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summary of this article supports the need to replace the growth theories most widespread today with a dynamic analysis of the economy, free of balance and optimal trajectories. It summarises the main features of a possible alternative theory, where innovation is the primary cause of the growth observed over the last two centuries. It also outlines a new dynamic analysis method and sets out some of its main results. It concludes with some conclusions and recommendations on economic policy. ; Resumen Este artículo defiende la necesidad de sustituir las teorías del crecimiento más difundidas hoy por un análisis dinámico de la economía, libre de equilibrios y de trayectorias óptimas. Sintetiza las principales características de una posible teoría alternativa, en la que la innovación es la causa primaria del crecimiento observado durante los últimos dos siglos. Esboza también un nuevo método de análisis dinámico y expone alguno de sus principales resultados. Finaliza con algunas conclusiones y recomendaciones de política económica.

There are many reasons for the Colombian recession that began in 1995, but the disagreement between fiscal and monetary authorities is an outstanding one. Monetary measures against inflation promoted high interest rates, made real investment more risky, rocketed the exchange rate, attracted foreign capital and elevated public debt costs.Emergency measures announced early in the year were insufficient because the problem comes from old and needs long range measures. Balanced budget is a valid target, but along the economic cycle and not in each fiscal year. Reduction of public expenses or public debt must be applied in periods of growth and not when taxes go down because a recession has begun. Monetary policy must allow for anti-cyclical measures and can do it effectively by controlling the volume. of credit accessible to the Government, or to finance private construction of public works, or to those that will buy the facilities and services that get privatized. ; La fase recesiva de la economía colombiana que comenzó en 1995 tiene varias causas, en especial, el desacuerdo entre políticas fiscales y monetarias. Las medidas antiinflacionarias elevaron las tasas de interés y dificultaron la inversión, y provocaron la revaluación de la moneda, la promoción de la entrada masiva de capital externo y del encarecimiento del servicio de la deuda pública. Las medidas de emergencia anunciadas a comienzos de 1995 no fueron suficientes: se necesita una política con objetivos de largo plazo. Hay que buscar un balance fiscal a lo largo del ciclo económico y no en cada año fiscal; la contracción del gasto público debe aplicarse en las fases de auge económico y no cuando caen los recaudos porque ya comenzó una recesión. La política monetaria debe permitir medidas anticíclicas y puede contribuir a ellas si regula el volumen de crédito accesible al Estado, a sus contratistas y a quienes adquieren prvatizaciones.

La fase recesiva de la economía colombiana que comenzó en 1995 tiene varias causas, en especial, el desacuerdo entre políticas fiscales y monetarias. Las medidas antiinflacionarias elevaron las tasas de interés y dificultaron la inversión, y provocaron la revaluación de la moneda, la promoción de la entrada masiva de capital externo y del encarecimiento del servicio de la deuda pública. Las medidas de emergencia anunciadas a comienzos de 1995 no fueron suficientes: se necesita una política con objetivos de largo plazo. Hay que buscar un balance fiscal a lo largo del ciclo económico y no en cada año fiscal; la contracción del gasto público debe aplicarse en las fases de auge económico y no cuando caen los recaudos porque ya comenzó una recesión. La política monetaria debe permitir medidas anticíclicas y puede contribuir a ellas si regula el volumen de crédito accesible al Estado, a sus contratistas y a quienes adquieren prvatizaciones. ; There are many reasons for the Colombian recession that began in 1995, but the disagreement between fiscal and monetary authorities is an outstanding one. Monetary measures against inflation promoted high interest rates, made real investment more risky, rocketed the exchange rate, attracted foreign capital and elevated public debt costs.Emergency measures announced early in the year were insufficient because the problem comes from old and needs long range measures. Balanced budget is a valid target, but along the economic cycle and not in each fiscal year. Reduction of public expenses or public debt must be applied in periods of growth and not when taxes go down because a recession has begun. Monetary policy must allow for anti-cyclical measures and can do it effectively by controlling the volume. of credit accessible to the Government, or to finance private construction of public works, or to those that will buy the facilities and services that get privatized.

