Secondary Controller Design for the Safety of Nonlinear Systems via Sum-of-Squares Programming

We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of the control system, when starting from a given initial set, always remain in a prescribed safe set. We consider polynomial systems with semi-algebraic safe sets. Using the S-procedure for polynomial functions, safety conditions can be formulated as a Sum-Of-Squares (SOS) programme, which can be solved efficiently. When safety cannot be guaranteed, we provide tools via SOS to synthesize polynomial controllers that enforce safety of the closed loop system. The theoretical results are illustrated through numerical simulations

Secondary Controller Design for the Safety of Nonlinear Systems via Sum-of-Squares Programming

We consider the problem of ensuring the safety of nonlinear control systems under adversarial signals. Using Lyapunov based reachability analysis, we first give sufficient conditions to assess safety, i.e., to guarantee that the states of the control system, when starting from a given initial set, always remain in a prescribed safe set. We consider polynomial systems with semi-algebraic safe sets. Using the S-procedure for polynomial functions, safety conditions can be formulated as a Sum-Of-Squares (SOS) programme, which can be solved efficiently. When safety cannot be guaranteed, we provide tools via SOS to synthesize polynomial controllers that enforce safety of the closed loop system. The theoretical results are illustrated through numerical simulations

Information Technologies and Provision of National Identification Cards by the Bolivian Police: Evidence from Two Randomized Natural Field Experiments

This paper investigates the potential of information technologies to improve public service delivery and empower citizens in the context of two unusual randomized natural experiments occurring within one particular bureaucratic process: the renewal of a national identification card by the Bolivian Police. The first experiment arises from the random assignment of both police officers and applicants to a manual or digital renewal process, which is identical in all aspects except that the digital renewal process makes use of information technologies as part of the renewal process. The second experiment arises by the existence of technical failures within the digital renewal process, which allows police officers to change from the digital to the manual renewal process randomly across renewal day. The efficiency of public service delivery is measured in terms of both renewal success rates (which average to a strikingly low rate of 72 percent in our sample) and time-it-takes to renew an identification card. We find that information technologies significantly improve the quality of public service delivery. Also, we find that information technologies significantly lower barriers in access to national identification cards by promoting a more equitable provision across the population. We discuss several channels through which technologies might be improving efficiency and promoting equity within this particular bureaucratic process. Overall, our findings suggest that information technologies might be achieving these goals by introducing efficiencies (such as reducing administrative shortcomings and transaction costs), and limiting the exercise of discretion by police officers within the renewal process

Gain Modulation by Corticostriatal and Thalamostriatal Input Signals during Reward-Conditioned Behavior.

The cortex and thalamus send excitatory projections to the striatum, but little is known about how these inputs, either individually or collectively, regulate striatal dynamics during behavior. The lateral striatum receives overlapping input from the secondary motor cortex (M2), an area involved in licking, and the parafascicular thalamic nucleus (PF). Using neural recordings, together with optogenetic terminal inhibition, we examine the contribution of M2 and PF projections on medium spiny projection neuron (MSN) activity as mice performed an anticipatory licking task. Each input has a similar contribution to striatal activity. By comparing how suppressing single or multiple projections altered striatal activity, we find that cortical and thalamic input signals modulate MSN gain and that this effect is more pronounced in a temporally specific period of the task following the cue presentation. These results demonstrate that cortical and thalamic inputs synergistically regulate striatal output during reward-conditioned behavior

Fundamentos jurídicos que posibilitan a los abuelos a ejercer la tenencia de sus nietos en el ordenamiento jurídico peruano

