The morphofunctional approach to emotion modelling in robotics

In this conceptual paper, we discuss two areas of research in robotics, robotic models of emotion and morphofunctional machines, and we explore the scope for potential cross-fertilization between them. We shift the focus in robot models of emotion from information-theoretic aspects of appraisal to the interactive significance of bodily dispositions. Typical emotional phenomena such as arousal and action readiness can be interpreted as morphofunctional processes, and their functionality may be replicated in robotic systems with morphologies that can be modulated for real-time adaptation. We investigate the control requirements for such systems, and present a possible bio-inspired architecture, based on the division of control between neural and endocrine systems in humans and animals. We suggest that emotional epi- sodes can be understood as emergent from the coordination of action control and action-readiness, respectively. This stress on morphology complements existing research on the information-theoretic aspects of emotion.

SMA-Based Muscle-Like Actuation in Biologically Inspired Robots: A State of the Art Review

New actuation technology in functional or "smart" materials has opened new horizons in robotics actuation systems. Materials such as piezo-electric fiber composites, electro-active polymers and shape memory alloys (SMA) are being investigated as promising alternatives to standard servomotor technology [52]. This paper focuses on the use of SMAs for building muscle-like actuators. SMAs are extremely cheap, easily available commercially and have the advantage of working at low voltages. The use of SMA provides a very interesting alternative to the mechanisms used by conventional actuators. SMAs allow to drastically reduce the size, weight and complexity of robotic systems. In fact, their large force-weight ratio, large life cycles, negligible volume, sensing capability and noise-free operation make possible the use of this technology for building a new class of actuation devices. Nonetheless, high power consumption and low bandwidth limit this technology for certain kind of applications. This presents a challenge that must be addressed from both materials and control perspectives in order to overcome these drawbacks. Here, the latter is tackled. It has been demonstrated that suitable control strategies and proper mechanical arrangements can dramatically improve on SMA performance, mostly in terms of actuation speed and limit cycles.

Response threshold models, stochastic learning automata and ant colony optimization-based decentralized self-coordination algorithms for heterogeneous multi-tasks distribution in multi-robot systems

In recent decades, there has been an increasing interest in systems comprised of several autonomous mobile robots, and as a result, there has been a substantial amount of development in the eld of Articial Intelligence, especially in Robotics. There are several studies in the literature by some researchers from the scientic community that focus on the creation of intelligent machines and devices capable to imitate the functions and movements of living beings. Multi-Robot Systems (MRS) can often deal with tasks that are dicult, if not impossible, to be accomplished by a single robot. In the context of MRS, one of the main challenges is the need to control, coordinate and synchronize the operation of multiple robots to perform a specic task. This requires the development of new strategies and methods which allow us to obtain the desired system behavior in a formal and concise way. This PhD thesis aims to study the coordination of multi-robot systems, in particular, addresses the problem of the distribution of heterogeneous multi-tasks. The main interest in these systems is to understand how from simple rules inspired by the division of labor in social insects, a group of robots can perform tasks in an organized and coordinated way. We are mainly interested on truly distributed or decentralized solutions in which the robots themselves, autonomously and in an individual manner, select a particular task so that all tasks are optimally distributed. In general, to perform the multi-tasks distribution among a team of robots, they have to synchronize their actions and exchange information. Under this approach we can speak of multi-tasks selection instead of multi-tasks assignment, which means, that the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation ix of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. In addition, it is very interesting the evaluation of the results in function in each approach, comparing the results obtained by the introducing noise in the number of pending loads, with the purpose of simulate the robot's error in estimating the real number of pending tasks. The main contribution of this thesis can be found in the approach based on self-organization and division of labor in social insects. An experimental scenario for the coordination problem among multiple robots, the robustness of the approaches and the generation of dynamic tasks have been presented and discussed. The particular issues studied are: Threshold models: It presents the experiments conducted to test the response threshold model with the objective to analyze the system performance index, for the problem of the distribution of heterogeneous multitasks in multi-robot systems; also has been introduced additive noise in the number of pending loads and has been generated dynamic tasks over time. Learning automata methods: It describes the experiments to test the learning automata-based probabilistic algorithms. The approach was tested to evaluate the system performance index with additive noise and with dynamic tasks generation for the same problem of the distribution of heterogeneous multi-tasks in multi-robot systems. Ant colony optimization: The goal of the experiments presented is to test the ant colony optimization-based deterministic algorithms, to achieve the distribution of heterogeneous multi-tasks in multi-robot systems. In the experiments performed, the system performance index is evaluated by introducing additive noise and dynamic tasks generation over time.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

