864 resultados para Quadrotor. Variable reference control. Position and orientation control. UAV s


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sumé L'association entre la relation mère-enfant, la relation enseignant-élève et l'adaptation scolaire (compétences cognitives et sociaux) a reçu ultérieurement une attention considérable dans la littérature scientifique. En dépit de la quantité de recherches effectuées, il subsiste un besoin afin de mieux connaître les processus sous-jacent qui jouent un rôle dans cette relation. L’objectif de la recherche actuelle consiste en l’éclaircissement de l’association entre la relation enseignant-élève, le partenariat mère-enfant, et l’adaptation scolaire. Les différentes hypothèses de recherche étaient : la qualité de la relation enseignant-élève servira de facteur de protection à l’adaptation scolaire (ou à une des composantes) chez les enfantss de mères adolescentes dont le partenariat mère-enfant est de moindre qualité; la deuxième hypothèse était que le partenariat mère-enfant prédirait la qualité de la relation enseignant-élève, qui prédirait par la suite l’adaptation à la maternelle des enfantss de mères adolescentes. Finalement, la troisième hypothèse de recherche est que les deux relations (partenariat mère-enfant et relation enseignant-élève) contribuent de façon unique à l’adaptation scolaire. Ainsi, trois modèles d’association possibles ont été testé (modération, médiation et contributions uniques et additives) auprès d’une population à risque, soit les enfants de 5 anss d’une mère adolescente. L’échantillon provient d’un projet longitudinal prospectif, la «Mère-Veille,» et est composé de 30 dyades mère-enfant (N=30). La qualité du partenariat mère-enfant, évalué en laboratoire lorsque les enfants avaient 4 ans, a été mesurée à l’aide des récits narratifs co-construits. La qualité de la relation enseignant-élève a été mesurée via l’adaptation française du student teacher relationship scale à 5 ans. Finalement, la mesure de l’adaptation scolaire (comme variable dépendante) comprenant les compétences en numération et les dimensions comportementales (comportements intériorisés, extériorisés et compétences sociales) ont été évalué respectivement par l’entremise de l’adaptation française du number knowledge test et du profil socioaffectif. Une série de régressions linéaires (avec et sans variables contrôles) ont été effectuées pour estimer les trois modèles. La réponse aux hypothèses varie en fonction des différentes composantes de l’adaptation scolaire. Sommes toutes, nossultats ne suggèrent aucune relation significative ni processus intermédiaires.

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The present study was undertaken to evaluate the performance of Coir Vyavasaya Co-operative societies (CVCs) in Kerala. It was also intended to examine the extent of fulfillment of the objectives of Co-operativisation Scheme and the socio-economic betterment of worker members, Further the study was directed to find out the level of participation of members in the affairs of CVCs and to identify the major problems confronting the CVCs and the future prospects of the industry. The objectives of this study are to evaluate the performance of CVCs in Kerala with reference to the objectives of co-operativisation, socio-economic background of the worker members of the CVCs in the state, extent of members participation, major problems etc. Major findings of the study shows that 84% of CVCs surveyed were incurring losses, the long-term solvency position of the CVCS shows very pathetic situation, ration analysis shows and unhealthy state of affaires with respect to short-term solvency position and operating efficiency of all categories of CVS were found to be extremely poor. If CVCs are enabled to increase their quantity of production and there by the volume of business, their amount of loss can be reduced. If this is so, the societies can provide more days of employment to their work members, which will help them to earn more wages and thereby improve their economic and social conditions

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The present study is carried out to understand (i) the incidence and occurrence of species of Vibrio in different culture systems in and around Cochin, (ii) characteristics of vibrios isolates, their ecology including growth response to various hydrological parameters, sensitivity to about 40 antibiotics, and (iii) role of physico-chemical parameters in pathogenicity of vibrios, etc. and the results emerged from the investigations are important and encouraging for better understanding of the 'vibriosis' in the culture systems to develop remedial measures to control diseases. The Thesis begins with an “Introduction” followed by “A review of literature” on diseases of penaeid shrimps with particular reference to 'vibriosis' and “Material and methods” which details with the methods and procedures followed in the experiments and analyses of data. This Thesis consists of three chapters. Chapter Ideals with the incidence and ecology of Vibrio spp. in water, sediment and in juveniles of the Indian white prawn Penaeus indicus in the culture systems. In Chapter 2, characteristics of vibrio isolates including growth response to various levels oftemperature, salinity and pl 1, sensitivity to 40 antibiotics and minimal inhibitory concentration tests are detailed.e out-breaks. The Chapter 3 discusses the role of physico-chemical parameters in the incidence, seasonal abundance of Vibrio spp. and in 'vibriosis'. A summary of the whole work and list of references are also included at the end. This study gives a detailed information regarding the incidence and ecology of vibrios in the culture systems. their characteristics and pathogenicity