La presente tesis ha sido titulada: “fundamentos jurídicos que posibilitan a los abuelos a ejercer la tenencia de sus nietos, en el ordenamiento jurídico peruano”, la misma que inicia con la siguiente pregunta: “¿Cuáles son los fundamentos jurídicos que posibilitan a los abuelos a ejercer la tenencia de sus nietos, en el ordenamiento jurídico peruano?”. De la misma manera, el objetivo general de esta investigación es: “Dar a conocer los fundamentos jurídicos que posibilitan a los abuelos a ejercer la tenencia de sus nietos, en el ordenamiento jurídico peruano”, planteándonos como objetivos específicos los siguientes: “Identificar los fundamentos jurídicos que posibilitan a los abuelos a ejercer la tenencia de sus nietos dentro de la convención sobre los Derechos del Niño; Determinar de qué manera el artículo VI del título preliminar del Código Civil resulta ser un fundamento jurídico que permita a los abuelos a ejercer la tenencia de sus nietos; Determinar de qué manera el principio del Interés Superior del Niño resulta ser un fundamento jurídico que permita a los abuelos a ejercer la tenencia de sus nietos”. De esta manera y con la aplicación de los métodos analítico, sintético, ddogmático hermenéutico, hemos podido arribar a diversas conclusiones, siendo la primera de todas: “Los fundamentos jurídicos que posibilitan a los abuelos a ejercer la tenencia de sus nietos, en el ordenamiento jurídico peruano son la convención sobre los Derechos del Niño, el artículo VI del título preliminar del Código Civil y el principio del Interés Superior del NiñoThis thesis has been entitled: ""legal foundations that enable grandparents to exercise custody of their grandchildren, in the Peruvian legal system"", which begins with the following question: ""What are the legal foundations that enable grandparents to grandparents to exercise custody of their grandchildren, in the Peruvian legal system? In the same way, the general objective of this research is: ""To make known the legal foundations that enable grandparents to exercise custody of their grandchildren, in the Peruvian legal system"", considering the following as specific objectives: ""Identify the legal foundations that enable grandparents to exercise custody of their grandchildren within the Convention on the Rights of the Child; Determine how article VI of the preliminary title of the Civil Code turns out to be a legal basis that allows grandparents to exercise custody of their grandchildren; Determine how the principle of the Best Interest of the Child turns out to be a legal basis that allows grandparents to exercise custody of their grandchildren. In this way and with the application of analytical, synthetic, hermeneutical dogmatic methods, we have been able to arrive at various conclusions, the first of all being: ""The legal foundations that enable grandparents to exercise possession of their grandchildren, in the Peruvian legal system are the Convention on the Rights of the Child, article VI of the preliminary title of the Civil Code and the principle of the Best Interest of the ChildTesi

Gestión de residuos sólidos y conciencia ambiental en la asociación de vivienda “Óvalo del sur”, La Banda de Shilcayo, 2021

La investigación tuvo como objetivo Determinar la relación entre la gestión de residuos sólidos y conciencia ambiental del poblador de la Asociación de vivienda “Óvalo del sur”, Banda de Shilcayo, 2021. La investigación fue de tipo básica y de diseño no experimental, tipo descriptivo correlacional. La población estuvo conformada por 200 pobladores y la muestra por 132 de la asociación de vivienda “Óvalo del sur” del distrito de La Banda de Shilcayo. Los resultados demuestran, la correlación entre la gestión de los residuos sólidos y la conciencia ambiental es 0,633 con un p-valor de 0.000 menor que 0.01 y con prueba bilateral. Por tanto, se rechazó la hipótesis nula y se acepta que, existe relación directa y significativa entre la gestión de residuos sólidos y la conciencia ambiental en la asociación de vivienda “Óvalo del sur”, de la Banda de Shilcayo, 2021

Social Network Analysis Based Localization Technique with Clustered Closeness Centrality for 3D Wireless Sensor Networks

