WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

Local WMR navigation with monocular data

This article presents recent WMR (wheeled mobile robot) navigation experiences using local perception knowledge provided by monocular and odometer systems. A local narrow perception horizon is used to plan safety trajectories towards the objective. Therefore, monocular data are proposed as a way to obtain real time local information by building two dimensional occupancy grids through a time integration of the frames. The path planning is accomplished by using attraction potential fields, while the trajectory tracking is performed by using model predictive control techniques. The results are faced to indoor situations by using the lab available platform consisting in a differential driven mobile robot

Modeling of hybrid systems by piecewise decomposition

Piecewise linear models systems arise as mathematical models of systems in many practical applications, often from linearization for nonlinear systems. There are two main approaches of dealing with these systems according to their continuous or discrete-time aspects. We propose an approach which is based on the state transformation, more particularly the partition of the phase portrait in different regions where each subregion is modeled as a two-dimensional linear time invariant system. Then the Takagi-Sugeno model, which is a combination of local model is calculated. The simulation results show that the Alpha partition is well-suited for dealing with such a system

Capacidades dinámicas que influyen en la operación de la Red de Turismo de La Candelaria

El desarrollo de la presente investigación, centra su atención en las capacidades dinámicas que influyen en la operación de la Red de Turismo de La Candelaria de Bogotá. Para este fin, se realizó una encuesta a 100 directivos o dueños de las empresas que conforman dicha red, y que es una muestra significativa para los propósitos de la investigación, puesto que permite describir a nivel de la empresa y a nivel de la red, la influencia de las capacidades dinámicas de absorción, adaptación e innovación. Como resultados, se obtuvieron que al nivel de empresas las tres capacidades dinámicas influyen en la operación de la misma, encontrándose una mayor relación entre las capacidades de “Innovación – Adaptación"; a nivel de red empresarial ocurre lo contrario, puesto que la relación de las capacidades dinámicas de “Innovación – Adaptación” es nula, mientras que las relaciones entre “Absorción – Innovación” y “Absorción – Adaptación” poseen una alta relación para la operación de la red. Lo anterior, se deriva del análisis realizado de los datos tabulados de la encuesta aplicada a las empresas de la red de turismo, con los estudios empíricos hallados que proponen escalas de medición para las capacidades dinámicas de absorción, adaptación e innovación, y el marco teórico elaborado como soporte para la presente investigación.

Alteraciones en el material genético de pintores de carros expuestos a solventes orgánicos en una localidad de Bogotá

Los solventes orgánicos son sustancias químicas que por sus propiedades físico-químicas son fácilmente inhalados o absorbidos por la piel, pueden causar daños de diversa índole en la salud. En Colombia existen normas que contemplan las medidas de protección, sin embargo persiste la informalidad en el sector de pintores de autos, por lo cual los trabajadores expuestos, a largo plazo pueden ver afectada su salud. En este estudio se analizó la relación entre individuos expuestos laboralmente a los solventes orgánicos versus no expuestos con respecto a la longitud de sus telómeros y formación de fragilidades. Se emplearon muestras de sangre extraídas por venopunción, recolectada en dos tubos: uno con Heparina, destinado al cultivo de linfocitos, para obtener cromosomas metafásicos y evaluar en ellos la presencia de fragilidades; el otro tubo con EDTA, fue empleado para la extracción de ADN y se utilizó para obtener los valores de longitud telomérica mediante la técnica de PCR cuantitativa. Los análisis estadísticos se realizaron aplicando la prueba de rangos de Wilcoxon, en el caso de la presencia de fragilidades se analizó la razón No.Fragilidades/No.Metafases, aplicando el método de Wilcoxon se encontró que existe diferencia estadísticamente significativa entre expuestos y no expuestos (p = 0,036), en donde los expuestos presentan mayor frecuencia de fragilidades. Por otra parte el valor relativo de longitud telomérica del grupo de expuestos fue mayor que el observado en el grupo de no expuestos, esta diferencia fue estadísticamente significativa (Wilcoxon, p = 0.002).

