108,281 research outputs found

    Inference Over Bayesian Networks for the Diagnosis and Sensory Enhancement of Mobile Robots

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    The thesis contributes with a novel modeling paradigm, a so-called Bayesian sensory architecture, that enables the representation of any robotic sensory system, allowing the identification of anomalies and the recovery from them. The main drawback of this proposal is the potentially high computational cost of inference with Bayesian networks, which is addressed with a novel, approximate algorithm that leverages the structure of the proposed model. Both the sensory architecture and the corresponding inference algorithm are implemented for different robotic tasks, and are validated through different sets of both simulated and real experiments. One of the implementations is aimed at analyzing the performance of the proposed algorithm in terms of error and computation time. The results obtained from the experiments show that the cost of inference is significantly reduced, and that the approximate queries produced still serve to perform sensory diagnosis and recovery adequately. Another implementation is proposed for the problem of robotic navigation in human environments. In this case, the experimental results prove that the use of the architecture manages to increase the safety and efficiency of navigation. Lastly, a new inference approach based on the use of feedforward neural networks is implemented and tested for this problem, showing that it is possible to reduce, even more, the cost of inference with Bayesian networks, enabling real time operation.Mobile robots are nowadays present in countless real-world applications, aiding or substituting human beings in a wide variety of tasks related to scopes as diverse as industrial, military, medical, educational and many others. The use of mobile platforms in all these contexts is revolutionizing their respective fields, overcoming previous limitations and offering new possibilities. However, for a mobile robot to work properly, it is essential that its sensory apparatus provides correct and reliable information, which is often challenging due to the complexity of the physical world and its uncertain nature. To address that, this thesis explores the possibilities of the application of Bayesian networks (BNs) to the problem of sensory diagnosis and enhancement in the context of mobile robotics. Arised from the realm of artificial intelligence, Bayesian networks constitute a rigorous mathematical framework that enables both the integration of heterogeneous sources of information and the reasoning about them while taking their uncertainty into account. The thesis first analyzes different sensory anomalies in mobile robots and the impact of such abnormal behavior on the performance of these platforms. Given the wide variety of existing sensory devices, the analysis is focused on range sensors, since they are essential to many robotic tasks also grounded on probabilistic frameworks such as Bayesian estimators. Specifically, the thesis contributes with a rigorous statistical study of the influence of abnormal range observations on the performance of Bayesian filters, addressing the problem from a generic perspective thanks to the use of BNs. The conclusions obtained serve to illustrate the importance of sensory abnormalities beyond the pervasively studied issue of noisy observations. The treatment of sensory anomalies in mobile robots with Bayesian networks is then addressed

    Desarrollo de papeles biocativos por injerto de mol茅culas espec铆ficas en celulosa