Resumen tomado de la publicación ; La ciudadanía es, un producto cultural, ideado como forma de organizar la convivencia, que es preciso preservar. Se señala como el concepto de ciudadanía ha cambiado a lo largo de la historia y se propone un recorrido histórico, desde el remoto estatus de democracia ateniense o el contractualismo liberal de los siglos XVII y XVIII hasta la idea actual de ciudadanía social garantizada por el Estado democrático. ; Cataluña ; Madrid (Comunidad Autónoma). Servicio de Formación del Profesorado. CRIF Las Acacias; Calle General Ricardos, 179; 28025 Madrid; Tel. +34915250893; Fax +34914660991; SRPPIDE@madrid.org ; ESP

Resumen tomado de la publicación ; La ciudadanía es, un producto cultural, ideado como forma de organizar la convivencia, que es preciso preservar. Se señala como el concepto de ciudadanía ha cambiado a lo largo de la historia y se propone un recorrido histórico, desde el remoto estatus de democracia ateniense o el contractualismo liberal de los siglos XVII y XVIII hasta la idea actual de ciudadanía social garantizada por el Estado democrático. ; Cataluña ; Madrid (Comunidad Autónoma). Servicio de Formación del Profesorado. CRIF Las Acacias; Calle General Ricardos, 179; 28025 Madrid; Tel. +34915250893; Fax +34914660991; SRPPIDE@madrid.org ; ESP

The year 2030 marks the renewed limit adopted by the international community —through its governmental and non-governmental organizations— for the achievement of the new Sustainable Development Goals (SDGs) and the six goals of the Education for All (EFA). We present here a general approach to some of the issues that define and condition the current state of education in Latin America in the wake of the post-2015 agenda. To this end, some key conditioning factors of the context, such as the social and economic inequality that characterizes the region, will be addressed. Likewise, documents generated within the governmental and institutional fields —directly related to education at all levels— as well as those coming from organizations from the civil society —committed with the defense of quality and inclusive education as a human right— will be analyzed. Special attention will be given to the picture shown by the 2015 Education for All Global Monitoring Report with regard to the achievements and failures to fulfill the six goals in Latin America. The paper ends with a reflection on the key challenges faced by the region in terms of education with the expectation of further progress in ensuring a longer period of quality and inclusive education for all throughout life. ; El año 2030 marca el límite renovado que adopta la comunidad internacional, a través de las organizaciones gubernamentales y no gubernamentales que la representan, para el logro de los nuevos Objetivos de Desarrollo Sostenible (ODS) y de los seis objetivos del programa de Educación para Todos (EPT). Se presenta aquí una aproximación general a algunos de los aspectos que con más fuerza definen y condicionan la actual situación de la educación en América Latina en la perspectiva de la Agenda post-2015. Para ello, se abordan algunas claves condicionantes del contexto como la desigualdad social y económica que caracteriza a la región. Se analizan asimismo las Declaraciones, pronunciamientos, documentos e informes generados desde el ámbito gubernamental e institucional directamente relacionados con la educación, tanto en el plano nacional como regional e internacional; también los de organizaciones de la sociedad civil comprometidas con la defensa de la educación de calidad inclusiva como derecho humano irrenunciable. De manera especial, se muestra el panorama que para América Latina presentaba en 2015 el Informe de Seguimiento de la Educación para Todos en el mundo a propósito de los logros e incumplimientos regionales en sus seis Objetivos. Se concluye con una reflexión acerca de los desafíos que en educación afronta la región desde la disposición de seguir avanzando en garantizar para todos más tiempo de educación inclusiva de calidad a lo largo de la vida.

This paper describes the fully integration of an innovative and low-cost pressure sensor sheet based on a bendable and printed electronics technology. All integration stages are covered, from most low-level functional system, like physical analog sensor data acquisition, followed by embedded data processing, to end user interactive visual application. Data acquisition embedded software and hardware was developed using a Rapid Control Prototyping (RCP). Finally, after first electronic prototype successful testing, a Taylor-made electronics was developed, reducing electronics volume to 3.5 cm × 6 cm × 2 cm with a maximum power consumption of 765 mW for both electronics and pressure sensor sheet. ; The authors would like to thank Hybrid Neuroprosthetic and Neurorobotic Devices for Functional Compensation and Rehabilitation of Motor Disorders (HYPER) Consolider Ingenio 2010 Spanish Research Project for funds and support. The research leading to these results also has received funding from the RoboCity2030-II-CM project (S2009/DPI-1559), funded by "Programas de Actividades I + D en la Comunidad de Madrid" and co-funded by Structural Funds of the European Union.

