Online Interval Type-2 Fuzzy Extreme Learning Machine Applied to 3D Path Following for Remotely Operated Underwater Vehicles

In marine missions that involve 3D path following tasks, the overall goal of Underwater Vehicles (UVs) is the successful completion of a path previously specified by the operator. This implies that the path must be followed by the UV as closely as possible and arrive at a location for collection by a vessel. In this paper, an Online Interval Type-2 Fuzzy Extreme Learning Machine (OIT2-FELM) is suggested to achieve a robust following behaviour along a predefined 3D path using a Remotely Operated Underwater Vehicle (ROV). The proposed machine is a fast sequential learning scheme to the training of a more generalised model of TSK Interval Type-2 Fuzzy Inference Systems (TSK IT2 FISs) equivalent to Single Layer Feedforward Neural Networks (SLFNs). Learning new input data in the OIT2-FELM can be done one-by-one or chunk-by-chunk with a fixed or varying size. The OIT2-FELM is implemented in a hierarchical navigation strategy (HNS) as the main guidance mechanism to infer local control motions and to provide the ROV with the necessary autonomy to complete a predefined 3D path. For local path-planning, the OIT2-FELM performs signal classification for obstacle avoidance and target detection based on data collected by an on-board scan sonar. To evaluate the performance of the proposed OIT2-FELM, two different experiments are suggested. First, a number of benchmark problems in the field of non-linear system identification, regression and classification problems are used. Secondly, a number of experiments to the completion of a predefined 3D path using an ROV is implemented. Compared to other fuzzy strategies, the OIT2-FELM offered two significant capabilities. On the one hand, the OIT2-FELM provides a better treatment of uncertainty and noisy signals in underwater environments while improving the ROV's performance. Secondly, online learning in OIT2-FELM allows continuous knowledge discovery from survey data to infer the surroundings of the ROV. Experiment results to the completion of 3D paths show the effectiveness of the proposed approach to handle uncertainty and produce reasonable classification predictions (∼90.5% accuracy in testing data).</p

Pediatric Parapneumonic Empyema, Spain

Increased incidence is principally due to highly invasive nonvaccine serotypes of pneumococci, especially serotype 1

Global Journalist: How other countries view the 2020 U.S. election

This October 29, 2020 episode features interviews by Missouri School of Journalism students in Beverly Horvit's International Reporting class with reporters from around the world about the 2020 presidential campaign. The journalists are all alumni of the Alfred Friendly Press Partners fellowship program or the Hubert Humphrey fellowship program

Platelet Count in First Trimester of Pregnancy as a Predictor of Perinatal Outcome

AIM: To rule out maternal and pregnancy factors that may contribute to platelet count (PLT) changes in the first trimester of gestation and examine if there is any association between its levels and adverse perinatal outcome.METHODS: The study population included all patients from the first-trimester visit between 2013-2015 with pregnancy results. Linear multiple regression was constructed to rule out variables that may have a significant contribution to PLT. For each adverse outcome at birth, multiple logistic regression analysis was implemented to estimate the PLT effect.RESULTS: PLT was measured in 6092 patients. There was the significant contribution on PLT in the first trimester from maternal weight, the presence of rheumatologic disease, BHCG levels and MPV. There was a significant association between PLT and abnormal cardiotocography at delivery (OR 1.004; IC95% 1.001 to 1.007) and C-Section due to abnormal CTG (OR 1.005; IC95% 1.002 to 1.008). When adjusted for factors that interact with PLT there was also a significant association with pH at birth &lt; 7.10 and gestational diabetes.CONCLUSIONS: Maternal and pregnancy factors can poorly predict relevant changes in PLT at the first trimester of gestation. PLT at first trimester of pregnancy might predict adverse perinatal outcome in combination with other markers

Preliminary report on the July 10–11, 2015 explosive eruption at Volcán de Colima: Pyroclastic density currents with exceptional runouts and volume

http://dx.doi.org/10.1016/j.jvolgeores.2015.11.022Reporte preliminar acerca de una de las últimas etapas eruptivas de Volcán de Colima, análisis realizado a partir de técnicas de percepción remotaOn July 10–11, 2015 an eruption occurred at Colima volcano produced 10.5 km long pyroclastic density currents (PDCs) along the Montegrande, and 6.5 km long along the San Antonio ravines. The summit dome was destroyed and a new crater excavated and breached to the south. This new breach connects to a narrow channel that descends along Colima's southern flank and was used by a subsequent lava flow. The Montegrande PDCs represent the longest and hottest flow of this type recorded during the past 30 years but are still smaller in comparison to the 15-km long PDCs produced during the 1913 Plinian eruption. Data obtained from field reconnaissance, lahar monitoring stations, and satellite imagery suggest that at least six PDCs occurred. The two largest PDCs (H/L 0.2) were able to surmount topographic barriers or bends. Based on field reconnaissance and digital elevation models extracted from SPOT satellite imageries we estimate a minimum volume for the valley-pond and distal fan deposits of 4.5 × 106 m3. After one week, the deposits were still hot with burning trees on the surface and millimeter-sized holes from which fumes were emanating. The juvenile components of the deposits consist of gray dense blocks and vesicular dark-gray blocks and bombs with bread-crust textures and cooling joints. The mineral association of these rocks consists of plagioclase + clinopyroxene + orthopyroxene + FeTi-oxides ± olivine and resorbed hornblende in a dark glassy matrix that corresponds to an andesitic composition.CONACY

