3D object detection with deep learning

Finding an appropriate environment representation is a crucial problem in robotics. 3D data has been recently used thanks to the advent of low cost RGB-D cameras. We propose a new way to represent a 3D map based on the information provided by an expert. Namely, the expert is the output of a Convolutional Neural Network trained with deep learning techniques. Relying on such information, we propose the generation of 3D maps using individual semantic labels, which are associated with environment objects or semantic labels. So, for each label we are provided with a partial 3D map whose data belong to the 3D perceptions, namely point clouds, which have an associated probability above a given threshold. The final map is obtained by registering and merging all these partial maps. The use of semantic labels provide us a with way to build the map while recognizing objects.This work has been supported by the Spanish Government TIN2016-76515-R Grant, supported with Feder funds, and by grant of Vicerrectorado de Investigación y Transferencia de Conocimiento para el fomento de la I+D+i en la Universidad de Alicante 2016

Symmetrical six-phase induction machines: a solution for multiphase direct control strategies

Six-phase induction machines are considered an interesting multiphase option because they can benefit from the well-known three-phase converter technology. These multiphase machines can be classified according to the spatial distribution of their windings into two main groups: asymmetrical and symmetrical six-phase machines. In the case of symmetrical sixphase machines, some sets of voltage vectors show an important advantage from the point of view of the - current mitigation. They provide an active production in the - plane with a completely null injection of - components. This fact is a desired feature for direct control strategies, such as standard model predictive control (MPC), where a single switching state is applied during the entire sampling period. Based on these statements, this work proposes an MPC strategy for symmetrical six-phase induction machines using voltage vectors with null - voltage production in order to obtain the flux/torque generation with minimum - currents. Simulated results have been included to validate the goodness of the developed control scheme.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

LA EMIGRACIÓN INTERNACIONAL, LAS REMESAS Y EL DESARROLLO ECONÓMICO EN MÉXICO

LAS REMESAS FAMILIARES CONSTITUYEN UNO DE LOS GRANDES BENEFICIOS QUE DEJA LA MIGRACIÓN INTERNACIONAL DE LOS INDIVIDUOS DE LOS DIFERENTES PAÍSES FUNDAMENTALMENTE DE AQUELLOS CONSIDERADOS EN VÍAS DE DESARROLLO Y SE CONSIDERA A AMÉRICA LATINA LA REGIÓN DE MAYOR IMPORTANCIA CON RELACIÓN A LOS MAYORES FLUJOS DE ESTAS DIVISAS. DEBIDO A LA GRAN TRASCENDENCIA QUE HA VENIDO TENIENDO PARA LAS NACIONES CONSIDERADAS EN VÍAS DE DESARROLLO, EL FONDO MULTILATERAL DE INVERSIONES (FOMIN) DEL BANCO INTERAMERICANO DE DESARROLLO (BID), EN EL AÑO 2000, SE HA DADO A LA TAREA DE RECOPILAR LA INFORMACIÓN ESTADÍSTICA CON RESPECTO A ESTE RUBRO, ASÍ COMO DE LOS COSTOS DE TRANSACCIÓN EN QUE SE INCURREN, LOS PROVEEDORES DE SERVICIOS Y EL POSIBLE IMPACTO DE ESTAS EN EL DESARROLLO DE LA ECONOMÍAS DE LOS PAÍSES QUE TIENEN POBLACIÓN MIGRANT

Stereovideo youtube channel: short educational videos for the on-line learning of the the stereographic projection technique in Structural Geology

Stereovideo channel https://www.youtube.com/user/geostereovideo) is a YouTube channel of short educational videos (<5 min) focused on learning the handling of the stereographic projection technique applied to Structural Geology (also to Engineering Geology). This type of videos aims to reinforce the traditional classroom lessons with the use of communication technologies resources. Such a einforcing facilitates the possibility to deepen more on conceptual aspects once the students dominate the representation tool helping them to develop their own critical thinking skills. After three years of being launched on-line (on 2014), we analyze the broadcast and acceptance of the channel by the academic community. For this purpose we have taken into account two different sources: (1) the analytics tool from YouTube (subscriptions, views, countries, comments from the users, type of device for viewing), and (2) our own survey among users (students and teachers) to get their opinion about the videos. By January, 2017 (date of sending of this abstract), the channel has a total of 650 subscriptions, with more than 85,000 views all around the world, mainly in Spanish speaking countries (as the videos are in Spanish). The main devices for viewing the videos are PCs, but is noteworthy the use of smart phones and tablets. The video users, both students and teachers, value this type of content positively