18 pages, 32 figures. ; The Fast Marching based algorithm proposed here solves the problem of finding Feedback Control Laws for mobile robots, including non-holonomic vehicles. It integrates in a single Real-Time Controller the global motion planning tasks and the collision avoidance capabilities required to efficiently move a mobile robot in a dynamic environment. The solution proposed is fast enough to be used in real time and to operate with a laser scanner system at the sensor rate frequency. The method combines map-based and sensor-based planning operations to provide a smooth and reliable motion plan. The method works in two steps: in the first, it uses a Fast Marching technique to propagate a wave from the walls and obstacles to determine a potential of slowness for the robot. In the second step, this slowness map is used as a refractive index to calculate the potential of the propagation of a wave from the robot pose to the goal with time as the last axis. The generated trajectory corresponds to the path of the light ray through a medium with non-homogeneous refraction index. The robot trajectory is calculated on the vector field associated to the potential surface. The computational efficiency of the method allows the planner to operate at high rate sensor frequencies. For small- and medium-scale environments, the proposed method avoids the need for a collision avoidance algorithms plus a global motion planner. As the method works over a smooth vector field, it allows the simple introduction of non-holonomic constraints. This way, the method can be used directly to develop a control scheme for non-holonomic vehicles, e.g., for car-like robots. This enables simplification of the mobile robot architectures, while maintaining good time response, smooth and safe planned trajectories with continuous curvature. The trajectory generated by the planner is the fastest possible to reach the goal position, considering the best path according to the maximum acceptable velocity at each point in the trajectory (path plus velocity). ; The authors would like to thank the Spanish Government for the funds provided by the MICYT project DPI2004-00594. Research supported by the Spanish CYCIT through grants DPI2007-60594 and DPI2005-04302. ; Publicado

IEEE International Conference on Robotics and Automation, Leuven, Belgium, 1998 ; This paper presents a fuzzy perception planner that takes into account the time cost, the suitability of every landmark detection and the different uncertainties the robot encounters along its path for mobile robot localization. The sensor used is a camera with a motorized zoom on a pan & tilt platform and the artificial landmarks are circles detected through normalized grayscale correlation. An Extended Kalman Filter is used to correct the position and orientation of the vehicle. The resulting self-localization module has been integrated successfully in a more complicated navigation system. ; The authors gratefully acknowledge the funds provided by the Spanish Government through the CICYT projects TAP94-711 and TAP96-657, and thank B.J. Carabao and M.J. Lopez for their experimental work with the planner using the B2 1 robot. ; Publicado

Nowadays, most mobile robot applications use two-dimensional LiDAR for indoor mapping, navigation, and low-level scene segmentation. However, single data type maps are not enough in a six degree of freedom world. Multi-LiDAR sensor fusion increments the capability of robots to map on different levels the surrounding environment. It exploits the benefits of several data types, counteracting the cons of each of the sensors. This research introduces several techniques to achieve mapping and navigation through indoor environments. First, a scan matching algorithm based on ICP with distance threshold association counter is used as a multi-objective-like fitness function. Then, with Harmony Search, results are optimized without any previous initial guess or odometry. A global map is then built during SLAM, reducing the accumulated error and demonstrating better results than solo odometry LiDAR matching. As a novelty, both algorithms are implemented in 2D and 3D mapping, overlapping the resulting maps to fuse geometrical information at different heights. Finally, a room segmentation procedure is proposed by analyzing this information, avoiding occlusions that appear in 2D maps, and proving the benefits by implementing a door recognition system. Experiments are conducted in both simulated and real scenarios, proving the performance of the proposed algorithms. ; This work was supported by the funding from HEROITEA: Heterogeneous Intelligent Multi-Robot Team for Assistance of Elderly People (RTI2018-095599-B-C21), funded by Spanish Ministerio de Economia y Competitividad, RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, funded by "Programas de Actividades I+D en la Comunidad de Madrid" and cofunded by Structural Funds of the EU. We acknowledge the R&D&I project PLEC2021-007819 funded by MCIN/AEI/ 10.13039/501100011033 and by the European Union NextGenerationEU/PRTR and the Comunidad de Madrid (Spain) under the multiannual agreement with Universidad Carlos III de Madrid ("Excelencia para ...