Embodiment and Manipulation Learning Process for a Humanoid Hand

Babies are born with simple manipulation capabilities such as reflexes to perceived stimuli. Initial discoveries by babies are accidental until they become coordinated and curious enough to actively investigate their surroundings. This thesis explores the development of such primitive learning systems using an embodied light-weight hand with three fingers and a thumb. It is self-contained having four motors and 36 exteroceptor and proprioceptor sensors controlled by an on-palm microcontroller. Primitive manipulation is learned from sensory inputs using competitive learning, back-propagation algorithm and reinforcement learning strategies. This hand will be used for a humanoid being developed at the MIT Artificial Intelligence Laboratory.

Intelligence by Design: Principles of Modularity and Coordination for Engineerin

All intelligence relies on search --- for example, the search for an intelligent agent's next action. Search is only likely to succeed in resource-bounded agents if they have already been biased towards finding the right answer. In artificial agents, the primary source of bias is engineering. This dissertation describes an approach, Behavior-Oriented Design (BOD) for engineering complex agents. A complex agent is one that must arbitrate between potentially conflicting goals or behaviors. Behavior-oriented design builds on work in behavior-based and hybrid architectures for agents, and the object oriented approach to software engineering. The primary contributions of this dissertation are: 1.The BOD architecture: a modular architecture with each module providing specialized representations to facilitate learning. This includes one pre-specified module and representation for action selection or behavior arbitration. The specialized representation underlying BOD action selection is Parallel-rooted, Ordered, Slip-stack Hierarchical (POSH) reactive plans. 2.The BOD development process: an iterative process that alternately scales the agent's capabilities then optimizes the agent for simplicity, exploiting tradeoffs between the component representations. This ongoing process for controlling complexity not only provides bias for the behaving agent, but also facilitates its maintenance and extendibility. The secondary contributions of this dissertation include two implementations of POSH action selection, a procedure for identifying useful idioms in agent architectures and using them to distribute knowledge across agent paradigms, several examples of applying BOD idioms to established architectures, an analysis and comparison of the attributes and design trends of a large number of agent architectures, a comparison of biological (particularly mammalian) intelligence to artificial agent architectures, a novel model of primate transitive inference, and many other examples of BOD agents and BOD development.

Building Grounded Abstractions for Artificial Intelligence Programming

Most Artificial Intelligence (AI) work can be characterized as either ``high-level'' (e.g., logical, symbolic) or ``low-level'' (e.g., connectionist networks, behavior-based robotics). Each approach suffers from particular drawbacks. High-level AI uses abstractions that often have no relation to the way real, biological brains work. Low-level AI, on the other hand, tends to lack the powerful abstractions that are needed to express complex structures and relationships. I have tried to combine the best features of both approaches, by building a set of programming abstractions defined in terms of simple, biologically plausible components. At the ``ground level'', I define a primitive, perceptron-like computational unit. I then show how more abstract computational units may be implemented in terms of the primitive units, and show the utility of the abstract units in sample networks. The new units make it possible to build networks using concepts such as long-term memories, short-term memories, and frames. As a demonstration of these abstractions, I have implemented a simulator for ``creatures'' controlled by a network of abstract units. The creatures exist in a simple 2D world, and exhibit behaviors such as catching mobile prey and sorting colored blocks into matching boxes. This program demonstrates that it is possible to build systems that can interact effectively with a dynamic physical environment, yet use symbolic representations to control aspects of their behavior.

Electrical Design: A Problem for Artificial Intelligence Research

This report outlines the problem of intelligent failure recovery in a problem-solver for electrical design. We want our problem solver to learn as much as it can from its mistakes. Thus we cast the engineering design process on terms of Problem Solving by Debugging Almost-Right Plans, a paradigm for automatic problem solving based on the belief that creation and removal of "bugs" is an unavoidable part of the process of solving a complex problem. The process of localization and removal of bugs called for by the PSBDARP theory requires an approach to engineering analysis in which every result has a justification which describes the exact set of assumptions it depends upon. We have developed a program based on Analysis by Propagation of Constraints which can explain the basis of its deductions. In addition to being useful to a PSBDARP designer, these justifications are used in Dependency-Directed Backtracking to limit the combinatorial search in the analysis routines. Although the research we will describe is explicitly about electrical circuits, we believe that similar principles and methods are employed by other kinds of engineers, including computer programmers.

Application of the european customer satisfaction index to postal services. Structural equation models versus partial least squars

Customer satisfaction and retention are key issues for organizations in today’s competitive market place. As such, much research and revenue has been invested in developing accurate ways of assessing consumer satisfaction at both the macro (national) and micro (organizational) level, facilitating comparisons in performance both within and between industries. Since the instigation of the national customer satisfaction indices (CSI), partial least squares (PLS) has been used to estimate the CSI models in preference to structural equation models (SEM) because they do not rely on strict assumptions about the data. However, this choice was based upon some misconceptions about the use of SEM’s and does not take into consideration more recent advances in SEM, including estimation methods that are robust to non-normality and missing data. In this paper, both SEM and PLS approaches were compared by evaluating perceptions of the Isle of Man Post Office Products and Customer service using a CSI format. The new robust SEM procedures were found to be advantageous over PLS. Product quality was found to be the only driver of customer satisfaction, while image and satisfaction were the only predictors of loyalty, thus arguing for the specificity of postal services

