Cognitive risk perception system for obstacle avoidance in outdoor mUAV missions

La robótica ha evolucionado exponencialmente en las últimas décadas, permitiendo a los sistemas actuales realizar tareas sumamente complejas con gran precisión, fiabilidad y velocidad. Sin embargo, este desarrollo ha estado asociado a un mayor grado de especialización y particularización de las tecnologías implicadas, siendo estas muy eficientes en situaciones concretas y controladas, pero incapaces en entornos cambiantes, dinámicos y desestructurados. Por eso, el desarrollo de la robótica debe pasar por dotar a los sistemas de capacidad de adaptación a las circunstancias, de entendedimiento sobre los cambios observados y de flexibilidad a la hora de interactuar con el entorno. Estas son las caracteristicas propias de la interacción del ser humano con su entorno, las que le permiten sobrevivir y las que pueden proporcionar a un sistema inteligencia y capacidad suficientes para desenvolverse en un entorno real de forma autónoma e independiente. Esta adaptabilidad es especialmente importante en el manejo de riesgos e incetidumbres, puesto que es el mecanismo que permite contextualizar y evaluar las amenazas para proporcionar una respuesta adecuada. Así, por ejemplo, cuando una persona se mueve e interactua con su entorno, no evalúa los obstáculos en función de su posición, velocidad o dinámica (como hacen los sistemas robóticos tradicionales), sino mediante la estimación del riesgo potencial que estos elementos suponen para la persona. Esta evaluación se consigue combinando dos procesos psicofísicos del ser humano: por un lado, la percepción humana analiza los elementos relevantes del entorno, tratando de entender su naturaleza a partir de patrones de comportamiento, propiedades asociadas u otros rasgos distintivos. Por otro lado, como segundo nivel de evaluación, el entendimiento de esta naturaleza permite al ser humano conocer/estimar la relación de los elementos con él mismo, así como sus implicaciones en cuanto a nivel de riesgo se refiere. El establecimiento de estas relaciones semánticas -llamado cognición- es la única forma de definir el nivel de riesgo de manera absoluta y de generar una respuesta adecuada al mismo. No necesariamente proporcional, sino coherente con el riesgo al que se enfrenta. La investigación que presenta esta tesis describe el trabajo realizado para trasladar esta metodología de análisis y funcionamiento a la robótica. Este se ha centrado especialmente en la nevegación de los robots aéreos, diseñando e implementado procedimientos de inspiración humana para garantizar la seguridad de la misma. Para ello se han estudiado y evaluado los mecanismos de percepción, cognición y reacción humanas en relación al manejo de riesgos. También se ha analizado como los estímulos son capturados, procesados y transformados por condicionantes psicológicos, sociológicos y antropológicos de los seres humanos. Finalmente, también se ha analizado como estos factores motivan y descandenan las reacciones humanas frente a los peligros. Como resultado de este estudio, todos estos procesos, comportamientos y condicionantes de la conducta humana se han reproducido en un framework que se ha estructurado basadandose en factores análogos. Este emplea el conocimiento obtenido experimentalmente en forma de algoritmos, técnicas y estrategias, emulando el comportamiento humano en las mismas circunstancias. Diseñado, implementeado y validado tanto en simulación como con datos reales, este framework propone una manera innovadora -tanto en metodología como en procedimiento- de entender y reaccionar frente a las amenazas potenciales de una misión robótica. ABSTRACT Robotics has undergone a great revolution in the last decades. Nowadays this technology is able to perform really complex tasks with a high degree of accuracy and speed, however this is only true in precisely defined situations with fully controlled variables. Since the real world is dynamic, changing and unstructured, flexible and non context-dependent systems are required. The ability to understand situations, acknowledge changes and balance reactions is required by robots to successfully interact with their surroundings in a fully autonomous fashion. In fact, it is those very processes that define human interactions with the environment. Social relationships, driving or risk/incertitude management... in all these activities and systems, context understanding and adaptability are what allow human beings to survive: contrarily to the traditional robotics, people do not evaluate obstacles according to their position but according to the potential risk their presence imply. In this sense, human perception looks for information which goes beyond location, speed and dynamics (the usual data used in traditional obstacle avoidance systems). Specific features in the behaviour of a particular element allows the understanding of that element’s nature and therefore the comprehension of the risk posed by it. This process defines the second main difference between traditional obstacle avoidance systems and human behaviour: the ability to understand a situation/scenario allows to get to know the implications of the elements and their relationship with the observer. Establishing these semantic relationships -named cognition- is the only way to estimate the actual danger level of an element. Furthermore, only the application of this knowledge allows the generation of coherent, suitable and adjusted responses to deal with any risk faced. The research presented in this thesis summarizes the work done towards translating these human cognitive/reasoning procedures to the field of robotics. More specifically, the work done has been focused on employing human-based methodologies to enable aerial robots to navigate safely. To this effect, human perception, cognition and reaction processes concerning risk management have been experimentally studied; as well as the acquisition and processing of stimuli. How psychological, sociological and anthropological factors modify, balance and give shape to those stimuli has been researched. And finally, the way in which these factors motivate the human behaviour according to different mindsets and priorities has been established. This associative workflow has been reproduced by establishing an equivalent structure and defining similar factors and sources. Besides, all the knowledge obtained experimentally has been applied in the form of algorithms, techniques and strategies which emulate the analogous human behaviours. As a result, a framework capable of understanding and reacting in response to stimuli has been implemented and validated.

