Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization

Grid maps are a common environment representation in mobile robotics. Many Simultaneous Localization and Mapping (SLAM) solutions divide the global map into submaps, forming some kind of graph or tree to represent the structure of the environment, while the metric details are captured in the submaps. This work presents a novel algorithm that is able to compute a physically feasible relative pose between two overlapping grid maps. Our algorithm can be used for correspondence search (data association), but also for integrating negative information in a unified way. This paper proposes a discrepancy measure between two overlapping grid maps and its application in a quasi Newton optimization algorithm, with the hypothesis that minimizing such discrepancy could provide useful information for SLAM. Experimental evidence is provided showing the high potential of the algorithm

Fast processing of grid maps using graphical multiprocessors

Grid mapping is a very common technique used in mobile robotics to build a continuous 2D representation of the environment useful for navigation purposes. Although its computation is quite simple and fast, this algorithm uses the hypothesis of a known robot pose. In practice, this can require the re-computation of the map when the estimated robot poses change, as when a loop closure is detected. This paper presents a parallelization of a reference implementation of the grid mapping algorithm, which is suitable to be fully run on a graphics card showing huge processing speedups (up to 50×) while fully releasing the main processor, which can be very useful for many Simultaneous Localization and Mapping algorithms

TRIBUNAL ARBITRAL DE ÍNTEGRA DE COLOMBIA S.A.S., CASTRO TCHERASSI S.A., CIVILIA S.A., OFINSA INVERSIONES S.A.S., EQUIPO UNIVERSAL S.A., G4S SECURE SOLUTIONS COLOMBIA S.A. -G4S y MINCIVIL VS. AGENCIA NACIONAL DE INFRAESTRUCTURA – ANI

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An improved bit parallel exact maximum clique algorithm

This paper describes new improvements for BB-MaxClique (San Segundo et al. in Comput Oper Resour 38(2):571–581, 2011 ), a leading maximum clique algorithm which uses bit strings to efficiently compute basic operations during search by bit masking. Improvements include a recently described recoloring strategy in Tomita et al. (Proceedings of the 4th International Workshop on Algorithms and Computation. Lecture Notes in Computer Science, vol 5942. Springer, Berlin, pp 191–203, 2010 ), which is now integrated in the bit string framework, as well as different optimization strategies for fast bit scanning. Reported results over DIMACS and random graphs show that the new variants improve over previous BB-MaxClique for a vast majority of cases. It is also established that recoloring is mainly useful for graphs with high densities

Formation of a magnetite/hematite epitaxial bilayer generated with low energy ion bombardment

We have used a low-energy ion bombardment to fabricate an epitaxial single-crystalline magnetite/hematite bilayer grown on Au(111). This non-conventional fabrication method involves the transformation of the upper layers of a single-crystalline hematite thin film to single-crystalline magnetite, a process driven by the preferential sputtering of oxygen atoms and favoured by the good structural matching of both phases. We show the reversibility of the transformation between hematite and magnetite, always keeping the epitaxial and single- crystalline character of the films. The magnetic characterization of the bilayer grown using this method shows that the magnetic response is mainly determined by the magnetite thin film, exhibiting a high coercivity. Published by AIP Publishing

Effects of Sewage Discharge on Trophic State and Water Quality in a Coastal Ecosystem of the Gulf of California

This paper provides evidence of the effects of urban wastewater discharges on the trophic state and environmental quality of a coastal water body in a semiarid subtropical region in the Gulf of California. The concentrations of dissolved inorganic nutrients and organic matter from urban wastewater primary treatment were estimated. La Salada Cove was the receiving water body and parameters measured during an annual cycle were temperature, salinity, dissolved oxygen, nitrite, nitrate, ammonia, orthophosphate, and chlorophyll a. The effects of sewage inputs were determined by using Trophic State Index (TRIX) and the Arid Zone Coastal Water Quality Index (AZCI). It was observed that urban wastewater of the city of Guaymas provided 1,237 ton N yr−1 and 811 ton P yr−1 and TRIX indicated that the receiving water body showed symptoms of eutrophication from an oligotrophic state to a mesotrophic state; AZCI also indicated that the environmental quality of the water body was poor. The effects of urban wastewater supply with insufficient treatment resulted in symptoms of eutrophication and loss of ecological functions and services of the coastal ecosystem in La Salada Cove

