Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Inclusion of soil erosion impacts in life cycle assessment on a global scale: application to energy crops in Spain

Purpose: Despite the fundamental role of ecosystem goods and services in sustaining human activities, there is no harmonized and internationally agreed method for including them in life cycle assessment (LCA). The main goal of this study was to develop a globally applicable and spatially resolved method for assessing land-use impacts on the erosion regulation ecosystem service.Methods: Soil erosion depends much on location. Thus, unlike conventional LCA, the endpoint method was regionalized at the grid-cell level (5 arc-minutes, approximately 10×10 km2) to reflect the spatial conditions of the site. Spatially explicit characterization factors were not further aggregated at broader spatial scales. Results and discussion: Life cycle inventory data of topsoil and topsoil organic carbon (SOC) losses were interpreted at the endpoint level in terms of the ultimate damage to soil resources and ecosystem quality. Human health damages were excluded from the assessment. The method was tested on a case study of five three-year agricultural rotations, two of them with energy crops, grown in several locations in Spain. A large variation in soil and SOC losses was recorded in the inventory step, depending on climatic and edaphic conditions. The importance of using a spatially explicit model and characterization factors is shown in the case study.Conclusions and outlook: The regionalized assessment takes into account the differences in soil erosion-related environmental impacts caused by the great variability of soils. Taking this regionalized framework as the starting point, further research should focus on testing the applicability of the method trough the complete life cycle of a product and on determining an appropriate spatial scale at which to aggregate characterization factors, in order to deal with data gaps on location of processes, especially in the background system. Additional research should also focus on improving reliability of the method by quantifying and, insofar as it is possible, reducing uncertainty.

The global welfare impact of China: Trade integration and technological change

This paper evaluates the global welfare impact of China's trade integration and technological change in a multi-country quantitative Ricardian-Heckscher-Ohlin model.We simulate two alternative growth scenarios: a "balanced" one in which China's productivity grows at the same rate in each sector, and an "unbalanced" one in whichChina's comparative disadvantage sectors catch up disproportionately faster to theworld productivity frontier. Contrary to a well-known conjecture (Samuelson 2004),the large majority of countries experience significantly larger welfare gains whenChina's productivity growth is biased towards its comparative disadvantage sectors.This finding is driven by the inherently multilateral nature of world trade.

A global view of cross-border migration

This paper evaluates the global welfare impact of observed levels of migration using a quantitativemulti-sector model of the world economy calibrated to aggregate and firm-level data.Our framework features cross-country labor productivity differences, international trade, remittances,and a heterogeneous workforce. We compare welfare under the observed levels ofmigration to a no-migration counterfactual. In the long run, natives in countries that receiveda lot of migration -such as Canada or Australia- are better o due to greater product varietyavailable in consumption and as intermediate inputs. In the short run the impact of migrationon average welfare in these countries is close to zero, while the skilled and unskilled nativestend to experience welfare changes of opposite signs. The remaining natives in countries withlarge emigration flows -such as Jamaica or El Salvador- are also better off due to migration,but for a different reason: remittances. The welfare impact of observed levels of migration issubstantial, at about 5 to 10% for the main receiving countries and about 10% in countries withlarge incoming remittances. Our results are robust to accounting for imperfect transferabilityof skills, selection into migration, and imperfect substitution between natives and immigrants.

Towards a dynamic model of e-commerce: environmental, technological and organisational drivers of B2C along time

Despite the important benefits for firms of commercial initiatives on the Internet, e-commerce is still an emerging distribution channel, even in developed countries. Thus, more needs to be known about the mechanisms affecting its development. A large number of works have studied firms¿ e-commerce adoption from technological, intraorganizational, institutional, or other specific perspectives, but there is a need for adequately tested integrative frameworks. Hence, this work proposes and tests a model of firms¿ business-to-consumer (called B2C) e-commerce adoption that is founded on a holistic vision of the phenomenon. With this integrative approach, the authors analyze the joint influence of environmental, technological, and organizational factors; moreover, they evaluate this effect over time. Using various representative Spanish data sets covering the period 1996-2005, the findings demonstrate the suitability of the holistic framework. Likewise, some lessons are learned from the analysis of the key building blocks. In particular, the current study provides evidence for the debate about the effect of competitive pressure, since the findings show that competitive pressure disincentivizes e-commerce adoption in the long term. The results also show that the development or enrichment of the consumers¿ consumption patterns, the technological readiness of the market forces, the firm¿s global scope, and its competences in innovation continuously favor e-commerce adoption.

INDISIM-YEAST, an individual-based model to study yeast

INDISIM-YEAST, an individual-based simulator, models the evolution of a yeast population by settingup rules of behaviour for each individual cell according to their own biological rules and characteristics. Ittakes into account the uptake, metabolism, budding reproduction and viability of the yeast cells, over aperiod of time in the bulk of a liquid medium, occupying a three dimensional closed spatial grid with twokinds of particles (glucose and ethanol). Each microorganism is characterized by its biomass, genealogicalage, states in the budding cellular reproduction cycle and position in the space among others. Simulationsare carried out for population properties (global properties), as well as for those properties that pertain toindividual yeast cells (microscopic properties). The results of the simulations are in good qualitativeagreement with established experimental trends.

Steady-state global optimization of metabolic non-linear dynamic models through recasting into power-law canonical models

Background: Design of newly engineered microbial strains for biotechnological purposes would greatly benefit from the development of realistic mathematical models for the processes to be optimized. Such models can then be analyzed and, with the development and application of appropriate optimization techniques, one could identify the modifications that need to be made to the organism in order to achieve the desired biotechnological goal. As appropriate models to perform such an analysis are necessarily non-linear and typically non-convex, finding their global optimum is a challenging task. Canonical modeling techniques, such as Generalized Mass Action (GMA) models based on the power-law formalism, offer a possible solution to this problem because they have a mathematical structure that enables the development of specific algorithms for global optimization. Results: Based on the GMA canonical representation, we have developed in previous works a highly efficient optimization algorithm and a set of related strategies for understanding the evolution of adaptive responses in cellular metabolism. Here, we explore the possibility of recasting kinetic non-linear models into an equivalent GMA model, so that global optimization on the recast GMA model can be performed. With this technique, optimization is greatly facilitated and the results are transposable to the original non-linear problem. This procedure is straightforward for a particular class of non-linear models known as Saturable and Cooperative (SC) models that extend the power-law formalism to deal with saturation and cooperativity. Conclusions: Our results show that recasting non-linear kinetic models into GMA models is indeed an appropriate strategy that helps overcoming some of the numerical difficulties that arise during the global optimization task.

Els moviments en transició : model participatiu per treballar el sector alimentació : ciutat d'estudi, Granollers

Entenent el context global en el que estem amb les pertorbacions com són el pic del petroli o el canvi climàtic, el projecte ha treballa el vector alimentació de Granollers des de la perspectiva de les ciutats en Transició. Primer per entendre les iniciatives en Transició i com s'implementen s'ha elaborat unes entrevistes semiestrucutrades a 4 iniciatives en Transició. S'ha observat que totes les iniciatives depenen dels contextos objectius en que estant tot i que busquen la resiliència. Per treballar el vector alimentació s'ha portat a terme un model participatiu on s'han extret un conjunt de propostes i preocupacions per part d'actors relacionats amb el sistema alimentari de Granollers. Aquest treball serveix com una eina per entendre més bé les iniciatives en Transició i per començar a treballar el vector alimentació a partir de les conclusions extretes del model participatiu.