Contributions to Real-time Metric Localisation with Wearable Vision Systems

Under the rapid development of electronics and computer science in the last years, cameras have becomeomnipresent nowadays, to such extent that almost everybody is able to carry one at all times embedded intotheir cellular phone. What makes cameras specially appealing for us is their ability to quickly capture a lot ofinformation of the environment encoded in one image or video, allowing us to immortalize special moments inour life or share reliable visual information of the environment with other persons. However, while the task ofextracting the information from an image may by trivial for us, in the case of computers complex algorithmswith a high computational burden are required to transform a raw image into useful information. In this sense, the same rapid development in computer science that allowed the widespread of cameras has enabled also the possibility of real-time application of previously practically infeasible algorithms.Among the current fields of research in the computer vision community, this thesis is specially concerned inmetric localisation and mapping algorithms. These algorithms are a key component in many practical applications such as robot navigation, augmented reality or reconstructing 3D models of the environment.The goal of this thesis is to delve into visual localisation and mapping from vision, paying special attentionto conventional and unconventional cameras which can be easily worn or handled by a human. In this thesis Icontribute in the following aspects of the visual odometry and SLAM (Simultaneous Localisation and Mapping)pipeline:- Generalised Monocular SLAM for catadioptric central cameras- Resolution of the scale problem in monocular vision- Dense RGB-D odometry- Robust place recognition- Pose-graph optimisatio

WSPH and ISPH Calculations of a Counter-Rotating Vortex Dipole

Viscosity and vorticity are magnitudes playing an important role in many engineering physical phenomena such as: boundary layer separation, transition flows, shear flows, etc., demonstrating the importance of the vortical viscous flows commonly used among the SPH community. The simulation presented here, describes the physics of a pair of counter-rotating vortices in which the strain field felt by each vortex is due to the other one. Different from the evolution of a single isolated vortex, in this case each vortex is subjected to an external stationary strain field generated by the other, making the streamlines deform elliptically. To avoid the boundary influence, a large computational domain has been used ensuring insignificant effect of the boundary conditions on the solution. The performance of the most commonly used viscous models in simulating laminar flows, Takeda’s (TVT), Morris’ (MVT) and Monaghan-Cleary’s (MCGVT) has been discussed comparing their results. These viscous models have been used under two different compressibility hypotheses. Two cases have been numerically analyzed in this presentation. In the first case, a 2D system of two counter-rotating Lamb O seen vortices is considered. At first, the system goes through a rapid relaxation process in which both vortices equilibrate each other. This quasi-steady state is obtained after the relaxation phase is advected at a constant speed and slowly evolves owing to viscous diffusion. The results of the different Lamb-O seen numerical solutions have been validated with good agreement by comparison with the numerical results of a finite element code (ADFC) solution. A second case, somewhat more complex than the previous one, is a 3D Batchelor vortex dipole obtained by adding an axial flow to the system of the first case. The Batchelor vortex model considered here is a classical option normally used to model the structure of trailing vortices in the far-wake of an aircraft

Synthesis and cytotoxic activity of pyridazino[1 ',6 ': 1,2] pyrido[3,4-b]indol-5-inium derivatives as anti-cancer agents

Several new pyridazino[1′,6′:1,2]pyrido[3,4-b]indol-5-inium derivatives were synthesised from β-carboline derivatives and their cytotoxic activity and effect on the cell cycle were evaluated against L1210 cancer cells

Clima escolar, inteligencia emocional y psicología educativa en los espacios de aprendizaje

Desde hace un tiempo se vienen detectando niveles de estrés, fracaso escolar, en niveles más elevados y en etapas educativas ansiedades más tempranas. Este suceso viene derivado de factores como el aumento de responsabilidad y autonomía, carga de trabajo académico, así como falta de habilidades para gestionar las emociones. De ahí que, en las últimas décadas, la Inteligencia Emocional haya adquirido una mayor importancia en el ámbito educativo, puesto que actúa como medio para promover el bienestar psicológico del alumnado, facilitándoles la comprensión del entorno que los rodea, así como dotándolos de las competencias. necesarios para hacer frente a las diversas situaciones que se presentan. De esta manera, este constructo se constituye como un proceso educativo que ha de ser permanente y continúo favoreciendo el desarrollo integral de los estudiantes

Adaptación de las asignaturas básicas de primer curso de la ETSI Navales de la UPM: Actividades 2008-2009

