Castigos e documentos para bien vivir ordenados por el rey don Sancho IV. Edición por Agapito Rey. Indiana University Publications, Humanities Series No. 24, 1952; 229 págs.

Se reseñó el libro: Castigos e documentos para bien vivir ordenados por el rey don Sancho IV.

Toponomástica cuyana : orientaciones

Fil: Corominas, Juan. Universidad Nacional de Cuyo. Facultad de Filosofía y Letras. Instituto de Lingüístic

Observability analysis and optimal sensor placement in stereo radar odometry

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.Localization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement redundant estimation processes, ideally independent in terms of the underlying physics behind sensing principles. This paper presents a stereo radar odometry system, which can be used as such a redundant system, complementary to other odometry estimation processes, providing robustness for long-term operability. The presented work is novel with respect to previously published methods in that it contains: (i) a detailed formulation of the Doppler error and its associated uncertainty; (ii) an observability analysis that gives the minimal conditions to infer a 2D twist from radar readings; and (iii) a numerical analysis for optimal vehicle sensor placement. Experimental results are also detailed that validate the theoretical insights.Peer ReviewedPostprint (author's final draft

Estado Situacional para la Implementación de un Proceso de Calidad Democrática en la Infancia desde las Políticas Públicas del Estado Peruano

La presente investigación analiza la implementación de las políticas del Estado peruano para promover la participación de los niños, niñas y adolescentes en el marco de la calidad de la democracia. Este concepto debe priorizar el nivel de participación efectivo de todos los ciudadanos, inclusive los menores de edad. La construcción de ciudadanía desde la infancia debe implementarse a partir de las políticas de Estado, la participación infantil que garantice el ejercicio del derecho al voto y opinión es una estrategia para la promoción y consolidación de la ciudadanía. En la actualidad, se cuenta con lineamientos normativos que puedan determinar la implementación de un proceso de calidad democrática en la infancia desde las políticas públicas, que va desde los planes nacionales, informes anuales e instituciones que implementan las políticas como el Ente Rector del Sistema Nacional de Atención Integral al Niño. A partir de la década de los 90, se han implementado dos mecanismos de participación para los menores de edad de gran importancia, los Consejos Consultivos (CCONNAS) implementados en las tres escalas de gobierno que suman 529 a nivel nacional. Adicionalmente, se cuenta con 8,403 municipios escolares en las Instituciones Educativas de secundaria, hecho que demuestra que existen mecanismos de participación que pueden generar la inclusión de los niños, niñas y adolescentes en la democracia participativa. Estos mecanismos constituyen la piedra angular sobre la cual se puede desarrollar mejores estrategias en la agenda de los procesos, como los sistemas de elección, los temas a debatir por los menores de edad y el compromiso de los adultos encargados de implementar estos mecanismos de participación.Tesi

Systematic calibration of N2O emissions from a full-scale WWTP including a tracer test and a global sensitivity approach

Altres ajuts: Acord transformatiu CRUE-CSICBorja Solís is grateful for the PIF PhD grant funded by Universitat Autònoma de Barcelona.Nitrous oxide (NO) is a greenhouse gas (GHG) emitted during biological nitrogen removal from wastewater treatment plants (WWTPs). Some modelling tools have been proposed to predict NO emissions during the design and operation of WWTPs. In this study, the novel ASM2d-NO model, which accounts for the production of NO in nutrient removal WWTPs, was used to study the associated emissions from a full-scale WWTP with two independent lines. Firstly, the hydraulics of the WWTP was characterized by a residence time distribution test, showing the flow was equally divided into the two treatment lines (49.3 vs. 50.7%), that each reactor worked as an ideal continuous stirred tank reactor and the secondary settler model flux was similar to a plug-flow reactor. The ASM2d-NO model was then calibrated using experimental data obtained under dynamic conditions. A global sensitivity analysis was used to select, among 59 model parameters, five candidates that resulted to be related to nitrifying organisms. Different parameter subsets up to four parameters were evaluated, being the subset [µ, q, K, K] the best, achieving 53.3% reduction of the calibration cost function. The model fit obtained provided a reasonably description of nutrients and NO emission trends, considering the inherent operational variability suffered in full-scale WWTPs. Finally, a simulation-based study showed that, for the given WWTP and operational conditions, an unbalanced distribution of flow-rate between the two treatment lines did not result in a significant increase on NO emissions. The results obtained show that this model can be a suitable tool for predicting NO emissions in full-scale WWTPs, and can therefore be used to find operational conditions that help to minimise these emissions

Resilience theory incorporated into urban wastewater systems management. State of the art

