Multi-sensor Simultaneous Localization and Mapping

Simultaneous localization and mapping(SLAM) is a very important problem in mobile robotics. Many solutions have been proposed by different scientists during the last two decades, nevertheless few studies have considered the use of multiple sensors simultane¬ously. The solution is on combining several data sources with the aid of an Extended Kalman Filter (EKF). Two approaches are proposed. The first one is to use the ordinary EKF SLAM algorithm for each data source separately in parallel and then at the end of each step, fuse the results into one solution. Another proposed approach is the use of multiple data sources simultaneously in a single filter. The comparison of the computational com¬plexity of the two methods is also presented. The first method is almost four times faster than the second one.

Tietovaraston uudelleensuunnittelu ja toteuttaminen

Tietovarastointi on yleistynyt yritysten raportoinnin tietolähteenä. Tietovarastojen avulla voidaan kehittää monipuolisia raportointiratkaisuja. Datamäärän ja käyttäjämäärän kasvu sekä raporttien monipuolistuminen aiheuttavat suorituskykyhaasteita. Tässä työssä käydään läpi tietovaraston uudelleensuunnittelu suorituskykyhaasteisiin keskittyen. Työn tavoitteena oli sekä tietovaraston käytön että ylläpidon tehostaminen. Työvaiheina olivat arkkitehtuurin kehittäminen, faktan ja dimensioiden optimointi, ETL-prosessin tehostaminen, paikallisvarastojen rakentaminen sekä osioinnin, indeksien ja aggregaatiosummien tehokkaampi hyödyntäminen. Tavoitteen toteutumista mitattiin toistamalla työn eri vaiheissa suorituskykytestejä. Tuloksena saavutettiin merkittävä suorituskyvyn parantuminen erityisesti työn aikana luoduissa paikallisvarastoissa. Tietovarastoon tehtävien kyselyiden ja hallintatoimenpiteiden kesto pieneni yleisesti noin kolmannekseen. Erillisiin käyttötarkoituksiin räätälöityihin paikallisvarastoihin tehtävien kyselyjen kesto pieneni noin kymmenykseen tai parhaassa tapauksessa jopa sadasosaan

A practice perspective on organizational implementation of information technology

Implementering av ett informationssystem ur en organisatorisk synvinkel initieras av en idé om ett system och avslutas då användningen av det inte längre kräver en medveten ansträngning. Ifall tolkningen av implementering är denna, är det fråga om en långsam och komplicerad process, som berör organisationens alla parter. Ny informationsteknologi anses påverka flertalet arbetsprocesser och organiseringen av det dagliga arbetet. Möjligheterna att ta i bruk systemet och utnyttja det är många. I avhandlingen undersöks implementering av ett system för att administrera hemvårdsbesök där hemvårdare använde handdatorer för att registrera information om besökens längd och innehåll. I avhandlingen observeras vilka förändringar som sker i arbetets praxis p.g.a. det nya systemet och hur dessa förändringar påverkar vårdarbetet. Forskningen inleds med att strukturera teorier om arbetspraxis för kommande analys. Arbetspraxis är inarbetade och rutinmässiga arbetssätt i arbetets sociomateriella omgivning. Arbetspraxis i avhandlingen innebär hemvårdarens praxis och upplevd erfarenhet, där verksamheten informeras av gemensamma arbetssätt, projekt, identiteter och intressen. Organisationens auktoritet kommer även fram i den förverkligade arbetspraxisen. Forskningen genomfördes som en etnografisk longitudinell studie under åren 2001-2004. I studien observerades hur nyttjandet av handdatorerna framskred ur ett organisatoriskt perspektiv. Hemvårdares arbete och verksamhet (arbetspraxis) observerades både under vårdsbesök och under pauser. Därtill intervjuades hemvårdarna för att erhålla en bättre förståelse för de rationaliteter som styr arbetet och hur systemet togs i bruk. Dokument relaterade till projektet att införa ett nytt system och administrativa dokument har utnyttjats som källmaterial. Analysen av källmaterialet styrdes av det teoretiska tillvägagångssättet att undersöka arbetspraxis. Problem som identifierades i samband med införandet av systemet och de förändringar som det medförde analyserades i detalj. Parallellt analyserades organisatorisk makt, kontroll och arbetsidentitet. Undersökningen beskriver hur det nya systemet gradvis anpassades till hemvården efter ett initialt motstånd. Under själva implementering av systemet ifrågasattes tidigare arbetspraxis och inställningen till den eftersom arbetspraxisens materiella omgivning förändrades. Det teoretiska tillvägagångssättet i att undersöka arbetspraxis framhäver vårdarens agerande i förändringsprocessen. Resultatet av forskningen visar vikten av realistiska målsättningar, givande av gruppstöd med återkoppling samt förmåga att anpassa sig till det oväntade vid införande av informationssystem.

