Control de posició del robot wifibot

Aquest projecte pretén presentar de forma clara i detallada l’estructura i el funcionament del robot així com dels components que el conformen. Aquesta informació és de vital importància a l’hora de desenvolupar aplicacions per al robot. Un cop descrites les característiques del robot s’analitzaran les eines necessàries i/o disponibles per poder desenvolupar programari per cada nivell de la forma més senzilla i eficient possible. Posteriorment s’analitzaran els diferents nivells de programació i se’n contrastaran els avantatges i els inconvenients de cada un. Aquest anàlisi es començarà fent pel nivell més alt i anirà baixant amb la intenció de no entrar en nivells més baixos del necessari. Baixar un nivell en la programació suposa haver de crear aplicacions sempre compatibles amb els nivells superiors de forma que com més es baixa més augmenta la complexitat. A partir d’aquest anàlisi s’ha arribat a la conclusió que per tal d’aprofitar totes les prestacions del robot és precís arribar a programar en el nivell més baix del robot. Finalment l’objectiu és obtenir una sèrie de programes per cada nivell que permetin controlar el robot i fer-lo seguir senzilles trajectòries

Cooperative games in strategic form

In this paper we view bargaining and cooperation as an interaction superimposed on a strategic form game. A multistage bargaining procedure for N players, the proposer commitment procedure, is presented. It is inspired by Nash s two-player variable-threat model; a key feature is the commitment to threats. We establish links to classical cooperative game theory solutions, such as the Shapley value in the transferable utility case. However, we show that even in standard pure exchange economies the traditional coalitional function may not be adequate when utilities are not transferable.

Evaluation cardiologique préopératoire avant chirurgie non cardiaque: du choix cornélien a l'arbre décisionnel [Pre-operative cardiac assessment in non-cardiac surgery: a frequent dilemma simplified by a decision tree].

In patients undergoing non-cardiac surgery, cardiac events are the most common cause of perioperative morbidity and mortality. It is often difficult to choose adequate cardiologic examinations before surgery. This paper, inspired by the guidelines of the European and American societies of cardiology (ESC, AHA, ACC), discusses the place of standard ECG, echocardiography, treadmill or bicycle ergometer and pharmacological stress testing in preoperative evaluations. The role of coronary angiography and prophylactic revascularization will also be discussed. Finally, we provide a decision tree which will be helpful to both general practitioners and specialists.

Remote control of pulmonary blood flow: a dream comes true.

The indication for pulmonary artery banding is currently limited by several factors. Previous attempts have failed to produce adjustable pulmonary artery banding with reliable external regulation. An implantable, telemetrically controlled, battery-free device (FloWatch) developed by EndoArt SA, a medical company established in Lausanne, Switzerland, for externally adjustable pulmonary artery banding was evaluated on minipigs and proved to be effective for up to 6 months. The first human implant was performed on a girl with complete atrioventricular septal defect with unbalanced ventricles, large patent ductus arteriosus and pulmonary hypertension. At one month of age she underwent closure of the patent ductus arteriosus and FloWatch implantation around the pulmonary artery through conventional left thoracotomy. The surgical procedure was rapid and uneventful. During the entire postoperative period bedside adjustments (narrowing or release of pulmonary artery banding with echocardiographic assessment) were repeatedly required to maintain an adequate pressure gradient. The early clinical results demonstrated the clinical benefits of unlimited external telemetric adjustments. The next step will be a multi-centre clinical trial to confirm the early results and adapt therapeutic strategies to this promising technology.

Supply chain management implementation in the Spanish grocery sector: An exploratory study

This paper explores the integration process that firms follow to implementSupply Chain Management (SCM) and the main barriers and benefits relatedto this strategy. This study has been inspired in the SCM literature,especially in the logistics integration model by Stevens [1]. Due to theexploratory nature of this paper and the need to obtain an in depthknowledge of the SCM development in the Spanish grocery sector, we used thecase study methodology. A multiple case study analysis based on interviewswith leading manufacturers and retailers was conducted.The results of this analysis suggest that firms seem to follow the integration process proposed by Stevens, integrating internally first, andthen, extending this integration to other supply chain members. The casesalso show that Spanish manufacturers, in general, seem to have a higherlevel of SCM development than Spanish retailers. Regarding the benefitsthat SCM can bring, most of the companies identify the general objectivesof cost and stock reductions and service improvements. However, withrespect to the barriers found in its implementation, retailers andmanufacturers are not coincident: manufacturers seem to see more barrierswith respect to aspects related to the other party, such as distrust and alack of culture of sharing information, while retailers find as mainbarriers the need of a know-how , the company culture and the historyand habits.