Capacidad predictiva del euroscore II en una cohorte de pacientes de cirugía cardiovascular en una institución de cuarto nivel de Bogotá

El EuroSCORE II es una de las escalas más empleadas como predictor de riesgo de mortalidad en los servicios de cirugía cardiovascular. Esta ha sido validada en diferentes hospitales alrededor del mundo demostrando una adecuada capacidad de discriminación. El objetivo de este estudio fue evaluar el valor predictivo de la escala de riesgo EuroSCORE II en los pacientes sometidos a Cirugía Cardiovascular en una institución de cuarto nivel de Bogotá. Metodología: Estudio de prueba diagnóstica observacional y retrospectivo de la cohorte de pacientes en una institución de cuarto nivel durante los años 2012 a 2014. Se realizó el cálculo del EuroSCORE II para cada paciente, comparando la mortalidad predicha versus la observada, de forma global y por grupo de riesgo. Resultados: Del total de la población que tuvo intervención cardiaca mayor en una institución de cuarto nivel en la cohorte estudiada se presentaron 58 casos de muerte en los treinta días posteriores a la intervención, que corresponde al 7,46%. La mortalidad esperada calculada con el EuroSCORE II fue del 9,26%, lo cual indica un buen poder de predicción para esta población. Por otro lado, la curva ROC evidencia con un valor de 0.757 del área bajo la curva, que el modelo El EuroSCORE II es un buen modelo predictivo con un adecuado valor de discriminación. Se evidenció que las variables estado crítico preoperatorio y función del ventrículo izquierdo tienen mayor peso estadístico en nuestra población objeto, con una significancia del 0,001, seguido de infarto agudo de miocardio, sexo y peso de la intervención con una significancia del 0,01. Adicionalmente, el Euroscore II tiene mejor valor predictivo cuando se realiza un solo procedimiento o revascularización, en comparación a cuando se realiza procedimientos mixtos. Se recomienda realizar un estudio multicéntrico donde se incluyan pacientes con diferentes características demográficas

Electron localization function at the correlated level

The electron localization function (ELF) has been proven so far a valuable tool to determine the location of electron pairs. Because of that, the ELF has been widely used to understand the nature of the chemical bonding and to discuss the mechanism of chemical reactions. Up to now, most applications of the ELF have been performed with monodeterminantal methods and only few attempts to calculate this function for correlated wave functions have been carried out. Here, a formulation of ELF valid for mono- and multiconfigurational wave functions is given and compared with previous recently reported approaches. The method described does not require the use of the homogeneous electron gas to define the ELF, at variance with the ELF definition given by Becke. The effect of the electron correlation in the ELF, introduced by means of configuration interaction with singles and doubles calculations, is discussed in the light of the results derived from a set of atomic and molecular systems

El desenvolupament local en l'espai en xarxa: xarxes socials i milieu a l'àrea urbana de Manresa

The paper focuses on the question of local development and applies the local territorial systems model to the urban area of Manresa (Barcelona). The concept of local development is discussed first, as well as the change in place's position within the network derived from metropolitan expansion processes. The role of Manresa's social agents and its development policies are explained, to stress the relevance of the position of places in the network and, foremost, of the role and capability of local actors in putting into value theirs milieu's resources

A dynamic knowledge-based decision support system to handle solids separation problems in activated sludge systems: development and validation

