Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Fast calculation of the CAC convolution algorithm using the multinomial distribution function

The authors focus on one of the methods for connection acceptance control (CAC) in an ATM network: the convolution approach. With the aim of reducing the cost in terms of calculation and storage requirements, they propose the use of the multinomial distribution function. This permits direct computation of the associated probabilities of the instantaneous bandwidth requirements. This in turn makes possible a simple deconvolution process. Moreover, under certain conditions additional improvements may be achieved

A Label space reduction algorithm for P2MP LSPs using asymmetric tunnels

The aim of traffic engineering is to optimise network resource utilization. Although several works on minimizing network resource utilization have been published, few works have focused on LSR label space. This paper proposes an algorithm that uses MPLS label stack features in order to reduce the number of labels used in LSPs forwarding. Some tunnelling methods and their MPLS implementation drawbacks are also discussed. The algorithm described sets up the NHLFE tables in each LSR, creating asymmetric tunnels when possible. Experimental results show that the algorithm achieves a large reduction factor in the label space. The work presented here applies for both types of connections: P2MP and P2P

Speculative parallelization of multipath radiosity algorithm

In computer graphics, global illumination algorithms take into account not only the light that comes directly from the sources, but also the light interreflections. This kind of algorithms produce very realistic images, but at a high computational cost, especially when dealing with complex environments. Parallel computation has been successfully applied to such algorithms in order to make it possible to compute highly-realistic images in a reasonable time. We introduce here a speculation-based parallel solution for a global illumination algorithm in the context of radiosity, in which we have taken advantage of the hierarchical nature of such an algorithm

The Inner Meaning of Outer Space: Human Nature and the Celestial Realm

Kant argued that humans possess a priori knowledge of space; although his argument focused on a physics of bodies, it also has implications for a psychology of beings. Many human cultures organize stars in the night sky into constellations (i.e., impose structure); attribute properties, behaviors, and abilities to objects in the celestial realm (i.e., impose meaning); and use perceived regularity in the celestial realms in development of calendars, long-range navigation, agriculture, and astrology (i.e., seek predictability and control). The physical inaccessibility of the celestial realm allows a potent source of metaphor, and also allows projection of myths regarding origin and ascension, places of power, and dwelling places of gods, immortals, and other souls. Developments in astronomy and cosmology influenced views of human nature and the place of humanity in the universe, and these changes parallel declines in egocentrism with human development. Views regarding alleged beings (e.g., angels, extraterrestrials) from the celestial realm (and to how communicate with such beings) are anthropocentric and ignore evolutionary factors in physical and cognitive development. It is suggested that in considering views and uses of the celestial realm, we learn not just about the universe, but also about ourselves. 

salud financiera y riesgo en los estados financieros de la empresa avianca del sector aeronautico

La globalización y la competitividad como realidad de las empresas, implica que los gerentes preparen a sus empresas de la mejor manera para sobrevivir en este mundo tan inestable y cambiante. El primer paso consta de investigar y medir como se encuentra la empresa en cada uno de sus componentes, tales como recurso humano, mercadeo, logística, operación y por último y más importante las finanzas. El conocimiento de salud financiera y de los riesgos asociados a la actividad de las empresas, les permitirá a los gerentes tomar las decisiones correctas para ser rentables y perdurables en el mundo de los negocios inmerso en la globalización y competitividad. Esta apreciación es pertinente en Avianca S.A. esto teniendo en cuenta su progreso y evolución desde su primer vuelo el 5 de diciembre de 1919 comercial, hasta hoy cuando cotiza en la bolsa de Nueva York. Se realizó un análisis de tipo descriptivo, acompañado de la aplicación de ratios y nomenclaturas, dando lugar a establecer la salud financiera y los riesgos, no solo de Avianca sino también del sector aeronáutico. Como resultado se obtuvo que el sector aeronáutico sea financieramente saludable en el corto plazo, pero en el largo plazo su salud financiera se ve comprometida por los riegos asociados al sector y a la actividad desarrollada.

An approximation to the digital divide among low income people in Colombia, Mexico and Perú: two composite indexes

El estudio analiza los determinantes de uso y acceso a las tecnologías de información y comunicación en personas de bajos ingresos en pasases como Colombia, México y Perú. El punto central está en analizar las diferencias entre países de acuerdo a diferentes variables socioeconómicas. Se encuentra que la variable que más explica el nivel de acceso digital es la escolaridad. De otro lado no se encuentra una brecha por género sino en Perú. Los resultados también indican que cuando solo se tienen en cuenta las tecnologías más ‘avanzadas’, las diferencias entre la población son más notorias

An approximation to the informal-formal wage gap in Colombia 2008-2012

This document provides recent evidence about the persistency of wage gaps between formal and informal workers in Colombia by using a non-parametric method proposed by Ñopo (2008a). Over a rich dataset at a household level during 2008-2012, it is found that formal workers earn between 30 to 60 percent more, on average, than informal workers. Despite of the formality definition - structuralist or institucionalist- adopted, it is clear that formal workers have more economic advantages than informal ones, but after controlling by demographic and labor variables an important fraction of the gap still remains unexplained.

An artificial economy based on reinforcement learning and agent based modeling

In this paper, we employ techniques from artificial intelligence such as reinforcement learning and agent based modeling as building blocks of a computational model for an economy based on conventions. First we model the interaction among firms in the private sector. These firms behave in an information environment based on conventions, meaning that a firm is likely to behave as its neighbors if it observes that their actions lead to a good pay off. On the other hand, we propose the use of reinforcement learning as a computational model for the role of the government in the economy, as the agent that determines the fiscal policy, and whose objective is to maximize the growth of the economy. We present the implementation of a simulator of the proposed model based on SWARM, that employs the SARSA(λ) algorithm combined with a multilayer perceptron as the function approximation for the action value function.

An approximation to the standard of living index: the Colombian case

El documento busca mostrar las principales propiedades de un indicador de estándar de vida dentro del enfoque teórico de Amartya Sen. Establecemos un puente entre conceptos tales como: bienestar económico, bienestar, logro de agencia y estándar de vida. La metodología del Optimal scaling fue usada para probar las propiedades de Monotonicidad, No independencia de alternativas irrelevantes, Concavidad, informatividad y sustituibilidad.

Refutations and the Logic of Practice. 'Refutaciones y la Lógica de la Práctica'.

Resumen basado en el de la publicación

The effect of skewness and kurtosis on the Kenward-Roger approximation when group distributions differ

Resumen tomado de la publicaci??n

A Monte Carlo-Based Fiber Tracking Algorithm using Diffusion Tensor MRI

Diffusion tensor magnetic resonance imaging, which measures directional information of water diffusion in the brain, has emerged as a powerful tool for human brain studies. In this paper, we introduce a new Monte Carlo-based fiber tracking approach to estimate brain connectivity. One of the main characteristics of this approach is that all parameters of the algorithm are automatically determined at each point using the entropy of the eigenvalues of the diffusion tensor. Experimental results show the good performance of the proposed approach