Cooperative Task Execution between Modular Robots Based on Tight-Loose Cooperation Strategies

The complexity in the execution of cooperative tasks is high due to the fact that a robot team requires movement coordination at the beginning of the mission and continuous coordination during the execution of the task. A variety of techniques have been proposed to give a solution to this problem assuming standard mobile robots. This work focuses on presenting the execution of a cooperative task by a modular robot team. The complexity of the task execution increases due to the fact that each robot is composed of modules which have to be coordinated in a proper way to successfully work. A combined tight and loose cooperation strategy is presented and a bar-pushing example is used as a cooperative task to show the performance of this type of system.

The impact of Chagas disease control in Latin America: a review

Discovered in 1909, Chagas disease was progressively shown to be widespread throughout Latin America, affecting millions of rural people with a high impact on morbidity and mortality. With no vaccine or specific treatment available for large-scale public health interventions, the main control strategy relies on prevention of transmission, principally by eliminating the domestic insect vectors and control of transmission by blood transfusion. Vector control activities began in the 1940s, initially by means of housing improvement and then through insecticide spraying following successful field trials in Brazil (Bambui Research Centre), with similar results soon reproduced in São Paulo, Argentina, Venezuela and Chile. But national control programmes only began to be implemented after the 1970s, when technical questions were overcome and the scientific demonstration of the high social impact of Chagas disease was used to encourage political determination in favour of national campaigns (mainly in Brazil). Similarly, large-scale screening of infected blood donors in Latin America only began in the 1980s following the emergence of AIDS. By the end of the last century it became clear that continuous control in contiguous endemic areas could lead to the elimination of the most highly domestic vector populations - especially Triatoma infestans and Rhodnius prolixus - as well as substantial reductions of other widespread species such as T. brasiliensis, T. sordida, and T. dimidiata, leading in turn to interruption of disease transmission to rural people. The social impact of Chagas disease control can now be readily demonstrated by the disappearance of acute cases and of new infections in younger age groups, as well as progressive reductions of mortality and morbidity rates in controlled areas. In economic terms, the cost-benefit relationship between intervention (insecticide spraying, serology in blood banks) and the reduction of Chagas disease (in terms of medical and social care and improved productivity) is highly positive. Effective control of Chagas disease is now seen as an attainable goal that depends primarily on maintaining political will, so that the major constraints involve problems associated with the decentralisation of public health services and the progressive political disinterest in Chagas disease. Counterbalancing this are the political and technical cooperation strategies such as the "Southern Cone Initiative" launched in 1991. This international approach, coordinated by PAHO, has been highly successful, already reaching elimination of Chagas disease transmission in Uruguay, Chile, and large parts of Brazil and Argentina. The Southern Cone Initiative also helped to stimulate control campaigns in other countries of the region (Paraguay, Bolivia, Peru) which have also reached tangible regional successes. This model of international activity has been shown to be feasible and effective, with similar initiatives developed since 1997 in the Andean Region and in Central America. At present, Mexico and the Amazon Region remain as the next major challenges. With consolidation of operational programmes in all endemic countries, the future focus will be on epidemiological surveillance and care of those people already infected. In political terms, the control of Chagas disease in Latin America can be considered, so far, as a victory for international scientific cooperation, but will require continuing political commitment for sustained success.

Análisis de las implicaciones del accionar terrorista, en las iniciativas de contraterrorismo de la Unión Europea, después del 11 de septiembre de 2001 hasta 2008, a la luz de los conceptos de la Geopolítica contemporánea. Estudio de caso: Estrategias de España y Francia frente a ETA

A lo largo de la historia el terrorismo con sus diversas manifestaciones ha llevado a que éste se convierta en un factor común, sin dejar de ser complejo, en los escenarios geográficos en los que el fenómeno se ha venido desarrollando. Pensamientos variados y cambiantes han permitido que el terrorismo adquiera diferentes matices dependiendo de la época, el territorio y la población directa a la cual se enfrenta y por supuesto a las Instituciones y demás regiones y habitantes de las mismas que resultan afectadas por su impacto. En este trabajo se consideran datos importantes de ETA (Euskadi Ta Askatasuna) para el análisis ya que ha sido desde su nacimiento uno de los principales factores que han desestabilizado las relaciones geopolíticas de los países implicados en el tema.

