Three-Dimensional Motion Estimation Using Shading Information in Multiple Frames

A new formulation for recovering the structure and motion parameters of a moving patch using both motion and shading information is presented. It is based on a new differential constraint equation (FICE) that links the spatiotemporal gradients of irradiance to the motion and structure parameters and the temporal variations of the surface shading. The FICE separates the contribution to the irradiance spatiotemporal gradients of the gradients due to texture from those due to shading and allows the FICE to be used for textured and textureless surface. The new approach, combining motion and shading information, leads directly to two different contributions: it can compensate for the effects of shading variations in recovering the shape and motion; and it can exploit the shading/illumination effects to recover motion and shape when they cannot be recovered without it. The FICE formulation is also extended to multiple frames.

Safe Distributed Coordination of Heterogeneous Robots through Dynamic Simple Temporal Networks

Research on autonomous intelligent systems has focused on how robots can robustly carry out missions in uncertain and harsh environments with very little or no human intervention. Robotic execution languages such as RAPs, ESL, and TDL improve robustness by managing functionally redundant procedures for achieving goals. The model-based programming approach extends this by guaranteeing correctness of execution through pre-planning of non-deterministic timed threads of activities. Executing model-based programs effectively on distributed autonomous platforms requires distributing this pre-planning process. This thesis presents a distributed planner for modelbased programs whose planning and execution is distributed among agents with widely varying levels of processor power and memory resources. We make two key contributions. First, we reformulate a model-based program, which describes cooperative activities, into a hierarchical dynamic simple temporal network. This enables efficient distributed coordination of robots and supports deployment on heterogeneous robots. Second, we introduce a distributed temporal planner, called DTP, which solves hierarchical dynamic simple temporal networks with the assistance of the distributed Bellman-Ford shortest path algorithm. The implementation of DTP has been demonstrated successfully on a wide range of randomly generated examples and on a pursuer-evader challenge problem in simulation.

Incremental Verification of Timing Constraints for Real-Time Systems

Testing constraints for real-time systems are usually verified through the satisfiability of propositional formulae. In this paper, we propose an alternative where the verification of timing constraints can be done by counting the number of truth assignments instead of boolean satisfiability. This number can also tell us how “far away” is a given specification from satisfying its safety assertion. Furthermore, specifications and safety assertions are often modified in an incremental fashion, where problematic bugs are fixed one at a time. To support this development, we propose an incremental algorithm for counting satisfiability. Our proposed incremental algorithm is optimal as no unnecessary nodes are created during each counting. This works for the class of path RTL. To illustrate this application, we show how incremental satisfiability counting can be applied to a well-known rail-road crossing example, particularly when its specification is still being refined.

Static Pricing for a Network Service Provider

This article studies the static pricing problem of a network service provider who has a fixed capacity and faces different types of customers (classes). Each type of customers can have its own capacity constraint but it is assumed that all classes have the same resource requirement. The provider must decide a static price for each class. The customer types are characterized by their arrival process, with a price-dependant arrival rate, and the random time they remain in the system. Many real-life situations could fit in this framework, for example an Internet provider or a call center, but originally this problem was thought for a company that sells phone-cards and needs to set the price-per-minute for each destination. Our goal is to characterize the optimal static prices in order to maximize the provider's revenue. We note that the model here presented, with some slight modifications and additional assumptions can be used in those cases when the objective is to maximize social welfare.

Nonlinear Device Noise Models:Thermodynamic Requirements

This paper proposes three tests to determine whether a given nonlinear device noise model is in agreement with accepted thermodynamic principles. These tests are applied to several models. One conclusion is that every Gaussian noise model for any nonlinear device predicts thermodynamically impossible circuit behavior: these models should be abandoned. But the nonlinear shot-noise model predicts thermodynamically acceptable behavior under a constraint derived here. Further, this constraint specifies the current noise amplitude at each operating point from knowledge of the device v - i curve alone. For the Gaussian and shot-noise models, this paper shows how the thermodynamic requirements can be reduced to concise mathematical tests involving no approximatio

