3-D Velocity Regulation for Nonholonomic Source Seeking Without Position Measurement

We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based strategy under a constant forward velocity and tunable pitch and yaw velocities. Obviously, the vehicle with a constant forward velocity may exhibit certain overshoots in the seeking process and can not slow down even it approaches the source. To resolve this undesired behavior, this paper proposes a regulation strategy for the forward velocity along with the pitch and yaw velocities. Under such a strategy, the vehicle slows down near the source and stays within a small area as if it comes to a full stop, and controllers for angular velocities become succinct. We prove the local exponential convergence via the averaging technique. Finally, the theoretical results are illustrated with simulations.Comment: submitted to IEEE TCST;12 pages, 10 figure

The EU Financial Supervision in the Aftermath of the 2008 Crisis: an Appraisal

We appraise the new EU supervisory architecture presented by the Commission in a package of five 'draft legislative acts'. Two would establish a European Systemic Risk Board (ESRB) to undertake macro-prudential issues. Three would establish the system of European Supervisory Authorities (ESAs): Banking, Securities and Insurance.. . The theoretical case for this package of 'draft legislative acts' has been made by the High-Level Group on Financial Supervision in the EU. The ' package ' has been examined by the ECOFIN of 2 December 2009, which agreed on a 'general approach'; it has introduced changes to the Commission's three draft legislative acts concerning the European Supervisory Authorities (ESAs). We examine the theoretical approach underlying the draft legislative acts, which is based on the State theory of money. We find it incomplete in the case of the ESRB because the mission of ECB in 'mitigating system risks within the financial system' cannot be attained without real powers and tools; it is in essence a Macro-economic phenomenon.. . We also arrive at another conclusion relating to the three proposals on the ESAs. The theoretical underpinning of the three is based on the premise of 'regulating for the sake of regulation'. Today's evolution of the EU cannot allow Authorities over-passing the Treaty competence. Nor could the ESAs attain their objective of 'setting the common rules for supervising national entities'. Thus the conception of the EU system of financial supervision is deficient, in need of repair.. . We propose an alternative approach to the new EU supervisory architecture consisting of three elements. First, we restate the case for the Central Banks in order to assume responsibility for the 'last resort of managing risk', and endowed with real power. Second, the role of the national central banks (NCBs) in 'micro-supervision' is substantial enhanced. Third, a structure for the budgetary burden is proposed by the establishment of the 'European Fund for Financial Stability' (EFFS)..Theory of money; European Supervisory Authorities, de Larosière report; financial supervision; money externalities; European Central Bank; National Central Banks; European Steering Committee of Vice-Governors of NCBs; credit rating agencies; European Fiscal Authority; European Fund for Financial Stability; financial transaction tax; natural monopoly

A survey on fractional order control techniques for unmanned aerial and ground vehicles

In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade

The administrative burden reduction policy boom in Europe: comparing mechanisms of policy diffusion

Much has been written on the diffusion of public management and regulatory reform tools. Available evidence suggests that cross-national policy diffusion is an increasingly significant phenomenon, especially in the European context. While internationalisation of policy discourses and expert communities are regarded as key driving forces of policy diffusion, public management reforms are also said to be particularly vulnerable to mechanisms of 'diffusion without convergence'. This paper analyses the case of policies aiming at reducing administrative burdens of regulations through the lens of the literature on policy diffusion. The diffusion of the so-called Standard Cost Model for measuring administrative burden between 2003 and 2007 is used as a case to explore the mechanisms facilitating policy diffusion in this domain. The analysis reveals patterns of rapid diffusion. This policy boom has been driven by a combination of different mechanisms of policy diffusion rather than by a single driving factor

Strategies for shifting technological systems : the case of the automobile system

Californian and Dutch efforts to produce electric vehicles are explored and compared. Three strategies are put forward that could turn electric vehicles from an elusive legend, a plaything, into a marketable product: technology forcing creating a market of early promises, experiments geared towards niche development and upscaling (strategic niche management), and the creation of new alliances (technological nexus) which bring technology, the market, regulation and many other factors together. These strategies deployed in the Californian and Dutch context are analysed in detail to explore their relative strengths and weaknesses and to argue in the end that a combined use of all three will increase the chances that the dominant technological system will change. The succesful workings of these strategies crucially depend on the coupling of the variation and selection processes, building blocks for any evolutionary theory of technical change. Evolutionary theory lacks understanding of these coupling processes. Building on recent insights from the sociology of technology, the authors propose a quasi-evolutionary model which underpins the analysis of suggested strategies

Unsupervised navigation using an economy principle

We describe robot navigation learning based on self-selection of privileged vectors through the environment in accordance with an in built economy metric. This provides the opportunity both for progressive behavioural adaptation, and adaptive derivations, leading, through situated activity, to “representations" of the environment which are both economically attained and inherently meaningful to the agent

Young people's voices on cyber bullying: what can age comparisons tell us

This is a report of a youth-led research study, commissioned by the Diana Award. It illuminates contemporary experiences of and attitudes towards cyber bullying, with a particular focus on age comparisons between older and younger youth. This is the largest survey carried out on cyber bullying in England to date that has been steered by young people themselves. It consisted of: one large survey, two online surveys and four focus groups, carried out from September 2009 to July 2011. In total, it encompassed the views of 1,512 young people in England (consisting of 1490 pupils who completed the surveys and 22 who designed the research). It provides a a clearer understanding of the nature and prevalence of cyber bullying among young people and recommends effective ways to strengthen preventative action

Drones for parcel and passenger transportation: A literature review

Delivery drones and ‘air taxis’ are currently among the most intensely discussed emerging technologies, likely to expand mobility into the ‘third dimension’ of low-level airspace. This paper presents a systematic literature review of 111 interdisciplinary publications (2013 - 03/2019). The review systematizes the current socio-technical debate on civil drones for transportation purposes allowing for a (critical) interim assessment. To guide the review process four dimensions of analysis were defined. A total of 2581 relevant quotations were subdivided into anticipated barriers (426), potential problems (1037), proposed solutions (737) and expected benefits (381). We found that the debate is characterized by predominantly technical and regulatory problems and barriers which are considered to prevent or impede the use of drones for parcel and passengers transportation. At the same time, definite economic expectations are juxtaposed with quite complex and differentiated concerns regarding societal and environmental impacts. Scrutinizing the most prevalent transportation-related promises of traffic reduction, travel time saving and environmental relief we found that there is a strong need to provide scientific evidence for the promises linked to the use of drones for transportation. We conclude that the debate on drones for transportation needs further qualification, emphasizing societal benefits and public involvement more strongly.TU Berlin, Open-Access-Mittel - 201

Proceedings of the 4th field robot event 2006, Stuttgart/Hohenheim, Germany, 23-24th June 2006

Zeer uitgebreid verslag van het 4e Fieldrobotevent, dat gehouden werd op 23 en 24 juni 2006 in Stuttgart/Hohenhei