Prime property institutions for a subprime era: Toward innovative models of homeownership

This Article breaks new ground toward contractual and institutional innovation in models of homeownership, equity building, and mortgage enforcement. Inspired by recent developments in the affordable housing sector and other types of public financing schemes, we suggest extending institutional and financial strategies such as time- and place-based division of property rights, conditional subsidies, and credit mediation to alleviate the systemic risks of mortgage foreclosure. Two new solutions offer a broad theoretical basis for such developments in the economic and legal institution of homeownership: a for-profit shared equity scheme led by local governments alongside a private market shared equity model, one of "bootstrapping home buying with purchase options".

Nationalisme économique et réalisme mercantile : la politique énergétique russe sous Poutine (2000-2008)

Mon travail met en évidence la restructuration de l'industrie énergétique russe sous les deux mandats Poutine (2000-2008) via le rôle prédominant de l'État dans une perspective historique. Une nouvelle élite politique russe (les Silovikis) issue des structures de force de l'Etat favorise le nationalisme économique axé sur le rétablissement de l'autorité du gouvernement central au sein de l'industrie énergétique nationale au détriment des pouvoirs régionaux, des sociétés privées étrangères et des oligarques indépendants. Dans cette perspective, on peut citer "l'affaire Youkos" en 2003 caractérisée par l'arrestation de l'oligarque Mikhaïl Khodorkhovsky; les tentatives silovikiennes de reprendre l'ascendant sur les compagnies pétrolières régionales Tatneft et Bachneft gérées par les gouvernements tatar et bachkir, la pression fiscale envers les majors pétrolières étrangères à l'instar du conflit russo- britannique relatif à la joint-venture TNK-BP. Quant à la politique énergétique étrangère russe, elle est inspirée par line vision réaliste mercantile; le gouvernement silovikien vise à défendre l'intérêt national, le prestige et la puissance de la Russie via ses "champions" énergétiques Rosneft et Gazprom utilisés comme levier politique, notamment à l'égard des pays de la CEI considéré par Moscou comme sa sphère d'influence historique. Dans cette perspective, nous pouvons mentionner l'interruption des approvisionnements pétroliers et gaziers russes à l'Ukraine, aux Etats baltes ou encore à la Géorgie; la concurrence entre les majors russes et étrangères en Asie centrale / Caucase pour les champs pétrolifères et les tracés de pipelines (nouveau «Grand Jeu»); la diversification des marchés russes à l'exportation à travers la promotion de nouveaux pipelines partant des champs pétrolifères sibériens vers la Chine et l'océan Pacifique.¦My work highlights the restructuration of the Russian energy industry under the 2 Putin madates (2000-2008) by the predominant role of the state in a historical perspective. A new Russian politic elite (Siloviki) from state structure forces promotes the economic nationalism focused on the reestablishment of the central governmental authority in the national energy industry against regional powers, private foreign companies and independent oligarchs. In this perspective, we can mention the "Yukos Affair" in 2003 with the arrest of the oligarch Mikhail Khodorkhovsky; the silovikian attempts to take over the regional oil companies Tatneft and Bachneft handled by the Tatar and Bashkir governments; the fiscal silovikian pressure against foreign companies such as the Russo-Britannic joint- venture TNK-BP. As for the Russian energy Foreign policy, it is inspired by a mercantile realism vision; the silovikian government aims to defend the national interest, the prestige and the power of Russia through its energy companies Rosneft and Gazprom as a political leverage especially toward the CEI Countries considered by Moscow as it historical sphere of influence. In this perspective, we can mention the interruption of Russian oil&gas supply toward Ukraine, Baltic states or Georgia; the competition between Russian and foreign companies in Central Asia/Caucasus for oil and gas fields and pipeline routes (new "Great Game"); the diversification of Russian export markets through the promotion ο new pipelines from Siberian oil&gas fields to China and the Pacific Ocean.