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There are a large number of agronomic-ecological interactions that occur in a world with increasing levels of CO2, higher temperatures and a more variable climate. Climate change and the associated severe problems will alter soil microbial populations and diversity. Soils supply many atmospheric green house gases by performing as sources or sinks. The most important of these gases include CH4, CO2 and N2O. Most of the green house gases production and consumption processes in soil are probably due to microorganisms. There is strong inquisitiveness to store carbon (C) in soils to balance global climate change. Microorganisms are vital to C sequestration by mediating putrefaction and controlling the paneling of plant residue-C between CO2 respiration losses or storage in semi-permanent soil-C pools. Microbial population groups and utility can be manipulated or distorted in the course of disturbance and C inputs to either support or edge the retention of C. Fungi play a significant role in decomposition and appear to produce organic matter that is more recalcitrant and favor long-term C storage and thus are key functional group to focus on in developing C sequestration systems. Plant residue chemistry can influence microbial communities and C loss or flow into soil C pools. Therefore, as research takings to maximize C sequestration for agricultural and forest ecosystems - moreover plant biomass production, similar studies should be conducted on microbial communities that considers the environmental situations

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Study on variable stars is an important topic of modern astrophysics. After the invention of powerful telescopes and high resolving powered CCD’s, the variable star data is accumulating in the order of peta-bytes. The huge amount of data need lot of automated methods as well as human experts. This thesis is devoted to the data analysis on variable star’s astronomical time series data and hence belong to the inter-disciplinary topic, Astrostatistics. For an observer on earth, stars that have a change in apparent brightness over time are called variable stars. The variation in brightness may be regular (periodic), quasi periodic (semi-periodic) or irregular manner (aperiodic) and are caused by various reasons. In some cases, the variation is due to some internal thermo-nuclear processes, which are generally known as intrinsic vari- ables and in some other cases, it is due to some external processes, like eclipse or rotation, which are known as extrinsic variables. Intrinsic variables can be further grouped into pulsating variables, eruptive variables and flare stars. Extrinsic variables are grouped into eclipsing binary stars and chromospheri- cal stars. Pulsating variables can again classified into Cepheid, RR Lyrae, RV Tauri, Delta Scuti, Mira etc. The eruptive or cataclysmic variables are novae, supernovae, etc., which rarely occurs and are not periodic phenomena. Most of the other variations are periodic in nature. Variable stars can be observed through many ways such as photometry, spectrophotometry and spectroscopy. The sequence of photometric observa- xiv tions on variable stars produces time series data, which contains time, magni- tude and error. The plot between variable star’s apparent magnitude and time are known as light curve. If the time series data is folded on a period, the plot between apparent magnitude and phase is known as phased light curve. The unique shape of phased light curve is a characteristic of each type of variable star. One way to identify the type of variable star and to classify them is by visually looking at the phased light curve by an expert. For last several years, automated algorithms are used to classify a group of variable stars, with the help of computers. Research on variable stars can be divided into different stages like observa- tion, data reduction, data analysis, modeling and classification. The modeling on variable stars helps to determine the short-term and long-term behaviour and to construct theoretical models (for eg:- Wilson-Devinney model for eclips- ing binaries) and to derive stellar properties like mass, radius, luminosity, tem- perature, internal and external structure, chemical composition and evolution. The classification requires the determination of the basic parameters like pe- riod, amplitude and phase and also some other derived parameters. Out of these, period is the most important parameter since the wrong periods can lead to sparse light curves and misleading information. Time series analysis is a method of applying mathematical and statistical tests to data, to quantify the variation, understand the nature of time-varying phenomena, to gain physical understanding of the system and to predict future behavior of the system. Astronomical time series usually suffer from unevenly spaced time instants, varying error conditions and possibility of big gaps. This is due to daily varying daylight and the weather conditions for ground based observations and observations from space may suffer from the impact of cosmic ray particles. Many large scale astronomical surveys such as MACHO, OGLE, EROS, xv ROTSE, PLANET, Hipparcos, MISAO, NSVS, ASAS, Pan-STARRS, Ke- pler,ESA, Gaia, LSST, CRTS provide variable star’s time series data, even though their primary intention is not variable star observation. Center for Astrostatistics, Pennsylvania State University is established to help the astro- nomical community with the aid of statistical tools for harvesting and analysing archival data. Most of these surveys releases the data to the public for further analysis. There exist many period search algorithms through astronomical time se- ries analysis, which can be classified into parametric (assume some underlying distribution for data) and non-parametric (do not assume any statistical model like Gaussian etc.,) methods. Many of the parametric methods are based on variations of discrete Fourier transforms like Generalised Lomb-Scargle peri- odogram (GLSP) by Zechmeister(2009), Significant Spectrum (SigSpec) by Reegen(2007) etc. Non-parametric methods include Phase Dispersion Minimi- sation (PDM) by Stellingwerf(1978) and Cubic spline method by Akerlof(1994) etc. Even though most of the methods can be brought under automation, any of the method stated above could not fully recover the true periods. The wrong detection of period can be due to several reasons such as power leakage to other frequencies which is due to finite total interval, finite sampling interval and finite amount of data. Another problem is aliasing, which is due to the influence of regular sampling. Also spurious periods appear due to long gaps and power flow to harmonic frequencies is an inherent problem of Fourier methods. Hence obtaining the exact period of variable star from it’s time series data is still a difficult problem, in case of huge databases, when subjected to automation. As Matthew Templeton, AAVSO, statesVariable star data analysis is not always straightforward; large-scale, automated analysis design is non-trivial”. Derekas et al. 2007, Deb et.al. 2010 states “The processing of xvi huge amount of data in these databases is quite challenging, even when looking at seemingly small issues such as period determination and classification”. It will be beneficial for the variable star astronomical community, if basic parameters, such as period, amplitude and phase are obtained more accurately, when huge time series databases are subjected to automation. In the present thesis work, the theories of four popular period search methods are studied, the strength and weakness of these methods are evaluated by applying it on two survey databases and finally a modified form of cubic spline method is intro- duced to confirm the exact period of variable star. For the classification of new variable stars discovered and entering them in the “General Catalogue of Vari- able Stars” or other databases like “Variable Star Index“, the characteristics of the variability has to be quantified in term of variable star parameters.