Iniciativas institucionales y asociativas destinadas a la integración sociocultural a través del deporte en París y Madrid

El deporte como fenómeno social y cultural ha sido ampliamente reivindicado por sus virtudes integradoras. A la actividad físico-deportiva, ya sea de competición o recreativa, se le han atribuido unos valores integradores que permitirían un ascenso de estatus social, argumento justificado en parte por los éxitos de jugadores de origen inmigrante en el deporte profesional. Por otro lado, el tejido asociativo, y especialmente el generado por la comunidad migrante, también utiliza la organización deportiva como forma de solidaridad y reivindicación identitaria. El objetivo de la tesis es analizar la formulación de los programas deportivos formulados a nivel político y asociativo en los barrios con mayor presencia de jóvenes inmigrantes y/o de segunda generación de París y Madrid destinadas a su integración sociocultural y analizar la implementación de dichas iniciativas. El método de recogida de datos consistió en la realización de 72 entrevistas en profundidad a varios niveles de responsabilidad política y de tipología de entidades sociales, así como el análisis documental de fuentes institucionales y asociativas. Los resultados muestran diferencias entre el planteamiento y la ejecución de las iniciativas condicionadas por el modelo de integración de cada contexto –oposición del modelo republicano en París al deporte comunitarista– y por la situación de crisis económica –fragilidad de los programas por el recorte presupuestario y subvenciones en el contexto madrileño–. Las conclusiones de esta tesis buscan profundizar en la verdadera contribución del deporte a la integración social y cultural de los jóvenes de origen inmigrante, y por extensión, a las sociedades culturalmente plurales. RÉSUMÉ Le sport en tant que phénomène social et culturel a été largement revendiqué pour ses vertus intégratrices. À l'activité physique et sportive, en forme de compétition où de loisirs, ont a attribué certaines valeurs intégratrices qui permettent une ascension de statut social, argument justifié en partie par le succès des joueurs d'origine immigrée dans le sport professionnel. Par ailleurs, le tissu associatif, et surtout celui engendré par la communauté migrante, a également utilisé l'organisation sportive comme une forme de solidarité et de revendication identitaire. L'objectif de la thèse est d'analyser la formulation des programmes sportifs à niveau politique et associatif dans les quartiers ayant une plus grande présence de jeunes immigrants et / ou deuxième génération de Paris et de Madrid, destinés à leur intégration socioculturelle et d'analyser la mise en oeuvre de ces initiatives. La méthode de collecte de données était de mener 72 entretiens semi-structurés à différents niveaux de responsabilité politique et de typologie des entités sociales, ainsi que l'analyse documentaire des sources officielles et associatives. Les résultats montrent des différences entre l'approche et la mise en oeuvre d'initiatives conditionnées par le modèle d'intégration de chaque contexte –l'opposition du modèle républicain à Paris envers le sport communautariste– et par la situation de crise économique –fragilité des programmes par les compressions budgétaires et les subventions dans le contexte madrilène–. Les conclusions de cette thèse visent à approfondir la véritable contribution du sport à l'intégration sociale et culturelle des jeunes immigrants, et, par extension, des sociétés culturellement plurielles. ABSTRACT Sport as a social and cultural phenomenon has been widely claimed by its integrative virtues. Whether competition or recreational, sport has been claimed for some integrative values that allow a rise in social status justified in part by the success of immigrant origin players in professional sports. On the other hand, associations, and especially those generated by the migrant community, also uses sports organization as a form of solidarity and identity recognition. The aim of the thesis is double: to understand the formulation of sports programs intended for sociocultural integration designed by political and and associative entities in neighborhoods with greater presence of young immigrants and/or second generation of Paris and Madrid and to analyze the implementation of such initiatives. The method of data collection was to conduct 72 in-depth interviews to various levels of political responsibility and typology of social entities and documentary analysis of institutional and associative sources. The results show differences between the approach and implementation of initiatives conditioned by the integration model of each context –an opposition of the republican model in Paris from ethnic sports– and the situation of economic crisis –programs weakness due to budget cuts and subsidies in the Madrid–. The conclusions of this thesis aim to deepen the true contribution of sport to social and cultural integration of young immigrants, and by extension, to culturally plural societies.

