Selection et controle de modes de deplacement pour un robot mobile autonome en environnements naturels

Autonomous navigation and locomotion of a mobile robot in natural environments remain a rather open issue. Several functionalities are required to complete the usual perception/decision/action cycle. They can be divided in two main categories : navigation (perception and decision about the movement) and locomotion (movement execution). In order to be able to face the large range of possible situations in natural environments, it is essential to make use of various kinds of complementary functionalities, defining various navigation and locomotion modes. Indeed, a number of navigation and locomotion approaches have been proposed in the literature for the last years, but none can pretend being able to achieve autonomous navigation and locomotion in every situation. Thus, it seems relevant to endow an outdoor mobile robot with several complementary navigation and locomotion modes. Accordingly, the robot must also have means to select the most appropriate mode to apply. This thesis proposes the development of such a navigation/locomotion mode selection system, based on two types of data: an observation of the context to determine in what kind of situation the robot has to achieve its movement and an evaluation of the behavior of the current mode, made by monitors which influence the transitions towards other modes when the behavior of the current one is considered as non satisfying. Hence, this document introduces a probabilistic framework for the estimation of the mode to be applied, some navigation and locomotion modes used, a qualitative terrain representation method (based on the evaluation of a difficulty computed from the placement of the robot's structure on a digital elevation map), and monitors that check the behavior of the modes used (evaluation of rolling locomotion efficiency, robot's attitude and configuration watching. . .). Some experimental results obtained with those elements integrated on board two different outdoor robots are presented and discussed.

My Fair Lady på skandinaviska : En studie i funktionell sångöversättning

The dissertation presents a functional model for analysis of song translation. The model is developed on the basis of an examination of theatrical songs and a comparison of three translations: the songs of the Broadway musical My Fair Lady (Lerner and Loewe, 1956), made for the premiere productions (1959–1960) in Swedish, Danish, and Norwegian. The analysis explores the three challenges of a song translator: the fitting of a text to existing music, the consideration of a prospective sung performance, and the verbal approximation of the content of the source lyric. The theoretical foundation is based on a functional approach to translation studies (Christiane Nord) and a structuralist/semiotic analysis of a theatrical message (Ivo Osolsobě, building on Roman Jakobson). Thus, three functional levels in the fitting of a text to music are explored: first, a prosodic/phonetic format; secondly, a poetic/rhetoric format; and thirdly, semantic/reflexive values (verbalizing musical expression). Similarly, three functional levels in the textual connections to a prospective performance are explored: first, a presentational goal; secondly, the theatrical potential; and thirdly, dramaturgic values (for example dramatic information and linguistic register). The functionality of Broadway musical theatre songs is analyzed, and the song score of My Fair Lady, source and target lyrics, is studied, with an in-depth analysis of seven of the songs. The three translations were all considered very well-made and are used in productions of the musical to this day. The study finds that the song translators appear to have worked from an understanding of the presentational goal, designed their target texts on the prosodic and poetic shape of the music, and pursued the theatrical functionality of the song, not by copying, but by recreating connections to relevant contexts, partly independently of the source lyrics, using the resources of the target languages. Besides metaphrases (closest possible transfer), paraphrases and additions seem normally to be expected in song translation, but song translators may also follow highly individual strategies – for example, the Norwegian translator is consistently more verbally faithful than the Danish and Swedish translators. As a conclusion, it is suggested that although linguistic and cultural difference play a significant role, a translator’s solution must nevertheless be arrived at, and assessed, in relation to the song as a multimedial piece of material. As far as a song can be considered a theatrical message – singers representing the voice, person, and situation of the song – the descriptive model presented in the study is also applicable to the translation of other types of song.

Correlación entre la personalidad y los factores de la Teoría del Comportamiento Planeado (TCP) en adolescentes escolarizados de 11-19 años del Caribe Colombiano

The increasing rate of pregnancies in teenagers and the high incident of the infections of sexual transmission (HIV/ AIDS, for example), these are health related issues (and especially the sexual and reproductive health), which have received great attention on the part of investigators and of the public opinion in general. Recently, there has been evidenced that teenagers carry out very easily risk sexual behaviors, and those who have not presented the above mentioned behaviors also show high levels of intention to carry out them. There is the hypothesis that besides cognitive variables such as attitudes, subjective norms, perceived behavioral control and intention, the personality of the young persons is an aspect that plays an important paper in their sexual and reproductive health. Significant correlations were found between the variales of the TPB and the personality traits; the results suggest that the direction of these correlations is associated with the specific type of behavior or situation that is assessed. Keywords: personality, theory of planned behavior, adolescents, reproductive sexuality.

