Prueba de título

Prueba de 1.4 Descripción

Detección de Lugares con Camaras RGB-D. Aplicación a Cierre de Bucles en SLAM

En este trabajo se propone un método que combina descriptores de imágenes de intensidad y de profundidad para detectar de manera robusta el problema de cierre de bucle en SLAM. La robustez del método, proporcionada por el empleo conjunto de información de diversa naturaleza, permite detectar lugares revisitados en situaciones donde m´etodos basados solo en intensidad o en profundidad presentan dificultades (p.e. condiciones de iluminación deficientes, o falta de geometría). Además, se ha diseñado el métod cuenta su eficiencia, recurriendo para ello al detector FAST para extraer las características de las observaciones y al descriptor binario BRIEF. La detección de bucle se completa con una Bolsa de Palabras binarias. El rendimiento del método propuesto se ha evaluado en condiciones reales, obteniéndose resultados muy satisfactorios.

Partial state estimation of LTI systems with multiple constant time-delays

Functional observer design for Multi-Input Multi-Output (MIMO) Linear Time-Invariant (LTI) systems with multiple mixed time delays in the states of the system is addressed. Two structures for the design of a minimum-order observer are considered: 1 - delay-dependent, and 2 - internal-delay independent. The parameters of the delay-dependent observer are designed using the Lyapunov Krasovskii approach. The delay-dependent exponential stability of the observer for a specified convergence rate and delay values is guaranteed upon the feasibility of a set of Linear Matrix Inequalities (LMIs) together with a rank condition. Using the descriptor transformation, a modified Jensen's inequality, and improved Park's inequality, the results can be less conservative than the available functional observer design methods that address LTI systems with single state delay. Furthermore, the necessary and sufficient conditions of the asymptotic stability of the internal-delay independent observer are obtained, which are shown to be independent of delay. Two illustrative numerical examples and simulation studies confirm the validity and highlight the performance of the proposed theoretical achievements.

Responsibility for racism in the everyday talk of secondary students

This article examines the attributions of responsibility for racism in the everyday talk of secondary school students. It draws on focus groups with a cross section of students from different ethnic backgrounds in three, very different, secondary schools. In these focus groups, students deploy six different, sometimes contradictory, racialised discourses. Each discourse attributes responsibility for racism in very different ways that testify to the immanence of the past in the present and students’ positioning in specific social and political conditions. In all but one instance, these discourses work to dismiss, deny and/or deflect responsibility for racism by averting responsibility from the self to other individuals, groups or entities. The empirical data, it is argued, show that the individualisation of responsibility for racism has not seeped its way into students’ race-thinking. This testifies to the persistence of race-thinking, the difficult challenge of finding non-racist ways of being in the world, and cautions against assuming that responsibilisation is a universal descriptor of all contemporary social relations.

Minimum-order filter design for partial state estimation of linear systems with multiple time-varying state delays and unknown input delays

Designing delay-dependent functional observers for LTI systems with multiple known time-varying state delays and unknown time-varying input delays is studied. The input delays are arbitrary, but the state delays should be upper-bounded. In addition, two scenarios of slow-varying and fast-varying state delays are investigated. The results of the paper can also be considered as one of the first contributions considering unknown-input functional observer design for linear systems with multiple time-varying state delays. Based on the Lyapunov Krasovskii approach, delay-dependent sufficient conditions of the exponential stability of the observer in each scenario are established in terms of linear matrix inequalities. Because of using effective techniques, such as the descriptor transformation and an advanced weighted integral inequality, the proposed stability criteria can result in larger stability regions compared with the other papers that study functional observers for time-varying delay systems. Furthermore, to help with the design procedure, a genetic algorithm-based scheme is proposed to adjust a weighting matrix in the established linear matrix inequalities. Two numerical examples illustrate the design procedure and demonstrate the efficacy of the proposed observer in each scenario.

Establishing precise estimates of abundance in patchy habitats of the marine nearshore

Exploratory investigations of optimal sampling designs are a critical component of the decision-making process in ecology where inherent natural variation can lead to erroneous conclusions if left unexamined. Pilot studies and exploratory analyses that investigate the precision of sampling regimes may reduce the chances of erroneous results and can be used to optimise processing time in larger ecological research programs. In our study, we calculated optimal precision estimates for sampling macroinvertebrates and ichthyofauna in surf-zone wrack accumulations by investigating the precision of the mean for sub-samples of seine nets and also for the number of replicate seine nets to guide future sampling regimes. We discovered that the processing time for individual seine net samples could be reduced by 50% using sub-sampling and that time to process replicate seine net samples could be reduced by 25% while maintaining acceptable precision. In future, we suggest that the use of pilot studies with similar exploratory approaches should be less of an exception and more a critical component of ecological investigations, particularly in under-studied or newly-developing areas of research. Further, these types of exploratory approaches are crucially important in a variety of extremely patchy environments where variability is likely to be high.

