Redes institucionais de apoio ao desenvolvimento territorial: estudo de caso a partir da análise da dinâmica territorial do desenvolvimento de um âmbito espacial periférico (Sarandi/RS/Brasil)

Different studies has aimed the understanding of the causes that lead some cities, regions or territories to develop themselves, whereas others remain stagnant or get back. One starts from the presupposed that the development results from the standard of social territorial organization, this one capable to provoke collective territorial innovations, as a result of the institucional density, that is, from the local capacity to constitute relations in chain. The present análisis is centered in the municipality of Sarandi/RS/ Brasil, that from the nineties has enterprised a trajectory of uncomum development. From a serious situation of social economical crisis in the previous decades, its social economical and institutional actors, in a way of chain, were capable to reason a collection of initiatives that resulted in the structure of a microcluster in the department of clothes industry, counting today around 50 companies and the institutions of support minimally necessaries.

Análisis de las trayectorias de dolor posoperatorio, primera hora vs. 24 horas. Estudio observacional en 234 pacientes

Introducción: El dolor posoperatorio no controlado es un predictor de dolor severo. La trayectoria de dolor durante la primera hora podría predecir el curso del dolor durante las primeras 24 horas. El control temprano del dolor posoperatorio facilita el manejo analgésico durante el primer día y mejora la experiencia del paciente, facilitando su recuperación y rehabilitación. Objetivo: Determinar la relación entre la trayectoria del dolor en la primera hora y durante las 24 horas post-operatorias. Material y métodos: Estudio analítico observacional prospectivo de 234 pacientes llevados a procedimientos quirúrgicos bajo anestesia general. Se registraron 8 intesidades de dolor durante las 24 horas. Se calcularon las pendientes y se estableció la relación entre ellas. Resultados: El 31,3% de pacientes tenían dolor no controlado al ingreso a recuperación. La intensidad del dolor al inicio se correlaciona de forma negativa con la trayectoria de la primera hora P1 rS= -0,657 (p=0.000). La intensidad de dolor inicial tiene una asociación negativa con P2 de rS= -0.141 (p=0.032). Al compararse las pendientes P1 y P2 y se encontró una correlación negativa muy baja rS= -0.126 (p=0.056). Conclusiones: Uno de cada tres pacientes presenta dolor severo durante el posoperatorio agudo. La trayectoria del dolor en la primera hora no permite predecir el comportamiento de la trayectoria durante el primer día posoperatorio. El comportamiento del dolor está relacionado con la intensidad al final de la anestesia. Cuando el dolor inicial es severo alcanzar la meta analgésica tarda más tiempo.

Alteración del centro de gravedad y riesgo de caída en pacientes con trastornos neurológicos. Bogotá. 2014

Introducción: el objetivo de la rehabilitación en los pacientes neurológicos es reducir su discapacidad, potencializar su funcionalidad y promover su independencia para así permitirle desempeñar un rol activo en la comunidad. Por esta razón, es de gran importancia prevenir la aparición de eventos adversos en esta población mediante la detección temprana de factores de riesgo que conllevan a pacientes con enfermedad cerebro vascular a presentar caídas y a su vez le permita a los profesionales de la salud generar estrategias para minimizar su incidencia, complicaciones y/o secuelas. Objetivo: determinar los factores relacionados con la alteración del centro de gravedad y riesgos de caída en paciente con trastornos neurológicos Metodología: se realizó un estudio cuantitativo descriptivo exploratorio retrospectivo donde se tuvieron en cuenta pacientes diagnóstico de enfermedades neurológicas que presentaron o no antecedentes de caídas junto con otros criterios de inclusión y exclusión, tomados de las bases de datos de la institución Mobility Group. Resultados: Se evaluaron en total 19 sujetos (52,6 % hombres) con edad media de 48,37 años. Se clasificaron en dos grupos (alto y bajo riesgo de caída ) de pacientes según la aplicación de la escala de riesgo de caída de J.H. Downton a los cuales se aplicó estadística descriptiva para describir su comportamiento en referencia a factores como diagnóstico clínico, presencia de dolor, fuerza y tono de miembros inferiores en los principales grupos musculares , clasificación de espasticidad y finalmente con la alteración de la trayectoria del centro de gravedad según la valoración realizada con el dispositivo THERA-TRAINER BALANCE.