Hardy-Weinberg Equilibrium and the Ternary Plot

The Hardy-Weinberg law, formulated about 100 years ago, states that under certain assumptions, the three genotypes AA, AB and BB at a bi-allelic locus are expected to occur in the proportions p2, 2pq, and q2 respectively, where p is the allele frequency of A, and q = 1-p. There are many statistical tests being used to check whether empirical marker data obeys the Hardy-Weinberg principle. Among these are the classical xi-square test (with or without continuity correction), the likelihood ratio test, Fisher's Exact test, and exact tests in combination with Monte Carlo and Markov Chain algorithms. Tests for Hardy-Weinberg equilibrium (HWE) are numerical in nature, requiring the computation of a test statistic and a p-value. There is however, ample space for the use of graphics in HWE tests, in particular for the ternary plot. Nowadays, many genetical studies are using genetical markers known as Single Nucleotide Polymorphisms (SNPs). SNP data comes in the form of counts, but from the counts one typically computes genotype frequencies and allele frequencies. These frequencies satisfy the unit-sum constraint, and their analysis therefore falls within the realm of compositional data analysis (Aitchison, 1986). SNPs are usually bi-allelic, which implies that the genotype frequencies can be adequately represented in a ternary plot. Compositions that are in exact HWE describe a parabola in the ternary plot. Compositions for which HWE cannot be rejected in a statistical test are typically “close" to the parabola, whereas compositions that differ significantly from HWE are “far". By rewriting the statistics used to test for HWE in terms of heterozygote frequencies, acceptance regions for HWE can be obtained that can be depicted in the ternary plot. This way, compositions can be tested for HWE purely on the basis of their position in the ternary plot (Graffelman & Morales, 2008). This leads to nice graphical representations where large numbers of SNPs can be tested for HWE in a single graph. Several examples of graphical tests for HWE (implemented in R software), will be shown, using SNP data from different human populations

Coherent forecasting of multiple-decrement life tables: a test using Japanese cause of death data

Planners in public and private institutions would like coherent forecasts of the components of age-specic mortality, such as causes of death. This has been di cult to achieve because the relative values of the forecast components often fail to behave in a way that is coherent with historical experience. In addition, when the group forecasts are combined the result is often incompatible with an all-groups forecast. It has been shown that cause-specic mortality forecasts are pessimistic when compared with all-cause forecasts (Wilmoth, 1995). This paper abandons the conventional approach of using log mortality rates and forecasts the density of deaths in the life table. Since these values obey a unit sum constraint for both conventional single-decrement life tables (only one absorbing state) and multiple-decrement tables (more than one absorbing state), they are intrinsically relative rather than absolute values across decrements as well as ages. Using the methods of Compositional Data Analysis pioneered by Aitchison (1986), death densities are transformed into the real space so that the full range of multivariate statistics can be applied, then back-transformed to positive values so that the unit sum constraint is honoured. The structure of the best-known, single-decrement mortality-rate forecasting model, devised by Lee and Carter (1992), is expressed in compositional form and the results from the two models are compared. The compositional model is extended to a multiple-decrement form and used to forecast mortality by cause of death for Japan

Robust fault detection using consistency techniques for uncertainty handling

Often practical performance of analytical redundancy for fault detection and diagnosis is decreased by uncertainties prevailing not only in the system model, but also in the measurements. In this paper, the problem of fault detection is stated as a constraint satisfaction problem over continuous domains with a big number of variables and constraints. This problem can be solved using modal interval analysis and consistency techniques. Consistency techniques are then shown to be particularly efficient to check the consistency of the analytical redundancy relations (ARRs), dealing with uncertain measurements and parameters. Through the work presented in this paper, it can be observed that consistency techniques can be used to increase the performance of a robust fault detection tool, which is based on interval arithmetic. The proposed method is illustrated using a nonlinear dynamic model of a hydraulic system

Implementation of a robust coded structured light technique for dynamic 3D measurements

