A Theory of Cheap Control in Embodied Systems

We present a framework for designing cheap control architectures for embodied agents. Our derivation is guided by the classical problem of universal approximation, whereby we explore the possibility of exploiting the agent's embodiment for a new and more efficient universal approximation of behaviors generated by sensorimotor control. This embodied universal approximation is compared with the classical non-embodied universal approximation. To exemplify our approach, we present a detailed quantitative case study for policy models defined in terms of conditional restricted Boltzmann machines. In contrast to non-embodied universal approximation, which requires an exponential number of parameters, in the embodied setting we are able to generate all possible behaviors with a drastically smaller model, thus obtaining cheap universal approximation. We test and corroborate the theory experimentally with a six-legged walking machine. The experiments show that the sufficient controller complexity predicted by our theory is tight, which means that the theory has direct practical implications. Keywords: cheap design, embodiment, sensorimotor loop, universal approximation, conditional restricted Boltzmann machineComment: 27 pages, 10 figure

Caracterización del modelo termodinámico Otto y CIMA para la predicción de potencia torque y consumo de un motor de combustión interna S.I con el dinamómetro automotriz para evaluar la precisión de sus resultados.

Este trabajo se realizó basado en la necesidad de evaluar resultados que estiman dos modelos termodinámicos mediante la comparación con datos experimentales; el objetivo de este trabajo es analizar la eficacia que poseen estos modelos para predecir parámetros como; potencia, torque y consumo de combustible de un M.C.I. Para lo cual se utilizó un vehículo para realizar pruebas experimentales de los parámetros mencionados en un dinamómetro automotriz; además se ejecutaron pruebas de emisión de gases con el fin de obtener las proporciones de aire/combustible que se desarrollan en el motor. Se desarrollaron los cálculos con los modelos mencionados, para elaborar las respectivas comparaciones. Finalmente se obtuvieron resultados de correlatividad que indican que los modelos matemáticos poseen buena capacidad para predecir parámetros de desempeño mecánico, en relación a los obtenidos en las pruebas experimentales. Por lo tanto se concluye que no es necesario aplicar ningún factor de corrección en estos modelos. Palabras claves: Proceso Adiabático, Modelo CIMA, Modelo Otto, Motor de combustión interna alternativo (MCIA), Consumo de combustible, Dinamómetro de chasis, Rendimiento volumétrico, Potencia en el motor, Torque en el motor, EES (Software)

Deep Learning: A Philosophical Introduction

Deep learning is currently the most prominent and widely successful method in artificial intelligence. Despite having played an active role in earlier artificial intelligence and neural network research, philosophers have been largely silent on this technology so far. This is remarkable, given that deep learning neural networks have blown past predicted upper limits on artificial intelligence performance—recognizing complex objects in natural photographs, and defeating world champions in strategy games as complex as Go and chess—yet there remains no universally-accepted explanation as to why they work so well. This article provides an introduction to these networks, as well as an opinionated guidebook on the philosophical significance of their structure and achievements. It argues that deep learning neural networks differ importantly in their structure and mathematical properties from the shallower neural networks that were the subject of so much philosophical reflection in the 1980s and 1990s. The article then explores several different explanations for their success, and ends by proposing ten areas of research that would benefit from future engagement by philosophers of mind, epistemology, science, perception, law, and ethics

The political economy of progressive fiscal contracts in Africa and Latin America