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Im Mittelpunkt der Arbeit steht die Frage, ob bei psychogenen Störungen Geschwistererfahrungen klinische Relevanz haben und ob die erfahrene Geschwisterposition und –konstellation auch im Erwachsenenalter psychodynamisch wirksam ist. Die Arbeit gliedert sich in drei Teile. Im ersten Teil werden in einem metatheoretischen Vorgehen psychoanalytische Konzepte, psychoanalytische Entwicklungstheorien aus der Objekt- und Selbstpsychologie und empirische Forschungsergebnisse zur Geschwisterbeziehung vorgestellt. Darauf aufbauend werden Annahmen formuliert, welche psychodynamischen Konflikte sich in einer pathologischen Entwicklung als psychische Störungen im Erwachsenenalter manifestieren können.Im zweiten Teil der Arbeit werden acht Einzelfälle psychoanalytischer Behandlungen von erwachsenen Patienten unterschiedlicher Geschwisterpositionen und -konstellationen dargestellt, die die in Teil 1 beschriebenen pathogenen Geschwistereinflüsse illustrieren. In den untersuchten Einzelfällen ist die erfahrene Geschwisterposition der Patienten konfliktbesetzt und psychodynamisch wirksam gewesen. Dabei haben die Erfahrungen mit den primären Objekten die Basis für die pathologische Beziehungsdynamik der Geschwister gebildet. Den dritten extra-klinisch empirischen Teil der Arbeit stellt eine explorative Pilotstudie dar, die ebenfalls das Ziel verfolgt, persistierende Geschwisterkonflikte in ihren langandauernden Effekten zu explorieren. Es handelt sich um eine Dokumentenanalyse von 215 Patientenakten aus einer psychosomatischen Klinik. Aus den Akten werden als Variablen ICD - und OPD - Diagnosen als auch inhaltsanalytisch ermittelte psychodynamische Konflikte herausgefiltert und mit den Variablen Geschwisterposition und –konstellation korreliert. Dabei wird erstens der Frage nachgegangen, ob es in den Akten von psychisch erkrankten Patienten zwischen Einzel- und Geschwisterkindern Unterschiede in Bezug auf die Diagnosen und hinsichtlich der formulierten psychodynamischen Konflikte gibt. Zweitens geht es um eine weitergehende Exploration dieser Variablen in Bezug auf die erfahrene Geschwisterposition bzw. –konstellation. Es zeigt sich, dass die ICD-10 Diagnostik aufgrund ihres deskriptiven Charakters und ihrer psychiatrischen Orientierung wenig brauchbar ist, diesbezügliche Hypothesen zu formulieren. Im Unterschied zur ICD-10 ergibt sich in Bezug auf die OPD-Diagnostik, besonders aber in Hinsicht auf die psychodynamischen Konflikte ein differenzierteres Bild. So sind z.B. Parentifizierung am häufigsten von Einzelkindern und Erstgeborenen benannt worden. Gleichzeitig berichten Patienten, die mit Geschwistern aufgewachsen sind, am stärksten von erlebtem emotionalem Mangel in der Familie. Unter Dominanzkonflikten leiden die Patienten am meisten, die als jüngstes Kind aufgewachsen sind. Bei Patienten mit der jüngsten und mittleren Geschwisterposition ist als weiteres Beispiel auffallend oft Altruismus ermittelt worden. Fazit der Arbeit ist, dass ungelöste Geschwisterkonflikte langandauernde Effekte haben können und dass - im Gegensatz zur Birth-Order-Forschung - die Variable der Geschwisterposition unter Berücksichtigung geschlechtsspezifischer Aspekte als ein intra- und interpsychisches dynamisches Geschehen begriffen werden kann.