ARGoS: a modular, multi-engine simulator for heterogeneous swarm robotics

We present ARGoS, a novel open source multi-robot simulator. The main design focus of ARGoS is the real-time simulation of large heterogeneous swarms of robots. Existing robot simulators obtain scalability by imposing limitations on their extensibility and on the accuracy of the robot models. By contrast, in ARGoS we pursue a deeply modular approach that allows the user both to easily add custom features and to allocate computational resources where needed by the experiment. A unique feature of ARGoS is the possibility to use multiple physics engines of different types and to assign them to different parts of the environment. Robots can migrate from one engine to another transparently. This feature enables entirely novel classes of optimizations to improve scalability and paves the way for a new approach to parallelism in robotics simulation. Results show that ARGoS can simulate about 10,000 simple wheeled robots 40% faster than real-time.

Piezoelectric sensors system for impact detecting

This work describes an acoustic system that allows the automatic detection and location of mechanical impacts on metallic based structures, which is suitable in robotics and industrial applications. The system is based on the time delays of propagation of the acoustic waves along the metallic based structure and it determines the instant and the position when and were the impact has been produced by piezoelectric sensors and an electronic-computerized system. We have obtained that for distance impact of 40 cm and 50 cm the time delay is 2 s and 72 s respectively.

Diseño de una metodología para la normalización del paisaje en España a partir del análisis de normas y de estudios cienciométricos: Aplicación al impacto paisajístico de las infraestructuras de transporte

