Cooperative R&D with Endogenous Technology Differentiation

The choice of a particular technology when there is a set of them available to firms has not appeared in the R&D literature yet. We show some examples and present a model in which firms choose their technologies from a continuum of available profiles and the resulting spillovers depend on the compatibility among firms' R&D technologies. Our results indicate that non-cooperating firms are interested in using the same or very similar technologies. Therefore firms seek to establish coordination mechanisms such as patent pools or Research Joint Ventures. A RJV leads to higher levels of social welfare than patent pools or the non-cooperative case.r&d rjv patent pools cooperation

An experiment on subjective game valuations

We report experimental results on a prisoners' dilemma implemented in a way which allows us to elicit incentive-compatible valuations of the game. We test the hypothesis that players'' valuations coincide with their Nash equilibrium earnings. Our results offer significantly less support for this hypothesis than for the prediction of Dominant Strategy (DS) play.

TactileGCN: A Graph Convolutional Network for Predicting Grasp Stability with Tactile Sensors

Tactile sensors provide useful contact data during the interaction with an object which can be used to accurately learn to determine the stability of a grasp. Most of the works in the literature represented tactile readings as plain feature vectors or matrix-like tactile images, using them to train machine learning models. In this work, we explore an alternative way of exploiting tactile information to predict grasp stability by leveraging graph-like representations of tactile data, which preserve the actual spatial arrangement of the sensor's taxels and their locality. In experimentation, we trained a Graph Neural Network to binary classify grasps as stable or slippery ones. To train such network and prove its predictive capabilities for the problem at hand, we captured a novel dataset of approximately 5000 three-fingered grasps across 41 objects for training and 1000 grasps with 10 unknown objects for testing. Our experiments prove that this novel approach can be effectively used to predict grasp stability

La regularización de las emisiones de televisión autonómica fuera de la comunidad de origen: el caso de Cataluña (2004-2014)

The article aims to describe, analyze and interpret the agreements signed by the Catalan Government with its neighboring territories and states in order to legalize the broadcasting of its regional television, TVC, in those areas, where it had lacked a legal basis since its birth in the eighties. Cases in which negotiations have taken place but no agreement has been reached are also considered. The article is based on the results of qualitative research combining documentary analysis and interviews and it includes the results of previous research carried out by the authors. The research is exploratory in nature and deals with an under-resear­ched topic —broadcasting outside the boundaries of a specific Autonomous Community— with the aim of creating original knowledge. The text shows how the agreements are the result of a Catalan desire to legalize TVC’s broadcasts throughout the Catalan-speaking territories. It also shows how these agreements make ex­plicit the political and cultural conflicts between regions with a common cultural heritage. The article moves beyond description to provide interpretive elements which allow us to understand the origin and nature of these agreements and the conflicts caused by the negotiations.El artículo tiene por objetivo describir, analizar e interpretar los acuerdos que Cataluña ha firmado con las administraciones de territorios vecinos —tanto comunidades autónomas como estados independien­tes— para legalizar las emisiones de la televisión autonómica TVC en esas zonas, sin cobertura legal des­de su nacimiento en los años ochenta. También se consideran aquellos casos en los que han existido negociaciones pero no se ha llegado a acuerdos. El artículo descansa sobre los resultados obtenidos en una investigación de corte cualitativo basada en el uso combinado de análisis documental y entrevistas en profundidad. Así mismo, recoge los resultados de investigaciones previas llevadas a cabo por los au­tores. La investigación ha tenido un fuerte carácter exploratorio de un objeto de estudio —las emisiones supra-autonómicas— poco estudiado científicamente, con la voluntad de generar conocimiento original. El texto muestra cómo los acuerdos son fruto de la voluntad catalana de regular las emisiones de TVC en todos los territorios donde se habla catalán. Así mismo, pone de manifiesto cómo estos acuerdos hacen explícitos los conflictos políticos y culturales existentes entre comunidades autónomas con un acervo cultural común. Más allá de la descripción, el artículo aporta elementos interpretativos que permiten en­tender tanto el origen y naturaleza de estos acuerdos como de los conflictos a que han dado lugar algunas de las negociaciones

Straightforward and robust synthesis of monodisperse surface-functionalized gold nanoclusters

