Model-Free Control Design Procedure Applied to Lateral Vehicle Control

Model-Free Control has proven its performance in a wide variety of systems. Although its adequate tuning can be achieved using the knowledge of the system and optimization-based approaches, there is not yet a systematic design procedure for this kind of control scheme. In this paper, a non-iterative Three Term Controller tuning procedure is adapted and extended to fit Model-free controllers' structure. This procedure is successfully applied to design the lateral control of an automated car with realistic performance requirements.Comment: submitted to IFAC World Congress 202

Numerical approximation of statistical solutions of scalar conservation laws

We propose efficient numerical algorithms for approximating statistical solutions of scalar conservation laws. The proposed algorithms combine finite volume spatio-temporal approximations with Monte Carlo and multi-level Monte Carlo discretizations of the probability space. Both sets of methods are proved to converge to the entropy statistical solution. We also prove that there is a considerable gain in efficiency resulting from the multi-level Monte Carlo method over the standard Monte Carlo method. Numerical experiments illustrating the ability of both methods to accurately compute multi-point statistical quantities of interest are also presented

Cranial form differences in goats by breed and domestic status

Domestic goats (Capra hircus) are globally represented by over 300 breeds, making them a useful model for investigating patterns of morphological change related to domestication. However, they have been little studied, likely due to their poor representation in museum collections and the difficulty in obtaining truly wild goat (Capra aegagrus, the bezoar) samples. Similar studies on other species reveal that domestication correlates with craniofacial alterations in domestics, which are non-uniform and often species-specific. Here, we use three-dimensional geometric morphometric methods (3DGMM) to describe and quantify cranial shape variation in wild (n = 21) versus domestic (n = 54) goats. We find that mean cranial shapes differ significantly between wild and domestic goats as well as between certain breeds. The detected differences are lower in magnitude than those reported for other domestic groups, possibly explained by the fewer directions of artificial selection in goat breeding, and their low global genetic diversity compared to other livestock. We also find tooth-row length reduction in the domestics, suggestive of rostral shortening—a prediction of the “domestication syndrome” (DS). The goat model thus expands the array—and combinations of—morphological changes observed under domestication, notably detecting alterations to the calvarium form which could be related to the ~ 15% brain size reduction previously reported for domestic compared to wild goats. The global success of domestic goats is due more to their ability to survive in a variety of harsh environments than to systematized human management. Nonetheless, their domestication has resulted in a clear disruption from the wild cranial form, suggesting that even low-intensity selection can lead to significant morphological changes under domestication

La construcción de políticas públicas en las cooperativas de trabajo, desde un enfoque de derechos

