Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

Nuevas tendencias internacionales de la cooperación internacional y la conservación de la biodiversidad: Afectación local y retos institucionales para su financiamiento

No es un misterio que la cooperación internacional está siendo ampliamente revisada por los donantes, especialmente de Europa y Estados Unidos, debido a las crisis que están sufriendo dichas economías, y que exigen mayor concentración de esfuerzos en resolver los problemas internos y dejar para un segundo plano la Ayuda Oficial para el Desarrollo (AOD). En este contexto, la cooperación para la investigación científica y técnica en materia de biodiversidad se torna en un reto para ser alcanzado a través de los mecanismos tradicionales.Ante esta coyuntura, la incorporación de prácticas de mercadeo en el sector ambiental del país debe ser considerada como una alternativa para que los institutos ambientales de Colombia, logren generar recursos propios y poder así, facilitar el cumplimiento de acuerdos internacionales como las Metas Aichi.

La gestión de redes inter-organizativas desde el sector público: el caso de los servicios sociales de Barcelona

In the scope of network management there is, on the one hand, a broad dispersion between the different research trends, and, on the other, lack of knowledge on the dynamics of the networks. More empirical and inter-disciplinary research on inter-organizational collaboration is still needed. This article, starting from Kickert, Klijn and Koppenjan’s fields of the policy network (1997), and Huxham’s Collaborative Advantage Theory (2000), analyzes the case of Barcelona’s City Council’s social services network’s home delivery”.

Recursos para el análisis de las políticas públicas

Uno de los objetivos de la línea de Teoría y Práctica de las Políticas Públicas (TP3) es el análisis de las políticas públicas como objeto de estudio en sí mismo. En América Latina los estudios sobre este tema están más concentrados en el análisis práctico que en el académico, dejando de lado la posibilidad de teorizar y crear nuevos modelos que puedan ser replicados dentro de nuestros estudios de caso a nivel académico. Por ello, la tendencia ha sido la de copiar las teorías, enfoques y modelos propios de la escuela anglosajona (principalmente de Estados Unidos y Reino Unido), limitando nuestra capacidad de comprensión con respecto a nuestros fenómenos políticos, económicos y sociales. Por esta razón, durante el primer semestre de 2015 se creó el Semillero de Políticas Públicas con el fin de reflexionar sobre los vacíos que existen en la comprensión y el análisis de las políticas en Colombia y en Latinoamérica, para luego dar paso a la construcción de respuestas pertinentes. Esta publicación es el resultado de nuestra primera iniciativa como Semillero, la cual consiste en recoger las principales herramientas analíticas en el estudio académico de las políticas públicas, explicar sus postulados fundamentales, identificar sus fortalezas y debilidades y, finalmente, aplicar estas herramientas a un caso dentro del contexto colombiano.

Distributed intelligent management of active networks

This paper focuses on improving computer network management by the adoption of artificial intelligence techniques. A logical inference system has being devised to enable automated isolation, diagnosis, and even repair of network problems, thus enhancing the reliability, performance, and security of networks. We propose a distributed multi-agent architecture for network management, where a logical reasoner acts as an external managing entity capable of directing, coordinating, and stimulating actions in an active management architecture. The active networks technology represents the lower level layer which makes possible the deployment of code which implement teleo-reactive agents, distributed across the whole network. We adopt the Situation Calculus to define a network model and the Reactive Golog language to implement the logical reasoner. An active network management architecture is used by the reasoner to inject and execute operational tasks in the network. The integrated system collects the advantages coming from logical reasoning and network programmability, and provides a powerful system capable of performing high-level management tasks in order to deal with network fault.

