Distributes award protocol: A cooperation and communication method for robots.

In this Master’s Thesis a new Distributed Award Protocol (DAP) for robot communication and cooperation is presented. Task assignment (contract awarding) is done dynamically with contracts assigned to robots based upon the best bid received. Instead of having a manager and a contractor it is proposed a fully distributed bidding/awarding mechanism without a distinguished master. The best bidding robots are awarded with contract for execution. The contractors make decisions locally. This brings the following benefits: no communication bottleneck, low computational power requirement, increased robustness. DAP can handle multitasking. Tasks can be injected into system during the execution of already allocated tasks. As tasks have priorities, in the next cycle after taking into account actual bid parameters of all robots, tasks can be re-allocated. The aim is to minimize a global cost function which is a compromise between cost of task execution and cost of resources usage. Information about tasks and bid values is spread among robots with the use of a Round Robin Route, which is a novel solution proposed in this work. This method allows also identifying failed robots. Such failed robot is eliminated from the list of awarded robots and its replacement is found so the task is still executed by a team. If the failure of a robot was temporary (e.g. communication noise) and the robot can recover, it can again participate in the next bidding/awarding process. Using a bidding/awarding mechanism allows robots to dynamically relocate among tasks. This is also contributes to system robustness. DAP was evaluated through multiple experiments done in the multi-robot simulation system. Various scenarios were tested to check the idea of the main algorithm. Different failures of robots (communication failures, partial hardware malfunctions) were simulated and observations were made regarding how DAP recovers from them. Also the DAP flexibility to environment changes was watched. The experiments in the simulated environment confirmed the above features of DAP.

Juan Martínez Gutiérrez y la modernización de la arquitectura chilena

La presente tesis para optar al grado de Doctor en la Escuela Técnica Superior de Arquitectura de la Universidad Politécnica de Madrid, aborda la obra del arquitecto de origen español Juan Martínez Gutiérrez, reconocido por la crítica especializada como uno de los precursores de la arquitectura moderna en Chile. A pesar de la relevancia de su obra, en la actualidad se carece de un estudio sistematizado y preciso que, de manera global, expongan los factores de modernidad de sus principales edificios, aun cuando han aparecido en los últimos años dos publicaciones referentes al arquitecto y parcialmente a su obra. Formado tanto en arquitectura como en pintura, la labor profesional de Juan Martínez Gutiérrez se inscribió en un contexto de modernización de la sociedad chilena entre la década del 20 y del 50, adjudicándose mediante concurso público, el diseño de cinco edificios institucionales y de carácter público, los que conforman en la actualidad bienes de carácter patrimonial estando dos de ellos declarados Monumento Histórico. Se desenvolvió también en el ámbito de la docencia siendo profesor de la Facultad de Arquitectura y Urbanismo de la Universidad de Chile por más de 35 años y Decano de la misma institución. Participó asimismo de la vida gremial de la profesión, recibiendo en el año 1969 el primer premio nacional de arquitectura. Sus edificios públicos, se han mantenido en uso siendo hitos urbanos y en el ámbito disciplinar reconocidas obras ejemplares. Sin embargo, al comenzar el siglo XXI, cuando la modernidad se nos presenta desde la historicidad, surge la pregunta por los valores que sustenta la arquitectura de Juan Martínez, en relación a su tiempo y a la actualidad. En este ámbito reflexivo se plantea la puesta en tesis de la presente investigación, donde las principales obras del arquitecto se analizan inquiriendo su condición de modernidad a la luz de un contexto local cuyas problemáticas sociales son aunadas por el proyecto desarrollista estatal de la primera mitad del siglo XX; interpelando algunos aspectos del estado técnico del país durante el periodo; las tendencias estéticas imperantes de la época y el entorno urbano en el que se emplazan. Al mismo tiempo, el desarrollo de la tesis examina un tópico referencial de la modernidad latinoamericana, que es el influjo europeo en el punto de inflexión que va desde el fin del modelo academicista y la incorporación de los preceptos de un funcionalismo y racionalismo arquitectónico, todo ello mediado por los condicionantes locales. ABSTRACT The following thesis, to achieve the Doctor´s degree at the Superior Technical School of Architecture of the Polytechnic University of Madrid aboard the work of the chilean architect of spanish origin Juan Martinez Gutierrez, recognized by specialized critic as one of the forefathers of modern architecture in Chile. Although the relevance of his work, currently there is no systematic and precise study of it. A study that in a global view exposes the factors of modernity in his foremost buildings. The absence of such study is, despite the appearance in the last two years of two publications about the architect and –partially- his work. Formed as much in architecture as in painting, the professional labor of Juan Martinez Gutierrez was inscribed in the context of Chilean society modernization, between the decades of the 20´s and 30´s. Awarding himself, by means of architectural contests, the design of institutional buildings of public use, witch conform current cultural goods, two of them having been declared National Monuments; a category of cultural heritage officially protected by the state. He also developed an important academic work, being for more than 35 years, professor at the Faculty of Architecture and Urbanism at the University of Chile and in his time, Faculty Dean. He also participated, actively, in guild life, being awarded in 1969 the first ever, National Prize of Architecture. His public buildings, still in use, are urban landmarks and exemplar works in a disciplinary dimension. Never the less, at the begins of the XXI century, when the modern movement is presented to us from an historical viewpoint, even from historicity, questions surge about the values that sustain Juan Martinez´s architecture in relation to his time and ours. It is in this reflexive field, that is planted the thesis of the present research, where the principal works of the architect are analyzed inquiring their modern condition, at the light of a local context who´s social problems join the chilean social development state the “Estado Desarrolista” of the first half of the XX century, a situation that interpellants several dimensions: the technical status of the country during the period, the aesthetic tendencies prevailing, and the urban context were they place themselves. At the same time, in its development, the thesis examines a referential topic, that is the Latin American modern movement, or the European influx in that inflexion point that goes from the end of academicism Beaux – Art model and the incorporation of functional and rationalist precepts, all mediated by local conditions.