Análisis de los elementos de Soft Power presentes en la política exterior alemana de cooperación para el desarrollo (2002-2009)R ALEMANA DE COOPERACIÓN PARA EL DESARROLLO (2002-2009)

A lo largo de la historia el Sistema Internacional se ha configurado a partir de los diferentes polos de poder y de diversas formas de interacción entre actores. Una de estas formas es la cooperación internacional, la cual abre el espacio a nuevos asuntos dentro de la agenda internacional y permite profundizar la colaboración en determinados temas de interés de los actores. Esta forma de relacionamiento puede ser entendida como una herramienta de Soft Power definiéndose éste como un elemento que permite a los Estados influenciar dentro del sistema internacional por medio de acciones no bélicas y que facilita el acercamiento de los países desarrollados con los países en vías de desarrollo para moldear el sistema internacional. Siguiendo esta idea, el Estado Alemán ha implementado el uso del Soft Power dentro de su política exterior buscando generar beneficios tanto a Alemania como para los Estados receptores de cooperación. Alemania ha redefinido sus prioridades: ajustar y reorganizar sus estrategias de cooperación para optimizar recursos, teniendo en cuenta la historia alemana y los cambios estructurales que las dos guerras mundiales generaron en la perspectiva de su política exterior. La fuerte y firme estructura política, económica y social ha permitido que este sea el único país de la Unión Europea que no ha sufrido directamente la crisis económica y por lo tanto ha logrado seguir aportando parte de su PIB a la cooperación internacional. Esto ha generado un diálogo político entre diferentes países, el cual permite el acercamiento con los gobiernos de turno en cada Estado para la creación de políticas encaminadas al desarrollo y al mejoramiento de la calidad de vida de los ciudadanos.

Cultura e innovación en empresas con relaciones de cooperación inter organizacional

Un gran número de empresas están inmersas actualmente en espacios de mercado conocidos y saturados de competidores. La innovación constituye una de las principales alternativas de las empresas para encontrar su posicionamiento estratégico y adaptarse a los cambios del entorno (Kim & Mauborgne, 2005). Igualmente, Demirci (2013) asegura que la cultura es un factor clave en la innovación, dado que está fuertemente asociada con los valores, actitudes, comportamientos y prácticas organizacionales. Esta investigación abarca el estudio de la cultura organizacional y la innovación en el marco de estrategias de cooperación inter-organizacional donde se plantea que el grado de cooperación que existe entre las empresas tiene un efecto sobre los valores culturales y la incorporación de innovaciones en cada organización. Para esto se llevó a cabo una investigación cuantitativa con un alcance de tipo descriptivo y de carácter no experimental y trans seccional, cuya unidad de análisis fueron 20 empresas de la red ParqueSoft Manizales. Para la medición de las variables de innovación se aplicó un instrumento basado en el Manual de Oslo de la OECD y Eurostat (2005) el cual contempla la innovación de producto, proceso, mercadotecnia y organización. A nivel de los valores culturales, la medición se realizó a través de un cuestionario inspirado en el modelo de Hofstede (1980). Los resultados obtenidos permiten demostrar que existe un grado de relación entre la cooperación y los valores culturales ‘distancia al poder’ y ‘tolerancia a la incertidumbre´, sin poder determinar la relación con la generación de innovación de producto, proceso, mercadotecnia y organización, así como con las otras dimensiones del modelo de valores de Hofstede.

Relação entre ciclo de vida do produto turístico e estratégias de cooperação na faixa litorânea urbana do município de Natal

