3D human pose estimation from depth maps using a deep combination of poses

Many real-world applications require the estimation of human body joints for higher-level tasks as, for example, human behaviour understanding. In recent years, depth sensors have become a popular approach to obtain three-dimensional information. The depth maps generated by these sensors provide information that can be employed to disambiguate the poses observed in two-dimensional images. This work addresses the problem of 3D human pose estimation from depth maps employing a Deep Learning approach. We propose a model, named Deep Depth Pose (DDP), which receives a depth map containing a person and a set of predefined 3D prototype poses and returns the 3D position of the body joints of the person. In particular, DDP is defined as a ConvNet that computes the specific weights needed to linearly combine the prototypes for the given input. We have thoroughly evaluated DDP on the challenging 'ITOP' and 'UBC3V' datasets, which respectively depict realistic and synthetic samples, defining a new state-of-the-art on them.Comment: Accepted for publication at "Journal of Visual Communication and Image Representation

Transfer learning or design a custom CNN for tactile object recognition

International Workshop on Robotac: New Progress in Tactile Perception and Learning in RoboticsNovel tactile sensors allow treating pressure lectures as standard images due to its highresolution. Therefore, computer vision algorithms such as Convolutional Neural Networks (CNNs) can be used to identify objects in contact. In this work, a high-resolution tactile sensor has been attached to a robotic end-effector to identify objects in contact. Moreover, two CNNs-based approaches have been tested in an experiment of classification of pressure images. These methods include a transfer learning approach using a pre-trained CNN on an RGB images dataset and a custom-made CNN trained from scratch with tactile information. A comparative study of performance between them has been carried out.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish project DPI2015-65186-R, the European Commission under grant agreement BES-2016-078237, the educational project PIE-118 of the University of Malag

Linear complementary pairs of skew constacyclic codes

Linear complementary pairs (LCPs) of codes have been studied since they were introduced in the context of discussing mitigation measures against possible hardware attacks to integrated circuits. Since the security parameters for LCPs of codes are defined from the (Hamming) distance and the dual distance of the codes in the pair, and the additional algebraic structure of skew constacyclic codes provides tools for studying the the dual and the distance of a code, we study the properties of LCPs of skew constacyclic codes. As a result, we give a characterization for those pairs, as well as multiple results that lead to constructing pairs with designed security parameters. We extend skew BCH codes to a constacyclic context and show that an LCP of codes can be immediately constructed from a skew BCH constacyclic code. Additionally, we describe a Hamming weight-preserving automorphism group in the set of skew constacyclic codes, which can be used for constructing LCPs of codes.Comment: 25 pages, 0 figure

Scissor-Hinged Deployable Structures Supported Perimetrally on Rectangular Bases

[Abstract] Deployable bar structures on a rectangular base present the problems of closing the ends and longitudinal stabilization. Some proposals have been made to resolve them, mainly by creating mouths, but their application to composite geometries is problematic. On-the-bias deployable structures adequately solve both problems as they are supported around their entire perimeter, have a strong three-dimensional operation and only use load-bearing bars. The text analyses this type of deployable structures, their requirements and possibilities. A study on the combination of polar and translational units in a single deployable structure is then carried out, focusing on the study of on-the-bias deployable structures with perimeter polar modules that allow the effective height of the designs to be increased. Finally, the architectural possibilities of the system are studied, which make it possible to resolve overhangs, vertical openings in the roof, and T- or L-shaped ground plans, guaranteeing the modularity of the system.This research was carried out as a part of the Spanish Research Project on Deployable and Modular Constructions for Situations of Humanitarian Catastrophe, CODEMOSCH (Reference BIA2016-79459-R), funded by the Spanish Ministry of Industry, Energy, and Competitiveness (MINECO)

Modified Bistable Modules for Bias Deployable Structures

Financiado para publicación en acceso aberto: Universidade da Coruña/CISUG[Abstract] Bias deployable grids are meshes with two directions of rotation on the ground plan with respect to the edges. They offer benefits such as three-dimensional resistance with supports around the entire perimeter of a rectangular layout, and consist exclusively of load-bearing scissors as opposed to the usual combinations of load-bearing scissors and bracing scissors. However, their resistance to angular distortion is limited, and they require auxiliary elements to maintain the fully deployed position. Nevertheless, they are very promising solutions for medium-span emergency buildings. This paper proposes a bistable module adapted to bias deployable structures. The geometrical incompatibilities of several modules are analysed together with their behaviour based on the kinematic models that were built, which alternate different types of nodes and different geometries of the perimeter scissors, making it possible to calibrate the level of incompatibility introduced. The dimensions of the nodes are also taken into account. The tests are checked against the results of several series of dynamic calculations.This research was carried out as a part of the Spanish Research Project on Deployable and Modular Constructions for Situations of Humanitarian Catastrophe, CODEMOSCH (Reference BIA2016-79459-R), funded by the Spanish Ministry of Industry, Energy, and Competitiveness (MINECO). Financing of the open access fee: Universidade da Coruña / CISU

