Path Planning in Rough Terrain Using Neural Network Memory

Learning navigation policies in an unstructured terrain is a complex task. The Learning to Search (LEARCH) algorithm constructs cost functions that map environmental features to a certain cost for traversing a patch of terrain. These features are abstractions of the environment, in which trees, vegetation, slopes, water and rocks can be found, and the traversal costs are scalar values that represent the difficulty for a robot to cross given the patches of terrain. However, LEARCH tends to forget knowledge after new policies are learned. The study demonstrates that reinforcement learning and long-short-term memory (LSTM) neural networks can be used to provide a memory for LEARCH. Further, they allow the navigation agent to recognize hidden states of the state space it navigates. This new approach allows the knowledge learned in the previous training to be used to navigate new environments and, also, for retraining. Herein, navigation episodes are designed to confirm the memory, learning policy and hidden-state recognition capabilities, acquired by the navigation agent through the use of LSTM

Fast Chaotic Encryption for Hyperspectral Images

The information collected by hyperspectral images (HI) is essential in applications of remote sensing like object detection, geological process recognition, and identifying materials. However, HI information could be sensitive, and therefore, it should be protected. In this chapter, we show a parallel encryption algorithm specifically designed for HI. The algorithm uses multiple chaotic systems to produce a crossed multidimensional chaotic map for encrypting the image; the scheme takes advantage of the multidimensional nature of HI and is highly parallelizable, which leads to a time-efficient algorithm. We also show that the algorithm gets high-entropy ciphertext and is robust to ciphertext-only attacks

Sostenibilidad ambiental de los bosques urbanos en la ciudad de Ibagué, 2000 - 2018

1 recurso en línea (1 archivo de texto, 1 archivo con anexos) : figuras, tablas.Como lo evidencia la historia, a través del tiempo han surgido paradigmas geográficos como líneas de entendimiento a los fenómenos de sostenibilidad ambiental, no obstante, la manera de abordar los fenómenos territoriales mediante visiones fragmentadas , inconclusas y contradictorias ha favorecido la desigualdad del medio natural ante el físico (Delgado, 2009, p. 1), situación que continúa comprometiendo la satisfacción de las necesidades actuales y de las generaciones futuras. La presente investigación constituye una exploración de los efectos y posibles medidas de mitigación ante los sucesos que han ocasionado la destrucción de los bosques urbanos, propiciados por fenómeno de urbanización y consolidación de ciudad compacta, por lo que se apuesta a la incorporación de los bosques en el entorno urbano como alternativa para el cumplimiento de los objetivos de desarrollo sostenible propuestos en La Agenda 2030 (ONU, 2015), con el fin de mejorar las condiciones en la calidad de vida de la sociedad, contribuir a contrarrestar los efectos del cambio climático y generar un medio ambiente sostenible. Se realizó el análisis de la transformación de los bosques urbanos adoptando un enfoque sistémico y trialéctica desde el marco epistemológico de la geografía del medio ambiente, exponiendo a los bosques en el espacio geográfico como demasiado complejos para ser abordados mediante un solo concepto geográfico y una única disciplina. Se reconoció a los bosques urbanos como unidades funcionales, con características biológicas únicas y socialmente resultado de una organización política administrativa, que los integra al diario vivir, como espacios que proporcionan la satisfacción de necesidades básicas (oxigeno, agua, regulación térmica, disfrute) y demás servicios ecosistémicos por lo que se requiere hacer sostenible su manejo. Mediante esta la presente consideración, se integró el geosistema, el territorio y el paisaje para evaluar la sostenibilidad ambiental de los bosques en el perímetro urbano de la ciudad, tomando como referencia el momento de adopción del primer Plan de Ordenamiento Territorial (POT) en el año 2000, como iniciativa de construcción de un territorio sostenible, evaluando la incidencia y alcance de las políticas, planes, programas y proyectos, así como también el impacto de la participación ciudadana, percepción y responsabilidad en las condiciones actuales de la sostenibilidad ambiental de los bosques. Se concluyó con base en los objetivos, metas e indicadores de desarrollo sostenibles para el año 2030, que las acciones del estado han sido insuficientes, la participación ciudadana ha sido poca, y los bosques urbanos actuales siguen una tendencia de reducción y fragmentación, lo que a futuro implica desaparición en el territorio. A partir de estos resultado se propone promover el nuevo paradigma del decrecimiento, como una alternativa amigable que permita la recuperación del territorio, restando primacía al modelo capitalista y al sistema económico justificando en el desarrollo y crecimiento en una biosfera finita, adoptando un desarrollo integral del territorio, donde se incorpore a la naturaleza, no desde la óptica de simples elementos contenidos en el espacio, sino comprendiendo relaciones, interacciones, necesidades y la importancia en la construcción de vínculos espaciales, que permitan un desarrollo sostenible en el que prime la calidad de vida de todos los seres vivos.Bibliografía y webgrafía: páginas 123-130.MaestríaMagíster en Geografí

Guanajuato, «Ciudad Patrimonio de la Humanidad». ¿Oportunidad o desafío para el turismo sostenible?