Tourism in the Northeast of Brazil was introduced as an alternative economic development for the Region by federal promoting policies that focused primarily in structuring the local geographic area. With the completion of these structuring actions, mass tourism expanding the area, as well as spread actions based on cooperation and formalization of governance institutions. This study aimed to examine the relationship between the life cycle of the tourism product 'Coastal Cities of Natal and the cooperation strategies in a historical perspective. Thus was submitted to the life cycle of the tourism product 'Coastal Cities of Natal ; the major projects of tourism development were mapped, the existing cooperation strategies were characterized, and investigated the influence of the cooperation actions for the current stage of product. The specific theoretical support to tourism was built on the perspective of the Theory of Population Ecology, System of Tourism and Touristic Product Life Cycle. Regarding to cooperation the theoretical foundation addressed issues of strategy, New Forms and Collective Efficiency. The survey consisted of a causal descriptive study, using a case study. We used the qualitative and quantitative methodological approaches, and data collected by consulting of secondary data and semistructured interviews with twelve staff working in tourism in Natal. Results showed that the life cycle graph of product 'Coastal Cities of Natal is moving from one stage of growth to a stage of maturity, with a primary upward trend and with crises that are up over the graph. They have been mapped six of tourism development projects of relevance to the product: The Politics of Mega Projects, PRODETUR/NE, Municipalization National Program of Tourism, Regionalization Program, Urbanization Project Beach do Meio and Actions for the Promotion of Destiny. They have been identified sixty-four participating players in process of tourism development, which twenty were considered relevant to the respondents. The main strategies identified for cooperation were the consortium, collective strategy and clusters. Results indicated that co-operation strategies were adopted so that the benefits were obtained at the collective level, dedicated to the strengthening of Natal Destiny and its products. The main reasons were the need of cooperative marketing, international market entry and actions inducing the state. Finally, it was concluded that strategies for cooperation related to product life cycle 'Coastal Cities of Natal' as that work in the consolidation of projects for development of tourism, when the efficiency of collective action is achieved

Relações internacionais em cidades amazônicas: atuação e inserção internacional de Belém e Manaus (1997-2012)

No decorrer das últimas décadas, o estudo das Relações Internacionais diversificou sua análise, deixando de ter um enfoque direcionado sobre a atuação dos Estados nacionais e passando a analisar mais atentamente a dinâmica e ascensão de novos atores no cenário internacional, como as entidades subnacionais, incluindo as cidades e os governos locais, gerando um novo foco de análise, principalmente no contexto da cooperação internacional. A presente dissertação analisa por quais razões e de que maneira ocorre a inserção e atuação internacional das cidades amazônicas de Belém e Manaus, tendo como cenário um Mundo globalizado e interdependente. No conjunto desse novo cenário, favorável às relações internacionais, a Cooperação Internacional passa a ser um instrumento latente para o desenvolvimento não somente dos países, mas também das cidades, através da Cooperação Descentralizada; fenômeno político-econômico relativamente recente e que vem adentrando cada vez mais as agendas de desenvolvimento local. As cidades cada vez mais passam a adotar as relações internacionais, tal como estratégias de cooperação descentralizada como uma agenda propulsora e paralela de desenvolvimento, seja na captação de recursos externos,seja no fortalecimento da identidade local, na promoção do comércio exterior ou, até mesmo na disseminação cultural. Belém e Manaus, lócus desta pesquisa, apresentaram ao longo dos anos diversas motivações e formas de efetivarem suas relações internacionais e, para tal análise, adotou-se uma análise fundamentalmente qualitativa, traçando um quadro analíticodescritivo entre as cidades investigadas. O presente trabalho analisa as ações, estratégias, mecanismos e forma institucionalizada ou não de gerir as atividades internacionais das referidas cidades. O cenário global atual é incentivador das interações multiníveis entre velhos e novos atores internacionais, todavia o habitus das relações -internacionais incita cada vez mais a continuidade e o compromisso que os Governos (sejam eles nacionais ou locais) devem ter para corresponder e acompanhar as dinâmicas impostas pela globalização,embora, nem todos os Governos acompanham, possuem ou dedicam estruturas adequadas aos anseios que o novo e interdependente cenário internacional exige.

Modelo prospectivo de cooperación universitaria transfronteriza para la sostenilibidad : caso, espacios urbanos, insulares y costeros del Caribe y Centroamérica

