Arquitectura cognitiva basada en el gradiente sensorial y su aplicación a la robótica móvil

El objetivo de esta tesis es el desarrollo de un sistema completo de navegación, aprendizaje y planificación para un robot móvil. Dentro de los innumerables problemas que este gran objetivo plantea, hemos dedicado especial atención al problema del conocimiento autónomo del mundo. Nuestra mayor preocupación ha sido la de establecer mecanismos que permitan, a partir de información sensorial cruda, el desarrollo incremental de un modelo topológico del entorno en el que se mueve el robot. Estos mecanismos se apoyan invariablemente en un nuevo concepto propuesto en esta tesis: el gradiente sensorial. El gradiente sensorial es un dispositivo matemático que funciona como un detector de sucesos interesantes para el sistema. Una vez detectado uno de estos sucesos, el robot puede identificar su situación en un mapa topológico y actuar en consecuencia. Hemos denominado a estas situaciones especiales lugares sensorialmente relevantes, ya que (a) captan la atención del sistema y (b) pueden ser identificadas utilizando la información sensorial. Para explotar convenientemente los modelos construidos, hemos desarrollado un algoritmo capaz de elaborar planes internalizados, estableciendo una red de sugerencias en los lugares sensorialmente relevantes, de modo que el robot encuentra en estos puntos una dirección recomendada de navegación. Finalmente, hemos implementado un sistema de navegación robusto con habilidades para interpretar y adecuar los planes internalizados a las circunstancias concretas del momento. Nuestro sistema de navegación está basado en la teoría de campos de potencial artificial, a la que hemos incorporado la posibilidad de añadir cargas ficticias como ayuda a la evitación de mínimos locales. Como aportación adicional de esta tesis al campo genérico de la ciencia cognitiva, todos estos elementos se integran en una arquitectura centrada en la memoria, lo que pretende resaltar la importancia de ésta en los procesos cognitivos de los seres vivos y aporta un giro conceptual al punto de vista tradicional, centrado en los procesos. The general objective of this thesis is the development of a global navigation system endowed with planning and learning features for a mobile robot. Within this general objective we have devoted a special effort to the autonomous learning problem. Our main concern has been to establish the necessary mechanisms for the incremental development of a topological model of the robot’s environment using the sensory information. These mechanisms are based on a new concept proposed in the thesis: the sensory gradient. The sensory gradient is a mathematical device which works like a detector of “interesting” environment’s events. Once a particular event has been detected the robot can identify its situation in the topological map and to react accordingly. We have called these special situations relevant sensory places because (a) they capture the system’s attention and (b) they can be identified using the sensory information. To conveniently exploit the built-in models we have developed an algorithm able to make internalized plans, establishing a suggestion network in the sensory relevant places in such way that the robot can find at those places a recommended navigation direction. It has been also developed a robust navigation system able to navigate by means of interpreting and adapting the internalized plans to the concrete circumstances at each instant, i.e. a reactive navigation system. This reactive system is based on the artificial potential field approach with the additional feature introduced in the thesis of what we call fictitious charges as an aid to avoid local minima. As a general contribution of the thesis to the cognitive science field all the above described elements are integrated in a memory-based architecture, emphasizing the important role played by the memory in the cognitive processes of living beings and giving a conceptual turn in the usual process-based approach.

Long-term persistence of Mediterranean pine forests in the Duero Basin (central Spain) during the Holocene: The case of Pinus pinaster Aiton

In the southern Duero Basin of central Spain, there are vast areas of aeolian sand sheets and dune fields. A comprehensive survey of the sand quarries in this area identified a number of palaeosols in sedimentary sequences. The identification and AMS radiocarbon dating of soil charcoal fragments collected in these palaeosols indicate the persistence of Pinus pinaster in this area throughout most of the Holocene. Although potential natural vegetation models have usually considered the Pinus pinaster forests in this inland area of artificial origin, soil charcoal analysis provides firm evidence of a natural origin. Our data fit perfectly with the pattern of Holocene vegetation development for inland areas of Iberia, which are characterised by stability of pine forests throughout the Holocene. Finally, the growing body of palaeobotanical evidence from Iberia (macrofossils and pollen) is contributing to improve our knowledge of P. pinaster ecology, showing that this species has been present in most Iberian regions during the Holocene, where it has inhabited areas characterised by a very diverse set of climatic and soil conditions.

