A Realization Of An Fpga Sub System For Reducing Odometric Localization Errors In Wheeled Mobile Robots

This paper introduces a simple and efficient method and its implementation in an FPGA for reducing the odometric localization errors caused by over count readings of an optical encoder based odometric system in a mobile robot due to wheel-slippage and terrain irregularities. The detection and correction is based on redundant encoder measurements. The method suggested relies on the fact that the wheel slippage or terrain irregularities cause more count readings from the encoder than what corresponds to the actual distance travelled by the vehicle. The standard quadrature technique is used to obtain four counts in each encoder period. In this work a three-wheeled mobile robot vehicle with one driving-steering wheel and two-fixed rear wheels in-axis, fitted with incremental optical encoders is considered. The CORDIC algorithm has been used for the computation of sine and cosine terms in the update equations. The results presented demonstrate the effectiveness of the technique

Test for basis-set errors in relativistic Dirac-Fock-Slater calculations with a numerical AO-DFS-basis

A fully relativistic four-component Dirac-Fock-Slater program for diatomics, with numerically given AO's as basis functions is presented. We discuss the problem of the errors due to the finite basis-set, and due to the influence of the negative energy solutions of the Dirac Hamiltonian. The negative continuum contributions are found to be very small.

Exploratory and dust-bathing behaviour in laying hens kept in commercial aviaries and furnished cages

The aim of the present thesis was to identify management factors that affect the extent of exploratory behaviour (ground pecking, scratching) as well as quantitative and qualitative as-pects of dust-bathing behaviour in laying hens kept in commercial furnished cages (‘small group housing’) and aviaries. Based on the results, it should be considered which management measures can be recommended for farmers to enhance hen welfare. The feasibility of direct observations of dust-bathing behaviour as well as video observations of exploratory and dust-bathing behaviour was tested in two aviaries. The direct observations were judged to be unfeasible under the conditions encountered. For the analysis of the video recordings, different sampling intervals for instantaneous scan sampling, different extents of observation time, and intra- and inter-observer reliabilities were compared and the most ap-propriate observation scheme selected. Applying the selected scheme (observing the first 16 minutes of every hour distributed over two consecutive light days with a sample interval of two minutes), within the range of environmental conditions found in 22 aviaries, pecking, scratching and dust-bathing behaviour was performed on average 25, 2 and 7 % of the obser-vation time. Hen numbers in the litter were positively associated with stocking density and group size. More scratching was performed with increasing litter height as well as in humid litter. If no litter had been provided, thus substrate consisted of dust and faeces, a reduced proportion of dust-bathing was found. The same method was then used in 16 furnished cage systems. On average 12 % of the total hen number were found on the scratching mats. The hens spent 8 % of the observed time pecking at the mat, 4 % dust-bathing and 0.4 % scratch-ing. Higher proportions were found on the mats and more dust-bathing behaviour occurred, if substrate was provided. Also with increasing light intensity and stocking density more hens were observed on the mats. More pecking and scratching occurred in conditions of higher stocking density, probably due to social facilitation, and of increased mat area per hen. With increasing mat numbers per cage less pecking was observed. Wider mats led to increased dust-bathing behaviour. Finally, 129 dust-baths recorded in 17 aviaries were analysed in detail. On average they lasted 17 minutes, with the tossing phase taking 69 % of this time, including on average 2 vertical wing shakes and 3 scratches with one leg per minute tossing phase. Dust-bath duration de-creased with increasing litter height. Litter type influenced all recorded parameters: dust-bath duration was highest on straw and lowest on fine material and fine material mixed with straw, where on both also the proportion of the tossing phase was lowest. The number of vertical wing shakes during the dust-bath was highest on straw and lowest on fine material mixed with straw as against the frequency of vertical wing shaking that was lowest on straw and highest on fine material. If dust-bathing hens were disturbed twice or more, dust-bathing duration decreased. With increasing light intensity a decreased proportion of the tossing phase as well as a reduced number of vertical wing shakes were recorded. Possibly the light stimulated the hens to dust-bath more often with less tossing behaviour per performance. The observed variation of the dust-bathing parameters could reflect successful adaptation or frustration of the hens. The litter and light conditions on the investigated farms were predominantly restrictive in terms of stimulation of exploration and dust-bathing behaviour. Thus, it was only possible to analyse possible associations between these factors and exploration and dust-bathing behav-iour within the range found. Based on the results the following management recommendations can be given: To allow hens in furnished cages more normal activity, substrate availability should be improved and mat space and light intensity increased. With regard to aviaries as well litter availability should be improved. Litter height should not be too low. Disturbances during dust-bathing should be prevented, but no influencing factors could be identified.