Educar en valores a través de programas de deporte escolar: un estudio comparado entre la “Union Nationale du Sport Scolaire” (Francia) y los “Campeonatos Escolares en los IES de la Comunidad de Madrid” (España)

El interés de las administraciones públicas por promover el deporte escolar, suele justificarse por los beneficios educativos y saludables que los escolares obtendrían de las prácticas físico-deportivas. Mas allá de concepciones neutrales o excesivamente idealizadas sobre su valor educativo, las condiciones socioculturales que lo configuran y las intervenciones pedagógicas en el terreno marcan la orientación de la educación en valores propuesta en los programas de deporte escolar. El objeto de estudio de esta tesis doctoral es comprender la educación en valores desde el punto de vista de la estructura organizativa y de los actores implicados en dos programas de deporte escolar seleccionados de países diferentes: la “Union Nationale du Sport Scolaire” (UNSS) en Francia y los “Campeonatos Escolares en los IES de la Comunidad de Madrid” (CEIESCM) en España. El diseño metodológico es un estudio comparado internacional y de corte cualitativo, donde se han analizado 66 entrevistas semiestructuradas, 28 observaciones directas, 45 documentos y el cuaderno etnográfico del investigador por medio de análisis de contenido temático apoyado con el programa NVivo 10. Los resultados aportan dos concepciones distintas de deporte escolar con repercusión en la educación en valores: la UNSS complementa valores del sistema educativo y deportivo proporcionando cauces de implicación y compromiso del alumnado en el arbitraje y la organización asociativa, mientras que en CEIESCM, eximiéndoles de esas responsabilidades, se prioriza la máxima práctica de actividad físico-deportiva reforzando o sancionando durante la misma las conductas que vayan a promover valores del juego limpio propios del deporte. La explicación de estos resultados, contextualizados en sus países respectivos, permite proyectar un eventual deporte escolar europeo basado en valores ciudadanos y democráticos que recogería la perspectiva moral, jurídica y política propuesta a partir del estudio. RÉSUMÉ L’intérêt des administrations publiques pour promouvoir le sport scolaire est souvent justifié par les bénéfices éducatifs et ceux liés à la santé que les élèves obtiendraient des pratiques physiques et sportives. Au-delà des conceptions neutres et excessivement idéalistes sur sa valeur éducative, les conditions socio-culturelles qui le configurent et les interventions pédagogiques sur le terrain marquent l’orientation de l’éducation des valeurs proposée par les programmes de sport scolaire. L’objet de cette étude est de comprendre l’éducation des valeurs du point de vue de la structure organisationnelle et des acteurs impliqués dans deux programmes de sport scolaire sélectionnés de différents pays: l’« Union Nationale du Sport Scolaire » (UNSS) en France et les « Campeonatos Escolares de los IES de la Comunidad de Madrid » (CEIESCM) en Espagne. L’approche méthodologique est une étude comparée internationale et qualitative, où l’on a analysé 66 entretiens semi-directifs, 28 observations directes, 45 documents et le carnet ethnographique du chercheur par le biais d’une analyse de contenu thématique à l’aide du programme NVivo 10. Les résultats apportent deux conceptions différentes du sport scolaire qui ont des répercussions dans l’éducation des valeurs: l’UNSS regroupe les valeurs du système éducatif et sportif en proposant aux élèves des espaces d’implication et d’engagement avec l’arbitrage et l’organisation associative, alors que les CEISCM, les exemptent de ces responsabilités et donnent la priorité au maximum d’activité physique et sportive pratiquée où l’on renforce ou sanctionne pendant son déroulement les conduites qui encourageront les valeurs de fair-play liées au sport. L’explication des résultats, contextualisée dans leurs pays respectifs, permet de projeter un éventuel sport scolaire européen basé sur des valeurs citoyennes et démocratiques qui recueillerait la perspective morale, juridique et politique proposée suite à cette étude. ABSTRACT The interest of public institutions for promoting school sports is often justified by the educational and healthy benefits that the students obtained through physical activity and sports practice. Beyond neutral or overly idealised conceptions about the educational value of sport, sociocultural conditions and pedagogical interventions shape the orientation of education in values given in school sports programs. The aim of this thesis is to understand the values education from the perspectives of the organizational structure and actors involved in two school sports programs selected from different countries: the "Union Nationale du Sport Scolaire" (UNSS) in France and the "School Championships in the IES of the Community of Madrid" (CEIESCM) in Spain. The methodology is a comparative international and qualitative study, with 66 semistructured interviews, 28 direct observations, 45 documentary resources and the ethnographic research notebook being analysed through thematic content analysis using the program NVivo 10. The results provide two different conceptions of school sport that impact on values education: on the one hand, the UNSS complements values of the educational and sports system providing channels of participation and promoting the involvement of students in refereeing and associative organization; on the other hand, CEIESCM is does not assume these responsibilities and the maximum sportive practice is prioritized reinforcing or punishing behaviours that promote sport fair play. The explanation of these results, contextualized in their respective countries, can project an eventual European school sport based on citizens and democratic values and reflect moral, legal and political perspective proposed in this study.

Evaluación de la seguridad al deslizamiento de una presa de fábrica en un cimiento con una familia de discontinuidades y con un criterio de rotura con ley de fluencia no asociada

