Robust stability analysis of formation control in local frames under time-varying delays and actuator faults

This paper investigates the robust stability of a multiagent system moving to a desired rigid formation in presence of unknown time-varying communication delays and actuator faults. Each agent uses relative position measurements to implement the proposed control method, which does not require common coordinate references. However, the presence of time delays in the measurements, which is inherent to the communication links between agents, has a negative impact in the control system performance leading, in some cases, to instability. Furthermore, the robust stability analysis becomes more complex if failures on actuators are taken into account. In addition, delays may be subject to time variations, depending on network load, availability of communication resources, dynamic routing protocols, or other environmental conditions. To cope with these problems, a sufficient condition based on Linear Matrix Inequalities (LMI) is provided to ensure the robust asymptotic convergence of the agents to the desired formation. This condition is valid for any arbitrarily fast time-varying delays and actuator faults, given a worst-case point-to-point delay. Finally, simulation results show the performance of the proposed approach.     

Venture capital investment strategies under financing constraints: Evidence from the 2008 financial crisis

This paper employs the 2008 financial crisis as an empirical setting to examine how investment strategies of venture capitalists (VCs) vary in the presence of a liquidity supply shock, and what the performance implications of these strategies are for their portfolio startups. We show that while, on aggregate, funded startups receive no less financing during the financial crisis than in non-crisis times, VCs allocate relatively more resources to startups operating in the VCs’ core sectors. We show that this skew allocation follows from VCs choosing to double down on their core-sector investing, rather than by a changed mix of investors or startups during the financial crisis. These effects are strongest for early-stage startups, for which information problems are most severe. Furthermore, these results are driven by the investment strategies of more-experienced VCs. Building on these findings, we find superior ex post performance among crisis-funded portfolio startups operating in more-experienced VCs’ core sectors.     

Catch-up growth assessment in long-term physically neglected and emotionally abused preschool age male children

OBJECTIVE: To assess the catch-up growth of long-term physically neglected and emotionally abused preschool male children who have entered foster residential care and remained 1 year after initial placement. METHOD: Longitudinal study over a 7-year period (1994-2001). So that a child was eligible for the study, three selection criteria were included: (1) aged between 24 and 48 months at the time of entry into residential facility, (2) having suffered both long-term (more than 6 months) physically neglected and emotionally abused, and (3) having stayed in foster care for 1 year after initial placement. Weight, height, and head circumference were established upon entry and re-assessed 1 year after initial placement, calculating the annual growth velocity. Results were compared with normal regional longitudinal standards of reference (Z score). Student's t test was used to assess statistically significant differences. RESULTS: During the study period, 87 children aged between 24 and 48 months (54 male/33 female) were admitted to residential facility after having suffered both long-term physical neglect and emotional abuse. Nevertheless, only 20 children (23% of the total admissions) met the third selection criteria (having remained 1 year after initial placement). Of these children, all were males and at placement they were between the ages of 30 and 42 months, with an average age of 36 months (1.9 SD). At placement, the analyzed parameters were below the normal standards, showing a statistically significant difference for height (Z score = -1.29; p = .008) and weight (Z score = -.75; p = .038). The annual growth velocity for all parameters was above the normal standards showing a statistically significant difference for height (Z score = +1.43; p = .009). One year after initial placement, the significant differences for height (Z score = -.68; p = .102) and weight (Z score = -.31; p = .435) with respect to the normal standards disappeared, though still remained below, showing a significant catch-up growth for height (improvement height Z = +.61 SD). CONCLUSIONS: At placement, the both long-term physically neglected and emotionally abused preschool age male children showed a mild form of chronic malnutrition with growth failure. Growth failure was reversible after the first year of stay, which demonstrates that this delay in growth was secondary to nutritional and psychosocial factors. Placement in foster residential care was beneficial for the catch-up growth of these patients.     

Demand and innovation in services: The case of mobile communications

This paper aims to analyse the pricing strategies of mobile communications operators and examine the role of demand characteristics in the development of new tariff plans. In so doing, we depart from a traditional industrial organization approach to price discrimination and interpret new tariff plans as innovations. In the spirit of Schumpeter, we look at competition in this sector as depending upon this form of innovation, and we argue that, given the specific features of the industry, the development of new tariff plans is strongly related to the users’ characteristics and behaviour. Our main point is that in a context of uncertainty, demand affects firms’ innovative strategies in two ways: first, by providing information on user behaviour and by increasing the capability of market segmentation; and second, by providing the incentives to innovate. This argument is supported by an empirical analysis carried out on the basis of an original dataset which includes all the tariff plans on offer in the history of the Italian market between 1992 and 2005. We find that both a firm's installed customer base and the level of market saturation play a role in shaping firms’ innovative pricing strategies, in terms of the number and characteristics of the new tariff plans.     