This is the final version of the article. Available from Elsevier via the DOI in this record.Government bodies, utilities, practitioners, and researchers have growing interest in the incorporation of resilience into wastewater management. Since resilience is a multidisciplinary term, it is important to review what has been achieved in the wastewater sector, and describe the future research directions for the forthcoming years. This work presents a critical review of studies that deal with resilience in the wastewater treatment sector, with a special focus on understanding how they addressed the key elements for assessing resilience, such as stressors, system properties, metrics and interventions to increase resilience. The results showed that only 17 peer-reviewed papers and 6 relevant reports, a small subset of the work in wastewater research, directly addressed resilience. The lack of consensus in the definition of resilience, and the elements of a resilience assessment, is hindering the implementation of resilience in wastewater management. To date, no framework for resilience assessment is complete, comprehensive or directly applicable to practitioners; current examples are lacking key elements (e.g. a comprehensive study of stressors, properties and metrics, examples of cases study, ability to benchmark interventions or connectivity with broader frameworks). Furthermore, resilience is seen as an additional cost or extra effort, instead of a means to overcome project uncertainty that could unlock new opportunities for investment.The authors thank the consultancy team in Water Research, Strategic Advisory Services Research in Atkins UK, and Corinne Trommsdorff from IWA, for their constructive comments and support. Their contribution is highly appreciated. This work has been supported by the European Union's Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 642904 - TreatRec ITN-EID project, and by the Ministry of Economy and competitiveness for the Ramon and Cajal grant from Lluís Corominas (RYC-2013-14595) and for the REaCH project (CTM2015-66892-R, MINECO/FEDER, EU). LEQUIA and ICRA were recognized as consolidated research groups by the Catalan Government with codes 2014-SGR-1168 and 2014-SGR-291, respectively. The second and fifth authors acknowledge support from the UK Engineering & Physical Sciences Research Council grant EP/K006924/1

Intergenerational Learning and Its Impact on the Improvement of Educational Processes

The promotion of intergenerational dialogue is postulated as one of the most frequently used strategies to promote meaningful learning. The objective is to analyze the impact of intergenerational dynamics on the learning process. To this end, this work is based on the methodology of a systematic review following the PRISMA method through the establishment of inclusion and exclusion criteria and analysis of their suitability. The priority indicator was to collect empirical experiences in the WOS and Scopus databases that implemented strategies on intergenerational learning and promoted improvements in learning, obtaining a total of 14 documents to be analyzed. The results of the review reaffirm the effectiveness of promoting dynamics of this type, observing positive outcomes in different sets of samples in six main areas: (1) attitudes, well-being, and happiness; (2) integration of vulnerable groups; (3) improvement of family relationships; (4) promotion of social and human values; (5) prevention of diseases and increased knowledge about health; and (6) combating the generational digital divide. There are also weaknesses associated with these experiences, such as the strong involvement required by the participants or the initial prejudices that exist between one generation and another.R&D&I project “University and Intergenerational Learning (PRUNAI),” Ministry of Science, Innovation, and Universities (PID2019-107747RB-I00)

What Loanwords Tell Us about Spanish (and Spain)

Using one lexicographical tool, the Diccionario Crítico Etimológico Castellano e Hispánico (DECH), and two corpora, the HathiTrust’s digital library and the Google Books Ngrams, we tracked the occurrence of thousands of loanwords in Spanish to describe their use, origin, and historical context. In doing so, we used computational methodologies to parse, lemmatize, group, count, and extract the information of all these tools. Results from parsing the etymologies of the DECH dictionary reveal a strong influence of Greek and French on the Spanish lexicon. The results from tracking the occurrence of loanwords in Spanish reveal a clear trend in the use of loanwords over time and support the hypothesis that the lexicon of a language reflects the sociopolitical and sociocultural change that their speakers undergo

WOLF: A modular estimation framework for robotics based on factor graphs

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This paper introduces WOLF, a C++ estimation framework based on factor graphs and targeted at mobile robotics. WOLF can be used beyond SLAM to handle self-calibration, model identification, or the observation of dynamic quantities other than localization. The architecture of WOLF allows for a modular yet tightly-coupled estimator. Modularity is enhanced via reusable plugins that are loaded at runtime depending on application setup. This setup is achieved conveniently through YAML files, allowing users to configure a wide range of applications without the need of writing or compiling code. Most procedures are coded as abstract algorithms in base classes with varying levels of specialization. Overall, all these assets allow for coherent processing and favor code re-usability and scalability. WOLF can be used with ROS, and is made publicly available and open to collaboration.Peer ReviewedPostprint (author's final draft