En España existen del orden de 1,300 grandes presas, de las cuales un 20% fueron construidas antes de los años 60. El hecho de que existan actualmente una gran cantidad de presas antiguas aún en operación, ha producido un creciente interés en reevaluar su seguridad empleando herramientas nuevas o modificadas que incorporan modelos de fallo teóricos más completos, conceptos geotécnicos más complejos y nuevas técnicas de evaluación de la seguridad. Una manera muy común de abordar el análisis de estabilidad de presas de gravedad es, por ejemplo, considerar el deslizamiento a través de la interfase presa-cimiento empleando el criterio de rotura lineal de Mohr-Coulomb, en donde la cohesión y el ángulo de rozamiento son los parámetros que definen la resistencia al corte de la superficie de contacto. Sin embargo la influencia de aspectos como la presencia de planos de debilidad en el macizo rocoso de cimentación; la influencia de otros criterios de rotura para la junta y para el macizo rocoso (ej. el criterio de rotura de Hoek-Brown); las deformaciones volumétricas que ocurren durante la deformación plástica en el fallo del macizo rocoso (i.e., influencia de la dilatancia) no son usualmente consideradas durante el diseño original de la presa. En este contexto, en la presente tesis doctoral se propone una metodología analítica para el análisis de la estabilidad al deslizamiento de presas de hormigón, considerando un mecanismo de fallo en la cimentación caracterizado por la presencia de una familia de discontinuidades. En particular, se considera la posibilidad de que exista una junta sub-horizontal, preexistente y persistente en el macizo rocoso de la cimentación, con una superficie potencial de fallo que se extiende a través del macizo rocoso. El coeficiente de seguridad es entonces estimado usando una combinación de las resistencias a lo largo de los planos de rotura, cuyas resistencias son evaluadas empleando los criterios de rotura no lineales de Barton y Choubey (1977) y Barton y Bandis (1990), a lo largo del plano de deslizamiento de la junta; y el criterio de rotura de Hoek y Brown (1980) en su versión generalizada (Hoek et al. 2002), a lo largo del macizo rocoso. La metodología propuesta también considera la influencia del comportamiento del macizo rocoso cuando este sigue una ley de flujo no asociada con ángulo de dilatancia constante (Hoek y Brown 1997). La nueva metodología analítica propuesta es usada para evaluar las condiciones de estabilidad empleando dos modelos: un modelo determinista y un modelo probabilista, cuyos resultados son el valor del coeficiente de seguridad y la probabilidad de fallo al deslizamiento, respectivamente. El modelo determinista, implementado en MATLAB, es validado usando soluciones numéricas calculadas mediante el método de las diferencias finitas, empleando el código FLAC 6.0. El modelo propuesto proporciona resultados que son bastante similares a aquellos calculados con FLAC; sin embargo, los costos computacionales de la formulación propuesta son significativamente menores, facilitando el análisis de sensibilidad de la influencia de los diferentes parámetros de entrada sobre la seguridad de la presa, de cuyos resultados se obtienen los parámetros que más peso tienen en la estabilidad al deslizamiento de la estructura, manifestándose además la influencia de la ley de flujo en la rotura del macizo rocoso. La probabilidad de fallo es obtenida empleando el método de fiabilidad de primer orden (First Order Reliability Method; FORM), y los resultados de FORM son posteriormente validados mediante simulaciones de Monte Carlo. Los resultados obtenidos mediante ambas metodologías demuestran que, para el caso no asociado, los valores de probabilidad de fallo se ajustan de manera satisfactoria a los obtenidos mediante las simulaciones de Monte Carlo. Los resultados del caso asociado no son tan buenos, ya que producen resultados con errores del 0.7% al 66%, en los que no obstante se obtiene una buena concordancia cuando los casos se encuentran en, o cerca de, la situación de equilibrio límite. La eficiencia computacional es la principal ventaja que ofrece el método FORM para el análisis de la estabilidad de presas de hormigón, a diferencia de las simulaciones de Monte Carlo (que requiere de al menos 4 horas por cada ejecución) FORM requiere tan solo de 1 a 3 minutos en cada ejecución. There are 1,300 large dams in Spain, 20% of which were built before 1960. The fact that there are still many old dams in operation has produced an interest of reevaluate their safety using new or updated tools that incorporate state-of-the-art failure modes, geotechnical concepts and new safety assessment techniques. For instance, for gravity dams one common design approach considers the sliding through the dam-foundation interface, using a simple linear Mohr-Coulomb failure criterion with constant friction angle and cohesion parameters. But the influence of aspects such as the persistence of joint sets in the rock mass below the dam foundation; of the influence of others failure criteria proposed for rock joint and rock masses (e.g. the Hoek-Brown criterion); or the volumetric strains that occur during plastic failure of rock masses (i.e., the influence of dilatancy) are often no considered during the original dam design. In this context, an analytical methodology is proposed herein to assess the sliding stability of concrete dams, considering an extended failure mechanism in its rock foundation, which is characterized by the presence of an inclined, and impersistent joint set. In particular, the possibility of a preexisting sub-horizontal and impersistent joint set is considered, with a potential failure surface that could extend through the rock mass; the safety factor is therefore computed using a combination of strength along the rock joint (using the nonlinear Barton and Choubey (1977) and Barton and Bandis (1990) failure criteria) and along the rock mass (using the nonlinear failure criterion of Hoek and Brown (1980) in its generalized expression from Hoek et al. (2002)). The proposed methodology also considers the influence of a non-associative flow rule that has been incorporated using a (constant) dilation angle (Hoek and Brown 1997). The newly proposed analytical methodology is used to assess the dam stability conditions, employing for this purpose the deterministic and probabilistic models, resulting in the sliding safety factor and the probability of failure respectively. The deterministic model, implemented in MATLAB, is validated using numerical solution computed with the finite difference code FLAC 6.0. The proposed deterministic model provides results that are very similar to those computed with FLAC; however, since the new formulation can be implemented in a spreadsheet, the computational cost of the proposed model is significantly smaller, hence allowing to more easily conduct parametric analyses of the influence of the different input parameters on the dam’s safety. Once the model is validated, parametric analyses are conducting using the main parameters that describe the dam’s foundation. From this study, the impact of the more influential parameters on the sliding stability analysis is obtained and the error of considering the flow rule is assessed. The probability of failure is obtained employing the First Order Reliability Method (FORM). The probabilistic model is then validated using the Monte Carlo simulation method. Results obtained using both methodologies show good agreement for cases in which the rock mass has a nonassociate flow rule. For cases with an associated flow rule errors between 0.70% and 66% are obtained, so that the better adjustments are obtained for cases with, or close to, limit equilibrium conditions. The main advantage of FORM on sliding stability analyses of gravity dams is its computational efficiency, so that Monte Carlo simulations require at least 4 hours on each execution, whereas FORM requires only 1 to 3 minutes on each execution.