Effects of temperature and humidity excursions and wind exposure on the arch of Augustus in Aosta

This study presents the results of the microclimate monitoring of the Arch of Augustus. This is a monument from the Roman era, situated in an urban area in the Western Alpine region of Aosta Valley, Italy. Measurements were carried out on different monument positions, corresponding to the four faces and below the vault. The measurements refer to air and surface temperature, air relative humidity, wind speed and direction. The environmental conditions are described in order to underline the differences among the four faces of the monument and to explain the nature of the decay observed on the monument. The damage risk, caused by the occurrence of phenomena like freezing-thawing cycles, thermal stress and water condensation, is estimated by relating microclimatic conditions to the stone damage processes. The results are compared to the decay map and the correlation between damage and microclimate are finally discussed.     

Aggressive and nonaggressive rejected students: An analysis of their differences

The present study aimed to analyze differences between aggressive and nonaggressive rejected students in four sets of variables: personal, family, school, and social. Participants in the study were 843 Spanish adolescents ranging in age from 11 to 16 years old, of whom 47% were boys. Results indicated that these two subgroups of rejected students show a different profile. Aggressive rejected students informed of lower levels of family self‐esteem, less parental support, higher levels of aggression between their parents at home, and a more offensive parent–child communication in comparison with nonaggressive rejected adolescents. Moreover, aggressive rejected students showed lower levels of academic self‐esteem, a more negative attitude toward school and studies, poorer relationships with teachers, and more academic difficulties than did adolescents in the nonaggressive rejected subgroup. Finally, aggressive rejected students indicated the presence of more undesirable life events and changes in their lives and, in general, higher levels of perceived stress. © 2006 Wiley Periodicals, Inc. Psychol Schs 43: 387–400, 2006.     

Reward devaluation disrupts latent inhibition in fear conditioning

Three experiments explored the link between reward shifts and latent inhibition (LI). Using consummatory procedures, rewards were either downshifted from 32% to 4% sucrose (Experiments 1–2), or upshifted from 4% to 32% sucrose (Experiment 3). In both cases, appropriate unshifted controls were also included. LI was implemented in terms of fear conditioning involving a single tone-shock pairing after extensive tone-only preexposure. Nonpreexposed controls were also included. Experiment 1 demonstrated a typical LI effect (i.e., disruption of fear conditioning after preexposure to the tone) in animals previously exposed only to 4% sucrose. However, the LI effect was eliminated by preexposure to a 32%-to-4% sucrose devaluation. Experiment 2 replicated this effect when the LI protocol was administered immediately after the reward devaluation event. However, LI was restored when preexposure was administered after a 60-min retention interval. Finally, Experiment 3 showed that a reward upshift did not affect LI. These results point to a significant role of negative emotion related to reward devaluation in the enhancement of stimulus processing despite extensive nonreinforced preexposure experience.     

Double poling kinematic changes during the course of a long-distance race: effect of performance level

ABSTRACT

We aimed to evaluate the changes in double poling (DP) kinematics due to a long-distance cross-country skiing race in athletes with different performance levels. A total of 100 cross-country skiers, belonging to 10 different performance groups, were filmed on flat terrain 7 and 55 km after the start line, during a 58-km classical race. Cycle velocity, frequency and length decreased from the best to the lower-ranked group, while duty cycle increased (all P <.001). Between track sections, cycle velocity and length decreased, duty cycles increased (all P <.001) while frequency was unaltered (P =.782). Group*section interactions resulted for cycle velocity (P =.005). Considering all the participants together, % change in cycle velocity between sections correlated with % change in length and duty cycle (all P <.001). Thus i) skiers in better groups showed longer and more frequent cycles as well as shorter duty cycles than skiers in slower groups; ii) throughout the race all the groups maintained the same cycle frequency while decreasing cycle velocity and length; iii) better groups showed a lower reduction in cycle velocity. Individually, a low reduction in cycle velocity during the race related to the capacity to maintain long cycles and short duty cycles.