Use of decision trees in colour feature selection: application to object recognition in outdoor scenes

A new method for the automated selection of colour features is described. The algorithm consists of two stages of processing. In the first, a complete set of colour features is calculated for every object of interest in an image. In the second stage, each object is mapped into several n-dimensional feature spaces in order to select the feature set with the smallest variables able to discriminate the remaining objects. The evaluation of the discrimination power for each concrete subset of features is performed by means of decision trees composed of linear discrimination functions. This method can provide valuable help in outdoor scene analysis where no colour space has been demonstrated as being the most suitable. Experiment results recognizing objects in outdoor scenes are reported

Recovering Euclidean deformable models from stereo-motion

In this paper we present a novel structure from motion (SfM) approach able to infer 3D deformable models from uncalibrated stereo images. Using a stereo setup dramatically improves the 3D model estimation when the observed 3D shape is mostly deforming without undergoing strong rigid motion. Our approach first calibrates the stereo system automatically and then computes a single metric rigid structure for each frame. Afterwards, these 3D shapes are aligned to a reference view using a RANSAC method in order to compute the mean shape of the object and to select the subset of points on the object which have remained rigid throughout the sequence without deforming. The selected rigid points are then used to compute frame-wise shape registration and to extract the motion parameters robustly from frame to frame. Finally, all this information is used in a global optimization stage with bundle adjustment which allows to refine the frame-wise initial solution and also to recover the non-rigid 3D model. We show results on synthetic and real data that prove the performance of the proposed method even when there is no rigid motion in the original sequence

Model-based objects recognition in industrial environments for autonomous vehicles control

Behavior-based navigation of autonomous vehicles requires the recognition of the navigable areas and the potential obstacles. In this paper we describe a model-based objects recognition system which is part of an image interpretation system intended to assist the navigation of autonomous vehicles that operate in industrial environments. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using a rule-based cooperative expert system

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Enhanced Model Selection for motion segmentation

In this paper a novel rank estimation technique for trajectories motion segmentation within the Local Subspace Affinity (LSA) framework is presented. This technique, called Enhanced Model Selection (EMS), is based on the relationship between the estimated rank of the trajectory matrix and the affinity matrix built by LSA. The results on synthetic and real data show that without any a priori knowledge, EMS automatically provides an accurate and robust rank estimation, improving the accuracy of the final motion segmentation

Estudi del model dinàmic d’un robot submarí d’intervenció (IAUV) composat per un vehicle i un braç manipulador

Fins a la data d’avui, el grup VICOROB de la Universitat de Girona ha desenvolupat diversos vehicles autònoms (GARBÍ, URIS i ICTINEU). El projecte que comença aquest any té com objectiu desenvolupar un nou vehicle submarí autònom amb capacitat d’intervenció (I-AUV) gràcies a un braç manipulador. Aquest projecte final de carrera té com objectiu desenvolupar en entorn MATLAB un simulador d’un I-AUV, format per un AUV i un braç manipulador de n graus de llibertat per tal d’avaluar les reaccions dels moviments del braç, amb càrrega i sense, sobre el robot, i viceversa

A Gain Scheduling Model Predictive Controller for Blood Glucose Control in Type 1 Diabetes

This paper presents a control strategy for blood glucose(BG) level regulation in type 1 diabetic patients. To design the controller, model-based predictive control scheme has been applied to a newly developed diabetic patient model. The controller is provided with a feedforward loop to improve meal compensation, a gain-scheduling scheme to account for different BG levels, and an asymmetric cost function to reduce hypoglycemic risk. A simulation environment that has been approved for testing of artificial pancreas control algorithms has been used to test the controller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model–patient mismatch and errors in meal estimation

Decentralized model reference control of flexible cable-stayed beam structures

A decentralized model reference controller is designed to reduce the magnitude of the transversal vibration of a flexible cable-stayed beam structure induced by a seismic excitation. The controller design is made based on the principle of sliding mode such that a priori knowledge

Model de competència i actuacions de l'alumnat

Una preocupació constant per als investigadors dels diferents camps relacionats amb l’educació obligatòria, així com també de les administracions educatives i d’altres organismes que hi incideixen, consisteix a seleccionar continguts i orientar els processos més útils per aconseguir que els nous ciutadans s’integrin en la societat avançada del segle XXI. Es vol que s’integrin amb unes eines culturals mínimes i que adquireixen la capacitat d’autoaprenentatge, considerada com a bàsica per entendre la complexitat i inserir-se en el món actual

Porter’s model and exports in Colombia: analysis of two profitable products

Tanto las industrias legales como ilegales tienen líderez y gerentes. Estas personas al mando deben hacer decisiones estrategicas con el fin de asegurar la rentabilidad de sus negocios. La manera en que ellos toman estas decisiones y las consecuencias de estas mismas son las preguntas que este documento pretende resolver. Haciendo una aplicación general del modelo de Michael Porter, este documento analiza y describe brevemente la configuración de ambos mercados (legal e illegal): es decir las maneras de hacer negocios, las tácticas utilizadas para negociar con los proveedores y compradores, las estrategias para resaltar los beneficios de sus productos frente a los sustitutos, y en general las acciones realizadas para competir, obtener un posicionamiento y porción en el mercado total. El objetivo de este documento no es exaltar las estrategias de los líderes en las industrias ilegales, sino resaltar aquello que los directivos en las industrias legales podrían hacer mejor para mejorar el nombre de los productos colombianos en el exterior.

??ngels dom??stics, ciutadanes republicanes, mestresses consumidores : evoluci?? de l'ideal de la feminitat als llibres escolars (1901-1978). '??ngeles dom??sticos, ciudadanas republicanas, amas consumidoras : evoluci??n del ideal de la feminidad en los libros escolares (1901-1978)'

Resumen tomado del autor. Esta comunicaci??n se enmarca dentro del proyecto de investigaci??n 'Educaci??n y socializaci??n en valores : aproximaci??n al an??lisis cualitativo de la evoluci??n de los valores presentes en las pr??cticas educativas y socializadoras vigentes dentro y fuera de la escuela desde la II Rep??blica espa??ola hasta la actualidad en la Comunitat Valenciana (1931-2004)', financiado por la Conselleria de Cultura, Educaci?? i Esport de la Generalitat Valenciana

Model d´organització de centres. 'Modelo de organización de centros'.

Resumen tomado del autor

Addressing endogeneity in the relationship between health and employment through a simultaneous equations model

Este documento analiza la relación de doble causalidad entre salud y empleo y su comportamiento dinámico usando datos de Estados Unidos tomados del PSID (Pane Study of Income Dynamics). Este estudio usa dos variables dependientes (Estado de salud auto-reportado y Empleo), las cuales son estimadas usando un modelo probit bivariado para abordar el problema de endegeneidad presente en dicha relación. Los resultados muestran evidencia significativa de la existencia de dicha endogeneidad y del impacto positivo que tiene sobre la probabilidad de ser empleado tener un buen estado de salud y vicesersa, sin embargo, el impacto de la situación de empleo sobre el estado de salud se encuentra que no es significativa.

Using the Browse Object tool in MS Word 2010

Use the Browse Object tool to quickly navigate through a selected type of object in your file – pages, tables, sections, images, footnotes or headings of your document. For best viewing Download the video.

Using the Browse Object tool in MS Word 2011

Use the Browse Object tool to quickly navigate through a selected type of object in your file – pages, tables, sections, images, footnotes or headings of your document. For best viewing Download the video.