Neuroticism, intelligence, and intra-individual variability in elementary cognitive tasks : Testing the mental noise hypothesis. 'Neuroticismo, inteligencia y variabilidad intra-individual en tareas cognitivas elementales : contraste de la hip??tesis del ruido neuronal'

Resumen tomado de la publicaci??n

Procedimientos gr??ficos para evaluar la consistencia intra-individual en el an??lisis factorial de ??tems

Resumen tomado de la publicaci??n

Impacto de un curso teórico de mamografía en la categorización de microcalcificaciones de acuerdo al BI-RADS 4ed

Introducción: Por medio del presente estudio se busca determinar el impacto de un curso teórico de mamografía en la categorización de microcalficaciones mamarias. Materiales y métodos: Se realizó un estudio doble ciego para evaluar la variación de los valores predictivos positivos (VPP) de los descriptores morfológicos y de distribución de calcificaciones del BI-RADS 4ed, luego de un curso teórico de mamografía de 6 horas distribuido en 12 charlas semanales de 30 minutos. Se utilizó la base de datos de un estudio previo, en el cual dos radiólogos clasificaron las calcificaciones presentes en 108 mamografías de pacientes con diagnóstico histológico. Se realizó una nueva categorización de las calcificaciones según los descriptores. Se calcularon además, los valores kappa ponderados de concordancia intra e inter-observador, la sensibilidad y especificidad. Resultados: Para las calcificaciones de alta probabilidad de malignidad (pleomórficas finas y lineales ramificadas en conjunto), se obtuvieron VPP de 41 y 40%, con aumento leve respecto a la lectura inicial. El índice kappa ponderado para el acuerdo inter-observador fue de 0,305 lo que indica concordancia débil, con discreto incremento respecto a la evaluación inicial 0,260. La concordancia intra-observador para el evaluador 1 dio un valor kappa 0,471, moderada; y para el evaluador 2 un valor kappa 0,400, débil. Discusión: Un módulo teórico corto permite mejorar ligeramente la concordancia inter-observador en la evaluación de microcalcificaciones mamarias mediante el BI-RADS 4ed, así como los valores predictivos positivos de microcalficaciones de alta probabilidad de malignidad.

Análisis de la influencia de los sistemas intra sociales en la evolución del concepto de seguridad humana y su aplicación en la política exterior canadiense. Período 1995 - 2008

La presente monografía analiza la evolución del concepto de seguridad humana y su aplicación en la política exterior canadiense en el período 1995 - 2008 desde un enfoque sistémico. Así pues, se estudia la influencia que ejercieron los insumos intrasociales en la importancia que se le otorgó a dicho concepto en la agenda internacional de Canadá.

La Presión Intra-abdominal Influye Sobre los Limites de la Presión de la Vía Aérea Durante la Ventilación Protectora Pulmonar

Background: The Intra-abdominal hypertension (IAH) and abdominal compartment syndrome (ACS) have a impact on the respiratory system and the recommendations for mechanical ventilation of patients with IAH/ACS remain unclear. Our study characterize the influence of elevated intra-abdominal pressure (IAP) and positive end-expiratory pressure (PEEP) on airway plateau pressure (PPLAT) and bladder pressure (PBLAD). Methods: Nine (n=9) deeply anesthetized swine were mechanically ventilated via tracheostomy: volume-controlled mode at tidal volume = 10 ml/kg, frequency=15, Inspiratory:Expiratory ratio=1:2 and PEEP of 1 and 10 cmH2O (PEEP1 and PEEP10, respectively). A tracheostomy tube was place in the peritoneal cavity and different levels of IAP were applied utilizing a CPAP system. Measurements were performed during both PEEP1 and PEEP10. Results: PBLAD increased as experimental IAP rose. Minimal underestimation of IAP by PBLAD was observed. Applying PEEP10 did not significantly affect the correlation between experimental IAP and PBLAD. PBLAD (in cmH2O) was reflected by changes in PPLAT regardless of the PEEP.

Intra-urban space in Brazil

N/D

L'anàlisi dels errors de puntuació. 'El análisis de los errores de puntuación'.

En este artículo se presenta el análisis de los errores de puntuación realizado sobre un corpus formado a partir de exámenes de Selectividad. El estudio de los errores de puntuación que los estudiantes hacen en los escritos académicos que producen permite averiguar cuales son y en qué grado consiguen este tipo de errores.Estos datos permiten reflexionar sobre las representaciones que tienen los estudiantes sobre la puntuación, a la vez que permite hacerlo sobre la propia naturaleza de la puntuación. Desde este conocimiento es posible establecer una imagen más fiel de las carencias que presentan los estudiantes y de cómo se puede orientar la práctica educativa para erradicar estos errores de sus escritos.

