Semantic localization in the PCL library

The semantic localization problem in robotics consists in determining the place where a robot is located by means of semantic categories. The problem is usually addressed as a supervised classification process, where input data correspond to robot perceptions while classes to semantic categories, like kitchen or corridor. In this paper we propose a framework, implemented in the PCL library, which provides a set of valuable tools to easily develop and evaluate semantic localization systems. The implementation includes the generation of 3D global descriptors following a Bag-of-Words approach. This allows the generation of fixed-dimensionality descriptors from any type of keypoint detector and feature extractor combinations. The framework has been designed, structured and implemented to be easily extended with different keypoint detectors, feature extractors as well as classification models. The proposed framework has also been used to evaluate the performance of a set of already implemented descriptors, when used as input for a specific semantic localization system. The obtained results are discussed paying special attention to the internal parameters of the BoW descriptor generation process. Moreover, we also review the combination of some keypoint detectors with different 3D descriptor generation techniques.

U.M. Laundry Dept.

Four captioned images on page entitled First Floor. Includes: Flat Work Ironer; Laundry Room N.W.; Washer Room; Perry Extractors

The design of a high pressure solvent extraction process using liquid ammonia as solvent

The literature on the potential use of liquid ammonia as a solvent for the extraction of aromatic hydrocarbons from mixtures with paraffins, and the application of reflux, has been reviewed. Reference is made to extractors suited to this application. A pilot scale extraction plant was designed comprising a Scm. diameter by 12Scm. high, 50 stage Rotating Disc Contactor with 2 external settlers. Provision was made for operation with, or without, reflux at a pressure of 10 bar and ambient temperature. The solvent recovery unit consisted of an evaporator, compressor and condenser in a refrigeration cycle. Two systems were selected for study, Cumene-n-Heptane-Ammonia and Toluene-Methylcyclohexane-Ammonia. Equlibrium data for the first system was determined experimentally in a specially-designed, equilibrium bomb. A technique was developed to withdraw samples under pressure for analysis by chromatography and titration. The extraction plant was commissioned with a kerosine-water system; detailed operating procedures were developed based on a Hazard and Operability Study. Experimental runs were carried out with both ternary ammonia systems. With the system Toluene-Methylcyclohexane-Ammonia the extraction plant and the solvent recovery facility, operated satisfactorily, and safely,in accordance with the operating procedures. Experimental data gave reasonable agreement with theory. Recommendations are made for further work with plant.

Using the Dempster-Shafer theory of evidence to resolve ABox inconsistencies

Automated ontology population using information extraction algorithms can produce inconsistent knowledge bases. Confidence values assigned by the extraction algorithms may serve as evidence in helping to repair inconsistencies. The Dempster-Shafer theory of evidence is a formalism, which allows appropriate interpretation of extractors’ confidence values. This chapter presents an algorithm for translating the subontologies containing conflicts into belief propagation networks and repairing conflicts based on the Dempster-Shafer plausibility.

Contribuições à estratégia de controle sem detecção de harmônicos aplicada a um filtro ativo de potência paralelo

The conventional control schemes applied to Shunt Active Power Filters (SAPF) are Harmonic extractor-based strategies (HEBSs) because their effectiveness depends on how quickly and accurately the harmonic components of the nonlinear loads are identified. The SAPF can be also implemented without the use of the load harmonic extractors. In this case, the harmonic compensating term is obtained from the system active power balance. These systems can be considered as balanced-energy-based schemes (BEBSs) and their performance depends on how fast the system reaches the equilibrium state. In this case, the phase currents of the power grid are indirectly regulated by double sequence controllers with two degrees of freedom, where the internal model principle is employed to avoid reference frame transformation. Additionally the DSC controller presents robustness when the SAPF is operating under unbalanced conditions. Furthermore, SAPF implemented without harmonic detection schemes compensate simultaneously harmonic distortion and reactive power of the load. Their compensation capabilities, however, are limited by the SAPF power converter rating. Such a restriction can be minimized if the level of the reactive power correction is managed. In this work an estimation scheme for determining the filter currents is introduced to manage the compensation of reactive power. Experimental results are shown for demonstrating the performance of the proposed SAPF system.

ImageLearn - Decoding Britain's Landscape

Abstract Ordnance Survey, our national mapping organisation, collects vast amounts of high-resolution aerial imagery covering the entirety of the country. Currently, photogrammetrists and surveyors use this to manually capture real-world objects and characteristics for a relatively small number of features. Arguably, the vast archive of imagery that we have obtained portraying the whole of Great Britain is highly underutilised and could be ‘mined’ for much more information. Over the last year the ImageLearn project has investigated the potential of "representation learning" to automatically extract relevant features from aerial imagery. Representation learning is a form of data-mining in which the feature-extractors are learned using machine-learning techniques, rather than being manually defined. At the beginning of the project we conjectured that representations learned could help with processes such as object detection and identification, change detection and social landscape regionalisation of Britain. This seminar will give an overview of the project and highlight some of our research results.