Effects of Socioeconomic Status and Sociodemographic Features on Cardiovascular Disease. Mortality and Morbidity in Finland

Despite declining trends in morbidity and mortality, cardiovascular diseases have a considerable impact on Finnish public health. A goal in Finnish health policy is to reduce inequalities in health and mortality among population groups. The aim of this study was to assess inequalities in cardiovascular diseases according to socioeconomic status (SES), language groups and other sociodemographic characteristics. The main data source was generated from events in 35-99 year-old men and women registered in the population-based FINMONICA and FINAMI myocardial infarction registers during the years ranging from 1988-2002. Information on population group characteristics was obtained from Statistics Finland. Additional data were derived from the FINMONICA and FINSTROKE stroke registers and the FINRISK Study. SES, measured by income level, was a major determinant of acute coronary syndrome (ACS) mortality. Among middle-aged men, the 28-day mortality rate of the lowest group of six income groups was 5.2 times and incidence 2.7 times as high when compared to the highest income group. Among women, the differences were even larger. Among the unmarried, the incidence of ACS was approximately 1.6 times as high and their prognosis was significantly worse than among married persons - both in men and women and independent of age. Higher age-standardized attack rates of ACS and stroke were found among Finnish-speaking compared to Swedish-speaking men in Turku and these differences could not be completely explained by SES. In these language groups, modest differences were found in traditional risk factor levels possibly explaining part of the found morbidity and mortality inequality. In conclusion, there are considerable differences in the morbidity and mortality of ACS and stroke between socioeconomic and sociodemographic groups, in Finland. Focusing measures to reduce the excess morbidity and mortality, in groups at high risk, could decrease the economic burden of cardiovascular diseases and thus be an important public health goal in Finland.

Developing Service-based Solutions for Water Treatment in Finnish Mining Industry

The aim of this master’s thesis is to analyze the mining industry customers' current and future needs for the water treatment services and discover new business development opportunities in the context of mine water treatment. In addition, the study focuses on specifying service offerings needed and evaluate suitable revenue generation models for them. The main research question of the study is: What kind of service needs related to water treatment can be identified in the Finnish mining industry? The literature examined in the study focused on industrial service classification and new service development process as well as the revenue generation of services. A qualitative research approach employing a case study method was chosen for the study. The present study uses customer and expert interviews as primary data source, complemented by archival data. The primary data was gathered by organizing total of 13 interviews, and the interviews were analyzed by using qualitative content analysis. The abductive-logic was chosen as the way of conducting scientific reasoning in this study. As a result, new service proposals were developed for Finnish mine industry suppliers. The main areas of development were on asset efficiency services and process support services. The service needs were strongly associated with suppliers’ know-how of water treatment process optimization, cost-effectiveness as well as on alternative technologies. The study provides an insight for managers that wish to pursue a water treatment services as a part of their business offering.

Main food sources of carotenoids, according to the purpose and degree of processing, for beneficiaries of the 'Bolsa Família' in Brazil

The intake of carotenoids is associated with antioxidant properties and some of these substances have activity of pro-vitamin A. This study aimed to estimate the intake of carotenoids (average values) by the Brazilian population focusing on beneficiaries of the 'Bolsa Família' Program and identify the dietary sources, according to the purpose and degree of processing and the inclusion of food additives. The database used is the personal food consumption module of the Household Budget Survey of 2008-2009, conducted by the Brazilian Institute of Geography and Statistics. The content of carotenoids in foods was obtained primarily from a National data source. Food products were classified into three categories: 1) fresh and minimally processed foods; 2) processed foods (containing food additives, except for flavoring and coloring agents); and 3) highly processed foods (containing flavoring and coloring agents). Insufficient intakes were identified for the conditional cash transfer program beneficiaries (3,547.1 µg). Fresh and minimally processed foods supplied between 48.6% (for girls) and 65.7% (for male adults) of pro-vitamin carotenoids. Processed foods were sources of between 55.5% and 57.0% of lutein + zeaxanthin for elderly and between 58.0% and 67.8% of lycopene for adults. Highly processed foods contributed to less than 5.0% of total carotenoids.