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This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.

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Históricamente, las fronteras colombianas han sido porosas, frágiles y descuidadas desde una perspectiva política. La extrema pobreza y la ausencia de instituciones estatales han dejado a las poblaciones vulnerables ante diversos actores armados y a merced de las actividades ilícitas, que inevitablemente se desbordan y afectan los territorios vecinos. El desborde de los efectos del conflicto armado a territorio ecuatoriano, los enfrentamientos e incursiones del ejército colombiano, y la presencia de actores no estatales como los grupos al margen de la ley, han hecho que las relaciones bilaterales se minen, dañando lo que alguna vez fue una cordialidad constructiva entre Colombia y Ecuador. Para analizar esta problemática, se utilizaron las teorías de las relaciones internacionales de Interdependencia y seguridad cooperativa.

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Background: Isometric grip strength, evaluated with a handgrip dynamometer, is a marker of current nutritional status and cardiometabolic risk and future morbidity and mortality. We present reference values for handgrip strength in healthy young Colombian adults (aged 18 to 29 years). Methods: The sample comprised 5.647 (2.330 men and 3.317 women) apparently healthy young university students (mean age, 20.6±2.7 years) attending public and private institutions in the cities of Bogota and Cali (Colombia). Handgrip strength was measured two times with a TKK analogue dynamometer in both hands and the highest value used in the analysis. Sex- and age-specific normative values for handgrip strength were calculated using the LMS method and expressed as tabulated percentiles from 3 to 97 and as smoothed centile curves (P3, P10, P25, P50, P75, P90 and P97). Results: Mean values for right and left handgrip strength were 38.1±8.9 and 35.9±8.6 kg for men, and 25.1±8.7 and 23.3±8.2 kg for women, respectively. Handgrip strength increased with age in both sexes and was significantly higher in men in all age categories. The results were generally more homogeneous amongst men than women. Conclusions: Sex- and age-specific handgrip strength normative values among healthy young Colombian adults are defined. This information may be helpful in future studies of secular trends in handgrip strength and to identify clinically relevant cut points for poor nutritional and elevated cardiometabolic risk in a Latin American population. Evidence of decline in handgrip strength before the end of the third decade is of concern and warrants further investigation

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Los solventes orgánicos son sustancias químicas que por sus propiedadessico-químicas son fácilmente inhalados o absorbidos por la piel, pueden causar daños de diversa índole en la salud. En Colombia existen normas que contemplan las medidas de protección, sin embargo persiste la informalidad en el sector de pintores de autos, por lo cual los trabajadores expuestos, a largo plazo pueden ver afectada su salud. En este estudio se analizó la relación entre individuos expuestos laboralmente a los solventes orgánicos versus no expuestos con respecto a la longitud de sus telómeros y formación de fragilidades. Se emplearon muestras de sangre extraídas por venopunción, recolectada en dos tubos: uno con Heparina, destinado al cultivo de linfocitos, para obtener cromosomas metafásicos y evaluar en ellos la presencia de fragilidades; el otro tubo con EDTA, fue empleado para la extracción de ADN y se utilizó para obtener los valores de longitud telomérica mediante la técnica de PCR cuantitativa. Los análisis estadísticos se realizaron aplicando la prueba de rangos de Wilcoxon, en el caso de la presencia de fragilidades se analizó la razón No.Fragilidades/No.Metafases, aplicando el método de Wilcoxon se encontró que existe diferencia estadísticamente significativa entre expuestos y no expuestos (p = 0,036), en donde los expuestos presentan mayor frecuencia de fragilidades. Por otra parte el valor relativo de longitud telomérica del grupo de expuestos fue mayor que el observado en el grupo de no expuestos, esta diferencia fue estadísticamente significativa (Wilcoxon, p = 0.002).