La presente tesis se enmarca dentro de los trabajos realizados en el Proyecto CENIT OASIS (Operación de Autopistas Seguras Inteligentes y Sostenibles) sobre el impacto y la integración paisajística de las autopistas, y en los trabajos realizados por el grupo de trabajo GT 13 (paisaje) dentro del comité técnico nacional CTN 157 (proyectos) para normalización del Paisaje en España, del que la doctoranda es secretaria técnica. El objetivo principal de esta tesis es desarrollar una Metodología que permita la normalización del paisaje en España. Por ello, establece las bases para el desarrollo científico y profesional en el ámbito del paisaje, a través de la caracterización de la actividad científica y de la actividad normalizadora internacional. Para después elaborar una propuesta de documentos normativos para su regulación en España. Por último, se pone en práctica la única de las normas aplicables a un caso real, concretamente en la AP-7 a su paso por la provincia de Gerona. La caracterización de la actividad científica en el ámbito del paisaje proporciona una visión global que sirve de referencia a las futuras investigaciones en la materia, no existente hasta la fecha. Entre los múltiples resultados, se identifican las áreas de conocimiento y disciplinas afines desde las que se aborda el paisaje, se analiza la evolución de las temáticas y líneas de investigación en el campo, se determina la distribución e impacto de la producción científica, destacando los países y centros de investigación punteros y sus colaboraciones, y se determinan las publicaciones más destacadas en la materia. La caracterización de la actividad normativa internacional hasta la fecha supone un referente en este campo, habiendo traducido, analizado y clasificado decenas de documentos sobre temas como la terminología, la profesión de paisajista, las reglas generales para las intervenciones en el paisaje, las normas para la protección del paisaje y normas para la evaluación del impacto paisajístico. La tesis desarrolla tres documentos normativos, que se espera sean el germen de los futuros documentos legales para normalización del Paisaje en España. El principal objetivo de la normalización es dotar a los profesionales de las herramientas necesarias para desarrollar sus intervenciones en el paisaje. Para ello, se ha elaborado un documento normativo sobre terminología del concepto clave y los términos asociados en castellano, que sirva de referencia para un futuro documento normativo; un documento normativo que regule los estudios de integración e impacto paisajístico en España, definiendo una serie de pautas que ayuden a los profesionales a desarrollar los proyectos de intervención en el paisaje; un documento que regule y defina la profesión de arquitecto paisajista, identificando sus capacidades, formaciones y competencias. Por último, el documento de impacto e integración paisajística se aplica a un caso concreto de infraestructuras del transporte, dentro del proyecto OASIS, sirviendo como ejemplo a los profesionales de la materia para desarrollar futuras intervenciones. El enfoque de este documento coincide con el de paisaje ecológico, el análisis del paisaje se aborda desde lo visible (fenosistema) y desde los procesos que lo conforman (criptosistema). Y las medidas de integración pretenden conseguir que la infraestructura forme parte del paisaje y de los procesos que ocurren en él, lo que en la tesis se define como Infraestructuras Verdes. ABSTRACT The thesis is within the framework of the CENIT OASIS Project (Operation of Safe, Intelligent and Sustainable Highways) about the landscape impact and integration of highways, and the work done by the working group GT 13 (landscape) in the national technical committee CTN 157 (projects) for landscape standardization in Spain, of which the PhD is technical secretary. The main objective of this thesis is to develop a Methodology that allows the landscape standardization in Spain. Therefore, it establishes the basis for the scientific and professional development in the landscape field, through the characterization of scientific and international normalizing activity. It concludes with the proposal of regulatory documents for its use in Spain. Finally, it implements the only of the rules applicable to a real case, specifically in the AP- 7 passing through the Gerona province. The characterization of scientific activity in the landscape field provides an overview that is a reference in the researches in this field, non-existent to date. Among the many results, the areas of knowledge and related disciplines, from which the landscape is addressed, are identified; the evolution of topics and lines of research in the field are analyzed; the distribution and impact of scientific production is determined, highlighting the countries and leading research centers and collaborations; and the leading publications in the field are determined. The characterization of the international regulatory activity to date is a model in this field, having translated, analyzed and classified dozens of papers about terminology, the landscapist profession, general rules for intervention in the landscape, standards for the landscape protection and rules for the assessment of landscape impact. The thesis develops three normative documents, which are expected to be the germ of future legal documents for standardization landscape in Spain. The main objective of standardization is to provide the necessary tools for professionals who work developing interventions in the landscape. To do this, it has been developed a normative document about terminology on the key concept and the associated terms in Castilian, as a reference for a future normative document; a normative document that regulates studies of landscape integration and impact in Spain, defining a set of guidelines to help professionals to develop intervention projects in the landscape; a document to regulate and define the activities developed by the professionals, defining the profession of landscape architect, their capabilities and competencies. Finally, the document of landscape impact and integration is applied to a particular case of transport infrastructures within the OASIS project, serving as an example to professionals in the field to develop future interventions. The focus of this document coincides with the ecological landscape; the landscape analysis is approached from the visible (fenosystem) and from the processes that shape it (cryptosystem); and integration measures aim to achieve that the infrastructure take part of the landscape and its existing processes, which in this thesis is defined as Green Infrastructures.

Desing and development of a robotic platform for the evaluation of search algorithms

Plant diseases represent a major economic and environmental problem in agriculture and forestry. Upon infection, a plant develops symptoms that affect different parts of the plant causing a significant agronomic impact. As many such diseases spread in time over the whole crop, a system for early disease detection can aid to mitigate the losses produced by the plant diseases and can further prevent their spread [1]. In recent years, several mathematical algorithms of search have been proposed [2,3] that could be used as a non-invasive, fast, reliable and cost-effective methods to localize in space infectious focus by detecting changes in the profile of volatile organic compounds. Tracking scents and locating odor sources is a major challenge in robotics, on one hand because odour plumes consists of non-uniform intermittent odour patches dispersed by the wind and on the other hand because of the lack of precise and reliable odour sensors. Notwithstanding, we have develop a simple robotic platform to study the robustness and effectiveness of different search algorithms [4], with respect to specific problems to be found in their further application in agriculture, namely errors committed in the motion and sensing and to the existence of spatial constraints due to land topology or the presence of obstacles.