Validación de la Escala Breve de Optimismo Interactivo-G en México antes de la COVID-19

The primary objectives of this study were determining the construct, convergent, and discriminant validity of the Brief Interactive Optimism Scale-G (BIOS-G) in participants from six states of Mexico and estimating its internal consistency. In this study 3 289 Mexicans participated (2 028 men and 1 243 women). The average age was = 30.43 years and SD = 10.52. Confirmatory factor analysis (CFA) and multiple regression analysis (MRA) were applied. There were appropriate fit indexes (e. g., CFI = .99; RMSEA = .07.). Convergent validity showed ANR (3 289)=.52(p=&lt;.01;d=medium), with the Satisfaction with Life Scale (SWLS) and the estimation of discriminant validity was r (3 289) r = -.19 with the Brief Scale for Assessing Anger Proneness (APS-G) (p = &lt; .01; d = almost small), Alpha = .70 (3 289); p = &lt; .01; omega = .76. The conclusion is that there is partial national evidence supporting the use of BIOS-G, because Mexico lacks a measure of this kind, being useful, at least, for research purposes.Los objetivos primarios del presente estudio fueron determinar la validez de constructo, convergente y discriminante de la Escala Breve de Optimismo Interactivo-G (EBOI-G), en participantes de seis estados de México y calcular su consistencia interna. Participaron 3289 mexicanos, 2028 hombres y 1243 mujeres (18 casos no contestaron cuál era su género). Su edad promedio = 30.43 años, de = 10.52. Se usó el análisis factorial confirmatorio y análisis de regresión múltiple, y se encontraron buenos indicadores promedio de bondad de ajuste (e. g., CFI = .99; RMSEA = .07.). Se evaluó la validez convergente, r (3 289) = .52 (p = &lt; .01; d = mediano), con la Escala de Satisfacción con la Vida. Se estimó la validez discriminante, r (3 289) r = -.19, con la Escala Breve de Disposición a la IRA (p = &lt; .01; d = casi pequeño). El alfa = .70 (3 289); p = &lt; .01; el omega = .76. Se concluye que hay evidencia parcial nacional que apoya el uso de la EBOI-G, debido a la carencia de una medida de este tipo en México, útil cuando menos para propósitos de investigación.Os objetivos primários do estudo foram determinar a validade convergente e discriminante do construto da Escala Breve de Otimismo Interativo-G (EBOI-G), em participantes de seis estados do México e calcular sua consistência interna. Participaram 3 289 mexicanos, sendo 2 028 homens e 1 243 mulheres. A média de idade foi = 30.43 anos, DP = 10.52. Foram utilizadas análises fatoriais confirmatórias e análises de regressão múltipla. Bons indicadores médios de qualidade de ajuste foram encontrados (por exemplo, CFI = .99; RMSEA = .07.) A validade convergente foi avaliada, r (3 289) = .52 (p = &lt;.01; d = mediana), com a Escala de satisfação com a vida. A validade discriminante, r (3 289) = -.19 foi estimada com a Escala Breve de Disposição à Raiva (p = &lt;.01; d = quase pequeno). O alfa = 0,70 (3 289); p = &lt;0,01; o ômega = 0,76. Conclui-se que há evidências nacionais parciais que apoiam o uso da EBOI-G, devido à falta de uma medida desse tipo no México, sendo útil pelo menos para fins de pesquisa

EFECTO DEL TIPO DE GRANO Y NIVEL DE IONÓFORO SOBRE LA PRODUCCIÓN DE GAS in vitro Y PERFIL FERMENTATIVO

Memorias in extenso de la Reunión Anual de la Asociación Mexicana de Producción Animal A.C.El uso de ionóforos en la producción animal y su uso en sistemas de producción intensivos es ampliamente conocido, ya que estos han mostrado mejorar los patrones de fermentación ruminal incrementando el porcentaje de propionato, reduciendo la producción de metano y mejorando el rendimiento productivo, sin embargo, estos efectos han mostrado ser inconsistentes entre especies, sobre todo en la producción ovina. Por lo que mediante la técnica de producción de gas in vitro, se evaluó el efecto del tipo de grano y nivel de ionóforo sobre variables de cinética de producción de gas y parámetros de fermentación ruminal in vitro, para lo cual se utilizaron como sustrato tres granos con diferente tasa de digestión: maíz, trigo y sorgo y se evaluaron tres niveles de ionóforo 0, 30 y 60 mg kg-1. Los resultados se analizaron mediante un análisis factorial tres por tres (3 tipos de grano X 3 niveles de ionóforo) las medias se compararon con una prueba de Tukey con un nivel de significancia p 0.05). Finalmente podemos concluir que el tipo de grano modifico las variables de cinética de la producción de gas y perfil fermentativo in vitro , por lo que es importante evaluar el tipo de grano a utilizar en las raciones así como el uso de ionóforos para obtener las mejores repuestas productivas y lograr una producción animal más eficiente