On Solutions of Holonomic Divided-Difference Equations on Non-Uniform Lattices

The main aim of this paper is the development of suitable bases (replacing the power basis x^n (n\in\IN_\le 0) which enable the direct series representation of orthogonal polynomial systems on non-uniform lattices (quadratic lattices of a discrete or a q-discrete variable). We present two bases of this type, the first of which allows to write solutions of arbitrary divided-difference equations in terms of series representations extending results given in [16] for the q-case. Furthermore it enables the representation of the Stieltjes function which can be used to prove the equivalence between the Pearson equation for a given linear functional and the Riccati equation for the formal Stieltjes function. If the Askey-Wilson polynomials are written in terms of this basis, however, the coefficients turn out to be not q-hypergeometric. Therefore, we present a second basis, which shares several relevant properties with the first one. This basis enables to generate the defining representation of the Askey-Wilson polynomials directly from their divided-difference equation. For this purpose the divided-difference equation must be rewritten in terms of suitable divided-difference operators developed in [5], see also [6].

Economic evaluation of proposed pure and mixed stands in Central Vietnam highlands

In comparison with mixed forest stands, the cultivation of pure plantations in Vietnam entails serious ecological consequences such as loss of biodiversity and higher rate of soil erosion. The economic evaluation is elaborated between pure plantations and mixed forests where the fast-growing tree species are mixed with slow growing tree species which are planted in stripes separating the segments with fast-growing tree species (Acacia sp.). For the evaluation, the input values were used from local costs of goods, services and labour. The results show that the internal rate of return is the highest in the case of pure plantation in comparison with mixed forests – 86% to 77%(first planting pattern: Acacia sp. + noble hardwood species) and 54% (second planting pattern: Acacia + Dipterocarpus sp. + Sindora sp.). The average profit per hectare and year is almost five times higher in the case of mixed stands. The first planting pattern reaches 2,650 $, the second planting pattern 2,280 $ and the pure acacia plantation only 460 $. From an economic point of view, the cultivation of mixed forests that corresponds to the principles of sustainable forestry generates a good economical profit while maintaining habitat complexity and biodiversity.

Optimization-Based Robotic Manipulation for Safe Interaction with Human Operators

This thesis investigates a method for human-robot interaction (HRI) in order to uphold productivity of industrial robots like minimization of the shortest operation time, while ensuring human safety like collision avoidance. For solving such problems an online motion planning approach for robotic manipulators with HRI has been proposed. The approach is based on model predictive control (MPC) with embedded mixed integer programming. The planning strategies of the robotic manipulators mainly considered in the thesis are directly performed in the workspace for easy obstacle representation. The non-convex optimization problem is approximated by a mixed-integer program (MIP). It is further effectively reformulated such that the number of binary variables and the number of feasible integer solutions are drastically decreased. Safety-relevant regions, which are potentially occupied by the human operators, can be generated online by a proposed method based on hidden Markov models. In contrast to previous approaches, which derive predictions based on probability density functions in the form of single points, such as most likely or expected human positions, the proposed method computes safety-relevant subsets of the workspace as a region which is possibly occupied by the human at future instances of time. The method is further enhanced by combining reachability analysis to increase the prediction accuracy. These safety-relevant regions can subsequently serve as safety constraints when the motion is planned by optimization. This way one arrives at motion plans that are safe, i.e. plans that avoid collision with a probability not less than a predefined threshold. The developed methods have been successfully applied to a developed demonstrator, where an industrial robot works in the same space as a human operator. The task of the industrial robot is to drive its end-effector according to a nominal sequence of grippingmotion-releasing operations while no collision with a human arm occurs.

Controlling the transport of an ion: classical and quantum mechanical solutions

The accurate transport of an ion over macroscopic distances represents a challenging control problem due to the different length and time scales that enter and the experimental limitations on the controls that need to be accounted for. Here, we investigate the performance of different control techniques for ion transport in state-of-the-art segmented miniaturized ion traps. We employ numerical optimization of classical trajectories and quantum wavepacket propagation as well as analytical solutions derived from invariant based inverse engineering and geometric optimal control. The applicability of each of the control methods depends on the length and time scales of the transport. Our comprehensive set of tools allows us make a number of observations. We find that accurate shuttling can be performed with operation times below the trap oscillation period. The maximum speed is limited by the maximum acceleration that can be exerted on the ion. When using controls obtained from classical dynamics for wavepacket propagation, wavepacket squeezing is the only quantum effect that comes into play for a large range of trapping parameters. We show that this can be corrected by a compensating force derived from invariant based inverse engineering, without a significant increase in the operation time.