Financial Stability Report - Second Semester of 2021

Banco de la República’s main objective is to preserve the purchasing power of the currency in coordination with the general economic policy that is intended to stabilize output and employment at long-term sustainable levels. Properly meeting the goal assigned to the Bank by the 1991 Constitution critically depends on preserving financial stability. This is understood to be a general condition in which the financial system assesses and manages the financial risks in a way that facilitates the economy’s performance and efficient allocation of resources while, at the same time, it is able to, on its own, absorb, dissipate, and mitigate the shocks that may arise as a result of adverse events. This Financial Stability Report meets the goal of giving Banco de la República’s diagnosis of the financial system’s and its debtors’ recent performance as well as of the main risks and vulnerabilities that could affect the stability of the Colombian economy. In this way, participants in financial markets and the public are being informed, and public debate on trends and risks affecting the system is being encouraged. The results presented here also serve the monetary authority as a basis for making decisions that will enhance financial stability in the general context of its objectives. In recent months, several positive aspects of the financial system have preserved a remarkable degree of continuity and stability: the liquidity and capital adequacy of financial institutions have remained well above the regulatory minimums at both the individual and consolidated levels, the coverage of past-due loans by loan-loss provisions remains high, and the financial markets for public and private debt and stocks have continued to function normally. At the same time, a surge in all the types of loan portfolios, a sharp downturn in the non-performing loan portfolio, and a rise in the profitability of credit institutions can be seen for the first time since the beginning of the pandemic. In line with the general recovery of the economy, the main vulnerability to the stability of the Colombian financial system identified in the previous edition—uncertainty about changes in the non-performing loans portfolio—has receded and remains on a downward trend. In this edition, the main source of vulnerability identified for financial stability in the short term is the system’s exposure to sudden changes in international financial conditions; the results presented in this Report indicate that the system is sufficiently resilient to such scenarios. In compliance with its constitutional objectives and in coordination with the financial system’s security network, Banco de la República will continue to closely monitor the outlook for financial stability at this juncture and will make the decisions necessary to ensure the proper functioning of the economy, facilitate the flow of sufficient credit and liquidity resources, and further the smooth functioning of the payment system. Leonardo Villar Gomez Governor Box 1 -Decomposition of the Net Interest Margin in Colombia and Chile Wilmar Cabrera Daniela Rodríguez-Novoa Box 2 - Spatial Analysis of New Home Prices in Bogota, Medellín, and Cali Using a Geostatistical Approach María Fernanda Meneses Camilo Eduardo Sánchez Box 3 - Interest Rate Model for the SYSMO Stress Test Exercise Wilmar Cabrera Diego Cuesta Santiago Gamba Camilo Gómez Box 4 - The Transition from LIBOR and other International Benchmark Rates Daniela X. Gualtero Briceño Javier E. Pirateque Niñ

Reporte Estabilidad Financiera - Primer Semestre de 2020

In the face of the multiple shocks currently experienced by the domestic economy (resulting from the drop in oil prices and the appearance of a global pandemic), the Colombian financial system is in a position of sound solvency and adequate liquidity. At the same time, credit quality has been recovering and the exposure of credit institutions to firms with currency mismatches has declined relative to previous episodes of sudden drops in oil prices. These trends are reflected in the recent fading of red and blue tonalities in the performance and credit risk segments of the risk heatmaps in Graphs A and B.1 Naturally, the sudden, unanticipated change in macroeconomic conditions has caused the appearance of vulnerabilities for short-term financial stability. These vulnerabilities require close and continuous monitoring on the part of economic authorities. The main vulnerability is the response of credit and credit risk to a potential, temporarily extreme macroeconomic situation in the context of: (i) recently increased exposure of some banks to household sector, and (ii) reductions in net interest income that have led to a decline in the profitability of the banking business in the recent past. Furthermore, as a consequence of greater uncertainty and risk aversion, occasional problems may arise in the distribution of liquidity between agents and financial markets. With regards to local markets, spikes have been registered in the volatility of public and private fixed income securities in recent weeks that are consistent with the behavior of the international markets and have had a significant impact on the liquidity of those instruments (red portions in the most recent past of some market risk items on the map in Graph A). In order to adopt a forward-looking approach to those vulnerabilities, this Report presents a stress test that evaluates the resilience of credit institutions in the event of a hypothetical scenario thatseeks to simulate an extreme version of current macroeconomic conditions. The scenario assumes a hypothetical negative growth that is temporarily strong but recovers going into the middle of the coming year and has extreme effects on credit quality. The results suggest that credit institutions have the ability to withstand a significant deterioration in economic conditions in the short term. Even though there could be a strong impact on credit, liquidity, and profitability under the scenario being considered, aggregate capital ratios would probably remain at above their regulatory limits over the horizon of a year. In this context, the recent measures taken by both Banco de la República and the Office of the Financial Superintendent of Colombia that are intended to help preserve the financial stability of the Colombian economy become highly relevant. In compliance with its constitutional objectives and in coordination with the financial system’s security network, Banco de la República will continue to closely monitor the outlook for financial stability at this juncture and will make the decisions that are necessary to ensure the proper functioning of the economy, facilitate the flow of sufficient credit and liquidity resources, and further the smooth functioning of the payment system. Juan José Echavarría Governo