Motivation How can poorer developing countries escape from the vicious circle in which, because the state is fragile, those countries cannot raise sufficient public revenue to be able to finance development, leading to the persistence of poverty and state fragility? We explore a new approach to this problem, which we call progressive fiscal contracts, in which government earmarks the proceeds of particular taxes to be spent on forms of expenditure which will have widespread benefits for lower income groups, such as health, education and social protection. Taxpayers are thus offered a contractual relationship with government (better‐targeted delivery of public services in return for tax payments) in place of a coercive one (simply being ordered to pay taxes, with nothing being offered in exchange). We seek to examine whether this kind of contractual approach offers a way forward for developing countries. Purpose Across five countries (Bolivia, Ecuador, Venezuela, Ghana and Zambia) between 2000 and 2015, we seek to find out whether tax yields have improved following the introduction of progressive fiscal contracts, whether conflict and poverty have declined, and whether there have been countervailing costs in terms of reduced efficiency. We also examine the experience of two countries (Brazil and Chile) where there is no formal ear‐marking but government has encouraged the public to think of particular taxes as being associated with particular forms of expenditure. Approach and methods We assess the impact of changes in tax yields, welfare indicators and conflict indicators by means of panel‐data regressions, tabular comparisons and, in Bolivia, qualitative interviews. Changes in efficiency are assessed through examination of changes in tax structure. Findings Across all of the countries surveyed, the introduction of progressive fiscal contracts has been associated with a reduction in headcount poverty between 2000 and 2015, and in Bolivia our qualitative evidence suggests that the relationship can be seen as a causal one. In three cases out of five (Ghana, Bolivia and Ecuador) tax yields have increased, and in two (Ecuador and Bolivia) there was a significant reduction in political violence. In the Latin American cases examined, but not the African ones, there was a shift from royalty‐based taxation to income‐based taxation of natural resources, suggesting the likelihood of an improvement in efficiency over the period in those countries only. In these cases, the stereotypical view that progressive fiscal contracts improve equity at the expense of efficiency is contradicted. Policy implications (or conclusions) ‘Progressive fiscal contracts’, which originated as a device for making tax payments more palatable by offering social benefits in return, show promise as an innovative strategy for boosting tax ratios, reducing political violence and reducing poverty, which deserves further exploration

First Latin American clinical practice guidelines for the treatment of systemic lupus erythematosus: Latin American Group for the Study of Lupus (GLADEL, Grupo Latino Americano de Estudio del Lupus)-Pan-American League of Associations of Rheumatology (PANLAR)