Pengarna eller livet? : En kvalitativ och longitudinell studie om långtidsarbetslösa unga i ett aktörsperspektiv

Your money or your life? A qualitative follow-up study of the young unemployed from an actor perspective is a qualitative and longitudinal study following 36 unemployed young people in Helsinki over a span of ten years. The purpose of the study is to shed light on how a few young people view employment/unemployment and their lives and future, how they as unemployed perceive their encounters with society, and how society supports them. Four so-called key informants were followed at a finer level of empirical detail. They were chosen for the thematic interviews because of their different personalities, starting points and preferences. Although some differences were expected, what the results show is quite striking. The individual stories raise a number of questions about differences between young people, about society s view of the young unemployed, and about the principles behind the so-called activation policy and how society s support is distributed. The key informants descriptions underline that the group young unemployed does not consist of individuals who are alike but that life is complex, that paid work and unemployment can be perceived very differently, and that background and unofficial support can have consequences for self-perception and for ways of looking at the future, vocational choices, paid work and activation policy. Margaret S. Archer s theory of Morphogenesis and Barbara Cruikshank s theory of constructing democracies compose the study s theoretical framework. The key informants stories give a picture of a formal support system that, even though it puts part of the responsibility for unemployment on the individuals themselves, in the name of fairness and equality, treats them in an impersonal way, not giving their personal situation and wishes much weight. As a consequence, those who share the dominant values of society do well, while others who do not are faced with difficulties. The bigger the gap between society s and the individual s values, the bigger the risk to be met by little understanding and by penalties. And vice versa: Those who initially have the right values and know how to deal with authorities get heard and their opinions get accepted. The informants ask for a more personal encounter, which could improve both the atmosphere and the clients experiences of being heard. Still the risk of having a more individualistic system should be addressed, as a new system might generate new winners, but just as well give new losers. Finally, we have to ask if the so-called activation policy is looking for answers primarily to a macro-level problem on the micro-level. If it does not produce more jobs, its support for the unemployed will be insignificant. It is not enough to think about what to do at the grassroots level to make the system more functional and support job-seeking. If the current rate of unemployment endures, the quality of life of the unemployed should be addressed. A first step could be taken by placing less guilt on the unemployed. Instead of talking about activating the unemployed, discussion should be targeted at removing structural impediments to employment. If we want to have less polarisation between the those with paid work and those without, who often struggle with low incomes, we need to include the macro-level in the discussion. What does high unemployment mean in a work-based society, where the individual s self-perception and important social forms of support are linked to labour income? And what can be done at the macro-level to change this undesirable condition at the micro-level? Keywords: Unemployment, Youth, Public interventions, Activation policy, Individual actors, Qualitative, Longitudinal, Holistic, Helsinki, Finland

Open Access to the Scientific Journal Literature: Situation 2009

Background: The Internet has recently made possible the free global availability of scientific journal articles. Open Access (OA) can occur either via OA scientific journals, or via authors posting manuscripts of articles published in subscription journals in open web repositories. So far there have been few systematic studies showing how big the extent of OA is, in particular studies covering all fields of science. Methodology/Principal Findings: The proportion of peer reviewed scholarly journal articles, which are available openly in full text on the web, was studied using a random sample of 1837 titles and a web search engine. Of articles published in 2008, 8,5% were freely available at the publishers’ sites. For an additional 11,9% free manuscript versions could be found using search engines, making the overall OA percentage 20,4%. Chemistry (13%) had the lowest overall share of OA, Earth Sciences (33%) the highest. In medicine, biochemistry and chemistry publishing in OA journals was more common. In all other fields author-posted manuscript copies dominated the picture. Conclusions/Significance: The results show that OA already has a significant positive impact on the availability of the scientific journal literature and that there are big differences between scientific disciplines in the uptake. Due to the lack of awareness of OA-publishing among scientists in most fields outside physics, the results should be of general interest to all scholars. The results should also interest academic publishers, who need to take into account OA in their business strategies and copyright policies, as well as research funders, who like the NIH are starting to require OA availability of results from research projects they fund. The method and search tools developed also offer a good basis for more in-depth studies as well as longitudinal studies.

