Geometric Structure of the Adaptive Controller of the Human Arm

The objects with which the hand interacts with may significantly change the dynamics of the arm. How does the brain adapt control of arm movements to this new dynamic? We show that adaptation is via composition of a model of the task's dynamics. By exploring generalization capabilities of this adaptation we infer some of the properties of the computational elements with which the brain formed this model: the elements have broad receptive fields and encode the learned dynamics as a map structured in an intrinsic coordinate system closely related to the geometry of the skeletomusculature. The low--level nature of these elements suggests that they may represent asset of primitives with which a movement is represented in the CNS.

Exploring Object Perception with Random Image Structure Evolution

We have developed a technique called RISE (Random Image Structure Evolution), by which one may systematically sample continuous paths in a high-dimensional image space. A basic RISE sequence depicts the evolution of an object's image from a random field, along with the reverse sequence which depicts the transformation of this image back into randomness. The processing steps are designed to ensure that important low-level image attributes such as the frequency spectrum and luminance are held constant throughout a RISE sequence. Experiments based on the RISE paradigm can be used to address some key open issues in object perception. These include determining the neural substrates underlying object perception, the role of prior knowledge and expectation in object perception, and the developmental changes in object perception skills from infancy to adulthood.

Contextual Priming for Object Detection

There is general consensus that context can be a rich source of information about an object's identity, location and scale. In fact, the structure of many real-world scenes is governed by strong configurational rules akin to those that apply to a single object. Here we introduce a simple probabilistic framework for modeling the relationship between context and object properties based on the correlation between the statistics of low-level features across the entire scene and the objects that it contains. The resulting scheme serves as an effective procedure for object priming, context driven focus of attention and automatic scale-selection on real-world scenes.

Role of color in face recognition

One of the key challenges in face perception lies in determining the contribution of different cues to face identification. In this study, we focus on the role of color cues. Although color appears to be a salient attribute of faces, past research has suggested that it confers little recognition advantage for identifying people. Here we report experimental results suggesting that color cues do play a role in face recognition and their contribution becomes evident when shape cues are degraded. Under such conditions, recognition performance with color images is significantly better than that with grayscale images. Our experimental results also indicate that the contribution of color may lie not so much in providing diagnostic cues to identity as in aiding low-level image-analysis processes such as segmentation.

Prevención de la transmisión sexual del VIH en adolescentes

En una muestra de 119 estudiantes de cuarto de Educación Secundaria Obligatoria (ESO) y primero de Bachillerato (52,6% mujeres) se analizan los conocimientos sobre la prevención de la transmisión sexual del virus del sida, las expectativas de resultados y de autoeficacia respecto a los métodos preventivos y el tipo de prevención utilizada durante la última relación sexual. Para evitar las respuestas inducidas respecto a los comportamientos preventivos se emplea un formato de pregunta abierta. Los resultados muestran que sólo el 23,5% de los estudiantes han dado dos respuestas totalmente correctas sobre estrategias consideradas eficaces en la prevención sexual del VIH: uso del preservativo y abstinencia (por este orden). El 70,5% valoran totalmente o muy eficaz el preservativo para evitar la transmisión sexual del VIH y el 95% de los que dan la segunda respuesta juzgan totalmente eficaz la práctica de la abstinencia con la misma finalidad. En el caso del preservativo se sienten totalmente o muy capaces de usarlo el 64,3%, mientras que cuando se trata de la abstinencia sólo se perciben con esa competencia el 20%. Por lo que se refiere al uso autoinformado de métodos preventivos en la última relación, por parte de los 29 estudiantes que tuvieron actividad sexual durante el mes anterior, se observa que 21 de ellos emplearon el preservativo, dos la píldora anticonceptiva, otros dos no precisan el tipo de precaución y el resto no tomó ninguna. Tanto el reducido nivel de conocimientos sobre prevención, como la baja percepción de autoeficacia para mantenerse abstinentes, nos alertan sobre la necesidad de hacer un mayor esfuerzo de información para eliminar creencias equivocadas, como por ejemplo: sobre la pretendida eficacia protectora de tener relaciones sexuales con una pareja estable o conocida. Así mismo, conviene insistir en el uso del preservativo como anticonceptivo de elección entre los adolescentes

libLocation: acceso a dispositivos de localización para gvSIG Desktop y Mobile

Inicialmente integrada en el piloto de gvSIG Mobile, la librería libLocation tiene como objetivo dotar a los proyectos gvSIG Desktop y gvSIG Mobile un acceso transparente a fuentes de localización. La librería se fundamenta en las especificaciones JSR-179 -API de localización para J2ME- y JSR-293 -API de localización para J2ME v2.0-, proporcionando una interfaz uniforme a diferentes fuentes de localización, mediante funciones de alto nivel. Asimismo, se extiende la funcionalidad de estas APIs para permitir la gestión de datos específicos del tipo de fuente de localización y el ajuste de parámetros de bajo nivel, además de incorporar métodos de localización adicionales, como la aplicación de correcciones vía protocolo NTRIP. La librería libLocation está actualmente en proceso de desarrollo y será publicada y liberada junto con la versión definitiva de gvSIG Mobile. Junto con libLocation se están desarrollando extensiones que permiten el acceso a esta librería desde gvSIG Desktop y gvSIG Mobile

