Computationally reliable approaches of contractive MPC for discrete-time systems

La tesis pretende explorar acercamientos computacionalmente confiables y eficientes de contractivo MPC para sistemas de tiempo discreto. Dos tipos de contractivo MPC han sido estudiados: MPC con coacción contractiva obligatoria y MPC con una secuencia contractiva de conjuntos controlables. Las técnicas basadas en optimización convexa y análisis de intervalos son aplicadas para tratar MPC contractivo lineal y no lineal, respectivamente. El análisis de intervalos clásicos es ampliado a zonotopes en la geometría para diseñar un conjunto invariante de control terminal para el modo dual de MPC. También es ampliado a intervalos modales para tener en cuenta la modalidad al calcula de conjuntos controlables robustos con una interpretación semántica clara. Los instrumentos de optimización convexa y análisis de intervalos han sido combinados para mejorar la eficacia de contractive MPC para varias clases de sistemas de tiempo discreto inciertos no lineales limitados. Finalmente, los dos tipos dirigidos de contractivo MPC han sido aplicados para controlar un Torneo de Fútbol de Copa Mundial de Micro Robot (MiroSot) y un Tanque-Reactor de Mezcla Continua (CSTR), respectivamente.

On intentional and social agents with graded attitudes

La principal contribución de esta Tesis es la propuesta de un modelo de agente BDI graduado (g-BDI) que permita especificar una arquitetura de agente capaz de representar y razonar con actitudes mentales graduadas. Consideramos que una arquitectura BDI más exible permitirá desarrollar agentes que alcancen mejor performance en entornos inciertos y dinámicos, al servicio de otros agentes (humanos o no) que puedan tener un conjunto de motivaciones graduadas. En el modelo g-BDI, las actitudes graduadas del agente tienen una representación explícita y adecuada. Los grados en las creencias representan la medida en que el agente cree que una fórmula es verdadera, en los deseos positivos o negativos permiten al agente establecer respectivamente, diferentes niveles de preferencias o de rechazo. Las graduaciones en las intenciones también dan una medida de preferencia pero en este caso, modelan el costo/beneficio que le trae al agente alcanzar una meta. Luego, a partir de la representación e interacción de estas actitudes graduadas, pueden ser modelados agentes que muestren diferentes tipos de comportamiento. La formalización del modelo g-BDI está basada en los sistemas multi-contextos. Diferentes lógicas modales multivaluadas se han propuesto para representar y razonar sobre las creencias, deseos e intenciones, presentando en cada caso una axiomática completa y consistente. Para tratar con la semántica operacional del modelo de agente, primero se definió un calculus para la ejecución de sistemas multi-contextos, denominado Multi-context calculus. Luego, mediante este calculus se le ha dado al modelo g-BDI semántica computacional. Por otra parte, se ha presentado una metodología para la ingeniería de agentes g-BDI en un escenario multiagente. El objeto de esta propuesta es guiar el diseño de sistemas multiagentes, a partir de un problema del mundo real. Por medio del desarrollo de un sistema recomendador en turismo como caso de estudio, donde el agente recomendador tiene una arquitectura g-BDI, se ha mostrado que este modelo es valioso para diseñar e implementar agentes concretos. Finalmente, usando este caso de estudio se ha realizado una experimentación sobre la flexibilidad y performance del modelo de agente g-BDI, demostrando que es útil para desarrollar agentes que manifiesten conductas diversas. También se ha mostrado que los resultados obtenidos con estos agentes recomendadores modelizados con actitudes graduadas, son mejores que aquellos alcanzados por los agentes con actitudes no-graduadas.