Modeling the shape hierarchy for visually guided grasping

The monkey anterior intraparietal area (AIP) encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. We modeled shape tuning in visual AIP neurons and its relationship with curvature and gradient information from the caudal intraparietal area (CIP). The main goal was to gain insight into the kinds of shape parameterizations that can account for AIP tuning and that are consistent with both the inputs to AIP and the role of AIP in grasping. We first experimented with superquadric shape parameters. We considered superquadrics because they occupy a role in robotics that is similar to AIP , in that superquadric fits are derived from visual input and used for grasp planning. We also experimented with an alternative shape parameterization that was based on an Isomap dimension reduction of spatial derivatives of depth (i.e., distance from the observer to the object surface). We considered an Isomap-based model because its parameters lacked discontinuities between similar shapes. When we matched the dimension of the Isomap to the number of superquadric parameters, the superquadric model fit the AIP data somewhat more closely. However, higher-dimensional Isomaps provided excellent fits. Also, we found that the Isomap parameters could be approximated much more accurately than superquadric parameters by feedforward neural networks with CIP-like inputs. We conclude that Isomaps, or perhaps alternative dimension reductions of visual inputs to AIP, provide a promising model of AIP electrophysiology data. Further work is needed to test whether such shape parameterizations actually provide an effective basis for grasp control.

Internet-Based Supervisory Teleoperation of a Virtual Humanoid Robot

This paper describes the approach used by the Sarbot-Team for controlling the Atlas humanoid robot during the DARPA Virtual Robotics Challenge that took place in June 2013. Herein we present a proposal for overcoming the restrictions on performance caused by limited bandwidth, high latency and the effects of signal degradation induced by beyond line of sight (BLOS) conditions, RF interference, and other related circumstances. Experimental evaluation confirmed the effectiveness of our approach and present an alternative for coping with constrained communication conditions during the control of humanoid robot deployed at unattended areas.

A computational model of the anterior intraparietal area

The monkey anterior intraparietal area (AIP) encodes visual information about three-dimensional object shape that is used to shape the hand for grasping. In robotics a similar role has been played by modules that fit point cloud data to the superquadric family of shapes and its various extensions. We developed a model of shape tuning in AIP based on cosine tuning to superquadric parameters. However, the model did not fit the data well, and we also found that it was difficult to accurately reproduce these parameters using neural networks with the appropriate inputs (modelled on the caudal intraparietal area, CIP). The latter difficulty was related to the fact that there are large discontinuities in the superquadric parameters between very similar shapes. To address these limitations we adopted an alternative shape parameterization based on an Isomap nonlinear dimension reduction. The Isomap was built using gradients and curvatures of object surface depth. This alternative parameterization was low-dimensional (like superquadrics), but data-driven (similar to an alternative clustering approach that is also sometimes used in robotics) and lacked large discontinuities. Isomaps with 16 or more dimensions reproduced the AIP data fairly well. Moreover, we found that the Isomap parameters could be approximated from CIP-like input much more accurately than the superquadric parameters. We conclude that Isomaps, or perhaps alternative dimension reductions of CIP signals, provide a promising model of AIP tuning. We have now started to integrate our model with a robot hand, to explore the efficacy of Isomap shape reductions in grasp planning. Future work will consider dynamics of spike responses and integration with related visual and motor area models.