Aportación al análisis de espectros de radiación: estructuras y algoritmos

A lo largo del presente trabajo se investiga la viabilidad de la descomposición automática de espectros de radiación gamma por medio de algoritmos de resolución de sistemas de ecuaciones algebraicas lineales basados en técnicas de pseudoinversión. La determinación de dichos algoritmos ha sido realizada teniendo en cuenta su posible implementación sobre procesadores de propósito específico de baja complejidad. En el primer capítulo se resumen las técnicas para la detección y medida de la radiación gamma que han servido de base para la confección de los espectros tratados en el trabajo. Se reexaminan los conceptos asociados con la naturaleza de la radiación electromagnética, así como los procesos físicos y el tratamiento electrónico que se hallan involucrados en su detección, poniendo de relieve la naturaleza intrínsecamente estadística del proceso de formación del espectro asociado como una clasificación del número de detecciones realizadas en función de la energía supuestamente continua asociada a las mismas. Para ello se aporta una breve descripción de los principales fenómenos de interacción de la radiación con la materia, que condicionan el proceso de detección y formación del espectro. El detector de radiación es considerado el elemento crítico del sistema de medida, puesto que condiciona fuertemente el proceso de detección. Por ello se examinan los principales tipos de detectores, con especial hincapié en los detectores de tipo semiconductor, ya que son los más utilizados en la actualidad. Finalmente, se describen los subsistemas electrónicos fundamentales para el acondicionamiento y pretratamiento de la señal procedente del detector, a la que se le denomina con el término tradicionalmente utilizado de Electrónica Nuclear. En lo que concierne a la espectroscopia, el principal subsistema de interés para el presente trabajo es el analizador multicanal, el cual lleva a cabo el tratamiento cualitativo de la señal, y construye un histograma de intensidad de radiación en el margen de energías al que el detector es sensible. Este vector N-dimensional es lo que generalmente se conoce con el nombre de espectro de radiación. Los distintos radionúclidos que participan en una fuente de radiación no pura dejan su impronta en dicho espectro. En el capítulo segundo se realiza una revisión exhaustiva de los métodos matemáticos en uso hasta el momento ideados para la identificación de los radionúclidos presentes en un espectro compuesto, así como para determinar sus actividades relativas. Uno de ellos es el denominado de regresión lineal múltiple, que se propone como la aproximación más apropiada a los condicionamientos y restricciones del problema: capacidad para tratar con espectros de baja resolución, ausencia del concurso de un operador humano (no supervisión), y posibilidad de ser soportado por algoritmos de baja complejidad capaces de ser instrumentados sobre procesadores dedicados de alta escala de integración. El problema del análisis se plantea formalmente en el tercer capítulo siguiendo las pautas arriba mencionadas y se demuestra que el citado problema admite una solución en la teoría de memorias asociativas lineales. Un operador basado en este tipo de estructuras puede proporcionar la solución al problema de la descomposición espectral deseada. En el mismo contexto, se proponen un par de algoritmos adaptativos complementarios para la construcción del operador, que gozan de unas características aritméticas especialmente apropiadas para su instrumentación sobre procesadores de alta escala de integración. La característica de adaptatividad dota a la memoria asociativa de una gran flexibilidad en lo que se refiere a la incorporación de nueva información en forma progresiva.En el capítulo cuarto se trata con un nuevo problema añadido, de índole altamente compleja. Es el del tratamiento de las deformaciones que introducen en el espectro las derivas instrumentales presentes en el dispositivo detector y en la electrónica de preacondicionamiento. Estas deformaciones invalidan el modelo de regresión lineal utilizado para describir el espectro problema. Se deriva entonces un modelo que incluya las citadas deformaciones como una ampliación de contribuciones en el espectro compuesto, el cual conlleva una ampliación sencilla de la memoria asociativa capaz de tolerar las derivas en la mezcla problema y de llevar a cabo un análisis robusto de contribuciones. El método de ampliación utilizado se basa en la suposición de pequeñas perturbaciones. La práctica en el laboratorio demuestra que, en ocasiones, las derivas instrumentales pueden provocar distorsiones severas en el espectro que no pueden ser tratadas por el modelo anterior. Por ello, en el capítulo quinto se plantea el problema de medidas afectadas por fuertes derivas desde el punto de vista de la teoría de optimización no lineal. Esta reformulación lleva a la introducción de un algoritmo de tipo recursivo inspirado en el de Gauss-Newton que permite introducir el concepto de memoria lineal realimentada. Este operador ofrece una capacidad sensiblemente mejorada para la descomposición de mezclas con fuerte deriva sin la excesiva carga computacional que presentan los algoritmos clásicos de optimización no lineal. El trabajo finaliza con una discusión de los resultados obtenidos en los tres principales niveles de estudio abordados, que se ofrecen en los capítulos tercero, cuarto y quinto, así como con la elevación a definitivas de las principales conclusiones derivadas del estudio y con el desglose de las posibles líneas de continuación del presente trabajo.