El sistema de fangs activats és el tractament biològic més àmpliament utilitzat arreu del món per la depuració d'aigües residuals. El seu funcionament depèn de la correcta operació tant del reactor biològic com del decantador secundari. Quan la fase de sedimentació no es realitza correctament, la biomassa no decantada s'escapa amb l'efluent causant un impacte sobre el medi receptor. Els problemes de separació de sòlids, són actualment una de les principals causes d'ineficiència en l'operació dels sistemes de fangs activats arreu del món. Inclouen: bulking filamentós, bulking viscós, escumes biològiques, creixement dispers, flòcul pin-point i desnitrificació incontrolada. L'origen dels problemes de separació generalment es troba en un desequilibri entre les principals comunitats de microorganismes implicades en la sedimentació de la biomassa: els bacteris formadors de flòcul i els bacteris filamentosos. Degut a aquest origen microbiològic, la seva identificació i control no és una tasca fàcil pels caps de planta. Els Sistemes de Suport a la Presa de Decisions basats en el coneixement (KBDSS) són un grup d'eines informàtiques caracteritzades per la seva capacitat de representar coneixement heurístic i tractar grans quantitats de dades. L'objectiu de la present tesi és el desenvolupament i validació d'un KBDSS específicament dissenyat per donar suport als caps de planta en el control dels problemes de separació de sòlids d'orígen microbiològic en els sistemes de fangs activats. Per aconseguir aquest objectiu principal, el KBDSS ha de presentar les següents característiques: (1) la implementació del sistema ha de ser viable i realista per garantir el seu correcte funcionament; (2) el raonament del sistema ha de ser dinàmic i evolutiu per adaptar-se a les necessitats del domini al qual es vol aplicar i (3) el raonament del sistema ha de ser intel·ligent. En primer lloc, a fi de garantir la viabilitat del sistema, s'ha realitzat un estudi a petita escala (Catalunya) que ha permès determinar tant les variables més utilitzades per a la diagnosi i monitorització dels problemes i els mètodes de control més viables, com la detecció de les principals limitacions que el sistema hauria de resoldre. Els resultats d'anteriors aplicacions han demostrat que la principal limitació en el desenvolupament de KBDSSs és l'estructura de la base de coneixement (KB), on es representa tot el coneixement adquirit sobre el domini, juntament amb els processos de raonament a seguir. En el nostre cas, tenint en compte la dinàmica del domini, aquestes limitacions es podrien veure incrementades si aquest disseny no fos òptim. En aquest sentit, s'ha proposat el Domino Model com a eina per dissenyar conceptualment el sistema. Finalment, segons el darrer objectiu referent al seguiment d'un raonament intel·ligent, l'ús d'un Sistema Expert (basat en coneixement expert) i l'ús d'un Sistema de Raonament Basat en Casos (basat en l'experiència) han estat integrats com els principals sistemes intel·ligents encarregats de dur a terme el raonament del KBDSS. Als capítols 5 i 6 respectivament, es presenten el desenvolupament del Sistema Expert dinàmic (ES) i del Sistema de Raonament Basat en Casos temporal, anomenat Sistema de Raonament Basat en Episodis (EBRS). A continuació, al capítol 7, es presenten detalls de la implementació del sistema global (KBDSS) en l'entorn G2. Seguidament, al capítol 8, es mostren els resultats obtinguts durant els 11 mesos de validació del sistema, on aspectes com la precisió, capacitat i utilitat del sistema han estat validats tant experimentalment (prèviament a la implementació) com a partir de la seva implementació real a l'EDAR de Girona. Finalment, al capítol 9 s'enumeren les principals conclusions derivades de la present tesi.

O círculo de eranos: a experiência da educação do campo ou como os contextos podem gerar