Análisis del gen adra2a receptor alfa 2a adrenergico en pacientes con trastorno de hiperactividad y déficit de atención

El trastorno de hiperactividad y déficit de atención (THDA), es definido clínicamente como una alteración en el comportamiento, caracterizada por inatención, hiperactividad e impulsividad. Estos aspectos son clasificados en tres subtipos, que son: Inatento, hiperactivo impulsivo y mixto. Clínicamente se describe un espectro amplio que incluye desordenes académicos, trastornos de aprendizaje, déficit cognitivo, trastornos de conducta, personalidad antisocial, pobres relaciones interpersonales y aumento de la ansiedad, que pueden continuar hasta la adultez. A nivel global se ha estimado una prevalencia entre el 1% y el 22%, con amplias variaciones, dadas por la edad, procedencia y características sociales. En Colombia, se han realizado estudios en Bogotá y Antioquia, que han permitido establecer una prevalencia del 5% y 15%, respectivamente. La causa específica no ha sido totalmente esclarecida, sin embargo se ha calculado una heredabilidad cercana al 80% en algunas poblaciones, demostrando el papel fundamental de la genética en la etiología de la enfermedad. Los factores genéticos involucrados se relacionan con cambios neuroquímicos de los sistemas dopaminérgicos, serotoninérgicos y noradrenérgicos, particularmente en los sistemas frontales subcorticales, corteza cerebral prefrontal, en las regiones ventral, medial, dorsolateral y la porción anterior del cíngulo. Basados en los datos de estudios previos que sugieren una herencia poligénica multifactorial, se han realizado esfuerzos continuos en la búsqueda de genes candidatos, a través de diferentes estrategias. Particularmente los receptores Alfa 2 adrenérgicos, se encuentran en la corteza cerebral, cumpliendo funciones de asociación, memoria y es el sitio de acción de fármacos utilizados comúnmente en el tratamiento de este trastorno, siendo esta la principal evidencia de la asociación de este receptor con el desarrollo del THDA. Hasta la fecha se han descrito más de 80 polimorfismos en el gen (ADRA2A), algunos de los cuales se han asociado con la entidad. Sin embargo, los resultados son controversiales y varían según la metodología diagnóstica empleada y la población estudiada, antecedentes y comorbilidades. Este trabajo pretende establecer si las variaciones en la secuencia codificante del gen ADRA2A, podrían relacionarse con el fenotipo del Trastorno de Hiperactividad y el Déficit de Atención.

Dinámica de la producción industrial e importación de bienes de capital y materias primas: relaciones de largo plazo y ajuste dinámico

El presente documento se propone estimar y analizar la existencia de una relación de equilibrio de largo plazo entre la producción industrial y la importación de bienes de capital y materias primas para el período enero de 1993 - abril de 2005, que resulta útil para monitorear la dinámica industrial en el corto plazo y las complementariedades que pueden existir entre los factores productivos del mercado interno con el externo. Para tal efecto, se desarrolla un análisis econométrico de la metodología de cointegración con componentes estacionales aplicado a las variables índice de producción real (IPR), importación de bienes de capital e importación de materias primas de la industria colombiana. A partir de un modelo de cointegración estacional se evidencia empíricamente la existencia de una relación de equilibrio de largo plazo entre estas variables durante el período analizado. Adicionalmente, se utiliza el modelo estimado para realizar ejercicios de impulso-respuesta para analizar la trayectoria futura de las variables de interés cuando son afectadas por choques exógenos en el tiempo.

La dinámica de las publicaciones y las patentes como una aproximación al desarrollo científico y tecnológico de los países

El objetivo de este documento es proponer una caracterización, distinta a las convencionales, de países desarrollados y en desarrollo, en términos de ciencia y tecnología. En primer lugar, identificamos los procesos generadores de las publicaciones y las patentes de los países. Luego relacionamos las etapas de desarrollo de los países (Banze (2000)) con la dinámica encontrada en las series. Los resultados indican que no es necesario tener una infraestructura científica fuerte para desarrollar el ámbito tecnológico. Para algunos países, es la innovación tecnológica la principal responsable de la trayectoria del sistema nacional de innovación.