Systemic lupus erythematosus (SLE), a complex and heterogeneous autoimmune disease, represents a significant challenge for both diagnosis and treatment. Patients with SLE in Latin America face special problems that should be considered when therapeutic guidelines are developed. The objective of the study is to develop clinical practice guidelines for Latin American patients with lupus. Two independent teams (rheumatologists with experience in lupus management and methodologists) had an initial meeting in Panama City, Panama, in April 2016. They selected a list of questions for the clinical problems most commonly seen in Latin American patients with SLE. These were addressed with the best available evidence and summarised in a standardised format following the Grading of Recommendations Assessment, Development and Evaluation approach. All preliminary findings were discussed in a second face-to-face meeting in Washington, DC, in November 2016. As a result, nine organ/system sections are presented with the main findings; an 'overarching' treatment approach was added. Special emphasis was made on regional implementation issues. Best pharmacologic options were examined for musculoskeletal, mucocutaneous, kidney, cardiac, pulmonary, neuropsychiatric, haematological manifestations and the antiphospholipid syndrome. The roles of main therapeutic options (ie, glucocorticoids, antimalarials, immunosuppressant agents, therapeutic plasma exchange, belimumab, rituximab, abatacept, low-dose aspirin and anticoagulants) were summarised in each section. In all cases, benefits and harms, certainty of the evidence, values and preferences, feasibility, acceptability and equity issues were considered to produce a recommendation with special focus on ethnic and socioeconomic aspects. Guidelines for Latin American patients with lupus have been developed and could be used in similar settings.Fil: Pons Estel, Bernardo A.. Centro Regional de Enfermedades Autoinmunes y Reumáticas; ArgentinaFil: Bonfa, Eloisa. Universidade de Sao Paulo; BrasilFil: Soriano, Enrique R.. Instituto Universitario Hospital Italiano de Buenos Aires. Rectorado.; ArgentinaFil: Cardiel, Mario H.. Centro de Investigación Clínica de Morelia; MéxicoFil: Izcovich, Ariel. Hospital Alemán; ArgentinaFil: Popoff, Federico. Hospital Aleman; ArgentinaFil: Criniti, Juan M.. Hospital Alemán; ArgentinaFil: Vásquez, Gloria. Universidad de Antioquia; ColombiaFil: Massardo, Loreto. Universidad San Sebastián; ChileFil: Duarte, Margarita. Hospital de Clínicas; ParaguayFil: Barile Fabris, Leonor A.. Hospital Angeles del Pedregal; MéxicoFil: García, Mercedes A.. Universidad de Buenos Aires. Facultad de Medicina. Hospital de Clínicas General San Martín; ArgentinaFil: Amigo, Mary Carmen. Centro Médico Abc; MéxicoFil: Espada, Graciela. Gobierno de la Ciudad de Buenos Aires. Hospital General de Niños "Ricardo Gutiérrez"; ArgentinaFil: Catoggio, Luis J.. Hospital Italiano. Instituto Universitario. Escuela de Medicina; ArgentinaFil: Sato, Emilia Inoue. Universidade Federal de Sao Paulo; BrasilFil: Levy, Roger A.. Universidade do Estado de Rio do Janeiro; BrasilFil: Acevedo Vásquez, Eduardo M.. Universidad Nacional Mayor de San Marcos; PerúFil: Chacón Díaz, Rosa. Policlínica Méndez Gimón; VenezuelaFil: Galarza Maldonado, Claudio M.. Corporación Médica Monte Sinaí; EcuadorFil: Iglesias Gamarra, Antonio J.. Universidad Nacional de Colombia; ColombiaFil: Molina, José Fernando. Centro Integral de Reumatología; ColombiaFil: Neira, Oscar. Universidad de Chile; ChileFil: Silva, Clóvis A.. Universidade de Sao Paulo; BrasilFil: Vargas Peña, Andrea. Hospital Pasteur Montevideo; UruguayFil: Gómez Puerta, José A.. Hospital Clinic Barcelona; EspañaFil: Scolnik, Marina. Instituto Universitario Hospital Italiano de Buenos Aires. Rectorado.; ArgentinaFil: Pons Estel, Guillermo J.. Centro Regional de Enfermedades Autoinmunes y Reumáticas; Argentina. Hospital Provincial de Rosario; ArgentinaFil: Ugolini Lopes, Michelle R.. Universidade de Sao Paulo; BrasilFil: Savio, Verónica. Instituto Universitario Hospital Italiano de Buenos Aires. Rectorado.; ArgentinaFil: Drenkard, Cristina. University of Emory; Estados UnidosFil: Alvarellos, Alejandro J.. Hospital Privado Universitario de Córdoba; ArgentinaFil: Ugarte Gil, Manuel F.. Universidad Cientifica del Sur; Perú. Hospital Nacional Guillermo Almenara Irigoyen; PerúFil: Babini, Alejandra. Instituto Universitario Hospital Italiano de Buenos Aires. Rectorado.; ArgentinaFil: Cavalcanti, André. Universidade Federal de Pernambuco; BrasilFil: Cardoso Linhares, Fernanda Athayde. Hospital Pasteur Montevideo; UruguayFil: Haye Salinas, Maria Jezabel. Hospital Privado Universitario de Córdoba; ArgentinaFil: Fuentes Silva, Yurilis J.. Universidad de Oriente - Núcleo Bolívar; VenezuelaFil: Montandon De Oliveira E Silva, Ana Carolina. Universidade Federal de