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

Probabilistic sonar scan matching for an AUV

This paper proposes MSISpIC, a probabilistic sonar scan matching algorithm for the localization of an autonomous underwater vehicle (AUV). The technique uses range scans gathered with a Mechanical Scanning Imaging Sonar (MSIS), the robot displacement estimated through dead-reckoning using a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method is an extension of the pIC algorithm. An extended Kalman filter (EKF) is used to estimate the robot-path during the scan in order to reference all the range and bearing measurements as well as their uncertainty to a scan fixed frame before registering. The major contribution consists of experimentally proving that probabilistic sonar scan matching techniques have the potential to improve the DVL-based navigation. The algorithm has been tested on an AUV guided along a 600 m path within an abandoned marina underwater environment with satisfactory results

Pose-based SLAM with probabilistic scan matching algorithm using a mechanical scanned imaging sonar

This paper proposes a pose-based algorithm to solve the full SLAM problem for an autonomous underwater vehicle (AUV), navigating in an unknown and possibly unstructured environment. The technique incorporate probabilistic scan matching with range scans gathered from a mechanical scanning imaging sonar (MSIS) and the robot dead-reckoning displacements estimated from a Doppler velocity log (DVL) and a motion reference unit (MRU). The proposed method utilizes two extended Kalman filters (EKF). The first, estimates the local path travelled by the robot while grabbing the scan as well as its uncertainty and provides position estimates for correcting the distortions that the vehicle motion produces in the acoustic images. The second is an augment state EKF that estimates and keeps the registered scans poses. The raw data from the sensors are processed and fused in-line. No priory structural information or initial pose are considered. The algorithm has been tested on an AUV guided along a 600 m path within a marina environment, showing the viability of the proposed approach

Evolutionary psychology and evolutionary developmental psychology : Understanding the evolution of human behavior and development

Resumen tomado de la publicaci??n

Corporal punishment and long-term behavior problems : The moderating role of positive parenting and psychological aggression

Resumen tomado de la publicaci??n

Probabilistic models to assist maintenance of multiple instruments

The paper discusses maintenance challenges of organisations with a huge number of devices and proposes the use of probabilistic models to assist monitoring and maintenance planning. The proposal assumes connectivity of instruments to report relevant features for monitoring. Also, the existence of enough historical registers with diagnosed breakdowns is required to make probabilistic models reliable and useful for predictive maintenance strategies based on them. Regular Markov models based on estimated failure and repair rates are proposed to calculate the availability of the instruments and Dynamic Bayesian Networks are proposed to model cause-effect relationships to trigger predictive maintenance services based on the influence between observed features and previously documented diagnostics

Una aproximación de la variable aleatoria a procesos de toma de decisión que implican condiciones de riesgo e incertidumbre

La variable aleatoria es una función matemática que permite asignar valores numéricos a cada uno de los posibles resultados obtenidos en un evento de naturaleza aleatoria. Si el número de estos resultados se puede contar, se tiene un conjunto discreto; por el contrario, cuando el número de resultados es infinito y no se puede contar, se tiene un conjunto continuo. El objetivo de la variable aleatoria es permitir adelantar estudios probabilísticos y estadísticos a partir del establecimiento de una asignación numérica a través de la cual se identifiquen cada uno de los resultados que pueden ser obtenidos en el desarrollo de un evento determinado. El valor esperado y la varianza son los parámetros por medio de los cuales es posible caracterizar el comportamiento de los datos reunidos en el desarrollo de una situación experimental; el valor esperado permite establecer el valor sobre el cual se centra la distribución de la probabilidad, mientras que la varianza proporciona información acerca de la manera como se distribuyen los datos obtenidos. Adicionalmente, las distribuciones de probabilidad son funciones numéricas asociadas a la variable aleatoria que describen la asignación de probabilidad para cada uno de los elementos del espacio muestral y se caracterizan por ser un conjunto de parámetros que establecen su comportamiento funcional, es decir, cada uno de los parámetros propios de la distribución suministra información del experimento aleatorio al que se asocia. El documento se cierra con una aproximación de la variable aleatoria a procesos de toma de decisión que implican condiciones de riesgo e incertidumbre.