La séptima peatonal como un espacio público destino de las clases populares, una mirada desde la apropiación sociocultural del territorio (Entre la Av. Jiménez y la Calle 19):2015

El interés de este caso de estudio es analizar la relación entre la toma de decisión política, la materialización de ésta en el espacio público y la afectación que genera en los usuarios, puntualmente en la peatonalización de la Carrera Séptima en Bogotá. A partir de una revisión histórica del centro de Bogotá como un centro popular hasta llegar a la decisión tomada por el gobierno de Gustavo Petro y en el marco de los estudios de E. Pol y T. Vidal como referentes para entender las consecuencias que genera la decisión política en los usuarios, se analiza este espacio peatonal hoy, con el fin de entender las dinámicas de apropiación territorial. Finalmente, se formulan conclusiones frente a la relación entre política, espacio público y usuarios como resultado de una acción de gobierno frente a las dinámicas de gestión urbana en Bogotá.

Conformations of poly{G}-poly{C} π stacks with high hole mobility

Charge transfer properties of DNA depend strongly on the π stack conformation. In the present paper, we identify conformations of homogeneous poly-{G}-poly-{C} stacks that should exhibit high charge mobility. Two different computational approaches were applied. First, we calculated the electronic coupling squared, V2, between adjacent base pairs for all 1 ps snapshots extracted from 15 ns molecular dynamics trajectory of the duplex G15. The average value of the coupling squared 〈 V2 〉 is found to be 0.0065 eV2. Then we analyze the base-pair and step parameters of the configurations in which V2 is at least an order of magnitude larger than 〈 V2 〉. To obtain more consistent data, ∼65 000 configurations of the (G:C)2 stack were built using systematic screening of the step parameters shift, slide, and twist. We show that undertwisted structures (twist<20°) are of special interest, because the π stack conformations with strong electronic couplings are found for a wide range of slide and shift. Although effective hole transfer can also occur in configurations with twist=30° and 35°, large mutual displacements of neighboring base pairs are required for that. Overtwisted conformation (twist38°) seems to be of limited interest in the context of effective hole transfer. The results may be helpful in the search for DNA based elements for nanoelectronics

Efficient topology estimation for large scale optical mapping

Large scale image mosaicing methods are in great demand among scientists who study different aspects of the seabed, and have been fostered by impressive advances in the capabilities of underwater robots in gathering optical data from the seafloor. Cost and weight constraints mean that lowcost Remotely operated vehicles (ROVs) usually have a very limited number of sensors. When a low-cost robot carries out a seafloor survey using a down-looking camera, it usually follows a predetermined trajectory that provides several non time-consecutive overlapping image pairs. Finding these pairs (a process known as topology estimation) is indispensable to obtaining globally consistent mosaics and accurate trajectory estimates, which are necessary for a global view of the surveyed area, especially when optical sensors are the only data source. This thesis presents a set of consistent methods aimed at creating large area image mosaics from optical data obtained during surveys with low-cost underwater vehicles. First, a global alignment method developed within a Feature-based image mosaicing (FIM) framework, where nonlinear minimisation is substituted by two linear steps, is discussed. Then, a simple four-point mosaic rectifying method is proposed to reduce distortions that might occur due to lens distortions, error accumulation and the difficulties of optical imaging in an underwater medium. The topology estimation problem is addressed by means of an augmented state and extended Kalman filter combined framework, aimed at minimising the total number of matching attempts and simultaneously obtaining the best possible trajectory. Potential image pairs are predicted by taking into account the uncertainty in the trajectory. The contribution of matching an image pair is investigated using information theory principles. Lastly, a different solution to the topology estimation problem is proposed in a bundle adjustment framework. Innovative aspects include the use of fast image similarity criterion combined with a Minimum spanning tree (MST) solution, to obtain a tentative topology. This topology is improved by attempting image matching with the pairs for which there is the most overlap evidence. Unlike previous approaches for large-area mosaicing, our framework is able to deal naturally with cases where time-consecutive images cannot be matched successfully, such as completely unordered sets. Finally, the efficiency of the proposed methods is discussed and a comparison made with other state-of-the-art approaches, using a series of challenging datasets in underwater scenarios

