Gradient-based reinforcement learning techniques for underwater robotics behavior learning

Darrerament, l'interès pel desenvolupament d'aplicacions amb robots submarins autònoms (AUV) ha crescut de forma considerable. Els AUVs són atractius gràcies al seu tamany i el fet que no necessiten un operador humà per pilotar-los. Tot i això, és impossible comparar, en termes d'eficiència i flexibilitat, l'habilitat d'un pilot humà amb les escasses capacitats operatives que ofereixen els AUVs actuals. L'utilització de AUVs per cobrir grans àrees implica resoldre problemes complexos, especialment si es desitja que el nostre robot reaccioni en temps real a canvis sobtats en les condicions de treball. Per aquestes raons, el desenvolupament de sistemes de control autònom amb l'objectiu de millorar aquestes capacitats ha esdevingut una prioritat. Aquesta tesi tracta sobre el problema de la presa de decisions utilizant AUVs. El treball presentat es centra en l'estudi, disseny i aplicació de comportaments per a AUVs utilitzant tècniques d'aprenentatge per reforç (RL). La contribució principal d'aquesta tesi consisteix en l'aplicació de diverses tècniques de RL per tal de millorar l'autonomia dels robots submarins, amb l'objectiu final de demostrar la viabilitat d'aquests algoritmes per aprendre tasques submarines autònomes en temps real. En RL, el robot intenta maximitzar un reforç escalar obtingut com a conseqüència de la seva interacció amb l'entorn. L'objectiu és trobar una política òptima que relaciona tots els estats possibles amb les accions a executar per a cada estat que maximitzen la suma de reforços totals. Així, aquesta tesi investiga principalment dues tipologies d'algoritmes basats en RL: mètodes basats en funcions de valor (VF) i mètodes basats en el gradient (PG). Els resultats experimentals finals mostren el robot submarí Ictineu en una tasca autònoma real de seguiment de cables submarins. Per portar-la a terme, s'ha dissenyat un algoritme anomenat mètode d'Actor i Crític (AC), fruit de la fusió de mètodes VF amb tècniques de PG.

L'autocontrol en el procés d'abandonament de la conducta de fumar

En el marc del model transteòric de canvi (Prochaska, DiClemente i Norcross, 1992) i del model de l'autocontrol (Rachlin, 1989), s'examinen les característiques de la conducta de fumar així com la percepció de la magnitud i la demora de les conseqüències positives i negatives d'aquest consum, a fi de conèixer la seva relació amb l'etapa de canvi en la cessació tabàquica. Amb aquest objectiu s'entrevista a una mostra representativa de 281 membres (54,8% homes i 45,2% dones; mitjana d'edat = 37,26 anys, DT = 8,77; 48,8% no fumadors, 27,4% fumadors i 23,8% exfumadors) del personal acadèmic i d'administració i serveis de la Universitat de Girona. Els resultats mostren que més de la meitat dels fumadors es troben a l'etapa de Precontemplació (sense intenció ferma d'abandonar el consum de tabac en els propers 6 mesos) i la majoria d'exfumadors se situen a l'etapa de Manteniment (mínim de sis mesos sense fumar). També s'observen diferències en algunes de les variables examinades segons l'etapa de canvi de manera que els fumadors en Contemplació-Preparació (amb intenció ferma d'abandonar el consum de tabac en els propers 6 mesos) presenten un elevat índex de perjudicis percebuts, informen d'haver rebut més consell mèdic i realitzen amb major freqüència inhalacions a cada cigarreta. En canvi, els fumadors en Precontemplació són els qui més responen consumir tabac baix en nicotina mentre que els exfumadors en Acció o Manteniment són els qui més tendeixen a relacionar de manera immediata fumar i les seves conseqüències negatives a curt i mitjà termini, i els qui presenten major puntuació en l'índex de beneficis percebuts. Aquestes dades corroboren la importància de les intervencions clíniques específiques en les diferents etapes de l'abandonament del consum de tabac, suggereixen que les campanyes preventives s'haurien de focalitzar preferentment en les conseqüències negatives immediates de fumar i apunten a la conveniència de tenir en compte la notable valoració positiva dels beneficis de fumar per part dels exfumadors en els programes de prevenció de recaigudes. Així mateix, la constatació del poder explicatiu de la variable demora en la diferenciació dels subjectes en funció de l'etapa de canvi, planteja la conveniència d'incloure aquesta variable en les avaluacions dels pros i contres de fumar a fi de conèixer amb major precisió els seus pesos relatius.

