Autonomous underwater vehicle control using reinforcement learning policy search methods

Autonomous underwater vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of subsea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an autonomous robot. The system is characterized by the use of reinforcement learning direct policy search methods (RLDPS) for learning the internal state/action mapping of some behaviors. We demonstrate its feasibility with simulated experiments using the model of our underwater robot URIS in a target following task

The impact of the direct foreign investment in Colombia

La inversión extranjera directa en Colombia es un asunto que particularmente desde 1990 ha venido tomando fuerza y que a su vez genera múltiples cuestiones. Para abordar el impacto que la IED ha tenido en Colombia se hace necesario hacer un acercamiento teórico para comprender el concepto, pasando por el estudio del caso latinoamericano para después seleccionar los principales sectores de la economía colombiana y en los cuales la IED ha jugado un rol destacado, como es el caso del sector financiero, la industria manufacturera, el sector de electricidad, gas y agua, el sector de transporte, almacenamiento y comunicaciones y el sector petróleo. Con ello en mente será posible establecer y medir el impacto económico de la IED, tomando como principal indicador la correlación entre la IED y PIB por sector y otros aspectos como el impacto en el empleo y la transferencia de conocimiento y tecnología. Igualmente es necesario abordar la perspectiva del inversionista y los riesgos y beneficios que corre al invertir en Colombia, esto permitirá ampliar el campo de análisis y establecer otras relaciones e impactos conexos de la IED en los aspectos sociales y culturales del país. Gracias a estos análisis será posible emitir un juicio de valor sustentado en un análisis científico detallado sobre el verdadero impacto de la IED y extendiéndose más allá del campo económico.

Leakage Detection And Localization Method Based On A Hybrid Inverse/Direct Modelling Approach Suitable For Handling Multiple-Leak Scenarios

When an accurate hydraulic network model is available, direct modeling techniques are very straightforward and reliable for on-line leakage detection and localization applied to large class of water distribution networks. In general, this type of techniques based on analytical models can be seen as an application of the well-known fault detection and isolation theory for complex industrial systems. Nonetheless, the assumption of single leak scenarios is usually made considering a certain leak size pattern which may not hold in real applications. Upgrading a leak detection and localization method based on a direct modeling approach to handle multiple-leak scenarios can be, on one hand, quite straightforward but, on the other hand, highly computational demanding for large class of water distribution networks given the huge number of potential water loss hotspots. This paper presents a leakage detection and localization method suitable for multiple-leak scenarios and large class of water distribution networks. This method can be seen as an upgrade of the above mentioned method based on a direct modeling approach in which a global search method based on genetic algorithms has been integrated in order to estimate those network water loss hotspots and the size of the leaks. This is an inverse / direct modeling method which tries to take benefit from both approaches: on one hand, the exploration capability of genetic algorithms to estimate network water loss hotspots and the size of the leaks and on the other hand, the straightforwardness and reliability offered by the availability of an accurate hydraulic model to assess those close network areas around the estimated hotspots. The application of the resulting method in a DMA of the Barcelona water distribution network is provided and discussed. The obtained results show that leakage detection and localization under multiple-leak scenarios may be performed efficiently following an easy procedure.

Foreign direct investment spillovers: what can we learn from portuguese data?

This paper investigates the impact of foreign direct investment on the productivity performance of domestic firms in Portugal. The data comprise nine manufacturing sectors for the period 1992-95. Relatively to previous studies, model specification is improved by taking into consideration several aspects: the influence of the “technological gap” on spill-overs diffusion and the choice of its most appropriate interval; sectoral variation in the coefficients of the spill-overs effect; identification of constant, idiosyncratic sectoral factors by means of a fixed effects model; and the search for inter-sectoral positive spillover effects. The relationship between domestic firms productivity and the foreign presence does take place in a positive way, only if a proper technology differential between the foreign and domestic producers exists and the sectoral characteristics are favourable. In broad terms, spillovers diffusion is associated to modern industries in which the foreign owned establishments have a clear, but not too sharp, edge on the domestic ones. Besides, other specific sectoral influences can be pertinent; agglomerative location factors being one example.

Foreign direct investment spillovers: additional lessons from a country study

We investigate the impact of foreign direct investment on the productivity of domestic firms, using sectoral data for Portugal. An improved analysis takes into account the most appropriate interval for the technological gap between foreign and domestic firms. Sectoral variation of spillovers, idiosyncratic sectoral factors and the search for inter-sectoral effects provide new insights on the subject. Significant spillovers require a proper technology differential between the foreign and domestic producers and favourable sectoral characteristics. Broadly, they occur in modern industries in which foreign firms have a clear, but not too sharp, edge on the domestic ones. Agglomeration effects are also identified as pertinent specific influences.

Search for pair production of scalar bottom quarks in p(p)over-bar collisions at root s = 1.96 TeV

A search for direct production of scalar bottom quarks ((b) over bar) is performed with 310 pb(-1) of data collected by the D0 experiment in p (p) over bar collisions at root s = 1.96 TeV at the Fermilab Tevatron Collider. The topology analyzed consists of two b jets and an imbalance in transverse momentum due to undetected neutralinos (chi(0)(1)), with chi(0)(1) assumed to be the lightest supersymmetric particle. We find the data consistent with standard model expectations, and set a 95% C.L. exclusion domain in the (m(b), m(chi 1)(0)) mass plane, improving significantly upon the results from run I of the Tevatron.

Search for heavy Majorana neutrinos in mu(+/-)mu(+/-) + jets and e(+/-)e(+/-) + jets events in pp collisions at root s=7 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

A combined search for the standard model Higgs boson at root S=1.96 TeV

We present new results of the search for WH --> lvb (b) over bar production in p (p) over bar collisions at a center-of-mass energy of root S = 1.96 TeV, based on a dataset with integrated luminosity of 0.44 fb(-1). We combine these new results with previously published searches by the do collaboration, for WH and ZH production analyzed in the E(T)b (b) over bar final state, for ZH (--> l(+)l(-)b (b) over bar) production, for WH (-->. WWW) production, and for H (--> W W) direct production. No signal-like excess is observed either in the W H analysis or in the combination of all D0 Higgs boson analyses. We set 95% C.L. (expected) upper limits on sigma(p (p) over bar --> WH) x B(H --> b (b) over bar) ranging from 1.6 (2.2) ph to 1.9 (3.3) pb for Higgs boson masses between 105 and 145 GeV, to be compared to the theoretical prediction of 0.13 pb for a Standard Model (SM) Higgs boson with mass in m(H) = 115 GeV. After combination with the other do Higgs boson searches, we obtain for in H = 115 GeV an observed (expected) limit 8.5 (12.1) times higher than the SM predicted Higgs boson production cross section. For m(H) = 160 GeV, the corresponding observed (expected) ratio is 10.2 (9.0). (C) 2008 Elsevier B.V. All rights reserved.

Search for anomalous Wtb couplings in single top quark production in p(p)over-bar collisions at root s=1.96 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Search for microscopic black hole signatures at the Large Hadron Collider

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Search for first generation scalar leptoquarks in the e nu jj channel in pp collisions at root s=7 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Search for Anomalous Wtb Couplings in Single Top Quark Production

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Search for Sneutrino Production in e mu Final States in 5.3 fb(-1) of p(p)over-bar Collisions at root s = 1.96 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Search for Pair Production of First-Generation Scalar Leptoquarks in pp Collisions at root s=7 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Search for dark matter and large extra dimensions in monojet events in pp collisions at root s=7 TeV

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)