Development of the Food List for a Brazilian Total Diet Study

The objective of this paper is to establish a methodology for the Food List for the southeastern region of Brazil, according to the Total Diet Study (TDS) harmonized methodology at international level. The Food List can provide data for a further TDS with evaluation of essential and toxic element dietary intakes by food analysis in laboratories. The food consumption data source used was from 2008-2009 Household Budget Survey, by the Brazilian Institute of Geography and Statistics. The Food List was composed of 82 food items grouped into 19 food groups. It reflects 100% of the daily individual food consumption inside and outside Brazilian southeastern population households. According to the recommendation that each country should carry out their own TDS and the TDS methodology used, the Food List construction can contribute to the Food List of other Brazilian regions and other countries, besides allowing the TDS development. Additionally, the Food List showed the typical diet for the southeastern region of Brazil.

La migration de retour de la population italienne immigrée au Canada et en Belgique

Thèse numérisée par la Division de la gestion de documents et des archives de l'Université de Montréal

L’utilisation de la polarimétrie radar et de la décomposition de Touzi pour la caractérisation et la classification des physionomies végétales des milieux humides : le cas du Lac Saint-Pierre.

Les milieux humides remplissent plusieurs fonctions écologiques d’importance et contribuent à la biodiversité de la faune et de la flore. Même s’il existe une reconnaissance croissante sur l’importante de protéger ces milieux, il n’en demeure pas moins que leur intégrité est encore menacée par la pression des activités humaines. L’inventaire et le suivi systématique des milieux humides constituent une nécessité et la télédétection est le seul moyen réaliste d’atteindre ce but. L’objectif de cette thèse consiste à contribuer et à améliorer la caractérisation des milieux humides en utilisant des données satellites acquises par des radars polarimétriques en bande L (ALOS-PALSAR) et C (RADARSAT-2). Cette thèse se fonde sur deux hypothèses (chap. 1). La première hypothèse stipule que les classes de physionomies végétales, basées sur la structure des végétaux, sont plus appropriées que les classes d’espèces végétales car mieux adaptées au contenu informationnel des images radar polarimétriques. La seconde hypothèse stipule que les algorithmes de décompositions polarimétriques permettent une extraction optimale de l’information polarimétrique comparativement à une approche multipolarisée basée sur les canaux de polarisation HH, HV et VV (chap. 3). En particulier, l’apport de la décomposition incohérente de Touzi pour l’inventaire et le suivi de milieux humides est examiné en détail. Cette décomposition permet de caractériser le type de diffusion, la phase, l’orientation, la symétrie, le degré de polarisation et la puissance rétrodiffusée d’une cible à l’aide d’une série de paramètres extraits d’une analyse des vecteurs et des valeurs propres de la matrice de cohérence. La région du lac Saint-Pierre a été sélectionnée comme site d’étude étant donné la grande diversité de ses milieux humides qui y couvrent plus de 20 000 ha. L’un des défis posés par cette thèse consiste au fait qu’il n’existe pas de système standard énumérant l’ensemble possible des classes physionomiques ni d’indications précises quant à leurs caractéristiques et dimensions. Une grande attention a donc été portée à la création de ces classes par recoupement de sources de données diverses et plus de 50 espèces végétales ont été regroupées en 9 classes physionomiques (chap. 7, 8 et 9). Plusieurs analyses sont proposées pour valider les hypothèses de cette thèse (chap. 9). Des analyses de sensibilité par diffusiogramme sont utilisées pour étudier les caractéristiques et la dispersion des