Study of an object recognition algorithm

This project introduces an improvement of the vision capacity of the robot Robotino operating under ROS platform. A method for recognizing object class using binary features has been developed. The proposed method performs a binary classification of the descriptors of each training image to characterize the appearance of the object class. It presents the use of the binary descriptor based on the difference of gray intensity of the pixels in the image. It shows that binary features are suitable to represent object class in spite of the low resolution and the weak information concerning details of the object in the image. It also introduces the use of a boosting method (Adaboost) of feature selection al- lowing to eliminate redundancies and noise in order to improve the performance of the classifier. Finally, a kernel classifier SVM (Support Vector Machine) is trained with the available database and applied for predictions on new images. One possible future work is to establish a visual servo-control that is to say the reac- tion of the robot to the detection of the object.

El perfil de la mujer cuidadora

En la mayoría de las familias es una única persona la que asume la mayor parte de la responsabilidad de los cuidados: la persona cuidadora principal que en la mayoría de los cosas son mujeres. Esta situación es invisible para las instituciones por lo que es necesario hacerlo público para que todos nos concienciemos. El objetivo de este estudio es conocer el trabajo de la mujer cuidadora dentro y fuera del hogar, estudiando el perfil de las cuidadoras en el sector informal. Estudio de carácter descriptivo centrado en la obtención de datos primarios por la vía de la entrevista en profundidad sobre una pequeña muestra de 32 casos de cuidadoras con edades comprendidas entre los 18-65 años en el mes de febrero del 2013, en el ambulatorio Santutxu-Solokoetxe. El perfil de las mujeres cuidadoras en el sector informal se caracteriza por ser hijas, abuelas, esposas o nueras con edades comprendidas entre los 45-65 años, casadas y sin una ocupación laboral remunerada.

Stimulation discomfort comparison of asynchronous and synchronous methods with multi-field electrodes

Functional Electrical Stimulation (FES) is a technique that consists on applying electrical current pulses to artificially activate motor nerve fibers and produce muscle contractions to achieve functional movements. The main applications of FES are within the rehabilitation field, in which this technique is used to aid recovery or to restore lost motor functions. People that benefit of FES are usually patients with neurological disorders which result in motor dysfunctions; most common patients include stroke and spinal cord injury (SCI). Neuroprosthesis are devices that have their basis in FES technique, and their aim is to bridge interrupted or damaged neural paths between the brain and upper or lower limbs. One of the aims of neuroprosthesis is to artificially generate muscle contractions that produce functional movements, and therefore, assist impaired people by making them able to perform activities of daily living (ADL). FES applies current pulses and stimulates nerve fibers by means of electrodes, which can be either implanted or surface electrodes. Both of them have advantages and disadvantages. Implanted electrodes need open surgery to place them next to the nerve root, so these electrodes carry many disadvantages that are produced by the use of invasive techniques. In return, as the electrodes are attached to the nerve, they make it easier to achieve selective functional movements. On the contrary, surface electrodes are not invasive and are easily attached or detached on the skin. Main disadvantages of surface electrodes are the difficulty of selectively stimulating nerve fibers and uncomfortable feeling perceived by users due to sensory nerves located in the skin. Electrical stimulation surface electrode technology has improved significantly through the years and recently, multi-field electrodes have been suggested. This multi-field or matrix electrode approach brings many advantages to FES; among them it is the possibility of easily applying different stimulation methods and techniques. The main goal of this thesis is therefore, to test two stimulation methods, which are asynchronous and synchronous stimulation, in the upper limb with multi-field electrodes. To this end, a purpose-built wrist torque measuring system and a graphic user interface were developed to measure wrist torque produced with each of the methods and to efficiently carry out the experiments. Then, both methods were tested on 15 healthy subjects and sensitivity results were analyzed for different cases. Results show that there are significant differences between methods regarding sensation in some cases, which can affect effectiveness or success of FES.

Rol semantikoen etiketatze automatikoa : rol multzoak eta hautapen murriztapenak

158 p. : graf.

