Response threshold models, stochastic learning automata and ant colony optimization-based decentralized self-coordination algorithms for heterogeneous multi-tasks distribution in multi-robot systems

In recent decades, there has been an increasing interest in systems comprised of several autonomous mobile robots, and as a result, there has been a substantial amount of development in the eld of Articial Intelligence, especially in Robotics. There are several studies in the literature by some researchers from the scientic community that focus on the creation of intelligent machines and devices capable to imitate the functions and movements of living beings. Multi-Robot Systems (MRS) can often deal with tasks that are dicult, if not impossible, to be accomplished by a single robot. In the context of MRS, one of the main challenges is the need to control, coordinate and synchronize the operation of multiple robots to perform a specic task. This requires the development of new strategies and methods which allow us to obtain the desired system behavior in a formal and concise way. This PhD thesis aims to study the coordination of multi-robot systems, in particular, addresses the problem of the distribution of heterogeneous multi-tasks. The main interest in these systems is to understand how from simple rules inspired by the division of labor in social insects, a group of robots can perform tasks in an organized and coordinated way. We are mainly interested on truly distributed or decentralized solutions in which the robots themselves, autonomously and in an individual manner, select a particular task so that all tasks are optimally distributed. In general, to perform the multi-tasks distribution among a team of robots, they have to synchronize their actions and exchange information. Under this approach we can speak of multi-tasks selection instead of multi-tasks assignment, which means, that the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation ix of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. In addition, it is very interesting the evaluation of the results in function in each approach, comparing the results obtained by the introducing noise in the number of pending loads, with the purpose of simulate the robot's error in estimating the real number of pending tasks. The main contribution of this thesis can be found in the approach based on self-organization and division of labor in social insects. An experimental scenario for the coordination problem among multiple robots, the robustness of the approaches and the generation of dynamic tasks have been presented and discussed. The particular issues studied are: Threshold models: It presents the experiments conducted to test the response threshold model with the objective to analyze the system performance index, for the problem of the distribution of heterogeneous multitasks in multi-robot systems; also has been introduced additive noise in the number of pending loads and has been generated dynamic tasks over time. Learning automata methods: It describes the experiments to test the learning automata-based probabilistic algorithms. The approach was tested to evaluate the system performance index with additive noise and with dynamic tasks generation for the same problem of the distribution of heterogeneous multi-tasks in multi-robot systems. Ant colony optimization: The goal of the experiments presented is to test the ant colony optimization-based deterministic algorithms, to achieve the distribution of heterogeneous multi-tasks in multi-robot systems. In the experiments performed, the system performance index is evaluated by introducing additive noise and dynamic tasks generation over time.

Assessment of self-combustion risks for solid fuels (POSTER)

Every solid fuel has a tendency to react with oxygen, a fact that constitutes the basis of their ability to oxidation and energy intake for combustion, but that poses a risk when it occurs in an uncontrolled manner. When the slow oxidation phenomenon produces more heat than can be evacuated, the result is a heating process, which promotes combustion reactions, primarily fuel oxidation, and a progressive increase in temperature.

The influence of transparency on self-evaluation as part of the university accreditation process in Peru.

In order to show the choice of transparency as the guiding principle of the accreditation process, the article evaluates its influence on the fundamental subprocess of self-evaluation, thereby confirming that transparency is an essential tool for continuous improvement of academic processes and those of educational quality management. It fosters educational innovation and permits the sustainability of the continuous accreditation process over time, resulting in greater probabilities of university self-regulation through systemization of the process, with the objective of continuous improvement of university degree programs. The article analyzes the influence of transparency on each activity of the self-evaluation process according to the Peruvian accreditation model prepared under the total quality approach, as a reference for other accreditation models, proposing concrete transparency actions and evaluating its influence on the stakeholder groups in the self-evaluation process, as well as on the efficiency and effectiveness of the process. It is concluded that transparency has a positive influence on the training of human capital and the formation of the university?s organizational culture, facilitating dissemination, understanding and involvement of the stakeholder groups in the continuous improvement of accreditation activities and increasing their acceptance of change and commitment to the process. It is confirmed that transparency contributes toward increasing the efficiency index of the self-evaluation process by reducing operating costs through adequate, accessible, timely contribution of information by the stakeholders and through the optimization of the time spent gathering relevant information. In addition, it is concluded that transparency contributes toward increasing the effectiveness index of self-evaluation by facilitating the achievement of its objectives through synthetic, useful, reliable interpretation of the education situation and the formulation of feasible improvement plans based on the adequacy, relevance, visibility, pertinence and truthfulness of the information analyzed.