Monitoreo biológico poblacional de Aulacomya atra (Molina, 1782) en el litoral de Moquegua y Tacna

La pesquería del recurso choro (Aulacomya atra) en los últimos años presenta mayor interés en los puertos de Ilo (Moquegua) y Morro Sama (Tacna), incrementándose notoriamente sus desembarques, mejorando los beneficios económicos de los extractores. Sin embargo, hay consecuencias negativas en los bancos naturales, al observarse disminución de la talla media y de las poblaciones en algunas zonas de extracción. Los desembarques en el 2014 alcanzaron 1556 t en Moquegua y Tacna, registrándose 15% de incremento en relación al 2013. Las principales zonas de extracción fueron Leonas y Cuartel (Ilo) que presentan mayores densidades por presencia de individuos juveniles, mientras que las densidades de adultos disminuyen progresivamente. En la Región Tacna destacan las zonas de Lozas y Lobera en los desembarques, con mayores densidades en Lobera y Quebrada de Burros, las zonas de Pocoma, Escoria y Mesas presentaron las menores densidades. El comportamiento reproductivo del recurso indica la existencia de dos periodos importantes de maduración y desove por año, siendo el más importante el de primavera. La composición especiológica de las matrices de A. atra estuvo conformada por 91 especies variando su frecuencia de ocurrencia por zona de extracción y periodo de muestreo, lo que indica la importancia de esta comunidad como organismo bioingeniero. El índice de diversidad de Shannon varió entre 2,6 a 4,8 bits/ind. Las condiciones oceanográficas no muestran fuerte presencia en toda el área evaluada de las Aguas Costeras Frías durante los monitoreos de abril, junio y agosto.

Red de Conocimientos Campesinos: hilos de saberes, experiencias y tensiones en Zona Bananera

El conocimiento campesino se ha pensado como un cúmulo de saberes y prácticas tradicionales que las personas que trabajan la tierra han aprendido y transmitido de generación en generación. Pero para el análisis de las relaciones que construyen los campesinos con la tierra, el agua, las semillas, los cultivos, los químicos, las herramientas de trabajo y el dinero, es importante considerar el conocimiento campesino como una red de aprendizajes, saberes, experiencias, prácticas y relaciones territoriales. Aquella red se teje desde múltiples actores tales como funcionarios de instituciones estatales y bancarias, empresarios, familiares, vecinos y amigos, quienes inciden, influyen e intervienen en los recursos que manejan los campesinos. Esta tesis aborda la construcción, reconstrucción y materialización del conocimiento sobre el trabajo en la tierra que han configurado campesinos agricultores en el municipio de Zona Bananera, Magdalena. En las parcelas que poseen dichas personas, han confluido diferentes controles sobre el uso de recursos por parte de empresas bananeras y extractoras de aceite, trabajadores del Instituto Colombiano para la Reforma Agraria INCORA, gobiernos locales y docentes de educación superior. Allí, los campesinos por medio de su conocimiento han apropiado, negociado, disputado y resistido saberes que regulan, restringen y direccionan el manejo de recursos en sus tierras.

Nitrate and potassium concentration in fertigated soil cultivated with wine vines.

In the semiarid region of Brazil the use of irrigation systems for applying fertilizers in horticulture is the primary means for incorporating nutrients in the soil. However, this technique still requires its use in wine vines to be assessed. In view of this, this study aimed to assess nitrate and potassium concentrations in soil fertigated with nitrogen and potassium fertilizers in 3 wine grape growing cycles. A field experiment was conducted with ?Syrah? wine grapes, in Petrolina, Pernambuco, Brazil; it assessed five nitrogen doses (0, 15, 30, 60 and 120 kg ha-1) and five K2O doses (0, 15, 30, 60 and 120 kg ha-1) applied by drip irrigation system with two emitters per plant, with a flow rate of 4 L h-1. The experimental design used was the factorial split-plot, making up 13 combinations arranged in 4 randomized blocks. Soil solution samples were collected weekly with the aid of porous cup extractors for all treatments and at depths of 0.4 and 0.6 m by determining nitrate and potassium concentrations and electrical conductivity. Increased levels of both nutrients in the irrigation water increased the availability of nitrate and potassium in the soil solution. The highest nitrate and potassium concentrations were found in the second growing cycle at both depths studied.

Atrazine movement in a dark red latosol of the tropics.

Atrazine dissplacement was studied in a soll profile as function of water movement and time after herbicide application, taldng into account possible influences of preferential flow on keaching. The experiment consisted of two 7 x 7 m plots of a dark red latosol (Kanduidalfic Eutrudox), located at Pirecicaba, SP, Brazil (22o43'S and 47o25'W), 250 km inside continent, at an altitude of 580 m. One plot was previously treated with 1,000 kg/ha of lime, in order to increase saturation to 88%, and 500 kg/ha of gypsum. Each plot was instrumented with tensiometers, neutron probe acess tubes and soil solution extractors, in order to monitor water and atrazine flows. Atrazine was applied at the high rate of 6 kg/ha of active principllle. Results showed intensiive leaching of atrazine in the whole soil profile, up to the instrumented depth of 150 cm, alredy at the first sampling, seven days after herbicide application. The limed plot showed much higher atrazine leachinng losses than the other plot. The atrazine adsorption capacity of the soll is very low, its maximum value being of the order of 10%, for the 0-15 cm surface layer.