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

PowerPoint Teaching Template - UoS blue flat.ppt

This PowerPoint file can be used as a template for teaching presentations. This version has a solid blue background and pale grey text on the title slide and all subsequent content slides.

PowerPoint Teaching Template - UoS blue & grey.ppt

This PowerPoint file can be used as a template for teaching presentations. This version has a blue fade background and pale grey text on the title slide and pale grey background and blue text on subsequent content slides.

PowerPoint Teaching Template - UoS blue fade.ppt

This PowerPoint file can be used as a template for teaching presentations. This version has a blue fade background and pale grey text on the title slide and all subsequent content slides.

De Millos y algo más. Estudio sobre la barrabrava Blue Rain en Bogotá

El proyecto está orientado al estudio de las agrupaciones denominadas barras bravas. A través de la etnografía, se explora la cotidianidad de las personas que integran estos grupos. Por tanto, a partir del enfoque en las prácticas individuales y grupales, así como las trayectorias y posiciones de los integrantes de estos grupos en los diferentes espacios sociales, se establece un debate ante las miradas particulares y académicas que condenan o rehabilitan moralmente a las barras bravas.

Blue leaf: Una alternativa diferente de alimentación saludable

Blue Leaf es un proyecto de emprendimiento que consiste en la elaboración y venta directa de bebidas naturales a base de frutas a través de un food truck en la ciudad de Bogotá. Tras revisar algunas tendencias actuales como la cultura Fitness y el Juicing, y tras identificar un problema sobre los hábitos de alimentación desordenados que llevan muchas personas, nace Blue Leaf como una alternativa de alimentación saludable, natural, práctica y diferente. El negocio contará inicialmente con un portafolio de 12 bebidas divididas en tres categorías. Primero, las bebidas alimenticias cuentan con altos contenidos nutricionales y sirven como fuente de alimento práctico y saludable; segundo, las bebidas funcionales, están diseñadas para ofrecer beneficios específicos de salud como desintoxicar, ayudar a bajar de peso o fortalecer las defensas; por último, las bebidas fuente de energía, cuentan con altos niveles de vitaminas y minerales que le permiten a los consumidores recargar energías rápidamente y continuar con sus actividades diarias. Adicionalmente, Blue Leaf ofrecerá la oportunidad a los consumidores de hacer su propia bebida, dándoles la posibilidad de elegir de entre más de 50 ingredientes entre bases, frutas, verduras, hierbas, semillas, adiciones y endulzantes. El proyecto es liderado por Paola Higuera Rodríguez y David Santiago Soto, ambos estudiantes de la Escuela de Administración de la Universidad del Rosario

Del Gossypium las blue jeans. L'an??lisi. L'h??bit de concloure. 'Del Gossypium a los blue jeans. El an??lisis. El h??bito de concluir'

Desarrollo de un cr??dito del ??rea de Tecnolog??a para el ??ltimo curso del ciclo 12-16. La tem??tica presentada permite hacer una valoraci??n de una secuencia de un proceso y de la evoluci??n tecnol??gica del textil. Estructura los contenidos en los temas: fibras textiles, hilatura, tejidos y confecci??n. Para cada tema describe los contenidos conceptuales, de procedimiento y actitudinales, los objetivos did??cticos y las actividades de aprendizaje y evaluaci??n. Presenta el material de soporte planteado para el desarrollo de las veintid??s actividades de aprendizaje.

Big blue whale.

La ballena azul es el animal más grande que ha vivido sobre la Tierra. Ofrece una descripción de la ballena azul, hábitos de alimentación, cuidado de las cría,la migración, y cómo se comunica con un zumbido tan fuerte y tan bajo que puede viajar a miles de kilómetros a través de los mares para llegar a otras ballenas azules. Figuras humanas, un elefante y una jirafa, todos ellos de pie junto a la cola de la ballena para demostrar su tamaño. Recurso para la enseñanza de la lectura. Para invitar a los niños a debatir la portada y el título y preguntarles lo que conocen de esta historia. Es el inicio de una reflexión sobre los textos y sus significados. Los niños pueden aprender a dividir una palabra en sus partes principales y crear nuevas palabras por analogía con las palabras que conocen, o para sugerir otras palabras. Para la lectura en grupos, individual o en parejas.

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.

Priming, mindfulness e efeito placebo: revisão sistemática da literatura e intervenção em trabalhadores blue collar

Os placebos têm sido estudados ao longo dos tempos, apresentando resultados em várias áreas e potencialidades ainda por descobrir. A maneira como os utilizar e explorar mantém-se em aberto em várias áreas de intervenção. Este trabalho pretendeu, com a elaboração de dois artigos, analisar a influência do priming, mindfulness e efeito placebo na actividade física e exercício físico, no que diz respeito a parâmetros de composição corporal e hemodinâmica. Para isso realizou-se a revisão sistemática da literatura do artigo 1, que tinha como objectivo analisar a influência do Priming e Mindfulness como facilitadores do Efeito Placebo com base na Actividade Física, Exercício Físico e alteração de comportamentos visando a saúde. No artigo 2, definiu-se como objectivo principal analisar a influência de uma intervenção com priming na actividade física, composição corporal e pressão arterial em sujeitos com uma actividade profissional blue collar. Os resultados apontam para a validade do priming como instrumento despoletador de mudança no comportamento e efeito placebo. A intervenção realizada não surtiu os efeitos esperados no grupo experimental. O grupo de controlo, por algum factor não controlado, revelou melhorias significativas na maioria dos parâmetros avaliados. Verificou-se que o priming pode ser um instrumento válido na mudança de comportamentos, havendo ainda a necessidade de compreender melhor como é que se deverá aplicar esta ferramenta ao contexto do exercício físico. Um estado de mindfulness mais elevado parece estar associado à facilitação da mudança de comportamento.

