Relative localization for aerial manipulation with PL-SLAM

The final publication is available at link.springer.comThis chapter explains a precise SLAM technique, PL-SLAM, that allows to simultaneously process points and lines and tackle situations where point-only based methods are prone to fail, like poorly textured scenes or motion blurred images where feature points are vanished out. The method is remarkably robust against image noise, and that it outperforms state-of-the-art methods for point based contour alignment. The method can run in real-time and in a low cost hardware.Peer ReviewedPostprint (author's final draft

Two planetary nebulae near the galactic center

Observations of two emission objects located in the direction of the galactic center have been made: They are: M3-44 = PK 359-1°2, M2-19 = PK 0-1°5. They are both objects of very low excitation, classified previously as PN?, and with few or no published observations of optical line intensities. Both are included in the IRAS Point Source Catalogue. The spectra were obtained at Cerro Tololo Inter-American Observatory, using the 1.5 m telescope equipped with a UV SIT Vidicon detector, and with additional spectra obtained for M3-44 using the 4 m telescope equipped with a CCD detector. From the analysis of these observations the following conclusions have been reached: a)M3-44 is a very low excitation object (excitation class 0, hydrogen Zanstra temperature of the nebula ≃ 8000K), with a mean square electron density ≃ 3000, and with S II condensation of very high density; and with S Ii condensation of very high density; and b) M2-19 has somewhat higher excitation (excitation class 2, hydrogen Zanstra temperature of the central star ≃ 26000-30000 K, electron temperature ≃ 8500-9000 K), and electron density of the order of 1000. From the IRAS Catalogue observations we may deduce that both objects are rich in dust, with two components of different black body temperature: a "hot" component with T ≃ 100K and a cold component with T ≃ 20K, being the mass of the hot component about 1/1000 of the cold component. From all these considerations, we believe that M2-19 has all the characteristics of a low excitation planetary nebula, while the characteristics of M3-44 would allow its classification as a compact H II region.Asociación Argentina de Astronomí

DESIGN OF ADVANCED SYSTEM DISPENSING CONCENTRATE FOR FISH IN CAPTIVITY

Este paper presenta el desarrollo del prototipo de un sistema dosificador de alimento para peces, observando las variables externas y regulando la cantidad de alimento según estas condiciones, se realizo todo desde el diseño mecánico, electrónico y eléctrico; hasta su construcción y pruebas de funcionamiento.This paper presents the development of a prototype for dispensing fish food, observing external variables and regulating the amount of food under these conditions, was performed everything from mechanical design, electronics and electrical, the construction and performance testing

Orexin-Corticotropin-Releasing Factor Receptor Heteromers in the Ventral Tegmental Area as Targets for Cocaine

Release of the neuropeptides corticotropin-releasing factor (CRF) and orexin-A in the ventral tegmental area (VTA) play an important role in stress-induced cocaine-seeking behavior. We provide evidence for pharmacologically significant interactions between CRF and orexin-A that depend on oligomerization of CRF1 receptor (CRF1R) and orexin OX1 receptors (OX1R). CRF1R–OX1R heteromers are the conduits of a negative crosstalk between orexin-A and CRF as demonstrated in transfected cells and rat VTA, in which they significantly modulate dendritic dopamine release. The cocaine target σ1 receptor (σ1R) also associates with the CRF1R–OX1R heteromer. Cocaine binding to the σ1R–CRF1R–OX1R complex promotes a long-term disruption of the orexin-A–CRF negative crosstalk. Through this mechanism, cocaine sensitizes VTA cells to the excitatory effects of both CRF and orexin-A, thus providing a mechanism by which stress induces cocaine seeking

Nuevos registros de helechos y licófitos para el departamento del Tolima, Colombia

The presence of 22 species of seed-free vascular plants is documented for the first time in the department of Tolima, Colombia, mainly as a result of the revision of specimens in the herbarium of the Universidad de Caldas (FAUC). Eight of these species extended their range of altitudinal distribution. The endemic species Luisma bivascularis (Polypodiaceae) is highlighted due the extension of its geographic and elevational distributions,previously restricted to its type locality, and because a new habit was recorded for it.Documentamos por primera vez para el departamento del Tolima, Colombia, la presencia de 22 especies deplantas vasculares sin semilla, principalmente como resultado de la revisión de los especímenes del herbariode la Universidad de Caldas (FAUC). Para ocho de estas especies se amplía su rango de distribución altitudinal.Destacamos la especie endémica Luisma bivascularis (Polypodiaceae) por ampliar su distribución geográficay altitudinal, pues la especie se consideraba restringida a su localidad tipo, y porque se registró un nuevohábito para ella

