Complementary filter design with three frequency bands: robot attitude estimation

This paper extents the by now classic sensor fusion complementary filter (CF) design, involving two sensors, to the case where three sensors that provide measurements in different bands are available. This paper shows that the use of classical CF techniques to tackle a generic three sensors fusion problem, based solely on their frequency domain characteristics, leads to a minimal realization, stable, sub-optimal solution, denoted as Complementary Filters3 (CF3). Then, a new approach for the estimation problem at hand is used, based on optimal linear Kalman filtering techniques. Moreover, the solution is shown to preserve the complementary property, i.e. the sum of the three transfer functions of the respective sensors add up to one, both in continuous and discrete time domains. This new class of filters are denoted as Complementary Kalman Filters3 (CKF3). The attitude estimation of a mobile robot is addressed, based on data from a rate gyroscope, a digital compass, and odometry. The experimental results obtained are reported.

Resistência aos cloretos e aos sulfatos de argamassas de cal aérea e diferentes pozolanas

Seminário Internacional COMPASS – Sais Solúveis em Argamassas de Edifícios Antigos. Lisboa, LNEC, Fevereiro 2005, p.9.1-9.14

eVentos 2 - Autonomous sailboat control

Dissertação para obtenção do Grau de Mestre em Engenharia Electrotécnica e de Computadores

Os sentidos da educação religiosa na construção do eu contemporâneo: espiritualidades juvenis

Dissertação de mestrado em Ciências da Educação (área de especialização em Sociologia da Educação e Políticas Educativas)

Growth and Survival Determinants of Chinese Private Firms: Fieldwork evidence and econometric estimates

This paper reports on one of the first empirical attempts to investigate small firm growth and survival, and their determinants, in the Peoples’ Republic of China. The work is based on field work evidence gathered from a sample of 83 Chinese private firms (mainly SMEs) collected initially by face-to-face interviews, and subsequently by follow-up telephone interviews a year later. We extend the models of Gibrat (1931) and Jovanovic (1982), which traditionally focus on size and age alone (e.g. Brock and Evans, 1986), to a ‘comprehensive’ growth model with two types of additional explanatory variables: firm-specific (e.g. business planning); and environmental (e.g. choice of location). We estimate two econometric models: a ‘basic’ age-size-growth model; and a ‘comprehensive’ growth model, using Heckman’s two-step regression procedure. Estimation is by log-linear regression on cross-section data, with corrections for sample selection bias and heteroskedasticity. Our results refute a pure Gibrat model (but support a more general variant) and support the learning model, as regards the consequences of size and age for growth; and our extension to a comprehensive model highlights the importance of location choice and customer orientation for the growth of Chinese private firms. In the latter model, growth is explained by variables like planning, R&D orientation, market competition, elasticity of demand etc. as well as by control variables. Our work on small firm growth achieves two things. First, it upholds the validity of ‘basic’ size-age-growth models, and successfully applies them to the Chinese economy. Second, it extends the compass of such models to a ‘comprehensive’ growth model incorporating firm-specific and environmental variables.

Growth and Survival Determinants of Chinese Private Firms: Fieldwork evidence and econometric estimates

This paper reports on one of the first empirical attempts to investigate small firm growth and survival, and their determinants, in the Peoples’ Republic of China. The work is based on field work evidence gathered from a sample of 83 Chinese private firms (mainly SMEs) collected initially by face-to-face interviews, and subsequently by follow-up telephone interviews a year later. We extend the models of Gibrat (1931) and Jovanovic (1982), which traditionally focus on size and age alone (e.g. Brock and Evans, 1986), to a ‘comprehensive’ growth model with two types of additional explanatory variables: firm-specific (e.g. business planning); and environmental (e.g. choice of location). We estimate two econometric models: a ‘basic’ age-size-growth model; and a ‘comprehensive’ growth model, using Heckman’s two-step regression procedure. Estimation is by log-linear regression on cross-section data, with corrections for sample selection bias and heteroskedasticity. Our results refute a pure Gibrat model (but support a more general variant) and support the learning model, as regards the consequences of size and age for growth; and our extension to a comprehensive model highlights the importance of location choice and customer orientation for the growth of Chinese private firms. In the latter model, growth is explained by variables like planning, R&D orientation, market competition, elasticity of demand etc. as well as by control variables. Our work on small firm growth achieves two things. First, it upholds the validity of ‘basic’ size-age-growth models, and successfully applies them to the Chinese economy. Second, it extends the compass of such models to a ‘comprehensive’ growth model incorporating firm-specific and environmental variables.

L'individualisation constitue-t-elle encore le paradigme de la religion en modernité tardive?

Les recherches sur les croyances ont notoirement accrédité la théorie de l'individualisation de la religion. En réduisant nolens volens la religion à un croire, elles ont contribué à cette interprétation reprise à l'envi par les médias. Sans totalement renier cette perspective, nous explorons ci-après l'hypothèse de la dualisation de la religion en modernité tardive. Elle nous paraît mieux à même de rendre compte d'un processus complexe de changement qui articule religion traditionnelle et religion commune sans forcément les opposer. A l'aide des données empruntées à nos recherches de 1989 et 1999, nous essayons de montrer comment la culture travaille le champ religieux dans le vens annoncé.

