Efficient Solutions in Path Planning for Autonomous Mobile Robots

Fecha de lectura de Tesis: 25 julio 2018.Los robots, máquinas que desempeñan un abanico de tareas de lo más variopinto. Desde realizar tareas muy específicas en cadenas de montaje hasta desempeñar la mayoría de labores cotidianas que los seres humanos tenemos que afrontar cada día. Como se puede intuir, para esto se necesitan no solo máquinas, sino máquinas dotadas de cierta inteligencia, que surge de la necesidad de que las máquinas abandonen su estatismo y monotonía para comenzar a enfrentarse a un mundo dinámico y ambiguo: nuestro mundo. El principal desencadenante que ha llevado al ser humano a dotar de inteligencia y movilidad a las máquinas es su afán de dominar y, al mismo tiempo, liberarse de un entorno cada vez más estresante. Hay dos aspectos irrefutables que marcan la versatilidad de una máquina: su inteligencia y su movilidad. Hablando de robótica y movilidad surge el problema de cómo y por dónde debe moverse un robot para alcanzar un determinado objetivo sin comprometer su integridad física. Como el significado de moverse puede ser muy amplio, aquí hablaremos de desplazamiento, en el sentido literal de viajar. Y cuando viajamos a algún lugar siempre nos preguntamos lo siguiente: ¿Por dónde vamos? y ¿Cuál es el la mejor alternativa?. Esta problemática, en robótica, se conoce como el problema del Path Planning. En esta tesis doctoral se aborda, de manera innovadora y altamente paralela, el problema del Path Planing sobre mapas reales extensos en un contexto de tiempo real. Este grado de paralelismo se consigue gracias al uso intensivo de las populares GPU (Unidad Gráfica de Procesamiento) y de los bien conocidos chips multi-core. Pero aquí no solo se aborda el problema del Path Planning desde un punto de vista altamente paralelo sino que, de manera transversal, también se aborda desde un punto de vista inteligente aplicando metaheurísticas

Current lanscape in the neighbourhood of open cast mines in northern Bohemia

The classification of the landscape through different types of uses, it will be the basis of this classification of the work area. This study will explain in detail the method by which to classify the composition land units and the resulting land use composition. Using the GIS (geographic information system that integrates hardware, software and data for capturing, managing, analyzing and displaying all forms of geographically referenced information) with the orthophotos identify are identified the different types of land use of the work area. Land uses refer to the existing activity in this area at the time. GIS have proved to be very effective not only for determining the different types of landuse in an area, but also for the classification collecting valuable information for interpreting and it can determine trends in land use by comparing these maps from different years, very useful to see how it evolves and how it will do in the future, allowing to make decisions in advance. For land classification there are several methods, some also work using the GIS computer program but instead of classifying the land regarding its use, classified by their landscape value, others through the use of land of this area not only the actual but also in past years. In this project included different methods of classification, with a brief explanation of their methodology. Although some of these methods in addition to making the corresponding classification are also methods of analysis of changes in the work area over time. In this case working only with a layer of a specific year and I did not do this kind of study. Therefore, after the vectorization and correction of the original layer, I made an assessment of the data, grouped the values of land use in stable and unstable. Commenting on the corrected changes, the original data and the proportion of different land use types, I mean making an ecological assessment, including the impacts of open pit mining and possible corrective measures both during activity and abandonment.Hidalgo Escrihuela, A. (2011). Current lanscape in the neighbourhood of open cast mines in northern Bohemia. Universitat Politècnica de València. http://hdl.handle.net/10251/14452Archivo delegad

ANTIOXIDANT AND TOXICITY ACTIVITY IN VITRO OF TWELVE SAFROLE DERIVATIVES

Indexación: Web of Science; Scielo.The aim of this study was to determine the influence of substituents in aromatic ring and the side chain of safrole on the antioxidant capacity and toxicity of twelve synthetic derivatives of safrole (S1-S12). Each compound was analyzed by two antioxidant methods: DPPH and bleaching of β-carotene (DBC). Among the derivates of safrol assayed, S5, S6, S9, S10 and S11 showed the strongest antioxidant capacity: DPPH method, first order specific rate constant (0.0152, 0.0211, 0.0432, 0.0317 and 0.0072) and DBC (22.41 ± 0.13%, 10.71 ± 0.05 %, 9.12 ± 0.89 %, 30.97 ± 0.92 % and 19.08 ± 0.31 %), respectively. The toxicity of the active compounds was evaluated by means of two techniques, Artemia salina, LD50 (4466 ± 1057 ppm, 630 ± 108 ppm, 1513 ± 797 ppm, 1585 ± 317 ppm, 1259 ± 242 ppm) and red cells, Haemolysis (1.58 ± 0.98%, 4.02 ± 2.03%, 8.42 ± 1.38%, 2.59 ± 2.31%, 2.92 ± 0.52%), to provide preliminary information that can be used as a basis for further studies to contribute to the search for new antioxidants.http://ref.scielo.org/9sqp8