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    Tesis (DCI)--FCEFN-UNC, 2019En la presente tesis se presenta el desarrollo de papeles bioactivos con potencial aplicaci贸n en el envasado activo de alimentos. Para tal fin, se propuso el injerto de eugenol, un compuesto de origen natural con propiedades antimicrobiana, antioxidante y repelente de insectos, en celulosa, utilizando 谩cido policarbox铆lico como agente ligante. Con el objetivo de evaluar la escalabilidad del proceso propuesto, se estudiaron distintas tecnolog铆as de curado, tales como calentamiento por convecci贸n, infrarrojo, microondas y conducci贸n. En todos los casos, se analizaron la influencia de las variables operativas sobre el avance de la reacci贸n y propiedades finales del papel preparado, utilizando un dise帽o de experimentos Doehlert para elegir las experiencias a realizar, y analizando los resultados mediante metodolog铆a de superficie de respuesta y an谩lisis estad铆stico ANOVA. Se pudo comprobar que la reacci贸n de injerto de eugenol en papel comercial se produjo con 茅xito en todas las tecnolog铆as estudiadas. Asimismo, se encontraron las condiciones 贸ptimas de reacci贸n para cada una de las tecnolog铆as, para lo cual se busc贸 un compromiso entre el avance de la reacci贸n y las propiedades finales del material (mec谩nicas y color). A partir de estas condiciones, se prepararon papeles y se realiz贸 una caracterizaci贸n m谩s espec铆fica para su aplicaci贸n como envase de alimentos comparando los papeles modificados con el papel virgen. Se analizaron las propiedades mec谩nicas por ensayo de tracci贸n, rasgado y punzonado y se midi贸 la absorci贸n de agua y la capacidad de degradaci贸n. Por otro lado, las propiedades bioactivas analizadas fueron la actividad antioxidante, antimicrobiana, repelente e insecticida de gorgojos (T. castaneum y R. dominica). Una vez probado que el papel modificado presenta buenas caracter铆sticas f铆sicas y bioactivas para su posible aplicaci贸n en el envasado de alimentos, se realizaron prototipos de envasado para harina, como alimento representativo de alimentos derivados de cereales, susceptibles al ataque de plagas. En este estudio se analiz贸 la migraci贸n de reactivos, propiedades organol茅pticas y conservaci贸n del alimento, arrojando resultados promisorios para la industria de envases de alimentos. Finalmente, se realiz贸 una comparaci贸n de las tecnolog铆as de curado ensayadas, analizando diferentes aspectos como avance de reacci贸n, propiedades finales, apariencia, tiempo de reacci贸n, consumo de energ铆a, entre otros, como as铆 tambi茅n disponibilidad y uso de estas tecnolog铆as a escala industrial, seleccionando la tecnolog铆a de conducci贸n como la m谩s adecuada para una propuesta de escalado industrial.Fil: Muratore, Florencia. Universidad Nacional de C贸rdoba. Facultad de Ciencias Exactas, F铆sicas y Naturales; Argentina.Fil: Muratore, Florencia. Consejo Nacional de Investigaciones Cient铆ficas y T茅cnicas. Instituto de Investigaci贸n y Desarrollo en Ingenier铆a de Procesos y Qu铆mica Aplicada; Argentina

    Does international patent collaboration have an effect on entrepreneurship?

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    .Entrepreneurship is one of the main pillars of growth in any economy. Achieving a high rate of entrepreneurship in a region has become the priority objective of governments and firms. However, in many cases, new firm creation is conditioned by relations or collaboration in innovation with agents from other countries. Previous literature has analyzed the mechanisms that foster entrepreneurship. This paper attempts to shed light on the influence of international patent collaboration (IPC) on entrepreneurial activity at country level taking into account the timing of this relationship. An empirical study is proposed to verify whether IPC leads to greater entrepreneurship and to analyze the gestation period between international patenting actions and firm creation. Using the Generalized Method of Moments, the two hypotheses proposed were tested in a data panel of 30 countries for the period 2005鈥2017. Results show the influence of IPC in promoting entrepreneurship in the same year, but especially in the following year. The study offers implications for entrepreneurs and public agents. IPC affects the integration and interaction of international agents in a country, favors the production of new knowledge, and increases positive externalities in a territory. All this facilitates the creation of new companies with a high innovative component.S

    Interactive Sonic Environments: Sonic artwork via gameplay experience

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    The purpose of this study is to investigate the use of video-game technology in the design and implementation of interactive sonic centric artworks, the purpose of which is to create and contribute to the discourse and understanding of its effectiveness in electro-acoustic composition highlighting the creative process. Key research questions include: How can the language of electro-acoustic music be placed in a new framework derived from videogame aesthetics and technology? What new creative processes need to be considered when using this medium? Moreover, what aspects of 'play' should be considered when designing the systems? The findings of this study assert that composers and sonic art practitioners need little or no coding knowledge to create exciting applications and the myriad of options available to the composer when using video-game technology is limited only by imagination. Through a cyclic process of planning, building, testing and playing these applications the project revealed advantages and unique sonic opportunities in comparison to other sonic art installations. A portfolio of selected original compositions, both fixed and open are presented by the author to complement this study. The commentary serves to place the work in context with other practitioners in the field and to provide compositional approaches that have been taken