Ecological interactions between an invasive fish (Gambusia holbrooki) and native cyprinodonts: the role of salinity

Actualment una de les principals amenaces a la biodiversitat és la introducció d'espècies. Revisant 26 variables de les 69 espècies de peixos continental de la Península Ibèrica concloem que la filogènia, variabilitat i els usos de l'home són necessaris per entendre millor les diferències entres les espècies natives i invasores. Entre les especies més afectades per la introducció de peixos es troben els ciprinodontiformes endèmics del Mediterrani. Aportem les primers dades sobre l'ús d'hàbitats ocasionalment inundats i la selecció de preses del fartet (Aphanius iberus), observant un canvi ontogenètic, clarament relacionat amb el microhàbitat. També demostrem que la salinitat influeix en l'èxit invasor de la gamúsia, afectant la seva densitat i biologia reproductiva. Per altra banda, demostrem experimentalment que amb l'increment de salinitat la gambúsia disminueix la seva agressivitat i captura menys preses, reduint la seva eficàcia competitiva respecte dels ciprinodonts natius.

Educação ambiental na escola : percepções / concepções dos atores pertencentes a esse cenário

Nesse trabalho investigamos de que maneira a escola vem desenvolvendo as questões referentes à educação ambiental enquanto tema transversal e interdisciplinar. Levantamos informações sobre como a Educação Ambiental vem sendo desenvolvida na prática pedagógica de uma escola da rede pública estadual da cidade de Mossoró/RN - Brasil. Onde foi identificada a percepção dos atores envolvidos no processo de educação ambiental, a saber: o nível de consciência ecológica, manifestada pelos alunos, suas práticas em relação aos problemas ambientais vivenciados; a abordagem do docente, frente à temática; bem como a percepção dos representantes do poder, como o professor, a diretoria da escola, a secretária de educação do estado e gerente de meio ambiente do município de Mossoró – RN. Contando com um apanhado bibliográfico com autores como Saviani (2008), Dias (2004), Gadotti (2008), Paulo Freire (1991), Sato (2012), Loureiro (2004), Leff (2010), entre outros. Para essa investigação utilizamos uma abordagem qualitativa e quantitativa, sendo desenvolvido 4 entrevistas com os representantes do poder e um questionário que foi aplicado com os alunos da escola, depois de respondidos esses dados foram tabulados em planilhas do Excel a fim de serem lançados para análises estatísticas, logo em seguida foram tratados através da construção de um banco de dados na planilha eletrônica Microsoft Excel. Após a digitação da base de dados, o banco foi exportado para o software SPSS versão 13.0 no qual foi realizada a análise. Para análise dos dados foram calculadas as frequências observadas e percentuais das percepções dos alunos acerca do julgamento, procedimentos utilizados pela escola, itens associados, problemas e temas relacionados ao meio ambiente. Além das frequências calculadas foram construídos os gráficos para cada distribuição. Já a análise qualitativa de conteúdo possui como estratégia de análise a interpretação qualitativa de emparelhamento de dados. Percebemos que nossos sujeitos acreditam que a educação ambiental vem como instrumento para modificação de comportamentos humanos, é através da educação que modificamos atitudes e conscientizamos a nossa população aos cuidados para com o nosso planeta. Nesta investigação identificamos que 83,1% dos alunos disseram estar bastante consciente da problemática ambiental, e ainda, 71,8% dos discentes disseram que estão bastante motivados para desenvolver projetos de educação ambiental na sua escola. Todavia não foi constatado isso pelos representantes do poder os quais afirma que esses não possuem o nível de consciência ecológica identificada pelos alunos, podendo perceber uma visão crítica por parte dos representantes do poder a respeito da temática, diferente dos discentes que dizem ter consciência, contudo suas práticas não condizem com a realidade. Acreditamos que se a Educação Ambiental fosse introduzida como componente curricular obrigatória essa poderia ser trabalhada de maneira mais direta e contundente a fim de formamos cidadãos verdadeiramente consciente da questão ambiental, uma vez que essa deve ir além dos muros da escola, a questão ambiental é uma questão também social, necessitamos de intervenções a nível global afim de todos contribuírem de maneira significativa para sustentabilidade.

