11 research outputs found
Plan it Safe: A Risk-Driven Motion Planning Framework for Collaborative Robots
No full textThis paper presents a novel trajectory planning method for collaborative robots, focusing on a risk-centric
approach to enhance safety and performance. Drawing from risk management principles, encompassing factors such as
operator safety, performance degradation, and internal robot-related issues, the proposed framework offers a comprehensive
solution for offline trajectory planning and online reactive trajectory execution. The main contributions include developing
and implementing a risk definition and assessment framework utilizing fuzzy inference systems, a mapping strategy leveraging
fuzzy logic to correlate robot states with risk levels, and formulating a global measure for evaluating the overall risk. Additionally, the paper introduces a risk-driven motion planning algorithm aimed at minimizing trajectory risk. It also proposes a reactive trajectory adaptation method to respond dynamically to elevated risk levels during task execution. Validation through simulations and experiments with a 7 Degree of Freedom
(DoF) robotic manipulator demonstrates the effectiveness of the proposed approach in generating risk-limited trajectories
and adapting online to collision risk factors
Benvenuto Stracca "Tractatus de mercatura seu mercatore" ("Treatise on Commerce or on the Merchant")
No full textLa voce riguarda una descrizione dettagliata del "Tractatus de mercatura seu mercatore" di Benvenuto Stracca e del suo ruolo nella storia del diritto.This volume surveys 150 law books of fundamental importance in the history of Western legal literature and culture. The entries are organized in three sections: the first dealing with the transitional period of fifteenth-century editions of medieval authorities, the second spanning the early modern period from the sixteenth to the eighteenth century, and the third focusing on the nineteenth and twentieth centuries. The contributors are scholars from all over the world. Each ‘old book’ is analyzed by a recognized specialist in the specific field of interest. Individual entries give a short biography of the author and discuss the significance of the works in the time and setting of their publication, and in their broader influence on the development of law worldwide. Introductory essays explore the development of Western legal traditions, especially the influence of the English common law, and of Roman and canon law on legal writers, and the borrowings and interaction between them.
The book goes beyond the study of institutions and traditions of individual countries to chart a broader perspective on the transmission of legal concepts across legal, political, and geographical boundaries. Examining the branches of this genealogical tree of books makes clear their pervasive influence on modern legal systems, including attempts at rationalizing custom or creating new hybrid systems by transplanting Western legal concepts into other jurisdictions
Risk-Aware and Risk-Driven Trajectory Planning for Redundant Manipulators
No full textThe purpose of this thesis is to plan and execute trajectories that minimize "the risk" for a serial manipulator operating in a human-robot collaboration context.
The first step is, therefore, to formalize the risk concept, identify which risks we may incur, and create a metric to quantify them.
We then continue by presenting some optimization strategies in the offline trajectory planning phase that lead directly or indirectly to the minimization of the identified risks.
Finally, we simulated the execution of the found trajectories during their actual online execution, developing an interface for online evaluation of the risks indexes and a reactive strategy for online modification of the reference trajectories found during the offline optimization
DELEGATED PORTFOLIO MANAGEMENT: A SURVEY OF THE THEORETICAL LITERATURE
No full textThis paper provides a selective review of the theoretical literature on delegated portfolio management as a principal-agent relationship. The main focus of the paper is to review the analytical issues raised by the peculiar nature of the delegated portfolio management relationship within the broader class of principal-agent models. In particular, the paper discusses the performance of linear versus nonlinear compensation contracts in a single-period setting, the possible effects of limited liability of portfolio managers, the role of reputational concerns in a multiperiod framework, and the incentives to noise trading. In addition, the paper deals with some general equilibrium dimensions and asset pricing implications of delegated portfolio management. The paper also suggests some directions for future research. Copyright 2006 The Author Journal compilation � 2006 Blackwell Publishing Ltd.
The Behaviour of Consumer Prices Across Provinces
No full textMeasures of core inflation enable a central bank to distinguish price movements that are transitory and generated by non-monetary events from those that are more permanent and related to prior monetary policy decisions. The author uses standard statistical measures to assess the behaviour of consumer prices across provinces and identify price components with more divergent price patterns. The results indicate that energy, shelter and tobacco prices are the most volatile across provinces. Very large price movements restricted to one or a few provinces suggest that the forces or events triggering those movements may be province specific and unrelated to national demand pressures. Such results suggest that constructing a type of core inflation measure called the “trimmed mean” that excludes components with exceptionally large price changes at the provincial level may offer an alternative means of assessing underlying inflationary pressures.Inflation and prices
Monetary analysis: a VAR perspective
No full textThe purpose of this study is to investigate the dynamic relationships between some key variables for the euro area by means of a systems approach (i.e. so-called Vector Autoregression) and to simulate their responses with respect to monetary policy shocks. The main result is that rather simple models can provide plausible reactions to changes in monetary policy. In particular, a positive shock in the short-term nominal interest rate is followed by a transitory decline in real income as well as a negative and permanent effect on the price level and nominal M3, leaving real M3 broadly unchanged. --Monetary analysis,VAR models,generalized impulse response functions
Lessons for monetary policy: what should the consensus be?
No full textThis paper outlines important lessons for monetary policy. In particular, the role of inflation targeting, which was much acclaimed prior to the financial crisis and since then has not lost much of its endorsement, is critically reviewed. Ignoring the relation between monetary policy and asset prices, as is the case in this monetary policy approach, can lead to financial instability. In contrast, giving, inter alia, monetary factors a role in central banks’ policy decisions, as is done in the ECB’s encompassing approach, helps prevent these potentially harmful side effects and thus allows for fostering financial stability. Finally, this paper makes a case against increasing the central banks’ inflation target. JEL Classification: E44, E52, E58 Keywords: Inflation Targeting, Asset Prices, Financial Stability, EC
The ECB's monetary analysis revisited
No full textMonetary aggregates continue to play an important role in the ECB's policy strategy. This paper revisits the case for money, surveying the ongoing theoretical and empirical debate. The key conclusion is that an exclusive focus on non-monetary factors alone may leave the ECB with an incomplete picture of the economy. However, treating monetary factors as a separate matter is a second-best solution. Instead, a general-equilibrium inspired analytical framework that merges the economic and monetary pillars of the ECB's policy strategy appears the most promising way forward. The role played by monetary aggregates in such unified framework may be rather limited. However, an integrated framework would facilitate the presentation of policy decisions by providing a clearer narrative of the relative role of money in the interaction with other economic and financial sector variables, including asset prices, and their impact on consumer prices. --ECB,monetary analysis,monetary pillar,New Keynesian model,DSGE model,P* model,Twopillar Phillips curve,VAR model,generalized dynamic factor model