Stereovideo youtube channel: short educational videos for the on-line learning of the the stereographic projection technique in Structural Geology

Stereovideo channel https://www.youtube.com/user/geostereovideo) is a YouTube channel of short educational videos (<5 min) focused on learning the handling of the stereographic projection technique applied to Structural Geology (also to Engineering Geology). This type of videos aims to reinforce the traditional classroom lessons with the use of communication technologies resources. Such a einforcing facilitates the possibility to deepen more on conceptual aspects once the students dominate the representation tool helping them to develop their own critical thinking skills. After three years of being launched on-line (on 2014), we analyze the broadcast and acceptance of the channel by the academic community. For this purpose we have taken into account two different sources: (1) the analytics tool from YouTube (subscriptions, views, countries, comments from the users, type of device for viewing), and (2) our own survey among users (students and teachers) to get their opinion about the videos. By January, 2017 (date of sending of this abstract), the channel has a total of 650 subscriptions, with more than 85,000 views all around the world, mainly in Spanish speaking countries (as the videos are in Spanish). The main devices for viewing the videos are PCs, but is noteworthy the use of smart phones and tablets. The video users, both students and teachers, value this type of content positively

Mean body size estimation in large mammals and the computation of biomass in past ecosystems: An application to the Pleistocene sites of Orce and Sierra de Atapuerca (Spain)

Estimates of adult body mass are usually considered as equivalent of mean population body size in most studies of ancient mammals. However, given that any population is composed in part of subadult individuals, this approach overestimates the mean population body mass and biomass. For this reason, more realistic estimates of mean population body mass should be used. In this paper, we: 1) test five different proxies of population mean mass; and 2) estimate the total prey biomass in the paleoecosystems from the Orce and Atapuerca sites as an approach for estimating their carrying capacity. Our results for past ecosystems support the use of survival profiles derived from the Weibull model (SPW), as they show values in better agreement with those of extant populations. They also estimate higher carrying capacities for the faunal assemblages of Orce than for those of Atapuerca. We suggest that the environmental conditions of Orce could have played an important role in the first peopling of Europe

Effect of the anisotropy on the glory structure of molecule-molecule scattering cross sections

Total (elastic + rotationally inelastic) integral cross sections are computed for O$_2(^3\Sigma_g^-)$-O$_2(^3\Sigma_g^-)$ using a recent ab initio potential energy surface. The sampled velocity range allows us a thorough comparison of the glory interference pattern observed in molecular beam experiments. The computed cross sections are about 10% smaller than the measured ones, however, a remarkable agreement in the velocity positions of the glory extrema is achieved. By comparing with models where the anisotropy of the interaction is reduced or removed, it is found that the glory pattern is very sensitive to the anisotropy, especially the positions of the glory extrema.Comment: 13 pages, 3 figure

Relationship between the main economic, environmental and social impacts of hydroelectric dams: Determinação das relações entre os principais impactos econômicos, ambientais e sociais das usinas hidrelétricas

Hydroelectric power plants have been a growth tool to supply communities with water resources and electricity. In the last seven decades, large dams increased their environmental and social impacts, which caused the fragmentation and transformation of rivers. It is estimated that around 80 million people are displaced by its construction and operation; and its greatest impact comes from reservoirs by flooding large tracts of land permanently.&nbsp; In this sense, this study seeks to determine the relationship between the main economic, environmental and social impacts of the construction of hydroelectric power plants.It addresses the different non-participatory methods, such as secondary data, documents, records and databases were reviewed.&nbsp; From this information, principal component analysis, simple regression, correlations, multivariate and 3D dispersion graphs were performed. Once the different methods were applied, a significant correlation was identified between the variables of installed capacity and number of displaced people. The study concludes that natural resources are a source of attraction for people to settle around them, the water resource is of special interest, therefore, it is not strange that when establishing a hydroelectric project, there is invariably displacement of people in order to benefit a greater number of them through the generation of energy, prevent floods and droughts among other benefits, depending on the category that the dam have, as there are single purpose and multiple purpose.&nbsp; It is undeniable that there is a very strong correlation between the construction of dams and the economic development of a region, however, the correlation that exists between the construction of dams and the displacement of people is also undeniable, hence the importance of this study that is presented, since it allows having clearer economic, environmental and social perspectives that allow identify whether large hydroelectric project construction projects succeed or fail in their purpose of sustainable regional development.The results indicate that by increasing the installed capacity, there is a social impact as it will increase the displacement of people due to the construction or operation of hydroelectric power plants