Artificial cognitive control system based on the shared circuits model of sociocognitive capacities. A first approach

sharedcircuitmodels is presented in this work. The sharedcircuitsmodelapproach of sociocognitivecapacities recently proposed by Hurley in The sharedcircuitsmodel (SCM): how control, mirroring, and simulation can enable imitation, deliberation, and mindreading. Behavioral and Brain Sciences 31(1) (2008) 1–22 is enriched and improved in this work. A five-layer computational architecture for designing artificialcognitivecontrolsystems is proposed on the basis of a modified sharedcircuitsmodel for emulating sociocognitive experiences such as imitation, deliberation, and mindreading. In order to show the enormous potential of this approach, a simplified implementation is applied to a case study. An artificialcognitivecontrolsystem is applied for controlling force in a manufacturing process that demonstrates the suitability of the suggested approach

The theory of electrostatic probes in strong magnetic fields : Thesis submitted to the Faculty of The Graduate School of the University of Colorado for the Degree Doctor of Philosophy Department of Aerospace Engineering Science

A theory is developed of an electrostatic probe in a fully-ionized plasma in the presence of a strong magnetic field. The ratio of electron Larmor radius to probe transverse dimension is assumed to be small. Poisson's equation, together with kinetic equations for ions and electrons are considered. An asymptotic perturbation method of multiple scales is used by considering the characteristic lengths appearing in the problem. The leading behavior of the solution is found. The results obtained appear to apply to weaker fields also, agreeing with the solutions known in the limit of no magnetic field. The range of potentials for wich results are presented is limited. The basic effects produced by the field are a depletion of the plasma near the probe and a non-monotonic potential surrounding the probe. The ion saturation current is not changed but changes appear in both the floating potential Vf and the slope of the current-voltage diagram at Vf. The transition region extends beyond the space potential Vs,at wich point the current is largely reduced. The diagram does not have an exponential form in this region as commonly assumed. There exists saturation in electron collection. The extent to which the plasma is disturbed is determined. A cylindrical probe has no solution because of a logarithmic singularity at infinity. Extensions of the theory are considered.

Potential theory

In this chapter we will introduce the reader to the techniques of the Boundary Element Method applied to simple Laplacian problems. Most classical applications refer to electrostatic and magnetic fields, but the Laplacian operator also governs problems such as Saint-Venant torsion, irrotational flow, fluid flow through porous media and the added fluid mass in fluidstructure interaction problems. This short list, to which it would be possible to add many other physical problems governed by the same equation, is an indication of the importance of the numerical treatment of the Laplacian operator. Potential theory has pioneered the use of BEM since the papers of Jaswon and Hess. An interesting introduction to the topic is given by Cruse. In the last five years a renaissance of integral methods has been detected. This can be followed in the books by Jaswon and Symm and by Brebbia or Brebbia and Walker.In this chapter we shall maintain an elementary level and follow a classical scheme in order to make the content accessible to the reader who has just started to study the technique. The whole emphasis has been put on the socalled "direct" method because it is the one which appears to offer more advantages. In this section we recall the classical concepts of potential theory and establish the basic equations of the method. Later on we discuss the discretization philosophy, the implementation of different kinds of elements and the advantages of substructuring which is unavoidable when dealing with heterogeneous materials.

