Distributed Orientation Agreement in a Group of Robots

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

Kinematic analysis of a novel 2-d.o.f. orientation device

This paper presents the development of a new parallel robot designed for helping with bone milling surgeries. The robot is a small modular wrist with 2 active degrees of freedom, and it is proposed to be used as an orientation device located at the end of a robotic arm designed for bone milling processes. A generic kinematic geometry is proposed for this device. This first article shows the developments on the workspace optimization and the analysis of the force field required to complete a reconstruction of the inferior jawbone. The singularities of the mechanism are analyzed, and the actuator selection is justified with the torque requirements and the study of the force space. The results obtained by the simulations allow building a first prototype using linear motors. Bone milling experiment video is shown as additional material.

Influence of substrate type and orientation on the morphology and optical properties of selective area growth of GaN and InGaN nanocolumns

A relevant issue concerning optoelectronic devices based on III-nitrides is the presence of strong polarization fields that may reduce efficiency.

Including hardware/software co-design in the ASSERT model driven engineering process.

Abstract. The ASSERT project de?ned new software engineering methods and tools for the development of critical embedded real-time systems in the space domain. The ASSERT model-driven engineering process was one of the achievements of the project and is based on the concept of property- preserving model transformations. The key element of this process is that non-functional properties of the software system must be preserved during model transformations. Properties preservation is carried out through model transformations compliant with the Ravenscar Pro?le and provides a formal basis to the process. In this way, the so-called Ravenscar Computational Model is central to the whole ASSERT process. This paper describes the work done in the HWSWCO study, whose main objective has been to address the integration of the Hardware/Software co-design phase in the ASSERT process. In order to do that, non-functional properties of the software system must also be preserved during hardware synthesis. Keywords : Ada 2005, Ravenscar pro?le, Hardware/Software co-design, real- time systems, high-integrity systems, ORK

LDP4j: a framework for the development of interoperable read-write linked data applications

Enterprises are increasingly using a wide range of heterogeneous information systems for executing and governing their business activities. Even if the adoption of service orientation has improved loose coupling and reusability, applications are still isolated data silos whose integration requires complex transformations and mediations. However, by leveraging Linked Data principles those data silos can now be seamlessly integrated, and this opens the door to new data-driven approaches for Enterprise Application Integration (EAI). In this paper we present LDP4j, an open souce Java-based framework for the development of interoperable read-write Linked Data applications, based on the W3C Linked Data Platform (LDP) specification.

TEM study of the AlN grain orientation grown on NCD diamond substrate

Piezoelectric AlN layer grain orientation, grown by room temperature reactive sputtering, is analyzed by transmission electron microscopy (TEM).Two types of samples are studied: (i) AlN grown on well-polished NCD (nano-crystalline diamond) diamond, (ii) AlN grown on an up-side down NCD layer previously grown on a Si substrate, i.e. diamond surface as smooth as that of Si substrates. The second set of sample show a faster lignment of their AlN grain caxis attributed to it smoother diamond free surface. No grain orientation relationship between diamond substrate grain and the AlN ones is evidenced, which seems to indicate the preponderance role of the surface substrate state.

What is the optimal stitching orientation from an aerial survey perspective?

Mosaicing is a technique that allows obtaining a large high resolution image by stitching several images together. These base images are usually acquired from an elevated point of view. Until recently, low-altitude image acquisition has been performed typically by using using airplanes, as well as other manned platforms. However, mini unmanned aerial vehicles (MUAV) endowed with a camera have lately made this task more available for small for cicil applications, for example for small farmers in order to obtain accurate agronomic information about their crop fields. The stitching orientation, or the image acquisition orientation usually coincides with the aircraft heading assuming a downwards orientation of the camera. In this paper, the efect of the image orientation in the eficiency of the aerial coverage path planning is studied. Moreover, an algorithm to compute an optimal stitching orientation angle is proposed and results are numerically compared with classical approaches.