Evaluation of major feed resources in crop-livestock mixed farming systems, southern Ethiopia: Indigenous knowledge versus laboratory analysis results

Evaluation of major feed resources was conducted in four crop-livestock mixed farming systems of central southern Ethiopia, with 90 farmers, selected using multi-stage purposive and random sampling methods. Discussions were held with focused groups and key informants for vernacular name identification of feed, followed by feed sampling to analyse chemical composition (CP, ADF and NDF), in-vitro dry matter digestibility (IVDMD), and correlate with indigenous technical knowledge (ITK). Native pastures, crop residues (CR) and multi-purpose trees (MPT) are the major feed resources, demonstrated great variations in seasonality, chemical composition and IVDMD. The average CP, NDF and IVDMD values for grasses were 83.8 (ranged: 62.9–190), 619 (ranged: 357–877) and 572 (ranged: 317–743) g kg^(−1) DM, respectively. Likewise, the average CP, NDF and IVDMD for CR were 58 (ranged: 20–90), 760 (ranged: 340–931) and 461 (ranged: 285–637)g kg^(−1) DM, respectively. Generally, the MPT and non-conventional feeds (NCF, Ensete ventricosum and Ipomoea batatas) possessed higher CP (ranged: 155–164 g kg^(−1) DM) and IVDMD values (611–657 g kg^(−1) DM) while lower NDF (331–387 g kg^(−1) DM) and ADF (321–344 g kg^(−1) DM) values. The MPT and NCF were ranked as the best nutritious feeds by ITK while crop residues were the least. This study indicates that there are remarkable variations within and among forage resources in terms of chemical composition. There were also complementarities between ITK and feed laboratory results, and thus the ITK need to be taken into consideration in evaluation of local feed resources.

Compositional data analysis of archaeological glass: problems and possible solutions

Presentation in CODAWORK'03, session 4: Applications to archeometry

A mixed H2/H∞-based semiactive control for vibration mitigation in flexible structures

In this paper, we address this problem through the design of a semiactive controller based on the mixed H2/H∞ control theory. The vibrations caused by the seismic motions are mitigated by a semiactive damper installed in the bottom of the structure. It is meant by semiactive damper, a device that absorbs but cannot inject energy into the system. Sufficient conditions for the design of a desired control are given in terms of linear matrix inequalities (LMIs). A controller that guarantees asymptotic stability and a mixed H2/H∞ performance is then developed. An algorithm is proposed to handle the semiactive nature of the actuator. The performance of the controller is experimentally evaluated in a real-time hybrid testing facility that consists of a physical specimen (a small-scale magnetorheological damper) and a numerical model (a large-scale three-story building)

Building Software Solutions

This presentation explains how we move from a problem definition to an algorithmic solution using simple tools like noun verb analysis. It also looks at how we might judge the quality of a solution through coupling, cohesion and generalisation.

Human Security in India. A Mixed Bag

With security being viewed as ensuring protection from physical and mental harm, freedom from want and fear, human security has moved to the centre stage of the global development agenda. This paper argues that even with low income, one can achieve higher human development like higher life expectancy, lower fertility and high literacy. Amartya Sen, Nobel Laureate of India, has characterised it as “development as freedom”. Lack of substantive freedom is inexorably linked to economic poverty and backwardness. Nearly all States in India have succeeded in reducing poverty, but those States with better human development have fared better. The trickle-down alone will not spread the benefits of reform. Measured State intervention and adequate provision of safety nets for the vulnerable sections of people are needed to make development more sustainable. Democracy and development go hand in hand. The democratic, accountable and transparent governance is the best insurance against poverty and marginalisation. The test of good governance must be premised on how the State and civil society negotiate differences via constitutional guarantees and political institutions. Good governance is the key to equitable growth.-----Con la visión de la seguridad como la garantía de protección contra daños físicos y mentales, de estar liberados de necesidades y temores, la seguridad humana ha pasado a ser la estrella central del programa del desarrollo global. En este trabajo se argumenta que, incluso con ingresos bajos, uno puede lograr un mayor desarrollo humano, como una esperanza de vida más larga, una menor fertilidad y una mejor educación. Amartya Sen, Premio Nobel de India, lo ha caracterizado como “el desarrollo como libertad”. La falta de libertad fundamental está vinculada inexorablemente a la pobreza económica y el retraso. Casi todos los Estados de la India han reducido la pobreza con éxito, pero aquellos que tienen un mejor desarrollo humano han salido mejor. Tan solo esta reducción paulatina no va a difundir los beneficios de la reforma. La intervención medida del Estado y su adecuado suministro de redes de seguridad para los sectores vulnerables de la población son necesarios para hacer más sostenible el desarrollo. La democracia y el desarrollo van de la mano. El gobierno democrático, responsable y transparente es el mejor seguro contra la pobreza y la marginalización. La prueba del buen gobierno debe tener como premisa la forma en que el Estado y la sociedad civil negocien las diferencias a través de garantías constitucionales e instituciones políticas. El buen gobierno es la clave para el crecimiento justo.