Vision-based localization of an underwater robot in a structured environment

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system

VLSI architecture for an Underwater Robot Vision System

It is well known that image processing requires a huge amount of computation, mainly at low level processing where the algorithms are dealing with a great number of data-pixel. One of the solutions to estimate motions involves detection of the correspondences between two images. For normalised correlation criteria, previous experiments shown that the result is not altered in presence of nonuniform illumination. Usually, hardware for motion estimation has been limited to simple correlation criteria. The main goal of this paper is to propose a VLSI architecture for motion estimation using a matching criteria more complex than Sum of Absolute Differences (SAD) criteria. Today hardware devices provide many facilities for the integration of more and more complex designs as well as the possibility to easily communicate with general purpose processors

Proposal of a parallel architecture for a motion detection algorithm

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. It is well known that image processing requires a huge amount of computation, mainly at low-level processing where the algorithms are dealing with a great number of data. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed

Model-based objects recognition in industrial environments for autonomous vehicles control

Behavior-based navigation of autonomous vehicles requires the recognition of the navigable areas and the potential obstacles. In this paper we describe a model-based objects recognition system which is part of an image interpretation system intended to assist the navigation of autonomous vehicles that operate in industrial environments. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using a rule-based cooperative expert system

Model-based objects recognition in man-made environments

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm

An ATM distributed simulator for network management research

Due to the high cost of a large ATM network working up to full strength to apply our ideas about network management, i.e., dynamic virtual path (VP) management and fault restoration, we developed a distributed simulation platform for performing our experiments. This platform also had to be capable of other sorts of tests, such as connection admission control (CAC) algorithms, routing algorithms, and accounting and charging methods. The platform was posed as a very simple, event-oriented and scalable simulation. The main goal was the simulation of a working ATM backbone network with a potentially large number of nodes (hundreds). As research into control algorithms and low-level, or rather cell-level methods, was beyond the scope of this study, the simulation took place at a connection level, i.e., there was no real traffic of cells. The simulated network behaved like a real network accepting and rejecting SNMP ones, or experimental tools using the API node

Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

Análisis de la participación en ejercicios de control ciudadano sobre la gestión pública estatal. Estudio de caso Cali (2000 - 2007)

Partiendo del escenario de democracia participativa que establece la Constitución del 91 en Colombia, esta investigación se preocupa por identificar los factores que han determinado la participación en Cali en ejercicios de control ciudadano durante el periodo 2001 - 2007. Para ello se recurre principalmente a los conceptos de Cultura Política de Almond y Verba, y Democracia Fuerte de Benjamin Barber como categorías analíticas que permiten evaluar los niveles de participación registrados durante el periodo de estudio, y así concluir que la existencia de orientaciones cognitivas, afectivas y evaluativas de carácter negativo respecto al sistema político local, los rezagos de una configuración de dominación patrimonial, y las lógicas particularistas que promueve el liberalismo a ultranza, entre otros, han provocado un bajo nivel de participación ciudadana en ejercicios de control, que a su vez se caracteriza por ser predominantemente contestatario.

Concordancia del diagnostico radiológico vs biopsia en patología pulmonar

En Colombia, la patología pulmonar es una de las causas mas frecuentes de consulta y morbilidad de servicios de medicina general y de medicina interna. Algunas de las patologías que se presentan a nivel neumológico requieren de un diagnostico exacto para su adecuado tratamiento, ya sean estas de índole infeccioso, tumoral u ocupacional. El Hospital Santa Clara (ESE) es una institución pública de referencia en enfermedades neumológicas en Bogotá y durante muchos años en el país. El servicio de anatomía patológica cuenta con un archivo sistematizado desde 1997 en el cual se identificó cada paciente con los diagnósticos emitidos por estudio de lavado broncoalveolar (BAL), biopsia transbronquial y biopsia abierta. Con los datos de este archivo y teniendo acceso a las historias clínicas de los pacientes fue revisado el diagnostico radiológico previo a las pruebas de patología para evaluar el grado de correlación entre los mismos. Se encontró registro de 268 pacientes en la base de datos ya mencionada, sobre los cuales se realizo el análisis por variables encontrando que la mayoría de procedimientos se realizo en hombres, con una edad promedio de 51 anos y diagnóstico más frecuente con el estudio anatomopatológico son las neoplasias primarias y el menos frecuente como es de esperarse por el fácil diagnostico de la misma con estudios no invasivos es la TBC. Para el estudio de concordancia diagnostica solo se tubo acceso a la información completa de 58 pacientes sobre los cuales se hizo el análisis encontrando un grado de concordancia débil (Kappa de 0.3236). El bajo grado de concordancia diagnostica encontrado podría estar influenciado por los problemas metodológicos propios de un estudio en el cual la información es tomada de historias clínicas, teniendo en cuenta que no se pudo hacer control de sesgos tan importantes como el grado de entrenamiento y experiencia de los diferentes radiólogos que realizaron la lectura, lo cual tiene también gran influencia en los resultados. Es necesario realizar estudios futuros donde se tenga en cuenta las dificultades técnicas que se tuvieron durante el desarrollo de este trabajo por la metodología utilizada y la influencia que pueden tener en los resultados para mejorarlos.