Embedded Implementation of a Kalman Filter for the Fusion of Automotive Inertial Sensors Using CARLA Simulator

The aim of this paper is to build a real-time Kalman filter that collects and fuses sensor data from vehicles to provide more accurate information of the car’s position and orientation. This research work uses the Carla simulator as the platform to simulate a real environment.ITESO, A. C

Dynamic State Estimation for Load Bus Protection on Inverter-Interfaced Microgrids

Inverter-interfaced microgrids results in challenges when designing protection systems. Traditional time-overcurrent, admittance, and differential protection methods are unsuitable on account of lack of fault current, excessively short lines, or a prohibitive number of protective devices needing to be installed. Current practice is to force all inverters to shut down during fault conditions, weakening resilience and reducing reliability. Dynamic state estimation (DSE), which has been explored for both line protection and load bus protection before, is a potential solution to these challenges to create widely utilizable, highly reliable protection systems. However, it has only been tested for load protection with ideal voltage sources, which do not capture the short-circuit behavior of inverter-interfaced generation, notably low fault current and unbalanced output voltage. This paper aims to extend the state-of-the-art on DSE load protection: the performance of DSE during short-circuit conditions with a grid-forming inverter with current-limiting behavior during fault conditions is investigated.Comment: 5 pages. 3 figures. 1 table

Variation in the Structure and Role of Religious Institutions: Examples from pre-Columbian America

Research on religious behavior has stressed its character as a cognitive complex that evolved during the Pleistocene to incentivize prosocial behavior and serves roughly similar population management roles regardless of social context. To explore this idea, we reconstructed religious institutional structure for three pre- Columbian societies using a key feature or religious organization: the basal congregation size—a critical axis of population management and for the creation of shared communal identities. Results show that in places where populations could fission to avoid intra-community conflict, religious institutions show no real evidence of internal community management. In locations where large towns meant more internal conflict, religious institutions mapped themselves over the extended family, creating small congregations that provided the mid-level organizational tiers necessary to support larger communities. Finally, for populations organized into regional polities, religious institutions used large ritual assemblies and conspicuous paraphernalia to invoke our Pleistocene cognitive predispositions for altruistic and cooperative behavior towards close-kin, but redirected them towards the large, non-kin religious community. This variation highlights the malleable and reactive nature of religious institutions, which interact quite differently with their constituent members or their cognitive predispositions depending on the social needs they look to resolve.UCR::Vicerrectoría de Investigación::Unidades de Investigación::Ciencias Sociales::Centro de Investigaciones Antropológicas (CIAN)UCR::Vicerrectoría de Docencia::Ciencias Sociales::Facultad de Ciencias Sociales::Escuela de Antropologí

Algoritmo para el diagnóstico precoz de la deficiencia de vitamina B12 en ancianos

Background: The elderly population is particularly at risk for developing vitamin B12-deficiency. Serum cobalamin does not necessarily reflect a normal B12 status. The determination of methylmalonic acid is not available in all laboratories. Issues of sensitivity for holotranscobalamin and the low specificity of total homocysteine limit their utility. The aim of the present study is to establish a diagnostic algorithm by using a combination of these markers in place of a single measurement. Methods: We compared the diagnostic efficiency of these markers for detection of vitamin B12 deficiency in a population (n = 218) of institutionalized elderly (median age 80 years). Biochemical, haematological and morphological data were used to categorize people with or without vitamin B12 deficiency. Results: In receiver operating curves characteristics for detection on vitamin B12 deficiency using single measurements, serum folate has the greatest area under the curve (0.87) and homocysteine the lowest (0.67). The best specificity was observed for erythrocyte folate and methylmalonic acid (100% for both) but their sensitivity was very low (17% and 53%, respectively). The highest sensitivity was observed for homocysteine (81%) and serum folate (74%). When we combined these markers, starting with serum and erythrocyte folate, followed by holotranscobalamin and ending by methylmalonic acid measurements, the overall sensitivity and specificity of the algorithm were 100% and 90%, respectively. Conclusion: The proposed algorithm, which combines erythrocyte folate, serum folate, holotranscobalamin and methylmalonic acid, but eliminate B12 and tHcy measurements, is a useful alternative for vitamin B12 deficiency screening in an elderly institutionalized cohort.Introducción: Los mayores son una población que presenta un riesgo importante de desarrollar una deficiencia de vitamina B12, pero las concentraciones de cobalamina en suero no reflejan necesariamente un estado abnormal en el estado de B12 . Existen biomarcadores asociados a la vitamina B12: el ácido metilmalónico no está disponible en todos los laboratorios, la holotranscobalamina es poco sensible y la homocisteína presenta una baja especificidad. El objetivo del presente estudio es establecer un algoritmo de diagnóstico mediante el uso de una combinación de estos biomarcadores en lugar de la medición de uno sólo de ellos. Métodos: Se comparó la eficacia diagnóstica de estos marcadores para la detección de deficiencia de vitamina B12 en una población (n = 218) de ancianos institucionalizados (edad media 80 años). Los parámetros bioquímicos, hematológicos y morfológicos fueron utilizados para clasificar a los sujetos con o sin deficiencia de vitamina B12. Resultados: Se establecieron las curvas ROC (Receiver Operating Curves) para determinar la eficacia diagnóstica de cada parámetro, tomado individualmente. El folato sérico tenía la mayor área bajo la curva (0,87) y la homocisteína la más baja (0,67). Se observó que la mejor especificidad la presentaba el folato eritrocitario y el ácido metilmalónico (100% para ambos), pero sus sensibilidades eran muy bajas (17% y 53%, respectivamente). Y se observó que la sensibilidad más alta la presentaba la homocisteína (81%) y el folato sérico (74%), pero en contrapartida una especificidad baja. Cuando se combinaron estos marcadores, iniciando las determinaciones con el folato sérco y eritrocitario, seguido por holotranscobalamina y terminando por las mediciones de ácido metilmalónico, la sensibilidad y especificidad global del algoritmo fueron 100% y 90%, respectivamente. Conclusión: El algoritmo propuesto, que combina la determinación de folato sérico y eritrocitario, holotranscobalamina y ácido metilmalónico, sin necesidad de evaluar la vitamina B12 y la homocisteína, es una alternativa útil para la detección de un estado abnormal del estado de vitamina B12 en una población de ancianos institucionalizados