La evolución reciente de la inversión en Argentina

Resumen: En este trabajo se hace una comparación entre las inversiones que se han llevado a cabo en dos períodos bien marcados en Argentina, a saber, pre crisis y post crisis. El período pre crisis donde la inversión era financiada por el sector externo, se caracteriza por un fuerte crecimiento de la inversión debido al sostenido ingreso de capitales, esto provoca que el país sea muy vulnerable ante cambios adversos en la situación macroeconómica internacional. Opuesto a la etapa anterior, en el período post crisis, la inversión es financiada exclusivamente con reinversión de utilidades y con ahorro interno. Se quiere mostrar con esto que el crecimiento no es sostenible si solo se asienta en el consumo, el rol de la inversión es fundamental tanto en la sustentabilidad de la tasa de crecimiento como en la dinámica de los precios. Ignorar su importancia condena a la sociedad a la pobreza.

Evolución y perspectivas de la educación en Argentina, su cobertura y su calidad

Resumen: El objetivo central de este trabajo es analizar la situación educativa de la población argentina en relación con otros países y su evolución en los últimos años. Se observa que la "cantidad de educación" sigue siendo muy importante, aunque también se observa recientemente una caída en la matrícula del nivel medio y una reducción en la matrícula de las escuelas públicas a nivel primario. Asimismo, su distribución continúa siendo muy desigual –aunque es una de las menos desiguales en América Latina– y su calidad, en base a los resultados de pruebas internacionales, es pobre en comparación con otros países.

Las habilidades narrativas de niños de 5 años en situación de “hacer que leen un cuento”

Resumen: El presente estudio tuvo por objeto explorar el desarrollo de las habilidades narrativas de niños de 5 años de nivel socioeconómico (NSE) bajo y medio. A principio del año escolar, se les solicitó a los niños que seleccionaran un libro de cuentos y lo “leyeran”. Los niños de NSE bajo no respondieron a la consigna, por lo que se analizó su desempeño narrativo luego de la implementación de una propuesta de alfabetización temprana que incluía la lectura diaria y repetida de cuentos. El análisis de los relatos infantiles permitió identificar diferencias entre los grupos de distinto NSE. Mientras que los niños de NSE medio recuperaban la historia o “hacían que leían” apelando a recursos lingüísticos característicos de historias de ficción, los relatos de los niños de NSE bajo, aún después de la intervención, mantenían marcas de oralidad y estaban ligados a guiones y experiencias personales.

La exégesis de la realidad social en los Padres de la Iglesia

Resumen: Una teología desafiada en estos tiempos no puede retrotraerse simplemente a la reedición mecánica de ideas o frases sin analizar profundamente el aparato epistemológico que da coherencia a un mensaje y que permita que el mismo pueda dialogar maduramente con su entorno. El pensamiento y la praxis de los Padres de la Iglesia permiten descubrir elementos claves de una lectura particular de la historia que protagonizaron. El presente artículo intenta señalar la exégesis de los dos textos leídos por los autores patrísticos: la Sagrada escritura y la realidad social. No se busca repetir fórmulas, sino encontrar principios inspiradores y llaves que abran a una interpretación actual de la realidad socio-cultural del mundo contemporáneo. La lectura social que los Padres hacen desde la Escritura compromete una antropología, una cosmología y una eclesiología. La integralidad de su pensamiento pone en evidencia una unidad de vida, de concebir el mundo, el hombre, y la Iglesia, con relación a Dios.

Un testigo directo de las tensiones religiosas en la Alejandría de los siglos IV y V D.C. : Páladas de Alejandría en la Antología Palatina

Abstract: Although he is the most prolific writer of the Greek Anthology, Palladas’ life is almost unknown. But, in spite of the limited biographical data, his work has fortunately been preserved in the GA. Because of his literary creation, the old times rewarded him with the nickname Μετέωρος, high, since the literary merits of a hundred poems of his authorship was recognized (others are discussed by critics). A dozen of them contains invaluable information about the political, religious and social situation in Alexandria immediately after the victory of the bishop Theophilus, Cyril’s predecessor and uncle, during the conflict between Christians and Gentiles, each sector backed up by an Alexandrian population segment (cfr. 9.528, 10.82, 10.85) . Resigned at times, constantly demanding, Palladas complains about the decline of the belief professed by him due to the increasing penetration of the new faith. Therefore, four epigrams record the conversion of the temple of Tyche into a tavern (9.180-183) and 10.90 seems to attack the doctrine of the Resurrection. When religion and politics go hand-in-hand, when religious conspiracies link up with palace intrigues, consequences are predictable: a man called Doroteo denounced him for his negative response to the new dogma, which caused him the loss of his teacher paid work. His annoyance was even greater with further sufferings, chiefly economic, and he had to sell his books (9.171 and 9.175) among other desperate decisions Forewarned about his radical bitterness against Church, it is just to make clear that he is not fully acquiescent with ancient gods and heroes. Thus, in 5.257 he questions Zeus’ ars amandi, in 9.377 refutes Tantalus’ possibility of thirst and hunger in Hades and 9.773 mischievously points out that Eros has been changed into a pan. The work begins with the selection, personal translation and comprehensive analysis of twenty two epigrams. Through such philological aid, we attempt to verify the frictions and the main perceptible factors in his poetic creation to justify his worldview, according to the pagan sentiment widespread in that time before the twilight already overwhelming of its ailing traditions