Scale-adaptive simulation of unsteady cavitation around a naca66 hydrofoil

Distances between consecutive aftershocks are analysed by means of mono- and multifractal theory with the aim of quantifying the complexity of the physical mechanism governing them, as well as their predictability and predictive instability. Hausdorff, Ha, and Hurst, H, exponents are determined by semivariograms and rescaled analysis, respectively. The exponent ß of the power law describing power spectral contents is also quantified. These three parameters permit a generation of fractional Gaussian noise, fGn, simulating distances. The complexity and predictive instability of physical mechanism generating the series of distances is quantified by means of the correlation dimension, µ*, the Kolmogorov entropy, ¿, and the Lyapunov exponents, ¿i, which are based on the reconstruction theorem formulation. Additionally, the multifractal detrended fluctuation analysis, MF-DFA, contributes with a different point of view to quantify the complexity of the series, in terms of fractal spectral width, W, spectral asymmetry, B, and the critical Hölder exponent, a0. By one hand, the MF-DFA is applied to the complete set of distances characterising the whole aftershock process. By the other hand, the MF-DFA is applied to segments of the series of distances with the aim of determining the evolution of the complexity since the mainshock up to the end of the stress relaxation process. Finally, an ARIMA multilinear regression process is applied to obtain some improvements, in comparison with fGn simulations, on the prediction of distances. The database for this analysis is obtained from the Southern California Seismic Network (SCSN) catalogue. Three series of aftershocks equalling to or exceeding magnitudes of 2.0, assuring seismic catalogue completeness, and associated with Landers (06/28/1992), Northridge (01/17/1994) and Hector Mine (10/16/1999) mainshocks are obtained. It is worth mentioning that common mono-multifractal behaviour for the three aftershocks series is not detected, whatever aftershock periods or segments of them are considered.Postprint (published version

Um framework para computação aproximada sensível ao contexto

Orientador: Lucas Francisco WannerDissertação (mestrado) - Universidade Estadual de Campinas, Instituto de ComputaçãoResumo: Computação aproximada pode melhorar consideravelmente a eficiência energética em aplicações onde um resultado aproximado é suficiente. Neste trabalho, construímos bibliotecas de funções padrão que incluem uma série de funções com diferentes implementações, onde cada implementação tem um resultado de precisão diferente. Desenvolvemos ainda um serviço de sistema que monitora o contexto do computador, incluindo o consumo de energia e, de acordo com esse contexto (usando regras especificadas), altera as implementações de biblioteca usadas pelos aplicativos em tempo real. Dessa forma, o aplicativo produz resultados aproximados, mas aceitáveis, ao mesmo tempo que limita o consumo de energia. O sistema desenvolvido foi testado com aplicativos que são adequados para aproximações. Para cada uma das aplicações, medimos o consumo de energia do computador quando elas são executadas usando as implementações de maior precisão da biblioteca (as implementações mais consumidoras de energia). Conhecendo esse valor, conseguimos fixar um valor de consumo de energia de meta (uma porcentagem do valor calculado anteriormente) e desenvolvemos regras em torno desse valor, aumentando ou diminuindo a precisão das implementações usadas por um aplicativo. Os resultados mostram que, em nossos estudos de caso, podemos limitar a degradação máxima de 4% na qualidade de resultados das aplicações para obter até 62% de economia no consumo de energia. Além disso, fixamos uma meta de consumo de energia para cada aplicativo, e os aplicativos foram capazes de se adaptar em tempo de execução a essa metaAbstract: Approximate computing can considerably improve energy efficiency in applications where an approximate result is enough or by relaxing the need for fully precise operations. However, approximate computing applications typically aren't able to take advantage of the computer context dynamically. By improving the computer's access to context in real-time, approximate applications can get information about the current computer power consumption, take decisions according to previously fixed rules, and use this information to produce a more suitable approximation for the current context. We built a library that includes a series of functions with different implementations wherein each implementation has a different precision result, and a system service that monitors the computer context, including energy consumption, and according to this context (using specified rules), changes the library implementations used by applications in real-time. Applications using the library can therefore save energy when necessary, without compromising quality of results. We evaluate our context-aware approximate computing library with applications that are suitable for approximations. For each of these applications, we measured the energy consumption of the computer when they are run using the highest precision implementations of the library (that most energy intensive implementations). Knowing this value, we were able to fix an goal energy consumption value (a percentage of the value previously calculated), and using rules around this value, increase or decrease the precision of the implementations used by an application. Our results show that in our case studies we are able to trade-off at most of 4% degradation in application quality for up to 62% savings in energy consumption. Furthermore, we fix an energy consumption goal for each application, and the applications were able to adapt at run-time to this goal very closelyMestradoCiência da ComputaçãoMestre em Ciência da Computaçã