Hacia la aplicación de la computación de alto desempeño al entorno productivo local

Los clústeres de computadoras para Computación de Alto Desempeño (HPC) permiten acceder a relativamente bajo costo a herramientas que aceleran los tiempos de exploración, diseño, testeo e introducción al mercado de nuevos productos. Sin embargo, la falta de conocimiento técnico clave está limitando la difusión de dichas herramientas en nuestra industria. El objetivo de nuestra línea de I+D es desarrollar una estrategia para obtener y difundir el conocimiento requerido para adquirir, instalar, administrar, mantener y programar un clúster de HPC.Eje: Procesamiento distribuido y paraleloRed de Universidades con Carreras en Informática (RedUNCI

SNP Genotyping for Purity Assessment of a Forage Oat (Avena sativa L.) Variety from Colombia

Single nucleotide polymorphism (SNP) markers have multiple applications in plant breeding of small grains. They are used for the selection of divergent parents, the identification of genetic variants and marker-assisted selection. However, the use of SNPs in varietal purity assessment is under-reported, especially for multi-line varieties from the public sector. In the case of variety evaluation, these genetic markers are tools for maintaining varietal distinctness, uniformity and stability needed for cultivar release of multi-line or pure-line varieties of inbred crops. The objective of this research was to evaluate the purity and relationships of one original (AV-25) and two multi-line sub-populations (AV25-T and AV25-S) of the inbreeding species, oats (Avena sativa L.). Both sub-populations could be useful as forages in the central highland region of Colombia (\u3e2000 masl), such as in the departments of Boyacá and Cundinamarca, even though they were derived from an original composite mixture widely used in the mountainsides of the southern department of Nariño named Avena 25. Representative single plant selections (SPS) from the two sub-populations were grown together with SPS harvests from off-type plants (early and late) and plants from the original AV25 composite mixture, to determine their genetic similarity. Plants were genotyped by DNA extraction of a plateful of 96 individual plant samples and SNPs were detected for an Illumina Infinium 6K Chip assay. The data were used for the analysis of genetic structure and population relationships. The grouping observed based on the genetic data indicated that AV25-T and AV25-S were homogeneous populations and somewhat divergent in their genetic profile compared to the original AV25-C mix. In addition, to the two commercial, certified oat varieties (Cajicá and Cayuse) were different from these. The early and late selections were probable contaminants and could be discarded. We concluded that the use of SNP markers is an appropriate tool for ensuring genetic purity of oat varieties

Fijación externa RALCA con montaje monopolar doble en las fracturas abiertas de tibia

A work on open tibial fractures that were treated as emergencies with dual monopolar external fixation at the Arnaldo Milian Castro Clinical-Surgical Hospital in Santa Clara, Villa Clara, from January 2011 to January 2012 is presented in this article. The Basic Working Group treated a total of 25 patients with the diagnosis of open tibial fracture. As a method of surgical treatment, they underwent emergency dual monopolar external fixation with RALCA system, with or without other means for osteosynthesis. With the use of the monopolar, it was achieved a minimally invasive early stabilization of the fracture within the first 24 hours. The evolution and hospital stay were favorable, there was a better performance on soft tissue and in early rehabilitation of the patients, with faster reincorporation into society. The use of this type of external fixation in open tibial fractures is recommended.Se presenta un trabajo sobre fracturas abiertas de tibias tratadas de urgencia con fijación externa monopolar doble en el Hospital Clínico Quirúrgico “Arnaldo Milián Castro” de Santa Clara, Villa Clara, entre los meses de enero de 2011 y enero de 2012. Se trataron, por el Grupo Básico de Trabajo, un total de 25 pacientes con el diagnóstico de fractura abierta de tibia a los que se les aplicó, como método de tratamiento quirúrgico, el uso de la fijación externa monopolar doble de urgencia con el sistema Rodrigo Álvarez Cambras asociado o no a otros medios de osteosíntesis. Se logró, con el uso del monopolar, una estabilización precoz de la fractura con un mínimo de invasión en las primeras 24 horas; la evolución y el tiempo de estadía fueron favorables; hubo una mejor actuación sobre partes blandas y una rehabilitación temprana del paciente, con una incorporación más rápida a la vida social. Se recomienda el uso de este tipo de fijación externa en las fracturas abiertas de tibia

