A high-level perception architecture: real-time visual navigation for autonomous robots in structured environments

This thesis describes the design and implementation of a mobile robot which is able to perform a structural interpretation of indoor environments, using only visual and proprioceptive sensory information. The desired behaviour is real-time navigation based on this interpretation, instead of a reactive approach. The design is guided by a predictive criterion: the system must anticipate the consequences of its actions, showing a certain predictive understanding of the scene in which it moves.Facultad de Informátic

A high-level perception architecture: real-time visual navigation for autonomous robots in structured environments

This thesis describes the design and implementation of a mobile robot which is able to perform a structural interpretation of indoor environments, using only visual and proprioceptive sensory information. The desired behaviour is real-time navigation based on this interpretation, instead of a reactive approach. The design is guided by a predictive criterion: the system must anticipate the consequences of its actions, showing a certain predictive understanding of the scene in which it moves.Facultad de Informátic

A high-level perception architecture: real-time visual navigation for autonomous robots in structured environments

This thesis describes the design and implementation of a mobile robot which is able to perform a structural interpretation of indoor environments, using only visual and proprioceptive sensory information. The desired behaviour is real-time navigation based on this interpretation, instead of a reactive approach. The design is guided by a predictive criterion: the system must anticipate the consequences of its actions, showing a certain predictive understanding of the scene in which it moves.Facultad de Informátic

Feeding Habits and Biological Features of Deep-Sea Species of the Northwest Atlantic: Large-eyed Rabbitfish (Hydrolagus mirabilis), Narrownose Chimaera (Harriotta raleighana) and Black Dogfish (Centroscyllium fabricii)

Feeding habits and biological features of three deep-water species -large-eyed rabbitfish (Hydrolagus mirabilis), narrownose chimaera (Harriotta raleighana) and black dogfish (Centroscyllium fabricii)- distributed in the Grand Bank and Flemish Cap (Northwest Atlantic) were analyzed. Both chimaeroid species fed on endo and epi-benthic organisms, but with different behavior. Narrownose chimaera showed a closer relationship with the sea bed in the feeding habits, denoted mainly by the high polychaete and sediment presence; while in large-eyed rabbitfish, the great importance of pelagic prey (Coryphaenoides rupestris and cephalopods) would indicate wider feeding habits, increased with the predator size. Black dogfish preyed mostly on pelagic and benthopelagic prey (crustaceans, scyphozoans and fish). High infestation of Gyrocotyle affected the chimaeroid species, increasing with depth. The parasitation affected 67% of large-eyed rabbitfish, with higher percentage for smaller individuals; narrownose chimaera (84% with parasites) had a greater number of parasites per host, and bigger individuals were more affected. However, presence of Gyrocotyle did not seem to harm the well-being of the specimens. Length-weight relationship indicated bigger body weight for males in the small sizes of 108, 31.5 and 50 cm of large-eyed rabbitfish, narrownose chimaera and black dogfish respectively. However, the body-eviscerated weigh relationship did not show differences between sexes. The hepatosomatic index (HIS) was high in all species, mainly in narrownose chimaera (31.3%) and it reached in the other species a value around the fourth part of their eviscerated weight. Black dogfish showed a clear increase of HSI with the body weight, while chimaerids presented a bigger variation

Northern Shrimp (Pandalus borealis, Krøyer) from Spanish Bottom Trawl Survey 2009 in NAFO Div. 3LNO

The Spanish Institute of Oceanography carried out in 2010 two bottom trawl surveys in the NAFO Regulatory Area in Division 3NO and 3L during the months of June, July and August respectively. The results on Northern shrimp (Pandalus borealis) are presented and compared with those from previous surveys from the same series. In 2010 the catch (21 kg.) and estimated biomass (114 t.) confirm the decrease of shrimp importance from 2004 in 3NO. In 3L Division, northern shrimp indices show a drastic decline (49% with respect to 2009) and confirm the downward trend initiated in 2009. Estimated biomass increased from 2003-2006; then, the values of these indices declined in 2007 (about 10%) and increased again in 2008 up to its historical maximum (149265 t.). In 2010 the biomass estimated 37803 t in 3L and 114 t. in 3NO were the lowest in the time series of Spanish . Catch results from the surveys and data analysis are discussed in this paper

Effect of Greenhouse Film Cover on the Development of Fungal Diseases on Tomato (Solanum lycopersicum L.) and Pepper (Capsicum annuum L.) in a Mediterranean Protected Crop