Sistema d'anàlisi financer: tresoreria amb eines Business Intelligence

El projecte tracte d' implementar una solució de Business Intelligence sota la plataforma Microsoft.Aquest projecte va destinat al Departament de Comptabilitat de l' Ajuntament de Cambrils, i està relacionat amb la funció del control de les despeses i els ingressos

Psychometric properties of the Spanish version of the Work Group Emotional Intelligence Profi le-Short version

Resumen tomado de la publicaci??n

Short-term storage and mental speed account for the relationship between working memory and fluid intelligence. 'El almacenamiento a corto plazo y la velocidad mental dan cuenta de la relaci??n entre memoria de trabajo e inteligencia fluida'

Resumen tomado de la publicaci??n

A behavior-based scheme using reinforcement learning for autonomous underwater vehicles

This paper presents a hybrid behavior-based scheme using reinforcement learning for high-level control of autonomous underwater vehicles (AUVs). Two main features of the presented approach are hybrid behavior coordination and semi on-line neural-Q_learning (SONQL). Hybrid behavior coordination takes advantages of robustness and modularity in the competitive approach as well as efficient trajectories in the cooperative approach. SONQL, a new continuous approach of the Q_learning algorithm with a multilayer neural network is used to learn behavior state/action mapping online. Experimental results show the feasibility of the presented approach for AUVs

Gestión de servicio y satisfacción en el consulado general de Colombia en Londres

Se observa como cada vez más el mundo va evolucionando en el campo organizacional. En donde el servicio se convierte en un factor clave para suplir de conformidad los rigurosos requerimientos que exige el panorama global. Para entidades de gran magnitud e importancia para el gobierno como el Consulado General de Colombia en Londres, es de vital importancia mantener una imagen íntegra para establecerse como un portal de prosperidad y satisfacción para la comunidad. La detección de los factores relevantes de servicio presentes en el consulado y las pautas para el mejoramiento de estos harán del consulado una organización más agradable para la comunidad colombiana residente en el Reino Unido.

Neuroticism, intelligence, and intra-individual variability in elementary cognitive tasks : Testing the mental noise hypothesis. 'Neuroticismo, inteligencia y variabilidad intra-individual en tareas cognitivas elementales : contraste de la hip??tesis del ruido neuronal'

Resumen tomado de la publicaci??n

Adaptaci??n al castellano y estructura factorial del Denison Organizational Culture Survey

Resumen tomado de la publicaci??n

Plan Exportador Telar Arte y Diseño

Este trabajo de grado se realiza gracias al esfuerzo de La Secretaría de Desarrollo Económico, Maloka, CIDEM, Universidad del Rosario y de la coordinadora al colaborar y participar con el aprendizaje y desarrollo de las PYMES colombianas, con el objetivo de mejorar los procesos internos de la empresa en sus diferentes departamentos y así poder penetrar exitosamente en el mercado internacional con el fin de aumentar ser más competitivos no solo en el mercado interno si no también en el externo. Este proyecto se dividió en cinco etapas: Inteligencia de Mercados, Costos, Logística, Comercialización y Plan Exportador que sirvieron como base para la estrategia a seguir en el proceso de penetración de mercados internacionales. En consecuencia se realizó un diagnóstico de la empresa de Telar Arte y Diseño. En conclusión se identificaron tres mercados potenciales Costa Rica, Estados Unidos y España.

Plan Exportador Laboratorios ESKO

El plan exportador represento para Laboratorios ESKO una oportunidad de capacitación, orientación y acompañamiento profesional en el acercamiento a mercados internacionales, con expertos en todas las áreas funcionales. De acuerdo con la metodología y el plan de trabajo propuesto por el CIDEM, se desarrollaron cinco etapas, todas estas con miras a potenciar la capacidad de exportación sostenible de la compañía. Un paso preliminar al proceso, fue el análisis del portafolio de productos de la empresa y la identificación del producto más competitivo y adecuado para la exportación, con el fin de trabajar en torno a este producto para las diferentes fases del proceso. Para esta ocasión el producto seleccionado fue el kit de limpieza facial.

Caracterización de la cultura organizacional en empresas colombianas

Ante un mundo globalizado y competitivo es común ver a las empresas implementar tecnologías de gestión para lograr que los procesos operativos y administrativos sean más eficientes. Para aplicar las tecnologías de gestión es importante realizar un diagnostico y saber en sí cuales son los requerimientos o cambios que necesita la organización para planear, construir, desarrollar y evaluar cual es el mejor método para la empresa de aplicar la tecnología de gestión necesaria ya que la metodología que requiere una empresa es diferente a la metodología de las demás. Para dar cumplimiento a lo antes mencionado es necesario que la alta gerencia o la junta directiva tengan un alto conocimiento en la cultura organizacional ya que ante un factor de cambio en la empresa los principales integrantes y participantes son los empleados que además conllevan a saber del clima organizacional, el desarrollo laboral y la satisfacción personal. Cada empresa debe saber cuál es la cultura que se vive y existe dentro de su organización. A partir de esto, la presente investigación pretende realizar una descripción de la Cultura Organizacional en 31 empresas Colombianas de todos los sectores basada en el modelo del profesor Carlos Eduardo Méndez y como objetivo mostrar la caracterización de la Cultura Organizacional dentro de los lineamientos metodológicos y de los vínculos que existen hacia una cultura explicita o humanitaria.