Gold nanoclusters are small (1–3 nm) nanoparticles with a high surface area that are useful for biomedical studies and drug delivery. The synthesis of small, surface-functionalized gold nanoclusters is greatly dependent on the reaction conditions. Here, we describe a straightforward, efficient and robust room temperature one-pot synthesis of 2 nm gold nanoclusters using thioglucose as a reducing and stabilizing agent, which was discovered by serendipity. The resultant monodisperse gold nanoclusters are more stable than those generated using some other common methods. The carboxylic acid contained in the stabilizing agent on the cluster surface serves as anchor for nanocluster functionalization. Alternatively, the addition of thiols serves to functionalize the nanoclusters. The resulting non-cytotoxic nanoclusters are taken up by cells and constitute a tuneable platform for biomedical applications including drug delivery

Efectos de los modos de presentación de información en la exactitud de la producción rítmica de estudiantes de Educación Secundaria Obligatoria

La presentación simultánea de información en diferentes modalidades perceptivas puede facilitar el aprendizaje de conceptos complejos y de procedimientos. Existe un número importante de trabajos sobre este tema en relación a diferentes áreas del currículo escolar. No obstante, en educación musical no existen muchos trabajos al respecto aun a pesar de que las ayudas visuales tienen, desde un punto de vista teórico, el potencial de facilitar la discriminación y la memoria auditiva mediante procesos asociativos, así como la mejora de destrezas motoras. Este trabajo ha intentado verificar si existe un efecto del modo de presentación uni-modal (tres modos exclusivos) versus bimodal (dos modos cruzados) en la reproducción de patrones rítmicos musicales. Para ello, se realizaron dos experimentos con alumnos de un Instituto de Educación Secundaria de la provincia de Valencia, España. En el primer experimento (N=50; 21 chicos y 29 chicas; 14-16 años) se realizó un diseño de contraste pretest-postest con cinco grupos. A cada grupo se le presentaron patrones rítmicos en un modo de presentación diferente: sólo imágenes estáticas que hacían flashes de acuerdo al patrón rítmico (V), sólo sonidos (A), sólo textos que representaban el patrón rítmico cuando se leía (T), sonidos e imágenes conjuntamente (AV), sonidos y texto conjuntamente (AT). En el segundo experimento (N=10; 3 chicos y 7 chicas; 16-18 años de edad) se realizó un diseño de medidas repetidas en el que a cada uno de los sujetos se le presentó la serie de patrones rítmicos en todos los modos antes descritos. Fueron medidas las covariables habilidades rítmicas, experiencias musicales previas, resultados académicos del curso anterior, preferencias sobre presentación de la información y sexo. Las tareas de test consistieron en escuchar 10 patrones propuestos, memorizarlos y reproducirlos motrizmente a través de un ordenador, el cual ejecutaba un programa informático ad hoc que facilitó los estímulos y la recogida y evaluación de los datos. Los resultados de ambos experimentos muestran una clara superioridad de los modos combinados (AV, AT) y de la presentación unimodal con audio (A) en la exactitud rítmica de las respuestas. En las conclusiones, se sugiere la utilidad de presentar la información rítmica sonora integrando otros medios junto al sonido en los procesos de enseñanza y aprendizaje del ritmo musical, tanto en actividades perceptivas como productivas.Presentation of information in combined perceptual modalities could facilitate both the learning of complex concepts and procedures. There is an important amount of studies on this subject related to several school curriculum areas. Although, this is not the case in music education, despite the visual helps might have the potential to facilitate aural discrimination and memory by means of associative processes, as well as the enhancement of motor skills. This study have tried to discover if there is an effect of unimodal presentation mode (three exclusive modes) versus bimodal presentation mode (two crossed modes) in the reproduction of musical rhythm patterns. To do this, two experiments were carried out with Middle School children in Valencia, Spain. In the first experiment (N50; 21 boys; 29 girls; 14-16 years old) a contrast pretest-posttest design was adopted. Subjects were grouped in five conditions, each having information in one different mode: only static images (I) flashing the rhythm according to the proposed rhythm patterns; only sounds (A); only on-screen texts (T) that represented the rhythm pattern when reading; sounds and static images together (AV) and sounds and texts together (AT). In the second experiment a repeated measures design was adopted (N=10; 3 boys and 7 girls; 16-18 years old). Each subject had to do the tests in all experimental conditions aforementioned. Some intervening variables were measured: previous rhythm skills, previous musical experiences, school achievement of last year, preferences on modes of information presentation and gender. Test tasks were to hear in turn 10 proposed rhythm patterns, memorized them, and imitate them by means of a computer key. The computer ran an ad hoc computer program that provided stimuli, data gathering and assessment of responses. Results of both experiments show statistical differences in favor of groups AV, AT (bimodal) and A (unimodal). It is suggested the advantage of presenting rhythm information with sound together with other means in the teaching and learning music processes