Ação política e a perspetiva social : Freguesia de São Domingos de Benfica : Relatório Profissional

O presente relatório caracteriza a ação política e a perspetiva social da Junta de Freguesia de São Domingos de Benfica, categorizando-o em cinco eixos de intervenção, analisando a sua eficácia e abrangência no período entre 2005 e 2011. No primeiro eixo, focado na ação na infância e juventude, inclui-se o Programa de Promoção de Competências Pessoais e Sociais, o Gabinete de Apoio à Criança e ao Jovem, os Encontros para Pais, a Comissão de Proteção de Crianças e Jovens, as Atividades de OTL do Espaço Jovem e os Programas de Férias. Das respostas para os adultos, no segundo eixo, fazem parte dois gabinetes de apoio aos munícipes1 com perturbações de comportamento aditivo e vítimas de violência doméstica, incluindo-se ações de prevenção e sensibilização. Para a população idosa temos o terceiro eixo e salienta-se o Programa de Envelhecimento Ativo e Saudável, as Atividades de OTL, nomeadamente o Programa de Férias para a população Sénior e as visitas e passeios histórico-culturais. A família e a qualidade das relações familiares são um aspeto de grande importância, por isso temos o quarto eixo que tem o acompanhamento psicossocial, apoio a famílias carenciadas e o projeto de apoio às famílias junto de bairros isolados da freguesia. Finalmente, o quinto e último eixo refere-se a um movimento de integração das várias entidades da freguesia designado por Comissão Social de Freguesia que pretende desenvolver projetos orientados para o apoio à comunidade. Este relatório terminará com uma reflexão crítica relativamente à evolução do trabalho desenvolvido na ação social desde 2005 até 2011.

MEASUREMENT AND MODELING OF THE TOXICITY OF BINARY MIXTURES IN THE NEMATODE CAENORHABDITIS ELEGANS-A TEST OF INDEPENDENT ACTION

Ecological risk assessments must increasingly consider the effects of chemical mixtures on the environment as anthropogenic pollution continues to grow in complexity. Yet testing every possible mixture combination is impractical and unfeasible; thus, there is an urgent need for models that can accurately predict mixture toxicity from single-compound data. Currently, two models are frequently used to predict mixture toxicity from single-compound data: Concentration addition and independent action (IA). The accuracy of the predictions generated by these models is currently debated and needs to be resolved before their use in risk assessments can be fully justified. The present study addresses this issue by determining whether the IA model adequately described the toxicity of binary mixtures of five pesticides and other environmental contaminants (cadmium, chlorpyrifos, diuron, nickel, and prochloraz) each with dissimilar modes of action on the reproduction of the nematode Caenorhabditis elegans. In three out of 10 cases, the IA model failed to describe mixture toxicity adequately with significant or antagonism being observed. In a further three cases, there was an indication of synergy, antagonism, and effect-level-dependent deviations, respectively, but these were not statistically significant. The extent of the significant deviations that were found varied, but all were such that the predicted percentage effect seen on reproductive output would have been wrong by 18 to 35% (i.e., the effect concentration expected to cause a 50% effect led to an 85% effect). The presence of such a high number and variety of deviations has important implications for the use of existing mixture toxicity models for risk assessments, especially where all or part of the deviation is synergistic.

Perception and modification of plant flavonoid signals by rhizosphere microorganisms

Flavonoids are a diverse class of polyphenolic compounds that are produced as a result of plant secondary metabolism. They are known to play a multifunctional role in rhizospheric plant-microbe and plant-plant communication. Most familiar is their function as a signal in initiation of the legume-rhizobia symbiosis, but, flavonoids may also be signals in the establishment of arbuscular mycorrhizal symbiosis and are known agents in plant defence and in allelopathic interactions. Flavonoid perception by, and impact on, their microbial targets (e.g. rhizobia, plant pathogens) is relatively well characterized. However, potential impacts on 'non-target' rhizosphere inhabitants ('non-target' is used to distinguish those microorganisms not conventionally known as targets) have not been thoroughly investigated. Thus, this review first summarizes the conventional roles of flavonoids as nod gene inducers, phytoalexins and allelochemicals before exploring questions concerning 'non-target' impacts. We hypothesize that flavonoids act to shape rhizosphere microbial community structure because they represent a potential source of carbon and toxicity and that they impact on rhizosphere function, for example, by accelerating the biodegradation of xenobiotics. We also examine the reverse question, 'how do rhizosphere microbial communities impact on flavonoid signals?' The presence of microorganisms undoubtedly influences the quality and quantity of flavonoids present in the rhizosphere, both through modification of root exudation patterns and microbial catabolism of exudates. Microbial alteration and attenuation of flavonoid signals may have ecological consequences for below-ground plant-microbe and plant-plant interaction. We have a lack of knowledge concerning the composition, concentration and bioavailability of flavonoids actually experienced by microbes in an intact rhizosphere, but this may be addressed through advances in microspectroscopic and biosensor techniques. Through the use of plant mutants defective in flavonoid biosynthesis, we may also start to address the question of the significance of flavonoids in shaping rhizosphere community structure and function.