Security needs: Some considerations about its integration into the Self-Determination-Theory (SDT)

According to Self-determination Theory (SDT), there are only three psychological needs - competence, autonomy and relatedness - truly fundamental and essential for human being?s health and well-being, which can be satisfied by individuals while engaging in a wide variety of behaviors that may differ among individuals and be differentially manifest in different cultures. However, a number of questions have been raised about SDT?s contention that there are only those three basic psychological needs. The present study discusses the possibility that the security need should be considered as a basic need and its relation to the accepted three basic psychological needs. Using the Cultural Theory framework the degree of satisfaction of the basic needs, depending on the type of culture, is also presented.

Teamwork Competence Professor s Self-Assessment, a Study Case in the Universidad Politecnica de Madrid

Teamwork Competence Professors Self-Assessment, a Study Case in the Universidad Politecnica de Madrid

The influence of parent's body mass index on peer selection: An experimental approach using virtual reality

Relatively little is known about the influence of psychosocial factors, such as familial role modeling and social network on the development and maintenance of childhood obesity. We investigated peer se- lection using an immersive virtual reality environment. In a virtual schoolyard, children were confronted with normal weight and overweight avatars either eating or playing. Fifty-seven children aged 7–13 participated. Interpersonal distance to the avatars, child's BMI, self-perception, eating behavior and parental BMI were assessed. Parental BMI was the strongest predictor for the children's minimal distance to the avatars. Specifically, a higher mothers' BMI was associated with greater interpersonal distance and children approached closer to overweight eating avatars. A higher father's BMI was associated with a lower interpersonal distance to the avatars. These children approached normal weight playing and overweight eating avatar peers closest. The importance of parental BMI for the child's social approach/ avoidance behavior can be explained through social modeling mechanisms. Differential effects of pa- ternal and maternal BMI might be due to gender specific beauty ideals. Interventions to promote social interaction with peer groups could foster weight stabilization or weight loss in children.

The secret of pictorial art, or, Self-instructor in painting on glass, china, satin and paper : it teaches the oil photo-miniature, Grecian oil, antique, oriental, crystal and pastel paintings, crystalline, decalcomanie and diaphanie transferring /

Includes index.

The pocket lawyer, or self-conveyancer : containing all the most useful forms, rendered so plain, that every man can draw any instrument of writing, wihout the assistance of an attorney ; in a method entirely new.

Text, except t.-p. and index, runs parallel with back of cover.

Godfrey Weber's General music teacher : adapted to self-instruction, both for teachers and learners; embracing also an extensive dictionary of musical terms.

Uniform with the author's "Attempt at a systematically arranged theory of musical composition", Boston, Wilkins & Carter, 1841-46, To which it forms an introduction. The "Theory of musical composition" includes an index to both works.

Self-propelled vehicles; a practical treatise on the theory, construction, operation, care and management of all forms of automobiles,

Includes index.

Operator, organizational, direct support and general support maintenance manual : mixer, rotary tiller, DED, 4 wheel pneumatic tired, self-propelled (FWD Corporation model B2-1171) (FSN 3895-883-0437).

Includes index.

Technical manual for direct support and general support maintenance for cab, armament, elevating and traversing systems, and associated components, howitzer, medium, self-propelled, 155mm, M109A2 (2350-01-031-0586), M109A3 (2350-01-031-8851).

Includes index.

Field and depot maintenance manual : engine, gasoline, fuel injected, supercharged, horizontal-opposed, air cooled, six cylinder, assembly-2805-528-6015, (Continental model AOSI-895-5 and AOSI-895-5M) : end item application : gun, self-propelled, full tracked, twin 40-mm, M42A1 (TM 9-2350-202), howitzer, self-propelled, full tracked, 105-mm, M52A1 (TM 9-2350-209) ....

Includes index.

Organizational repair parts and special tools lists : carrier, guided missile equipment, self-propelled M730: (1450-00-930-8749) ; carrier, guided missile equipment, self-propelled M730A1: (1450-01-121-2122).

Includes index.

Direct support and general support maintenance repair parts and special tools lists : carrier, guided missile equipment, self-propelled M730: (1450-00-930-8749) ; carrier, guided missile equipment, self-propelled M730A1: (1450-01-121-2122).

Includes index.