La televisió

Obra col·lectiva biennal, creada per l'Institut de la Comunicació de la Universitat Autònoma de Barcelona (InCom-UAB), l'any 2000. La setena edició, corresponent al bienni 2011-2012, va comptar amb el suport de la Generalitat de Catalunya; el patrocini de Gas Natural Fenosa; la col·laboració científica del Baròmetre de la Comunicació i la Cultura (Fundacc); la subscripció institucional de l'Ajuntament de Barcelona, el Col·legi de Periodistes de Catalunya i la Societat Catalana de Comunicació (filial de l'Institut d'Estudis Catalans); i la col·laboració acadèmica de l'Observatori de la Comunicació Local (OCL InCom-UAB)/URV/Diputació de Barcelona, l'Observatori de Polítiques de Comunicació (OPC InCom-UAB), i el Portal de la Comunicació (InCom-UAB).En el marc del Grup Internacional d'Estudis sobre Comunicació i Cultura (InCom-UAB), reconegut com a Grup Consolidat de Recerca de la Generalitat de Catalunya per al període 2010-2013 (Referència de concessió 2009 SGR 00615).Superada l'apagada analògica, la televisió a Catalunya ha seguit vivint una sèrie de canvis tant en l'oferta de canals com en els consums que aprofundeixen en les tendències detectades el bienni anterior. El capítol descriu aquests canvis i aporta dades, per primer cop, sobre el sector de la producció televisiva a Catalunya. En un context de crisi, el capítol presta especial atenció a l'economia de les empreses i als canvis que els problemes financers han provocat en la televisió que veuen els catalans

Instantaneous approach to IEEE Std. 1459 power terms and quality indices

Based on an instantaneous analysis approach to the IEEE Std. 1459, the authors demonstrated in previous works that the effective apparent power should not be calculated including the rms neutral current and the rms line to line voltage terms. The use of these terms drives to expressions of power magnitudes that are overvaluated and disagree with well-accepted definitions. By using the instantaneous approach, new power terms are proposed. Based on these terms, new power quality indices and new expressions of the unbalanced power terms are presented in this paper. An experimental case is used to compare the power magnitudes and power quality indices obtained with both approaches. Results demonstrate than the most significant power terms are over evaluated when IEEE Std. 1459 power definitions are used.The authors wish to thank the support offered by the "Estrategia de sostenibilidad 2014-2015" University of Antioquia (Colombia), as well as the support of the Ministerio de Economia y Competitividad of Spain (grant DPI2011-28606).Muñoz-Galeano, N.; Alfonso Gil, JC.; Orts-Grau, S.; Segui-Chilet, S.; Gimeno Sales, FJ. (2015). Instantaneous approach to IEEE Std. 1459 power terms and quality indices. Electric Power Systems Research. 125:228-234. https://doi.org/10.1016/j.epsr.2015.04.01222823412

Necrología taurina

Copia digital. Valladolid : Junta de Castilla y León. Consejería de Cultura y Turismo, 201