Diet digestibility, rate of passage, and eating and rumination behavior of Jersey and Holstein cows

Diet digestibility and rate of passage, eating and rumination behavior, dry matter intake (DMI), and lactation performance were compared in 6 Jersey and 6 Holstein multiparous cows. Cows were fed gestation diets according to body weight (BW) beginning 7 wk before expected calving and ad libitum amounts of a lactation diet postpartum. Diet digestibility and rate of passage were measured in 5-d periods at wk 5 prepartum and wk 6 and 14 of lactation. Eating and ruminating behavior was measured over 5-d periods at wk 5 and 2 prepartum and wk 2, 6, 10, and 14 of lactation. Milk yield and DMI were higher in Holsteins, but milk energy output per kilogram of metabolic BW (BW0.75) and intake capacity (DMI/kg of BW) did not differ between breeds. Holsteins spent longer ruminating per day compared with Jerseys, but daily eating time did not differ between breeds. Jerseys spent more time eating and ruminating per unit of ingested feed. The duration and number of meals consumed did not differ between breeds, but the meals consumed by Jerseys were distributed more evenly throughout each 24-h period, providing a more regular supply of feed to the rumen. Feed passed through the digestive tract more quickly in Jerseys compared with Holsteins, suggesting particle breakdown and rumen outflow were faster in Jerseys, but this may also reflect the relative size of their digestive tract. Neutral detergent fiber digestibility was greater in Jerseys, despite the shorter rumen retention time, but digestibility of dry matter, organic matter, starch, and N did not differ between breeds. Utilization of digested N for tissue retention was higher at wk 5 prepartum and lower at wk 14 of lactation in Jerseys. In contrast to numerous published studies, intake capacity of Jerseys was not higher than that of Holsteins, but in the present study, cows were selected on the basis of equal expected milk energy yield per kilogram of metabolic BW. Digestibility of neutral detergent fiber and rate of digesta passage were higher in Jerseys, probably as a consequence of increased mastication per unit of feed consumed in Jerseys and their smaller size.

Extinction processes in hotspots of avian biodiversity and the targeting of pre-emptive conservation action

Hot spots of endemism are regarded as important global sites for conservation as they are rich in threatened endemic species and currently experiencing extensive habitat loss. Targeting pre-emptive conservation action to sites that are currently relatively intact but which would be vulnerable to particular human activities if they occurred in the future is, however, also valuable but has received less attention. Here, we address this issue by using data on Endemic Bird Areas (EBAs). First, we identify the ecological factors that affect extinction risk in the face of particular human activities, and then use these insights to identify EBAs that should be priorities for pre-emptive conservation action. Threatened endemic species in EBAs are significantly more likely to be habitat specialists or relatively large-bodied than non-threatened species, when compared across avian families. Increasing habitat loss causes a significant increase in extinction risk among habitat specialists, but we found no evidence to suggest that the presence of alien species/human exploitation causes a significant increase in extinction risk among large-bodied species. This suggests that these particular human activities are contributing to high extinction risk among habitat specialists, but not among large-bodied species. Based on these analyses, we identify 39 EBAs containing 570 species (24% of the total in EBAs) that are not currently threatened with severe habitat loss, but would be ecologically vulnerable to future habitat loss should it occur. We show that these sites tend to be poorly represented in existing priority setting exercises involving hot spots, suggesting that vulnerability must be explicitly included within these exercises if such sites are to be adequately protected.

Determinants of intention to purchase chicken in Italy: the role of consumer risk perception and trust in different information sources

The article investigates how purchasing intentions among a sample of Italian consumers are influenced by different levels of risk perception and their trust in food-safety information provided by different sources such as the food industry, government agencies, or consumers' associations. The assessment of the determinants of intention to purchase was carried out by estimating a causal model for the chicken case in which attitudes, subjective norms, and perceived risk play a major role in determining buyer's behavior. In particular, the role of trust in influencing risk perception is highlighted either as a general construct or as specific constructs targeting food chain, policy actors, and the media. [EconLit citations: Q130, Q190, D120]. (C) 2008 Wiley Periodicals, Inc.

