Effect of choice of basis functions in neural network for capturing unknown function for dynamic inversion control

The basic requirement for an autopilot is fast response and minimum steady state error for better guidance performance. The highly nonlinear nature of the missile dynamics due to the severe kinematic and inertial coupling of the missile airframe as well as the aerodynamics has been a challenge for an autopilot that is required to have satisfactory performance for all flight conditions in probable engagements. Dynamic inversion is very popular nonlinear controller for this kind of scenario. But the drawback of this controller is that it is sensitive to parameter perturbation. To overcome this problem, neural network has been used to capture the parameter uncertainty on line. The choice of basis function plays the major role in capturing the unknown dynamics. Here in this paper, many basis function has been studied for approximation of unknown dynamics. Cosine basis function has yield the best response compared to any other basis function for capturing the unknown dynamics. Neural network with Cosine basis function has improved the autopilot performance as well as robustness compared to Dynamic inversion without Neural network.

De-DUFing the DUFs: Deciphering distant evolutionary relationships of Domains of Unknown Function using sensitive homology detection methods

Background: In the post-genomic era where sequences are being determined at a rapid rate, we are highly reliant on computational methods for their tentative biochemical characterization. The Pfam database currently contains 3,786 families corresponding to ``Domains of Unknown Function'' (DUF) or ``Uncharacterized Protein Family'' (UPF), of which 3,087 families have no reported three-dimensional structure, constituting almost one-fourth of the known protein families in search for both structure and function. Results: We applied a `computational structural genomics' approach using five state-of-the-art remote similarity detection methods to detect the relationship between uncharacterized DUFs and domain families of known structures. The association with a structural domain family could serve as a start point in elucidating the function of a DUF. Amongst these five methods, searches in SCOP-NrichD database have been applied for the first time. Predictions were classified into high, medium and low-confidence based on the consensus of results from various approaches and also annotated with enzyme and Gene ontology terms. 614 uncharacterized DUFs could be associated with a known structural domain, of which high confidence predictions, involving at least four methods, were made for 54 families. These structure-function relationships for the 614 DUF families can be accessed on-line at http://proline.biochem.iisc.ernet.in/RHD_DUFS/. For potential enzymes in this set, we assessed their compatibility with the associated fold and performed detailed structural and functional annotation by examining alignments and extent of conservation of functional residues. Detailed discussion is provided for interesting assignments for DUF3050, DUF1636, DUF1572, DUF2092 and DUF659. Conclusions: This study provides insights into the structure and potential function for nearly 20 % of the DUFs. Use of different computational approaches enables us to reliably recognize distant relationships, especially when they converge to a common assignment because the methods are often complementary. We observe that while pointers to the structural domain can offer the right clues to the function of a protein, recognition of its precise functional role is still `non-trivial' with many DUF domains conserving only some of the critical residues. It is not clear whether these are functional vestiges or instances involving alternate substrates and interacting partners. Reviewers: This article was reviewed by Drs Eugene Koonin, Frank Eisenhaber and Srikrishna Subramanian.

Models and algorithms for tracking of maneuvering objects using variable rate particle filters

Standard algorithms in tracking and other state-space models assume identical and synchronous sampling rates for the state and measurement processes. However, real trajectories of objects are typically characterized by prolonged smooth sections, with sharp, but infrequent, changes. Thus, a more parsimonious representation of a target trajectory may be obtained by direct modeling of maneuver times in the state process, independently from the observation times. This is achieved by assuming the state arrival times to follow a random process, typically specified as Markovian, so that state points may be allocated along the trajectory according to the degree of variation observed. The resulting variable dimension state inference problem is solved by developing an efficient variable rate particle filtering algorithm to recursively update the posterior distribution of the state sequence as new data becomes available. The methodology is quite general and can be applied across many models where dynamic model uncertainty occurs on-line. Specific models are proposed for the dynamics of a moving object under internal forcing, expressed in terms of the intrinsic dynamics of the object. The performance of the algorithms with these dynamical models is demonstrated on several challenging maneuvering target tracking problems in clutter. © 2006 IEEE.