[EN] In this paper, we proposed a new wireless localization technique based on the ideology of social network analysis (SNA), to study the different properties of networks as a graph. Centrality is a main concept in SNA, so we propose using closeness centrality (CC) as a measurement to denote the importance of the node inside the network due to its geo-location to others. The node with highest degree of CC is chosen as a cluster heads, then each cluster head can form its trilateration process to collect data from its cluster. The selection of closest cluster based on CC values, and the unknown node's location can be estimated through the trilateration process. To form a perfect trilateration, the cluster head chooses three anchor nodes. The proposed algorithm provides high accuracy even in different network topologies like concave shape, O shape, and C shape as compared to existing received signal strength indicator (RSSI) techniques. Matlab simulation results based on practical radio propagation data sets showed a localization error of 0.32 m with standard deviation of 0.26 m.This work was fully supported by the Vice Chancellor Doctoral Scholarship at Auckland University of Technology, New Zealand.Ahmad, T.; Li, XJ.; Seet, B.; Cano, J. (2020). Social Network Analysis Based Localization Technique with Clustered Closeness Centrality for 3D Wireless Sensor Networks. Electronics. 9(5):1-19. https://doi.org/10.3390/electronics9050738S11995Zhou, B., Yao, X., Yang, L., Yang, S., Wu, S., Kim, Y., & Ai, L. (2019). Accurate Rigid Body Localization Using DoA Measurements from a Single Base Station. Electronics, 8(6), 622. doi:10.3390/electronics8060622Ahmad, T., Li, X., & Seet, B.-C. (2017). Parametric Loop Division for 3D Localization in Wireless Sensor Networks. Sensors, 17(7), 1697. doi:10.3390/s17071697Kaur, A., Kumar, P., & Gupta, G. P. (2019). A weighted centroid localization algorithm for randomly deployed wireless sensor networks. Journal of King Saud University - Computer and Information Sciences, 31(1), 82-91. doi:10.1016/j.jksuci.2017.01.007Khelifi, F., Bradai, A., Benslimane, A., Rawat, P., & Atri, M. (2018). A Survey of Localization Systems in Internet of Things. Mobile Networks and Applications, 24(3), 761-785. doi:10.1007/s11036-018-1090-3Sanchez-Iborra, R., G. Liaño, I., Simoes, C., Couñago, E., & Skarmeta, A. (2018). Tracking and Monitoring System Based on LoRa Technology for Lightweight Boats. Electronics, 8(1), 15. doi:10.3390/electronics8010015Sayed, A. H., Tarighat, A., & Khajehnouri, N. (2005). Network-based wireless location: challenges faced in developing techniques for accurate wireless location information. IEEE Signal Processing Magazine, 22(4), 24-40. doi:10.1109/msp.2005.1458275Maşazade, E., Ruixin Niu, Varshney, P. K., & Keskinoz, M. (2010). Energy Aware Iterative Source Localization for Wireless Sensor Networks. IEEE Transactions on Signal Processing, 58(9), 4824-4835. doi:10.1109/tsp.2010.2051433Yang, X., Kong, Q., & Xie, X. (2009). One-Dimensional Localization Algorithm Based on Signal Strength Ratio. International Journal of Distributed Sensor Networks, 5(1), 79-79. doi:10.1080/15501320802571822Xie, S., Wang, T., Hao, X., Yang, M., Zhu, Y., & Li, Y. (2019). Localization and Frequency Identification of Large-Range Wide-Band Electromagnetic Interference Sources in Electromagnetic Imaging System. Electronics, 8(5), 499. doi:10.3390/electronics8050499Zhu, X., Wu, X., & Chen, G. (2013). Relative localization for wireless sensor networks with linear topology. Computer Communications, 36(15-16), 1581-1591. doi:10.1016/j.comcom.2013.07.007Meng, W., Xiao, W., & Xie, L. (2011). An Efficient EM Algorithm for Energy-Based Multisource Localization in Wireless Sensor Networks. IEEE Transactions on Instrumentation and Measurement, 60(3), 1017-1027. doi:10.1109/tim.2010.2047035Lim, H., & Hou, J. C. (2009). Distributed localization for anisotropic sensor networks. ACM Transactions on Sensor Networks, 5(2), 1-26. doi:10.1145/1498915.1498917Xiaohong Sheng, & Yu-Hen Hu. (2005). Maximum likelihood multiple-source localization using acoustic energy measurements with wireless sensor networks. IEEE Transactions on Signal Processing, 53(1), 44-53. doi:10.1109/tsp.2004.838930Yun Wang, Xiaodong Wang, Demin Wang, & Agrawal, D. P. (2009). Range-Free Localization Using Expected Hop Progress in Wireless Sensor Networks. IEEE Transactions on Parallel and Distributed Systems, 20(10), 1540-1552. doi:10.1109/tpds.2008.239Huang, H., & Zheng, Y. R. (2018). Node localization with AoA assistance in multi-hop underwater sensor networks. Ad Hoc Networks, 78, 32-41. doi:10.1016/j.adhoc.2018.05.005Zàruba, G. V., Huber, M., Kamangar, F. A., & Chlamtac, I. (2006). Indoor location tracking using RSSI readings from a single Wi-Fi access point. Wireless Networks, 13(2), 221-235. doi:10.1007/s11276-006-5064-1Singh, M., & Khilar, P. M. (2015). An analytical geometric range free localization scheme based on mobile beacon points in wireless sensor network. Wireless Networks, 22(8), 2537-2550. doi:10.1007/s11276-015-1116-8Yiqiang Chen, Qiang Yang, Jie Yin, & Xiaoyong Chai. (2006). Power-efficient access-point selection for indoor location estimation. IEEE Transactions on Knowledge and Data Engineering, 18(7), 877-888. doi:10.1109/tkde.2006.112Alzoubi, K., Li, X.-Y., Wang, Y., Wan, P.-J., & Frieder, O. (2003). Geometric spanners for wireless ad hoc networks. IEEE Transactions on Parallel and Distributed Systems, 14(4), 408-421. doi:10.1109/tpds.2003.1195412Safa, H. (2014). A novel localization algorithm for large scale wireless sensor networks. Computer Communications, 45, 32-46. doi:10.1016/j.comcom.2014.03.020Kaemarungsi, K., & Krishnamurthy, P. 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Choques externos e internos sobre la dinámica de ingresos tributarios en el Perú, período 1990 - 2019