Ante la cuestión ¿La universidad debe amoldarse a la realidad ambiental o debe precursar nuevas realidades? se propone demostrar la factibilidad de alcanzar aproximaciones objetivables hacia el desarrollo sostenible, mediante la cooperación universitaria transfronteriza en ambientes urbanos insulares y costeros de la subregión del Caribe y Centroamérica. Se desarrolla el estudio en cuatro momentos: momento proyectivo en el cual se delimita el problema y se contextualiza su significación en el plano teórico de las sub-áreas implicadas. Fue reconocida la existencia de un problema social que, más allá de significar una actuación negativa intencional humana, revela una insuficiencia en el aprovechamiento de un potencial conocido y estratégico cuyos síntomas suelen ser: crisis ambiental generalizada; poca capacidad de respuesta por parte de las universidades ante las exigencias del desarrollo sostenible; incipientes estrategias de cooperación interinstitucional con refuerzo negativo en la atomización de esfuerzos materiales y comunicacionales. Se contrastaron enfoques y se adoptó una postura ante un hecho determinante: La universidad como articulador del desarrollo sostenible; hecho concretado en un objeto investigable: la cooperación universitaria como estrategia aún no focalizada en acercamientos al desarrollo sostenible. En la estrategia de abordaje de la investigación, la gestión fue considerada hipótesis de trabajo no positivista, generando en consecuencia la aplicación de adaptaciones a metodologías reconocidas, contextualizadas dentro de una particular visión sobre del hecho investigado. En el momento metodológico se describe el diseño concreto y los procedimientos de abordaje del problema en todas sus fases. En el momento técnico, fueron aplicados instrumentos y técnicas para obtener los datos diagnósticos e iniciar el diseño de un modelo de cooperación universitaria para el desarrollo sostenible. El diagnóstico se basó en estrategias cuali-cuantitativas que permitieron el análisis de resultados en la aplicación de encuestas, entrevistas a expertos, análisis prospectivo estructural, situacional e integrado. La construcción del modelo se desarrolló con fundamento en experiencias de cooperación previas, adoptando modelos de gestión de relevante alcance científico como referencias de aplicación. Se trata de una investigación socio-ambiental cuyo objeto de estudio la identifica como no experimental, aplicada; basada en el análisis descriptivo de datos cualicuantitativos, conducidos en un diseño de campo devenido finalmente en un proyecto factible. La información se recolectada por observación de campo, aplicación de instrumentos y dinámicas inspiradas en grupos de enfoque a escala local y nacional; con sujetos pertenecientes al sistema de educación universitaria e instancias gubernamentales y sociales propias del ámbito seleccionado. Conduce el estudio a la presentación del modelo MOP-GECUDES, descrito en cuanto a sus dimensiones, variables, estrategias; con 166 indicadores clasificados en 49 categorías, expresados en metas. Se presenta en 24 procedimientos, apoyados en 47 instrumentos específicos consistentes en aplicaciones prácticas, hojas metodológicas o manual de instrucciones para la operacionalización del modelo. Se complementa el diseño con un sistema de procedimientos surgidos de la propia experiencia, lo que le atribuye el modelo diseñado el rasgo particular de haber sido diseñado bajo sus propios principios. Faced with the question: Does the college must conform to the environmental reality or has to should promote new realities? This research aims to demonstrate the feasibility of achieving objectifiable approaches towards sustainable development through cross-border university cooperation in urban, coastal and islands space" of Caribbean and Central American. This study is developed in four stages: projective moment, in which delimits the problem, and contextualizes its importance in their theoretical subareas. It was recognized that there is a social problem, that beyond an intentional human action negative, reveals a deficience ability in exploiting potential strategic known and whose symptoms are: widespread environmental crisis, poor ability to answer on the part of universities to the demands of sustainable development; emerging interagency cooperation strategies with the aggravating fragmentation of resources. Were contrasted Approaches and was been adopted a stance before a triggering event: The university as articulator of sustainable development. Fact materialized in a study object: university cooperation as a strategy that yet has not been focused on approaches to sustainable development. In research approach, the management was considered as a working-hypothesis not positivist, consequently, were applied adjustments recognized methodologies that were contextualized within the author's personal view on the matter under investigation. En el momento metodológico se describe el diseño concreto y los procedimientos de abordaje del problema en todas sus fases. At the methodological time, describes the design and procedures to address the problem in all its phases. At the technical time, were applied tools directed to obtain diagnostic data and start designing a model of university cooperation for sustainable development. The diagnosis was based on qualitative and quantitative strategies that allowed the analysis of findings in the surveys, expert interviews, prospective analysis, and structural situational and integrated. Construction of the model was developed on the basis of cooperation experiences of the author, adopting management models relevant scientific scope and application references. It is a socio-environmental research with a not-experimental focus of study, applied, based on the descriptive analysis of qualitative and quantitative data, conducted in a field design that finally was been become a feasible project. The information is collected by field observation, application of instruments inspired in dynamic focus groups at local and national levels, with individual-subjects of the university education system; the government bodies and the social groups of the selected area. The Study leads to the presentation of the model MOP-GECUDES, described in terms of their dimensions, variables, strategies; with 166 indicators classified in 49 categories, expressed in its activities and goals. It comes in 24 procedures, supported by 47 specific instruments consisting of practical applications, methodology sheets or instructions for the operationalization of the model. Design is complemented with a system of procedures arising from the own experience. This have the particular attribute of generate a model than has been designed under its own principles.

