Slide-Down Prevention for Wheeled Mobile Robots on Slopes

Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck. This paper proposes slide-down prevention by real-time computation of a straightforward stability margin for a given ground-wheel friction coefficient. This margin is applied to the case study of Lazaro, a hybrid skid-steer mobile robot with caster-leg mechanism that allows tests with four or five wheel contact points. Experimental results for both ADAMS simulations and the actual vehicle demonstrate the effectiveness of the proposed approach.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

The origin of scale-scale correlations of the density perturbations during inflation

We show that scale-scale correlations are a generic feature of slow-roll inflation theories. These correlations result from the long-time tails characteristic of the time dependent correlations because the long wavelength density perturbation modes are diffusion-like. A relationship between the scale-scale correlations and time-correlations is established providing a way to reveal the time correlations of the perturbations during inflation. This mechanism provides for a testable prediction that the scale-scale correlations at two different spatial points will vanish.Comment: Accepted for publication, International Journal of Modern Physics, vol. 8 No.6 (Dec 1999

Enhancement of cooperation in highly clustered scale-free networks

We study the effect of clustering on the organization of cooperation, by analyzing the evolutionary dynamics of the Prisoner's Dilemma on scale-free networks with a tunable value of clustering. We find that a high value of the clustering coefficient produces an overall enhancement of cooperation in the network, even for a very high temptation to defect. On the other hand, high clustering homogeneizes the process of invasion of degree classes by defectors, decreasing the chances of survival of low densities of cooperator strategists in the network.Comment: 4 pages, 3 figure

A generic persistence model for CLP systems (and two useful implementations)

This paper describes a model of persistence in (C)LP languages and two different and practically very useful ways to implement this model in current systems. The fundamental idea is that persistence is a characteristic of certain dynamic predicates (Le., those which encapsulate state). The main effect of declaring a predicate persistent is that the dynamic changes made to such predicates persist from one execution to the next one. After proposing a syntax for declaring persistent predicates, a simple, file-based implementation of the concept is presented and some examples shown. An additional implementation is presented which stores persistent predicates in an external datábase. The abstraction of the concept of persistence from its implementation allows developing applications which can store their persistent predicates alternatively in files or databases with only a few simple changes to a declaration stating the location and modality used for persistent storage. The paper presents the model, the implementation approach in both the cases of using files and relational databases, a number of optimizations of the process (using information obtained from static global analysis and goal clustering), and performance results from an implementation of these ideas

Validación de los procesos de determinación de estándares de interpretación (EE) para pruebas de rendimiento educativo

En este trabajo se presenta una revisión del estado de la cuestión acerca de los métodos para desarrollar procesos de validación de la determinación de Estándares en pruebas de rendimiento educativo. Se analiza el concepto de Validez de los Estándares, así como estrategias de validación, y algunos indicadores de juicio

Insulin-like growth factor I (IGF-I) and liver cirrhosis

Insulin-like growth factor I (IGF-I) is a polypeptide hormone secreted by multiple tissues in response to growth hormone (GH). It is partly responsible for GH activity, and also has glucose-lowering and anabolizing effects. Ninety percent of circulating IGF-I originates in the liver and has autocrine, paracrine, and endocrine effects, the latter on multiple tissues. Liver cirrhosis results in a progressive decline of hepatic IGF-I output, and this factor may become undetectable in advanced disease. Some cirrhosis complications, mainly those nutritional and metabolic in nature (insuline resistance, malnutrition, osteopenia, hypogonadism, intestinal disorders), may be at least partly related to this IGF-I deficiency, since some IGF-I effects represent a reverse image of cirrhosis complications. Despite this, IGF-I replacement therapy has been never suggested for cirrhosis. A number of experimental studies in cirrhotic rats showed that therapy using low-dose recombinant IGF-I exerts two types of effect on experimental cirrhosis: a) liver improvement driven by improved hepatocellular function, portal hypertension, and liver fibrosis; and b) cirrhosis-related extrahepatic disorder improvement driven by improved food efficiency, muscle mass, bone mass, gonadal function and structure, and intestinal function and structure, with a normalization of sugar and amino acid malabsorption, and improved intstinal barrier function, manifested by reduced endotoxemia and bacterial translocation. Subsequently, the first randomized, double-blind, placebo-controlled, pilot clinical trial in a small number of cirrhotic patients showed increased serum albumin and improved energy metabolism as a result of IGF-I use. Further clinical trials are needed to identify adequate IGF-I doses, administration duration and frequency, and the subgroup of cirrhotic patients who will benefit most from this replacement therapy

Observation of a continuous interior crisis in the Hindmarsh-Rose neuron model.

Interior crises are understood as discontinuous changes of the size of a chaotic attractor that occur when an unstable periodic orbit collides with the chaotic attractor. We present here numerical evidence and theoretical reasoning which prove the existence of a chaos-chaos transition in which the change of the attractor size is sudden but continuous. This occurs in the Hindmarsh¿Rose model of a neuron, at the transition point between the bursting and spiking dynamics, which are two different dynamic behaviors that this system is able to present. Moreover, besides the change in attractor size, other significant properties of the system undergoing the transitions do change in a relevant qualitative way. The mechanism for such transition is understood in terms of a simple one-dimensional map whose dynamics undergoes a crossover between two different universal behavior