Financial Stability Report - Second Semester of 2020

The Colombian financial system has not suffered major structural disruptions during these months of deep economic contraction and has continued to carry out its basic functions as usual, thus facilitating the economy's response to extreme conditions. This is the result of the soundness of financial institutions at the beginning of the crisis, which was reflected in high liquidity and capital adequacy indicators as well as in the timely response of various authorities. Banco de la República lowered its policy interest rates 250 points to 1.75%, the lowest level since the creation of the new independent bank in 1991, and provided ample temporary and permanent liquidity in both pesos and foreign currency. The Office of the Financial Superintendent of Colombia, in turn, adopted prudential measures to facilitate changes in the conditions for loans in effect and temporary rules for rating and loan-loss provisions. Finally, the national government expanded the transfers as well as the guaranteed credit programs for the economy. The supply of real credit (i.e. discounting inflation) in the economy is 4% higher today than it was 12 months ago with especially marked growth in the housing (5.6%) and commercial (4.7%) loan portfolios (2.3% in consumer and -0.1% in microloans), but there have been significant changes over time. During the first few months of the quarantine, firms increased their demands for liquidity sharply while consumers reduced theirs. Since then, the growth of credit to firms has tended to slow down, while consumer and housing credit has grown. The financial system has responded satisfactorily to the changes in the respective demands of each group or sector and loans may grow at high rates in 2021 if GDP grows at rates close to 4.6% as the technical staff at the Bank expects; but the forecasts are highly uncertain. After the strict quarantine implemented by authorities in Colombia, the turmoil seen in March and early April, which was evident in the sudden reddening of macroeconomic variables on the risk heatmap in Graph A,[1] and the drop in crude oil and coal prices (note the high volatility registered in market risk for the region on Graph A) the local financial markets stabilized relatively quickly. Banco de la República’s credible and sustained policy response played a decisive role in this stabilization in terms of liquidity provision through a sharp expansion of repo operations (and changes in amounts, terms, counterparties, and eligible instruments), the purchases of public and private debt, and the reduction in bank reserve requirements. In this respect, there is now abundant aggregate liquidity and significant improvements in the liquidity position of investment funds. In this context, the main vulnerability factor for financial stability in the short term is still the high degree of uncertainty surrounding loan quality. First, the future trajectory of the number of people infected and deceased by the virus and the possible need for additional health measures is uncertain. For that reason, there is also uncertainty about the path for economic recovery in the short and medium term. Second, the degree to which the current shock will be reflected in loan quality once the risk materializes in banks’ financial statements is uncertain. For the time being, the credit risk heatmap (Graph B) indicates that non-performing and risky loans have not shown major deterioration, but past experience indicates that periods of sharp economic slowdown eventually tend to coincide with rises in non-performing loans: the calculations included in this report suggest that the impact of the recession on credit quality could be significant in the short term. This is particularly worrying since the profitability of credit establishments has been declining in recent months, and this could affect their ability to provide credit to the real sector of the economy. In order to adopt a forward-looking approach to this vulnerability, this Report presents several stress tests that evaluate the resilience of the liquidity and capital adequacy of credit institutions and investment funds in the event of a hypothetical scenario that seeks to simulate an extreme version of current macroeconomic conditions. The results suggest that even though there could be strong impacts on the credit institutions’ volume of credit and profitability under such scenarios, aggregate indicators of total and core capital adequacy will probably remain at levels that are above the regulatory limits over the horizon of a year. At the same time, the exercises highlight the high capacity of the system's liquidity to face adverse scenarios. In compliance with its constitutional objectives and in coordination with the financial system's security network, Banco de la República will continue to closely monitor the outlook for financial stability at this juncture and will make the decisions that are necessary to ensure the proper functioning of the economy, facilitate the flow of sufficient credit and liquidity resources, and further the smooth operation of the payment systems. Juan José Echavarría Governo