Estrategias de desarrollo sostenible de la arquitectura del oasis de M’hamid, desierto del Sahara

Esta investigación se plantea con la hipótesis radical de cómo habitar el desierto de forma sostenible, desde una actitud pragmática y experimental basada en el progreso. La justificación se basa en primer lugar en los 2.000 millones de personas en el mundo que viven en entornos desérticos, el 80% de ellas, en países en desarrollo, porque el 40% de la superficie terrestre está bajo amenaza de desertificación afectando al 37% de la población mundial, con 12 millones de hectáreas al año perdidas por esa causa, y por último, porque se considera el desierto como un entorno de gran atractivo y potencial. El contenido de la investigación se estructura en tres movimientos: posicionamiento, mirada y acción: Desde el posicionamiento se define en primer lugar la sostenibilidad, aportando un nuevo diagrama donde se incorpora el ámbito arquitectónico como uno de los pilares principales, y, posteriormente, se establecen los criterios de evaluación de la sostenibilidad, aportando un sistema de indicadores donde se incorporan parámetros adecuados a las circunstancias del oasis. Del mismo modo, se estudian y analizan metodologías de actuación y proyectos de desarrollo sostenible existentes que enmarcan el estado del arte, constatando la dificultad de adaptación de los mismos a las condiciones de los oasis, por lo que se elabora una metodología propia donde se modifica la dinámica estratégica, de forma que el impulso se plantea desde la acción social, a través de hipótesis de estrategias basadas en sistemas low-cost, autoconstruidas, asumibles económicamente y de implantación factible. El caso de estudio específico radica en la situación extrema de las condiciones en el oasis de M’hamid, donde se evidencia un proceso de desintegración y abandono. Esto es debido a una acumulación de circunstancias externas e internas, de múltiples factores: naturales y antrópicos que afectan al oasis, llevando al extremo las condiciones climáticas y la escasez de recursos, naturales y artificiales. Factores como el cambio climático, la sequía, los cambios en las políticas del agua, la amenaza de desertificación, los conflictos sociales, el desequilibrio ecológico, la escasez económica, la crisis energética, la obsolescencia arquitectónica, el patrimonio construido prácticamente destruido, y la malentendida nueva arquitectura. Es importante constatar la escasa documentación gráfica existente sobre la zona de actuación lo que ha conllevado un amplio trabajo de documentación, tanto cartográfica como de observación directa, aportada a la tesis como investigación de elaboración propia. La mirada analítica al caso de estudio permite conocer los recursos disponibles y las potencialidades latentes del oasis de M’hamid, que permitirán actuar para subvertir la dinámica involutiva imperante, de forma que los dibujos iniciales de apropiación contextual y análisis críticos derivan en mapas de acción diagramados conformados por un sistema de objetos y la definición de estrategias transversales, deconstruyendo el pasado y reconstruyendo el futuro, incorporando sistemas alternativos que se definen en 7 líneas estratégicas de acción formuladas desde los 3 ámbitos relacionados con el ecosistema: ecológico, socio- económico y arquitectónico. Así, la tesis defiende la acción arquitectónica como impulsora del desarrollo sostenible, apoyada en 3 elementos: - la creación de objetos “tecnoartesanos”, para el aprovechamiento de los recursos energéticos - las transformaciones arquitectónicas, para reformular el hábitat desde la eficiencia energética y el progreso - y el impulso de acciones cotidianas, que redefinan las relaciones sociales, creando entornos cooperativos y colaborativos. En el ámbito ecológico se proponen actuaciones anti desertificación mediante incubadoras de árboles; sistemas alternativos de gestión del agua, como la lluvia sólida; estrategias de potenciación de la producción agrícola; la construcción de mecanismos de obtención de energía a partir de residuos, como los paneles solares con botellas PET. En el ámbito socioeconómico se plantean nuevas formas de acción social y de reactivación económica. Por último, en el ámbito urbano-arquitectónico, se incorporan modificaciones morfológicas a la arquitectura existente y una relectura contemporánea de la tierra, como material que permite nuevas geometrías, obteniendo arena petrificada por procesos microbiológicos, y potenciando la tierra como recurso artístico. Esta tesis es un punto de partida, recoge sistemas, estrategias y experiencias, para funcionar como un