physionomies végétales dans différents espaces constitués de paramètres polarimétriques ou canaux de polarisation (chap. 10 et 12). Des séries temporelles d’images RADARSAT-2 sont utilisées pour approfondir la compréhension de l’évolution saisonnière des physionomies végétales (chap. 12). L’algorithme de la divergence transformée est utilisé pour quantifier la séparabilité entre les classes physionomiques et pour identifier le ou les paramètres ayant le plus contribué(s) à leur séparabilité (chap. 11 et 13). Des classifications sont aussi proposées et les résultats comparés à une carte existante des milieux humide du lac Saint-Pierre (14). Finalement, une analyse du potentiel des paramètres polarimétrique en bande C et L est proposé pour le suivi de l’hydrologie des tourbières (chap. 15 et 16). Les analyses de sensibilité montrent que les paramètres de la 1re composante, relatifs à la portion dominante (polarisée) du signal, sont suffisants pour une caractérisation générale des physionomies végétales. Les paramètres des 2e et 3e composantes sont cependant nécessaires pour obtenir de meilleures séparabilités entre les classes (chap. 11 et 13) et une meilleure discrimination entre milieux humides et milieux secs (chap. 14). Cette thèse montre qu’il est préférable de considérer individuellement les paramètres des 1re, 2e et 3e composantes plutôt que leur somme pondérée par leurs valeurs propres respectives (chap. 10 et 12). Cette thèse examine également la complémentarité entre les paramètres de structure et ceux relatifs à la puissance rétrodiffusée, souvent ignorée et normalisée par la plupart des décompositions polarimétriques. La dimension temporelle (saisonnière) est essentielle pour la caractérisation et la classification des physionomies végétales (chap. 12, 13 et 14). Des images acquises au printemps (avril et mai) sont nécessaires pour discriminer les milieux secs des milieux humides alors que des images acquises en été (juillet et août) sont nécessaires pour raffiner la classification des physionomies végétales. Un arbre hiérarchique de classification développé dans cette thèse constitue une synthèse des connaissances acquises (chap. 14). À l’aide d’un nombre relativement réduit de paramètres polarimétriques et de règles de décisions simples, il est possible d’identifier, entre autres, trois classes de bas marais et de discriminer avec succès les hauts marais herbacés des autres classes physionomiques sans avoir recours à des sources de données auxiliaires. Les résultats obtenus sont comparables à ceux provenant d’une classification supervisée utilisant deux images Landsat-5 avec une exactitude globale de 77.3% et 79.0% respectivement. Diverses classifications utilisant la machine à vecteurs de support (SVM) permettent de reproduire les résultats obtenus avec l’arbre hiérarchique de classification. L’exploitation d’une plus forte dimensionalitée par le SVM, avec une précision globale maximale de 79.1%, ne permet cependant pas d’obtenir des résultats significativement meilleurs. Finalement, la phase de la décomposition de Touzi apparaît être le seul paramètre (en bande L) sensible aux variations du niveau d’eau sous la surface des tourbières ouvertes (chap. 16). Ce paramètre offre donc un grand potentiel pour le suivi de l’hydrologie des tourbières comparativement à la différence de phase entre les canaux HH et VV. Cette thèse démontre que les paramètres de la décomposition de Touzi permettent une meilleure caractérisation, de meilleures séparabilités et de meilleures classifications des physionomies végétales des milieux humides que les canaux de polarisation HH, HV et VV. Le regroupement des espèces végétales en classes physionomiques est un concept valable. Mais certaines espèces végétales partageant une physionomie similaire, mais occupant un milieu différent (haut vs bas marais), ont cependant présenté des différences significatives quant aux propriétés de leur rétrodiffusion.