微米尺度结构最大抗扭强度的在线测试和研究

提出了一种新型的测试结构，对面积为微米量级下键合的最大抗扭强度进行了测试) 实验设计一系列的单晶硅悬臂梁结构测试键合面积在微米量级时的最大剪切力，键合面为常用的矩形其边长从*!+ 到!#$!+，并根据实际移动距离计算得出的最大剪切力) 并实验实际得出最大剪切扭矩和相应的键合面积的曲线，以及最大扭转剪切破坏应力与悬臂梁加载距离的关系，并针对*$!+, *$!+ 的矩形键合结构进行了加载和位移的重复性实验测量，两次测量结果符合较好) 微电子机械系统（+-./0121.3/0+1.456-.52 78731+，9:9;）器件的设计人员可以根据结论曲线，针对所需的抗扭强度设计相应的键合面积，为9:9; 器件工艺的在线定量测试与设计提供参考)

Robust approach to dynamic statistical process control

Statistical Process Control (SPC) technique are well established across a wide range of industries. In particular, the plotting of key steady state variables with their statistical limit against time (Shewart charting) is a common approach for monitoring the normality of production. This paper aims with extending Shewart charting techniques to the quality monitoring of variables driven by uncertain dynamic processes, which has particular application in the process industries where it is desirable to monitor process variables on-line as well as final product. The robust approach to dynamic SPC is based on previous work on guaranteed cost filtering for linear systems and is intended to provide a basis for both a wide application of SPC monitoring and also motivate unstructured fault detection.

Actitudes hacia la publicidad convencional e interactiva por parte de los futuros publicitarios. Un análisis comparativo por sexo

Pese al volumen de investigaciones centradas en las actitudes de la población en general hacia la publicidad, hasta ahora no se había valorado la percepción de los profesionales sobre el elenco de productos que elaboran. En un contexto en el que la comunicación comercial en Internet acapara cada vez más inversiones de los anunciantes, este trabajo examina las actitudes de los estudiantes de publicidad hacia la publicidad convencional y en la red, con especial atención a las diferencias en función de sexo. Los resultados apuntan a que los futuros publicitarios son más críticos que la población en general y a que esta apreciación se agudiza en el caso de la publicidad interactiva y en el caso de las mujeres. Habida cuenta de la feminización creciente de esta profesión, y a la luz de los resultados, cabe reflexionar sobre las repercusiones que estas posturas tendrán sobre los futuros contenidos y estrategias de la publicidad en red.

Forward Smoothing Using Sequential Monte Carlo

Sequential Monte Carlo (SMC) methods are a widely used set of computational tools for inference in non-linear non-Gaussian state-space models. We propose a new SMC algorithm to compute the expectation of additive functionals recursively. Essentially, it is an on-line or "forward only" implementation of a forward filtering backward smoothing SMC algorithm proposed by Doucet, Godsill and Andrieu (2000). Compared to the standard \emph{path space} SMC estimator whose asymptotic variance increases quadratically with time even under favorable mixing assumptions, the non asymptotic variance of the proposed SMC estimator only increases linearly with time. We show how this allows us to perform recursive parameter estimation using an SMC implementation of an on-line version of the Expectation-Maximization algorithm which does not suffer from the particle path degeneracy problem.

La compañía de los sofistas : Maquiavelo, objetor de Althusser

Resumen: El estudio de Maquiavelo fue recurrente en Louis Althusser. Maquiavelo le permitía repensar la acción política, sin que eso supusiera la existencia a priori de un sujeto a quién la teoría le reconociera axiomáticamente la capacidad de llevar a cabo esa acción. Este artículo ofrece un análisis de la conferencia dictada por Althusser en el Instituto de Ciencias Políticas de París, en 1977, en la que no sólo propone esta lectura del florentino, sino una concepción no acumulativa de historia, que posibilita una apropiación diferenciada de la antigüedad.

Dos formatos (papel y online) de un programa educativo para la mejora del autoconcepto físico

[Es] El autoconcepto físico juega un papel decisivo en el bienestar personal y la prevención de trastornos y dificultades de conducta. De ahí la importancia de ayudar educativamente al desarrollo de adecuadas autopercepciones físicas. En este artículo se ofrece un análisis comparativo de dos formatos (papel y on line) de un mismo programa de intervención educativa para la mejora del autoconcepto implementado con estudiantes universitarios. Los datos obtenidos en la medida del autoconcepto físico no confirman una mejora significativa, lo cual no necesariamente desacredita el programa ya que puede atribuirse en parte a determinadas limitaciones observadas en la aplicación del mismo. Por otra parte, la valoración del programa que realizan los sujetos participantes es notablemente positiva, en particular, la de quienes han utilizado la versión on line.