---ABSTRACT---Through the present research, the feasibility of Automatic Gamma-Radiation Spectral Decomposition by Linear Algebraic Equation-Solving Algorithms using Pseudo-Inverse Techniques is explored. The design of the before mentioned algorithms has been done having into account their possible implementation on Specific-Purpose Processors of Low Complexity. In the first chapter, the techniques for the detection and measurement of gamma radiation employed to construct the spectra being used throughout the research are reviewed. Similarly, the basic concepts related with the nature and properties of the hard electromagnetic radiation are also re-examined, together with the physic and electronic processes involved in the detection of such kind of radiation, with special emphasis in the intrinsic statistical nature of the spectrum build-up process, which is considered as a classification of the number of individual photon-detections as a function of the energy associated to each individual photon. Fbr such, a brief description of the most important matter-energy interaction phenomena conditioning the detection and spectrum formation processes is given. The radiation detector is considered as the most critical element in the measurement system, as this device strongly conditions the detection process. Fbr this reason, the characteristics of the most frequent detectors are re-examined, with special emphasis on those of semiconductor nature, as these are the most frequently employed ones nowadays. Finally, the fundamental electronic subsystems for preaconditioning and treating of the signal delivered by the detector, classically addresed as Nuclear Electronics, is described. As far as Spectroscopy is concerned, the subsystem most interesting for the scope covered by the present research is the so-called Multichannel Analyzer, which is devoted to the cualitative treatment of the signal, building-up a hystogram of radiation intensity in the range of energies in which the detector is sensitive. The resulting N-dimensional vector is generally known with the ñame of Radiation Spectrum. The different radio-nuclides contributing to the spectrum of a composite source will leave their fingerprint in the resulting spectrum. Through the second chapter, an exhaustive review of the mathematical methods devised to the present moment to identify the radio-nuclides present in the composite spectrum and to quantify their relative contributions, is reviewed. One of the more popular ones is the so-known Múltiple Linear Regression, which is proposed as the best suited approach according to the constraints and restrictions present in the formulation of the problem, i.e., the need to treat low-resolution spectra, the absence of control by a human operator (un-supervision), and the possibility of being implemented as low-complexity algorithms amenable of being supported by VLSI Specific Processors. The analysis problem is formally stated through the third chapter, following the hints established in this context, and it is shown that the addressed problem may be satisfactorily solved under the point of view of Linear Associative Memories. An operator based on this kind of structures may provide the solution to the spectral decomposition problem posed. In the same context, a pair of complementary adaptive algorithms useful for the construction of the solving operator are proposed, which share certain special arithmetic characteristics that render them specially suitable for their implementation on VLSI Processors. The adaptive nature of the associative memory provides a high flexibility to this operator, in what refers to the progressive inclusión of new information to the knowledge base. Through the fourth chapter, this fact is treated together with a new problem to be considered, of a high interest but quite complex nature, as is the treatment of the deformations appearing in the spectrum when instrumental drifts in both the detecting device and the pre-acconditioning electronics are to be taken into account. These deformations render the Linear Regression Model proposed almost unuseful to describe the resulting spectrum. A new model including the drifts is derived as an extensión of the individual contributions to the composite spectrum, which implies a simple extensión of the Associative Memory, which renders this suitable to accept the drifts in the composite spectrum, thus producing a robust analysis of contributions. The extensión method is based on the Low-Amplitude Perturbation Hypothesis. Experimental practice shows that in certain cases the instrumental drifts may provoke severe distortions in the resulting spectrum, which can not be treated with the before-mentioned hypothesis. To cover also these less-frequent cases, through the fifth chapter, the problem involving strong drifts is treated under the point of view of Non-Linear Optimization Techniques. This reformulation carries the study to the consideration of recursive algorithms based on the Gauss-Newton methods, which allow the introduction of Feed-Back Memories, computing elements with a sensibly improved capability to decompose spectra affected by strong drifts. The research concludes with a discussion of the results obtained in the three main levéis of study considerad, which are presented in chapters third, fourth and fifth, toghether with the review of the main conclusions derived from the study and the outline of the main research lines opened by the present work.