Manifold clustering for motion segmentation

En aquesta tesi s’estudia el problema de la segmentació del moviment. La tesi presenta una revisió dels principals algoritmes de segmentació del moviment, s’analitzen les característiques principals i es proposa una classificació de les tècniques més recents i importants. La segmentació es pot entendre com un problema d’agrupament d’espais (manifold clustering). Aquest estudi aborda alguns dels reptes més difícils de la segmentació de moviment a través l’agrupament d’espais. S’han proposat nous algoritmes per a l’estimació del rang de la matriu de trajectòries, s’ha presenta una mesura de similitud entre subespais, s’han abordat problemes relacionats amb el comportament dels angles canònics i s’ha desenvolupat una eina genèrica per estimar quants moviments apareixen en una seqüència. L´ultima part de l’estudi es dedica a la correcció de l’estimació inicial d’una segmentació. Aquesta correcció es du a terme ajuntant els problemes de la segmentació del moviment i de l’estructura a partir del moviment.

Harinera La Montserrat (1898-1936). Aproximación a la historia empresial de los Ensesa de Girona (c. 1880-c. 1989)

Després d'esbossar la trajectòria del grup empresarial dels Ensesa (la farinera, la metal·lúrgica Batlle, Solés i Cia, el Garatge Callicó, Indústries Químiques Tartàriques, la ciutat-jardí de S'Agaró, Suberolita, etc), la recerca s'orienta especialment cap a l'estudi del sistema d'informació comptable de "La Montserrat", que posa en relleu les característiques econòmiques, financeres i patrimonials de l'empresa. Des del principi, les activitats empresarials dels Ensesa tenen dimensions catalanes, espanyoles i internacionals, que s'amplien i diversifiquen molt ràpidament durant el primer terç del segle XX, en especial amb "els Químics" i la zona residencial de S'Agaró, on conflueixen la burgesia de Girona, Barcelona i el turisme de luxe. La seva adscripció a la burgesia catalanista sembla ser precisament el motiu de l'expedient de Responsabilitats Polítiques que els varen incoar al 1939-1940, però, absolts, recuperen les propietats que els havien estat col·lectivitzades durant la guerra civil, fins que a principis dels anys vuitanta procedeixen a la liquidació i venda de les indústries del grup empresarial.

La primera traducció goldoniana al català: La viuda astuta de Vicenç Albertí i Vidal. Manuscrit, traducció i context

La part A és un estudi filològic introductori de l'obra teatral La viuda astuta, de 1818, traduïda al menorquí per Vicenç Albertí i Vidal de l'obra La vedova scaltra de Carlo Goldoni. Hi torbem un recorregut per la vida, obra, marc intel·lectual i trajectòria de la activitat traductora d'Albertí. Així mateix hi trobem una localització de La vedova Scaltra dins la primera etapa de la reforma goldoniana. I finalment s'hi desenvolupa l'estudi comparatiu-lingüístic de La vedova Scaltra amb la versió catalana d'Albertí. La part B consta de la transcripció comentada, amb 153 notes, del manuscrit de La viuda astuta. La part C és la transcripció integral de l'obra original, seguint l'edició Giuseppe Ortolani, 1936, que s'acara amb la part D que és la traducció catalana realitzada per la doctoranda.

Local model predictive control for navigation of a wheeled mobile robot using monocular information

Aquesta tesi està inspirada en els agents naturals per tal de planificar de manera dinàmica la navegació d'un robot diferencial de dues rodes. Les dades dels sistemes de percepció són integrades dins una graella d'ocupació de l'entorn local del robot. La planificació de les trajectòries es fa considerant la configuració desitjada del robot, així com els vértexs més significatius dels obstacles més propers. En el seguiment de les trajectòries s'utilitzen tècniques locals de control predictiu basades en el model, amb horitzons de predicció inferiors a un segon. La metodologia emprada és validada mitjançant nombrosos experiments.