Wind power probabilistic forecast in the reproducing Kernel Hilbert space

Wind power probabilistic forecast is a key input in decision-making problems under risk, such as stochastic unit commitment, operating reserve setting and electricity market bidding. While the majority of the probabilistic forecasting methods are based on quantile regression, the associated limitations call for new approaches. This paper described a new quantile regression model based on the Reproducing Kernel Hilbert Space (RKHS) framework. In particular, two versions of the model, off-line and on-line, were implemented and tested for a real wind farm. Results showed the superiority of the on-line approach in terms of performance, robustness and computational cost. Additionally, it was observed that, in the presence of correlated data, the optimal on-line learning may cause unreliable modelling. Potential solutions to this effect are also described and implemented in the paper

Evaluación energética de las primeras mejoras constructivas realizadas sobre un laboratorio de la Universidad Nacional de Luján–UNLU

Un recinto constituido por un único espacio dentro de la Universidad de Luján es convertido en prototipo experimental por el grupo de trabajo. Interesa de este lugar su posición exenta en relación con el resto de los edificios, sus características constructivas y el mal comportamiento térmico frente al clima del verano, donde las altas temperaturas internas convierten al lugar en inhabitable. Con el objetivo de acumular experiencia que sea aplicable a viviendas económicas con comportamientos similares, se propone realizar una serie de mejoras sucesivas de bajo costo que puedan ser evaluadas en sus resultados en forma paulatina. Para ello se parte de las mediciones y balances realizados sobre el prototipo en su versión original y se comparan resultados con las mismas mediciones y balances hechos una vez concretada la primera etapa de las mejoras previstas. De todo ello se muestra la metodología empleada, los resultados obtenidos y se sacan conclusiones.A building constituted by one single zone, located into the University of Luján is turned an experimental prototype by the work group. It's interesting of this place his particular location without relationship with the rest of the buildings, its constructive characteristics and very poor thermal behavior on summer weather, where the high internal temperatures turn the place inhabitable. With the intention of accumulate experience useful for economic houses with similar behaviors; we set out a series of successive low cost improvements, suitable to be evaluated by their results in gradual way. We start with measurements and balances made on the prototype in its original version and then compare results with the same measurements and balances done after the first stage of the predicted improvements. Of all the proceeding, we show the methodology used, the results obtained and the conclusions.Asociación Argentina de Energías Renovables y Medio Ambiente (ASADES

Evaluación energética de las primeras mejoras constructivas realizadas sobre un laboratorio de la Universidad Nacional de Luján–UNLU

Un recinto constituido por un único espacio dentro de la Universidad de Luján es convertido en prototipo experimental por el grupo de trabajo. Interesa de este lugar su posición exenta en relación con el resto de los edificios, sus características constructivas y el mal comportamiento térmico frente al clima del verano, donde las altas temperaturas internas convierten al lugar en inhabitable. Con el objetivo de acumular experiencia que sea aplicable a viviendas económicas con comportamientos similares, se propone realizar una serie de mejoras sucesivas de bajo costo que puedan ser evaluadas en sus resultados en forma paulatina. Para ello se parte de las mediciones y balances realizados sobre el prototipo en su versión original y se comparan resultados con las mismas mediciones y balances hechos una vez concretada la primera etapa de las mejoras previstas. De todo ello se muestra la metodología empleada, los resultados obtenidos y se sacan conclusiones.A building constituted by one single zone, located into the University of Luján is turned an experimental prototype by the work group. It's interesting of this place his particular location without relationship with the rest of the buildings, its constructive characteristics and very poor thermal behavior on summer weather, where the high internal temperatures turn the place inhabitable. With the intention of accumulate experience useful for economic houses with similar behaviors; we set out a series of successive low cost improvements, suitable to be evaluated by their results in gradual way. We start with measurements and balances made on the prototype in its original version and then compare results with the same measurements and balances done after the first stage of the predicted improvements. Of all the proceeding, we show the methodology used, the results obtained and the conclusions.Asociación Argentina de Energías Renovables y Medio Ambiente (ASADES