Width and serialization of classical planning problems

We introduce a width parameter that bounds the complexity of classical planning problems and domains, along with a simple but effective blind-search procedure that runs in time that is exponential in the problem width. We show that many benchmark domains have a bounded and small width provided thatgoals are restricted to single atoms, and hence that such problems are provably solvable in low polynomial time. We then focus on the practical value of these ideas over the existing benchmarks which feature conjunctive goals. We show that the blind-search procedure can be used for both serializing the goal into subgoals and for solving the resulting problems, resulting in a ‘blind’ planner that competes well with a best-first search planner guided by state-of-the-art heuristics. In addition, ideas like helpful actions and landmarks can be integrated as well, producing a planner with state-of-the-art performance.

Planning under partial observability by classical replanning: theory and experiments

Planning with partial observability can be formulated as a non-deterministic search problem in belief space. The problem is harder than classical planning as keeping track of beliefs is harder than keeping track of states, and searching for action policies is harder than searching for action sequences. In this work, we develop a framework for partial observability that avoids these limitations and leads to a planner that scales up to larger problems. For this, the class of problems is restricted to those in which 1) the non-unary clauses representing the uncertainty about the initial situation are nvariant, and 2) variables that are hidden in the initial situation do not appear in the body of conditional effects, which are all assumed to be deterministic. We show that such problems can be translated in linear time into equivalent fully observable non-deterministic planning problems, and that an slight extension of this translation renders the problem solvable by means of classical planners. The whole approach is sound and complete provided that in addition, the state-space is connected. Experiments are also reported.

In what ways a CLIL lesson planning different from an EFL course plan ?

Des del 1995 el Consell Europeu ha promogut l’aprenentatge d’una segona llengua a través d’una altra àrea en el que coneixem per CLIL (Contingut i Llengua Integrats en l’Aprenentatge) o en altres paraules: “una activitat en la qual l’aprenentatge d’una llengua estrangera és utilitzada com una eina per l’aprenentatge d’una àrea no linguística en la qual llengua i contingut tenen un mateix paper” (Marsh, 2002). Tot I així, “ensenyar una àrea a través d’una llengua estrangera no és el mateix que la integració de llengua i contingut”. CLIL comporta altres implicacions metodològiques pel que fa a la planificació, estratègies didàctiques i particularment al rol del docent. De fet, són aquests factors els que componen l’èxit o el fracàs en l’implementació de CLIL. i per aquest motiu pretenc analitzar i descriure les diferències entre una sessió de CLIL i una de llengua anglesa. Aquesta investigació és un estudi de cas que vol oferir una mirada a les diferències entre una unitat de CLIL i una de llengua anglesa portades a terme en un grup de 3r de primària a l’escola de Sant Miquel dels Sants (Vic) pel que fa a la planificació, les estratègies i actuacions del docent.

The CerdàPlan for the Extension of Barcelona: A Constructivist Analysis of a Town-planning Controversy

Peer-reviewed

Simulació de xarxes WSN (Wireless Sensor Network) per a la detecció d'incendis

Trabajo de final de carrera enfocado a la simulación de una WSN (Wireless Sensors Networks) mediante el programa Contiki 2.7 y el SO Ubuntu. La idea global del proyecto es conseguir simular un entorno con nodos sensores y, a posteriori, comprobar su correcto funcionamiento en motas reales, comprobando los resultados obtenidos en ambos entornos. De esta manera se puede facilitar la puesta en marcha de este tipo de redes inalámbricas en una aplicación real.

Measuring gait using a ground laser range sensor

This paper describes a mesurement system designed to register the displacement of the legs using a two-dimensional laser range sensor with a scanning plane parallel to the ground and extract gait parameters. In the proposed methodology, the position of the legs is estimated by fitting two circles with the laser points that define their contour and the gait parameters are extracted applying a step-line model to the estimated displacement of the legs to reduce uncertainty in the determination of the stand and swing phase of the gait. Results obtained in a range up to 8 m shows that the systematic error in the location of one static leg is lower than 10 mm with and standard deviation lower than 8 mm; this deviation increases to 11 mm in the case of a moving leg. The proposed measurement system has been applied to estimate the gait parameters of six volunteers in a preliminary walking experiment.