A proposal to estimate the motion of an underwater vehicle through visual mosaicking

This thesis proposes a solution to the problem of estimating the motion of an Unmanned Underwater Vehicle (UUV). Our approach is based on the integration of the incremental measurements which are provided by a vision system. When the vehicle is close to the underwater terrain, it constructs a visual map (so called "mosaic") of the area where the mission takes place while, at the same time, it localizes itself on this map, following the Concurrent Mapping and Localization strategy. The proposed methodology to achieve this goal is based on a feature-based mosaicking algorithm. A down-looking camera is attached to the underwater vehicle. As the vehicle moves, a sequence of images of the sea-floor is acquired by the camera. For every image of the sequence, a set of characteristic features is detected by means of a corner detector. Then, their correspondences are found in the next image of the sequence. Solving the correspondence problem in an accurate and reliable way is a difficult task in computer vision. We consider different alternatives to solve this problem by introducing a detailed analysis of the textural characteristics of the image. This is done in two phases: first comparing different texture operators individually, and next selecting those that best characterize the point/matching pair and using them together to obtain a more robust characterization. Various alternatives are also studied to merge the information provided by the individual texture operators. Finally, the best approach in terms of robustness and efficiency is proposed. After the correspondences have been solved, for every pair of consecutive images we obtain a list of image features in the first image and their matchings in the next frame. Our aim is now to recover the apparent motion of the camera from these features. Although an accurate texture analysis is devoted to the matching pro-cedure, some false matches (known as outliers) could still appear among the right correspon-dences. For this reason, a robust estimation technique is used to estimate the planar transformation (homography) which explains the dominant motion of the image. Next, this homography is used to warp the processed image to the common mosaic frame, constructing a composite image formed by every frame of the sequence. With the aim of estimating the position of the vehicle as the mosaic is being constructed, the 3D motion of the vehicle can be computed from the measurements obtained by a sonar altimeter and the incremental motion computed from the homography. Unfortunately, as the mosaic increases in size, image local alignment errors increase the inaccuracies associated to the position of the vehicle. Occasionally, the trajectory described by the vehicle may cross over itself. In this situation new information is available, and the system can readjust the position estimates. Our proposal consists not only in localizing the vehicle, but also in readjusting the trajectory described by the vehicle when crossover information is obtained. This is achieved by implementing an Augmented State Kalman Filter (ASKF). Kalman filtering appears as an adequate framework to deal with position estimates and their associated covariances. Finally, some experimental results are shown. A laboratory setup has been used to analyze and evaluate the accuracy of the mosaicking system. This setup enables a quantitative measurement of the accumulated errors of the mosaics created in the lab. Then, the results obtained from real sea trials using the URIS underwater vehicle are shown.