Goiás; BrasilFil: Eraso Garnica, Ruth M.. Universidad de Antioquia; ColombiaFil: Herrera Uribe, Sebastián. Hospital General de Medellin Luz Castro de Gutiérrez; ColombiaFil: Gómez Martín, DIana. Instituto Nacional de la Nutrición Salvador Zubiran; MéxicoFil: Robaina Sevrini, Ricardo. Universidad de la República; UruguayFil: Quintana, Rosana M.. Hospital Provincial de Rosario; Argentina. Centro Regional de Enfermedades Autoinmunes y Reumáticas; ArgentinaFil: Gordon, Sergio. Hospital Interzonal General de Agudos Dr Oscar Alende. Unidad de Reumatología y Enfermedades Autoinmunes Sistémicas; ArgentinaFil: Fragoso Loyo, Hilda. Instituto Nacional de la Nutrición Salvador Zubiran; MéxicoFil: Rosario, Violeta. Hospital Docente Padre Billini; República DominicanaFil: Saurit, Verónica. Hospital Privado Universitario de Córdoba; ArgentinaFil: Appenzeller, Simone. Universidade Estadual de Campinas; BrasilFil: Dos Reis Neto, Edgard Torres. Universidade Federal de Sao Paulo; BrasilFil: Cieza, Jorge. Hospital Nacional Edgardo Rebagliati Martins; PerúFil: González Naranjo, Luis A.. Universidad de Antioquia; ColombiaFil: González Bello, Yelitza C.. Ceibac; MéxicoFil: Collado, María Victoria. Universidad de Buenos Aires. Facultad de Medicina. Instituto de Investigaciones Médicas; ArgentinaFil: Sarano, Judith. Universidad de Buenos Aires. Facultad de Medicina. Instituto de Investigaciones Médicas; ArgentinaFil: Retamozo, Maria Soledad. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Córdoba. Instituto de Investigaciones en Ciencias de la Salud. Universidad Nacional de Córdoba. Instituto de Investigaciones en Ciencias de la Salud; ArgentinaFil: Sattler, María E.. Provincia de Buenos Aires. Ministerio de Salud. Hospital Interzonal de Agudos "Eva Perón"; ArgentinaFil: Gamboa Cárdenas, Rocio V.. Hospital Nacional Guillermo Almenara Irigoyen; PerúFil: Cairoli, Ernesto. Universidad de la República; UruguayFil: Conti, Silvana M.. Hospital Provincial de Rosario; ArgentinaFil: Amezcua Guerra, Luis M.. Instituto Nacional de Cardiologia Ignacio Chavez; MéxicoFil: Silveira, Luis H.. Instituto Nacional de Cardiologia Ignacio Chavez; MéxicoFil: Borba, Eduardo F.. Universidade de Sao Paulo; BrasilFil: Pera, Mariana A.. Hospital Interzonal General de Agudos General San Martín; ArgentinaFil: Alba Moreyra, Paula B.. Universidad Nacional de Córdoba. Facultad de Medicina; ArgentinaFil: Arturi, Valeria. Hospital Interzonal General de Agudos General San Martín; ArgentinaFil: Berbotto, Guillermo A.. Provincia de Buenos Aires. Ministerio de Salud. Hospital Interzonal de Agudos "Eva Perón"; ArgentinaFil: Gerling, Cristian. Hospital Interzonal General de Agudos Dr Oscar Alende. Unidad de Reumatología y Enfermedades Autoinmunes Sistémicas; ArgentinaFil: Gobbi, Carla Andrea. Universidad Nacional de Córdoba. Facultad de Medicina; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Gervasoni, Viviana L.. Hospital Provincial de Rosario; ArgentinaFil: Scherbarth, Hugo R.. Hospital Interzonal General de Agudos Dr Oscar Alende. Unidad de Reumatología y Enfermedades Autoinmunes Sistémicas; ArgentinaFil: Brenol, João C. Tavares. Hospital de Clinicas de Porto Alegre; BrasilFil: Cavalcanti, Fernando. Universidade Federal de Pernambuco; BrasilFil: Costallat, Lilian T. Lavras. Universidade Estadual de Campinas; BrasilFil: Da Silva, Nilzio A.. Universidade Federal de Goiás; BrasilFil: Monticielo, Odirlei A.. Hospital de Clinicas de Porto Alegre; BrasilFil: Seguro, Luciana Parente Costa. Universidade de Sao Paulo; BrasilFil: Xavier, Ricardo M.. Hospital de Clinicas de Porto Alegre; BrasilFil: Llanos, Carolina. Universidad Católica de Chile; ChileFil: Montúfar Guardado, Rubén A.. Instituto Salvadoreño de la Seguridad Social; El SalvadorFil: Garcia De La Torre, Ignacio. Hospital General de Occidente; MéxicoFil: Pineda, Carlos. Instituto Nacional de Rehabilitación; MéxicoFil: Portela Hernández, Margarita. Umae Hospital de Especialidades Centro Medico Nacional Siglo Xxi; MéxicoFil: Danza, Alvaro. Hospital Pasteur Montevideo; UruguayFil: Guibert Toledano, Marlene. Medical-surgical Research Center; CubaFil: Reyes, Gil Llerena. Medical-surgical Research Center; CubaFil: Acosta Colman, Maria Isabel. Hospital de Clínicas; ParaguayFil: Aquino, Alicia M.. Hospital de Clínicas; ParaguayFil: Mora Trujillo, Claudia S.. Hospital Nacional Edgardo Rebagliati Martins; PerúFil: Muñoz Louis, Roberto. Hospital Docente Padre Billini; República DominicanaFil: García Valladares, Ignacio. Centro de Estudios de Investigación Básica y Clínica; MéxicoFil: Orozco, María Celeste. Instituto de Rehabilitación Psicofísica; ArgentinaFil: Burgos, Paula I.. Pontificia Universidad Católica de Chile; ChileFil: Betancur, Graciela V.. Instituto de Rehabilitación Psicofísica; ArgentinaFil: Alarcón, Graciela S.. Universidad Peruana Cayetano Heredia; Perú. University of Alabama at Birmingahm; Estados Unido