Teleconsultation in sexual and reproductive health for young adults through mobile devices: Experience in Colombia

Background: Sexual risk behaviors associated with poor information on sexuality have contributed to major public health problems in the area of sexual and reproductive health in teenagers and young adults in Colombia. Objective: To measure the perception of changes in sexual and reproductive risk behavior after the use of a teleconsultation service via mobile devices in a sample of young adults. Methods: A before and after observational study was designed, where a mobile application to inquire about sexual and reproductive health was developed. The perception of changes in sexual and reproductive health risk behaviors in a sample of young adults after the use of the application was measured using the validated survey “Family Health International (FHI) – Behavioral Surveillance Survey (BSS) – Survey for Adults between 15 to 40 Years”. Non-probabilistic convenience recruitment was undertaken through the study´s web page. Participants answered the survey online before and after the use of the mobile application for a six month period (intervention). For the inferential analysis, data was divided into three groups (dichotomous data, discrete quantitative data, and ordinal data), to compare the results of the questions between the first and the second survey. For all tests, a confidence interval of 95% was established. For dichotomous data, the Chi-squared test was used. For quantitative data, we used the Student’s t-test, and for ordinal data, the Mann-Whitney-Wilcoxon test. Results: A total of 257 subjects were registered in the study and met the selection criteria. The pre-intervention survey was answered by 232 subjects, and 127 completely answered the post-intervention survey, of which 54.3% did not use the application, leaving an effective population of 58 subjects for analysis. 53% (n=31) were female, and 47% (n=27) were male. The mean age was 21 years, ranging between 18 and 40 years. The differences between the answers on the first and the second survey were not statistically significant. The main risk behaviors identified in the population were homosexual relations, non-use of condoms, sexual relations with non-regular and commercial partners, the use of psychoactive substances, and ignorance about the symptoms of sexually transmitted diseases and HIV transmission. Conclusions: Although there were no differences between the pre- and post-intervention results, the study revealed different risk behaviors among the participating subjects. These findings highlight the importance of promoting educational strategies on this matter and the importance of providing patients with easily accessible tools with reliable health information.

Decoding the canada's foreing and security policy: tracking the strategic and ethicliberal approaches of a middle power's behavior

The article attempts to explain the main paradox faced by Canada at formulating its foreign policy on international security. Explained in economic and political terms, this paradox consists in the contradiction between the Canadian ability to achieve its strategic goals, serving to its own national interest and its dependence on the United States. The first section outlines three representative examples to evaluate this paradox: the Canada’s position in North American security regime, the US-Canada economic security relations, and the universe of possibilities for action of Canada as a middle power. The second section suggests that liberal agenda, especially concerning to ethical issues, has been established by this country to minimize this paradox. By pursing this agenda, Canada is able to reaffirm its national identity and therefore its independence on the United States. The third section evaluates both the explained paradox and the reaffirmation of Canadian identity during the Jean Chrétien (1993-2003), Paul Martin (2003-2006) and Stephen Harper’s (2006) governments.

Nongenetic inheritance, linguistic competence, prenatal experience and behavior manipulation: recent contributions from behavioral neurobiology and neuropsychology to the explanation of behavior

This article gives an overview of presuppositions and explanations posed by behaviorist psychology (particularly its radical branch), cognitive–nativist sciences (i.e. psycholinguistics and a branch of cognitive psychology) and other disciplines regarding important psychological events such as anxiety, stress, fear, mood states and language. In relation to the discussion of environment versus genetics, contributions from behavioral neurobiology and neuropsychology are added, showing evidence of traits that can be multigenerationally inherited in a non-genetic way, which have an impact thought the life of organisms and on their way of interacting with the environment; ways in which behavior can be altered by recently unsuspected environmental agents or events, and the overlooked role of prenatal experiences in the explanation of behavior. The evidence calls into question presuppositions made by the academic disciplines listed above, and suggests alternative behavior reinterpretations and explanations

Neurobiology of expectancy effects and omission of reinforcement on behavior

The reinforcement omission effects have been traditionally interpreted in terms of: behavioral facilitation after reinforcement omission induced by primary frustration or behavioral suppression after reinforcement delivery induced by postconsummatory states. The studies reviewed here indicate that amygdala is involved in modulation of these effects. However, the fact that amygdala lesions, extensive or selective, can eliminate, reduce and enhance the omission effects makes it difficult to understand how it is the exact nature of their involvement. The amygdala is related to several functions that depend on its connections with other brain systems. Thus, it is necessary to consider the involvement of a more complex neural network in the modulation of the reinforcement omission effects. The connection of amygdala subareas to cortical and subcortical structures may be involved in this modulation since they also are linked to processes related to reward and expectancy.