Intelligent wireless web services: context-aware computing in construction-logistics supply chain

The construction industry has incurred a considerable amount of waste as a result of poor logistics supply chain network management. Therefore, managing logistics in the construction industry is critical. An effective logistic system ensures delivery of the right products and services to the right players at the right time while minimising costs and rewarding all sectors based on value added to the supply chain. This paper reports on an on-going research study on the concept of context-aware services delivery in the construction project supply chain logistics. As part of the emerging wireless technologies, an Intelligent Wireless Web (IWW) using context-aware computing capability represents the next generation ICT application to construction-logistics management. This intelligent system has the potential of serving and improving the construction logistics through access to context-specific data, information and services. Existing mobile communication deployments in the construction industry rely on static modes of information delivery and do not take into account the worker’s changing context and dynamic project conditions. The major problems in these applications are lack of context-specificity in the distribution of information, services and other project resources, and lack of cohesion with the existing desktop based ICT infrastructure. The research works focus on identifying the context dimension such as user context, environmental context and project context, selection of technologies to capture context-parameters such wireless sensors and RFID, selection of supporting technologies such as wireless communication, Semantic Web, Web Services, agents, etc. The process of integration of Context-Aware Computing and Web-Services to facilitate the creation of intelligent collaboration environment for managing construction logistics will take into account all the necessary critical parameters such as storage, transportation, distribution, assembly, etc. within off and on-site project.

A Packet/Frame sync detector based on statistical mode with application to wireless-USB

Wireless Personal Area Networks (WPANs) are offering high data rates suitable for interconnecting high bandwidth personal consumer devices (Wireless HD streaming, Wireless-USB and Bluetooth EDR). ECMA-368 is the Physical (PHY) and Media Access Control (MAC) backbone of many of these wireless devices. WPAN devices tend to operate in an ad-hoc based network and therefore it is important to successfully latch onto the network and become part of one of the available piconets. This paper presents a new algorithm for detecting the Packet/Fame Sync (PFS) signal in ECMA-368 to identify piconets and aid symbol timing. The algorithm is based on correlating the received PFS symbols with the expected locally stored symbols over the 24 or 12 PFS symbols, but selecting the likely TFC based on the highest statistical mode from the 24 or 12 best correlation results. The results are very favorable showing an improvement margin in the order of 11.5dB in reference sensitivity tests between the required performance using this algorithm and the performance of comparable systems.

Modeling the effects of node heterogeneity on the performance of grid applications

The performance benefit when using grid systems comes from different strategies, among which partitioning the applications into parallel tasks is the most important. However, in most cases the enhancement coming from partitioning is smoothed by the effects of synchronization overheads, mainly due to the high variability in the execution times of the different tasks, which, in turn, is accentuated by the large heterogeneity of grid nodes. In this paper we design hierarchical, queuing network performance models able to accurately analyze grid architectures and applications. Thanks to the model results, we introduce a new allocation policy based on a combination between task partitioning and task replication. The models are used to study two real applications and to evaluate the performance benefits obtained with allocation policies based on task replication.

Model inter-comparison between statistical and dynamic model assessments of the long-term stability of blanket peat in Great Britain (1940-2099)

We compared output from 3 dynamic process-based models (DMs: ECOSSE, MILLENNIA and the Durham Carbon Model) and 9 bioclimatic envelope models (BCEMs; including BBOG ensemble and PEATSTASH) ranging from simple threshold to semi-process-based models. Model simulations were run at 4 British peatland sites using historical climate data and climate projections under a medium (A1B) emissions scenario from the 11-RCM (regional climate model) ensemble underpinning UKCP09. The models showed that blanket peatlands are vulnerable to projected climate change; however, predictions varied between models as well as between sites. All BCEMs predicted a shift from presence to absence of a climate associated with blanket peat, where the sites with the lowest total annual precipitation were closest to the presence/absence threshold. DMs showed a more variable response. ECOSSE predicted a decline in net C sink and shift to net C source by the end of this century. The Durham Carbon Model predicted a smaller decline in the net C sink strength, but no shift to net C source. MILLENNIA predicted a slight overall increase in the net C sink. In contrast to the BCEM projections, the DMs predicted that the sites with coolest temperatures and greatest total annual precipitation showed the largest change in carbon sinks. In this model inter-comparison, the greatest variation in model output in response to climate change projections was not between the BCEMs and DMs but between the DMs themselves, because of different approaches to modelling soil organic matter pools and decomposition amongst other processes. The difference in the sign of the response has major implications for future climate feedbacks, climate policy and peatland management. Enhanced data collection, in particular monitoring peatland response to current change, would significantly improve model development and projections of future change.

