An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Speculative parallelization of multipath radiosity algorithm

In computer graphics, global illumination algorithms take into account not only the light that comes directly from the sources, but also the light interreflections. This kind of algorithms produce very realistic images, but at a high computational cost, especially when dealing with complex environments. Parallel computation has been successfully applied to such algorithms in order to make it possible to compute highly-realistic images in a reasonable time. We introduce here a speculation-based parallel solution for a global illumination algorithm in the context of radiosity, in which we have taken advantage of the hierarchical nature of such an algorithm

Martin Heidegger

Nota biogràfica sobre el filòsof Martin Heidegger on es fa, per una banda, un breu repàs dels principals fets de la seva vida com a filòsof i, per una altra banda, un breu repàs de la seva obra

La recerca científica aplicada a la pesca marítima

Repàs bibliogràfic dels primers textos sobre com la ciència ha tractat el tema de la pesca. És a dir, no referit a la forma que tenen els pescadors de construir el seu coneixement sobre la pesca, sinó al coneixement científic a l’entorn de la pesca que ha estat constituït amb el treball de recerca

Reglà, l´historiador que volia comprendre el món

Breu ressenya de la vida i obra de l’historiador empordanès Joan Reglà

Cap a una nova geografia regional? Notícia del seminari celebrat a la ciutat dels quatre rius

Del 28 al 30 de juny de 1989 se celebra a Girona el I Curs d'Estiu de Geografia, en el marc dels Cursos d'Estiu de l'Estudi General de Girona -Universidad Internacional Menéndez y Pelayo. La primera edició d'aquest curs es dedica a la geografia regional. Es tractava d'impulsar una discussió a fons sobre la revifalla del concepte de regió, observada no solament des d’algunes de les perspectives geogràfiques més innovadores, sinó també des d'altres camps de les ciències socials i humanes. Ens trobem davant d'una seriosa reconsideració teòrica i metodològica de la perspectiva regional, que inclou, alhora, una suggeridora reflexió sobre el paper que el lloc, el context espacial, té o hauria de tenir en l'explicació dels fenòmens socials, polítics i econòmics que afecten la nostra vida quotidiana. El text que segueix a continuació és una breu noticia de l’esmentat curs

Géopoint-82. Les territoires de la vie quotidienne

Relació i resum de les ponències del IV Col•loqui Geopoint 82, celebrat el maig d’aquell any a Avinyó on es van desenvolupar les ponències “Le territoire dans ses rapports avec les espaces géographiques: concept ancien, utilisation nouvelle.”, “Le Pays, niveau géographique.”, “Le territoire de la vie quotidienne et le référentiel-habitant.”, “Réseaux et niveaux de territorialité”, “Pratique de l'eco-développement.”, “Le territoire en milieu urbain.” i “La territorialité.”

El Bosc, element clau d'un paisatge i d'una comunitat

Aquest treball és un resum de la Memòria de Llicenciatura El Bosc, element clau d’un paisatge i d’una comunitat. La seva percepció per part dels pagesos de l’Alta Garrotxa. Assaig metodològic, llegida el 18 de desembre de 1981 a la Universitat Autònoma de Barcelona

L'Evolució dels enfocaments metodològics en la geografia rural catalana, 1940- 1984

L’article pretén estudiar la introducció dels nous enfocaments metodològics en la geografia catalana en el període 1940-1984, tot estudiant la geografia rural. L’autor s’ha centrat en l’estudi de 19 tesi doctorals què estudien la geografia rural parcial o totalment

Un Mètode de treball humanista

L’autor exposa el mètode de treball que va emprar per a la realització de la seva tesi doctoral, titulada “Geografía humanista y paisaje: Una lectura humanista del paisaje de la Garrotxa a través de la literatura y de cinco grupos de experiencia ambiental”. La major part de l’estudi segueix una metodologia clarament fenomenològica què permet explorar, a partir de l’entrevista personal, els fenòmens del món viscut en relació al paisatge, de cinc grups d’experiència ambiental de La Garrotxa: estiuejants, excursionistes, pintors paisatgistes, neorurals i agricultors

Sobre geografía moral

Els geògrafs s’inclouen tant en el camp de les ciències de la terra com en el de les ciències socials, tot i que també es poden considerar filòsofs morals, perquè es preocupen i s’interessen pels valors, els costums i les aspiracions humanes de no només limitar-se a sobreviure, sinó també d’aconseguir una vida fructuosa i agradable. En aquest intent per aconseguir una bona vida, els éssers humans han hagut d’organitzar-se i servir-se del poder, amb el qual és fàcil, per altra banda, cometre abusos contra els més febles i també contra la natura. El vessant moral és inevitable en qualsevol detallada consideració de la realitat humana. Aquest article pretén explorar l’esmentat vessant en societats senzilles i complexes, és a dir, tant entre els pobles caçadors-recol·lectors com en aquelles cultures més sofisticades que han transformat el camp, el jardí i la ciutat

Validation and clinical use of the CECA, a disease-specific quality of life questionnaire for patients with anogenital Condylomata Acuminata

The aim of this validation study was to assess the measurement properties of the CECA (Spanish acronym for the Specific Questionnaire for Condylomata Acuminata) in patients with anogenital condylomas. A total of 247 patients aged > 18 years completed the questionnaire on 2 occasions as well as the Dermatology Life Quality Index (DLQI). The CECA questionnaire showed good internal consistency (Cronbach's alpha values of 0.86 and 0.91 in the emotional and sexual activity dimensions) and good testretest reliability (intraclass correlation coefficient 0.76 emotional dimension, 0.82 sexual activity dimension). Patients with de novo lesions and those with more extensive lesions and larger number of warts showed poorer health-related quality of life. CECA and DLQI scores correlated moderately. Patients whose lesions cleared at follow-up or with a reduction of >or= 50% showed a better improvement of health-related quality of life. The CECA questionnaire is a valid, reliable and sensitive tool for the assessment of health-related quality of life in patients with anogenital warts.