En el marco de la reforma de las titulaciones con motivo del Espacio Europeo de Educación un grupo de profesores hemos coordinado, durante el curso 2008-2009, todas las asignaturas básicas de primer curso y una más de segundo curso en la Escuela Técnica Superior de Ingenieros Navales. Las actividades realizadas son: a) Coordinación de todas las asignaturas básicas de primer curso, con reuniones periódicas de coordinación horizontal y el establecimiento de una página web de moodle para profesores como espacio para el trabajo cooperativo. Particularmente importante es el establecimiento de un calendario conjunto de pruebas de evaluación continua. b) Redacción de guías de aprendizaje, con un formato común para todas las asignaturas, incluyendo los objetivos formativos, los contenidos, las actividades formativas, los enlaces y la bibliografía. c) Establecimiento de una plataforma de teleeducación común para todas las asignaturas, uno de los objetivos fundamentales del proyecto, ya que coexistían dos plataformas distintas. Igualmente importante ha sido reforzar los contenidos y las actividades que se podían realizar en la plataforma. d) Seguimiento del tiempo dedicado por los alumnos, hemos ido siguiendo el tiempo dedicado por los alumnos a las distintas asignaturas, para detectar si el tiempo que se dedica está en los márgenes establecidos en los créditos ECTS. Igualmente, hemos hecho dos encuestas a la mitad de cada semestre, para recoger las opiniones de los alumnos sobre las asignaturas y sobre los aspectos relevantes del proyecto. e) Organización de actividades de nivelación, para los alumnos de nuevo ingreso, con la organización de cursos cero y la participación y coordinación en la Plataforma de Punto de inicio de la UPM. f) Organización de actividades formativas, para poder llevar a cabo estas tareas, hemos organizado, en colaboración con el Centro y el Gabinete de Tele-Educación (GATE) actividades formativas relacionadas con la plataforma moodle, métodos de evaluación y de formación en competencias.En la presentación haremos una descripción de las actividades realizadas, así como una primera evaluación de las mismas. Por último, describiremos las tareas a desarrollar en los próximos cursos