    Balancing the urban stomach: public health, food selling and consumption in London, c. 1558-1640

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    Until recently, public health histories have been predominantly shaped by medical and scientific perspectives, to the neglect of their wider social, economic and political contexts. These medically-minded studies have tended to present broad, sweeping narratives of health policy's explicit successes or failures, often focusing on extraordinary periods of epidemic disease viewed from a national context. This approach is problematic, particularly in studies of public health practice prior to 1800. Before the rise of modern scientific medicine, public health policies were more often influenced by shared social, cultural, economic and religious values which favoured maintaining hierarchy, stability and concern for 'the common good'. These values have frequently been overlooked by modern researchers. This has yielded pessimistic assessments of contemporary sanitation, implying that local authorities did not care about or prioritise the health of populations. Overly medicalised perspectives have further restricted historians' investigation and use of source material, their interpretation of multifaceted and sometimes contested cultural practices such as fasting, and their examination of habitual - and not just extraordinary - health actions. These perspectives have encouraged a focus on reactive - rather than preventative - measures. This thesis contributes to a growing body of research that expands our restrictive understandings of pre-modern public health. It focuses on how public health practices were regulated, monitored and expanded in later Tudor and early Stuart London, with a particular focus on consumption and food-selling. Acknowledging the fundamental public health value of maintaining urban foodways, it investigates how contemporaries sought to manage consumption, food production waste, and vending practices in the early modern City's wards and parishes. It delineates the practical and political distinctions between food and medicine, broadly investigates the activities, reputations of and correlations between London's guild and itinerant food vendors and licensed and irregular medical practitioners, traces the directions in which different kinds of public health policy filtered up or down, and explores how policies were enacted at a national and local level. Finally, it compares and contrasts habitual and extraordinary public health regulations, with a particular focus on how perceptions of and actual food shortages, paired with the omnipresent threat of disease, impacted broader aspects of civic life

    South Yorkshire low carbon energy supply chains: insulation sector summary

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    Bioinformatic characterization of a triacylglycerol lipase produced by Aspergillus flavus isolated from the decaying seed of Cucumeropsis mannii

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    Lipases are enzymes of industrial importance responsible for the hydrolysis of ester bonds of triglycerides. A lipolytic fungus was isolated and subsequently identified based on the ITS sequence analysis as putative Aspergillus flavus with accession number LC424503. The gene coding for extracellular triacylglycerol lipase was isolated from Aspergillus flavus species, sequenced, and characterised using bioinformatics tools. An open reading frame of 420 amino acid sequence was obtained and designated as Aspergillus flavus lipase (AFL) sequence. Alignment of the amino acid sequence with other lipases revealed the presence GHSLG sequence which is the lipase consensus sequence Gly-X1-Ser-X2-Gly indicating that it a classical lipase. A catalytic active site lid domain composed of TYITDTIIDLS amino acids sequence was also revealed. This lid protects the active site, control the catalytic activity and substrate selectivity in lipases. The 3-Dimensional structural model shared 34.08% sequence identity with a lipase from Yarrowia lipolytica covering 272 amino acid residues of the template model. A search of the lipase engineering database using AFL sequence revealed that it belongs to the class GX-lipase, superfamily abH23 and homologous family abH23.02, molecular weight and isoelectric point values of 46.95鈥塊Da and 5.7, respectively. N-glycosylation sites were predicted at residues 164, 236 and 333, with potentials of 0.7250, 0.7037 and 0.7048, respectively. O-glycosylation sites were predicted at residues 355, 358, 360 and 366. A signal sequence of 37 amino acids was revealed at the N-terminal of the polypeptide. This is a short peptide sequence that marks a protein for transport across the cell membrane and indicates that AFL is an extracellular lipase. The findings on the structural and molecular properties of Aspergillus flavus lipase in this work will be crucial in future studies aiming at engineering the enzyme for biotechnology applications

    The JCMT BISTRO Survey: Multi-wavelength polarimetry of bright regions in NGC 2071 in the far-infrared/submillimetre range, with POL-2 and HAWC+

