Efficient learning of reactive robot behaviors with a Neural-Q_learning approach

The purpose of this paper is to propose a Neural-Q_learning approach designed for online learning of simple and reactive robot behaviors. In this approach, the Q_function is generalized by a multi-layer neural network allowing the use of continuous states and actions. The algorithm uses a database of the most recent learning samples to accelerate and guarantee the convergence. Each Neural-Q_learning function represents an independent, reactive and adaptive behavior which maps sensorial states to robot control actions. A group of these behaviors constitutes a reactive control scheme designed to fulfill simple missions. The paper centers on the description of the Neural-Q_learning based behaviors showing their performance with an underwater robot in a target following task. Real experiments demonstrate the convergence and stability of the learning system, pointing out its suitability for online robot learning. Advantages and limitations are discussed

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Development of designed site-directed pseudopeptide-peptido-mimetic immunogens as novel minimal subunit-vaccine candidates for malaria

Synthetic vaccines constitute the most promising tools for controlling and preventing infectious diseases. When synthetic immunogens are designed from the pathogen native sequences, these are normally poorly immunogenic and do not induce protection, as demonstrated in our research. After attempting many synthetic strategies for improving the immunogenicity properties of these sequences, the approach consisting of identifying high binding motifs present in those, and then performing specific changes on amino-acids belonging to such motifs, has proven to be a workable strategy. In addition, other strategies consisting of chemically introducing non-natural constraints to the backbone topology of the molecule and modifying the a-carbon asymmetry are becoming valuable tools to be considered in this pursuit. Non-natural structural constraints to the peptide backbone can be achieved by introducing peptide bond isosters such as reduced amides, partially retro or retro-inverso modifications or even including urea motifs. The second can be obtained by strategically replacing L-amino-acids with their enantiomeric forms for obtaining both structurally site-directed designed immunogens as potential vaccine candidates and their Ig structural molecular images, both having immunotherapeutic effects for preventing and controlling malaria.

Gestión del riesgo de desastres en el contexto de la Ola Invernal 2010-2011. Estudio de caso municipio de Campo de la Cruz, Atlántico.

El objetivo de este estudio de caso es analizar los procesos de gestión del riesgo de desastres por inundación en el municipio de Campo de la Cruz, al sur del Atlántico, en el contexto de la ola invernal 2010-2011. La ruptura del Canal del Dique, el 30 de diciembre de 2010, implicó la entrada de una gran cantidad de agua al departamento del Atlántico, afectando el 100% del municipio. La normativa colombiana en materia de gestión del riesgo de desastres es reciente, de ahí que su aplicación se haya producido efectivamente con el fenómeno a estudiar en este trabajo. Así, se identifican aquellas características del ordenamiento municipal y de la ola invernal para después analizar sus efectos sobre el municipio. Las inundaciones afectaron tanto a la población como al territorio, especialmente porque éste no estaba preparado ni contaba con las suficientes herramientas para mitigar los riesgos. En este sentido, el presente trabajo identifica los instrumentos de planificación y gestión que permiten consolidar la gestión del riesgo de desastres como una política de estado ligada a lo territorial, pero al mismo tiempo desde una perspectiva integral en la que predomine el enfoque preventivo más que el reactivo.

Materiales para el Web-Site del IES Jaime Gil de Biedma.

Se desarrolla un proyecto de innovación educativa que se plantea para fomentar el conocimiento y el uso de la tecnologías de la información y la comunicación entre el profesorado y el alumnado. Se intenta mejorar el desarrollo educativo del alumnado y la cohesión de la comunidad educativa, así como aumentar la eficacia en el cumplimiento de la función social como centro público de enseñanza. El proyecto se estructura en tres fases: análisis de las necesidades de comunicación institucional, información administrativa, participación didáctica para el alumnado y profesorado y participación cultural para la comarca; realización de páginas que componen las diferentes secciones que incluye la realización de las imágenes y contenidos multimedia necesarios para componer las páginas; recopilación e incorporación de información, documentación, materiales didácticos y contenidos culturales. El diseño del Web-Site intenta recoger toda la información que resulte útil a la comunidad educativa, por ello se realizan evaluaciones de su contenido periódicamente. El trabajo de cada uno de los miembros del grupo es evaluado por el resto de los compañeros, y es presentando cada trimestre al equipo directivo. El equipo directivo valora como muy bueno y de calidad el trabajo desarrollado en el proyecto de innovación.

Implementación del formato RSS (Rich Site Summary) en procesos de gestión y comunicación electrónica en instituciones educativas, públicas y empresariales.

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Electronic couplings and on-site energies for hole transfer in DNA: systematic quantum mechanical/molecular dynamic study

The electron hole transfer (HT) properties of DNA are substantially affected by thermal fluctuations of the π stack structure. Depending on the mutual position of neighboring nucleobases, electronic coupling V may change by several orders of magnitude. In the present paper, we report the results of systematic QM/molecular dynamic (MD) calculations of the electronic couplings and on-site energies for the hole transfer. Based on 15 ns MD trajectories for several DNA oligomers, we calculate the average coupling squares 〈 V2 〉 and the energies of basepair triplets X G+ Y and X A+ Y, where X, Y=G, A, T, and C. For each of the 32 systems, 15 000 conformations separated by 1 ps are considered. The three-state generalized Mulliken-Hush method is used to derive electronic couplings for HT between neighboring basepairs. The adiabatic energies and dipole moment matrix elements are computed within the INDO/S method. We compare the rms values of V with the couplings estimated for the idealized B -DNA structure and show that in several important cases the couplings calculated for the idealized B -DNA structure are considerably underestimated. The rms values for intrastrand couplings G-G, A-A, G-A, and A-G are found to be similar, ∼0.07 eV, while the interstrand couplings are quite different. The energies of hole states G+ and A+ in the stack depend on the nature of the neighboring pairs. The X G+ Y are by 0.5 eV more stable than X A+ Y. The thermal fluctuations of the DNA structure facilitate the HT process from guanine to adenine. The tabulated couplings and on-site energies can be used as reference parameters in theoretical and computational studies of HT processes in DNA

Selenium cycling in volcanic environments: the role of soils as reactive interfaces

Selenium (Se) is an element with important health implications that is emitted in significant amounts from volcanoes. Attracted by the fertility of volcanic soils, around 10% of the world population lives within 100 km of an active volcano. Nevertheless, the behaviour of Se in volcanic environments is poorly understood. Therefore, the main aim of this thesis is to investigate the role of soils in the Se cycling in volcanic environments. Prior to the geochemical studies, precise and accurate methods for the determination of Se contents, speciation and isotopic signatures were developed. Afterwards, a combination of field studies and lab controlled experiments were performed with soils from two contrasting European volcanic settings: Mount Etna in Sicily (Italy) and Mount Teide in Tenerife (Spain). The results showed a strong link between Se behaviour and soil development, indicating that Se mobility in volcanic soils is controlled by sorption processes and soil mineralogy.