Modelado dinámico y control de maniobras de dispositivos submarinos

Es bien conocido por todos que la Primera Revolución Industrial, que tuvo su inicio en la segunda mitad del Siglo XVIII, conllevó un aumento del uso de los recursos energéticos que no se ha detenido para llegar a los niveles de desarrollo tecnológico, industrial y de calidad de vida, de los que se dispone en la actualidad. A simple vista podría intuirse que para disponer de un mayor nivel tecnológico, industrial, de confort, etc. sea necesario un mayor consumo de energía primaria. La actual generación de energía está principalmente basada en el procesamiento de los diversos compuestos del carbono (hidrocarburos, gases y productos derivados del petróleo), que son contaminantes y además, se agotan. Desde hace unas pocas décadas, la humanidad ha sido consciente que es necesario generar energía a partir de fuentes de origen renovable, y que además resulten menos contaminantes. Así, en la actualidad, se ha llegado a un estado de desarrollo avanzado para la explotación de diversas fuentes de energías como la eólica, a la vez que se comienza a mirar con realismo la posibilidad de explotación de diversas energías de origen marino. Se considera que las energías renovables procedentes de los océanos que se encuentran más desarrolladas tecnológicamente hablando, sin tener en cuenta la energía eólica fuera costa (offshore), son la denominada energía undimotriz o de las olas y la energía de las corrientes marinas, no necesariamente en este orden. El trabajo propuesto en esta Tesis se centra en este último recurso energético y, aunque no se dispone todavía de ningún dispositivo en fase de explotación comercial, la concepción, diseño y desarrollo de dispositivos para la extracción de energía de las corrientes, y su evolución, han sido relativamente rápidos e importantes en estos últimos años. Existen ya diferentes dispositivos en fase de pruebas con resultados muy prometedores. Aunque los dispositivos actuales se encuentran limitados a la explotación energética en zonas de poca profundidad, los diferentes estudios del recurso indican la necesidad de explotar corrientes marinas a mayores profundidades, para lo que se están desarrollando actualmente dispositivos, cuya evolución en lo que a sistemas de fondeo se refiere, está siendo muy parecida a la que se ha producido en los parques eólicos fuera costa, similar a su vez, a la evolución llevada a cabo en las plataformas oceánicas para la explotación de recursos petrolíferos (denominados oil & gas) que se extraen de profundidades cada vez mayores. Las soluciones tecnológicas que resulten válidas han de ser también económicamente viables, y en la actualidad se requiere todavía reducir costos en todas las fases de instalación, explotación y mantenimiento de estos dispositivos, sea cual sea su profundidad de operación. Uno de los focos de estudio para abaratar los costes de explotación en general, pasa por abaratar y reducir los costes en las maniobras necesarias de inmersión (de la superficie del mar a la profundidad de operación) y emersión (de la profundidad de operación a la superficie del mar) de estos dispositivos, para llevar a cabo tareas de mantenimiento in situ, en el mar, y sin necesidad de buques especializados ni de su transporte a tierra. En esta Tesis se propone, en primer lugar, un método para evaluar el ciclo de vida de diversos dispositivos de aprovechamiento de las corrientes marinas. Se evidencia que el coste de la energía así generada sigue siendo no plenamente competitivo, por lo que se requiere avanzar en el abaratamiento de costes, principalmente en la instalación y en su mantenimiento. Para ello se propone como novedad principal, introducir sistemas de control en lazo cerrado para realizar maniobras de instalación y mantenimiento de forma automática. También se aporta un modelo dinámico original y muy sencillo para dispositivos bajo estos movimientos de emersión/inmersión, a partir del cual se han desarrollado los algoritmos de control para el propósito mencionado, que no es otro sino automatizar en todo lo posible las maniobras completas. Los algoritmos de control propuestos han sido validados mediante simulación. Se proponen trayectorias de referencia de movimiento suaves (smooth) similares a las utilizadas en robótica. Estos movimientos de cambios de profundidad en lazo cerrado, combinados con secuencias de movimientos en bucle abierto para cuando el dispositivo interacciona en la superficie libre, han dado lugar a nuevas maniobras completas de instalación y mantenimiento que se presentan en esta Tesis, diferentes a las actuales. Finalmente, y como justificación de la viabilidad económica