Modelling, control and supervision for a class of hybrid systems

The aim of this thesis is to narrow the gap between two different control techniques: the continuous control and the discrete event control techniques DES. This gap can be reduced by the study of Hybrid systems, and by interpreting as Hybrid systems the majority of large-scale systems. In particular, when looking deeply into a process, it is often possible to identify interaction between discrete and continuous signals. Hybrid systems are systems that have both continuous, and discrete signals. Continuous signals are generally supposed continuous and differentiable in time, since discrete signals are neither continuous nor differentiable in time due to their abrupt changes in time. Continuous signals often represent the measure of natural physical magnitudes such as temperature, pressure etc. The discrete signals are normally artificial signals, operated by human artefacts as current, voltage, light etc. Typical processes modelled as Hybrid systems are production systems, chemical process, or continuos production when time and continuous measures interacts with the transport, and stock inventory system. Complex systems as manufacturing lines are hybrid in a global sense. They can be decomposed into several subsystems, and their links. Another motivation for the study of Hybrid systems is the tools developed by other research domains. These tools benefit from the use of temporal logic for the analysis of several properties of Hybrid systems model, and use it to design systems and controllers, which satisfies physical or imposed restrictions. This thesis is focused in particular types of systems with discrete and continuous signals in interaction. That can be modelled hard non-linealities, such as hysteresis, jumps in the state, limit cycles, etc. and their possible non-deterministic future behaviour expressed by an interpretable model description. The Hybrid systems treated in this work are systems with several discrete states, always less than thirty states (it can arrive to NP hard problem), and continuous dynamics evolving with expression: with Ki ¡ Rn constant vectors or matrices for X components vector. In several states the continuous evolution can be several of them Ki = 0. In this formulation, the mathematics can express Time invariant linear system. By the use of this expression for a local part, the combination of several local linear models is possible to represent non-linear systems. And with the interaction with discrete events of the system the model can compose non-linear Hybrid systems. Especially multistage processes with high continuous dynamics are well represented by the proposed methodology. Sate vectors with more than two components, as third order models or higher is well approximated by the proposed approximation. Flexible belt transmission, chemical reactions with initial start-up and mobile robots with important friction are several physical systems, which profits from the benefits of proposed methodology (accuracy). The motivation of this thesis is to obtain a solution that can control and drive the Hybrid systems from the origin or starting point to the goal. How to obtain this solution, and which is the best solution in terms of one cost function subject to the physical restrictions and control actions is analysed. Hybrid systems that have several possible states, different ways to drive the system to the goal and different continuous control signals are problems that motivate this research. The requirements of the system on which we work is: a model that can represent the behaviour of the non-linear systems, and that possibilities the prediction of possible future behaviour for the model, in order to apply an supervisor which decides the optimal and secure action to drive the system toward the goal. Specific problems can be determined by the use of this kind of hybrid models are: - The unity of order. - Control the system along a reachable path. - Control the system in a safe path. - Optimise the cost function. - Modularity of control The proposed model solves the specified problems in the switching models problem, the initial condition calculus and the unity of the order models. Continuous and discrete phenomena are represented in Linear hybrid models, defined with defined eighth-tuple parameters to model different types of hybrid phenomena. Applying a transformation over the state vector : for LTI system we obtain from a two-dimensional SS a single parameter, alpha, which still maintains the dynamical information. Combining this parameter with the system output, a complete description of the system is obtained in a form of a graph in polar representation. Using Tagaki-Sugeno type III is a fuzzy model which include linear time invariant LTI models for each local model, the fuzzyfication of different LTI local model gives as a result a non-linear time invariant model. In our case the output and the alpha measure govern the membership function. Hybrid systems control is a huge task, the processes need to be guided from the Starting point to the desired End point, passing a through of different specific states and points in the trajectory. The system can be structured in different levels of abstraction and the control in three layers for the Hybrid systems from planning the process to produce the actions, these are the planning, the process and control layer. In this case the algorithms will be applied to robotics ¡V a domain where improvements are well accepted ¡V it is expected to find a simple repetitive processes for which the extra effort in complexity can be compensated by some cost reductions. It may be also interesting to implement some control optimisation to processes such as fuel injection, DC-DC converters etc. In order to apply the RW theory of discrete event systems on a Hybrid system, we must abstract the continuous signals and to project the events generated for these signals, to obtain new sets of observable and controllable events. Ramadge & Wonham¡¦s theory along with the TCT software give a Controllable Sublanguage of the legal language generated for a Discrete Event System (DES). Continuous abstraction transforms predicates over continuous variables into controllable or uncontrollable events, and modifies the set of uncontrollable, controllable observable and unobservable events. Continuous signals produce into the system virtual events, when this crosses the bound limits. If this event is deterministic, they can be projected. It is necessary to determine the controllability of this event, in order to assign this to the corresponding set, , controllable, uncontrollable, observable and unobservable set of events. Find optimal trajectories in order to minimise some cost function is the goal of the modelling procedure. Mathematical model for the system allows the user to apply mathematical techniques over this expression. These possibilities are, to minimise a specific cost function, to obtain optimal controllers and to approximate a specific trajectory. The combination of the Dynamic Programming with Bellman Principle of optimality, give us the procedure to solve the minimum time trajectory for Hybrid systems. The problem is greater when there exists interaction between adjacent states. In Hybrid systems the problem is to determine the partial set points to be applied at the local models. Optimal controller can be implemented in each local model in order to assure the minimisation of the local costs. The solution of this problem needs to give us the trajectory to follow the system. Trajectory marked by a set of set points to force the system to passing over them. Several ways are possible to drive the system from the Starting point Xi to the End point Xf. Different ways are interesting in: dynamic sense, minimum states, approximation at set points, etc. These ways need to be safe and viable and RchW. And only one of them must to be applied, normally the best, which minimises the proposed cost function. A Reachable Way, this means the controllable way and safe, will be evaluated in order to obtain which one minimises the cost function. Contribution of this work is a complete framework to work with the majority Hybrid systems, the procedures to model, control and supervise are defined and explained and its use is demonstrated. Also explained is the procedure to model the systems to be analysed for automatic verification. Great improvements were obtained by using this methodology in comparison to using other piecewise linear approximations. It is demonstrated in particular cases this methodology can provide best approximation. The most important contribution of this work, is the Alpha approximation for non-linear systems with high dynamics While this kind of process is not typical, but in this case the Alpha approximation is the best linear approximation to use, and give a compact representation.