The Evangelical Milieu : Defining Criteria and Reproduction across the Generation

The authors give the first description of evangelicalism in Switzerland using representative data. It is shown that evangelicalism can be conceived of as a "milieu" which is characterized by certain structural and cultural traits, boundaries and high internal communication. The relative success of the evangelical milieu compared to other religious milieus is explained by its remarkable ability to retain its own numerous offspring, while on the other hand providing a "religious product" that is also attractive to people without an evangelical familial background. Les auteurs utilisent des données représentatives afin de faire, pour la première fois, une description de l'évangélisme en Suisse. Ils montrent qu'on peut parler de l'évangélisme comme d'un "milieu'' qui se caractérise par certains attributs structurels et culturels, des frontières et une communication interne élevée. Le succès relatif du milieu évangélique comparé à d'autres milieux s'explique par sa capacité remarquable à retenir les enfants de ses membres dans le mouvement tout en offrant un "produit religieux'' attractif aux personnes sans arrière-fond évangélique.

What Price Salvation? The Exchange of Salvation goods between India and the West

Does Weber's notion of salvation goods, along with the connected one of the religious market, apply to the modern history of yoga? The case study chosen here (the yoga of Pattabhi Jois) clearly shows that these notions highlight many aspects of the expansion of yoga into a global market product. However, the notion of salvation goods resists the new hermeneutical situation of encounter and has to be adapted to the present situation of religious "patchwork". The notion of religious market lacks depth to describe the various understandings and appropriations of yoga in precise historical situations. Other aspects of the current global status of yoga may be highlighted by applying the concept of pilgrimage. La notion de bien de salut que nous lègue Max Weber et la notion de marché religieux qui en découle peuvent-elles s'appliquer à l'histoire moderne du yoga? L'étude de cas que nous consacrons au yoga de Pattabhi Jois montre que ces notions éclairent bien certains aspects de l'expansion du yoga en tant que produit d'un marché globalisé. Cependant la notion de bien de salut résiste à une réflexion de type herméneutique sur les processus de rencontres et doit être adaptée à la situation contemporaine, ou` les religions se présentent comme des ensembles composites. La notion de marché religieux ne permet pas d'expliquer les diverses compréhensions et appropriations du yoga dans des situations historiques précises. D'autres aspects de la situation du yoga sont mieux explicités si on prend le concept de pèlerinage comme point de référence.

Appartenances en fête: entre l'ordinaire et le spectaculaire

Résumé Alors que les pratiques religieuses régulières diminuent et que les groupes religieux majoritaires perdent des membres formellement enregistrés, une évènementisation de l'appartenance religieuse peut être observée depuis environ deux décennies. Dans un premier exemple, l'auteure montre que le réseau transnational de la confrérie soufie des Mourides resserre les liens entre adeptes dans un contexte migratoire qui tend à fragiliser les relations sociales. La confrérie y fait face à travers une spectacularisation de la pratique religieuse, occupant l'espace public à Harlem ou, dans une moindre mesure, à Paris. Le second exemple traite du pèlerinage aux Saintes et Saints d'Afrique dans la ville valaisanne de Saint Maurice. Ce dernier fut inventé par l'Église catholique suisse afin d'attirer des migrants africains, mais aussi afin de redynamiser une pratique religieuse ordinaire en perte de vitesse. L'évènement a lieu en même temps que le pèlerinage de Namugongo en Ouganda, réunissant plus d'un demi-million de personnes. Les communautés évènementielles ainsi créées sont-elles durables ou plutôt liquides ? Abstract While regular religious practice is decreasing and the major religious groups are losing formally registered members, a 'spectacularization' of religious belonging can be observed over the last two decades. The author presents two examples to support this argument. In the first, the transnational network of the Murids, a Sufi brotherhood, has tried to reinforce the relations between its members, which become fragile during migration. The brotherhood occupies a public space in Harlem, and, to a lesser extent, in Paris, in a spectacularization of religious belonging, in order to remain attractive to migrants. The second example deals with the pilgrimage dedicated to African Saints in the Swiss town of Saint Maurice. This event was invented by the missionary service of the Swiss Catholic Church in order to attract African migrants, but also in order to make ordinary religious practice more appealing. The event takes place at the same time as the Ugandan pilgrimage of Namugongo, which assembles more than half a million people. However, are these 'event communities' sustainable or ephemeral?

De l'affliction à la prédication: quand les souffrants parlent à la communauté

Comment les fidèles confrontés à la souffrance peuvent-ils se présenter à leurs coreligionnaires, dans les milieux charismatiques, où prédomine l'idée du juste béni par le bien-être et la santé? C'est ce que l'auteur a entrepris d'élucider au travers d'une enquête ethnographique dans une communauté évangélique charismatique, à Genève. Il a focalisé son attention sur les témoignages de souffrants prononcés lors d'un même culte-la particularité étant de relever les interactions d'individus s'expliquant à d'autres membres dans un contexte habituel. À vrai dire, ces personnes malades, que les prières de guérison n'ont pu aider efficacement, se trouvent dans une position de légitimation difficile face à leur environnement de croyance. L'auteur montre que, au-delà de leur justification, l'argumentaire implique une explication de la souffrance endurée, laquelle provoque du même coup un renversement de statut des intervenants. De stigmatisées, les personnes souffrantes deviennent des figures charismatiques priant pour les autres membres de la communauté.