Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

This paper proposes a field application of a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. The learning system is characterized by using a direct policy search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed up the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEU AUV

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

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.

Una lectura crítica sobre la política de participación ciudadana promovida por el gobierno de Álvaro Uribe Vélez. Caso de estudio: los Consejos Comunales de Gobierno. Periodo de estudio: 2002-2010.

Uno de los objetivos perseguidos en los Consejos Comunales de Gobierno, celebrados por la administración de Álvaro Uribe Vélez en Colombia (2002-2010), fue la promoción de la participación ciudadana. Partiendo de la ambigüedad de lo que este objetivo puede significar o perseguir, nos propusimos hacer una revisión inicial de estudios que han analizado y avanzado en la teorización de diversos ejercicios de participación ciudadana en Colombia y en el mundo, así como del concepto de ciudadanía activa, el cual ha sido desarrollado por diversas tradiciones de pensamiento en contextos diversos, incluidos los escenarios de participación ciudadana. Para el análisis de los Consejos Comunales de Gobierno -ejemplo del tipo de participación que se promovió por el gobierno de Álvaro Uribe Vélez-, nos concentramos en tres aspectos: una exposición general de la institucionalidad desarrollada para la participación ciudadana en Colombia; la caracterización del gobierno bajo el que se promovieron estos consejos; y el análisis del diseño institucional particular a estos. Teniendo en cuenta el carácter de la política de participación impulsada por el gobierno de Álvaro Uribe Vélez, la tradición institucional para la participación en Colombia, y el particular desarrollo de éstos consejos, se formulan al final unas reflexiones y recomendaciones con respecto a las iniciativas de gobierno para la participación ciudadana.

Policy Skills for Web Scientists

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

Self-organized sociopolitical interactions as the best way to achieve organized patterns in human social systems: going beyond the top-down control of classical political regimes

La monografía presenta la auto-organización sociopolítica como la mejor manera de lograr patrones organizados en los sistemas sociales humanos, dada su naturaleza compleja y la imposibilidad de las tareas computacionales de los regímenes políticos clásico, debido a que operan con control jerárquico, el cual ha demostrado no ser óptimo en la producción de orden en los sistemas sociales humanos. En la monografía se extrapola la teoría de la auto-organización en los sistemas biológicos a las dinámicas sociopolíticas humanas, buscando maneras óptimas de organizarlas, y se afirma que redes complejas anárquicas son la estructura emergente de la auto-organización sociopolítica.

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

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.