Probabilistic Independence Networks for Hidden Markov Probability Models

Graphical techniques for modeling the dependencies of randomvariables have been explored in a variety of different areas includingstatistics, statistical physics, artificial intelligence, speech recognition, image processing, and genetics.Formalisms for manipulating these models have been developedrelatively independently in these research communities. In this paper weexplore hidden Markov models (HMMs) and related structures within the general framework of probabilistic independencenetworks (PINs). The paper contains a self-contained review of the basic principles of PINs.It is shown that the well-known forward-backward (F-B) and Viterbialgorithms for HMMs are special cases of more general inference algorithms forarbitrary PINs. Furthermore, the existence of inference and estimationalgorithms for more general graphical models provides a set of analysistools for HMM practitioners who wish to explore a richer class of HMMstructures.Examples of relatively complex models to handle sensorfusion and coarticulationin speech recognitionare introduced and treated within the graphical model framework toillustrate the advantages of the general approach.

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Probabilistic models to assist maintenance of multiple instruments

The paper discusses maintenance challenges of organisations with a huge number of devices and proposes the use of probabilistic models to assist monitoring and maintenance planning. The proposal assumes connectivity of instruments to report relevant features for monitoring. Also, the existence of enough historical registers with diagnosed breakdowns is required to make probabilistic models reliable and useful for predictive maintenance strategies based on them. Regular Markov models based on estimated failure and repair rates are proposed to calculate the availability of the instruments and Dynamic Bayesian Networks are proposed to model cause-effect relationships to trigger predictive maintenance services based on the influence between observed features and previously documented diagnostics

Una aproximación de la variable aleatoria a procesos de toma de decisión que implican condiciones de riesgo e incertidumbre

La variable aleatoria es una función matemática que permite asignar valores numéricos a cada uno de los posibles resultados obtenidos en un evento de naturaleza aleatoria. Si el número de estos resultados se puede contar, se tiene un conjunto discreto; por el contrario, cuando el número de resultados es infinito y no se puede contar, se tiene un conjunto continuo. El objetivo de la variable aleatoria es permitir adelantar estudios probabilísticos y estadísticos a partir del establecimiento de una asignación numérica a través de la cual se identifiquen cada uno de los resultados que pueden ser obtenidos en el desarrollo de un evento determinado. El valor esperado y la varianza son los parámetros por medio de los cuales es posible caracterizar el comportamiento de los datos reunidos en el desarrollo de una situación experimental; el valor esperado permite establecer el valor sobre el cual se centra la distribución de la probabilidad, mientras que la varianza proporciona información acerca de la manera como se distribuyen los datos obtenidos. Adicionalmente, las distribuciones de probabilidad son funciones numéricas asociadas a la variable aleatoria que describen la asignación de probabilidad para cada uno de los elementos del espacio muestral y se caracterizan por ser un conjunto de parámetros que establecen su comportamiento funcional, es decir, cada uno de los parámetros propios de la distribución suministra información del experimento aleatorio al que se asocia. El documento se cierra con una aproximación de la variable aleatoria a procesos de toma de decisión que implican condiciones de riesgo e incertidumbre.

Maternal Mortality in Colombia: Some Thoughs on the Situation and Public Policy During Last Decade

In this article we make a critical analysis about the situation of maternal mortality in Colombia, considering some of the most current rates of this problem and the public policy rules adopted in the last years to decrease its prevalence. We think that the rate of maternal mortality in Colombia is too hight because the State does not guarantee the right health care to Colombian women. In this way, the structure and resources distribution established by the policies on sexual and reproductive health have not reflected the population necessities, specially in the case of young mothers left aside by the social security system.

Evaluation of effectiveness of the project ‘Caring caregivers of persons in disability situation’. Bogotá - second semester of 2007

The present paper presents the results of a transversal descriptive study which intended to estimate the contribution of the project “Caring for those who take care of people with disabilities” in the areas of: strength of personal and group competences, self care, life project, dexterity in the care process of people with disabilities, and communitarian auto management; that was implemented in 20 urban areas with caregivers of the city of Bogota in the year 2007. The study allowed the nresearches to acknowledge the little change perception that caregivers had in terms of self care, however, the caregivers perceived change in the four areas, although this were not statistically significant in comparison with the general population. There were only significant changes in the communitarian auto management area in 30% of the population. As a result, it is proposed that more extensive, continuous, and sustainable processes are implemented and that this process arises from contention spaces which can be created with the caregivers, from which they can be motivated to participate in other ´processes of collective and individual changes. Also there’s a need to rely on facilitators (professionals and change agents) who have stronger competences on the how to be and the how to interact competences, because there’s a need to manage the psychosocial components in this group of people. Also, we must make organizational processes and the social networks stronger, this is: collective actions are required, because disability is a social fact, and so, the individual issues are just a moment in the process of inclusion of the person with disability, his family and caregiver.

The impact of a permanent Income shock on the situation of women in the household: the case of a pension reform in Argentina

Transfers to women may affect their bargaining power within the household and consequently their well-being. We analyze the effects of the 2004/2005 pension reform in Argentina, that resulted in an unexpected and substantial increase in permanent income for around 1.8 million women, on outcomes arguably related to women’s bargaining power within the household. We estimate the effects of the reform in the probability of divorce/separation, the distribution of household chores, and the probability of women being the head of the household, using a Difference-in-Differences approach. Our results show that despite the low divorce probability among seniors, transfers to senior women have substantial effects on their situation in the household. More specifically, we find that the reform had statistically significant effects on the probability of divorce/separation increasing it by 1.8 − 2.7 percentage points implying an increase of around 18 − 19% on the divorce/separation rate of 60 − 65 year old women. Moreover, the probability of being the head of the household also increased by 2.8−3.3 percentage points representing an increase of 7−19% in the probability amongst women of 60 − 65 years of age. In the case of married women, the probability of being the head of the household increased by 1.3 − 1.5 percentage points, which represents an increase of 20 − 22%. Results show that the distribution of household chores within the couples was also affected by the reform. More precisely, the probability that the wife is the only person in charge of the housework decreased by 5 percentage points, an 11% decrease. The participation of husbands in housework, however, did not change significantly.

Orientación profesional y situación socio-económica en Argentina. 'Career guidance and socio-economic situation in Argentina'.

Resumen tomado de la publicación. Con el apoyo económico del departamento MIDE de la UNED

Multivariate Statistical Process Control and Case-Based Reasoning for situation assessment of Sequencing Batch Reactors

ABSRACT This thesis focuses on the monitoring, fault detection and diagnosis of Wastewater Treatment Plants (WWTP), which are important fields of research for a wide range of engineering disciplines. The main objective is to evaluate and apply a novel artificial intelligent methodology based on situation assessment for monitoring and diagnosis of Sequencing Batch Reactor (SBR) operation. To this end, Multivariate Statistical Process Control (MSPC) in combination with Case-Based Reasoning (CBR) methodology was developed, which was evaluated on three different SBR (pilot and lab-scales) plants and validated on BSM1 plant layout.