Secure many-to-one communications in wireless sensor networks

Wireless Sensor Networks (WSN) are formed by nodes with limited computational and power resources. WSNs are finding an increasing number of applications, both civilian and military, most of which require security for the sensed data being collected by the base station from remote sensor nodes. In addition, when many sensor nodes transmit to the base station, the implosion problem arises. Providing security measures and implosion-resistance in a resource-limited environment is a real challenge. This article reviews the aggregation strategies proposed in the literature to handle the bandwidth and security problems related to many-to-one transmission in WSNs. Recent contributions to secure lossless many-to-one communication developed by the authors in the context of several Spanish-funded projects are surveyed. Ongoing work on the secure lossy many-to-one communication is also sketched.

Using the optical mouse sensor as a two-euro counterfeit coin detector

In this paper, the sensor of an optical mouse is presented as a counterfeit coin detector applied to the two-Euro case. The detection process is based on the short distance image acquisition capabilities of the optical mouse sensor where partial images of the coin under analysis are compared with some partial reference coin images for matching. Results show that, using only the vision sense, the counterfeit acceptance and rejection rates are very similar to those of a trained user and better than those of an untrained user.

Performance of an ultrasonic ranging sensor in apple tree canopies

Electronic canopy characterization is an important issue in tree crop management. Ultrasonic and optical sensors are the most used for this purpose. The objective of this work was to assess the performance of an ultrasonic sensor under laboratory and field conditions in order to provide reliable estimations of distance measurements to apple tree canopies. To this purpose, a methodology has been designed to analyze sensor performance in relation to foliage ranging and to interferences with adjacent sensors when working simultaneously. Results show that the average error in distance measurement using the ultrasonic sensor in laboratory conditions is ±0.53 cm. However, the increase of variability in field conditions reduces the accuracy of this kind of sensors when estimating distances to canopies. The average error in such situations is ±5.11 cm. When analyzing interferences of adjacent sensors 30 cm apart, the average error is ±17.46 cm. When sensors are separated 60 cm, the average error is ±9.29 cm. The ultrasonic sensor tested has been proven to be suitable to estimate distances to the canopy in field conditions when sensors are 60 cm apart or more and could, therefore, be used in a system to estimate structural canopy parameters in precision horticulture.

Discriminating crop, weeds and soil surface with a terrestrial LIDAR sensor

In this study, the evaluation of the accuracy and performance of a light detection and ranging (LIDAR) sensor for vegetation using distance and reflection measurements aiming to detect and discriminate maize plants and weeds from soil surface was done. The study continues a previous work carried out in a maize field in Spain with a LIDAR sensor using exclusively one index, the height profile. The current system uses a combination of the two mentioned indexes. The experiment was carried out in a maize field at growth stage 12–14, at 16 different locations selected to represent the widest possible density of three weeds: Echinochloa crus-galli (L.) P.Beauv., Lamium purpureum L., Galium aparine L.and Veronica persica Poir.. A terrestrial LIDAR sensor was mounted on a tripod pointing to the inter-row area, with its horizontal axis and the field of view pointing vertically downwards to the ground, scanning a vertical plane with the potential presence of vegetation. Immediately after the LIDAR data acquisition (distances and reflection measurements), actual heights of plants were estimated using an appropriate methodology. For that purpose, digital images were taken of each sampled area. Data showed a high correlation between LIDAR measured height and actual plant heights (R2 = 0.75). Binary logistic regression between weed presence/absence and the sensor readings (LIDAR height and reflection values) was used to validate the accuracy of the sensor. This permitted the discrimination of vegetation from the ground with an accuracy of up to 95%. In addition, a Canonical Discrimination Analysis (CDA) was able to discriminate mostly between soil and vegetation and, to a far lesser extent, between crop and weeds. The studied methodology arises as a good system for weed detection, which in combination with other principles, such as vision-based technologies, could improve the efficiency and accuracy of herbicide spraying.

SiC-Based MIS gas sensor for high water vapor environments

In this work we will prove that SiC-based MIS capacitors can work in environments with extremely high concentrations of water vapor and still be sensitive to hydrogen, CO and hydrocarbons, making these devices suitable for monitoring the exhaust gases of hydrogen or hydrocarbons based fuel cells. Under the harshest conditions (45% of water vapor by volume ratio to nitrogen), Pt/TaOx/SiO2/SiC MIS capacitors are able to detect the presence of 1 ppm of hydrogen, 2 ppm of CO, 100 ppm of ethane or 20 ppm of ethene, concentrations that are far below the legal permissible exposure limits.