Experience-dependent corticofugal adjustment of midbrain frequency map in bat auditory system

Recent studies of corticofugal modulation of auditory information processing indicate that cortical neurons mediate both a highly focused positive feedback to subcortical neurons “matched” in tuning to a particular acoustic parameter and a widespread lateral inhibition to “unmatched” subcortical neurons. This cortical function for the adjustment and improvement of subcortical information processing is called egocentric selection. Egocentric selection enhances the neural representation of frequently occurring signals in the central auditory system. For our present studies performed with the big brown bat (Eptesicus fuscus), we hypothesized that egocentric selection adjusts the frequency map of the inferior colliculus (IC) according to auditory experience based on associative learning. To test this hypothesis, we delivered acoustic stimuli paired with electric leg stimulation to the bat, because such paired stimuli allowed the animal to learn that the acoustic stimulus was behaviorally important and to make behavioral and neural adjustments based on the acquired importance of the acoustic stimulus. We found that acoustic stimulation alone evokes a change in the frequency map of the IC; that this change in the IC becomes greater when the acoustic stimulation is made behaviorally relevant by pairing it with electrical stimulation; that the collicular change is mediated by the corticofugal system; and that the IC itself can sustain the change evoked by the corticofugal system for some time. Our data support the hypothesis.

Low-status monkeys “play dumb” when learning in mixed social groups

Many primates, including humans, live in complex hierarchical societies where social context and status affect daily life. Nevertheless, primate learning studies typically test single animals in limited laboratory settings where the important effects of social interactions and relationships cannot be studied. To investigate the impact of sociality on associative learning, we compared the individual performances of group-tested rhesus monkeys (Macaca mulatta) across various social contexts. We used a traditional discrimination paradigm that measures an animal’s ability to form associations between cues and the obtaining of food in choice situations; but we adapted the task for group testing. After training a 55-member colony to separate on command into two subgroups, composed of either high- or low-status families, we exposed animals to two color discrimination problems, one with all monkeys present (combined condition), the other in their “dominant” and “subordinate” cohorts (split condition). Next, we manipulated learning history by testing animals on the same problems, but with the social contexts reversed. Monkeys from dominant families excelled in all conditions, but subordinates performed well in the split condition only, regardless of learning history. Subordinate animals had learned the associations, but expressed their knowledge only when segregated from higher-ranking animals. Because aggressive behavior was rare, performance deficits probably reflected voluntary inhibition. This experimental evidence of rank-related, social modulation of performance calls for greater consideration of social factors when assessing learning and may also have relevance for the evaluation of human scholastic achievement.

Late memory-related genes in the hippocampus revealed by RNA fingerprinting

Although long-term memory is thought to require a cellular program of gene expression and increased protein synthesis, the identity of proteins critical for associative memory is largely unknown. We used RNA fingerprinting to identify candidate memory-related genes (MRGs), which were up-regulated in the hippocampus of water maze-trained rats, a brain area that is critically involved in spatial learning. Two of the original 10 candidate genes implicated by RNA fingerprinting, the rat homolog of the ryanodine receptor type-2 and glutamate dehydrogenase (EC 1.4.1.3), were further investigated by Northern blot analysis, reverse transcription–PCR, and in situ hybridization and confirmed as MRGs with distinct temporal and regional expression. Successive RNA screening as illustrated here may help to reveal a spectrum of MRGs as they appear in distinct domains of memory storage.

Context-sensitive synaptic plasticity and temporal-to-spatial transformations in hippocampal slices

Hippocampal slices are used to show that, as a temporal input pattern of activity flows through a neuronal layer, a temporal-to-spatial transformation takes place. That is, neurons can respond selectively to the first or second of a pair of input pulses, thus transforming different temporal patterns of activity into the activity of different neurons. This is demonstrated using associative long-term potentiation of polysynaptic CA1 responses as an activity-dependent marker: by depolarizing a postsynaptic CA1 neuron exclusively with the first or second of a pair of pulses from the dentate gyrus, it is possible to “tag” different subpopulations of CA3 neurons. This technique allows sampling of a population of neurons without recording simultaneously from multiple neurons. Furthermore, it reflects a biologically plausible mechanism by which single neurons may develop selective responses to time-varying stimuli and permits the induction of context-sensitive synaptic plasticity. These experimental results support the view that networks of neurons are intrinsically able to process temporal information and that it is not necessary to invoke the existence of internal clocks or delay lines for temporal processing on the time scale of tens to hundreds of milliseconds.

Prime factors

We use Voiculescu’s free probability theory to prove the existence of prime factors, hence answering a longstanding problem in the theory of von Neumann algebras.

On representations of finite type

Representations of the (infinite) canonical anticommutation relations and the associated operator algebra, the fermion algebra, are studied. A “coupling constant” (in (0,1]) is defined for primary states of “finite type” of that algebra. Primary, faithful states of finite type with arbitrary coupling are constructed and classified. Their physical significance for quantum thermodynamical systems at high temperatures is discussed. The scope of this study is broadened to include a large class of operator algebras sharing some of the structural properties of the fermion algebra.