O círculo de eranos: a experiência da educação do campo ou como os contextos podem gerar

RESUMO: Estamos a vivenciar dois fatos paradoxais: de um lado, uma organização da escola instituída que gera a autoconservação das práticas do professor e, do outro, tendências nos plano científico e do discurso político que apelam ao retorno ao ator - que reconhece o professor como sujeito de seu saber e fazer. Foi neste contexto que se realizou a pesquisa subjacente a esta tese sobre a formação docente num projeto de escolarização que se fundamenta numa perspetiva de educação popular contra-hegemónica, edificada, no Brasil, como ‗educação do campo‘. Buscou-se compreender a vivência docente, suas perceções e aprendizagens. Desenvolveu-se a investigação a partir das questões: é possível, no contexto atual de mudanças sociais direcionadas ao processo cada vez maior de individuação docente, a formação em democracia participativa numa experiência de educação popular? Como ela se estabelece? O que ela nos ensina? A metodologia assentou na observação participativa das reuniões de planeamento, avaliação e replaneamento dos(as) professores(as) e coordenadores, numa proposta local de educação do campo - do Programa Nacional de Educação na Reforma agrária. As reuniões e escolarização ocorreram em Ilhéus/Bahia/Brasil, durante os anos de 2005-2006. As referências teóricas para a análise empírica do material coletado foram: a perspetiva da reflexão-ação emancipatória de Carr e Kemmis (1998), que compreende as instituições educacionais criadas por pressões sociais e políticas; e a conceção de emancipação desenvolvida por Freire e por Habermas, assente na ação comunicativa/dialógica. Para a análise utilizou-se o método da Análise Crítica de Discurso (ACD), cuja principal referência foi Fairclough. Nas narrativas das reuniões percebeu-se o desenvolvimento de uma polidez positiva – atos de fala que demonstram o falante desejando estabelecer o consenso com ouvinte; assinalada por estruturas modais que direcionaram para a abertura de relacionamento e participação mútua entre professores(as) e coordenadores do projeto. O conteúdo manifesto das falas amparou-se numa perspetiva de educador que se constrói na prática, e, ao mesmo tempo, a constrói, mas que, entretanto, necessita de aportes teóricos críticos no processo de embate epistémico entre os saberes da vida quotidiana concreta e os saberes científicos. A função interpessoal foi expressa pela arquitetura dialógica, permitindo um processo de construção mútua de escola e professores(as). Pode-se afirmar que a prática analisada indica que nestes tempos, de controlo intenso das instituições escolares, de competição, de solidão, é obviamente necessária a organização coletiva de professores (as), de movimentos sociais e universidades, amparados e financiados por ordenamentos legais (conquistados pela população), para consolidar e ampliar projetos críticos de escolarização, mudando, reciprocamente, escolas e professores(as). ABSTRACT: We are experiencing two paradoxical facts: the organization of the established school which generates the self-preservation of teaching practices and, on the other hand, there is a political and scientific trend that claims the return of the ―actor‖ – the teacher being the subject of his knowledge and actions. It was therefore in this context, that the underlying research for this Thesis was conducted. It concerns to the teacher training in an educational project which is based on the perspective of a counter-hegemonic and popular education available to people at the Brazilian countryside – also called ―Field Education‖. We searched the understanding of the educational experience, its perceptions and learning. The investigation was developed from two fundamental questions: Is it possible to have the experience of a popular education system in a functioning democracy, at the light of the recent social changes that lead to a greater individuation? How is it established? What can we learn from it? The methodology was settled on the participant observation of the planning and evaluation meetings of teachers and coordinators of the National Education Program in the Land Reform in Brazil. These meetings occurred in Ilheús- Bahia- Brazil during the years of 2005-2006. The theoretical references to the empirical analyses of the material collected were: the perspective of the reflection – action emancipative of Carr & Kemmis (1998), which comprehends the educational institutions created by social and political pressures; and the conception of emancipation developed by Freire and Habermas, which is settled on the communicative-dialogical action. For the analysis it was elected the method of Critical Analysis of Discourse (CAD),which main reference was Fairclough. During the account of the meetings it was noticed the development of a positive politeness – which reveals the desire of the speaker to reach an agreement with the listener, signalized by modal structures that directed to an open and participative relationship between teachers and coordinators of the project. The manifest content of the speeches was sustained by the educator perspective, which is built on the daily practice. However, it needs some basic theoretical contributions to the epistemic struggle between concrete ordinary life and the scientific knowledge. The interpersonal function was expressed by dialogical architecture, allowing a mutual process of construction that involves the school and the teachers. The practice analyzed indicates that, more than ever, due to the massive control of the institutions, the extreme competition and solitude, the collective organization of the teachers, the social movements and the universities is necessary. They should be supported and financed by legal systems to consolidated and amplify important education projects, bringing necessary changes for schools and teachers reciprocally.