Marginal bone loss around implants placed in maxillary native bone or grafted sinuses: a retrospective cohort study

Objectives To assess differences in marginal bone loss around implants placed in maxillary pristine bone and implants placed following maxillary sinus augmentation over a period of 3 years after functional loading. Material and methods Two cohorts of subjects (Group 1: Subjects who received sinus augmentation with simultaneous implant placement; Group 2: Subjects who underwent conventional implant placement in posterior maxillary pristine bone) were included in this retrospective study. Radiographic marginal bone loss was measured around one implant per patient on digitized panoramic radiographs that were obtained at the time of prosthesis delivery (baseline) and 12, 24, and 36 months later. The influence of age, gender, smoking habits, history of periodontal disease, and type of prosthetic connection (internal or external) on marginal bone loss was analyzed in function of the type of osseous support (previously grafted or pristine). Results A total of 105 subjects were included in this study. Cumulative radiographic marginal bone loss ranged from 0 mm to 3.9 mm after 36 months of functional loading. There were statistically significant differences in marginal bone loss between implants placed in grafted and pristine bone at the 12‐month assessment, but not in the subsequent progression rate. External prosthetic connection, smoking, and history of periodontitis negatively influenced peri‐implant bone maintenance, regardless of the type of osseous substrate. Conclusions Implants placed in sites that received maxillary sinus augmentation exhibited more marginal bone loss than implants placed in pristine bone, although marginal bone loss mainly occurred during the first 12 months after functional loading. Implants with external implant connection were strongly associated with increased marginal bone loss overtime.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/102685/1/clr12122.pd

Aleatorizando el modelo de crecimiento malthusiano

[EN] This paper deals with the randomization of the classical malthusian model using a markovian approach. We show that the solution stochastic process, usually referred to as birth process, corresponds to the shift negative binomial distribution. A simulation procedure is included. A brief discussion regarding alternative ways to consider randomness into the malthusian model are also included.[ES] Este trabajo ilustra, mediante el modelo de crecimiento clásico malthusiano, cómo introducir la aleatoriedad utilizando el enfoque markoviano. Se prueba que la función generatriz de probabilidad del proceso estocástico solución, denominado de nacimiento, es una distribución binomial negativa desplazada. Se detalla una técnica para simular el proceso estocástico solución. También se realiza una breve digresión acerca de otras formas posibles de introducir la incertidumbre en el modelo determinista malthusiano.Cortés, J.; García Moreno, E.; Navarro-Quiles, A. (2017). Aleatorizando el modelo de crecimiento malthusiano. Sociedad Puig Adam de profesores de matemáticas. 103:52-65. http://hdl.handle.net/10251/148893S526510

Secondary Control for Storage Power Converters in Isolated Nanogrids to Allow Peer-to-Peer Power Sharing

It is usual in literature that power sharing among grid-forming sources of an isolated microgrid obeys their energy rating, instead of economic agreements between stakeholders, and circulating energy among them is usually avoided. However, these energy interchanges make strong sense and classical power sharing methods must be reformulated in the context of prosumer-based microgrids. This paper proposes a secondary control method for a prosumer-based low-voltage nanogrid that allows for energy interchange between prosumers, where storage systems, together with PV generators, are the controllable grid-forming sources. A power flow technique adapted to islanded microgrids is used for secondary control algorithm and the whole hierarchical control strategy for the prosumer converter is simulated and validated. This hierarchical control consists of three stages: tertiary control plans the energy interchange among prosumers, secondary obtains different voltage and power setpoints for each of the grid-forming sources, and, finally, primary control guarantees stable voltage and frequency values within the nanogrid with droop rules. Inner control loops for the power converter are also defined to track setpoints and assure stable performance. Simulation tests are carried out, which prove the stability of the proposed methods and the accuracy of the setpoint tracking