Object segmentation in depth maps with one user click and a synthetically trained fully convolutional network

With more and more household objects built on planned obsolescence and consumed by a fast-growing population, hazardous waste recycling has become a critical challenge. Given the large variability of household waste, current recycling platforms mostly rely on human operators to analyze the scene, typically composed of many object instances piled up in bulk. Helping them by robotizing the unitary extraction is a key challenge to speed up this tedious process. Whereas supervised deep learning has proven very efficient for such object-level scene understanding, e.g., generic object detection and segmentation in everyday scenes, it however requires large sets of per-pixel labeled images, that are hardly available for numerous application contexts, including industrial robotics. We thus propose a step towards a practical interactive application for generating an object-oriented robotic grasp, requiring as inputs only one depth map of the scene and one user click on the next object to extract. More precisely, we address in this paper the middle issue of object seg-mentation in top views of piles of bulk objects given a pixel location, namely seed, provided interactively by a human operator. We propose a twofold framework for generating edge-driven instance segments. First, we repurpose a state-of-the-art fully convolutional object contour detector for seed-based instance segmentation by introducing the notion of edge-mask duality with a novel patch-free and contour-oriented loss function. Second, we train one model using only synthetic scenes, instead of manually labeled training data. Our experimental results show that considering edge-mask duality for training an encoder-decoder network, as we suggest, outperforms a state-of-the-art patch-based network in the present application context.Comment: This is a pre-print of an article published in Human Friendly Robotics, 10th International Workshop, Springer Proceedings in Advanced Robotics, vol 7. The final authenticated version is available online at: https://doi.org/10.1007/978-3-319-89327-3\_16, Springer Proceedings in Advanced Robotics, Siciliano Bruno, Khatib Oussama, In press, Human Friendly Robotics, 10th International Workshop,

Análisis de vibraciones: una herramienta clave en el mantenimiento predictivo

Este artículo describe la herramienta denominada “análisis de vibraciones”, muy empleada en el mantenimiento predictivo en las máquinas rotativas, la cual permite diagnosticar su estado y el de sus componentes mientras funcionan normalmente dentro de una planta de producción

Homeostatic Response to Three Years of Experimental Warming Suggests High Intrinsic Natural Resistance in the Páramos to Warming in the Short Term

Páramos, tropical alpine ecosystems, host one of the world s most diverse alpine floras, account for the largest water reservoirs in the Andes, and some of the largest soil carbon pools worldwide. It is of global importance to understand the future of this extremely carbon-rich ecosystem in a warmer world and its role on global climate feedbacks. This study presents the result of the first in situ warming experiment in two Colombian páramos using Open-Top Chambers. We evaluated the response to warming of several ecosystem carbon balance-related processes, including decomposition, soil respiration, photosynthesis, plant productivity, and vegetation structure after 3 years of warming. We found that OTCs are an efficient warming method in the páramo, increasing mean air temperature by 1.7°C and mean daytime temperature by 3.4°C. The maximum air temperature differences between OTC and control was 23.1°C. Soil temperature increased only by 0.1°C. After 3 years of warming using 20 OTC (10 per páramo) in a randomized block design, we found no evidence that warming increased CO2 emissions from soil respiration, nor did it increase decomposition rate, photosynthesis or productivity in the two páramos studied. However, total C and N in the soil and vegetation structure are slowly changing as result of warming and changes are site dependent. In Sumapaz, shrubs, and graminoids cover increased in response to warming while in Matarredonda we observed an increase in lichen cover. Whether this change in vegetation might influence the carbon sequestration potential of the páramo needs to be further evaluated. Our results suggest that páramos ecosystems can resist an increase in temperature with no significant alteration of ecosystem carbon balance related processes in the short term. However, the long-term effect of warming could depend on the vegetation changes and how these changes alter the microbial soil composition and soil processes. The differential response among páramos suggest that the response to warming could be highly dependent on the initial conditions and therefore we urgently need more warming experiments in páramos to understand how specific site characteristics will affect their response to warming and their role in global climate feedbacks. © Copyright © 2021 Lasso, Matheus-Arbeláez, Gallery, Garzón-López, Cruz, Leon-Garcia, Aragón, Ayarza-Páez and Curiel Yuste.Special thanks to David Campos, Fabian Salgado, Luis Fernando Rojas, Ewen Dano, Jorge Acosta, Juliana Portilla, and Michelle Guevara that helped with field and lab work. We would like to thank the Sabogal family for allowing the establishment of the OTC and collection of samples in the p?ramo ?Parque Ecol?gico Matarredonda? and to the Lieutenant Colonel Edgar Riveira, Commander of the High Mountain Battalion No. 1 in Sumapaz and all the commanders that follow him and who provided us with accommodation and food in the battalion as well as logistic support in all our field campaigns. Thanks to all the soldiers who always enthusiastically helped us in the field work in Sumapaz. This research was also supported by the Basque Government through the BERC 2018?2021 program, and by the Spanish Ministry of Science, Innovation and Universities through the BC3 Mar?a de Maeztu excellence accreditation (MDM-2017-0714). Funding. Funding for this research comes from the ?Patrimonio Aut?nomo Fondo Nacional de Financiamiento para la Ciencia, la Tecnolog?a y la Innovaci?n Francisco Jos? de Caldas?Colciencias,? grant number 120471451294, granted by Colciencias (today?s Colombian Ministry of Science, Technology and Innovation), from Eloisa Lasso?s FAPA (Fondo de Apoyo para Profesores Asistentes) grant number P12.160422.001 from the Universidad de los Andes, and from the Research Fund to support faculty programs at the Faculty of Sciences at the Universidad de los Andes grant number INV-2019-84-1805