Control por modos deslizantes como estrategia de navegación en una flota de robots

En esta tesis se presenta el desarrollo de un esquema de cooperación entre vehículos terrestres (UGV) y aéreos (UAV) no tripulados, que sirve de base para conformar dos flotas de robots autónomos (denominadas FRACTAL y RoMA). Con el fin de comprobar, en diferentes escenarios y con diferente tareas, la validez de las estrategias de coordinación y cooperación propuestas en la tesis se utilizan los robots de la flota FRACTAL, que sirven como plataforma de prueba para tareas como el uso de vehículos aéreos y terrestres para apoyar labores de búsqueda y rescate en zonas de emergencia y la cooperación de una flota de robots para labores agrícolas. Se demuestra además, que el uso de la técnica de control no lineal conocida como Control por Modos Deslizantes puede ser aplicada no solo para conseguir la navegación autónoma individual de un robot aéreo o terrestre, sino también en tareas que requieren la navegación coordinada y sin colisiones de varios robots en un ambiente compartido. Para esto, se conceptualiza teóricamente el uso de la técnica de Control por Modos Deslizantes como estrategia de coordinación entre robots, extendiendo su aplicación a robots no-holonómicos en R2 y a robots aéreos en el espacio tridimensional. Después de dicha contextualización teórica, se analizan las condiciones necesarias para determinar la estabilidad del sistema multi-robot controlado y, finalmente, se comprueban las características de estabilidad y robustez ofrecidas por esta técnica de control. Tales comprobaciones se hacen simulando la navegación segura y eficiente de un grupo de UGVs para la detección de posibles riesgos ambientales, aprovechando la información aportada por un UAV. Para estas simulaciones se utilizan los modelos matemáticos de robots de la flota RoMA. Estas tareas coordinadas entre los robots se hacen posibles gracias a la efectividad, estabilidad y robustez de las estrategias de control que se desarrollan como núcleo fundamental de este trabajo de investigación. ABSTRACT This thesis presents the development of a cooperation scheme between unmanned ground (UGV) and aerial (UAV) vehicles. This scheme is the basis for forming two fleets of autonomous robots (called FRACTAL and RoMA). In order to assess, in different settings and on different tasks, the validity of the coordination and cooperation strategies proposed in the thesis, the FRACTAL fleet robots serves as a test bed for tasks like using coordinated aerial and ground vehicles to support search and rescue work in emergency scenarios or cooperation of a fleet of robots for agriculture. It is also shown that using the technique of nonlinear control known as Sliding Modes Control (SMC) can be applied not only for individual autonomous navigation of an aircraft or land robot, but also in tasks requiring the coordinated navigation of several robots, without collisions, in a shared environment. To this purpose, a strategy of coordination between robots using Sliding Mode Control technique is theoretically conceptualized, extending its application to non-holonomic robots in R2 and aerial robots in three-dimensional space. After this theoretical contextualization, the stability conditions of multi-robot system are analyzed, and finally, the stability and robustness characteristics are validated. Such validations are made with simulated experiments about the safe and efficient navigation of a group of UGV for the detection of possible environmental hazards, taking advantage of the information provided by a UAV. This simulations are made using mathematical models of RoMA fleet robots. These coordinated tasks of robots fleet are made possible thanks to the effectiveness, stability and robustness of the control strategies developed as core of this research.

Relação entre ciclo de vida do produto turístico e estratégias de cooperação na faixa litorânea urbana do município de Natal