RESUMO: Estamos a vivenciar dois fatos paradoxais: de um lado, uma organização da escola instituída que gera a autoconservação das práticas do professor e, do outro, tendências nos plano científico e do discurso político que apelam ao retorno ao ator - que reconhece o professor como sujeito de seu saber e fazer. Foi neste contexto que se realizou a pesquisa subjacente a esta tese sobre a formação docente num projeto de escolarização que se fundamenta numa perspetiva de educação popular contra-hegemónica, edificada, no Brasil, como ‗educação do campo‘. Buscou-se compreender a vivência docente, suas perceções e aprendizagens. Desenvolveu-se a investigação a partir das questões: é possível, no contexto atual de mudanças sociais direcionadas ao processo cada vez maior de individuação docente, a formação em democracia participativa numa experiência de educação popular? Como ela se estabelece? O que ela nos ensina? A metodologia assentou na observação participativa das reuniões de planeamento, avaliação e replaneamento dos(as) professores(as) e coordenadores, numa proposta local de educação do campo - do Programa Nacional de Educação na Reforma agrária. As reuniões e escolarização ocorreram em Ilhéus/Bahia/Brasil, durante os anos de 2005-2006. As referências teóricas para a análise empírica do material coletado foram: a perspetiva da reflexão-ação emancipatória de Carr e Kemmis (1998), que compreende as instituições educacionais criadas por pressões sociais e políticas; e a conceção de emancipação desenvolvida por Freire e por Habermas, assente na ação comunicativa/dialógica. Para a análise utilizou-se o método da Análise Crítica de Discurso (ACD), cuja principal referência foi Fairclough. Nas narrativas das reuniões percebeu-se o desenvolvimento de uma polidez positiva – atos de fala que demonstram o falante desejando estabelecer o consenso com ouvinte; assinalada por estruturas modais que direcionaram para a abertura de relacionamento e participação mútua entre professores(as) e coordenadores do projeto. O conteúdo manifesto das falas amparou-se numa perspetiva de educador que se constrói na prática, e, ao mesmo tempo, a constrói, mas que, entretanto, necessita de aportes teóricos críticos no processo de embate epistémico entre os saberes da vida quotidiana concreta e os saberes científicos. A função interpessoal foi expressa pela arquitetura dialógica, permitindo um processo de construção mútua de escola e professores(as). Pode-se afirmar que a prática analisada indica que nestes tempos, de controlo intenso das instituições escolares, de competição, de solidão, é obviamente necessária a organização coletiva de professores (as), de movimentos sociais e universidades, amparados e financiados por ordenamentos legais (conquistados pela população), para consolidar e ampliar projetos críticos de escolarização, mudando, reciprocamente, escolas e professores(as). ABSTRACT: We are experiencing two paradoxical facts: the organization of the established school which generates the self-preservation of teaching practices and, on the other hand, there is a political and scientific trend that claims the return of the ―actor‖ – the teacher being the subject of his knowledge and actions. It was therefore in this context, that the underlying research for this Thesis was conducted. It concerns to the teacher training in an educational project which is based on the perspective of a counter-hegemonic and popular education available to people at the Brazilian countryside – also called ―Field Education‖. We searched the understanding of the educational experience, its perceptions and learning. The investigation was developed from two fundamental questions: Is it possible to have the experience of a popular education system in a functioning democracy, at the light of the recent social changes that lead to a greater individuation? How is it established? What can we learn from it? The methodology was settled on the participant observation of the planning and evaluation meetings of teachers and coordinators of the National Education Program in the Land Reform in Brazil. These meetings occurred in Ilheús- Bahia- Brazil during the years of 2005-2006. The theoretical references to the empirical analyses of the material collected were: the perspective of the reflection – action emancipative of Carr & Kemmis (1998), which comprehends the educational institutions created by social and political pressures; and the conception of emancipation developed by Freire and Habermas, which is settled on the communicative-dialogical action. For the analysis it was elected the method of Critical Analysis of Discourse (CAD),which main reference was Fairclough. During the account of the meetings it was noticed the development of a positive politeness – which reveals the desire of the speaker to reach an agreement with the listener, signalized by modal structures that directed to an open and participative relationship between teachers and coordinators of the project. The manifest content of the speeches was sustained by the educator perspective, which is built on the daily practice. However, it needs some basic theoretical contributions to the epistemic struggle between concrete ordinary life and the scientific knowledge. The interpersonal function was expressed by dialogical architecture, allowing a mutual process of construction that involves the school and the teachers. The practice analyzed indicates that, more than ever, due to the massive control of the institutions, the extreme competition and solitude, the collective organization of the teachers, the social movements and the universities is necessary. They should be supported and financed by legal systems to consolidated and amplify important education projects, bringing necessary changes for schools and teachers reciprocally.

Classroom acoustics: enhancing the listening environment through the use of amplification systems

This paper discusses the variables affecting classroom acoustics and a case study examination of some local classrooms. Classrooms were measured against proposed American National Standards Institute (ANSI) standards and treatment options for improving acoustics are suggested.