One-Cycle Zero-Integral-Error Current Control for Shunt Active Power Filters

[EN] Current control has, for decades, been one of the more challenging research fields in the development of power converters. Simple and robust nonlinear methods like hysteresis or sigma-delta controllers have been commonly used, while sophisticated linear controllers based on classical control theory have been developed for PWM-based converters. The one-cycle current control technique is a nonlinear technique based on cycle-by-cycle calculation of the ON time of the converter switches for the next switching period. This kind of controller requires accurate measurement of voltages and currents in order achieve a precise current tracking. These techniques have been frequently used in the control of power converters generating low-frequency currents, where the reference varies slowly compared with the switching frequency. Its application is not so common in active power filter current controllers due to the fast variation of the references that demands not only accurate measurements but also high-speed computing. This paper proposes a novel one-cycle digital current controller based on the minimization of the integral error of the current. Its application in a three-leg four-wire shunt active power filter is presented, including a stability analysis considering the switching pattern selection. Furthermore, simulated and experimental results are presented to validate the proposed controller.Orts-Grau, S.; Balaguer-Herrero, P.; Alfonso-Gil, JC.; Martínez-Márquez, CI.; Gimeno Sales, FJ.; Segui-Chilet, S. (2020). One-Cycle Zero-Integral-Error Current Control for Shunt Active Power Filters. Electronics. 9(12):1-16. https://doi.org/10.3390/electronics9122008S116912Orts-Grau, S., Gimeno-Sales, F. J., Abellan-Garcia, A., Segui-Chilet, S., & Alfonso-Gil, J. C. (2010). Improved Shunt Active Power Compensator for IEEE Standard 1459 Compliance. IEEE Transactions on Power Delivery, 25(4), 2692-2701. doi:10.1109/tpwrd.2010.2049033Orts-Grau, S., Gimeno-Sales, F. J., Segui-Chilet, S., Abellan-Garcia, A., Alcaniz-Fillol, M., & Masot-Peris, R. (2009). Selective Compensation in Four-Wire Electric Systems Based on a New Equivalent Conductance Approach. IEEE Transactions on Industrial Electronics, 56(8), 2862-2874. doi:10.1109/tie.2009.2014368Trinh, Q.-N., & Lee, H.-H. (2013). An Advanced Current Control Strategy for Three-Phase Shunt Active Power Filters. IEEE Transactions on Industrial Electronics, 60(12), 5400-5410. doi:10.1109/tie.2012.2229677Bosch, S., Staiger, J., & Steinhart, H. (2018). Predictive Current Control for an Active Power Filter With LCL-Filter. IEEE Transactions on Industrial Electronics, 65(6), 4943-4952. doi:10.1109/tie.2017.2772176Balasubramanian, R., Parkavikathirvelu, K., Sankaran, R., & Amirtharajan, R. (2019). Design, Simulation and Hardware Implementation of Shunt Hybrid Compensator Using Synchronous Rotating Reference Frame (SRRF)-Based Control Technique. Electronics, 8(1), 42. doi:10.3390/electronics8010042Imam, A. A., Sreerama Kumar, R., & Al-Turki, Y. A. (2020). Modeling and Simulation of a PI Controlled Shunt Active Power Filter for Power Quality Enhancement Based on P-Q Theory. Electronics, 9(4), 637. doi:10.3390/electronics9040637Panigrahi, R., Subudhi, B., & Panda, P. C. (2016). A Robust LQG Servo Control Strategy of Shunt-Active Power Filter for Power Quality Enhancement. IEEE Transactions on Power Electronics, 31(4), 2860-2869. doi:10.1109/tpel.2015.2456155Herman, L., Papic, I., & Blazic, B. (2014). A Proportional-Resonant Current Controller for Selective Harmonic Compensation in a Hybrid Active Power Filter. IEEE Transactions on Power Delivery, 29(5), 2055-2065. doi:10.1109/tpwrd.2014.2344770Panigrahi, R., & Subudhi, B. (2017). Performance Enhancement of Shunt Active Power Filter Using a Kalman Filter-Based ${{{\rm H}}_\infty }$ Control Strategy. IEEE Transactions on Power Electronics, 32(4), 2622-2630. doi:10.1109/tpel.2016.2572142Jiang, W., Ding, X., Ni, Y., Wang, J., Wang, L., & Ma, W. (2018). An Improved Deadbeat Control for a Three-Phase Three-Line Active Power Filter With Current-Tracking Error Compensation. IEEE Transactions on Power Electronics, 33(3), 