A location aided cooperative caching protocol for mobile ad hoc networks

Cooperative caching is an attractive solution for reducing bandwidth demands and network latency in mobile ad hoc networks. Deploying caches in mobile nodes can reduce the overall traffic considerably. Cache hits eliminate the need to contact the data source frequently, which avoids additional network overhead. In this paper we propose a data discovery and cache management policy for cooperative caching, which reduces the caching overhead and delay by reducing the number of control messages flooded in to the network. A cache discovery process based on location of neighboring nodes is developed for this. The cache replacement policy we propose aims at increasing the cache hit ratio. The simulation results gives a promising result based on the metrics of studies

Energy Efficient Cache Discovery in Wireless Mobile Ad oc Networks

Data caching is an attractive solution for reducing bandwidth demands and network latency in mobile ad hoc networks. Deploying caches in mobile nodes can reduce the overall traf c considerably. Cache hits eliminate the need to contact the data source frequently, which avoids additional network overhead. In this paper we propose a data discovery and cache management policy for cooperative caching, which reduces the power usage, caching overhead and delay by reducing the number of control messages flooded into the network .A cache discovery process based on position cordinates of neighboring nodes is developed for this .The stimulstion results gives a promising result based on the metrics of the studies.

Tourist Profiles and Characteristics vis-à-vis Market Segmentation of Ecotourism Destinations in Kerala

Kerala, a classic ecotourism destination in India, provides significant opportunities for livelihood options to the people who depend on the resources from the forest and those who live in difficult terrains. This article analyses the socio-demographic, psychographic and travel behavior patterns and its sub-characteristics in the background of foreign and domestic tourists. The data source for the article has been obtained from a primary survey of 350 randomly chosen tourists, 175 each from domestic and foreign tourists, visiting Kerala’s ecotourists destinations during August-December 2010-11. Several socio-demographic, psychographic and life style factors have been identified based on the inference from field survey. There is considerable divergence in most of the factors identified in the case of domestic and international tourists. Post-trip attributes like satisfaction and intentions to return show that the ecotourism destinations in Kerala have significant potential that can help communities in the region.

Standard of Living and Community Perception in the Community Based Ecotourism (CBET) Sites of Kerala: An Inter Zone Analysis

This study is an attempt to situate the quality of life and standard of living of local communities in ecotourism destinations inter alia their perception on forest conservation and the satisfaction level of the local community. 650 EDC/VSS members from Kerala demarcated into three zones constitute the data source. Four variables have been considered for evaluating the quality of life of the stakeholders of ecotourism sites, which is then funneled to the income-education spectrum for hypothesizing into the SLI framework. Zone-wise analysis of the community members working in tourism sector shows that the community members have benefited totally from tourism development in the region as they have got both employments as well as secured livelihood options. Most of the quality of life-indicators of the community in the eco-tourist centres show a promising position. The community perception does not show any negative impact on environment as well as on their local culture.

Plasmapheresis vs. immunoglobulin in autoimmune neurologic diseases: a meta-analysis

Objectives: to evaluate the efficacy and safety of human immunoglobulin versus plasmapheresis in the management of autoimmune neurologic diseases. Likewise, length of hospital stay and duration of ventilator support were compared. Methods: Randomized controlled trials and analytical observational studies of more than 10 cases, were reviewed. Cochrane Neuromuscular Disease Group trials, MEDLINE, EMBASE, HINARI Ovid, the Database of abstracts of reviews of effectiveness and the Economic evaluation Database were searched as data source. Reference lists were examined for further relevant articles. A random-effect model was used to derive a pooled risk ratio. Results: 725 articles were found and 27 met the criteria for a population studied of 4717 cases: 14 articles were about Guillain Barré syndrome, 10 of Myasthenia Gravis, one of Sydenham Chorea, one of Chronic inflammatory demyelinating polyneuropathy, and one of PANDAS. No evidence was found in favor of any of the two treatments as regards effectiveness (OR 0.94, IC 0.63 – 1.41, p= 0.77) or ventilator support time; IGIV had a significant better safety profile than plasmapheresis (OR 0.70, IC 0.51 – 0.96, p= 0.03) and patients needed less time of hospital stay (p=0.03). Conclusions: There is no evidence for superiority in the effectiveness of immunoglobulin or plasmapheresis in the management of autoimmune neurologic diseases. Nevertheless, patients treated with immunoglobulin have statistically significant less adverse effects, a shorter hospital stay and a tendency of less ventilator support time. These premises could lead to fewer costs for health services but an economic study should be done.

Primary Prevention and Screening Strategies for Colorectal Cancer: Which Strategy Should Take?

Objective: To explore and define the utility of different strategies for primary prevention (ASA, diet, physical activity) and strategies of screening test (FOBT, sigmoidoscopy, colonoscopy, etc.) for colorectal cancer. Data source: Databases consulted were MEDLINE (1966 to 2006), DARE (1980 to 2006), Cochrane Central Register of Controlled Trials, Cochrane Collaboration’s Registry of Clinical Trials, Cochrane Database of Systematic Reviews and LILACS. Study selection: Studies such clinical trial, cohort and case-control studies of the effectiveness of tests for screening and primary prevention adenoma and colorectal cancer were identified by two reviewers. Data Extraction: The extraction of data and its evaluation is done in most of the process so paired. Limitations: Not strictly complies with the methodology of a systematic review and therefore reproducibility is questionable, the conclusions of this study should be extrapolated with caution. Conclusions: The major strategy of screening on the effectiveness of early detection of premalignant lesions or cancer is colonoscopy every 5 years, however it is necessary to evaluate this measure cost-effectiveness studies. For primary prevention, aspirin and cyclooxygenase-2 inhibitors reduce the incidence of colorectal adenomas. Aspirin can reduce colorectal cancer incidence. However, these medications may be associated with a significant risk of cardiovascular events and gastrointestinal bleeding. The balance between risks and benefits must be evaluated in future studies.