The Research Journey as a Challenge Towards New Trends

The academic community of the department of Risaralda, in its permanent interest in evidencing the results of the research processes that are carried out from the Higher Education Institutions and as a product of the VI meeting of researchers of the department of Risaralda held in November 2021 presents its work: “The journey of research as a challenge towards new trends”, which reflects the result of the latest research and advances in different lines of knowledge in Agricultural Sciences, Health Sciences, Social Sciences and Technology and Information Sciences, which seek to solve and meet the demands of the different sectors. This work would not have been possible without the help of each of the teachers, researchers and authors who presented their articles that make up each of the chapters of the book, to them our gratitude for their commitment, dedication and commitment, since their sole purpose is to contribute from the academy and science to scientific and technological development in the search for the solution of problems and thus contribute to transform the reality of our society and communities. We also wish to extend our gratitude to the institutions of the Network that made this publication possible: UTP, UCP, UNAD, UNIREMINGTON; UNISARC, CIAF, Universidad Libre, Uniclaretiana, Fundación Universitaria Comfamiliar and UNIMINUTO, institutions that in one way or another allowed this work to become a reality, which we hope will be of interest to you.Preface............................................................................................................................7 Chapter 1. Technologies and Engineering Towards a humanization in Engineering using soft skills in training in Engineers.............................................................................................................11 Omar Iván Trejos Buriticá1, Luis Eduardo Muñoz Guerrero Innovative materials in construction: review from a bibliometric analysis....................................................................................................................27 Cristian Osorio Gómez, Daniel Aristizábal Torres, Alejandro Alzate Buitrago, Cristhian Camilo Amariles López Bibliometric review of disaster risk management: progress, trends, and challenges.........................................................................................................51 Alejandro Alzate Buitrago, Gloria Milena Molina Vinasco. Incidence of land coverage and geology, in the unstability of lands of the micro-basin of the Combia creek, Pereira, Risaralda....................................73 Alejandro Alzate Buitrago, Daniel Aristizábal Torres. Chapter 2. Arts, Humanities, and Social Sciences Training experience with teachers teaching mathematics using the inquiry methodology ...............................................................................................95 Vivian Libeth Uzuriaga López, Héctor Gerardo Sánchez Bedoya. Interpretation of the multiple representations of the fears associated to the boarding of limited visual patients in the elective I students’ written productions and low vision ...................................................................................113 Eliana Bermúdez Cardona, Ana María Agudelo Guevara, Caterine Villamarín Acosta. The relevance of local knowledge in social sciences............................................131 Alberto Antonio Berón Ospina, Isabel Cristina Castillo Quintero. Basic education students’ conceptions of conflict a view from the peace for the education....................................................................................................143 Astrid Milena Calderón Cárdenas,Carolina Aguirre Arias, Carolina Franco Ossa, Martha Cecilia Gutiérrez Giraldo, Orfa Buitrago. Comprehensive risk prevention in educational settings: an interdisciplinary and socio-educational approach ............................................................................163 Olga María Henao Trujillo, Claudia María López Ortiz. Chapter 3. Natural and Agricultural Sciences Physicochemical characterization of three substrates used in the deep bedding system in swine .......................................................................................175 Juan Manuel Sánchez Rubio, Andrés Felipe Arias Roldan, Jesús Arturo Rincón Sanz, Jaime Andrés Betancourt Vásquez. Periodic solutions in AFM models........................................................................187 Daniel Cortés Zapata, Alexander Gutiérrez Gutiérrez. Phenology in flower and fruit of Rubus glaucus benth. Cv. Thornless in Risaralda: elements for phytosanitary management .........................................199 Shirley Palacios Castro, Andrés Alfonso Patiño Martínez, James Montoya Lerma, Ricardo Flórez, Harry Josué Pérez. Socio-economic and technical characterization of the cultivation of avocado (Persea americana) in Risaralda..............................................................217 Andrés Alfonso Patiño Martínez, Kelly Saudith Castañez Poveda, Eliana Gómez Correa. Biosecurity management in backyard systems in Santa Rosa de Cabal, Risaralda................................................................................................................227 Julia Victoria Arredondo Botero, Jaiver Estiben Ocampo Jaramillo, Juan Sebastián Mera Vallejo, Álvaro de Jesús Aranzazu Hernández. CONTENTS Physical-chemical diagnosis of soils in hillside areas with predominance of Lulo CV. La Selva production system in the department of Risaralda.............241 Adriana Patricia Restrepo Gallón, María Paula Landinez Montes, Jimena Tobón López. Digestibility of three concentrates used in canine feeding....................................271 María Fernanda Mejía Silva, Valentina Noreña Sánchez, Gastón Adolfo Castaño Jiménez. Chapter 4. Economic, Administrative, and Accounting Sciences Financial inclusion in households from socioeconomic strata 1 and 2 in the city of Pereira ..................................................................................................285 Lindy Neth Perea Mosquera, Marlen Isabel Redondo Ramírez, Angélica Viviana Morales. Internal marketing strategies as a competitive advantage for the company Mobilautos SAS de Dosquebradas........................................................................303 Inés Montoya Sánchez, Sandra Patricia Viana Bolaños, Ana María Barrera Rodríguez. Uses of tourist marketing in the tourist sector of the municipality of Belén de Umbría, Risaralda.............................................................................................319 Ana María Barrera Rodríguez, Paola Andrea Echeverri Gutiérrez, María Camila Parra Buitrago, Paola Andrea Martín Muñoz, Angy Paola Ángel Vélez, Luisa Natalia Trejos Ospina. Territorial prospective of Risaralda department (Colombia), based on the SDGS...............................................................................................................333 Juan Guillermo Gil García, Samanta Londoño Velásquez. Chapter 5. Health and Sports Sciences Performance evaluation in times of pandemic. What do medical students think?.......................................................................................................353 Samuel Eduardo Trujillo Henao, Rodolfo A. Cabrales Vega, Germán Alberto Moreno Gómez. The relevance of the therapist’s self and self-reference in the training of psychologists.....................................................................................................371 Maria Paula Marmolejo Lozano, Mireya Ospina Botero. Habits related to oral health which influence lifestyle of elder people in a wellness center for the elderly in Pereira 2020. .............................................387 Isadora Blanco Pérez, Olga Patricia Ramírez Rodríguez, Ángela María Rincón Hurtado. Analysis of the suicide trend in the Coffee Region in Colombia during the years 2012-2018 ..............................................................................................405 Germán Alberto Moreno Gómez, Jennifer Nessim Salazar, Jairo Franco Londoño, Juan Carlos Medina Osorio. Hind limb long bone fractures in canines and felines...........................................419 María Camila Cruz Vélez, Valentina Herrera Morales, Alba Nydia Restrepo Jiménez, Lina Marcela Palomino, Gabriel Rodolfo Izquierdo Bravo. Prevalence of overweight and obesity in children in the rural and urban area of Risaralda....................................................................................................439 Angela María Álvarez López, Angela Liceth Pérez Rendón, Alejandro Gómez Rodas, Luis Enrique Isaza Velásquez. Chapter 6. Architecture, Design and Advertising The artisan crafts of Risaralda, characteristics, importance, and risks within the Colombian Coffee Cultural Landscape, CCCL....................................457 Yaffa Nahir Ivette Gómez Barrera, Javier Alfonso López Morales