This paper presents the implementation details of a coded structured light system for rapid shape acquisition of unknown surfaces. Such techniques are based on the projection of patterns onto a measuring surface and grabbing images of every projection with a camera. Analyzing the pattern deformations that appear in the images, 3D information of the surface can be calculated. The implemented technique projects a unique pattern so that it can be used to measure moving surfaces. The structure of the pattern is a grid where the color of the slits are selected using a De Bruijn sequence. Moreover, since both axis of the pattern are coded, the cross points of the grid have two codewords (which permits to reconstruct them very precisely), while pixels belonging to horizontal and vertical slits have also a codeword. Different sets of colors are used for horizontal and vertical slits, so the resulting pattern is invariant to rotation. Therefore, the alignment constraint between camera and projector considered by a lot of authors is not necessary

Estudio de internacionalización de la empresa Dotaherlogo S.A.

La actual configuración económica del mundo, que lo ha forzado a atravesar una era de restricción y contracción, acompañada de la evolución en campos como el diseño, el desarrollo de un conocimiento mucho más profundo por parte del consumidor y un ambiente mucho más competitivo ha generado que las empresas sean abiertas al cambio y adopten medidas para mantenerse vigentes en el mercado. La experiencia y el conocimiento que los socios iníciales tenían en el ámbito de los textiles, permitió que surgiera DOTAHERLOGO S.A. bajo un concepto de empresa familiar, siendo así como comenzaron a centrarse todos los esfuerzos en consolidarla dentro del mercado que buscaban explotar. DOTAHERLOGO S.A. es una empresa que se encuentra en un proceso de cambio, buscando obtener una mayor presencia en el mercado, es así como ha comenzado una estructuración de sus procesos que permitan un flujo de información más estable y continuo, además de comenzar el proceso para generar su propia producción y no tener que depender en este aspecto de terceros. El propósito de esta Tesis es realizar para DOTAHERLOGO S.A. un estudio de la empresa que permita generar un diagnostico de la situación de cada una de sus áreas, y concluir si está preparada para una internacionalización, de no estar preparada se le hará una recomendación para que en un futuro pueda llegar a participar en mercados internacionales. Finalmente esta Tesis permitirá confrontar la oportunidad de internacionalización de una Pyme con la realidad de DOTAHERLOGO S.A. De la misma manera los resultados aquí obtenidos servirán como un caso de estudio y guía para futuros proyectos de internacionalización de Pymes en el país.

SQualTrack: A Tool for Robust Fault Detection

One of the techniques used to detect faults in dynamic systems is analytical redundancy. An important difficulty in applying this technique to real systems is dealing with the uncertainties associated with the system itself and with the measurements. In this paper, this uncertainty is taken into account by the use of intervals for the parameters of the model and for the measurements. The method that is proposed in this paper checks the consistency between the system's behavior, obtained from the measurements, and the model's behavior; if they are inconsistent, then there is a fault. The problem of detecting faults is stated as a quantified real constraint satisfaction problem, which can be solved using the modal interval analysis (MIA). MIA is used because it provides powerful tools to extend the calculations over real functions to intervals. To improve the results of the detection of the faults, the simultaneous use of several sliding time windows is proposed. The result of implementing this method is semiqualitative tracking (SQualTrack), a fault-detection tool that is robust in the sense that it does not generate false alarms, i.e., if there are false alarms, they indicate either that the interval model does not represent the system adequately or that the interval measurements do not represent the true values of the variables adequately. SQualTrack is currently being used to detect faults in real processes. Some of these applications using real data have been developed within the European project advanced decision support system for chemical/petrochemical manufacturing processes and are also described in this paper

Fault diagnosis by refining the parameter uncertainty space of nonlinear dynamic systems

This paper deals with fault detection and isolation problems for nonlinear dynamic systems. Both problems are stated as constraint satisfaction problems (CSP) and solved using consistency techniques. The main contribution is the isolation method based on consistency techniques and uncertainty space refining of interval parameters. The major advantage of this method is that the isolation speed is fast even taking into account uncertainty in parameters, measurements, and model errors. Interval calculations bring independence from the assumption of monotony considered by several approaches for fault isolation which are based on observers. An application to a well known alcoholic fermentation process model is presented

Aportes al Tesauro Europeo de Educación : un proyecto de cooperación en el ámbito de la documentación educativa.