Las Cooperativas de Trabajo juegan un papel significativo en la creación y protección del empleo habiendo mostrado su eficacia en diversos contextos. En la Argentina luego de la crisis del año 2001-2002 se implementaron programas sociales que contemplan al Cooperativismo de Trabajo como herramienta eficaz para favorecer la creación de empleo y estimular la participación colectiva. Pero, ¿dichos programas contemplan los derechos sociales del trabajador cooperativo? ¿Se han contemplado la protección y la garantía de los derechos sociales para el pleno desarrollo del trabajador cooperativo? El presente trabajo hará referencia sobre los principales programas ejecutados en la última década en el marco de las Cooperativas de Trabajos, y se intentará realizar un análisis de las mismas desde un “enfoque de derechos”. Ello permitirá desde una nueva perspectiva considerar la posibilidad de construir proyectos de políticas que promuevan el desarrollo social con una mayor igualdad e inclusión social, contemplando la participación más activa del trabajador cooperativo en dicha construcción de políticas, empoderándolo y reconociéndolo como un verdadero sujeto de derecho.Worker Cooperatives play a significant role in the creation and protection of employment. Their effectiveness has been evidenced in different contexts. In Argentina, after the crisis in 2001-2002, social programs, which acknowledge Worker Cooperatives, were implemented as an effective tool to foster employment and encourage collective participation. However, do these programs consider the social rights of the cooperative worker? Are the protection and guarantee of social rights taken into account in order to provide the full development of the cooperative worker? This work will deal with the main programs in force in the last decade as regards Worker Cooperatives, and we will analyze them with a rights approach. This analysis, from a new viewpoint, will allow us to consider the possibility of creating policy projects which foster social development with social equality and inclusion, therefore, considering a more active participation of the cooperative worker in said policy creation and empowering and acknowledging the worker as a real subject of law.Les coopératives de travail jouent un rôle essentiel pour la création et la protection de l’emploi. Leur efficacité a été prouvée dans de différentes situations. En Argentine, après la crise des années 2001-2002, ont été mis en oeuvre des programmes sociaux considérant le coopératisme de travail comme un outil idoine pour créer des emplois et encourager la participation collective. Mais, ces programmes tiennent compte des droits sociaux des travailleurs coopérants? La protection et la garantie des droits sociaux des travailleurs coopérants, fondamentales pour leur plein développement, ont été dûment considérées? Cette communication traite des principaux programmes mis en oeuvre pendant la dernière décennie concernant les coopératives de travail. Nous avons essayé d’encadrer notre analyse du point de vue d’une « approche fondée sur les droits». Cela nous permettra d'examiner sous une perspective nouvelle la possibilité de mener à bien des projets de politiques qui promeuvent le développement social avec plus d’égalité et d’inclusion sociale, ainsi que de favoriser une participation accrue des travailleurs coopérants dans cette construction, en renforçant leurs capacités et en les reconnaissant comme des vrais sujets de droit.Eje 6. Políticas públicas para la promoción de la economía social y solidaria. Su perspectiva históricaFacultad de Ciencias Económica

The Tropics as Reservoir of Otherwise Extinct Mammals: The Case of Rodents from a New Pliocene Faunal Assemblage from Northern Venezuela

We report a new vertebrate assemblage from the Pliocene Vergel Member of the San Gregorio Formation in northwestern Venezuela, which includes Crocodylia and Testudines indet., toxodonts, at least four species of xenarthrans of the Dasypodidae, Pampatheriidae, Glyptodontidae and Megatheriidae, and rodents. The last are Cardiatherium, cf. Caviodon (Hydrochoeridae), Neoepiblema (Neoepiblemidae), and what is here described as a new genus of a low-crowned octodontoid. cf. Caviodon is the first cardiomyine for northern South America. The rodent assemblage resembles in its ecological composition those of the late Miocene (Huayquerian) from the "Mesopotamian” of Argentina and the Acre region in Brazil, with partially overlapping systematic composition. The stratigraphic position of the San Gregorio Formation and mammals other than caviomorphs suggest a late Pliocene age for these sediments, implying the endurance of rodent taxa beyond their biochron in southern South Americ

La construcción de políticas públicas en las cooperativas de trabajo, desde un enfoque de derechos