Democracia eletrônica para quem? : Quem são, o que querem e como os cidadãos avaliam o portal da Câmara dos Deputados

A dissertação busca responder em que medida todas as possibilidades de interação ofertadas pelo Portal da Câmara dos Deputados atendem às necessidades de interação política dos cidadãos que utilizam estes novos canais. Quem são os usuários destas novas ferramentas? Qual a avaliação que eles fazem destes novos canais? Qual é a opinião deles sobre as possibilidades de participação eletrônica? O principal aspecto teórico abordado nesta dissertação é a seguinte discussão: a internet replica formas de participação tradicionais ou é realmente capaz de fazer com que mais cidadãos, incluindo aqueles que estão alheios e desinteressados, participem? Essas questões foram direcionadas ao Portal da Câmara dos Deputados do Brasil, que, ao longo dos últimos anos, soube adaptar-se e promover um espaço de amplo acesso a informações legislativas, com capacidade de contato e interação entre o cidadão e o seu representante e é considerado, atualmente, o melhor portal legislativo da América do Sul. A dissertação utilizou duas metodologias distintas. A primeira consistiu em analisar as estatísticas de acesso ao Portal, identificando assim os padrões de acesso: os sites de referência e os caminhos de busca através dos quais se chega ao Portal. A segunda consistiu na condução de um Web Survey para coletar a opinião dos usuários. O questionário aplicado teve como objetivo coletar avaliações das ferramentas disponibilizadas pelo Portal, identificar o perfil dos usuários e compreender-lhes o comportamento político no mundo off-line. Um dos principais achados é o de que a Democracia Eletrônica desenvolvida pelo Portal da Câmara dos Deputados tem servido mais aos profissionais da política que ao cidadão comum. Mas, mesmo assim, o cidadão comum, interessado em buscar participação, contato e interação com os atores políticos, está procurando essas ferramentas on-line. Palavras chaves: Democracia Eletrônica, Câmara dos Deputados, pesquisa on-line, estatísticas de acesso.

空间机械臂在线实时避障路径规划研究

针对目前空间机械臂避障路径规划算法计算量大难以达到在线实时规划的缺点,对空间机械臂的在线实时避障路径规划问题进行了研究和探讨.采用规则体的包络对障碍物进行建模,并借助C空间法的思想,把障碍物和机械臂映射到两个相互垂直的平面内,将机械臂工作空间的三维问题转化为二维问题,并结合二岔树逆向寻优的方法进行路径搜索,从而大大减少了计算量,达到了在线实时规划的要求.最后在空间机器人仿真系统上对其进行了仿真研究,验证了该方法的可行性.

Lengua y derecho a la educación en la Comunidad Autónoma del País Vasco : reflexiones jurídicas sobre el tránsito hacia un nuevo modelo

The article analyzes the legal regime of Euskara in the education system of the Autonomous Community of the Basque Country (capv). In the capv, the legislation recognizes the right to choose the language of study during the educational cycle. The students are separated into different classrooms based on their language preference. This system of separation (of language models) has made it possible to make great strides, although its implementation also suggests aspects which, from the perspective of a pluralistic Basque society on its way towards greater social, political and language integration, call for further reflection The general model for language planning in the capv was fashioned in the eighties as a model characterized by the guarantee of spaces of language freedom, and the educational system was charged with making the learning of the region’s autochthonous language more widespread. At this point, we already have a fair degree of evidence on which to base an analysis of the system of language models and we are in a position to conclude that perhaps the educational system was given too heavy a burden. Official studies on language performance of Basque schoolchildren show (in a way that is now fully verified) that not all the students who finish their mandatory period of schooling achieve the level of knowledge of Euskara required by the regulations. When faced with this reality, it becomes necessary for us to articulate some alternative to the current configuration of the system of language models, one that will make it possible in the future to have a Basque society that is linguistically more integrated, thereby avoiding having the knowledge or lack of knowledge of one of the official languages become a language barrier between two communities. Many sides have urged a reconsideration of the system of language models. The Basque Parliament itself has requested the Department of Education to design a new system. This article analyzes the legal foundations on which the current system is built and explores the potential avenues for legal cooperation that would make it possible to move towards a new system aimed at guaranteeing higher rates of bilingualism. The system would be sufficiently flexible so as to be able to respond to and accommodate the different sociolinguistic realities of the region.