Tourism in the Northeast of Brazil was introduced as an alternative economic development for the Region by federal promoting policies that focused primarily in structuring the local geographic area. With the completion of these structuring actions, mass tourism expanding the area, as well as spread actions based on cooperation and formalization of governance institutions. This study aimed to examine the relationship between the life cycle of the tourism product 'Coastal Cities of Natal and the cooperation strategies in a historical perspective. Thus was submitted to the life cycle of the tourism product 'Coastal Cities of Natal ; the major projects of tourism development were mapped, the existing cooperation strategies were characterized, and investigated the influence of the cooperation actions for the current stage of product. The specific theoretical support to tourism was built on the perspective of the Theory of Population Ecology, System of Tourism and Touristic Product Life Cycle. Regarding to cooperation the theoretical foundation addressed issues of strategy, New Forms and Collective Efficiency. The survey consisted of a causal descriptive study, using a case study. We used the qualitative and quantitative methodological approaches, and data collected by consulting of secondary data and semistructured interviews with twelve staff working in tourism in Natal. Results showed that the life cycle graph of product 'Coastal Cities of Natal is moving from one stage of growth to a stage of maturity, with a primary upward trend and with crises that are up over the graph. They have been mapped six of tourism development projects of relevance to the product: The Politics of Mega Projects, PRODETUR/NE, Municipalization National Program of Tourism, Regionalization Program, Urbanization Project Beach do Meio and Actions for the Promotion of Destiny. They have been identified sixty-four participating players in process of tourism development, which twenty were considered relevant to the respondents. The main strategies identified for cooperation were the consortium, collective strategy and clusters. Results indicated that co-operation strategies were adopted so that the benefits were obtained at the collective level, dedicated to the strengthening of Natal Destiny and its products. The main reasons were the need of cooperative marketing, international market entry and actions inducing the state. Finally, it was concluded that strategies for cooperation related to product life cycle 'Coastal Cities of Natal' as that work in the consolidation of projects for development of tourism, when the efficiency of collective action is achieved

Relação entre ciclo de vida do produto turístico e estratégias de cooperação na faixa litorânea urbana do município de Natal

Tourism in the Northeast of Brazil was introduced as an alternative economic development for the Region by federal promoting policies that focused primarily in structuring the local geographic area. With the completion of these structuring actions, mass tourism expanding the area, as well as spread actions based on cooperation and formalization of governance institutions. This study aimed to examine the relationship between the life cycle of the tourism product 'Coastal Cities of Natal and the cooperation strategies in a historical perspective. Thus was submitted to the life cycle of the tourism product 'Coastal Cities of Natal ; the major projects of tourism development were mapped, the existing cooperation strategies were characterized, and investigated the influence of the cooperation actions for the current stage of product. The specific theoretical support to tourism was built on the perspective of the Theory of Population Ecology, System of Tourism and Touristic Product Life Cycle. Regarding to cooperation the theoretical foundation addressed issues of strategy, New Forms and Collective Efficiency. The survey consisted of a causal descriptive study, using a case study. We used the qualitative and quantitative methodological approaches, and data collected by consulting of secondary data and semistructured interviews with twelve staff working in tourism in Natal. Results showed that the life cycle graph of product 'Coastal Cities of Natal is moving from one stage of growth to a stage of maturity, with a primary upward trend and with crises that are up over the graph. They have been mapped six of tourism development projects of relevance to the product: The Politics of Mega Projects, PRODETUR/NE, Municipalization National Program of Tourism, Regionalization Program, Urbanization Project Beach do Meio and Actions for the Promotion of Destiny. They have been identified sixty-four participating players in process of tourism development, which twenty were considered relevant to the respondents. The main strategies identified for cooperation were the consortium, collective strategy and clusters. Results indicated that co-operation strategies were adopted so that the benefits were obtained at the collective level, dedicated to the strengthening of Natal Destiny and its products. The main reasons were the need of cooperative marketing, international market entry and actions inducing the state. Finally, it was concluded that strategies for cooperation related to product life cycle 'Coastal Cities of Natal' as that work in the consolidation of projects for development of tourism, when the efficiency of collective action is achieved

De plano piloto a metrópole : entraves e desafios da política habitacional de Brasília

Dissertação (mestrado)—Universidade de Brasília, Faculdade de Economia, Administração e Contabilidade, Programa de Pós-Graduação em Administração, Mestrado Profissional em Administração Pública, 2015.

Firm strategies in R&D: cooperation and participation in R&D programs

This paper presents empirical evidence on firms’ decisions to cooperate in R&D and the extent to which government sponsored R&D programs increase cooperation. Using a sample of firms from the Spanish innovation survey we jointly estimate the determinants of firm participation in R&D programs and of choice of cooperation partners. We find that (i) firms participating in national and European programs have different profiles, suggesting program complementarity; (ii) private-private and publicprivate cooperation are associated on average with firms with different characteristics, and (iii) national R&D programs seem to have a positive effect on all types of cooperation, but especially on public-private partnerships.