Las Cooperativas de Trabajo juegan un papel significativo en la creación y protección del empleo habiendo mostrado su eficacia en diversos contextos. En la Argentina luego de la crisis del año 2001-2002 se implementaron programas sociales que contemplan al Cooperativismo de Trabajo como herramienta eficaz para favorecer la creación de empleo y estimular la participación colectiva. Pero, ¿dichos programas contemplan los derechos sociales del trabajador cooperativo? ¿Se han contemplado la protección y la garantía de los derechos sociales para el pleno desarrollo del trabajador cooperativo? El presente trabajo hará referencia sobre los principales programas ejecutados en la última década en el marco de las Cooperativas de Trabajos, y se intentará realizar un análisis de las mismas desde un “enfoque de derechos”. Ello permitirá desde una nueva perspectiva considerar la posibilidad de construir proyectos de políticas que promuevan el desarrollo social con una mayor igualdad e inclusión social, contemplando la participación más activa del trabajador cooperativo en dicha construcción de políticas, empoderándolo y reconociéndolo como un verdadero sujeto de derecho.Worker Cooperatives play a significant role in the creation and protection of employment. Their effectiveness has been evidenced in different contexts. In Argentina, after the crisis in 2001-2002, social programs, which acknowledge Worker Cooperatives, were implemented as an effective tool to foster employment and encourage collective participation. However, do these programs consider the social rights of the cooperative worker? Are the protection and guarantee of social rights taken into account in order to provide the full development of the cooperative worker? This work will deal with the main programs in force in the last decade as regards Worker Cooperatives, and we will analyze them with a rights approach. This analysis, from a new viewpoint, will allow us to consider the possibility of creating policy projects which foster social development with social equality and inclusion, therefore, considering a more active participation of the cooperative worker in said policy creation and empowering and acknowledging the worker as a real subject of law.Les coopératives de travail jouent un rôle essentiel pour la création et la protection de l’emploi. Leur efficacité a été prouvée dans de différentes situations. En Argentine, après la crise des années 2001-2002, ont été mis en oeuvre des programmes sociaux considérant le coopératisme de travail comme un outil idoine pour créer des emplois et encourager la participation collective. Mais, ces programmes tiennent compte des droits sociaux des travailleurs coopérants? La protection et la garantie des droits sociaux des travailleurs coopérants, fondamentales pour leur plein développement, ont été dûment considérées? Cette communication traite des principaux programmes mis en oeuvre pendant la dernière décennie concernant les coopératives de travail. Nous avons essayé d’encadrer notre analyse du point de vue d’une « approche fondée sur les droits». Cela nous permettra d'examiner sous une perspective nouvelle la possibilité de mener à bien des projets de politiques qui promeuvent le développement social avec plus d’égalité et d’inclusion sociale, ainsi que de favoriser une participation accrue des travailleurs coopérants dans cette construction, en renforçant leurs capacités et en les reconnaissant comme des vrais sujets de droit.Eje 6. Políticas públicas para la promoción de la economía social y solidaria. Su perspectiva históricaFacultad de Ciencias Económica

La construcción de políticas públicas en las cooperativas de trabajo, desde un enfoque de derechos

Las Cooperativas de Trabajo juegan un papel significativo en la creación y protección del empleo habiendo mostrado su eficacia en diversos contextos. En la Argentina luego de la crisis del año 2001-2002 se implementaron programas sociales que contemplan al Cooperativismo de Trabajo como herramienta eficaz para favorecer la creación de empleo y estimular la participación colectiva. Pero, ¿dichos programas contemplan los derechos sociales del trabajador cooperativo? ¿Se han contemplado la protección y la garantía de los derechos sociales para el pleno desarrollo del trabajador cooperativo? El presente trabajo hará referencia sobre los principales programas ejecutados en la última década en el marco de las Cooperativas de Trabajos, y se intentará realizar un análisis de las mismas desde un “enfoque de derechos”. Ello permitirá desde una nueva perspectiva considerar la posibilidad de construir proyectos de políticas que promuevan el desarrollo social con una mayor igualdad e inclusión social, contemplando la participación más activa del trabajador cooperativo en dicha construcción de políticas, empoderándolo y reconociéndolo como un verdadero sujeto de derecho.Worker Cooperatives play a significant role in the creation and protection of employment. Their effectiveness has been evidenced in different contexts. In Argentina, after the crisis in 2001-2002, social programs, which acknowledge Worker Cooperatives, were implemented as an effective tool to foster employment and encourage collective participation. However, do these programs consider the social rights of the cooperative worker? Are the protection and guarantee of social rights taken into account in order to provide the full development of the cooperative worker? This work will deal with the main programs in force in the last decade as regards Worker Cooperatives, and we will analyze them with a rights approach. This analysis, from a new viewpoint, will allow us to consider the possibility of creating policy projects which foster social development with social equality and inclusion, therefore, considering a more active participation of the cooperative worker in said policy creation and empowering and acknowledging the worker as a real subject of law.Les coopératives de travail jouent un rôle essentiel pour la création et la protection de l’emploi. Leur efficacité a été prouvée dans de différentes situations. En Argentine, après la crise des années 2001-2002, ont été mis en oeuvre des programmes sociaux considérant le coopératisme de travail comme un outil idoine pour créer des emplois et encourager la participation collective. Mais, ces programmes tiennent compte des droits sociaux des travailleurs coopérants? La protection et la garantie des droits sociaux des travailleurs coopérants, fondamentales pour leur plein développement, ont été dûment considérées? Cette communication traite des principaux programmes mis en oeuvre pendant la dernière décennie concernant les coopératives de travail. Nous avons essayé d’encadrer notre analyse du point de vue d’une « approche fondée sur les droits». Cela nous permettra d'examiner sous une perspective nouvelle la possibilité de mener à bien des projets de politiques qui promeuvent le développement social avec plus d’égalité et d’inclusion sociale, ainsi que de favoriser une participation accrue des travailleurs coopérants dans cette construction, en renforçant leurs capacités et en les reconnaissant comme des vrais sujets de droit.Eje 6. Políticas públicas para la promoción de la economía social y solidaria. Su perspectiva históricaFacultad de Ciencias Económica