The average mixing matrix signature

Laplacian-based descriptors, such as the Heat Kernel Signature and the Wave Kernel Signature, allow one to embed the vertices of a graph onto a vectorial space, and have been successfully used to find the optimal matching between a pair of input graphs. While the HKS uses a heat di↵usion process to probe the local structure of a graph, the WKS attempts to do the same through wave propagation. In this paper, we propose an alternative structural descriptor that is based on continuoustime quantum walks. More specifically, we characterise the structure of a graph using its average mixing matrix. The average mixing matrix is a doubly-stochastic matrix that encodes the time-averaged behaviour of a continuous-time quantum walk on the graph. We propose to use the rows of the average mixing matrix for increasing stopping times to develop a novel signature, the Average Mixing Matrix Signature (AMMS). We perform an extensive range of experiments and we show that the proposed signature is robust under structural perturbations of the original graphs and it outperforms both the HKS and WKS when used as a node descriptor in a graph matching task.

Effects of bubbles, cracks, and volcanic tephra on the spectral albedo of bare ice near the Transantarctic Mountains: Implications for sea glaciers on Snowball Earth

Spectral albedo was measured along a 6 km transect near the Allan Hills in East Antarctica. The transect traversed the sequence from new snow through old snow, firn, and white ice, to blue ice, showing a systematic progression of decreasing albedo at all wavelengths, as well as decreasing specific surface area (SSA) and increasing density. Broadband albedos under clear-sky range from 0.80 for snow to 0.57 for blue ice, and from 0.87 to 0.65 under cloud. Both air bubbles and cracks scatter sunlight; their contributions to SSA were determined by microcomputed tomography on core samples of the ice. Although albedo is governed primarily by the SSA (and secondarily by the shape) of bubbles or snow grains, albedo also correlates highly with porosity, which, as a proxy variable, would be easier for ice sheet models to predict than bubble sizes. Albedo parameterizations are therefore developed as a function of density for three broad wavelength bands commonly used in general circulation models: visible, near-infrared, and total solar. Relevance to Snowball Earth events derives from the likelihood that sublimation of equatorward-flowing sea glaciers during those events progressively exposed the same sequence of surface materials that we measured at Allan Hills, with our short 6 km transect representing a transect across many degrees of latitude on the Snowball ocean. At the equator of Snowball Earth, climate models predict thick ice, or thin ice, or open water, depending largely on their albedo parameterizations; our measured albedos appear to be within the range that favors ice hundreds of meters thick. Citation:

An examination of verbal descriptors of cancer-induced bone pain and neuropathic cancer pain

Aims: The aim of the thesis was to identify verbal descriptors of cancer induced bone pain (CIBP) and neuropathic cancer pain (NCP). An examination of the verbal descriptors associated with these two pain syndromes further considered the relationship between common verbal descriptors, cancer type, performance status and analgesia. Methods: The project was conducted in two phases; Phase one was a systematic review of the literature to examine current evidence of verbal descriptors in CIBP and NCP. Phase two utilised secondary data analysis methodology. Data from 120 patients with confirmed CIBP and 61 patients with confirmed NCP were deemed eligible for entry into a de novo database for secondary analysis. Key descriptive data were considered such as gender, ECOG and pain scores to characterise the patient population. Verbal descriptors of CIBP and NCP were considered in detail across the secondary de novo database. Results: Gender was not identified as a diagnostic characteristic of CIBP and NCP with similar distribution across prevalence of pain reporting and also pain severity. Patients with breast (n=52,43.3%), prostate (n=35,29.2%) and lung (n=14,11.7%) cancer were found to be at an increased risk of CIBP. Those with NCP more was found more commonly among patients with breast cancer (n=21,34.4%). Patients with CIBP were found to have an ECOG performance of 1 (n=49, 40.8%) or 2 (n=43, 35.8%) which was lower than those with NCP with an ECOG of 0 (n=32, 52.5%) or 2 (n=18, 29.5%). Comparisons were made across analgesia and treatment options for CIBP and NCP. Patients with CIBP received a greater variety of treatment options including bisphosphonates and radiotherapy while patients with NCP were more commonly treated with analgesia alone. Patients with CIBP and NCP were taking strong opioids, however those with NCP (n=45, 73.8%) were more likely to utilise strong opioids than those with CIBP (n=61, 50.8%). It was noted that those with NCP required a daily morphine equivalence of almost 50% higher than those with CIBP. Average consumption of opioids was 155.6mg, for patients with NCP, compared to 76mg in patients with CIBP. Common verbal descriptors of CIBP and NCP were identified. The most common verbal descriptors for CIBP were aching, gnawing and throbbing and the most common verbal descriptors of NCP were aching, tender and sharp. Of the most common 6 descriptors for CIBP and NCP only one descriptor was unique to each pain type, gnawing for CIBP and stabbing for NCP. Conclusions: Patients with CIBP and NCP use similar verbal descriptors to characterise their pain with gnawing being unique to CIBP and stabbing being unique to NCP in the data considered within project. Further research is required to explore verbal descriptors which are both common and unique to CIBP and NCP. Further exploration of verbal descriptors would assist development of a comprehensive pain assessment tool which would enhance pain assessment for nurses, clinicians and patients.