Experimental method for teaching specific language structures to hearing-impaired children

This paper presents an experimental Receptive-Expressive Multi-Modal Learning Program of Patterned Language Practice for hearing-impaired children.

The counter-propagating Rossby-wave perspective on baroclinic instability. I: Mathematical basis

It is shown that Bretherton's view of baroclinic instability as the interaction of two counter-propagating Rossby waves (CRWs) can be extended to a general zonal flow and to a general dynamical system based on material conservation of potential vorticity (PV). The two CRWs have zero tilt with both altitude and latitude and are constructed from a pair of growing and decaying normal modes. One CRW has generally large amplitude in regions of positive meridional PV gradient and propagates westwards relative to the flow in such regions. Conversely, the other CRW has large amplitude in regions of negative PV gradient and propagates eastward relative to the zonal flow there. Two methods of construction are described. In the first, more heuristic, method a ‘home-base’ is chosen for each CRW and the other CRW is defined to have zero PV there. Consideration of the PV equation at the two home-bases gives ‘CRW equations’ quantifying the evolution of the amplitudes and phases of both CRWs. They involve only three coefficients describing the mutual interaction of the waves and their self-propagation speeds. These coefficients relate to PV anomalies formed by meridional fluid displacements and the wind induced by these anomalies at the home-bases. In the second method, the CRWs are defined by orthogonality constraints with respect to wave activity and energy growth, avoiding the subjective choice of home-bases. Using these constraints, the same form of CRW equations are obtained from global integrals of the PV equation, but the three coefficients are global integrals that are not so readily described by ‘PV-thinking’ arguments. Each CRW could not continue to exist alone, but together they can describe the time development of any flow whose initial conditions can be described by the pair of growing and decaying normal modes, including the possibility of a super-modal growth rate for a short period. A phase-locking configuration (and normal-mode growth) is possible only if the PV gradient takes opposite signs and the mean zonal wind and the PV gradient are positively correlated in the two distinct regions where the wave activity of each CRW is concentrated. These are easily interpreted local versions of the integral conditions for instability given by Charney and Stern and by Fjørtoft.

The counterpropagating Rossby wave perspective on Kelvin Helmholtz instability as a limiting case of a Rayleigh shear layer with zero width

The Kelvin Helmholtz (KH) problem, with zero stratification, is examined as a limiting case of the Rayleigh model of a single shear layer whose width tends to zero. The transition of the Rayleigh modal dispersion relation to the KH one, as well as the disappearance of the supermodal transient growth in the KH limit, are both rationalized from the counterpropagating Rossby wave perspective.

An interpretation of baroclinic initial value problems: results for simple basic states with nonzero interior PV gradients

In the Eady model, where the meridional potential vorticity (PV) gradient is zero, perturbation energy growth can be partitioned cleanly into three mechanisms: (i) shear instability, (ii) resonance, and (iii) the Orr mechanism. Shear instability involves two-way interaction between Rossby edge waves on the ground and lid, resonance occurs as interior PV anomalies excite the edge waves, and the Orr mechanism involves only interior PV anomalies. These mechanisms have distinct implications for the structural and temporal linear evolution of perturbations. Here, a new framework is developed in which the same mechanisms can be distinguished for growth on basic states with nonzero interior PV gradients. It is further shown that the evolution from quite general initial conditions can be accurately described (peak error in perturbation total energy typically less than 10%) by a reduced system that involves only three Rossby wave components. Two of these are counterpropagating Rossby waves—that is, generalizations of the Rossby edge waves when the interior PV gradient is nonzero—whereas the other component depends on the structure of the initial condition and its PV is advected passively with the shear flow. In the cases considered, the three-component model outperforms approximate solutions based on truncating a modal or singular vector basis.