Variação da condutividade hidráulica do solo não saturado determinada em condições de campo utilizando análises simplificadas de experimentos de drenagem interna

Experimentally determined values of unsaturated soil hydraulic conductivity are presented for an Alfisol of the county of Piracicaba, S.P., Brazil. Simultaneous measurements of soil water content and pressure head are made along a 125 m transect within an irrigated field during the internal drainage process. Calculations of the soil hydraulic conductivity were made using the instantaneous profile method (Watson, 1966) and the unit gradient method (LIBARDI et al., 1980). The spatial variability of the soil hydraulic conductivity manifested along the transect indicates the need to develop a field method to measure K(theta) within prescribed fiducial limits, taking into account quantitative evaluation of spatial and temporal variances associated with the mathematical model, instrument calibration and soil properties.São apresentados dados experimentais de condutividade hidráulica do solo, para uní Alfisol (terra roxa estruturada) do Município de Piracicaba,SP - Brasil. Medidas simultâneas de umidade do solo e de potencial total da água no solo foram realizadas ao longo de uma transeção de 125 m, dentro de um campo irrigado, durante o processo de drenagem interna. Os cálculos de condutividade hidráulica foram feitos utilizando o método do perfil instantâneo (WATSON, 1966) e o método do gradiente unitário (LIBARDI et al., 1980). A variabilidade espacial da condutividade hidráulica do solo observada ao longo da transeção aponta a necessidade do desenvolvimento de método de campo para a medida de K (teta) dentro de limites preestabelecidos de precisão, levando em conta a medida quantitativa das variâncias temporal e espacial associadas ao modelo matemático, a calibração dos instrumentos e as propriedades do solo

Singular patterns of skull shape and brain size change in the domestication of South American camelids

Patterns of selection in South American camelids (Lamini) and their unique demographic history establish the llama and alpaca as remarkable cases of domestication among large herd animals. Skull shape is implicated in many changes reported between wild and domestic taxa. We apply 3D geometric morphometric methods to describe skull shape, form, and size, differences among the four species of Lamini. In so doing, we test if domesticated Lamini exhibit changes similar to those in other domesticated groups: not only in the skull, but also in brain and body size. In contrast to other domesticated artiodactyls, very little change has occurred in domestic alpacas and llamas compared to their wild counterparts. Nevertheless, their differences are statistically significant and include a flatter cranium, inclined palate and increased airorhynchy in the domestics. Selection pressures that contrast with those on other herd animals, as well as recent population bottlenecks, likely have influenced the morphological patterns we note in Lamini. High-resolution 3D morphospace allows skull size, shape, and form (shape + size), to discriminate all four species, with form providing the greatest separation. These results help differentiate morphologically the Lamini, which in nature are distinguished mainly by body size, and provide an additional tool to archaeologists for distinction of wild and domestic remains. Most of our shape analyses suggest a marginally closer relationship between the alpaca and vicuña, to the exclusion of the guanaco, supporting the genetic relationships for this group. The expected brain size change between wild and domestic populations is lower than previously thought, with a 15.4% reduction in llama, and 6.8% reduction in alpaca. This is the lowest reduction in brain size thus far reported among domesticated Artiodactyla