Can company-fund manager meetings convey informational benefits? Exploring the rationalisation of equity investment decision making by UK fund managers

Conventional economic theory, applied to information released by listed companies, equates ‘useful’ with ‘price-sensitive’. Stock exchange rules accordingly prohibit the selec- tive, private communication of price-sensitive information. Yet, even in the absence of such communication, UK equity fund managers routinely meet privately with the senior execu- tives of the companies in which they invest. Moreover, they consider these brief, formal and formulaic meetings to be their most important sources of investment information. In this paper we ask how that can be. Drawing on interview and observation data with fund managers and CFOs, we find evidence for three, non-mutually exclusive explanations: that the characterisation of information in conventional economic theory is too restricted, that fund managers fail to act with the rationality that conventional economic theory assumes, and/or that the primary value of the meetings for fund managers is not related to their investment decision making but to the claims of superior knowledge made to clients in marketing their active fund management expertise. Our findings suggest a disconnect between economic theory and economic policy based on that theory, as well as a corre- sponding limitation in research studies that test information-usefulness by assuming it to be synonymous with price-sensitivity. We draw implications for further research into the role of tacit knowledge in equity investment decision-making, and also into the effects of the principal–agent relationship between fund managers and their clients.

Earnings management in firms seeking to be acquired

Empirical evidence regarding accrual-based earnings management around mergers and acquisitions has been setting-specific as far as target firms are concerned. This might be due to the fact that target firms cannot always anticipate an acquisition proposal, and thus lack the motive and the time necessary to manage their earnings in order to facilitate or impede the deal. In this paper, we provide clear evidence of downward earnings management by a sample of target firms that have both time and motive to engage in such actions. These are firms that publicly announce their intention to be acquired. Publicly ‘seeking a buyer’ represents a rather unusual corporate event, and we find that these firms engage in downward earnings management in the years surrounding the ‘announcement year’. To some extent, this result is explained by overrepresentation of low performance and growth among these firms, and it can be interpreted under alternative explanations. Furthermore, we show that such downward earnings management negatively affects the probability for a ‘seeking buyer’ firm to secure an acquisition within a reasonable amount of time, a possible indication of efficient diligence by prospective buyers having a preference for firms ‘seeking buyer’ with no informationally obscure earnings.

Contribution to the ground-based follow-up of the Gaia space mission

The Gaia Space Mission [Mignard, F., 2005. The three-dimensional universe with Gaia. ESA/SP-576; Perryman, M., 2005. The three-dimensional universe with Gaia. ESA/SP-576] will observe several transient events as supernovae, microlensing, gamma ray bursts and new Solar System objects. The satellite, due to its scanning law, will detect these events but will not be able to monitor them. So, to take these events into consideration and to perform further studies it is necessary to follow them with Earth-based observations. These observations could be efficiently done by a ground-based network of well-equipped telescopes scattered in both hemispheres. Here we focus our attention at the new Solar System objects to be discovered and observed by the Gaia satellite [Mignard, F., 2002. Observations of Solar System objects by Gaia I. Detection of NEOS. Astron. Astrophys. 393, 727] mainly asteroids, NEOs and comets. A dedicated ground-based network of telescopes as proposed by Thuillot [2005. The three-dimensional universe with Gaia. ESA/SP-576] will allow to monitor those events, to avoid losing them and to perform a quick characterization of some physical properties which will be important for the identification of these objects in further measurements by Gaia. We present in this paper, the beginning of the organization of a Latin-American ground-based network of telescopes and observers joining several institutions in Argentina, Bolivia, Brazil and other Latin-American countries aiming to contribute to the follow-up of Gaia science alerts for Solar System objects. (C) 2008 Elsevier Ltd. All rights reserved.