Reviewing the use of resilience concepts in forest sciences

Purpose of the review Resilience is a key concept to deal with an uncertain future in forestry. In recent years, it has received increasing attention from both research and practice. However, a common understanding of what resilience means in a forestry context, and how to operationalise it is lacking. Here, we conducted a systematic review of the recent forest science literature on resilience in the forestry context, synthesising how resilience is defined and assessed. Recent findings Based on a detailed review of 255 studies, we analysed how the concepts of engineering resilience, ecological resilience, and social-ecological resilience are used in forest sciences. A clear majority of the studies applied the concept of engineering resilience, quantifying resilience as the recovery time after a disturbance. The two most used indicators for engineering resilience were basal area increment and vegetation cover, whereas ecological resilience studies frequently focus on vegetation cover and tree density. In contrast, important social-ecological resilience indicators used in the literature are socio-economic diversity and stock of natural resources. In the context of global change, we expected an increase in studies adopting the more holistic social-ecological resilience concept, but this was not the observed trend. Summary Our analysis points to the nestedness of these three resilience concepts, suggesting that they are complementary rather than contradictory. It also means that the variety of resilience approaches does not need to be an obstacle for operationalisation of the concept. We provide guidance for choosing the most suitable resilience concept and indicators based on the management, disturbance and application context