Blockade of N-methyl-d-aspartate receptor activation suppresses learning-induced synaptic elimination

Auditory filial imprinting in the domestic chicken is accompanied by a dramatic loss of spine synapses in two higher associative forebrain areas, the mediorostral neostriatum/hyperstriatum ventrale (MNH) and the dorsocaudal neostriatum (Ndc). The cellular mechanisms that underlie this learning-induced synaptic reorganization are unclear. We found that local pharmacological blockade of N-methyl-d-aspartate (NMDA) receptors in the MNH, a manipulation that has been shown previously to impair auditory imprinting, suppresses the learning-induced spine reduction in this region. Chicks treated with the NMDA receptor antagonist 2-amino-5-phosphonovaleric acid (APV) during the behavioral training for imprinting (postnatal day 0–2) displayed similar spine frequencies at postnatal day 7 as naive control animals, which, in both groups, were significantly higher than in imprinted animals. Because the average dendritic length did not differ between the experimental groups, the reduced spine frequency can be interpreted as a reduction of the total number of spine synapses per neuron. In the Ndc, which is reciprocally connected with the MNH and not directly influenced by the injected drug, learning-induced spine elimination was partly suppressed. Spine frequencies of the APV-treated, behaviorally trained but nonimprinted animals were higher than in the imprinted animals but lower than in the naive animals. These results provide evidence that NMDA receptor activation is required for the learning-induced selective reduction of spine synapses, which may serve as a mechanism of information storage specific for juvenile emotional learning events.

Quantification of spread of cerebellar long-term depression with chemical two-photon uncaging of glutamate

Localized, chemical two-photon photolysis of caged glutamate was used to map the changes in α-amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid-type glutamate receptors caused by long-term synaptic depression (LTD) in cerebellar Purkinje cells. LTD produced by pairing parallel fiber activity with depolarization was accompanied by a decline in the response of Purkinje cells to uncaged glutamate that accounted for both the time course and magnitude of LTD. This depression of glutamate responses was observed not only at the site of parallel fiber stimulation but also at more distant sites. The amount of LTD decreased with distance and was half-maximal 50 μm away from the site of parallel fiber activity. Estimation of the number of parallel fibers active during LTD induction indicates that LTD modified glutamate receptors not only at active synapses but also at 600 times as many inactive synapses on a single Purkinje cell. Therefore, both active and inactive parallel fiber synapses can undergo changes at a postsynaptic locus as a result of associative pre- and postsynaptic activity.

Disfacilitation and active inhibition in the neocortex during the natural sleep-wake cycle: An intracellular study

Earlier extracellular recordings during natural sleep have shown that, during slow-wave sleep (SWS), neocortical neurons display long-lasting periods of silence, whereas they are tonically active and discharge at higher rates during waking and sleep with rapid eye movements (REMs). We analyzed the nature of long-lasting periods of neuronal silence in SWS and the changes in firing rates related to ocular movements during REM sleep and waking using intracellular recordings from electrophysiologically identified neocortical neurons in nonanesthetized and nonparalyzed cats. We found that the silent periods during SWS are associated with neuronal hyperpolarizations, which are due to a mixture of K+ currents and disfacilitation processes. Conventional fast-spiking neurons (presumably local inhibitory interneurons) increased their firing rates during REMs and eye movements in waking. During REMs, the firing rates of regular-spiking neurons from associative areas decreased and intracellular traces revealed numerous, short-lasting, low-amplitude inhibitory postsynaptic potentials (IPSPs), that were reversed after intracellular chloride infusion. In awake cats, regular-spiking neurons could either increase or decrease their firing rates during eye movements. The short-lasting IPSPs associated with eye movements were still present in waking; they preceded the spikes and affected their timing. We propose that there are two different forms of firing rate control: disfacilitation induces long-lasting periods of silence that occur spontaneously during SWS, whereas active inhibition, consisting of low-amplitude, short-lasting IPSPs, is prevalent during REMs and precisely controls the timing of action potentials in waking.

Galantamine: Effect on nicotinic receptor binding, acetylcholinesterase inhibition, and learning

Classical eyeblink conditioning is a well-characterized model paradigm that engages the septohippocampal cholinergic system. This form of associative learning is impaired in normal aging and severely disrupted in Alzheimer's disease (AD). Some nicotinic cholinergic receptor subtypes are lost in AD, making the use of nicotinic allosterically potentiating ligands a promising therapeutic strategy. The allosterically potentiating ligand galantamine (Gal) modulates nicotinic cholinergic receptors to increase acetylcholine release as well as acting as an acetylcholinesterase (AChE) inhibitor. Gal was tested in two preclinical experiments. In Experiment 1 with 16 young and 16 older rabbits, Gal (3.0 mg/kg) was administered for 15 days during conditioning, and the drug significantly improved learning, reduced AChE levels, and increased nicotinic receptor binding. In Experiment 2, 53 retired breeder rabbits were tested over a 15-wk period in four conditions. Groups of rabbits received 0.0 (vehicle), 1.0, or 3.0 mg/kg Gal for the entire 15-wk period or 3.0 mg/kg Gal for 15 days and vehicle for the remainder of the experiment. Fifteen daily conditioning sessions and subsequent retention and relearning assessments were spaced at 1-month intervals. The dose of 3.0 mg/kg Gal ameliorated learning deficits significantly during acquisition and retention in the group receiving 3.0 mg/kg Gal continuously. Nicotinic receptor binding was significantly increased in rabbits treated for 15 days with 3.0 mg/kg Gal, and all Gal-treated rabbits had lower levels of brain AChE. The efficacy of Gal in a learning paradigm severely impaired in AD is consistent with outcomes in clinical studies.