Régimen jurídico de las lenguas y reconocimiento de la diversidad lingüística en el Tratado por el que se establece una Constitución para Europa

The territory of the European Union is made up of a rich and wide-ranging universe of languages, which is not circumscribed to the «State languages». The existence of multilingualism is one of Europe’s defining characteristics and it should remain so in the constantly evolving model of Europe’s political structure. Nonetheless, until now, the official use of languages has been limited to the «State languages» and has been based on a concept of state monolingualism that has led to a first level of hierarchization among the languages of Europe. This has affected the very concept of European language diversity. The draft of the treaty establishing a European Constitution contains various language-related references that can be grouped in two major categories: on the one hand, those references having to do the constitutional status of languages, and on the other, those regarding the recognition of European language diversity. Both issues are dealt with in this article. In analyzing the legal regime governing languages set forth in the draft of the constitutional treaty, we note that the draft is not based on the concept of the official status of languages. The language regulation contained in the draft of the constitutional treaty is limited in character. The constitutional language regime is based on the concept of Constitutional languages but the official status of languages is not governed by this rule. The European Constitution merely enunciates rights governing language use for European citizens vis-à-vis the languages of the Constitution and refers the regulation of the official status of languages to the Council, which is empowered to set and modify that status by unanimous decision. Because of its broad scope, this constitutes a regulatory reservation. In the final phase of the negotiation process a second level of constitutional recognition of languages would be introduced, linked to those that are official languages in the member states (Catalan, Basque, Galician, etc.). These languages, however, would be excluded from the right to petition; they would constitute a tertium genus, an intermediate category between the lan guages benefiting from the language rights recognized under the Constitution and those other languages for which no status is recognized in the European institutional context. The legal functionality of this second, intermediate category will depend on the development of standards, i.e., it will depend on the entrée provided such languages in future reforms of the institutional language regime. In a later section, the article reflects on European Union language policy with regard to regional or minority languages, concluding that the Union has not acted in accordance with defined language policy guidelines when it has been confronted, in the exercise of its powers, with regional or minority languages (or domestic legislation having to do with language demands). The Court of Justice has endeavoured to resolve on a case by case basis the conflicts raised between community freedoms and the normative measures that protect languages. Thus, using case law, the Court has set certain language boundaries for community freedoms. The article concludes by reflecting on the legal scope of the recognition of European language diversity referred to in Article II-82 of the European Constitution and the possible measures to implement the precept that might constitute the definition of a true European language policy on regional or minority languages. Such a policy has yet to be defined.

Apuntes jurídicos sobre el paisaje lingüístico en Euskal Herria

This paper is a study of place-names and signs in the Basque Country from the point of view of language law. These are matters that relate to both the status and corpus of language and contribute to the formation of the language landscape,» After a brief historical introduction, the author focuses on the factors that bear on signs and the language 1andscape: the cornpetence factor and the language factor. The description of the latter leads the author to a discussion of the existing language system, in which the Spanish and Basque sharing official status does not necessarily entail the obligation to use both languages at the same time. Using this discussion as a frame of reference, the au- thor analyses place-names, traffic signals and signs. As for place-names, the existing rules are deemed rigid and lacking in ambition, in that they do not pursue the dissemination of official Basque forms. In traffic signaIs, Basque has to appear alongside Spanish, which is required by Spanish legislation, although this bilingualism excludes place-names that have an official Basque form only. With regard to signs, the author analyses public premises, companies licensed to provide public services and the private sector. For public premises there is no specific regulation, but the status of Basque as an autochthonous language, together with the identification and informatíon purposes of signs, could support the exclusive use of this language, According to the author , companies licensed to provide public services should observe the same language system as the goverment and therefore promote the use of Basque. Finally, in the private sector, the author upholds the legitimacy of measures to promote Basque language use such as tax allowances and exemptions in advertising and commercial signs.