Extinction processes in hot spots of avian biodiversity and the targeting of pre-emptive conservation action

Hot spots of endemism are regarded as important global sites for conservation as they are rich in threatened endemic species and currently experiencing extensive habitat loss. Targeting pre-emptive conservation action to sites that are currently relatively intact but which would be vulnerable to particular human activities if they occurred in the future is, however, also valuable but has received less attention. Here, we address this issue by using data on Endemic Bird Areas (EBAs). First, we identify the ecological factors that affect extinction risk in the face of particular human activities, and then use these insights to identify EBAs that should be priorities for pre-emptive conservation action. Threatened endemic species in EBAs are significantly more likely to be habitat specialists or relatively large-bodied than non-threatened species, when compared across avian families. Increasing habitat loss causes a significant increase in extinction risk among habitat specialists, but we found no evidence to suggest that the presence of alien species/human exploitation causes a significant increase in extinction risk among large-bodied species. This suggests that these particular human activities are contributing to high extinction risk among habitat specialists, but not among large-bodied species. Based on these analyses, we identify 39 EBAs containing 570 species (24% of the total in EBAs) that are not currently threatened with severe habitat loss, but would be ecologically vulnerable to future habitat loss should it occur. We show that these sites tend to be poorly represented in existing priority setting exercises involving hot spots, suggesting that vulnerability must be explicitly included within these exercises if such sites are to be adequately protected.

Does anticipation training affect drivers' risk taking?

Skill and risk taking are argued to be independent and to require different remedial programs. However, it is possible to contend that skill-based training could be associated with an increase, a decrease, or no change in risk taking behavior. In 3 experiments, the authors examined the influence of a skill-based training program (hazard perception) on the risk taking behavior of car drivers (using video-based driving simulations). Experiment 1 demonstrated a decrease in risk taking for novice drivers. In Experiment 2, the authors examined the possibilities that the skills training might operate through either a nonspecific reduction in risk taking or a specific improvement in hazard perception. Evidence supported the latter. These findings were replicated in a more ecological context in Experiment 3, which compared advanced and nonadvanced police drivers.

Return of the 'Angry Woman': authenticating female physical action in contemporary cinema

In 1999, Elizabeth Hills pointed up the challenges that physically active women on film still posed, in cultural terms, and in relation to certain branches of feminist theory . Since then, a remarkable number of emphatically active female heroes have appeared on screen, from 'Charlie’s Angels' to 'Resident Evil', 'Aeon Flux', and the 'Matrix' and 'X-Men' trilogies. Nevertheless, in a contemporary Western culture frequently characterised as postfeminist, these seem to be the ‘acceptable face’ – and body – of female empowerment: predominantly white, heterosexual, often scantily clad, with the traditional hero’s toughness and resolve re-imagined in terms of gender-biased notions of decorum: grace and dignity alongside perfect hair and make-up, and a body that does not display unsightly markers of physical exertion. The homogeneity of these representations is worth investigating in relation to critical claims that valorise such air-brushed, high-kicking 'action babes' for their combination of sexiness and strength, and the feminist and postfeminist discourses that are refracted through such readings. Indeed, this arguably ‘safe’ set of depictions, dovetailing so neatly with certain postfeminist notions of ‘having it all’, suppresses particular kinds of spectacles in relation to the active female body: images of physical stress and extension, biological consequences of violence and dangerous motivations are all absent. I argue that the untidy female exertions refused in popular “action babe” representations are now erupting into view in a number of other contemporaneous movies – 'Kill Bill' Vols 1 & 2, 'Monster', and 'Hard Candy' – that mark the return of that which is repressed in the mainstream vision of female power – that is, a more viscerally realistic physicality, rage and aggression. As such, these films engage directly with the issue of how to represent violent female agency. This chapter explores what is at stake at a representational level and in terms of spectatorial processes of identification in the return of this particularly visceral rendering of the female avenger.

Automatic imitation of intransitive actions

Previous research has indicated a potential discontinuity between monkey and human ventral premotor-parietal mirror systems, namely that monkey mirror systems process only transitive (object-directed) actions, whereas human mirror systems may also process intransitive (non-object-directed) actions. The present study investigated this discontinuity by seeking evidence of automatic imitation of intransitive actions—hand opening and closing—in humans using a simple reaction time (RT), stimulus–response compatibility paradigm. Left–right and up–down spatial compatibility were controlled by ensuring that stimuli were presented and responses executed in orthogonal planes, and automatic imitation was isolated from simple and complex orthogonal spatial compatibility by varying the anatomical identity of the stimulus hand and response hemispace, respectively. In all conditions, action compatible responding was faster than action incompatible responding, and no effects of spatial compatibility were observed. This experiment therefore provides evidence of automatic imitation of intransitive actions, and support for the hypothesis that human and monkey mirror systems differ with respect to the processing of intransitive actions.