In-street wind direction variability in the vicinity of a busy intersection in central London

We present results from fast-response wind measurements within and above a busy intersection between two street canyons (Marylebone Road and Gloucester Place) in Westminster, London taken as part of the DAPPLE (Dispersion of Air Pollution and Penetration into the Local Environment; www.dapple.org.uk) 2007 field campaign. The data reported here were collected using ultrasonic anemometers on the roof-top of a building adjacent to the intersection and at two heights on a pair of lamp-posts on opposite sides of the intersection. Site characteristics, data analysis and the variation of intersection flow with the above-roof wind direction (θref) are discussed. Evidence of both flow channelling and recirculation was identified within the canyon, only a few metres from the intersection for along-street and across-street roof-top winds respectively. Results also indicate that for oblique rooftop flows, the intersection flow is a complex combination of bifurcated channelled flows, recirculation and corner vortices. Asymmetries in local building geometry around the intersection and small changes in the background wind direction (changes in 15-min mean θref of 5–10 degrees) were also observed to have profound influences on the behaviour of intersection flow patterns. Consequently, short time-scale variability in the background flow direction can lead to highly scattered in-street mean flow angles masking the true multi-modal features of the flow and thus further complicating modelling challenges.

A pattern language for goals

Previous work has established the value of goal-oriented approaches to requirements engineering. Achieving clarity and agreement about stakeholders’ goals and assumptions is critical for building successful software systems and managing their subsequent evolution. In general, this decision-making process requires stakeholders to understand the implications of decisions outside the domains of their own expertise. Hence it is important to support goal negotiation and decision making with description languages that are both precise and expressive, yet easy to grasp. This paper presents work in progress to develop a pattern language for describing goal refinement graphs. The language has a simple graphical notation, which is supported by a prototype editor tool, and a symbolic notation based on modal logic.

Antecedent priming at trace positions in children's sentence processing

The present study examines whether children reactivate a moved constituent at its gap position and how children's more limited working memory span affects the way they process filler-gap dependencies. 46 5-7 year-old children and 54 adult controls participated in a cross-modal picture priming experiment and underwent a standardized working memory test. The results revealed a statistically significant interaction between the participants' working memory span and antecedent reactivation: High-span children (n = 19) and high-span adults (n = 22) showed evidence of antecedent priming at the gap site, while for low-span children and adults, there was no such effect. The antecedent priming effect in the high-span participants indicates that in both children and adults, dislocated arguments access their antecedents at gap positions. The absence of an antecedent reactivation effect in the low-span participants could mean that these participants required more time to integrate the dislocated constituent and reactivated the filler later during the sentence.

On-line processing of wh-questions in children with G-SLI and typically developing children

Background: The computational grammatical complexity ( CGC) hypothesis claims that children with G(rammatical)-specific language impairment ( SLI) have a domain-specific deficit in the computational system affecting syntactic dependencies involving 'movement'. One type of such syntactic dependencies is filler-gap dependencies. In contrast, the Generalized Slowing Hypothesis claims that SLI children have a domain-general deficit affecting processing speed and capacity. Aims: To test contrasting accounts of SLI we investigate processing of syntactic (filler-gap) dependencies in wh-questions. Methods & Procedures: Fourteen 10; 2 - 17; 2 G-SLI children, 14 age- matched and 17 vocabulary-matched controls were studied using the cross- modal picturepriming paradigm. Outcomes & Results: G-SLI children's processing speed was significantly slower than the age controls, but not younger vocabulary controls. The G- SLI children and vocabulary controls did not differ on memory span. However, the typically developing and G-SLI children showed a qualitatively different processing pattern. The age and vocabulary controls showed priming at the gap, indicating that they process wh-questions through syntactic filler-gap dependencies. In contrast, G-SLI children showed priming only at the verb. Conclusions: The findings indicate that G-SLI children fail to establish reliably a syntactic filler- gap dependency and instead interpret wh-questions via lexical thematic information. These data challenge the Generalized Slowing Hypothesis account, but support the CGC hypothesis, according to which G-SLI children have a particular deficit in the computational system affecting syntactic dependencies involving 'movement'. As effective remediation often depends on aetiological insight, the discovery of the nature of the syntactic deficit, along side a possible compensatory use of semantics to facilitate sentence processing, can be used to direct therapy. However, the therapeutic strategy to be used, and whether such similar strengths and weaknesses within the language system are found in other SLI subgroups are empirical issues that warrant further research.