La propaganda por el hecho dentro del discurso anarquista en la Argentina del Centenario

Dueños de un discurso contestatario y crítico, pero a la vez formativo y comprometido con el hombre trabajador como centro de sus proyectos, el principal objetivo del movimiento anarquista argentino fue impugnar, cuestionar y contradecir el discurso oficialista. Una de las tácticas que utilizaron los militantes libertarios fue la propaganda por el hecho o acción directa, como denominaremos los actos terroristas ácratas. Si bien en la Argentina encontramos una importante literatura libertaria con un lenguaje perturbador y radicalizado, los sucesos violentos fueron aislados, aunque no por ello dejaron de preocupar tanto a la clase dirigente como a la sociedad en general, que llegó a identificar al militante ácrata con un criminal y lo transformó en un problema de higiene y seguridad pública. Esta situación, sumada no sólo al tenor violento que caracterizó los conflictos laborales, sino también a las noticias nada tranquilizadoras que llegaban de Europa, donde una ola de atentados sacudió la opinión pública, provocaron un pánico exagerado en los distintos ambientes sociales. La consecuencia directa fue la celebración del Centenario en medio de una oleada de huelgas, protestas y con declaración del estado de sitio.

En torno a la traducción en la España Medieval: el caso de la Divina Commedia

Integran este número de la revista ponencias presentadas en Studia Hispanica Medievalia VIII: Actas de las IX Jornadas Internacionales de Literatura Española Medieval, 2008, y de Homenaje al Quinto Centenario de Amadis de Gaula.

La corrupción en la Argentina : un diagnóstico de la actual situación

Resumen: Este trabajo pretende brindar un marco para el análisis del fenómeno de la corrupción en Argentina. Para ello, se concentra el estudio de la situación actual desde una perspectiva cuantitativa y cualitativa, analizando los datos de corrupción recopilados por agencias especializadas, analizando el desempeño de las instituciones en la lucha contra la corrupción y calculando su costo en términos macroeconómicos. El trabajo concluye con algunas lecciones de política para la Argentina derivadas de la evidencia aportada.

Poner el cuerpo. Mujeres y política estatal en Mari (Siglo XVIII a.c.)

Women and men are subjects defined both by their physical-natural reality and their socio-cultural environment. In this way they are reified, and many such examples can be found throughout history. We are interested in the situation of women in Ancient Mesopotamia, particularly the daughters of Zimrî-Lîm, king of the city of Mari, the archaeological site of Tell Hariri, modern Syria, during the 18th century BC. Zimrî- Lîm made marriages a policy of the state. He himself married foreign women and married their joint daughters to other important kings as well. This marital policy was another, more extended, way of dominion where women were a nexus between Mari and other states. In this paper, we will analyze the roles which were assigned and developed by royal women from a political level via a comprehensive approach. These women are presented generally as political objects, though, in extreme cases also they were taking forward actions as subjects and by it they were visualized as “the other,” the foreigner and, in some cases, the enemy.

Algunas consideraciones en torno a la frontera, la tregua y libre determinación en la frontera castellano-granadina : s. XIII-XV

Resumen: El presente trabajo se refiere a algunos aspectos en relación a las características de la frontera castellano-granadina durante los siglos XIII al XV, profundizando en aquellos aspectos referidos a la coexistencia en ese espacio, especialmente, en lo que se refiere a la libre determinación religiosa. Luego de definir algunos aspectos en relación al valor de las treguas, ingresamos en la descripción de las características que comporta la libre determinación y como se manifiesta su dinámica a partir de su integración en los distintos tratados de treguas, verificando cuáles son los momentos en que éstas se hacen más evidentes e indagando en los posibles motivos de esta situación.