The city of Guanajuato was recognized in 1988 as a World Heritage Site. Since then, tourism has become the greatest financial resource for the inhabitants. However, the large number of visitors creates traffic problems, rising prices and an increase in the amount of rubbish owing to the physical characteristics of the site and its population structure. To reduce these inconveniences, it is necessary to consider issues related to sustainable tourism. This should stimulate local development, and take action to safeguard the heritage of the city and prevent its decline. This paper describes the origin of the city, and problems affecting the local population and the sustainability of its tourism.La ciudad de Guanajuato fue reconocida en 1988 como Patrimonio de la Humanidad. A partir de este momento el turismo se ha convertido en la actividad que produce mayores recursos económicos para sus habitantes. Debido a las características físicas del lugar, a la estructura de su población y al gran número de visitantes se generan problemas de tránsito, escasez de insumos, aumento de precios y exceso de basura. Para reducir estos inconvenientes, es necesario considerar aspectos relacionados con el turismo sostenible, a fin de estimular el desarrollo local y tomar medidas para salvaguardar el patrimonio de la ciudad evitando su deterioro. En este trabajo se describe el origen de la ciudad y los problemas que afectan a la población local y a la sostenibilidad de su turismo

Multiplatform characterization of dynamic changes in breast milk during lactation

The multicomponent analysis of human breast milk (BM) by metabolic profiling is a new area of study applied to determining milk composition, and is capable of associating BM composition with maternal characteristics, and subsequent infant health outcomes. A multiplatform approach combining HPLC‐MS and ultra‐performance LC‐MS, GC‐MS, CE‐MS, and 1H NMR spectroscopy was used to comprehensively characterize metabolic profiles from seventy BM samples. A total of 710 metabolites spanning multiple molecular classes were defined. The utility of the individual and combined analytical platforms was explored in relation to numbers of metabolites identified, as well as the reproducibility of the methods. The greatest number of metabolites was identified by the single phase HPLC‐MS method, while CE‐MS uniquely profiled amino acids in detail and NMR was the most reproducible, whereas GC‐MS targeted volatile compounds and short chain fatty acids. Dynamic changes in BM composition were characterized over the first 3 months of lactation. Metabolites identified as altering in abundance over lactation included fucose, di‐ and triacylglycerols, and short chain fatty acids, known to be important for infant immunological, neurological, and gastrointestinal development, as well as being an important source of energy. This extensive metabolic coverage of the dynamic BM metabolome provides a baseline for investigating the impact of maternal characteristics, as well as establishing the impact of environmental and dietary factors on the composition of BM, with a focus on the downstream health consequences this may have for infants

Omics technologies in allergy and asthma research: An EAACI position paper

Allergic diseases and asthma are heterogenous chronic inflammatory conditions with several distinct complex endotypes. Both environmental and genetic factors can influence the development and progression of allergy. Complex pathogenetic pathways observed in allergic disorders present a challenge in patient management and successful targeted treatment strategies. The increasing availability of high-throughput omics technologies, such as genomics, epigenomics, transcriptomics, proteomics, and metabolomics allows studying biochemical systems and pathophysiological processes underlying allergic responses. Additionally, omics techniques present clinical applicability by functional identification and validation of biomarkers. Therefore, finding molecules or patterns characteristic for distinct immune-inflammatory endotypes, can subsequently influence its development, progression, and treatment. There is a great potential to further increase the effectiveness of single omics approaches by integrating them with other omics, and nonomics data. Systems biology aims to simultaneously and longitudinally understand multiple layers of a complex and multifactorial disease, such as allergy, or asthma by integrating several, separated data sets and generating a complete molecular profile of the condition. With the use of sophisticated biostatistics and machine learning techniques, these approaches provide in-depth insight into individual biological systems and will allow efficient and customized healthcare approaches, called precision medicine. In this EAACI Position Paper, the Task Force “Omics technologies in allergic research” broadly reviewed current advances and applicability of omics techniques in allergic diseases and asthma research, with a focus on methodology and data analysis, aiming to provide researchers (basic and clinical) with a desk reference in the field. The potential of omics strategies in understanding disease pathophysiology and key tools to reach unmet needs in allergy precision medicine, such as successful patients’ stratification, accurate disease prognosis, and prediction of treatment efficacy and successful prevention measures are highlighted