estímulo o impulso dinamizador del futuro desarrollo sostenible del oasis, abriendo vías de investigación y experimentación. ABSTRACT This research puts forth the radical hypothesis of how to inhabit the desert in a sustainable way, using a pragmatic and experimental approach based on progress. The justification for this resides in the fact that there are 2,000 million people in the world living in desert environments, 80% of them in developing countries. Forty percent of the earth’s surface is under threat of desertification, affecting 37% of the world population and with 12 million hectares being lost each year. And finally, the desert is considered as an attractive environment and therefore, with great potential. The content of the research is structured in three main sections: positioning, observation and action: As a point of departure, sustainability is defined, proposing a new framework where architecture is incorporated as one of the main pillars. Then, the criteria for evaluating sustainability are established. These provide a system of indicators, which incorporate parameters based on the specific circumstances of the oasis. Methodologies and existing sustainable development projects that represent the state-of-the-art are analyzed, discussing the difficulty of adapting them to conditions of oases. A methodology that modifies strategic concepts is developed, whereby the catalyst is social action, and strategies are developed based on low-cost, self-built, and feasible implementation systems. The specific case study lies in the extreme conditions in the oasis of M'hamid, where a process of decay and neglect is evident. This deterioration is due to an accumulation of external and internal circumstances, and of natural and anthropogenic factors that affect the oasis, leading to extreme weather conditions and a shortage of both natural and artificial resources. Factors include; climate change, drought, changes in water policies, the threat of desertification, social conflicts, ecological imbalance, economic shortage, the energy crisis, architectural obsolescence, destruction of built heritage, and misunderstood new architecture. It is important to note the extremely limited graphic information about the area has led me to produce an extensive archive of maps and drawings, many developed by direct observation, that contribute to the research. The case study analysis of the oasis of M'hamid examines the resources available and the latent potential to slow the prevailing trend towards deterioration. The initial drawings of contextual appropriation and critical analysis result in maps and diagrams of action, which are formed by a system of objects and the definition of strategies. These can be thought of as understanding or “deconstructing” the past to reconstruct the future. Alternative approaches defined in seven strategies for action are based on three fields related to the ecosystem: ecological, socioeconomic and architectural. Thus, the thesis defends architectural action to promote sustainable development, based on three elements: - The creation of "techno-artisans", to make use of energy resources - Architectural changes, to reformulate habitat in terms of energy efficiency and progress - And the promotion of everyday actions, to redefine social relations, creating cooperative and collaborative environments. In the ecological field, I propose anti-desertification actions such as; tree incubators, alternative water management systems(such as solid rain),; strategies to empower the agricultural production, energy from low-cost systems made out from recycled materials(such as solar panels from PET bottles or wind turbine from bicycle wheels). In the socioeconomic sphere, I propose to implement new forms of social action and economic regeneration. Finally, within the urban and architectural field, I propose morphological changes to the existing architecture and a contemporary reinterpretation of the earth as a material that allows new geometries, creating petrified sand by microbiological processes or enhancing nature as an artistic and energy resource. This thesis is a starting point. It collects systems, strategies and experiences to serve as a stimulus or dynamic momentum for future sustainable development of the oasis, opening new avenues of research and experimentation. RÉSUMÉ Cette recherche part d'une hypothèse radicale : comment habiter le désert de façon durable, et ce à partir d'une approche pragmatique et expérimentale basée sur le progrès. Cette hypothèse se justifie en raison des 2 milliards de personnes qui dans le monde habitent des environnements