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

Towards Direct Policy Search Reinforcement Learning for Robot Control

This paper proposes a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot. Although the dominant approach, when using RL, has been to apply value function based algorithms, the system here detailed is characterized by the use of direct policy search methods. Rather than approximating a value function, these methodologies approximate a policy using an independent function approximator with its own parameters, trying to maximize the future expected reward. The policy based algorithm presented in this paper is used for learning the internal state/action mapping of a behavior. In this preliminary work, we demonstrate its feasibility with simulated experiments using the underwater robot GARBI in a target reaching task

Caracterización de los elementos constitutivos de una política pública en el programa Colombia Nos Une : hacia el establecimiento de una política integral migratoria

El objeto de esta monografía es identificar y analizar los elementos constitutivos de una política pública a fin de caracterizarlos en el programa Colombia Nos Une del Ministerio de Relaciones Exteriores, y establecer si dicho programa constituye la base para la formulación de una política integral migratoria para Colombia.

Educational Documentation and its Contribution to Educational Policy. 'La documentación educativa y su contribución a la política educativa'.

Debido a que en la segunda mitad del siglo XX se produjo un incremento importante en el numero de instituciones y personas que se dedican de manera profesional a la investigación en todos los campos de conocimiento, fue necesario un desarrollo de mejores herramientas para sistematizar la información de las investigaciones y hacerla más accesible. Es por eso que surgen las bases de datos o bancos de datos. El texto se centra en la definición, tipos, características, planeación, diseño y desarrollo de estas bases de datos.

Academic Integrity Guidelines: School of Geography's Policy

The School of Geography's policy and requirements in dealing with matters related to academic integrity and plagiarism.

Policy Skills for Web Scientists

Practical group based work on reading and interrogating evidence and writing policy briefings/critiques

Análisis comparativo del proceso de construcción de la política pública en materia migratoria como prioridad en la agenda interna de un estado, caso de estudio: Colombia y Ecuador de 2003 - 2011

Colombia y Ecuador son países que por mucho tiempo no brindaron mayor importancia al tema migratorio y sus políticas enfocadas a dicha materia fueron incipientes y con resultados poco favorables. Desde principios del siglo XXI, el tema migratorio empezó a considerarse como prioridad dentro de las agendas políticas internas de cada Estado y de ahí surge la necesidad de crear políticas migratorias capaces de dar respuesta efectiva a los nuevos flujos migratorios y de proteger a los emigrantes residentes en el exterior por medio de la garantía de sus derechos fundamentales. No obstante, los resultados en la implementación de dichas políticas varío considerablemente entre los dos países debido a la importancia que se le asignó al tema dentro de la agenda política de cada Estado, mientras que en Ecuador la migración es un considerada como una prioridad interna, para Colombia el tema migratorio sigue siendo relegado por otros temas como el conflicto armado y el desplazamiento forzado interno.

Open Access to Research: A Broad Take On Understanding policy, preparing for the future

Looking at the Wider Picture of Open Access and other Open Agendas affecting Universities

Migración y codesarrollo: una forma de cooperación internacional en el siglo XXI. caso Ecuador - España

Esta monografía busca estudiar la interrelación que hay entre las migraciones internacionales y el surgimiento de proyectos y políticas de codesarrollo entre Ecuador y España. La globalización ha generado nuevas dinámicas internacionales que permiten la creación de nuevos parámetros y marcos para la regulación de las migraciones. A su vez ha sido un catalizador de fenómenos transnacionale; como las migraciones y las mismas políticas de codesarrollo. El transnacionalismo genera procesos con los cuales los migrantes crean y mantienen relaciones que vinculan las sociedades de origen con las receptoras. Por esta razón, la migración ya no puede ser controlada unilateralmente. De esta forma el codesarrollo surge como una medida transnacional para responder a estas nuevas dinámicas migratorias; es una política bilateral que busca obtener beneficios de la migración para ambos países, de modo que esta sea un vector y protagonista positivo del desarrollo.

Protection of Urban Lands: Advances in Medellin’s Public Policy

The problem of land ownership protection in this country is an issue that must be faced by those who have as part of their responsibilities the recognition, the restitution and the reparation of victims of forced displacement. One of the points that must be analyzed is the protection of ownership of urban lands, a subject falling under municipal responsibility. The development of a public policy by the City of Medellín for the protection of such lands is a significant advance for the creation of protocols and for the return of rights to those who have adandoned their lands because of violence or who have been divested of their homes in urban areas.

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.

The work of psychologists in social policy in Brazil

This study verses on the meeting of psychology with the social policy area. The objective is to discuss how psychologists that work in the Basic Health Units and in the Social Assistance Reference Centers experience their daily practices. Using the interview and participant observation methods, we investigated the modes of action of 13 psychologists involved in these service units. The results indicate that because these contexts are adverse to the traditional forms of action, many professionals experience daily strangeness and discomfort, resulting from their encounters with limiting situations of difficult management. Furthermore, we observed practices and experiences that were marked by feelings of compassion, pity, and resentment. We consider, finally, that the encounter between psychology and social policies requires flexibility in traditional acting modes as well as the pursuit of strategies that consider cultural contexts characteristics, avoiding capture, fatigue and saturation process that stifle the worker.

Maternal Mortality in Colombia: Some Thoughs on the Situation and Public Policy During Last Decade

In this article we make a critical analysis about the situation of maternal mortality in Colombia, considering some of the most current rates of this problem and the public policy rules adopted in the last years to decrease its prevalence. We think that the rate of maternal mortality in Colombia is too hight because the State does not guarantee the right health care to Colombian women. In this way, the structure and resources distribution established by the policies on sexual and reproductive health have not reflected the population necessities, specially in the case of young mothers left aside by the social security system.