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El presente trabajo de grado se basa en el estudio y análisis financiero de la empresa E.M.E. Estructuras Metálicas S.A., ubicada en la ciudad de Manizales, Caldas, éste tomará como referencia los últimos cuatro años de funcionamiento operativo de la empresa y se realizará una comparación en el comportamiento de los mismos. El trabajo busca identificar las fortalezas y las debilidades que presentó el desarrollo de las actividades de la empresa, a su vez se realizará un breve análisis del sector metalmecánico, al cual pertenece la empresa, para sentar bases comparativas que permitan fortalecer el análisis. El análisis financiero se realizará basado en el método tradicional utilizando indicadores como solvencia, liquidez, actividad, y rentabilidad de la empresa, a este se le sumará el análisis moderno el cual incluye indicadores de creación y/o destrucción de valor por parte de la empresa junto con su flujo de efectivo y su demás componentes. Al final se realizará una descripción de los diferentes sistemas de costos que se utilizan generalmente en las empresas y se identificará el más acorde con la empresa. Finalmente, se identificarán los principales problemas que presenta la empresa los cuales llevaran las respectivas recomendaciones de mejora que el autor definirá de acuerdo a los resultados obtenidos después del análisis.

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Estudio cualitativo que analiza los abordajes teóricos utilizados por diferentes autores en la comprensión de la influencia de los recursos económicos en la actividad física desde los modelos de determinantes y determinación social.

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The changes that occur with age in the distribution of atherosclerotic lesions around arterial branch points challenge accepted theories relating disease to haemodynamic stresses. We investigated whether flow near branch points changes with age in a way that can account for the different lesion distributions. Flow around 20 branches from immature and mature aortas was investigated by examining the length:width ratio and orientation of endothelial nuclei; these properties depend on the magnitude and direction of near-wall flows, respectively. There were significant changes in the pattern of nuclear shape with age, consistent with a reversal in the pattern of shear around branches. In control regions away from branches, there were no such changes. The role of haemodynamic stresses in atherogenesis may require re-evaluation in the light of these results. (C) 2003 Elsevier Ireland Ltd. All rights reserved.

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The changes that occur with age in the distribution of atherosclerotic lesions around arterial branch points challenge accepted theories relating disease to haemodynamic stresses. We investigated whether flow near branch points changes with age in a way that can account for the different lesion distributions. Flow around 20 branches from immature and mature aortas was investigated by examining the length:width ratio and orientation of endothelial nuclei; these properties depend on the magnitude and direction of near-wall flows, respectively. There were significant changes in the pattern of nuclear shape with age, consistent with a reversal in the pattern of shear around branches. In control regions away from branches, there were no such changes. The role of haemodynamic stresses in atherogenesis may require re-evaluation in the light of these results.

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The 23S ribosomal RNA (rRNA) gene has been sequenced in strains of the fish pathogens Photobacterium damselae subsp. damselae (ATCC 33539) and subsp. piscicida (ATCC 29690), showing that 3 nucleotide positions are clearly different between subspecies. In addition, the 5S rRNA gene plus the intergenic spacer region between the 23S and 5S rRNA genes (ITS-2) were amplified, cloned and sequenced for the 2 reference strains as well as the field isolates RG91 (subsp. damselae) and DI21 (subsp. piscicida). A 100% similarity was found for the consensus 5S rRNA gene sequence in the 2 subspecies, although some microheterogeneity was detected as inter-cistronic variability within the same chromosome. Sequence analysis of the spacer region between the 23S and 5S rRNA genes revealed 2 conserved and 3 variable nucleotide sequence blocks, and 4 different modular organizations were found. The ITS-2 spacer region exhibited both inter-subspecies and inter-cistronic polymorphism, with a mosaic-like structure. The EMBL accession numbers for the 23S, 5S and ITS-2 sequences are: P. damselae subsp. piscicida 5S gene (AJ274379), P. damselae subsp. damselae 23S gene (Y18520), subsp. piscicida 23S gene (Y17901), R damselae subsp. piscicida ITS-2 (AJ250695, AJ250696), P. damselae subsp. damselae ITS-2 (AJ250697, AJ250698).