désertiques, 80% d'entre eux dans des pays en voie de développement, mais aussi parce que 40% de la surface de la planète est sous menace de désertification, un phénomène affectant 37% de la population mondiale et qui cause la perte de 12 millions d'hectares par an; et enfin parce que le désert est considéré comme un environnement très attrayant et fort d’un grand potentiel. Le contenu de la recherche se divise en trois mouvements: le positionnement, le regard et l'action : Du point de vue du positionnement on définit tout d'abord la durabilité, présentant un nouveau schéma où le domaine de l'architecture devient un des principaux piliers, et, par la suite, des critères d'évaluation de la durabilité sont établis, en fournissant un système d’indicateurs qui intègre les paramètres appropriés aux circonstances de l'oasis. De même, des méthodologies et des projets de développement durable existants sont étudiés et analysés, ce qui encadre l'état de l'art, remarquant la difficulté de les adapter aux conditions des oasis. De cette difficulté découle l'élaboration d'une méthodologie qui modifie la dynamique stratégique, de sorte que l'impulsion provient de l'action sociale, à travers des hypothèses de stratégie basées sur des systèmes low-cost, auto-construits, et de mise en oeuvre économiquement viable. Le cas d'étude spécifique réside en la situation extrême des conditions de l'oasis de M’hamid, où un processus de décadence et de négligence est évident. Cela est dû à une accumulation de circonstances externes et internes, de multiples facteurs: les facteurs naturels et anthropiques qui affectent l'oasis, menant à l'extrême les conditions météorologiques et la pénurie de ressources, autant naturelles qu'artificielles. Des facteurs tels que le changement climatique, la sécheresse, les changements dans les politiques de l'eau, la menace de la désertification, les conflits sociaux, le déséquilibre écologique, la pénurie économique, la crise de l'énergie, l'obsolescence architecturale, le patrimoine bâti pratiquement détruit et une mauvais compréhensif de la nouvelle architecture. Il est important de de faire remarquer le peu d'informations graphiques du domaine d'action, ce qui a conduit à un vaste travail de documentation, autant cartographique que relative à l'observation directe. Cette documentation s'ajoute à la thèse en tant que recherche propre. Le regard analytique sur le cas d'étude permet de connaître les ressources disponibles et le potentiel latent de l'oasis de M’hamid, qui agiront pour renverser la dynamique d'involution en vigueur. Ainsi, les premiers dessins d'appropriation contextuelle et analyse critique deviennent des cartes d'action schématisées formées par un système d'objets et la définition de stratégies transversales, qui déconstruisent le passé et reconstruisent l'avenir, en incorporant des systèmes alternatifs qui se définissent sur 7 lignes stratégiques d'action formulées à partir des 3 domaines en relation avec l’écosystème: l’écologique, le socio-économique et l'architectural. Ainsi, la thèse défend l'action architecturale en tant que promotrice du développement durable, et ce basé sur 3 éléments: - la création d'objets "technoartisans" pour l'exploitation des ressources énergétiques - les modifications architecturales, pour reformuler l'habitat du point de vue de l'efficacité énergétique et le progrès - et la promotion des actions quotidiennes, pour redéfinir les relations sociales, et la création d'environnements de coopération et collaboration. Dans le domaine de l'écologie des actions de lutte contre la désertification sont proposées à travers des pépinières d'arbres, des systèmes alternatifs de gestion de l'eau comme par exemple la pluie solide, des stratégies de mise en valeur de la production agricole, la construction de mécanismes de production d'énergie à partir de résidus, tels que les panneaux solaires ou les bouteilles en PET. Dans le domaine socio-économique, l'on propose de nouvelles formes d'action sociale et de reprise économique. Enfin, dans le domaine de l'urbain et de l'architectural, on incorpore des changements morphologiques à l'architecture existante et une relecture contemporaine de la terre, comme matériau qui permet de nouvelles géométries, en obtenant du sable pétrifié par des procédés microbiologiques et en mettant en valeur la terre comme une ressource artistique. Cette thèse n'est qu'un point de départ. Elle recueille des systèmes, des stratégies et des expériences pour servir de stimulus ou d'impulsion dynamisatrice du futur développement durable de l'oasis, en ouvrant des voies de recherche et d'expérimentation.