Universidad Nacional Agraria La Molina. Facultad de Economía y Planificación. Departamento Académico de Economía y PlanificaciónLos ingresos tributarios financian los gastos gubernamentales para el desarrollo, por ello, esta investigación tiene el objetivo de cuantificar el efecto del Producto Bruto Interno (PBI) y el Índice de precios de las exportaciones sobre los ingresos tributarios del gobierno central, entre el primer trimestre de 1990 y el último trimestre de 2019. La aproximación econométrica es un Vector Autorregresivo Estructural (SVAR, por sus siglas en inglés), el cual sigue una identificación a lo Blanchard y Perotti (2002). Con la metodología se estimó las Funciones de Impulso Respuesta (FIR) y la descomposición de la varianza del error de predicción. Los resultados muestran que el impacto del índice de precios de las exportaciones sobre los ingresos tributarios, es aproximadamente 1,7 por ciento en el primer trimestre, y alcanza un efecto máximo de 4,1 por ciento luego de tres trimestres. Se encuentra que el impacto del crecimiento económico sobre los ingresos tributarios es 2,1 por ciento en el primer trimestre, y alcanza un efecto máximo de 2,3 por ciento después de un trimestre. Se prueba una doble causalidad entre la tasa de crecimiento de los ingresos tributarios y el crecimiento económico de la economía peruana. Se concluye que en los últimos 30 años el ingreso tributario del gobierno central peruano ha estado influido por factores externos, en especial, por el índice de precios de las exportaciones, pues los resultados sugieren que 41 por ciento de las variaciones en el tiempo del crecimiento de los ingresos tributarios está determinado por choques producidos en el índice de precios de las exportaciones.Tax revenues finance government expenditures for development, therefore, this research aims to quantify the effect of the Gross Domestic Product (GDP) and the Export Price Index on the tax revenues of the central government, between the first quarter 1990 and the last quarter of 2019. The econometric approximation is a Structural Autoregressive Vector (SVAR), which follows an identification a la Blanchard and Perotti (2002). With the methodology, the Impulse Response Functions (FIR) and the decomposition of the variance of the prediction error were estimated. The results show that the impact of the export price index on tax revenues is approximately 1.7 percent in the first quarter, and reaches a maximum effect of 4.1 percent after three quarters. The impact of economic growth on tax revenues is found to be 2.1 percent in the first quarter, and reaches a maximum effect of 2.3 percent after one quarter. A double causality is proven between the growth rate of tax revenues and the economic growth of the Peruvian economy. It is concluded that in the last 30 years the tax income of the Peruvian central government has been influenced by external factors, especially by the export price index, since the results suggest that 41 percent of the variations over time of growth of tax revenue is determined by shocks produced in the export price index