Estudio taxonómico de las especies ibéricas del género Odiellus (Arachnida: Opiliones)

El género Odiellus Roewer, 1923, diagnosticable por un robusto tridente frontal y una excavación dorso-distal en el tronco del pene, alberga seis especies ibéricas. La elevada variabilidad detectada sugiere que hay más especies. En este trabajo se realiza la caracterización de las especies ibéricas, así como su estudio morfológico y morfométrico (haciendo hincapié en las del noreste ibérico), y la descripción de una nueva especie de Cataluña, usando para ello ejemplares conservados en la colección del Departamento de Zoología y Biología Celular Animal de la UPV/EHU, así como ejemplares capturados durante una campaña en el Macizo del Garraf entre el 1 y el 3 de noviembre del 2012. Los resultados muestran que las variables morfométricas estudiadas influyen de manera desigual en la varianza muestral, lo cual puede ser útil en futuros estudios a la hora de decidir distintos caracteres diagnósticos para cada una de las especies de Odiellus ibéricos.

¿Cómo podemos hacer que Michelin sea green?

Duración (en horas): Más de 50 horas. Destinatario: Estudiante y Docente

Janus-faced microglia: beneficial and detrimental consequences of microglial phagocytosis

Microglia are the resident brain macrophages and they have been traditionally studied as orchestrators of the brain inflammatory response during infections and disease. In addition, microglia has a more benign, less explored role as the brain professional phagocytes. Phagocytosis is a term coined from the Greek to describe the receptor-mediated engulfment and degradation of dead cells and microbes. In addition, microglia phagocytoses brain-specific cargo, such as axonal and myelin debris in spinal cord injury or multiple sclerosis, amyloid-beta deposits in Alzheimer's disease, and supernumerary synapses in postnatal development. Common mechanisms of recognition, engulfment, and degradation of the different types of cargo are assumed, but very little is known about the shared and specific molecules involved in the phagocytosis of each target by microglia. More importantly, the functional consequences of microglial phagocytosis remain largely unexplored. Overall, phagocytosis is considered a beneficial phenomenon, since it eliminates dead cells and induces an anti-inflammatory response. However, phagocytosis can also activate the respiratory burst, which produces toxic reactive oxygen species (ROS). Phagocytosis has been traditionally studied in pathological conditions, leading to the assumption that microglia have to be activated inorder to become efficient phagocytes. Recent data, however, has shown that unchallenged microglia phagocytose apoptotic cells during development and in adult neurogenic niches, suggesting an overlooked role in brain remodeling throughout the normal lifespan. The present review will summarize the current state of the literature regarding the role of microglial phagocytosis in maintaining tissue homeostasis in health as in disease.

ICGE: an R package for detecting relevant clusters and atypical units in gene expression

Background: Gene expression technologies have opened up new ways to diagnose and treat cancer and other diseases. Clustering algorithms are a useful approach with which to analyze genome expression data. They attempt to partition the genes into groups exhibiting similar patterns of variation in expression level. An important problem associated with gene classification is to discern whether the clustering process can find a relevant partition as well as the identification of new genes classes. There are two key aspects to classification: the estimation of the number of clusters, and the decision as to whether a new unit (gene, tumor sample ... ) belongs to one of these previously identified clusters or to a new group. Results: ICGE is a user-friendly R package which provides many functions related to this problem: identify the number of clusters using mixed variables, usually found by applied biomedical researchers; detect whether the data have a cluster structure; identify whether a new unit belongs to one of the pre-identified clusters or to a novel group, and classify new units into the corresponding cluster. The functions in the ICGE package are accompanied by help files and easy examples to facilitate its use. Conclusions: We demonstrate the utility of ICGE by analyzing simulated and real data sets. The results show that ICGE could be very useful to a broad research community.

Magnetization reversal and exchange bias effects in hard/soft ferromagnetic bilayers with orthogonal anisotropies

21 p.

Cartas enviadas por Gorka Aulestia a Justo Garate en 1987

2 cartas (manuscritas) ; 217x280mm. Ubicación: Caja 1 - Carpeta 77

Dinámicas en la producción de conocimiento : movilidad, redes y actividades de investigación en el mercosur, Chile y España

212 p.

Análisis cinemático de la pared de sal Euskal balea (Golfo de Bizkaia) y de los diapiros salinos de Salinas de Añana y Maestu (Cuenca Vasco-Cantábrica, Álava)

324 p.

Advances towards behaviour-based indoor robotic exploration

215 p.