del método novedoso aportado, se ha realizado un estudio comparativo de los costes de la tecnología propuesta, frente a la tecnología actual. Este nuevo sistema de maniobras automáticas implica un ciclo de vida diferente para los dispositivos de aprovechamiento de la energía de las corrientes, ciclo que se cuantifica a partir de un dispositivo base que ha sido modificado y adaptado para la nueva tecnología propuesta, demostrando su viabilidad tanto técnica como económica. ABSTRACT It’s well known that the First Industrial Revolution started in the second half of the eighteenth century, carried the increasing of the use of energy resource which have not been stopped until reach the present technology, industrial evolution and daily life quality. On the surface, it can be known intuitively that a higher consumption of primary energy resource is demanded for benefiting from a higher technological industrial and daily life level. Today, the generation of energy is mainly based in the processing of carbon products (hydrocarbons, gases and petroleum products) which are pollutants, and additionally, are depleted. From a few decades ago, the humanity is aware the energy should be obtained from renewable resources, which besides, should be cleaner. So, at the present, a technical develop has been gained to exploit several energy source, as wind energy, and, at the same time, the extraction of the marine energy starts to seem as a reality. The renewable marine energies considered more advanced and technically developed, without keeping in mind, the offshore wind energy, are the wave energy and the tidal current energy, not necessarily in that order. This Thesis is focused in this last energy resource, and, although, any device is under commercial operation, the concept, design and develop of this type of devices to extract the tidal current energy and their evolution has been comparatively fast and important the last years. There are several devices under test with promising results. Even through the current devices are limited to lower depth areas, the several studies of the tidal energy resource suggest the need to exploit the marine current at greater depths to what is being developed devices, where their evolution in the anchoring system is being very similar to the evolution performed in the offshore wind farms, which is at the same time, similar to the evolution in the oil and gas exploitation which are extracted to greatest depths. Viable technical solutions should be also viable economically and nowadays the cost in all phases of the project (installation, maintenance and operation) should be decreased whatever the operation depth is. One focus of study to lower the operation cost is the cost decreasing of immersion manoeuvring operations (from sea surface to the operation depth) and immersion manoeuvring operations (from operation depth to the sea surface), therefore the maintenance operations can be performed on – site, in the sea, and no specialized vessels are required to transport the devices from the sea to shore. In this dissertation, firstly is proposed a method to evaluate the life cycle of the tidal energy current devices. It is proved the energy generated by these devices is not fully competitive; therefore, the cost falling is mainly an objective in the installation and the maintenance operations. For that, it is proposed as main novelty, the using of closed loop control systems to perform the automatic installation and manoeuvring operations. It is also contributed with an original and simple dynamic model and for controlling the immersion/emersion movements of these devices, from which the control algorithms are developed in order to automate as much as possible the complete manoeuvring. The control algorithms proposed has been validated by simulations. Reference paths with smooth movements, similar which are used in robotics, are suggested. These movements to change the depth using closed loop control, combined with the sequences in open loop movements when the device is in free surface, have been development for a new complete manoeuvring to installation and maintenance operations which are advanced in this Thesis and they are different to the present manoeuvrings. Finally and as justification of the economic viability of this original method, a comparative cost study between the technology proposed and the current technology is performed. This new automatic manoeuvring system involves a different life cycle for the tidal energy current devices, cycle that is quantified from a base device which has been modified and adapted for the new proposed technology, showing the technical and economic viability.