Posible resistencia de iDictyocaulus viviparus/i a fenbendazol en un bovino reporte de caso

Describir el caso de la posible resistencia al fenbendazol en una ternera Jersey infestada por Dictyocaulus viviparus. En el municipio de Entrerrios, Antioquia, Colombia, una hembra de la raza Jersey de 6 meses de edad, presento un serio cuadro de bronconeumonía el cual no mejoró a la aplicación de fenbendazol y enrofloxacina como terapia de mantenimiento. En la necropsia, se observó un número elevado de parásitos vivos compatibles con Dictyocaulus viviparus, determinando una bronquitis verminosa. Este nematodo el cual es tratado rutinariamente con fenbendazol en las fincas lecheras Colombianas, ha demostrado ser resistente frente algunos bencimidazoles, en el presente caso, se pretende describir las posibles causas de esta resistencia del Dictyocaulus viviparus, en la  ternera Jersey

Comportamiento adherente del hormigón autocompactante en transmisión y anclaje

Self-compacting concretes (SCC) provide solutions to the problems facing precast concrete construction, enhancing competitiveness, reducing turnaround times and improving final product quality. SCC is fast becoming a key product for the future development of the precast pre-stressed concrete industry.The present paper compares the bond performance of SCC and traditional concrete (TC). The bond performance results confirm the viability of SCC in precast pre-stressed concrete manufacture, despite a slightly higher loss of pre-stressing force and slightly greater anchorage lengths in SCC with a low water/cement ratio. No differences in transfer or anchorage length were detected,however, when high strength TC and SCC were compared. The ECADA test method proved to be well suited to detecting the differences between the concretes analyzed.El desarrollo de los hormigones autocompactantes (SCC)ofrece muchas posibilidades a las construcciones con hormigón prefabricado, aumentando su competitividad, reduciéndolos plazos de fabricación y ofreciendo mejoras en la calidad del producto final. El SCC se está convirtiendo en un producto clave para el futuro desarrollo de la industria de prefabricados de hormigón pretensado.En este estudio se compara el comportamiento adherente de los SCC con el de los hormigones tradicionales (TC) actuales. Los resultados obtenidos confirman la viabilidad del uso de los SCC para la fabricación de elementos prefabricados con hormigón pretensado, en lo relativo a su comportamiento adherente, aunque con la necesidad de considerar unas pérdidas de pretensado ligeramente mayores. Asimismo,debe esperarse un ligero aumento de las longitudes de anclaje cuando se trabaje con SCC de baja relación agua/cemento. Sin embargo, no se han detectado diferencias de comportamiento entre ambos tipos de hormigón cuando la resistencia a compresión es alta en lo relativo a las longitudes de transmisión y anclaje. El método de ensayo ECADA muestra una buena adecuación para detectar las diferencias de comportamiento entre los hormigones analizado

Crescimento e respostas fisiológicas ao estresse de transporte em juvenis de tilápiado-nilo criados em natação sustentada.

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Software architecture for the measurement of operational risk in financial sector entities

La medición de los riesgos financieros tales como operacional, liquidez y crédito, entre otros, es una de las preocupaciones más frecuentes en el sector financiero; en este sentido, la materialización del riesgo operacional da lugar a enormes pérdidas monetarias derivadas de fallos en las personas, en los procesos y en los procedimientos que inciden en la operación de la entidad. Con el fin de sistematizar la medición del riesgo operacional se ha desarrollado el Sistema de Información Operational Risk Management, el cual facilita la medición del riesgo operacional, a partir de la obtención de la matriz de pérdidas esperadas e inesperadas y la estimación de Valor en Riesgo Operacional (Op-VaR) para los diferentes fallos que se puedan presentar en cada una de las líneas de negocio con las que cuenta la entidad. En este trabajo se muestra cómo el uso de la arquitectura basada en filtros facilita y agiliza cálculos que requieren grandes volúmenes de datos con información financiera. Actualmente el Sistema de Información es utilizado por entidades del sector financiero colombiano quienes a partir de su uso han optimizado tanto sus utilidades como la productividad del talento humano, toda vez que el sistema ha permitido generar planes de contingencia para atender una crisis por riesgo operacionalThe measurement of financial risks, such as operational, liquidity and credit, among others, is one of the most frequent concern in the bank and corporative sector, in this sense, the operational risk materialization causes large losses due to fails on the procedures that affect the functioning of the organization. With the goal of systematize the risk measurement, we has implement the Information System Financial Risk Management which facilitates the measurement of operational risk starting on the expected and unexpected loss matrix and the estimation of Value at Operational Risk (Op-VaR) for different failures that may occur in each of the business lines that the entity has. The paper shows how the use of filters based on easier and faster calculations that require large volumes of data from financial information architecture. Currently the Information System is used by Colombian financial sector entities who from their use have optimized both their profits and the productivity of human talent, since the system has allowed the generation of contingency plans to deal with a crisis due to operational ris