Mixed oligopoly in education

This paper studies oligopolistic competition in education markets when schools can be private and public and when the quality of education depends on ìpeer groupî e§ects. In the Örst stage of our game schools set their quality and in the second stage they Öx their tuition fees. We examine how the (subgame perfect Nash) equilibrium allocation (qualities, tuition fees and welfare) is a§ected by the presence of public schools and by their relative position in the quality range. When there are no peer group e§ects, e¢ ciency is achieved when (at least) all but one school are public. In particular in the two school case, the impact of a public school is spectacular as we go from a setting of extreme di§erentiation to an e¢ cient allocation. However, in the three school case, a single public school will lower welfare compared to the private equilibrium. We then introduce a peer group e§ect which, for any given school is determined by its student with the highest ability. These PGE do have a signiÖcant impact on the results. The mixed equilibrium is now never e¢ cient. However, welfare continues to be improved if all but one school are public. Overall, the presence of PGE reduces the e§ectiveness of public schools as regulatory tool in an otherwise private education sector.

Dynamic programming for stochastic target problems, Viscosity solutions and hedging in markets with Portfolio constraints and large investors

The purpose of this expository arti le is to present a self- ontained overview of some results on the hara terization of the optimal value fun tion of a sto hasti target problem as (dis ontinuous) vis osity solution of a ertain dynami programming PDE and its appli ation to the problem of hedging ontingent laims in the presen e of portfolio onstraints and large investors

Learning diaries to foster learner autonomy in mixed-ability groups. 'Los diarios de aprendizaje como herramientas para facilitar la autonomía en grupos de diferente capacidad'.

Resumen basado en el de la publicación. Resumen en español

Dealing with primary mixed ability groups : o qué hacer en clase. 'Tratando con grupos de habilidad mixtos de primaria'.

Un grupo de profesoras implicadas en experiencias de implantación del Inglés en el ciclo medio de Educación Primaria recoge en este documeto sus experiencias, reflexiones y materiales elaborados durante el proceso. La introducción aporta una serie de observaciones sobre las características del alumnado, la contextualización del Inglés como tercera lengua, los objetivos generales del área en esta etapa, el papel del profesorado y del alumnado y la organización del aula de inglés. Se incluyen una serie de actividades y materiales para cada uno de los cursos de 2õ y 3õ ciclo, asi como pautas para su utilización. Los contenidos de cada uno de los cursos se organizan en torno a una serie de temas (topics) seleccionados de acuerdo con la edad e intereses del alumnado.

Authentic materials for a mixed-ability class.

Método para la enseñanza de la lengua y cultura inglesas, destinado a los alumnos de primer curso de bachillerato LOGSE. Se desarrolla en trece unidades didácticas y cinco unidades creativas. Comprende : Libro de texto para el alumno, libro del profesor, cinta de vídeo y cinta de audio. Uno de los objetivos del método es poner a los alumnos en contacto directo con la lengua y cultura inglesas a través de los materiales llamados -auténticos- : textos periodísticos, publicitarios, literarios, cinematográficos ; también con estos materiales seleccionados se trabajan los temas transversales : educación ambiental, educación para la salud, educación sexual, educación para la paz, educación para la igualdad de oportunidades y educación del consumidor. El libro del profesor propone para cada unidad las orientaciones y sugerencias didácticas y metodológicas que ayudan al desarrollo de los temas transversales en el aula.