Non-HLA genes PTPN22, CDK6 and PADI4 are associated with specific autoantibodies in HLA-defined subgroups of rheumatoid arthritis

Introduction: Genetic susceptibility to complex diseases has been intensively studied during the last decade, yet only signals with small effect have been found leaving open the possibility that subgroups within complex traits show stronger association signals. In rheumatoid arthritis (RA), autoantibody production serves as a helpful discriminator in genetic studies and today anti-citrullinated cyclic peptide (anti-CCP) antibody positivity is employed for diagnosis of disease. The HLA-DRB1 locus is known as the most important genetic contributor for the risk of RA, but is not sufficient to drive autoimmunity and additional genetic and environmental factors are involved. Hence, we addressed the association of previously discovered RA loci with disease-specific autoantibody responses in RA patients stratified by HLA-DRB1*04. Methods: We investigated 2178 patients from three RA cohorts from Sweden and Spain for 41 genetic variants and four autoantibodies, including the generic anti-CCP as well as specific responses towards citrullinated peptides from vimentin, alpha-enolase and type II collagen. Results: Our data demonstrated different genetic associations of autoantibody-positive disease subgroups in relation to the presence of DRB1*04. Two specific subgroups of autoantibody-positive RA were identified. The SNP in PTPN22 was associated with presence of anti-citrullinated enolase peptide antibodies in carriers of HLA-DRB1*04 (Cochran-Mantel-Haenszel test P = 0.0001, P corrected <0.05), whereas SNPs in CDK6 and PADI4 were associated with anti-CCP status in DRB1*04 negative patients (Cochran-Mantel-Haenszel test P = 0.0004, P corrected <0.05 for both markers). Additionally we see allelic correlation with autoantibody titers for PTPN22 SNP rs2476601 and anti-citrullinated enolase peptide antibodies in carriers of HLA-DRB1*04 (Mann Whitney test P = 0.02) and between CDK6 SNP rs42041 and anti-CCP in non-carriers of HLA-DRB1*04 (Mann Whitney test P = 0.02). Conclusion: These data point to alternative pathways for disease development in clinically similar RA subgroups and suggest an approach for study of genetic complexity of disease with strong contribution of HLA

Epigenetic loss of the transfer RNA-modifying enzyme TYW2 induces ribosome frameshifts in colon cancer

Transfer RNA (tRNA) activity is tightly regulated to provide a physiological protein translation, and tRNA chemical modifications control its function in a complex with ribosomes and messenger RNA5 (mRNA5). In this regard, the correct hypermodification of position G37 of phenylalanine-tRNA, adjacent to the anticodon, is critical to prevent ribosome frameshifting events. Here we report that the tRNA-yW Synthesizing Protein 2 (TYW2) undergoes promoter hypermethylation-associated transcriptional silencing in human cancer, particularly in colorectal tumors. The epigenetic loss of TYW2 induces guanosine hypomodification in phenylalanine-tRNA, an increase in -1 ribosome frameshift events, and down-regulation of transcripts by mRNA decay, such as of the key cancer gene ROBO1. Importantly, TYW2 epigenetic inactivation is linked to poor overall survival in patients with early-stage colorectal cancer, a finding that could be related to the observed acquisition of enhanced migration properties and epithelial-to-mesenchymal features in the colon cancer cells that harbor TYW2 DNA methylation-associated loss. These findings provide an illustrative example of how epigenetic changes can modify the epitranscriptome and further support a role for tRNA modifications in cancer biology