Sistemas de informações sobre recursos hídricos e a dupla dominialidade das águas: o caso da integração do sistema nacional e dos sistemas estaduais de recursos hídricos na Bacia do Rio Paraíba do Sul

The National Water Management Policy was defined by Law 9.433/97 (Water Act), establishing the hydrographic basin as the management unity, independently of geographic limits and respective federal organisms. Nevertheless, water management entities and instruments are directly associated to different federal entities located within the same basin, and depend on them for being effective. The absence of law mechanisms that conciliate the various requisitions of federal organisms located in the same basin is a challenge still without brazilian law support. This study describes the integration process of information systems in Paraíba do Sul river basin. It also emphasizes integration restrictions of these systems, the cooperation level and the instruments used by the various actors and federal organisms in order to meet National Water Management Policy objectives. The management instrument Water Management Information System is presented as an important component that helps the stakeholders decision making process involved in water management, respecting federalism and the water domains defined in the brazilian constitution, and according to the policy established in the Water Act. In theoretical aspects, this work presents the basic concepts of National Water Management Policy institutional arrangement, considering the network aspects in public policy, the limits imposed by federalism and the way that the water domains is defined in the brazilian constitution and according to the brazilian Water Act. Besides, it identifies the most significant questions related with information systems implementation in public administration and water management. It also illustrates how cooperative federalism and information systems may create conditions that do guarantee the National Water Management Policy management instruments operationality within a hydrographic basin. The action research method was used to develop the research and the selected entity was the Fundação Superintendência Estadual de Rios e Lagoas (Serla). Serla was the water management entity in Rio de Janeiro state, at the research beginning. Others methods as bibliographic and documentary research were also used, aiming to describe the hydrographic basin, as well as the processes and systems concerned with the implementation of the National Water Management Policy in Paraíba do Sul basin.

Correspondentes bancários como canal de distribuição de serviços financeiros: taxonomia, histórico, limites e pontencialidades dos modelos de gestão de redes

Adminsitração, análise e tecnologia da informação

Proposta de aceleração da oferta de vagas em creches na cidade de São Paulo

Este trabalho apresenta como objetivo principal a construção de proposta que vise acelerar a oferta de vagas em creches na Cidade de São Paulo. Desenvolvido a partir de Termo de Referência organizado pela Secretaria Municipal de Educação de São Paulo (SME), tem como objeto a política pública de creches nesse município, que atende a cerca de 190 mil crianças, mas enfrenta o expressivo déficit de aproximadamente 127 mil vagas frente a um universo de 736 mil crianças entre 0 e 3 anos. À luz da base teórica e empírica da área da gestão e políticas públicas, contextualizamos o problema e indicamos alternativas para a expansão. Inicialmente, buscou-se percorrer a contextualização histórica e o marco legal referente à provisão de creches. Com base em entrevistas com especialistas e levantamento de dados secundários, foi avaliado o atual desenho e implementação da política de creches. A partir desse diagnóstico, identificamos como principais gargalos a serem superados: (i) a aceleração da expansão da quantidade de vagas em creches; (ii) a equalização da distribuição da expansão de acordo com a vulnerabilidade socioeconômica; (iii) o aumento da qualidade do atendimento das entidades e redução da desigualdade de padrões de qualidade entre as modalidades direta e conveniada; (iv) o aprimoramento da capacidade gerencial e de planejamento da SME; e (v) a constituição de visão integrada da política de primeira infância para o município de São Paulo. A proposta sugere, portanto, investimentos para ampliação da capacidade gerencial da SME – incluindo o potencial de articulação com outras entidades e atores –, mudanças no atual desenho da política de creches, e ferramentais de planejamento, acompanhamento e avaliação da política. Foi elaborada, para fins ilustrativos, a simulação da concretização de planejamento estratégico para a política de creches, que abrange dois conjuntos de medidas alternativas para a expansão de vagas e suas necessidades orçamentárias associadas.