The structural nature of perceptual experiences

Intuitively, we think of perception as providing us with direct cognitive access to physical objects and their properties. But this common sense picture of perception becomes problematic when we notice that perception is not always veridical. In fact, reflection on illusions and hallucinations seems to indicate that perception cannot be what it intuitively appears to be. This clash between intuition and reflection is what generates the puzzle of perception. The task and enterprise of unravelling this puzzle took, and still takes, centre stage in the philosophy of perception. The goal of my dissertation is to make a contribution to this enterprise by formulating and defending a new structural approach to perception and perceptual consciousness. The argument for my structural approach is developed in several steps. Firstly, I develop an empirically inspired causal argument against naïve and direct realist conceptions of perceptual consciousness. Basically, the argument says that perception and hallucination can have the same proximal causes and must thus belong to the same mental kind. I emphasise that this insight gives us good reasons to abandon what we are instinctively driven to believe - namely that perception is directly about the outside physical world. The causal argument essentially highlights that the information that the subject acquires in perceiving a worldly object is always indirect. To put it another way, the argument shows that what we, as perceivers, are immediately aware of, is not an aspect of the world but an aspect of our sensory response to it. A view like this is traditionally known as a Representative Theory of Perception. As a second step, emphasis is put on the task of defending and promoting a new structural version of the Representative Theory of Perception; one that is immune to some major objections that have been standardly levelled at other Representative Theories of Perception. As part of this defence and promotion, I argue that it is only the structural features of perceptual experiences that are fit to represent the empirical world. This line of thought is backed up by a detailed study of the intriguing phenomenon of synaesthesia. More precisely, I concentrate on empirical cases of synaesthetic experiences and argue that some of them provide support for a structural approach to perception. The general picture that emerges in this dissertation is a new perspective on perceptual consciousness that is structural through and through.

A estação arqueológica de Salamansa (ilha de São Vicente, República de Cabo Verde)

Apresentam‑se os principais resultados obtidos nas duas missões arqueológicas patrocinadas pelo Centro Português de Actividades Subaquáticas (CPAS) à ilha de São Vicente (República de Cabo Verde), em 1998 e em 2005. Em 1998, confirmou‑se o efectivo interesse arqueológico do sítio, localizado sobre o mar, em local abrigado da vasta baía de Salamansa, situada na parte setentrional da ilha, tendo‑se registado a respectiva extensão e estratigrafia e procedido à colheita de amostras para datação. Embora os resultados dessa campanha tivessem sido publicados, indicando estação de carácter habitacional, revelada pela notável acumulação de conchas, acompanhada de abundantes fragmentos de cerâmicas manuais, de produção africana, mantinha‑se indefinida a sua verdadeira natureza. Impunha‑se, assim, proceder à escavação integral da área que ainda subsistia da estação — sujeita de forma contínua a forte erosão marinha — bem como à colheita de novos materiais para datação, de forma a confirmar as conclusões preliminares anteriormente obtidas, objectivos que se concretizaram em 2005. Deste modo, foi possível concluir que, contrariando a hipótese, de início considerada, de poder corresponder a um testemunho da ocupação da ilha em época anterior à chegada dos Portugueses — hipótese que já as primeiras datas de radiocarbono contradiziam — se trata de um sítio onde uma unidade habitacional construída por muros de pedra seca, de planta ortogonal, revela inspiração europeia, aliás sublinhada pelos materiais exumados, onde estão representados produtos com tal origem, como cachimbos de caulino, vidros, faianças portuguesas, e projécteis de armas de fogo, a par de objectos oriundos do Extremo Oriente, num quadro dominado pelas produções cerâmicas africanas. Esta situação evidencia um estabelecimento cuja ocupação se centrou no século XVII, conforme indicam os materiais recolhidos e os resultados das datações obtidas, francamente aberto aos contactos de longa distância, apesar do isolamento do local escolhido. Os restos faunísticos recolhidos, com a presença deburro e de boi, sugerem um estacionamento sedentário, sendo a alimentação assegurada essencialmente pela captura de tartarugas, pela pesca e pela recolecção de moluscos marinhos (especialmente grandes lapas) e complementada pelo consumo de cabra, que poderia ser doméstica ou caçada, dado o estado selvagem a que retornou ali esta espécie. na última parte do trabalho, discutem‑se as diversas hipóteses susceptíveis de explicar esta estação — desde um entreposto comercial relacionado com a exploração agro‑pecuária da ilha de Santo Antão, passando por pequeno estabelecimento especializado de apoio à navegação, com a produção de carne salgada de tartaruga, até ter constituído refúgio relacionado com a intensa pirataria vigente à época no arquipélago, tendo presente os elementos históricos conhecidos, que, aliás, indicam que o início da ocupação permanente de São Vicente só se produziu a partir da segunda década do século XIX. Seja como for, a forte componente cultural africana revelada pelo espólio destes primeiros ocupantes da ilha expressa‑se também pelos rituais que terão envolvido o abandono do estabelecimento, com o enterramento de dois vasos emborcados sob o chão da habitação explorada, e a deposição de uma pequena taça, nas mesmas circunstâncias, junto à parede da mesma, do lado externo.

