The Control of Human Arm Movement Models and Mechanical Constraints

A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOFs) at the endpoint. If the mobile closed chain assumes a number of configurations, then loop consistency equations permit the manipulator and task kinematics to be calibrated simultaneously using only the joint angle readings; endpoint sensing is not required. Example tasks include a fixed endpoint (0 DOF task), the opening of a door (1 DOF task), and point contact (3 DOF task). Identifiability conditions are derived for these various tasks.

The Design of Shape from Motion Constraints

This report presents a set of representations methodologies and tools for the purpose of visualizing, analyzing and designing functional shapes in terms of constraints on motion. The core of the research is an interactive computational environment that provides an explicit visual representation of motion constraints produced by shape interactions, and a series of tools that allow for the manipulation of motion constraints and their underlying shapes for the purpose of design.

Incremental Verification of Timing Constraints for Real-Time Systems

Testing constraints for real-time systems are usually verified through the satisfiability of propositional formulae. In this paper, we propose an alternative where the verification of timing constraints can be done by counting the number of truth assignments instead of boolean satisfiability. This number can also tell us how “far away” is a given specification from satisfying its safety assertion. Furthermore, specifications and safety assertions are often modified in an incremental fashion, where problematic bugs are fixed one at a time. To support this development, we propose an incremental algorithm for counting satisfiability. Our proposed incremental algorithm is optimal as no unnecessary nodes are created during each counting. This works for the class of path RTL. To illustrate this application, we show how incremental satisfiability counting can be applied to a well-known rail-road crossing example, particularly when its specification is still being refined.

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Context constraints, prior vocabulary knowledge and on-line inferences in reading

Resumen tomado de la publicaci??n

Increasing Rail's Mode Share Within The Constraints of The Existing Network

This file contains the results of application of the model (4.6) and (4.8)

salud financiera y riesgo en los estados financieros de la empresa avianca del sector aeronautico

La globalización y la competitividad como realidad de las empresas, implica que los gerentes preparen a sus empresas de la mejor manera para sobrevivir en este mundo tan inestable y cambiante. El primer paso consta de investigar y medir como se encuentra la empresa en cada uno de sus componentes, tales como recurso humano, mercadeo, logística, operación y por último y más importante las finanzas. El conocimiento de salud financiera y de los riesgos asociados a la actividad de las empresas, les permitirá a los gerentes tomar las decisiones correctas para ser rentables y perdurables en el mundo de los negocios inmerso en la globalización y competitividad. Esta apreciación es pertinente en Avianca S.A. esto teniendo en cuenta su progreso y evolución desde su primer vuelo el 5 de diciembre de 1919 comercial, hasta hoy cuando cotiza en la bolsa de Nueva York. Se realizó un análisis de tipo descriptivo, acompañado de la aplicación de ratios y nomenclaturas, dando lugar a establecer la salud financiera y los riesgos, no solo de Avianca sino también del sector aeronáutico. Como resultado se obtuvo que el sector aeronáutico sea financieramente saludable en el corto plazo, pero en el largo plazo su salud financiera se ve comprometida por los riegos asociados al sector y a la actividad desarrollada.

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 filosofía 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.

Soft budget constraints in a dynamic general equilibrium model

This paper considers an overlapping generations model in which capital investment is financed in a credit market with adverse selection. Lenders’ inability to commit ex-ante not to bailout ex-post, together with a wealthy position of entrepreneurs gives rise to the soft budget constraint syndrome, i.e. the absence of liquidation of poor performing firms on a regular basis. This problem arises endogenously as a result of the interaction between the economic behavior of agents, without relying on political economy explanations. We found the problem more binding along the business cycle, providing an explanation to creditors leniency during booms in some LatinAmerican countries in the late seventies and early nineties.

Dynamic programming for stochastic target problems, Viscosity solutions and hedging in markets with Portfolio constraints and large investors

The purpose of this expository arti le is to present a self- ontained overview of some results on the hara terization of the optimal value fun tion of a sto hasti target problem as (dis ontinuous) vis osity solution of a ertain dynami programming PDE and its appli ation to the problem of hedging ontingent laims in the presen e of portfolio onstraints and large investors

The justification of illegal anti-ecological behavior

Resumen tomado de la publicación

Education and training governance through learning outcomes : possibilities and constraints in Italy

Resumen tomado de la publicaci??n.