Lo público en lo privado : la calle elevada como catalizador del encuentro colectivo

En la actualidad, el individualismo social originado por las nuevas sociedades de la información, la crisis económica, y, aún más acusado por aquella arquitectura que busca la máxima rentabilidad, ha provocado una creciente incomunicación entre las personas que comparten los mismos espacios residenciales. La presente tesis doctoral aborda el estudio del espacio común dentro del proyecto de vivienda colectiva, desde la noción de espacio intermedio, entendido como frontera espacial –entre el espacio público de la ciudad y la atmosfera íntima de la vivienda– donde tienen lugar los encuentros sociales entre residentes. El principal objetivo de la investigación es rescatar y poner en valor principios básicos del diseño arquitectónico –muchos de ellos en desuso– que mejoran la calidad del espacio colectivo y favorecen la aparición de una atmósfera agradable para el encuentro interpersonal, así como un intento de codificación de estos aspectos, atendiendo a criterios conceptuales que definen el espacio público contemporáneo. La hipótesis de partida se basa en la consideración del proyecto de viviendas como modelo análogo al proyecto urbano de la ciudad –con el que guarda sugerentes similitudes–, y los espacios intermedios como espacio de referencia que pone en valor aquello que liga – integrado en el propio proyecto–. Este supuesto básico ha permitido a diferentes autores poner en relación fecunda el diseño de la casa, el edificio y la ciudad, con el individuo, la comunidad y la sociedad; y ha posibilitado plantear la trasposición de conceptos arquitectónicos fructíferos, en relación con el espacio público –usando como representante la idea de calle elevada–, que ahora pueden enriquecer el entorno privado del edificio. Sirviéndose de instrumentos específicos de la disciplina arquitectónica, la tesis trata de explicar la devaluación a nivel social de los espacios colectivos, derivada de la construcción en altura y del uso excesivo de la estandarización en el proyecto de viviendas a partir del período de postguerra, e intensificada en el postmodernismo por la revolución de las comunicaciones. Se puede así reorientar el diseño de los proyectos de vivienda colectiva no como una simple agrupación de viviendas que favorecen la incomunicación, sino tratando de impulsar unas edificaciones que potencien la comunicación interpersonal. La reunión y reagrupación de un vocabulario arquitectónico específico, acorde con la complejidad social intrínseca en los espacios colectivos, amplia el alcance de los conceptos tratados. Dicha terminología se basa principalmente en mecanismos de cualificación espacial y permite evaluar la dimensión colectiva de la esfera semipública en el edificio de viviendas. ABSTRACT Currently, the social individualism caused by the new societies of information, the economic crisis and even more by architecture, which looks for maximum profitability, has led to a rising lack of communication between people that share the same living space. This doctoral thesis deals with the study of common space, which is based on the notion of in-between space, within the collective housing project. It is considered as a spatial frontier –between the public space of the city and the intimate atmosphere of the housing– where social contact between residents takes place. The main purpose of this research is to collect basic principles of architectural design –many of them no longer in use– that improve the quality of collective space. Following conceptual criteria that define the contemporary public space, they encourage the emergence of a pleasant atmosphere for interpersonal meeting as well as an attempt to codify these aspects. The initial hypothesis is based on the consideration of the housing project as a model analogous to the urban project of the city, with which it bears some similarities. Furthermore, it is based on the in-between spaces as space of reference that valuates what binds – integrated in the project-. That basic supposition has served various authors to connect the design of the house, the building and the city with the individual, the community and the society. In addition –regarding public space and using the idea of the street in the sky as representative–, it has enabled to bring up the transposition of productive architectural concepts, which can now enrich the private environment of the building. Using specific architectural instruments, this thesis deals with explaining the social devaluation of collective spaces. It has resulted from the high rise building construction as well as from the excessive standardization in the housing project since the postwar period and is intensified by the communications revolution in postmodernism. Thus, it is possible to change the design of collective housing projects not as a mere cluster of dwellings that enhance isolation, but by trying to promote buildings that improve interpersonal communication. The collection and regrouping of a specific architectural vocabulary, in accordance with the social complexity inherent in collective spaces, expands the scope of the discussed concepts. Such terminology is mainly based on qualifying spatial strategies and allows to assess the collective dimension of the semi-public sphere in dwelling.

Detecting, Localizing and Following Dynamic Objects with a Mini-UAV

This paper presents an approach for the detection, localization and following of dynamic terrestrial objects using a mini-UAV. The development is intended to be used for surveillance of large infrastructures. The detection algorithm is based on finding several pre-defined characteristics of the target, such as color, shape and size. The process used to localize the target, once it is detected, is based on an inversion of the Pinhole camera model. The task of following the Summit XL was designed to keep the target inside the field of view of the camera, and it was implemented in the form of a PID controller. The system has been tested both in simulation and with real robots, showing promising results.

Multiple Robots, Single Operator: Considerations About Information And Commanding

Multiple robot, single operator scenarios suppose a challenge in terms of human factors. Two relevant issues are keeping the situational awareness and managing the workload of operators. In order to address these problems, this work analyses the management of information and commands in multi-robot missions. About the information, this paper proposes a selection based on mission and operator states. Regarding the commands, this work reflects about the levels of automation and the methods of commanding.