Distinguishing novelty and familiarity effects in infant preference procedures

This paper considers possible problems researchers might face when interpreting the results of studies that employ variants of the preference procedure. Infants show a tendency to shift their preference from familiar to novel stimuli with increasing exposure to the familiar stimulus, a behaviour that is exploited by the habituation paradigm. This change in attentional preference with exposure leads us to suggest that researchers interested in infants' pre-experimental or spontaneous preferences should beware of the potentially confounding effects of exposing infants to familiarization trials prior to employing the preference procedure. The notion that infant attentional preference is dynamic also calls into question the use of the direction of post-familiarization preference per se when interpreting the knowledge or strategies available to infants. We look into the results of a cross-modal word learning study to show how the interpretation of results may be difficult when infants exhibit a significant preference in an unexpected direction. As a possible solution to this problem we propose that significant preferences in both directions should be sought at multiple intervals over time. Copyright (C) 2004 John Wiley Sons, Ltd.

Integrated optics for nulling interferometry in the thermal infrared

Modal filtering is based on the capability of single-mode waveguides to transmit only one complex amplitude function to eliminate virtually any perturbation of the interfering wavefronts, thus making very high rejection ratios possible in a nulling interferometer. In the present paper we focus on the progress of Integrated Optics in the thermal infrared [6-20 mu m] range, one of the two candidate technologies for the fabrication of Modal Filters, together with fiber optics. In conclusion of the European Space Agency's (ESA) "Integrated Optics for Darwin" activity, etched layers of clialcogenide material deposited on chalcogenide glass substrates was selected among four candidates as the technology with the best potential to simultaneously meet the filtering efficiency, absolute and spectral transmission, and beam coupling requirements. ESA's new "Integrated Optics" activity started at mid-2007 with the purpose of improving the technology until compliant prototypes can be manufactured and validated, expectedly by the end of 2009. The present paper aims at introducing the project and the components requirements and functions. The selected materials and preliminary designs, as well as the experimental validation logic and test benches are presented. More details are provided on the progress of the main technology: vacuum deposition in the co-evaporation mode and subsequent etching of chalcogenide layers. In addition., preliminary investigations of an alternative technology based on burying a chalcogenide optical fiber core into a chalcogenide substrate are presented. Specific developments of anti-reflective solutions designed for the mitigation of Fresnel losses at the input and output surface of the components are also introduced.

Coming of age: a review of embodiment and the neuroscience of semantics

Over the last decade, there has been an increasing body of work that explores whether sensory and motor information is a necessary part of semantic representation and processing. This is the embodiment hypothesis. This paper presents a theoretical review of this work that is intended to be useful for researchers in the neurosciences and neuropsychology. Beginning with a historical perspective, relevant theories are placed on a continuum from strongly embodied to completely unembodied representations. Predictions are derived and neuroscientific and neuropsychological evidence that could support different theories is reviewed; finally, criticisms of embodiment are discussed. We conclude that strongly embodied and completely disembodied theories are not supported, and that the remaining theories agree that semantic representation involves some form of Convergence Zones (Damasio, 1989) and the activation of modal content. For the future, research must carefully define the boundaries of semantic processing and tackle the representation of abstract entities.

Use of a continuous culture fermentation system to investigate the effect of GanedenBC30 (Bacillus coagulans GBI-30, 6086) supplementation on pathogen survival in the human gut microbiota

Single-stage continuous fermentation systems were employed to examine the effects of GanedenBC30 supplementation on the human gastrointestinal microbiota in relation to pathogen challenge in vitro. Denaturing gradient gel electrophoresis analysis demonstrated that GanedenBC30 supplementation modified the microbial profiles in the fermentation systems compared with controls, with profiles clustering according to treatment. Overall, GanedenBC30 supplementation did not elicit major changes in bacterial population counts in vitro, although notably higher Bcoa191 counts were seen following probiotic supplementation (compared to the controls). Pathogen challenge did not elicit significant modification of the microbial counts in vitro, although notably higher Clit135 counts were seen in the control system post-Clostridium difficile challenge than in the corresponding GanedenBC30-supplemented systems. Sporulation appears to be associated with the anti-microbial activity of GanedenBC30, suggesting that a bi-modal lifecycle of GanedenBC30 in vivo may lead to anti-microbial activity in distal regions of the gastrointestinal tract.