Caracterización y prevalencia del compromiso ocular en pacientes con enfermedad autoinmune y autoinflamatoria en un centro de referencia reumatológica en Colombia entre los años 2000 a 2015

RESUMEN Objetivo: Estimar la prevalencia de las diferentes enfermedades oftalmológicas que aparecen en el contexto de una enfermedad autoinmune (EAI) en pacientes de un centro de referencia reumatológica en Colombia, según características clínicas y sociodemográficas durante un período de 15 años, comprendido entre los años 2000 a 2015. Métodos: Se realizó un estudio descriptivo, observacional de prevalencia. El tipo de muestreo fue aleatorio estratificado con asignación proporcional en el programa Epidat 3.4. Los datos se analizaron en el programa SPSS v22.0 y se realizó análisis univariado de las variables categóricas, para las variables cuantitativas se realizaron medidas de tendencia central. Resultados: De 1640 historias clínicas revisadas, se encontraron 634 pacientes (38,65%) con compromiso ocular. Si excluimos los pacientes con SS, que por definición presentan ojo seco, 222 pacientes (13,53%) presentaron compromiso oftalmológico. Del total de pacientes, el 83,3% fueron mujeres. La AR fue la enfermedad autoinmune con mayor compromiso oftalmológico con 138 pacientes (62,2%), y en último lugar la sarcoidosis con 1 solo paciente afectado. La QCS fue la manifestación más común en todos los grupos diagnósticos de EAI, con 146 pacientes (63,5%). De 414 pacientes con Síndrome de Sjögren (SS) y QCS 8 presentaron compromiso ocular adicional, siendo la uveítis la segunda patología ocular asociada en pacientes con SS y la primera causa en las espondiloartropatias (71,4 %). Los pacientes con catarata (4,1%) presentaron la mayor prevalencia de uso de corticoide (88.8%). De 222 pacientes, 28 (12,6%) presentaron uveítis. Del total de pacientes, 16 (7,2%) presentaron maculopatía por antimalaráricos y 6 (18,75%) de los pacientes con LES. Los ANAS se presentaron en el 100% los pacientes con trastorno vascular de la retina. Los pacientes con epiescleritis presentaron la mayor proporción de positivización de anticuerpos anti-DNA. La EAI que más presentó epiescleritis fue LES con 4 pacientes (12,5%) El 22% de paciente con anticuerpos anti-RNP presentaron escleritis y 32,1% de los pacientes con uveítis presentaron HLA-B27 positivo. Las manifestaciones oftalmológicas precedieron a las sistémicas entre un 11,1% y un 33,3% de los pacientes. Conclusión: Las enfermedades oculares se presentan con frecuencia en los pacientes colombianos con EAI (38.65%), siendo la AR la enfermedad con mayor compromiso ocular (62,2%) y la QCS la enfermedad ocular con mayor prevalencia en todas las EAI (63,5%). La uveítis se presentó en 28 pacientes (12,6%). Las manifestaciones oftalmológicas pueden preceder a las sistémicas. El examen oftalmológico debe ser incluido en los pacientes con EAI, por ser la enfermedad ocular una comorbilidad frecuente. Adicionalmente, los efectos oftalmológicos de las medicaciones sistémicas utilizadas en EAI deben ser estrechamente monitorizados, durante el curso del tratamiento.

ESTUDIO ESTRUCTURAL DE SEMICONDUCTORES USADOS EN APLICACIONES FOTOVOLTAICAS

Se presenta un estudio de las propiedades estructurales de los semiconductores Bi2S3, SnS, SnS2, SnS:Bi, Cu3BiS3 y Cu(In,Ga)Se2 (CIGS) usados como capa absorbente en dispositivos optoelectrónicos. Todas las muestras fueron crecidas por procesos de co-evaporación de sus especies metálicas sobre sustratos de vidrio. El efecto de las condiciones de preparación sobre las propiedades estructurales y composición química han sido analizados y obtenidos a partir de difracción de rayos-X (XRD) y espectroscopia de electrones Auger (AES). Los resultados revelan que todos los compuestos crecen con estructura ortorrómbica, a diferencia del SnS2 y el CIGS, que crecen con estructura hexagonal y tetragonal, respectivamente. Los resultados composicionales revelaron que a partir de la deconvolución de sus picos se encontraron fases asociadas a Cu2Se y In2Se3

Diplomacia deportiva en Colombia: una estrategia de política exterior para evitar el reclutamiento infantil

En el presente estudio de caso, se busca exponer de qué manera la Diplomacia Deportiva en Colombia ha sido utilizada como una estrategia para cumplir los objetivos de Política Exterior y cambiar la percepción que se tiene del mismo, encaminando la investigación en el problema del reclutamiento infantil en el marco del conflicto armado. Para realizarlo, se utiliza la Diplomacia Deportiva como estrategia de poder blando, que pretende influir positivamente en la imagen que se tiene del país en el exterior, mientras se combate el flagelo interno del reclutamiento infantil.