BAYESIAN PREDICTION METHOD FOR SHADOW DETECTION AND RECONSTRUCTION IN HSR IMAGES USING MORPHOLOGICAL FILTER

Several approaches are exists today according to color, intensity and saturation value etc that are very less accurate. Within this paper, we advise alternative shadow recognition formula according to thresholding and morphological filtering, along with an alternate shadow renovation formula in line with the example learning method and Markov random field (MRF). The primary purpose of this project is recognition and renovation of shadows from VHSR images. Removing or alleviating the instants while using shadows in HSR images for more processing is an extremely important task because the shadows are induce to loss or miss conjecture of radiometric information and induce to image interpretation. Throughout the shadow recognition procedure, the bimodal distributions of pixel values within the near-infrared (NIR) band and also the panchromatic band are adopted for thresholding. Throughout the shadow renovation procedure, we model the connection between non shadow and also the corresponding shadow pixels and between neighboring no shadow pixels by using MRF. With extension for this paper we advise Bayesian conjecture way of accurate conjecture of shadow. Within this paper for accurate shadow recognition we combine thresholding and morphological filtering concepts. This shadow recognition includes Thresholding, Morphological filtering and edge compensation stages

The impact of type 2 immunity and allergic diseases in atherosclerosis.

Allergic diseases are allergen-induced immunological disorders characterized by the development of type 2 immunity and IgE responses. The prevalence of allergic diseases has been on the rise alike cardiovascular disease (CVD), which affects arteries of different organs such as the heart, the kidney and the brain. The underlying cause of CVD is often atherosclerosis, a disease distinguished by endothelial dysfunction, fibrofatty material accumulation in the intima of the artery wall, smooth muscle cell proliferation, and Th1 inflammation. The opposed T-cell identity of allergy and atherosclerosis implies an atheroprotective role for Th2 cells by counteracting Th1 responses. Yet, the clinical association between allergic disease and CVD argues against it. Within, we review different phases of allergic pathology, basic immunological mechanisms of atherosclerosis and the clinical association between allergic diseases (particularly asthma, atopic dermatitis, allergic rhinitis and food allergy) and CVD. Then, we discuss putative atherogenic mechanisms of type 2 immunity and allergic inflammation including acute allergic reactions (IgE, IgG1, mast cells, macrophages and allergic mediators such as vasoactive components, growth factors and those derived from the complement, contact and coagulation systems) and late phase inflammation (Th2 cells, eosinophils, type 2 innate-like lymphoid cells, alarmins, IL-4, IL-5, IL-9, IL-13 and IL-17).N

The impact of type 2 immunity and allergic diseases in atherosclerosis.

Allergic diseases are allergen-induced immunological disorders characterized by the development of type 2 immunity and IgE responses. The prevalence of allergic diseases has been on the rise alike cardiovascular disease (CVD), which affects arteries of different organs such as the heart, the kidney and the brain. The underlying cause of CVD is often atherosclerosis, a disease distinguished by endothelial dysfunction, fibrofatty material accumulation in the intima of the artery wall, smooth muscle cell proliferation, and Th1 inflammation. The opposed T-cell identity of allergy and atherosclerosis implies an atheroprotective role for Th2 cells by counteracting Th1 responses. Yet, the clinical association between allergic disease and CVD argues against it. Within, we review different phases of allergic pathology, basic immunological mechanisms of atherosclerosis and the clinical association between allergic diseases (particularly asthma, atopic dermatitis, allergic rhinitis and food allergy) and CVD. Then, we discuss putative atherogenic mechanisms of type 2 immunity and allergic inflammation including acute allergic reactions (IgE, IgG1, mast cells, macrophages and allergic mediators such as vasoactive components, growth factors and those derived from the complement, contact and coagulation systems) and late phase inflammation (Th2 cells, eosinophils, type 2 innate-like lymphoid cells, alarmins, IL-4, IL-5, IL-9, IL-13 and IL-17).Severo Ochoa Center of Excellence, Grant/Award Number: CEX2020-001041- S; Pro CNIC Foundation; Ministerio de Ciencia e Innovación; Ministry of Science and Innovation, Grant/ Award Number: PID2019-110369RB- I00; European Commission, Grant/Award Number: ERC-CoG 819775 and H2020-HEALTH 945118; Spanish Ministry of Universities; Ayudas Margarita Salas para la Formación de Jóvenes Doctores—Universidad Autónoma de Madrid, Grant/ Award Number: CA1/RSUE/2021–00577; Formación de Profesorado Universitario, Grant/Award Number: FPU16/03953; Sociedad Española de Alergología e Inmunología Clínica (SEAIC), Grant/ Award Number: BECA20A9; New Frontiers in Research Fund, Grant/ Award Number: NFRFE-2019- 00083; The Nutricia Research Foundation, Grant/Award Number: NRF-2021- 13; Instituto de Salud Carlos III, Grant/Award Number: PI21/00158, PI21/01126, CP20/00043, PI18/01467, PI19/00044, RD16/0006/0015 and RD21/0002/0008; Severo Ochoa Program, Grant/Award Number: AEI/SEV-2017- 0712S