Estudio de las interacciones intra-específicas (la competición, la cooperación y la depredación) en las organizaciones: revisión de literatura

Las organizaciones son un ente social y económico que según la teoría clásica debe ser vista como una estructura administrativa. Para Mooney (1947) existen principios los cuales baso en la teoría organización, en donde busca establecer relaciones entre principios, procesos y efectos. Por lo que el satisfacer las necesidades de una población debe ser un proceso que involucre intereses particulares .En este caso la organización debe ser estudiada y evaluada como un sistema que tiene diferentes jerarquías y agentes que interactúan entre si, para cumplir un objetivo. Las relaciones que se generan dentro de una organización, y en este caso una organización privada tienden a dar respuesta a muchas necesidades que como procesos se presentan en el diario vivir; es así como se habla del éxito de las organizaciones basado en la competitividad que generan las habilidades y actitudes del personal, el número de variables, fenómenos y efectos, que busca que los empleados asuman actitudes que conlleven a tomar buenas decisiones (Garcia, 2009 ). Es importante resaltar en las organizaciones, los fenómenos de liderazgo, poder e influencia, cada concepto independiente pero visto conjuntamente desde un panorama organizacional, donde toda relación intraespecifica deben determinarse en los diferentes comportamientos, conductas y culturas del personal de la empresa (Fuentes, 2004). La depredación, competencia y cooperación, son conceptos que indudablemente están presentes en todos los procesos de la organización y serán determinantes en la perdurabilidad de la misma. Por último, la presente investigación pretende establecer los efectos de los fenómenos sociales de liderazgo, poder e influencia sobre las interacciones intra-especificas (competencia, cooperación y depredación) al interior de una organización, de tal manera que se logre explicar el efecto y la correlación que existe entre unos y otros fenómenos (Castro, 2012).

Behavioral differences in violence: the case of intra-group differences of paramilitaries and guerrillas in Colombia

In most studies on civil wars, determinants of conflict have been hitherto explored assuming that actors involved were either unitary or stable. However, if this intra-group homogeneity assumption does not hold, empirical econometric estimates may be biased. We use Fixed Effects Finite Mixture Model (FE-FMM) approach to address this issue that provides a representation of heterogeneity when data originate from different latent classes and the affiliation is unknown. It allows to identify sub-populations within a population as well as the determinants of their behaviors. By combining various data sources for the period 2000-2005, we apply this methodology to the Colombian conflict. Our results highlight a behavioral heterogeneity in guerrilla’s armed groups and their distinct economic correlates. By contrast paramilitaries behave as a rather homogenous group.

Congress composition and electoral advantage

In 2003, an electoral reform changed the mechanism to assign seats in the Colombian Congress. I simulate the 2006 Senate elections using the previous assignment mechanism to determine which senators benefited from the reform, i.e. would have not been elected had the reform not been made. With the results of the simulation, I use a regression discontinuity design to compare the senators that would have been barely elected anyways with those who would have lost, but were near to be elected. I check the differences in the amount of law drafts presented, the attendance to voting sessions, and a discipline index for each senator as proxy of their legislative behavior. I find that the senators benefiting from the reform present a different legislative behavior during the 4-year term with respect to the senators that would have been elected anyways. Since the differential legislative behavior cannot be interpreted as being better (worse) politician, I examine if the behavioral difference gives them an electoral advantage. I find no difference in the electoral result of 2010 Senate election in terms of the probability of being (re)elected in 2010, the share of votes, the share of votes within their party list, and the concentration of their votes. Additionally, I check the probability of being investigated for links with paramilitary groups and I find no differences. The results suggest that political reforms can change the composition of governing or legislative bodies in terms of performance, but it does not necessarily translate into an electoral advantage.

Estratègies, dificultats i errors en els aprenentatges de les habilitats espacials. 'Estrategias, dificultades y errores en los aprendizajes de las habilidades espaciales'.

Analizar las estrategias, las dificultades y los errores de los alumnos, manifestados en los aprendizajes de habilidades de orientación espacial y de habilidades espaciales ligados a los procesos de resolución. Asociar, cuando sea posible, las tipologías establecidas a los grupos de incidencia determinados por las variables sexo y escolarización.. 655 alumnos de edades entre 14-16 años de 16 centros diferentes de EGB, FP y BUP. 24 alumnos de la muestra anterior.. Elabora un cuestionario con una primera parte de carácter general, con preguntas de geometría escolar, y una segunda parte con contenido estrictamente espacial. Aplica el cuestionario a la muestra. Estudia los tipos de errores manifestados en las actividades del cuestionario donde la transformación geométrica es una rotación al espacio y los asocia a grupos de incidencia. Establece una tipología de procesos de resolución, analizando las estrategias, dificultades y errores, asociándola a grupos de incidencia.. Cuestionario. Análisis cualitativo. Análisis cuantitativo. Elabora las conclusiones en función de cada item del cuestionario. Las conclusiones generales se relacionan con la metodología utilizada; las estrategias, dificultades y errores de los alumnos; habilidad de orientación espacial de los alumnos; diferencias de comportamiento entre grupos; implementación de las habilidades..

Errors and self-correction in narrative distinguish ADHD from ADHD with language impairments. 'Los errores y autocorrecciones en la narración distinguen el TDAH del TDAH con trastornos del lenguaje'.

Resumen basado en el de la publicación. Resumen en español