Prefrontal cortical-ventral striatal interactions involved in affective modulation of attentional performance: implications for corticostriatal circuit function

Anatomically segregated systems linking the frontal cortex and the striatum are involved in various aspects of cognitive, affective, and motor processing. In this study, we examined the effects of combined unilateral lesions of the medial prefrontal cortex (mPFC) and the core subregion of the nucleus accumbens (AcbC) in opposite hemispheres (disconnection) on a continuous performance, visual attention test [five-choice serial reaction-time task (5CSRTT)]. The disconnection lesion produced a set of specific changes in performance of the 5CSRTT, resembling changes that followed bilateral AcbC lesions while, in addition, comprising a subset of the behavioral changes after bilateral mPFC lesions previously reported using the same task. Specifically, both mPFC/AcbC disconnection and bilateral AcbC lesions markedly affected aspects of response control related to affective feedback, as indexed by perseverative responding in the 5CSRTT. These effects were comparable, although not identical, to those in animals with either bilateral AcbC or mPFC/AcbC disconnection lesions. The mPFC/AcbC disconnection resulted in a behavioral profile largely distinct from that produced by disconnection of a similar circuit described previously, between the mPFC and the dorsomedial striatum, which were shown to form a functional network underlying aspects of visual attention and attention to action. This distinction provides an insight into the functional specialization of corticostriatal circuits in similar behavioral contexts.

On the relationship of normal modes to local modes in molecular vibrations

A simple model for the effective vibrational hamiltonian of the XH stretching vibrations in H2O, NH3 and CH4 is considered, based on a morse potential function for the bond stretches plus potential and kinetic energy coupling between pairs of bond oscillators. It is shown that this model can be set up as a matrix in local mode basis functions, or as a matrix in normal mode basis functions, leading to identical results. The energy levels obtained exhibit normal mode patterns at low vibrational excitation, and local mode patterns at high excitation. When the hamiltonian is set up in the normal mode basis it is shown that Darling-Dennison resonances must be included, and simple relations are found to exist between the xrs, gtt, and Krrss anharmonic constants (where the Darling-Dennison coefficients are denoted K) due to their contributions from morse anharmonicity in the bond stretches. The importance of the Darling-Dennison resonances is stressed. The relationship of the two alternative representations of this local mode/normal mode model are investigated, and the potential uses and limitations of the model are discussed.

Rational conversion of substrate and product specificity in a Salvia monoterpene synthase: structural insights into the evolution of terpene synthase function

Terpene synthases are responsible for the biosynthesis of the complex chemical defense arsenal of plants and microorganisms. How do these enzymes, which all appear to share a common terpene synthase fold, specify the many different products made almost entirely from one of only three substrates? Elucidation of the structure of 1,8-cineole synthase from Salvia fruticosa (Sf-CinS1) combined with analysis of functional and phylogenetic relationships of enzymes within Salvia species identified active-site residues responsible for product specificity. Thus, Sf-CinS1 was successfully converted to a sabinene synthase with a minimum number of rationally predicted substitutions, while identification of the Asn side chain essential for water activation introduced 1,8-cineole and alpha-terpineol activity to Salvia pomifera sabinene synthase. A major contribution to product specificity in Sf-CinS1 appears to come from a local deformation within one of the helices forming the active site. This deformation is observed in all other mono- or sesquiterpene structures available, pointing to a conserved mechanism. Moreover, a single amino acid substitution enlarged the active-site cavity enough to accommodate the larger farnesyl pyrophosphate substrate and led to the efficient synthesis of sesquiterpenes, while alternate single substitutions of this critical amino acid yielded five additional terpene synthases.

Assessing the vulnerability of food crop systems in Africa to climate change

Africa is thought to be the region most vulnerable to the impacts of climate variability and change. Agriculture plays a dominant role in supporting rural livelihoods and economic growth over most of Africa. Three aspects of the vulnerability of food crop systems to climate change in Africa are discussed: the assessment of the sensitivity of crops to variability in climate, the adaptive capacity of farmers, and the role of institutions in adapting to climate change. The magnitude of projected impacts of climate change on food crops in Africa varies widely among different studies. These differences arise from the variety of climate and crop models used, and the different techniques used to match the scale of climate model output to that needed by crop models. Most studies show a negative impact of climate change on crop productivity in Africa. Farmers have proved highly adaptable in the past to short- and long-term variations in climate and in their environment. Key to the ability of farmers to adapt to climate variability and change will be access to relevant knowledge and information. It is important that governments put in place institutional and macro-economic conditions that support and facilitate adaptation and resilience to climate change at local, national and transnational level.