Greenhouses on the Mediterranean coast mainly use plastic materials as their cover. The influence of light exerted by these materials directly affects the crops by modifying the environment in which they develop. The aim of this study was to analyze the effect of the use of two plastic films in an experimental greenhouse on the development of fungal diseases in two spring–summer crop cycles: tomato (Solanum lycopersicum L.) from february to July 2021 and pepper (Capsicum annuum L.) from February to July 2022. The study was carried out in Almeria (Spain) in a multispan greenhouse divided transversely into two sectors by a polyethylene sheet. A commercial film was installed in the east sector (90% of transmissivity and 55% diffusivity) and an experimental film was installed in the west sector (85% of transmissivity and 60% diffusivity). In addition, the effect of the yield and quality of the harvested fruit was determined. In this study, two diseases were established naturally on the crop: (i) powdery mildew (Leveillula taurica) in both the tomato and the pepper crop cycles and (ii) early blight (Alternaria solani) in the tomato. The analyses of both diseases showed that the areas of the greenhouse that used the plastic cover, which presented a lower sunlight transmissivity, showed higher levels of disease than the areas that used the plastic cover that allowed greater transmissivity of light within the greenhouse, differing statistically in some phases of the crop. The marketable yield was 4.2% (for tomato) and 3.1% (for pepper) higher in the sector with the experimental film with high transmissivity. For both crops, the quality of the fruits did not show statistically significant difference

Migration as a determinant of childhood obesity in the United States and Latin America

International migration has economic and health implications. The acculturation process to the host country may be linked to childhood obesity. We use the Community Energy Balance (CEB) framework to analyze the relationship between migration and childhood obesity in Mexican households with international migrants. Using longitudinal data from the Mexican Family Life Survey (MxFLS), we examine how migrant networks affect childhood obesity in origin communities. We also review binational health programs that could be effective at tackling childhood obesity in migrant households from Mexico. Children embedded in migrant networks are at greater risk of developing overweight or obesity, suggesting a significant relationship between childhood obesity and international migration in Mexican households. Based on our search criteria, our analysis of health outreach programs shows that Ventanillas de Salud (VDS)/Health Windows has great promise to prevent childhood obesity in a culturally sensitive and trustful environment. The CEB framework is useful to understand how migration contributes to the risk of childhood overweight and obesity in migrant households. VDS is a feasible and replicable strategy with great potential to address childhood obesity among migrant families accounting for the dynamic and binational determinants of childhood obesity

Expression Quantitative Trait Locus Analysis in Systemic Sclerosis Identifies New Candidate Genes Associated With Multiple Aspects of Disease Pathology

Objective: To identify the genetic variants that affect gene expression (expression quantitative trait loci [eQTLs]) in systemic sclerosis (SSc) and to investigate their role in the pathogenesis of the disease. Methods: We performed an eQTL analysis using whole-blood sequencing data from 333 SSc patients and 524 controls and integrated them with SSc genome-wide association study (GWAS) data. We integrated our findings from expression modeling, differential expression analysis, and transcription factor binding site enrichment with key clinical features of SSc. Results: We detected 49,123 validated cis-eQTLs from 4,539 SSc-associated single-nucleotide polymorphisms (SNPs) (PGWAS 0.05). As a result, 233 candidates were identified, 134 (58%) of them associated with hallmarks of SSc and 105 (45%) of them differentially expressed in the blood cells, skin, or lung tissue of SSc patients. Transcription factor binding site analysis revealed enriched motifs of 24 transcription factors (5%) among SSc eQTLs, 5 of which were found to be differentially regulated in the blood cells (ELF1 and MGA), skin (KLF4 and ID4), and lungs (TBX4) of SSc patients. Ten candidate genes (4%) can be targeted by approved medications for immune-mediated diseases, of which only 3 have been tested in clinical trials in patients with SSc. Conclusion: The findings of the present study indicate a new layer to the molecular complexity of SSc, contributing to a better understanding of the pathogenesis of the disease

Fatal Dengue in Patients with Sickle Cell Disease or Sickle Cell Anemia in Curaçao: Two Case Reports

<p>Fatal Dengue in Patients with Sickle Cell Disease or Sickle Cell Anemia in Curaçao: Two Case Reports</p

Costs and benefits of automation for astronomical facilities

The Observatorio Astrof\'isico de Javalambre (OAJ{\dag}1) in Spain is a young astronomical facility, conceived and developed from the beginning as a fully automated observatory with the main goal of optimizing the processes in the scientific and general operation of the Observatory. The OAJ has been particularly conceived for carrying out large sky surveys with two unprecedented telescopes of unusually large fields of view (FoV): the JST/T250, a 2.55m telescope of 3deg field of view, and the JAST/T80, an 83cm telescope of 2deg field of view. The most immediate objective of the two telescopes for the next years is carrying out two unique photometric surveys of several thousands square degrees, J-PAS{\dag}2 and J-PLUS{\dag}3, each of them with a wide range of scientific applications, like e.g. large structure cosmology and Dark Energy, galaxy evolution, supernovae, Milky Way structure, exoplanets, among many others. To do that, JST and JAST are equipped with panoramic cameras under development within the J-PAS collaboration, JPCam and T80Cam respectively, which make use of large format (~ 10k x 10k) CCDs covering the entire focal plane. This paper describes in detail, from operations point of view, a comparison between the detailed cost of the global automation of the Observatory and the standard automation cost for astronomical facilities, in reference to the total investment and highlighting all benefits obtained from this approach and difficulties encountered. The paper also describes the engineering development of the overall facilities and infrastructures for the fully automated observatory and a global overview of current status, pinpointing lessons learned in order to boost observatory operations performance, achieving scientific targets, maintaining quality requirements, but also minimizing operation cost and human resources.Comment: Global Observatory Control System GOC