Desarrollo de un Inventario de Emisiones Industriales a Nivel Local

Los inventarios de emisiones son herramienta que se usa para identificar fuentes emisoras de contaminantes y sirven para desarrollar planes y programas de gestión y control de la contaminación, otra aplicación de los inventarios la encontramos en el uso de modelos para la calidad del aire. Para México los inventarios de emisiones se calculan con metodologías propuestas por la EPAAP42, los gobiernos federales y estatales usan estas metodologías adecuándolas a la situación en México. Es necesario planear adecuadamente el desarrollo de los inventarios en México y sobres todo incluir en el proceso del inventario de emisiones una actividad específica para la evaluación del control de calidad. Es necesario contar con un instrumento de regulación que nos permita recolectar información local de las industrias y con esta información elaborar una base de datos de la industria federal, estatal o local. La metodología propuesta en este trabajo de tesis sirve para la evaluación del control de calidad del inventario, esta metodología es práctica y fácil de usar sobre todo si no se cuenta con experiencia en el área de inventarios de emisiones. La metodología consiste en determinar la importancia de cada uno de los datos del inventario, la forma de hacerlo es consultando a grupos de expertos en diferentes áreas de interés y elaborando una matriz de expertos que calificaran cada uno de los datos del inventario. El resultado de esta calificación nos identifica los datos más importantes para el inventario y en los cuales se basará la evaluación del control de calidad. Con los resultados obtenidos de la matriz de expertos se da una calificación a cada uno de los datos. Como existe un nÚmero considerable de datos es recomendable agruparlos por secciones una vez agrupados por secciones se suma la calificación de cada dato y se promedia para cada sección. Esto nos permite identificar los datos que faltan en el inventario o los que están erróneos esta carencia de datos o de mala calidad los consideraremos como deficiencias (Desviaciones) en el inventario. Las deficiencias encontradas para cada sección se pueden corregir de diferentes maneras, la más comÚn es revisando a fondo la información de la empresa ya sea en registros actuales y/o registros históricos, otra forma es realizando llamadas a los responsables técnico de la empresa, y el Último recurso seria la verificación de la información en campo. Cualquiera de estas formas de correcciones requiere de tiempo que se suma al proceso del inventario y nórmamele se tiene resultados a largo plazo

“Melioidosis in Antioquia, Colombia: an emerging or endemic disease? A cases series”

Background: Melioidosis is endemic in Malaysia, the southwest of Thailand, and northern Australia. The incidence in Thailand is 4.4/1 000 000 inhabitants, where it causes 19% of community-acquired pneumonia (CAP) and 20% of bacteremic pneumonia, and the mortality is 50%. Sporadic cases have been described in Central and South America. The objective of this study was to describe the clinical and epidemiological features and ecological characteristics of melioidosis in Antioquia, Colombia. Methods: This is a case series description. Results: Seven cases were identified. Burkholderia pseudomallei was isolated from peripheral blood, pleural fluid, and urine and was identified by the automated system VITEK 2 (bioMérieux) and API 20NE biochemical kit. Five of the cases had a bacteremic form with shock and pulmonary compromise and two of these patients died. The non-bacteremic melioidosis cases had genitourinary, abdominal, and osteoarticular compromise. All patients had comorbidities and lived in rural hot and humid areas in the west central region of Colombia (Antioquia). Diabetes mellitus, renal insufficiency, and other chronic diseases are important risk factors for the development of severe forms. Conclusions: The cases presented here are similar to those occurring in endemic areas regarding comorbidity, risk factors, clinical presentation, and environmental conditions. It is necessary to establish whether melioidosis is an endemic and under-diagnosed disease or an emerging disease in Colombia

Approximate mechanical behavior analysis of a thick-wall metallic liner reinforced with composites, submitted to internal pressure

This study aims to simulate and to analyze the elastic and the damage behavior of a reinforced metallic liner (RML) by means of a computational tool, in order to aid in the design of high specific-stiffness and -strength barrels for heavy-duty hydraulic applications. Case studies for the program validation are undertaken using an AISI 1026 or St52.3 steel tubing reinforced with a polymeric composite of glass fiber and epoxy resin, wound in a hoop pattern. The mechanical behavior of the RML under internal pressure with no-end effects is predicted by means of strain measurements at the outermost layer. The mathematical model is based on the Classical Lamination Theory (CLT) improved with kinematic relationships that allow to introduce curvature effects. Numerical results based on experimental measurements show that the reinforcement is effective, allowing to considerably augment the maximum bearable pressure with respect to a non-reinforced metallic liner (nRML), without important weight or cost increase