Razones para desarrollar una Política Industrial activa en España

La realidad reciente nos indica que nuevos sectores de actividad económica han emergido a partir de la década de los noventa del siglo pasado, mientras que otros han ido gradualmente desapareciendo o disminuyendo su peso dentro de la economía de los países desarrollados, lo que ha implicado cambios estructurales significativos. Estos cambios, fundamentados principalmente en un uso intensivo de la tecnología por parte de las empresas y en un fuerte ahorro de costes, han impulsado la expulsión de mano de obra desde la agricultura y, en menor medida, de la industria hacia otros sectores más productivos como los servicios de alto valor añadido, sin contar con el negativo impacto causado a nivel de desempleo y la aparición de sectores «informales» en numerosos paíse

Social Movements and Public Policies in Chile: Analysis of the Student Movement of 2011 and the No+AFP movement of 2016

Social movements have been studied for their possible influence within political systems. In the past 12 years, Chile has registered an increasing number of social movements that have played an important role in the political system. This article adopts a qualitative methodology with a comparative approach of a case, comparing the student movement of 2011 and the No+AFP movement of 2016 and the influence of each movement on the public policy process, their linkages with political parties and whether this connection contributes to the movement having a greater incidence in decision-making. For the development of the comparison, the responses of the political system to the movements will be used; the incidence of the social movements will be analyzed by the level of intervention in the stages of public policy; and finally, the influence of movements will be examined, distinguishing a reactive influence (refusing to accept any decision of the authority) from a proactive influence (participating in the decision-making process of policies)

Reorganización de sociedades

En el presente estudio se analizan los aspectos societarios, contables e impositivos que deben tenerse en cuenta en el proceso de reorganización de sociedades comerciales en Mendoza.Fil: Ávila, Gonzalo . Universidad Nacional de Cuyo. Facultad de Ciencias Económicas.Fil: Hidalgo, Emmanuel Arian. Universidad Nacional de Cuyo. Facultad de Ciencias Económicas.Fil: Hidalgo, Heber Ignacio. Universidad Nacional de Cuyo. Facultad de Ciencias Económicas.Fil: Masera, Andrés. Universidad Nacional de Cuyo. Facultad de Ciencias Económicas.Fil: González, Alejandro. Universidad Nacional de Cuyo. Facultad de Ciencias Económicas

Strategic management of digital communication in the Ecuadorian company. Comparative perspective with the European reality

En la era de la convergencia digital, la consecución en las organizaciones de un modelo de relación y gestión de intereses con los públicos simétrico y bidireccional requieren de la construcción de una imagen y una reputación, resultado de una planificación estratégica de la comunicación. Sin embargo, esta perspectiva sistémica -en la que la comunicación se vuelve eje transversal a todos procesos organizacional- y que le asigna al profesional de la comunicación una función directiva -Dircom-, no es una constante en la realidad en las empresas ecuatorianas. Este artículo es resultado de la investigación4 que lleva adelante el Observatorio de la Comunicación Estratégica del Ecuador de la Universidad Técnica Particular de Loja-Ecuador, el constituido en 2014 para estudiar el perfil profesional de los comunicadores en el ámbito de la comunicación interna, corporativa, digital y la comercial así como la Responsabilidad Social Corporativa. Para este primer año, se ha enfocado en la identificación de la situación actual de la Comunicación Estratégica: profesionales formados para desempeñar esta función, organización, función de la comunicación estratégica en las empresas, estrategias y acciones ejecutadas, y tendencias. Los resultados recogidos en este trabajo se han contrastado con algunos de los resultados del trabajo realizado en el European Communication Monitor 2014

Chemical parameters and occurrence of Cryptosporidium spp., in raw and treated water from Nariño, Colombia

Water-borne transmission of Cryptosporidium has been highly reported around the world. Cryptosporidium infective oocysts have demonstrated remarkable resistance. Oocyst can interact with suspended and dissolved particles from water contamination, decreasing disinfection process efficacy. Detection from water and genotyping methods of Cryptosporidium are not enough, suggesting a research challenge in detection of potential human circulating pathogens strains. To analyse the influence of chemical parameters and presence of Cryptosporidium in raw and drinking waters collected from three sampling sites in Nariño province, Colombia