Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Theory of Numbers

Exercises, exams and solutions for a third year maths course.

“Superficial Water Concessions In Light Of The General Theory of the Administrative Act” The Incidence of the Public Law’s Dogmatic Tradition of Public Law Within Environmental Law

This paper seeks the determine the ways in which anomalous decisions derived from the particularization and constitutionalization of environmental law can arise given the general theory of administrative action. This is seen through the lens of a study and characterization of administrative decisions issued by the Regional Autonomous Corporation of Cundinamarca –CAR- within the superficial water concessions procedure. It also discusses the conceptual contents of these licenses.

Análisis al Proceso de Titulación Minera en Colombia desde TOC (Theory Of Constraints)

El incumplimiento reiterado de la normatividad y políticas relacionadas con los tiempos de respuesta del proceso de contratación minera del país, desarrollado actualmente por la recién creada Agencia Nacional de Minería ANM, ha suscitado que la administración del recurso minero no se realice bajo los principios de eficiencia, eficacia, economía y celeridad. Estas debilidades manifiestas provocan represamientos en la resolución de trámites, congelación de áreas para contratar, sobrecostos, demoras en los tiempos de respuesta establecidos por la normatividad vigente y trae como consecuencia incertidumbre en los inversionistas mineros y pérdidas por concepto de recaudo de canon superficiario, entre otras. El objetivo del presente trabajo de investigación consiste en analizar el proceso de titulación minera de Colombia a partir de la filosof��a de mejora continua desarrollado en la teoría de restricciones TOC (Theory Of Constraints), para poder identificar cuáles son los cuellos de botella que no permiten que el proceso fluya de manera adecuada y proponer alternativas de mejora, que con su implementación exploten y subordinen la limitaciones al sistema.

Children' s school study : an experimental theory of verbal information and social attitudes. 'Estudio de la escuela primaria: una teoría experimental de la información verbal y las actitudes sociales'.

Determinar los conceptos diferenciales alcanzados por los alumnos de segunda etapa de EGB con respecto a los alumnos de primera etapa en el area de ciencias sociales. Medir mediante una escala de Likertel cambio de actitudes producido como consecuencia de los aprendizajes en el area de humanidades.. La muestra aleatoria la componían 284 alumnos (145 chicos y 139 chicas) de 5õ y 8õ de EGB y 3õ de BUP, alumnos en centros de un centro urbano (Cáceres) y 3 núcleos rurales de la misma provincia.. La investigación se divide en dos bloques, el primero de ellos, de corte más teórico, estudia la cibernética y la teoría de la información como ciencias y su aplicación en el campo de la psicopedagogía. Se determinan también los esquemas generales para la construcción de escalas de medida de actitudes, y se trata de determinar experimentalmente la existencia de diferencias significativas en el caudal lingüístico entre alumnos procedentes de un medio rural y los procedentes de un medio urbano. El segundo bloque, de corte experimental, analiza el concepto de escala usado en ciencias sociales, y se trata de determinar las actitudes que representan un mayor grado de madurez en la dimensión socio-política. Para ello se aplica a los sujetos de la muestra la Social-responsability Scale.. Escala Likert. Quessing-game method (modificado). Social Responsability Scale de Berkowitz y Lutzeman.. Análisis de Varianza. Análisis de correlación. En terminos de transinsformación didáctica puede considerarse que durante la segunda etapa de EGB hay adquisición de conocimientos que suponen un substancial enriquecimiento del caudal lingüístico. El ambiente posibilita y condiciona el enriquecimiento o desarrollo de las facultades individuales. Pueden establecerse correlaciones parciales entre la adquisión de conceptos y la evolución de actitudes..

Can children with autism spectrum disorders be helped to acquire a theory of mind?. '¿Se puede ayudar a los niños con trastornos del espectro autista a adquirir una teoría de la mente?'.

Resumen en español

Measuring the benefits of employer investments in training : towards a new economic theory of training. 'Medir los beneficios de las inversiones del empresario en formación : hacia una nueva teoría económica de la formación'.

Resumen basado en el de la publicación

Theory of mind and language comprehension in schizophrenia

Resumen tomado de la publicación

The relationship of language development to theory of mind understanding in young deaf children

This paper studies cognitive development in young deaf children, specifically Theory of Mind development and its link to language abilities.

Research on theory of mind in deaf education

Prior research has shown that theory of mind (ToM) development is delayed in children who are deaf and hard of hearing. Although research has demonstrated a delay in ToM development in children who are deaf and hard of hearing there are not many suggestions for how ToM is or should be addressed in deaf education. The current research addressed this issue by compiling an extensive literature review and sending 113 surveys’ to OPTION schools for the deaf around the country.

A three-dimensional magnetometer for motion sensing of a balloon-carried atmospheric measurement package

An instrument is described which carries three orthogonal geomagnetic field sensors on a standard meteorological balloon package, to sense rapid motion and position changes during ascent through the atmosphere. Because of the finite data bandwidth available over the UHF radio link, a burst sampling strategy is adopted. Bursts of 9s of measurements at 3.6Hz are interleaved with periods of slow data telemetry lasting 25s. Calculation of the variability in each channel is used to determine position changes, a method robust to periods of poor radio signals. During three balloon ascents, variability was found repeatedly at similar altitudes, simultaneously in each of three orthogonal sensors carried. This variability is attributed to atmospheric motions. It is found that the vertical sensor is least prone to stray motions, and that the use of two horizontal sensors provides no additional information over a single horizontal sensor

A new Rossby Wave-breaking interpretation of the North Atlantic Oscillation

This paper proposes the hypothesis that the low-frequency variability of the North Atlantic Oscillation (NAO) arises as a result of variations in the occurrence of upper-level Rossby wave–breaking events over the North Atlantic. These events lead to synoptic situations similar to midlatitude blocking that are referred to as high-latitude blocking episodes. A positive NAO is envisaged as being a description of periods in which these episodes are infrequent and can be considered as a basic, unblocked situation. A negative NAO is a description of periods in which episodes occur frequently. A similar, but weaker, relationship exists between wave breaking over the Pacific and the west Pacific pattern. Evidence is given to support this hypothesis by using a two-dimensional potential-vorticity-based index to identify wave breaking at various latitudes. This is applied to Northern Hemisphere winter data from the 40-yr ECMWF Re-Analysis (ERA-40), and the events identified are then related to the NAO. Certain dynamical precursors are identified that appear to increase the likelihood of wave breaking. These suggest mechanisms by which variability in the tropical Pacific, and in the stratosphere, could affect the NAO.

Application of the Lighthill-Ford theory of spontaneous imbalance to clear-air turbulence forecasting

A new method of clear-air turbulence (CAT) forecasting based on the Lighthill–Ford theory of spontaneous imbalance and emission of inertia–gravity waves has been derived and applied on episodic and seasonal time scales. A scale analysis of this shallow-water theory for midlatitude synoptic-scale flows identifies advection of relative vorticity as the leading-order source term. Examination of leading- and second-order terms elucidates previous, more empirically inspired CAT forecast diagnostics. Application of the Lighthill–Ford theory to the Upper Mississippi and Ohio Valleys CAT outbreak of 9 March 2006 results in good agreement with pilot reports of turbulence. Application of Lighthill–Ford theory to CAT forecasting for the 3 November 2005–26 March 2006 period using 1-h forecasts of the Rapid Update Cycle (RUC) 2 1500 UTC model run leads to superior forecasts compared to the current operational version of the Graphical Turbulence Guidance (GTG1) algorithm, the most skillful operational CAT forecasting method in existence. The results suggest that major improvements in CAT forecasting could result if the methods presented herein become operational.