Influencia de la temperatura en la ingesta de pacientes hospitalizados.

BACKGROUND AND OBJECTIVES Prevalence of hyponutrition in hospitalized patients is very high and it has been shown to be an important prognostic factor. Most of admitted patients depend on hospital food to cover their nutritional demands being important to assess the factors influencing their intake, which may be modified in order to improve it and prevent the consequences of inadequate feeding. In previous works, it has been shown that one of the worst scored characteristics of dishes was the temperature. The aim of this study was to assess the influence of temperature on patient's satisfaction and amount eaten depending on whether the food was served in isothermal trolleys keeping proper food temperature or not. MATERIAL AND METHODS We carried out satisfaction surveys to hospitalized patients having regular diets, served with or without isothermal trolleys. The following data were gathered: age, gender, weight, number of visits, mobility, autonomy, amount of orally taken medication, intake of out-of-hospital foods, qualification of food temperature, presentation and smokiness, amount of food eaten, and reasons for not eating all the content of the tray. RESULTS Of the 363 surveys, 134 (37.96%) were done to patients with isothermal trays and 229 (62.04%) to patients without them. Sixty percent of the patients referred having eaten less than the normal amount within the last week, the most frequent reason being decreased appetite. During lunch and dinner, 69.3% and 67.7%, respectively, ate half or less of the tray content, the main reasons being as follows: lack of appetite (42% at lunch time and 40% at dinner), do not like the food (24.3 and 26.2%) or taste (15.3 and 16.8%). Other less common reasons were the odor, the amount of food, having nausea or vomiting, fatigue, and lack of autonomy. There were no significant differences in the amount eaten by gender, weight, number of visits, amount of medication, and level of physical activity. The food temperature was classified as adequate by 62% of the patients, the presentation by 95%, and smokiness by 85%. When comparing the patients served with or without isothermal trays, there were no differences with regards to baseline characteristics analyzed that might have had an influence on amount eaten. Ninety percent of the patients with isothermal trolley rated the food temperature as good, as compared with 57.2% of the patients with conventional trolley, the difference being statistically significant (P = 0.000). Besides, there were differences in the amount of food eaten between patients with and without isothermal trolley, so that 41% and 27.7% ate all the tray content, respectively, difference being statistically significant (P = 0.007). There were no differences in smokiness or presentation rating. CONCLUSIONS Most of the patients (60%) had decreased appetite during hospital admission. The percentage of hospitalized patients rating the food temperature as being good is higher among patients served with isothermal trolleys. The amount of food eaten by the patients served with isothermal trolleys is significantly higher that in those without them.

Exposure to Trihalomethanes through Different Water Uses and Birth Weight, Small for Gestational Age, and Preterm Delivery in Spain

BACKGROUND Evidence associating exposure to water disinfection by-products with reduced birth weight and altered duration of gestation remains inconclusive. OBJECTIVE We assessed exposure to trihalomethanes (THMs) during pregnancy through different water uses and evaluated the association with birth weight, small for gestational age (SGA), low birth weight (LBW), and preterm delivery. METHODS Mother-child cohorts set up in five Spanish areas during the years 2000-2008 contributed data on water ingestion, showering, bathing, and swimming in pools. We ascertained residential THM levels during pregnancy periods through ad hoc sampling campaigns (828 measurements) and regulatory data (264 measurements), which were modeled and combined with personal water use and uptake factors to estimate personal uptake. We defined outcomes following standard definitions and included 2,158 newborns in the analysis. RESULTS Median residential THM ranged from 5.9 μg/L (Valencia) to 114.7 μg/L (Sabadell), and speciation differed across areas. We estimated that 89% of residential chloroform and 96% of brominated THM uptakes were from showering/bathing. The estimated change of birth weight for a 10% increase in residential uptake was -0.45 g (95% confidence interval: -1.36, 0.45 g) for chloroform and 0.16 g (-1.38, 1.70 g) for brominated THMs. Overall, THMs were not associated with SGA, LBW, or preterm delivery. CONCLUSIONS Despite the high THM levels in some areas and the extensive exposure assessment, results suggest that residential THM exposure during pregnancy driven by inhalation and dermal contact routes is not associated with birth weight, SGA, LBW, or preterm delivery in Spain.

Les Glosses romàniques del manuscrit de la Biblioteca Vaticana Ebr. 413

Estudi del manuscrit hebreu 413 de la Biblioteca Vaticana què conté un diccionari hebreu del segle XIII. Aquest diccionari té un gran interès per a la filologia romànica, atès que conté un conjunt de 155 glosses en una llengua romànica, que l'editor del manuscrit identifica com a provençal. L’anàlisi detallada d'aquestes glosses permet que,en bona part puguin ser llegides com a catalanes i, alhora, convida a pensar en les profundes concomitàncies existents entre les dues llengües en aquest moment de la historia dels orígens romànics