Fuzzy Predictive Controller for Mobile Robot Path Tracking

IFAC Intelligent Components and Instruments for Control Applications, Annecy, France 1997This paper presents a way of implementing a Model Based Predictive Controller (MBPC) for mobile robot path-tracking. The method uses a non-linear model of mobile robot dynamics and thus allows an accurate prediction of the future trajectories. Constraints on the maximum attainable angular velocity is also considered by the algorithm. A fuzzy approach is used to implement the MBPC. The fuzzy controller has been trained using a lookup-table scheme, where the database of fuzzy-rules has been obtained automatically from a set of input-output training patterns, computed with the predictive controller. Experimental results obtained when applying the fuzzy controller to a TRC labmate mobile platform are given in the paper.Ministerio de Ciencia y Tecnología TAP95-0307Ministerio de Ciencia y Tecnología TAP96-884C

Conocimiento y pasión: un acercamiento a la relación entre objetividad y corporalidad

This paper deals with a study of passion, insofar as passion offers a cognitive evaluation of reality. This evaluation demonstrates what we can call the intentionality of the body. The intentionality of the body has an evolutionary finality in the human being, qua living being, that is different from the intentionality shown by reason. Passion offers a corporal judgement from a subjective point of view, whereas the judgement offered by reason is related to an objective framework

Bank lending, financing constraints and SME investment

SME investment opportunities depend on the level of financing constraints that firms face. Earlier research has mainly focused on the controversial argument that cash flow-investment correlations increase with the level of these constraints. We focus on bank loans rather than cash flow. Our results show that investment is sensitive to bank loans for unconstrained firms but not for constrained firms, and trade credit predicts investment, but only for constrained firms. We also find that unconstrained firms use bank loans to finance trade credit provided to other firms. Our results illustrate alternative mechanisms that firms employ both as borrowers and lenders.Bank loans ; Investments

System dynamics modelling in systems biology and applications in pharmacology

El modelado matemático de sistemas biológicos complejos es uno de los temas clave en la Biología de Sistemas y varios métodos computacionales basados ​​en la simulación computarizada han sido aplicados hasta ahora para determinar el comportamiento de los sistemas no lineales. La Dinamica de Sistemas es una metodología de modelado intuitivo basada en el razonamiento cualitativo por el cual un modelo conceptual se puede describir como un conjunto de relaciones de causa y efecto entre las variables de un sistema. A partir de esta estructura, es posible obtener un conjunto de ecuaciones dinámicas que describan cuantitativamente el comportamiento del sistema. Centrándose en los sistemas farmacológicos, el modelado compartimental a menudo se utiliza para resolver un amplio espectro de problemas relacionados con la distribución de materiales en los sistemas vivos en la investigación, el diagnóstico y la terapia en todo el cuerpo, los órganos y los niveles celulares. En este artículo presentamos la metodología de modelado de Dinámica del Sistema y su aplicación al modelado de un modelo compartimental farmacocinético-farmacodinámico del efecto de profundidad anestésica en pacientes sometidos a intervenciones quirúrgicas, derivando un modelo de simulación en el entorno de simulación orientada a objetos OpenModelica. La Dinamica de Sistemas se puede ver como una herramienta educativa poderosa y fácil de usar y en la enseñanza de Biología de Sistemas.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

A Java based simulation for basic control

7th IFAC Symposium on Advances in Control Education 21/06/2006 MadridIn this paper we present a java based simulator for control education in basiccourses. The application has been developed using the well known tool Easy JavaSimulation.The objective of the application is to help the student to learn the design of classiccontrollers such as P,PI, PID, etc testing the tuning procedures to control the position ofan antenna controlled by a DC motor. Thus the application allows the student to choosethe parameters of the antenna and the DC motor, to choose the controller to be used andits parameters and finally to simulate the closed loop system observing the evolution ofthe signals as well as a 3-D view. Furthermore, in order to show the real behavior of thesystem, dead zone, saturation, disturbances and non-linearities can be added to the model.This application has been used by the authors to teach a basic control course at EscuelaSuperior de Ingenieros (University of Seville) as virtual laboratory.Moreover, since the application is java based, this can be used by the students from theauthors’ web pages and this can also be installed in the student’s laptop (whichever theplatform is) by downloading it from the authors web page (Limon and Salas, 2003Ministerio de Ciencia y Tecnología DPI2004-07444Ministerio de Ciencia y Tecnología DPI2003-0042

Corporate governance facing corporate social responsability: solving challenges in the 21st century

17 páginasWithin the context of modern Corporate Governance and particularly in the aftermath of the financial scandals of the XXIst Century, companies, regulators, markets and the public in general claim for more transparency, accountability, shareholders and investor protection. There is also a trend towards reinforcing the Responsibility of Companies towards the Communities in which they develop their businesses. However, generally speaking shareholders do not have a direct control nor saying in management; and stakeholders possibility of influencing corporations’ decisions seems very rare. This article reviews some of the existing corporate cultural and legal systems and provides ideas for future development of corporate Governance in de field of Share- and Interest- -Holders’ protectionS