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    Polarized dust emission is a key tracer in the study of interstellar medium and of star formation. The observed polarization, however, is a product of magnetic field structure, dust grain properties and grain alignment efficiency, as well as their variations in the line of sight, making it difficult to interpret polarization unambiguously. The comparison of polarimetry at multiple wavelengths is a possible way of mitigating this problem. We use data from HAWC+/SOFIA and from SCUBA-2/POL-2 (from the BISTRO survey) to analyse the NGC 2071 molecular cloud at 154, 214 and 850 渭m. The polarization angle changes significantly with wavelength over part of NGC 2071, suggesting a change in magnetic field morphology on the line of sight as each wavelength best traces different dust populations. Other possible explanations are the existence of more than one polarization mechanism in the cloud or scattering from very large grains. The observed change of polarization fraction with wavelength, and the 214-to-154 渭m polarization ratio in particular, are difficult to reproduce with current dust models under the assumption of uniform alignment efficiency. We also show that the standard procedure of using monochromatic intensity as a proxy for column density may produce spurious results at HAWC+ wavelengths. Using both long-wavelength (POL-2, 850 渭m) and short-wavelength (HAWC+, 鈮200渭m) polarimetry is key in obtaining these results. This study clearly shows the importance of multi-wavelength polarimetry at submillimeter bands to understand the dust properties of molecular clouds and the relationship between magnetic field and star formation

    Tense times for young migrants: temporality, life-course and immigration status

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    This article explores the intersection between immigration status, life-course and the experience of time. It looks at how time and life-course transitions are experienced by young people who are in constant encounter with the immigration regime in the UK. The encounters at this intersection produce a complex landscape for young people to navigate during their transitions to adulthood. What emerges from unpicking the relations of this messy and complex temporal-immigration status matrix, are distinct experiences of time and life-course transitions for young migrants. First, in dealing with the immigration regime young people are confined to a passive role of waiting that results in a sense of feeling stuck. Secondly, pre-18 young people experience a growing up too early and upon turning 18 and gaining legal independence, their situation paradoxically leads to practical dependence. And thirdly, the immigration status renewal system produces long-term uncertainty for young people鈥檚 futures

    Uso de las histonas circulantes y sus modificaciones post-traduccionales como biomarcadores en sepsis y shock s茅ptico

