3D Maps Representation Using GNG

Current RGB-D sensors provide a big amount of valuable information for mobile robotics tasks like 3D map reconstruction, but the storage and processing of the incremental data provided by the different sensors through time quickly become unmanageable. In this work, we focus on 3D maps representation and propose the use of the Growing Neural Gas (GNG) network as a model to represent 3D input data. GNG method is able to represent the input data with a desired amount of neurons or resolution while preserving the topology of the input space. Experiments show how GNG method yields a better input space adaptation than other state-of-the-art 3D map representation methods.

Coverage and invariability in fuzzy systems

This paper presents a new complex system systemic. Here, we are working in a fuzzy environment, so we have to adapt all the previous concepts and results that were obtained in a non-fuzzy environment, for this fuzzy case. The direct and indirect influences between variables will provide the basis for obtaining fuzzy and/or non-fuzzy relationships, so that the concepts of coverage and invariability between sets of variables will appear naturally. These two concepts and their interconnections will be analyzed from the viewpoint of algebraic properties of inclusion, union and intersection (fuzzy and non-fuzzy), and also for the loop concept, which, as we shall see, will be of special importance.

Invariability, orbits and fuzzy attractors

In this paper, we present a generalization of a new systemic approach to abstract fuzzy systems. Using a fuzzy relations structure will retain the information provided by degrees of membership. In addition, to better suit the situation to be modelled, it is advisable to use T-norm or T-conorm distinct from the minimum and maximum, respectively. This gain in generality is due to the completeness of the work on a higher level of abstraction. You cannot always reproduce the results obtained previously, and also sometimes different definitions with different views are obtained. In any case this approach proves to be much more effective when modelling reality.

La Legenda aurea com a font del teatre hagiogràfic català de tècnica medieval: un tast comparatiu

En aquest treball ens proposem estudiar la influència de la Legenda aurea de Jacobus de Voragine en el teatre hagiogràfic català de tècnica medieval, en concret en tres de les consuetes del ms. 1139 de la BNC: la de sant Jordi, dedicada a l’episodi de la donzella i el drac; la de la conversió de sant Cristòfol i la de sant Mateu. Comptem amb algunes aproximacions anteriors, com és el cas de les consideracions que féu Josep Romeu en la seua edició de les peces hagiogràfiques d’aquest manuscrit (1957). En aquest sentit, aprofitem les seues indicacions com a punt de partida per a oferir una anàlisi més detallada de la manera en què els drames hagiogràfics adapten algunes de les vides contingudes en l’obra de Voragine. Per no allargar-nos excessivament, ens centrem en aquestes tres consuetes, ja que poden ser prou representatives dels diferents tipus d’adaptació teatral de la Legenda aurea.