Biometric authentication of users through iris by using key binding and similarity preserving hash functions = Autenticación biométrica de usuarios a través del iris mediante la ocultación de claves y funciones resumen que preservan la similitud

El extraordinario auge de las nuevas tecnologías de la información, el desarrollo de la Internet de las Cosas, el comercio electrónico, las redes sociales, la telefonía móvil y la computación y almacenamiento en la nube, han proporcionado grandes beneficios en todos los ámbitos de la sociedad. Junto a éstos, se presentan nuevos retos para la protección y privacidad de la información y su contenido, como la suplantación de personalidad y la pérdida de la confidencialidad e integridad de los documentos o las comunicaciones electrónicas. Este hecho puede verse agravado por la falta de una frontera clara que delimite el mundo personal del mundo laboral en cuanto al acceso de la información. En todos estos campos de la actividad personal y laboral, la Criptografía ha jugado un papel fundamental aportando las herramientas necesarias para garantizar la confidencialidad, integridad y disponibilidad tanto de la privacidad de los datos personales como de la información. Por otro lado, la Biometría ha propuesto y ofrecido diferentes técnicas con el fin de garantizar la autentificación de individuos a través del uso de determinadas características personales como las huellas dáctilares, el iris, la geometría de la mano, la voz, la forma de caminar, etc. Cada una de estas dos ciencias, Criptografía y Biometría, aportan soluciones a campos específicos de la protección de datos y autentificación de usuarios, que se verían enormemente potenciados si determinadas características de ambas ciencias se unieran con vistas a objetivos comunes. Por ello es imperativo intensificar la investigación en estos ámbitos combinando los algoritmos y primitivas matemáticas de la Criptografía con la Biometría para dar respuesta a la demanda creciente de nuevas soluciones más técnicas, seguras y fáciles de usar que potencien de modo simultáneo la protección de datos y la identificacíón de usuarios. En esta combinación el concepto de biometría cancelable ha supuesto una piedra angular en el proceso de autentificación e identificación de usuarios al proporcionar propiedades de revocación y cancelación a los ragos biométricos. La contribución de esta tesis se basa en el principal aspecto de la Biometría, es decir, la autentificación segura y eficiente de usuarios a través de sus rasgos biométricos, utilizando tres aproximaciones distintas: 1. Diseño de un esquema criptobiométrico borroso que implemente los principios de la biometría cancelable para identificar usuarios lidiando con los problemas acaecidos de la variabilidad intra e inter-usuarios. 2. Diseño de una nueva función hash que preserva la similitud (SPHF por sus siglas en inglés). Actualmente estas funciones se usan en el campo del análisis forense digital con el objetivo de buscar similitudes en el contenido de archivos distintos pero similares de modo que se pueda precisar hasta qué punto estos archivos pudieran ser considerados iguales. La función definida en este trabajo de investigación, además de mejorar los resultados de las principales funciones desarrolladas hasta el momento, intenta extender su uso a la comparación entre patrones de iris. 3. Desarrollando un nuevo mecanismo de comparación de patrones de iris que considera tales patrones como si fueran señales para compararlos posteriormente utilizando la transformada de Walsh-Hadarmard. Los resultados obtenidos son excelentes teniendo en cuenta los requerimientos de seguridad y privacidad mencionados anteriormente. Cada uno de los tres esquemas diseñados han sido implementados para poder realizar experimentos y probar su eficacia operativa en escenarios que simulan situaciones reales: El esquema criptobiométrico borroso y la función SPHF han sido implementados en lenguaje Java mientras que el proceso basado en la transformada de Walsh-Hadamard en Matlab. En los experimentos se ha utilizado una base de datos de imágenes de iris (CASIA) para simular una población de usuarios del sistema. En el caso particular de la función de SPHF, además se han realizado experimentos para comprobar su utilidad en el campo de análisis forense comparando archivos e imágenes con contenido similar y distinto. En este sentido, para cada uno de los esquemas se han calculado los ratios de falso negativo y falso positivo. ABSTRACT The extraordinary increase of new information technologies, the development of Internet of Things, the electronic commerce, the social networks, mobile or smart telephony and cloud computing and storage, have provided great benefits in all areas of society. Besides this fact, there are new challenges for the protection and privacy of information and its content, such as the loss of confidentiality and integrity of electronic documents and communications. This is exarcebated by the lack of a clear boundary between the personal world and the business world as their differences are becoming narrower. In both worlds, i.e the personal and the business one, Cryptography has played a key role by providing the necessary tools to ensure the confidentiality, integrity and availability both of the privacy of the personal data and information. On the other hand, Biometrics has offered and proposed different techniques with the aim to assure the authentication of individuals through their biometric traits, such as fingerprints, iris, hand geometry, voice, gait, etc. Each of these sciences, Cryptography and Biometrics, provides tools to specific problems of the data protection and user authentication, which would be widely strengthen if determined characteristics of both sciences would be combined in order to achieve common objectives. Therefore, it is imperative to intensify the research in this area by combining the basics mathematical algorithms and primitives of Cryptography with Biometrics to meet the growing demand for more secure and usability techniques which would improve the data protection and the user authentication. In this combination, the use of cancelable biometrics makes a cornerstone in the user authentication and identification process since it provides revocable or cancelation properties to the biometric traits. The contributions in this thesis involve the main aspect of Biometrics, i.e. the secure and efficient authentication of users through their biometric templates, considered from three different approaches. The first one is designing a fuzzy crypto-biometric scheme using the cancelable biometric principles to take advantage of the fuzziness of the biometric templates at the same time that it deals with the intra- and inter-user variability among users without compromising the biometric templates extracted from the legitimate users. The second one is designing a new Similarity Preserving Hash Function (SPHF), currently widely used in the Digital Forensics field to find similarities among different files to calculate their similarity level. The function designed in this research work, besides the fact of improving the results of the two main functions of this field currently in place, it tries to expand its use to the iris template comparison. Finally, the last approach of this thesis is developing a new mechanism of handling the iris templates, considering them as signals, to use the Walsh-Hadamard transform (complemented with three other algorithms) to compare them. The results obtained are excellent taking into account the security and privacy requirements mentioned previously. Every one of the three schemes designed have been implemented to test their operational efficacy in situations that simulate real scenarios: The fuzzy crypto-biometric scheme and the SPHF have been implemented in Java language, while the process based on the Walsh-Hadamard transform in Matlab. The experiments have been performed using a database of iris templates (CASIA-IrisV2) to simulate a user population. The case of the new SPHF designed is special since previous to be applied i to the Biometrics field, it has been also tested to determine its applicability in the Digital Forensic field comparing similar and dissimilar files and images. The ratios of efficiency and effectiveness regarding user authentication, i.e. False Non Match and False Match Rate, for the schemes designed have been calculated with different parameters and cases to analyse their behaviour.