Social preferences: Some simple tests and a new model

Departures from pure self interest in economic experiments have recently inspired models of "social preferences". We conduct experiments on simple two-person and three-person games with binary choices that test these theories more directly than the array of games conventionally considered. Our experiments show strong support for the prevalence of "quasi-maximin" preferences: People sacrifice to increase the payoffs for all recipients, but especially for the lowest-payoff recipients. People are also motivated by reciprocity: While people are reluctant to sacrifice to reciprocate good or bad behavior beyond what they would sacrifice for neutral parties, they withdraw willingness to sacrifice to achieve a fair outcome when others are themselves unwilling to sacrifice. Some participants are averse to getting different payoffs than others, but based on our experiments and reinterpretation of previous experiments we argue that behavior that has been presented as "difference aversion" in recent papers is actually a combination of reciprocal and quasi-maximin motivations. We formulate a model in which each player is willing to sacrifice to allocate the quasi-maximin allocation only to those players also believed to be pursuing the quasi-maximin allocation, and may sacrifice to punish unfair players.

Equilibrium selection through incomplete information in coordination games: An experimental study

We perform an experiment on a pure coordination game with uncertaintyabout the payoffs. Our game is closely related to models that have beenused in many macroeconomic and financial applications to solve problemsof equilibrium indeterminacy. In our experiment each subject receives anoisy signal about the true payoffs. This game has a unique strategyprofile that survives the iterative deletion of strictly dominatedstrategies (thus a unique Nash equilibrium). The equilibrium outcomecoincides, on average, with the risk-dominant equilibrium outcome ofthe underlying coordination game. The behavior of the subjects convergesto the theoretical prediction after enough experience has been gained. The data (and the comments) suggest that subjects do not apply through"a priori" reasoning the iterated deletion of dominated strategies.Instead, they adapt to the responses of other players. Thus, the lengthof the learning phase clearly varies for the different signals. We alsotest behavior in a game without uncertainty as a benchmark case. The gamewith uncertainty is inspired by the "global" games of Carlsson and VanDamme (1993).

Weighted metric multidimensional scaling

This paper establishes a general framework for metric scaling of any distance measure between individuals based on a rectangular individuals-by-variables data matrix. The method allows visualization of both individuals and variables as well as preserving all the good properties of principal axis methods such as principal components and correspondence analysis, based on the singular-value decomposition, including the decomposition of variance into components along principal axes which provide the numerical diagnostics known as contributions. The idea is inspired from the chi-square distance in correspondence analysis which weights each coordinate by an amount calculated from the margins of the data table. In weighted metric multidimensional scaling (WMDS) we allow these weights to be unknown parameters which are estimated from the data to maximize the fit to the original distances. Once this extra weight-estimation step is accomplished, the procedure follows the classical path in decomposing a matrix and displaying its rows and columns in biplots.