Gaia Early Data Release 3: Summary of the contents and survey properties

Context. We present the early installment of the third Gaia data release, Gaia EDR3, consisting of astrometry and photometry for 1.8 billion sources brighter than magnitude 21, complemented with the list of radial velocities from Gaia DR2. Aims. A summary of the contents of Gaia EDR3 is presented, accompanied by a discussion on the differences with respect to Gaia DR2 and an overview of the main limitations which are present in the survey. Recommendations are made on the responsible use of Gaia EDR3 results. Methods. The raw data collected with the Gaia instruments during the first 34 months of the mission have been processed by the Gaia Data Processing and Analysis Consortium and turned into this early third data release, which represents a major advance with respect to Gaia DR2 in terms of astrometric and photometric precision, accuracy, and homogeneity. Results. Gaia EDR3 contains celestial positions and the apparent brightness in G for approximately 1.8 billion sources. For 1.5 billion of those sources, parallaxes, proper motions, and the (GBP − GRP) colour are also available. The passbands for G, GBP, and GRP are provided as part of the release. For ease of use, the 7 million radial velocities from Gaia DR2 are included in this release, after the removal of a small number of spurious values. New radial velocities will appear as part of Gaia DR3. Finally, Gaia EDR3 represents an updated materialisation of the celestial reference frame (CRF) in the optical, the Gaia-CRF3, which is based solely on extragalactic sources. The creation of the source list for Gaia EDR3 includes enhancements that make it more robust with respect to high proper motion stars, and the disturbing effects of spurious and partially resolved sources. The source list is largely the same as that for Gaia DR2, but it does feature new sources and there are some notable changes. The source list will not change for Gaia DR3. Conclusions. Gaia EDR3 represents a significant advance over Gaia DR2, with parallax precisions increased by 30 per cent, proper motion precisions increased by a factor of 2, and the systematic errors in the astrometry suppressed by 30-40% for the parallaxes and by a factor ~2.5 for the proper motions. The photometry also features increased precision, but above all much better homogeneity across colour, magnitude, and celestial position. A single passband for G, GBP, and GRP is valid over the entire magnitude and colour range, with no systematics above the 1% leve

Characterizing SOD1 mutations in Spain. The impact of genotype, age, and sex in the natural history of the disease

11 páginas, 3 figuras, 2 tablasIntroduction: The aim of this study is to describe the frequency and distribution of SOD1 mutations in Spain, and to explore those factors contributing to their phenotype and prognosis. Methods: Seventeen centres shared data on amyotrophic lateral sclerosis (ALS) patients carrying pathogenic or likely pathogenic SOD1 variants. Multivariable models were used to explore prognostic modifiers. Results: In 144 patients (from 88 families), 29 mutations (26 missense, 2 deletion/insertion and 1 frameshift) were found in all 5 exons of SOD1, including 7 novel mutations. 2.6% of ALS patients (including 17.7% familial and 1.3% sporadic) were estimated to carry SOD1 mutations. Its frequency varied considerably between regions, due to founder events. The most frequent mutation was p.Gly38Arg (n = 58), followed by p.Glu22Gly (n = 11), p.Asn140His (n = 10), and the novel p.Leu120Val (n = 10). Most mutations were characterized by a protracted course, and some of them by atypical phenotypes. Older age of onset was independently associated with faster disease progression (exp(Estimate) = 1.03 [0.01, 0.05], p = 0.001) and poorer survival (HR = 1.05 [1.01, 1.08], p = 0.007), regardless of the underlying mutation. Female sex was independently associated to faster disease progression (exp(Estimate) = 2.1 [1.23, 3.65], p = 0.012) in patients carrying the p.Gly38Arg mutation, resulting in shorter survival compared with male carriers (236 vs 301 months). Conclusions: These data may help to evaluate the efficacy of SOD1 targeted treatments, and to expand the number of patients that might benefit from these treatments.This study has received funding from: Instituto de Salud Carlos III (21/00737 PI J.F.V.C., 19/01178 PI T.S., PI 19/01543 to R.R.), cofunded by European Regional Development Fund (‘A way to make Europe’); STOPELA (2017/0653); I + D biomedicina 2017 from Comunidad de Madrid ‘ELA-Madrid’ (B2017/BMD-3813 to A.G.-R.); estrategias frente a Enfermedades Neurodegenerativas Ministerio de Sanidad – Comunidad de Madrid B.O.C.M. Num. 142 - Lunes 17 de junio de 2019 - Pág. 10 ‘Estudio genético de la población con ELA de la Comunidad de Madrid’ to A.G.-R. The Centro de Investigación Biomédica en Red de Enfermedades Raras (CIBERER) and the Centro de Investigación Biomédica en Red de Enfermedades Neurodegenerativas (CIBERNED) are initiatives from the ISCIII. J.F.V.C., T.S., C.P., M.P., R.R.-G., J.T.S. and R.J.M. are members of the European Reference Network for Rare Neuromuscular Diseases (ERN EURO-NMD). The funders had no role in the design and conduct of the study; collection, management, analysis, and interpretation of the data; preparation, review, or approval of the manuscript; and decision to submit the manuscript for publication.Peer reviewe