Engineering Computational Emotion - A Reference Model for Emotion in Artificial Systems

Emotion is generally argued to be an influence on the behavior of life systems, largely concerning flexibility and adaptivity. The way in which life systems acts in response to a particular situations of the environment, has revealed the decisive and crucial importance of this feature in the success of behaviors. And this source of inspiration has influenced the way of thinking artificial systems. During the last decades, artificial systems have undergone such an evolution that each day more are integrated in our daily life. They have become greater in complexity, and the subsequent effects are related to an increased demand of systems that ensure resilience, robustness, availability, security or safety among others. All of them questions that raise quite a fundamental challenges in control design. This thesis has been developed under the framework of the Autonomous System project, a.k.a the ASys-Project. Short-term objectives of immediate application are focused on to design improved systems, and the approaching of intelligence in control strategies. Besides this, long-term objectives underlying ASys-Project concentrate on high order capabilities such as cognition, awareness and autonomy. This thesis is placed within the general fields of Engineery and Emotion science, and provides a theoretical foundation for engineering and designing computational emotion for artificial systems. The starting question that has grounded this thesis aims the problem of emotion--based autonomy. And how to feedback systems with valuable meaning has conformed the general objective. Both the starting question and the general objective, have underlaid the study of emotion, the influence on systems behavior, the key foundations that justify this feature in life systems, how emotion is integrated within the normal operation, and how this entire problem of emotion can be explained in artificial systems. By assuming essential differences concerning structure, purpose and operation between life and artificial systems, the essential motivation has been the exploration of what emotion solves in nature to afterwards analyze analogies for man--made systems. This work provides a reference model in which a collection of entities, relationships, models, functions and informational artifacts, are all interacting to provide the system with non-explicit knowledge under the form of emotion-like relevances. This solution aims to provide a reference model under which to design solutions for emotional operation, but related to the real needs of artificial systems. The proposal consists of a multi-purpose architecture that implement two broad modules in order to attend: (a) the range of processes related to the environment affectation, and (b) the range or processes related to the emotion perception-like and the higher levels of reasoning. This has required an intense and critical analysis beyond the state of the art around the most relevant theories of emotion and technical systems, in order to obtain the required support for those foundations that sustain each model. The problem has been interpreted and is described on the basis of AGSys, an agent assumed with the minimum rationality as to provide the capability to perform emotional assessment. AGSys is a conceptualization of a Model-based Cognitive agent that embodies an inner agent ESys, the responsible of performing the emotional operation inside of AGSys. The solution consists of multiple computational modules working federated, and aimed at conforming a mutual feedback loop between AGSys and ESys. Throughout this solution, the environment and the effects that might influence over the system are described as different problems. While AGSys operates as a common system within the external environment, ESys is designed to operate within a conceptualized inner environment. And this inner environment is built on the basis of those relevances that might occur inside of AGSys in the interaction with the external environment. This allows for a high-quality separate reasoning concerning mission goals defined in AGSys, and emotional goals defined in ESys. This way, it is provided a possible path for high-level reasoning under the influence of goals congruence. High-level reasoning model uses knowledge about emotional goals stability, letting this way new directions in which mission goals might be assessed under the situational state of this stability. This high-level reasoning is grounded by the work of MEP, a model of emotion perception that is thought as an analogy of a well-known theory in emotion science. The work of this model is described under the operation of a recursive-like process labeled as R-Loop, together with a system of emotional goals that are assumed as individual agents. This way, AGSys integrates knowledge that concerns the relation between a perceived object, and the effect which this perception induces on the situational state of the emotional goals. This knowledge enables a high-order system of information that provides the sustain for a high-level reasoning. The extent to which this reasoning might be approached is just delineated and assumed as future work. This thesis has been studied beyond a long range of fields of knowledge. This knowledge can be structured into two main objectives: (a) the fields of psychology, cognitive science, neurology and biological sciences in order to obtain understanding concerning the problem of the emotional phenomena, and (b) a large amount of computer science branches such as Autonomic Computing (AC), Self-adaptive software, Self-X systems, Model Integrated Computing (MIC) or the paradigm of models@runtime among others, in order to obtain knowledge about tools for designing each part of the solution. The final approach has been mainly performed on the basis of the entire acquired knowledge, and described under the fields of Artificial Intelligence, Model-Based Systems (MBS), and additional mathematical formalizations to provide punctual understanding in those cases that it has been required. This approach describes a reference model to feedback systems with valuable meaning, allowing for reasoning with regard to (a) the relationship between the environment and the relevance of the effects on the system, and (b) dynamical evaluations concerning the inner situational state of the system as a result of those effects. And this reasoning provides a framework of distinguishable states of AGSys derived from its own circumstances, that can be assumed as artificial emotion.