La relación de nuevos términos candidatos a ser incluidos en el Tesauro Europeo de Educación, va más allá de la utilidad que este pueda tener para indizar y recuperar documentos de la especialidad, subyace otro objetivo muy importante; lograr una normalización en el lenguaje utilizado por los profesionales de información en Ibero América. Si este objetivo se logra, significará sin duda un gran aporte para el intercambio de experiencias profesionales, académicas y de investigación en Ibero América. La actualización de los tesauros deben ser en forma permanente, su construcción y mantenimiento depende de un consenso de personas o instituciones, que siguen esquemas de colaboración claros, para formar parte de un proyecto amplio encaminado a mejorar el conocimiento de los sistemas de información para el manejo de la documentación.

Preoxigenacion con volumen corriente y capacidad vital en voluntarios sanos a 2600 metros

En la literatura existen descritas varias técnicas de preoxigenación aplicadas a diferentes pacientes y realizadas con diferentes flujos o fracciones inspiradas de oxigeno, sin embargo no se encuentran descripciones ni estudios realizados con respecto a este tópico en pacientes ubicados por encima de los 1000 mts sobre el nivel del mar. El objetivo del presente estudio es describir el patrón de saturación con oxigeno al 100% obteniendo fracción espirada de oxígeno (EtO2) >90% y Saturación de oxígeno (SaO2) > 99%, así como el patrón de normalización de la saturación de oxigeno con una fracción inspirada del 21% con cuatro técnicas estandarizadas de preoxigenación, en personas voluntarias sanas pertenecientes a la Fundación Cardio Infantil a 2600 metros sobre el nivel del mar. Materiales y métodos: Este es un estudio cuasiexperimental en personas adultas voluntarias sanas pertenecientes a la Fundación Cardio Infantil, los cuales son sometidos a toma de saturación de oxígeno basal y luego se les aplica preoxigenación con fracción inspirada oxigeno (FiO2) al 100% con un flujo de 10Lt/min, mediante sello de máscara facial con arnés: Simultáneamente se realiza una medición de la fracción espirada de oxígeno (ETO2) y oximetría de pulso (SaO2) cada 15 segundos con cada una de las cuatro pruebas de preoxigenación (volumen corriente por 3 minutos, 8 capacidades vitales, volumen corriente hasta ETO2 de =90% y capacidades vitales hasta ETO2 =90%) y luego medición del tiempo de normalización de la saturación respirando al oxígeno con FiO2 al 21 % hasta alcanzar nuevamente la SaO2 basal, con cada técnica. Resultados: No existe diferencia significativa en la aplicación de las técnicas de preoxigenación ni tampoco en el tiempo de normalización de la saturación de oxígeno con FiO2 al 21 % al nivel de Bogotá con las cuatro técnicas de preoxigenación aplicadas a nuestros pacientes. Conclusión: Las cuatro técnicas de preoxigenación son efectivas, sin embargo recomendamos el uso de técnicas que buscan una ETO2=90%. Por otra parte encontramos que el tiempo de recuperación de la saturación basal es de 3,9 minutos en personas voluntarias sanas a 2600 mts sobre el nivel del mar, la cual es inferior comparada con los 10 minutos que toma la normalización de la saturación de oxígeno a 0 mts sobre el nivel del mar descritos previamente en la literatura. Hace falta realizar estudios de preoxigenación y apnea en pacientes a nuestra altura (2600 mts sobre el nivel del mar) para confirmar que el tiempo de desaturación es significativamente menor que a nivel del mar. Palabras Claves: Preoxigenación, Fracción espirada de O2 (EtO2), saturación de oxígeno (SaO2).

Pharmaceutical innovation, reference pricing and therapeutic classes

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