2061-2072. doi:10.1109/tpel.2017.2693325Buso, S., Caldognetto, T., & Brandao, D. (2015). Dead-Beat Current Controller for Voltage Source Converters with Improved Large Signal Response. IEEE Transactions on Industry Applications, 1-1. doi:10.1109/tia.2015.2488644Tarisciotti, L., Formentini, A., Gaeta, A., Degano, M., Zanchetta, P., Rabbeni, R., & Pucci, M. (2017). Model Predictive Control for Shunt Active Filters With Fixed Switching Frequency. IEEE Transactions on Industry Applications, 53(1), 296-304. doi:10.1109/tia.2016.2606364Kumar, M., & Gupta, R. (2017). Sampled-Time-Domain Analysis of a Digitally Implemented Current Controlled Inverter. IEEE Transactions on Industrial Electronics, 64(1), 217-227. doi:10.1109/tie.2016.2609840Ho, C. N.-M., Cheung, V. S. P., & Chung, H. S.-H. (2009). Constant-Frequency Hysteresis Current Control of Grid-Connected VSI Without Bandwidth Control. IEEE Transactions on Power Electronics, 24(11), 2484-2495. doi:10.1109/tpel.2009.2031804Wu, F., Feng, F., Luo, L., Duan, J., & Sun, L. (2015). Sampling period online adjusting-based hysteresis current control without band with constant switching frequency. IEEE Transactions on Industrial Electronics, 62(1), 270-277. doi:10.1109/tie.2014.2326992Holmes, D. G., Davoodnezhad, R., & McGrath, B. P. (2013). An Improved Three-Phase Variable-Band Hysteresis Current Regulator. IEEE Transactions on Power Electronics, 28(1), 441-450. doi:10.1109/tpel.2012.2199133Komurcugil, H., Bayhan, S., & Abu-Rub, H. (2017). Variable- and Fixed-Switching-Frequency-Based HCC Methods for Grid-Connected VSI With Active Damping and Zero Steady-State Error. IEEE Transactions on Industrial Electronics, 64(9), 7009-7018. doi:10.1109/tie.2017.2686331Chang, C.-H., Wu, F.-Y., & Chen, Y.-M. (2012). Modularized Bidirectional Grid-Connected Inverter With Constant-Frequency Asynchronous Sigma–Delta Modulation. IEEE Transactions on Industrial Electronics, 59(11), 4088-4100. doi:10.1109/tie.2011.2176693Mertens, A. (1994). Performance analysis of three-phase inverters controlled by synchronous delta-modulation systems. IEEE Transactions on Industry Applications, 30(4), 1016-1027. doi:10.1109/28.297919Morales, J., de Vicuna, L. G., Guzman, R., Castilla, M., & Miret, J. (2018). Modeling and Sliding Mode Control for Three-Phase Active Power Filters Using the Vector Operation Technique. IEEE Transactions on Industrial Electronics, 65(9), 6828-6838. doi:10.1109/tie.2018.2795528Guzman, R., de Vicuna, L. G., Morales, J., Castilla, M., & Miret, J. (2016). Model-Based Control for a Three-Phase Shunt Active Power Filter. IEEE Transactions on Industrial Electronics, 63(7), 3998-4007. doi:10.1109/tie.2016.2540580Pichan, M., & Rastegar, H. (2017). Sliding-Mode Control of Four-Leg Inverter With Fixed Switching Frequency for Uninterruptible Power Supply Applications. IEEE Transactions on Industrial Electronics, 64(8), 6805-6814. doi:10.1109/tie.2017.2686346E. S., S., E. K., P., Chatterjee, K., & Bandyopadhyay, S. (2014). An Active Harmonic Filter Based on One-Cycle Control. IEEE Transactions on Industrial Electronics, 61(8), 3799-3809. doi:10.1109/tie.2013.2286558Wang, L., Han, X., Ren, C., Yang, Y., & Wang, P. (2018). A Modified One-Cycle-Control-Based Active Power Filter for Harmonic Compensation. IEEE Transactions on Industrial Electronics, 65(1), 738-748. doi:10.1109/tie.2017.2682021Jin, T., & Smedley, K. M. (2006). Operation of One-Cycle Controlled Three-Phase Active Power Filter With Unbalanced Source and Load. IEEE Transactions on Power Electronics, 21(5), 1403-1412. doi:10.1109/tpel.2006.880264Hirve, S., Chatterjee, K., Fernandes, B. G., Imayavaramban, M., & Dwari, S. (2007). PLL-Less Active Power Filter Based on One-Cycle Control for Compensating Unbalanced Loads in Three-Phase Four-Wire System. IEEE Transactions on Power Delivery, 22(4), 2457-2465. doi:10.1109/tpwrd.2007.893450Qiao, C., Smedley, K. M., & Maddaleno, F. (2004). A Single-Phase Active Power Filter With One-Cycle Control Under Unipolar Operation. IEEE Transactions on Circuits and Systems I: Regular Papers, 51(8), 1623-1630. doi:10.1109/tcsi.2004.832801Qiao, C., Jin, T., & MaSmedley, K. (2004). One-Cycle Control of Three-Phase Active Power Filter With Vector Operation. IEEE Transactions on Industrial Electronics, 51(2), 455-463. doi:10.1109/tie.2004.82522