Overview of ASDEX Upgrade results

The ASDEX Upgrade (AUG) programme is directed towards physics input to critical elements of the ITER design and the preparation of ITER operation, as well as addressing physics issues for a future DEMO design. Since 2015, AUG is equipped with a new pair of 3-strap ICRF antennas, which were designed for a reduction of tungsten release during ICRF operation. As predicted, a factor two reduction on the ICRF-induced W plasma content could be achieved by the reduction of the sheath voltage at the antenna limiters via the compensation of the image currents of the central and side straps in the antenna frame. There are two main operational scenario lines in AUG. Experiments with low collisionality, which comprise current drive, ELM mitigation/suppression and fast ion physics, are mainly done with freshly boronized walls to reduce the tungsten influx at these high edge temperature conditions. Full ELM suppression and non-inductive operation up to a plasma current of Ip = 0.8 MA could be obtained at low plasma density. Plasma exhaust is studied under conditions of high neutral divertor pressure and separatrix electron density, where a fresh boronization is not required. Substantial progress could be achieved for the understanding of the confinement degradation by strong D puffing and the improvement with nitrogen or carbon seeding. Inward/outward shifts of the electron density profile relative to the temperature profile effect the edge stability via the pressure profile changes and lead to improved/decreased pedestal performance. Seeding and D gas puffing are found to effect the core fueling via changes in a region of high density on the high field side (HFSHD). The integration of all above mentioned operational scenarios will be feasible and naturally obtained in a large device where the edge is more opaque for neutrals and higher plasma temperatures provide a lower collisionality. The combination of exhaust control with pellet fueling has been successfully demonstrated. High divertor enrichment values of nitrogen EN 10 have been obtained during pellet injection, which is a prerequisite for the simultaneous achievement of good core plasma purity and high divertor radiation levels. Impurity accumulation observed in the all-metal AUG device caused by the strong neoclassical inward transport of tungsten in the pedestal is expected to be relieved by the higher neoclassical temperature screening in larger devices.European Commission (EUROfusion 633053

Foeniculum sanguineum Triano y A. Pujadas (Apiaceae) nueva especie del suroeste de la Región Mediterránea

Foeniculum sanguineum Triano & A. Pujadas, sp. nov., from the south western Mediterranean Region (Spain & Morocco) is described. Its characterization and a comparative study with the related species Foeniculum vulgare Mill., has been carried out through morphological, cytological, chemical and molecular analysis. F. sanguineum is distinguished primarily for its red petals, pink pollen in fresh, and red stylopod. It is a diploid species (2n= 22). A high proportion of limonene and piperitenone oxide (absent in F. vulgare) has been found in the essential oil composition of the dry fruits of F. sanguineum and a high amount (about 50 %) of α-phellandrene in its roots and stems. Phylogenetic analyses were performed using the internal transcribed spacer sequences of nuclear ribosomal DNA (ITS) and the chloroplast rbcL gene sequences. ITS analysis supports the existence of the new species, while revealing sequence divergence both at the intraspecific and at the interspecific levels. A Single-nucleotide-polymorphism (SNP) sequence divergence found in the slow evolving chloroplast gene provided additional support for the novel species characterization, for which the name Foeniculum sanguineum is proposed

Suppression of the sterility in insulin signaling pathway mutants of Caenorhabditis elegans

Mutants in the insulin signaling pathway are related with a low or null fertility in Caenorhabditis elegans. This pathway is conserved through evolution in all metazoans, and similarly to C. elegans, deficiencies in insulin signaling pathway activity result in a decreased fertility in other organisms including humans.  We have previously selected a strain that carries a mutation in the age-1 gene (orthologue to human PI3K) which has a severe reduced fertility phenotype. Using this strain it was performed a screening for genes that when removed by RNAi suppressed the sterility, using for that only genes that were orthologue to human. Most of genes whose reversion was significantly different were genes involved in the initiation of the transcription (eIF). Those genes encode to non-specific non-ribosomally associated proteins involved in the initiation phase of eukaryotic translation. The aim of this project is to better understand the relationship between fertility and the expression of eIF genes and why RNAi of only a few of them can improve fertility and not others. On the other hand, I’m searching for drugs that improve the fertility of the nematode similarly to RNAi that could be used in future human therapies.

Improvements in the production of fat for biodiesel from sludge from treatment plants wastewater

The final goal of this research project is to improve the production of fat for biodiesel from sludge from treatment plants of wastewater (E.D.A.R). To produce such biodiesel, the methanol and the fats are necessary, and the fats are obtained from the growth of C. elegans in these sludge. It is known that the nematode Caenorhabditis elegans has the ability of generating and accumulating a high percentage of fat (around 35% of dry weight), apart from having a wide range of edible bacteria, which can feed the different microorganisms present in the mud of the sewage treatment plant.This research project could be divided into three different parts. Firstly, for optimal growth of this organism (considered as model), there is a laboratory’s protocol with liquid culture which indicates that would be favorable the addition of seven compounds (NaCl, KH2PO4, cholesterol, Potassium citrate, Trace Metals, CaCl2, MgSO4). One of my goal is to try to reduce the number of compounds used, obtaining the same population growth of worms in the mud.On the other hand, another objective is to try to improve the growth of the nematode population in the mud. To do this, we will apply different pre-treatments to the sludge and observe how the nematodes react to these changes during a week.Finally, the last objective of the research investigation is to try to improve the fat’s production for biodiesel. C. elegans has only a life cycle of three days in which present different stages from hatching: L1, L2, L3, L4 and adults and it may also appear the dauer larva, which is a stage of resistance, created by stress conditions.It is known that dauer and adults are those ones which have a greater capacity to store the fats. To improve fat’s production, we will use different strains of nematode, trying to synchronize so that all of them end up being dauer or adults and thus obtaining a higher amount of fats