Problémas de Recursos Hídricos em Ilhas - Exemplo da Ilha de Santiago - Caso da Bacia Hidrográfica da Ribeira Grande da Cidade Velha e Bacia Hidrográfica da Ribeira Seca

As ilhas de Cabo Verde elevam-se de um soco submarino, em forma de ferradura, situado a uma profundidade da ordem de 3.000 metros. Deste soco emergem três pedestais bem distintos1. A Norte, compreendendo as ilhas de St° Antão, S. Vicente, St.ª Luzia e S. Nicolau e os ilhéus Boi, Pássaros, Branco e Raso. A Leste e a Sul, com as ilhas do Sal, Boa Vista, Maio e Santiago e os ilhéus Rabo de Junco, Curral de Dadó, Fragata, Chano, Baluarte e de Santa Maria. A Oeste, compreendendo as ilhas do Fogo e da Brava e os ilhéus Grande, Luís Carneiro e de Cima (Fig. 1 - Mapa de Cabo Verde e distribuição das ilhas nos três pedestais). A formação das ilhas teria sido iniciada por uma actividade vulcânica submarina central, mais tarde completada por uma rede físsural manifestada nos afloramentos. A maior parte das ilhas é dominada por emissões de escoadas lávicas e de materiais piroclásticos (escórias, bagacinas ou "lapilli" e cinzas) subaéreos, predominantemente basálticas. O Arquipélago de Cabo Verde fica localizado na margem Oriental do Atlântico Norte, a cerca de 450 Km da Costa Ocidental da África e a cerca de 1.400 Km a SSW das Canárias, limitado pelos paralelos 17° 13' (Ponta Cais dos Fortes, Ilha de St° Antão) e 14º 48' (Ponta de Nho Martinho, Ilha Brava), de latitude Norte e pelos meridianos de 22° 42' (ilhéu Baluarte, Ilha da Boa Vista) e 25° 22' (Ponta Chã de Mangrado, Ilha de St° Antão) de longitude Oeste de Greenwich. O Arquipélago de Cabo Verde fica situado a cerca de 2.000 Km a Leste do actual "rift" da "Crista Média Atlântica" e a Oeste da zona de quietude magnética ("quite zone"), entre as isócronas dos 120 e 140 M.A., segundo Vacquier (1972), e a dos 107 e 153 M.A., segundo Haynes & Rabinowitz (1975), argumentos invocados para se considerar que as ilhas teriam sido geradas em ambiente oceânico. O Arquipélago de Cabo Verde fica situado numa região elevada do actual fundo oceânico, que faz parte da "Crista de Cabo Verde" (" Cape Verde Rise"), e que na vizinhança das ilhas corresponde a um domo com cerca de 400 Km de largura (Lancelot et al., 1977). Presume-se que um domo daquelas dimensões representa um fenómeno importante, possivelmente relacionado com descompressão e fusão parcial (Le Bas, 1980) que forneceria a fonte dos magmas que originaram as ilhas (Stillman et al., 1982). As ilhas se teriam implantado por um mecanismo do tipo "hot-spot", de acordo com alguns autores.

Forward induction and the excess capacity puzzle: An experimental investigation

While the theoretical industrial organization literature has long arguedthat excess capacity can be used to deter entry into markets, there islittle empirical evidence that incumbent firms effectively behave in thisway. Bagwell and Ramey (1996) propose a game with a specific sequence ofmoves and partially-recoverable capacity costs in which forward inductionprovides a theoretical rationalization for firm behavior in the field. Weconduct an experiment with a game inspired by their work. In our data theincumbent tends to keep the market, in contrast to what the forwardinduction argument of Bagwell and Ramey would suggest. The results indicatethat players perceive that the first mover has an advantage without havingto pre-commit capacity. In our game, evolution and learning do not driveout this perception. We back these claims with data analysis, atheoretical framework for dynamics, and simulation results.

Desmontemos rumores para fomentar la convivencia

Este artículo describe y analiza desde una perspectiva crítica el proyecto “Desmontemos rumores para fomentar la convivencia”, desarrollado en los últimos años en Sant Boi de Llobregat como parte del “Programa de convivencia”, impulsado por la Unidad de Educación Comunitaria y Civismo del ayuntamiento local. Se pone especial énfasis en las actividades realizadas en el marco de la Red de educadores y alumnos por la convivencia, que ha sido una pieza clave para impulsar el proyecto entre los adolescentes y los jóvenes de la ciudad.