A diversidade cultural e as suas implicações no processo de ensino e aprendizagem : como integrar a diversidade na educação de infância

Relatório de estágio apresentado para obtenção do grau de mestre na especialidade profissional de Educação pré-escolar

AS TRANSFORMAÇÕES DAS PRÁTICAS EM EDUCAÇÃO INFANTIL NO PERÍODO DE 1960-2000: Os trabalhos dos alunos, a voz das professoras e os documentos curriculares

Este trabalho tem como propósito à análise das transformações das práticas em educação infantil na Prefeitura Municipal de São Bernardo do Campo ao longo de quatro décadas, considerando as mudanças políticas e econômicas, bem como as tendências teóricas predominantes nos diferentes momentos investigados. Para uma maior aproximação com as práticas do passado, três elementos foram fundamentais: as teorias que subsidiaram os documentos e orientações curriculares; a voz das professoras, que através de seus relatos puderam expressar as práticas desenvolvidas em sua trajetória de formação e as mudanças que foram se efetivando ao longo dos anos; e os trabalhos produzidos pelos alunos ao longo das décadas estudadas. Esses trabalhos dos alunos foram organizados em quadros, apontando a freqüência com que determinados tipos de atividade aconteciam em diferentes épocas. Além desses quadros, os relatos das professoras puderam evidenciar maneiras como as transformações das práticas aconteceram, a partir do olhar de quem as pratica. A partir desses dados, busquei nas contribuições de Certeau elementos para compreender de que maneira os sujeitos históricos - professores - lidam com os produtos que lhes são impostos pela ordem social - orientações curriculares e novas teorias - transformando-os e reinventando-os em seu fazer cotidiano.