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    La sepsis es una afecci贸n potencialmente mortal causada por una respuesta anormal del hu茅sped a una infecci贸n, produciendo respuestas fisiol贸gicas alteradas que da帽an los propios tejidos del paciente y pueden provocar disfunci贸n org谩nica e incluso la muerte. Asimismo, algunos pacientes s茅pticos progresan a shock s茅ptico, caracterizado por alteraciones circulatorias, celulares y metab贸licas sustanciales que aumentan el riesgo de mortalidad. A pesar de que la sepsis se caracteriza por un mal funcionamiento del sistema inmunol贸gico, lo que a su vez conduce a una respuesta inmune alterada e inmunosupresi贸n, la alta complejidad de la fisiopatolog铆a de la sepsis requiere una mayor investigaci贸n para comprender las respuestas inmunes que ocurren durante la sepsis. Asimismo, las histonas extracelulares circulantes han ganado relevancia como mediadores citot贸xicos en la sepsis, ya que act煤an como patrones moleculares asociados a da帽o, que inducen estr茅s oxidativo y activan el inflamasoma NLRP3. Estos mecanismos median la activaci贸n de la piroptosis, un mecanismo de muerte celular programada que produce inflamaci贸n mediante la expresi贸n de IL-18, IL-1尾 and IL-1伪. Sin embargo, a pesar de la evidencia de activaci贸n del inflamasoma en las c茅lulas inmunes durante la sepsis, se desconoce si las histonas extracelulares son capaces de activar los inflamasomas endoteliales y sus consecuencias. En este trabajo destacamos el papel previamente desconocido de las histonas extracelulares, mediando la activaci贸n del inflamasoma NLRP3 y la piroptosis en las c茅lulas endoteliales, contribuyendo a la disfunci贸n endotelial y la desregulaci贸n de la respuesta inmune mediada por el endotelio. Asimismo, tambi茅n demostramos c贸mo la acetilaci贸n de histonas disminuye la activaci贸n de la piroptosis. Adem谩s, demostramos que la piroptosis se produce en pacientes con shock s茅ptico y los niveles de histonas circulantes se correlacionan con la expresi贸n de citoquinas proinflamatorias y citoquinas piropt贸ticas, la liberaci贸n de factores de adhesi贸n endotelial y la gravedad de la enfermedad. Proponemos la piroptosis mediada por histonas como un nuevo objetivo para desarrollar intervenciones cl铆nicas. De manera similar, hemos analizado las respuestas inmunorelacionadas que ocurren durante las primeras etapas de la sepsis con el objetivo de proporcionar nuevos datos comparando las cantidades de citoquinas, inmunomoduladores y otros mediadores endoteliales en pacientes cr铆ticamente enfermos no s茅pticos, s茅pticos y de shock s茅ptico. Nuestro enfoque ayudar谩 a caracterizar r谩pidamente las respuestas inmunes alteradas en pacientes s茅pticos y de shock s茅ptico ingresados en la Unidad de Cuidados Intensivos. Finalmente analizamos el papel de la metilaci贸n del ADN en el control del sistema inmune s茅ptico. Nuestros resultados demostraron el papel central de la metilaci贸n del ADN modulando la respuesta molecular en los pacientes de shock s茅ptico y contribuyendo a la inmunosupresi贸n, a trav茅s de la alteraci贸n de los patrones de metilaci贸n de los promotores de IL-10 y TREM-2.Sepsis is a life-threatening condition caused by an abnormal host response to an infection that produce altered physiological responses which damages own tissues of the patient and can result in organ dysfunction and in some cases death. Likewise, a subset of septic patients progresses to septic shock, characterized by substantial circulatory, cellular and metabolic abnormalities, which substantially increase the risk of mortality. Sepsis is characterized by a malfunction of the immune system and it can lead to an altered immune response and immunosuppression. Moreover, the high complexity of the pathophysiology of sepsis requires of further investigation to characterize the immune responses in sepsis and septic shock. Likewise, circulating extracellular histones have gained relevance as cytotoxic mediators in sepsis pathophysiology, since they act as damage-associated molecular patterns, which induce oxidative stress and activate NLRP3 inflammasome. Subsequently, inflammasome mediates pyroptosis activation, a programmed cell death mechanism that produces inflammation through the release of IL-18, IL-1尾 and IL-1伪. However, despite inflammasome activation may occur in immune cells during sepsis, it is unknown if this process also takes place in endothelial cells and particularly whether extracellular histones are capable of activating endothelial inflammasomes and their consequences. In this work we highlight a previously unknown role for extracellular histones, that mediates the activation of NLRP3 inflammasome and pyroptosis in endothelial cells by contributing to endothelial dysfunction and the dysregulation of the immune response mediated by endothelium. Likewise, we demonstrated how histone acetylation decreases pyroptosis activation. Furthermore, we show how pyroptosis occurs in septic shock patients and how circulating histone levels correlate with the expression of pro-inflammatory and pyroptotic cytokines, the release of endothelial adhesion factors and septic shock severity. We propose histone-mediated pyroptosis as a new target to develop clinical interventions. Similarly, we have analyzed the immune-related responses occurring during the early stages of sepsis with the aim of providing new data by comparing the amounts of cytokines, immune modulators and other endothelial mediators in critically-ill non-septic patients, septic and septic shock patients. Our approach will help to rapidly characterize the altered immune responses in septic and septic shock patients admitted in the Intensive Care Unit. Finally, we also analyzed the role of DNA methylation in the control of septic immune system. Our results demonstrated the central role of DNA methylation modulating the molecular response in septic shock patients and contributing to immunosuppression, through the alteration of DNA methylation patterns of IL-10 and TREM2 promoters
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