Behavior analysis in Brazil

La historia del análisis del comportamiento en Brasil comenzó con la visita de Fred S. Keller a la Universidad de São Paulo en 1961, cuando él era un académico de la Fundación Fullbright; en aquella época, Keller presentó los trabajos de Skinner a los psicólogos brasileños. Su primer asistente fue Carolina Martuscelli Bori, en aquel entonces una psicóloga social influenciada por el trabajo de Kurt Lewin. Orientada inicialmente por Keller, Carolina Bori fue la principal fuerza de difusión del análisis del comportamiento en Brasil, comenzando con el curso de psicología en la Universidad de Brasilia, en el cual, durante agosto de 1964, se dictó el primer curso de Análisis Experimental de la Conducta. La mayoría de los analistas del comportamiento de hoy en día fueron directa o indirectamente estudiantes de Carolina Bori. Actualmente varios programas de psicología en el país ofrecen cursos de análisis del comportamiento

Variables relacionadas con respuestas inconsistentes en una encuesta sobre relaciones sexuales realizada a estudiantes de Santa Marta, Colombia

Antecedentes: la encuesta autoadministrada es la forma más usada y confiable para investigar comportamientos relacionados con la salud en adolescentes. Por lo general, un grupo significativo de participantes responde de forma inconsistente a algunos puntos de tópicos relacionados,particularmente con temas sensibles; en consecuencia, dichos puntos deben ser eliminados del análisis. Hasta la fecha, no se han comparado extensamente las características demográficas de los estudiantes que responden y los que no responden consistentemente una encuesta. Objetivo: comparar algunas variables demográficas relacionadas con respuestas inconsistentes sobre comportamiento sexual en estudiantes de secundaria de Santa Marta, Colombia. Método: una muestra probabilística por conglomerados de estudiantes diligenció una encuesta anónima sobre relaciones sexuales. Se usó regresión logística para ajustar las variables de la encuesta en las cuales se respondió de forma inconsistente. Resultados: un total de 3813 estudiantes completó la encuesta. Un grupo de 3 575 estudiantes (93,8%) respondió de forma consistente a los puntos sobre comportamiento sexual y uno de 238 (6,2%) respondió de forma inconsistente. Después de ajustar por estrato socioeconómico se evidenció que los estudiantes que con mayor frecuencia respondieron inconsistentemente eran varones (OR=2,1; IC95% 1,6-2,8) y pertenecían a colegios privados (OR=3,5; IC95% 2,6-4,8). Conclusiones: aproximadamente uno de cada veinte estudiantes responde de forma inconsistente las preguntas sobre comportamiento sexual. Las respuestas inconsistentes están relacionadas con estudiantes de colegios privados y sexo masculino. Se necesitan más investigaciones.

Media bias and central bank response. Evidence from the nominal exchange rate behavior in Colombia

Since 1991 Colombia has had a market-determined Peso - US Dollar Nominal Exchange Rate (NER), after more than 20 years of controlled and multiple exchange rates. The behavior (revaluation / devaluation) of the NER is constantly reported in news, editorials and op-eds of major newspapers of the nation with particular attention to revaluation. The uneven reporting of revaluation episodes can be explained by the existence of an interest group particulary affected by revaluation, looking to increase awareness and sympathy for help from public institutions. Using the number of news and op-eds from a major Colombian newspaper, it is shown that there is an over-reporting of revaluation episodes in contrast to devaluation ones. Secondly, using text analysis upon the content of the news, it is also shown that the words devaluation and revaluation are far apart in the distribution of words within the news; and revaluation is highly correlated with words related to: public institutions, exporters and the need of assistance. Finally it is also shown that the probability of the central bank buying US dollars to lessen revaluation effects increases with the number of news; even though the central bank allegedly intervenes in the exchange rate market only to tame volatility or accumulate international reserves.