AS TRANSFORMAÇÕES DAS PRÁTICAS EM EDUCAÇÃO INFANTIL NO PERÍODO DE 1960-2000: Os trabalhos dos alunos, a voz das professoras e os documentos curriculares

Este trabalho tem como propósito à análise das transformações das práticas em educação infantil na Prefeitura Municipal de São Bernardo do Campo ao longo de quatro décadas, considerando as mudanças políticas e econômicas, bem como as tendências teóricas predominantes nos diferentes momentos investigados. Para uma maior aproximação com as práticas do passado, três elementos foram fundamentais: as teorias que subsidiaram os documentos e orientações curriculares; a voz das professoras, que através de seus relatos puderam expressar as práticas desenvolvidas em sua trajetória de formação e as mudanças que foram se efetivando ao longo dos anos; e os trabalhos produzidos pelos alunos ao longo das décadas estudadas. Esses trabalhos dos alunos foram organizados em quadros, apontando a freqüência com que determinados tipos de atividade aconteciam em diferentes épocas. Além desses quadros, os relatos das professoras puderam evidenciar maneiras como as transformações das práticas aconteceram, a partir do olhar de quem as pratica. A partir desses dados, busquei nas contribuições de Certeau elementos para compreender de que maneira os sujeitos históricos - professores - lidam com os produtos que lhes são impostos pela ordem social - orientações curriculares e novas teorias - transformando-os e reinventando-os em seu fazer cotidiano.

Orientation in operator algebras

A concept of orientation is relevant for the passage from Jordan structure to associative structure in operator algebras. The research reported in this paper bridges the approach of Connes for von Neumann algebras and ourselves for C*-algebras in a general theory of orientation that is of geometric nature and is related to dynamics.

Orientation-dependent and sequence-specific expansions of CTG/CAG trinucleotide repeats in Saccharomyces cerevisiae

A quantitative and selective genetic assay was developed to monitor expansions of trinucleotide repeats (TNRs) in yeast. A promoter containing 25 repeats allows expression of a URA3 reporter gene and yields sensitivity to the drug 5-fluoroorotic acid. Expansion of the TNR to 30 or more repeats turns off URA3 and provides drug resistance. When integrated at either of two chromosomal loci, expansion rates were 1 × 10−5 to 4 × 10−5 per generation if CTG repeats were replicated on the lagging daughter strand. PCR analysis indicated that 5–28 additional repeats were present in 95% of the expanded alleles. No significant changes in CTG expansion rates occurred in strains deficient in the mismatch repair gene MSH2 or the recombination gene RAD52. The frequent nature of CTG expansions suggests that the threshold number for this repeat is below 25 in this system. In contrast, expansions of the complementary repeat CAG occurred at 500- to 1,000-fold lower rates, similar to a randomized (C,A,G) control sequence. When the reporter plasmid was inverted within the chromosome, switching the leading and lagging strands of replication, frequent expansions were observed only when CTG repeats resided on the lagging daughter strand. Among the rare CAG expansions, the largest gain in tract size was 38 repeats. The control repeats CTA and TAG showed no detectable rate of expansions. The orientation-dependence and sequence-specificity data support the model that expansions of CTG and CAG tracts result from aberrant DNA replication via hairpin-containing Okazaki fragments.

Gravity and the orientation of cell division

A novel culture system for mammalian cells was used to investigate division orientations in populations of Chinese hamster ovary cells and the influence of gravity on the positioning of division axes. The cells were tethered to adhesive sites, smaller in diameter than a newborn cell, distributed over a nonadhesive substrate positioned vertically. The cells grew and divided while attached to the sites, and the angles and directions of elongation during anaphase, projected in the vertical plane, were found to be random with respect to gravity. However, consecutive divisions of individual cells were generally along the same axis or at 90° to the previous division, with equal probability. Thus, successive divisions were restricted to orthogonal planes, but the choice of plane appeared to be random, unlike the ordered sequence of cleavage orientations seen during early embryo development.