Do the Golden-winged Warbler and Blue-winged Warbler Exhibit Species-specific Differences in their Breeding Habitat Use?

We compared habitat features of Golden-winged Warbler (Vermivora chrysoptera) territories in the presence and absence of the Blue-winged Warbler (V. cyanoptera) on reclaimed coal mines in southeastern Kentucky, USA. Our objective was to determine whether there are species specific differences in habitat that can be manipulated to encourage population persistence of the Golden-winged Warbler. When compared with Blue-winged Warblers, Golden-winged Warblers established territories at higher elevations and with greater percentages of grass and canopy cover. Mean territory size (minimum convex polygon) was 1.3 ha (se = 0.1) for Golden-winged Warbler in absence of Blue-winged Warbler, 1.7 ha (se = 0.3) for Golden-winged Warbler coexisting with Blue-winged Warbler, and 2.1 ha (se = 0.3) for Blue-winged Warbler. Territory overlap occurred within and between species (18 of n = 73 territories, 24.7%). All Golden-winged and Blue-winged Warblers established territories that included an edge between reclaimed mine land and mature forest, as opposed to establishing territories in open grassland/shrubland habitat. The mean distance territories extended from a forest edge was 28.0 m (se = 3.8) for Golden-winged Warbler in absence of Blue-winged Warbler, 44.7 m (se = 5.7) for Golden-winged Warbler coexisting with Blue-winged Warbler, and 33.1 m (se = 6.1) for Blue-winged Warbler. Neither territory size nor distances to forest edges differed significantly between Golden-winged Warbler in presence or absence of Blue-winged Warbler. According to Monte Carlo analyses, orchardgrass (Dactylis glomerata), green ash (Fraxinus pennsylvanica) seedlings and saplings, and black locust (Robinia pseudoacacia) saplings were indicative of sites with only Golden-winged Warblers. Sericea lespedeza, goldenrod (Solidago spp.), clematis vine (Clematis spp.), and blackberry (Rubus spp.) were indicative of sites where both species occurred. Our findings complement recent genetic studies and add another factor for examining Golden-winged Warbler population decline. Further, information from our study will aid land managers in manipulating habitat for the Golden-winged Warbler.

Reactive Halogens in the Marine Boundary Layer (RHaMBLe): the tropical North Atlantic experiments

The NERC UK SOLAS-funded Reactive Halogens in the Marine Boundary Layer (RHaMBLe) programme comprised three field experiments. This manuscript presents an overview of the measurements made within the two simultaneous remote experiments conducted in the tropical North Atlantic in May and June 2007. Measurements were made from two mobile and one ground-based platforms. The heavily instrumented cruise D319 on the RRS Discovery from Lisbon, Portugal to São Vicente, Cape Verde and back to Falmouth, UK was used to characterise the spatial distribution of boundary layer components likely to play a role in reactive halogen chemistry. Measurements onboard the ARSF Dornier aircraft were used to allow the observations to be interpreted in the context of their vertical distribution and to confirm the interpretation of atmospheric structure in the vicinity of the Cape Verde islands. Long-term ground-based measurements at the Cape Verde Atmospheric Observatory (CVAO) on São Vicente were supplemented by long-term measurements of reactive halogen species and characterisation of additional trace gas and aerosol species during the intensive experimental period. This paper presents a summary of the measurements made within the RHaMBLe remote experiments and discusses them in their meteorological and chemical context as determined from these three platforms and from additional meteorological analyses. Air always arrived at the CVAO from the North East with a range of air mass origins (European, Atlantic and North American continental). Trace gases were present at stable and fairly low concentrations with the exception of a slight increase in some anthropogenic components in air of North American origin, though NOx mixing ratios during this period remained below 20 pptv. Consistency with these air mass classifications is observed in the time series of soluble gas and aerosol composition measurements, with additional identification of periods of slightly elevated dust concentrations consistent with the trajectories passing over the African continent. The CVAO is shown to be broadly representative of the wider North Atlantic marine boundary layer; measurements of NO, O3 and black carbon from the ship are consistent with a clean Northern Hemisphere marine background. Aerosol composition measurements do not indicate elevated organic material associated with clean marine air. Closer to the African coast, black carbon and NO levels start to increase, indicating greater anthropogenic influence. Lower ozone in this region is possibly associated with the increased levels of measured halocarbons, associated with the nutrient rich waters of the Mauritanian upwelling. Bromide and chloride deficits in coarse mode aerosol at both the CVAO and on D319 and the continuous abundance of inorganic gaseous halogen species at CVAO indicate significant reactive cycling of halogens. Aircraft measurements of O3 and CO show that surface measurements are representative of the entire boundary layer in the vicinity both in diurnal variability and absolute levels. Above the inversion layer similar diurnal behaviour in O3 and CO is observed at lower mixing ratios in the air that had originated from south of Cape Verde, possibly from within the ITCZ. ECMWF calculations on two days indicate very different boundary layer depths and aircraft flights over the ship replicate this, giving confidence in the calculated boundary layer depth.