Preface: Extreme events induced by weather and climate change: evaluation, forecasting and proactive planning

This special issue of Natural Hazards and Earth System Sciences (NHESS) contains eight papers presented as oral or poster contributions in the Natural Hazards NH-1.2 session on"Extreme events induced by weather and climate change: evaluation, forecasting and proactive planning", held at the European Geosciences Union (EGU) General Assembly in Vienna, Austria, on 13-18 April 2008. The aim of the session was to provide an international forum for presenting new results and for discussing innovative ideas and concepts on extreme hydro-meteorological events, including: (i) the assessment of the risk posed by the extreme events, (ii) the expected changes in the frequency and intensity of the events driven by a changing climate and by multiple human- induced causes, (iii) new modelling approaches and original forecasting methods to predict extreme events and their consequences, and (iv) strategies for hazard mitigation and risk reduction, and for a improved adaptation to extreme hydro-meteorological events ...

Cultural Planning and community sustainability: The case of the Cultural Facilities Plan of Catalonia (PECCAT 2010-20)

The government of Catalonia has developed a planning framework that seeks to establish the provision of cultural facilities throughout the country. The Cultural Facilities Plan of Catalonia (PECCAT) is based on an analysis of historical gaps and establishes a minimum spatial scheme. The plan responds to problems associated with the absence of a former similar instrument, which has led to an inconsistent and inappropriate cultural infrastructure that fails to fulfill its fundamental mission of securing the cultural rights of the population. The paper sets forth the aims of this policy and describes the objectives and basic characteristics of the plan and the expected outcomes. With the plan, the government of Catalonia seeks to rebalance the infrastructure within the territory and to ensure universal access to basic cultural services, while avoiding a logic of standardization and taking local communities into account. With the development of local plans in the municipalities, local governments encourage community participation processes to adapt and decide on priorities for action based on needs assessments and cultural opportunities for local sustainable development. The local plans focus on local cultural strengths, take advantage of opportunities, and aim to realize the cultural dynamics of a place through establishing an infrastructure that can best respond to the needs and cultural demands of the local communities, taking into account economic, social, and environmental sustainability.

Correcció postural esportiva utilitzant un sensor Kinect

Aquest projecte s’emmarca dins de l’àmbit de la visió per computador, concretament en la utilització de dades de profunditat obtingudes a través d’un emissor i sensor de llum infraroja.El propòsit principal d’aquest projecte és mostrar com adaptar aquestes tecnologies, a l’abast de qualsevol particular, de forma que un usuari durant la pràctica d’una activitat esportiva concreta, rebi informació visual continua dels moviments i gestos incorrectes que està realitzant, en base a uns paràmetres prèviament establerts.L’objectiu d’aquest projecte consisteix en fer una lectura constant en temps real d’una persona practicant una selecció de diverses activitats esportives estàtiques utilitzant un sensor Kinect. A través de les dades obtingudes pel sensor Kinect i utilitzant les llibreries de “skeleton traking” proporcionades per Microsoft s’haurà d’interpretar les dades posturals obtingudes per cada tipus d’esport i indicar visualment i d’una manera intuïtiva els errors que està cometent en temps real, de manera que es vegi clarament a quina part del seu cos realitza un moviment incorrecte per tal de poder corregir-lo ràpidament. El entorn de desenvolupament que s’utilitza per desenvolupar aquesta aplicació es Microsoft Viusal Studio 2010.El llenguatge amb el qual es treballarà sobre Microsoft Visual Studio 2010 és C#

jxSensor: a sensor network integration layer for JXTA

Nowadays, Wireless Sensor Networks (WSN) arealready a very important data source to obtain data about the environment. Thus, they are key to the creation of Cyber-Physical Systems (CPS). Given the popularity of P2P middlewares as ameans to efficiently process information and distribute services, being able to integrate them to WSN¿s is an interesting proposal. JXTA is a widely used P2P middleware that allows peers to easily exchange information, heavily relying on its main architectural highlight, the capability to organize peers with common interests into peer groups. However, right now, approaches to integrate WSNs to a JXTA network seldom take advantage of peer groups. For this reason, in this paper we present jxSensor, an integrationlayer for sensor motes which facilitates the deployment of CPS¿s under this architecture. This integration has been done taking into account JXTA¿s idiosyncrasies and proposing novel ideas,such as the Virtual Peer, a group of sensors that acts as a single entity within the peer group context.