts, drawn by A. Kennedy ; engraved by Morse & Tuttle. It was published in 1838. Scale [ca. 1:700,000]. The image inside the map neatline is georeferenced to the surface of the earth and fit to the USA Contiguous Albers Equal Area Conic projection (Meters). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, or other information associated with the principal map. This map shows features such as roads, completed, chartered, and contemplated railroads, drainage, state and county boundaries, and more. This layer is part of a selection of digitally scanned and georeferenced historic maps of New England from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates, scales, and purposes.

Boston, Massachusetts -- Railroads, 1850 (Raster Image)

This layer is a georeferenced raster image of the historic paper map entitled: Rail-road crossings and termini in the vicinity of Boston, E.S. Chesbrough, commissioner ; reduced from a drawing by Chas. Perkins. It was published in 1850. Scale [1:7,200]. Covers Boston proper (Shawmut Peninsula and Boston Neck) and portions of Cambridge and Somerville, Massachusetts. The image inside the map neatline is georeferenced to the surface of the earth and fit to the Massachusetts State Plane Coordinate System, Mainland Zone (in Feet) (Fipszone 2001). All map collar and inset information is also available as part of the raster image, including any inset maps, profiles, statistical tables, directories, text, illustrations, or other information associated with the principal map. This map shows features such as railroads, railroad depots, railroad crossings, road, drainage, some public buildings, bridges, wharves, and more. Relief is shown by hachures. The accompanying profiles of railroad crossings are published separately under the title: Sections of railroad crossings in the vicinity of Boston. This layer is part of a selection of digitally scanned and georeferenced historic maps of Massachusetts from the Harvard Map Collection. These maps typically portray both natural and manmade features. The selection represents a range of regions, originators, ground condition dates (1755-1922), scales, and purposes. The digitized selection includes maps of: the state, Massachusetts counties, town surveys, coastal features, real property, parks, cemeteries, railroads, roads, public works projects, etc.

The EU and ASEAN – In Search of a New Regional Paradigm? EU Centre Singapore Working Paper No. 15, August 2013

The European Union (EU) has been hailed as the most successful model of regional integration thus far, while the Association of Southeast Asian Nations (ASEAN), despite its fair share of critics and doomsayers, has been seen as a relatively successful regional organisation in the developing world. However, both seemed to have arrived at a critical juncture in their respective regional projects. Challenged by recent events, internal and external, and faced with increasing uncertainties and complexities, the EU and ASEAN are forced to re-examine the journey they have taken so far and ponder the road ahead. This paper seeks first to provide an overview of the two parallel processes of regionalism in Europe and Southeast Asia by focusing on the developments of the EU and ASEAN, and dissecting both the external forces and internal dynamics that shape the respective regional processes. It then sketches out some of the global trends likely to impact regional developments in Europe and Asia, and questions if the EU and ASEAN would need a new regional approach or paradigm if they are to maintain their salience and relevance as regional actors.

State-of-the-practice retro-reflective measurement devices for pavement markings. Final report.

Federal Highway Administration, Washington, D.C.