Knowledge integration within an applied mobile robot summer course

This paper presents the use of a mobile robot platform as an innovative educational tool in order to promote and integrate different curriculum knowledge. Hence, it is presented the acquired experience within a summer course named ldquoapplied mobile roboticsrdquo. The main aim of the course is to integrate different subjects as electronics, programming, architecture, perception systems, communications, control and trajectory planning by using the educational open mobile robot platform PRIM. The summer course is addressed to a wide range of student profiles. However, it is of special interests to the students of electrical and computer engineering around their final academic year. The summer course consists of the theoretical and laboratory sessions, related to the following topics: design & programming of electronic devices, modelling and control systems, trajectory planning and control, and computer vision systems. Therefore, the clues for achieving a renewed path of progress in robotics are the integration of several knowledgeable fields, such as computing, communications, and control sciences, in order to perform a higher level reasoning and use decision tools with strong theoretical base

A system to reduce the effect of CCDs saturation

Colour image segmentation based on the hue component presents some problems due to the physical process of image formation. One of that problems is colour clipping, which appear when at least one of the sensor components is saturated. We have designed a system, that works for a trained set of colours, to recover the chromatic information of those pixels on which colour has been clipped. The chromatic correction method is based on the fact that hue and saturation are invariant to the uniform scaling of the three RGB components. The proposed method has been validated by means of a specific colour image processing board that has allowed its execution in real time. We show experimental results of the application of our method

Moderating effects of management control systems and innovation on performance. Simple methods for correcting the effects of measurement error for interaction effects in small samples

In the accounting literature, interaction or moderating effects are usually assessed by means of OLS regression and summated rating scales are constructed to reduce measurement error bias. Structural equation models and two-stage least squares regression could be used to completely eliminate this bias, but large samples are needed. Partial Least Squares are appropriate for small samples but do not correct measurement error bias. In this article, disattenuated regression is discussed as a small sample alternative and is illustrated on data of Bisbe and Otley (in press) that examine the interaction effect of innovation and style of use of budgets on performance. Sizeable differences emerge between OLS and disattenuated regression

Neptune: a hil simulator for multiple UUVs

This paper overviews the field of graphical simulators used for AUV development, presents the taxonomy of these applications and proposes a classification. It also presents Neptune, a multivehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

Behaviours implemented using a vision system based on coded light projection

In a search for new sensor systems and new methods for underwater vehicle positioning based on visual observation, this paper presents a computer vision system based on coded light projection. 3D information is taken from an underwater scene. This information is used to test obstacle avoidance behaviour. In addition, the main ideas for achieving stabilisation of the vehicle in front of an object are presented

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

An overview of the advantages and constraints of coded pattern projection techniques for autonomous navigation

The absolute necessity of obtaining 3D information of structured and unknown environments in autonomous navigation reduce considerably the set of sensors that can be used. The necessity to know, at each time, the position of the mobile robot with respect to the scene is indispensable. Furthermore, this information must be obtained in the least computing time. Stereo vision is an attractive and widely used method, but, it is rather limited to make fast 3D surface maps, due to the correspondence problem. The spatial and temporal correspondence among images can be alleviated using a method based on structured light. This relationship can be directly found codifying the projected light; then each imaged region of the projected pattern carries the needed information to solve the correspondence problem. We present the most significant techniques, used in recent years, concerning the coded structured light method

Speculative parallelization of multipath radiosity algorithm

In computer graphics, global illumination algorithms take into account not only the light that comes directly from the sources, but also the light interreflections. This kind of algorithms produce very realistic images, but at a high computational cost, especially when dealing with complex environments. Parallel computation has been successfully applied to such algorithms in order to make it possible to compute highly-realistic images in a reasonable time. We introduce here a speculation-based parallel solution for a global illumination algorithm in the context of radiosity, in which we have taken advantage of the hierarchical nature of such an algorithm

Martin Heidegger

Nota biogràfica sobre el filòsof Martin Heidegger on es fa, per una banda, un breu repàs dels principals fets de la seva vida com a filòsof i, per una altra banda, un breu repàs de la seva obra

La recerca científica aplicada a la pesca marítima

Repàs bibliogràfic dels primers textos sobre com la ciència ha tractat el tema de la pesca. És a dir, no referit a la forma que tenen els pescadors de construir el seu coneixement sobre la pesca, sinó al coneixement científic a l’entorn de la pesca que ha estat constituït amb el treball de recerca

Reglà, l´historiador que volia comprendre el món

Breu ressenya de la vida i obra de l’historiador empordanès Joan Reglà

Cap a una nova geografia regional? Notícia del seminari celebrat a la ciutat dels quatre rius

Del 28 al 30 de juny de 1989 se celebra a Girona el I Curs d'Estiu de Geografia, en el marc dels Cursos d'Estiu de l'Estudi General de Girona -Universidad Internacional Menéndez y Pelayo. La primera edició d'aquest curs es dedica a la geografia regional. Es tractava d'impulsar una discussió a fons sobre la revifalla del concepte de regió, observada no solament des d’algunes de les perspectives geogràfiques més innovadores, sinó també des d'altres camps de les ciències socials i humanes. Ens trobem davant d'una seriosa reconsideració teòrica i metodològica de la perspectiva regional, que inclou, alhora, una suggeridora reflexió sobre el paper que el lloc, el context espacial, té o hauria de tenir en l'explicació dels fenòmens socials, polítics i econòmics que afecten la nostra vida quotidiana. El text que segueix a continuació és una breu noticia de l’esmentat curs

Géopoint-82. Les territoires de la vie quotidienne

Relació i resum de les ponències del IV Col•loqui Geopoint 82, celebrat el maig d’aquell any a Avinyó on es van desenvolupar les ponències “Le territoire dans ses rapports avec les espaces géographiques: concept ancien, utilisation nouvelle.”, “Le Pays, niveau géographique.”, “Le territoire de la vie quotidienne et le référentiel-habitant.”, “Réseaux et niveaux de territorialité”, “Pratique de l'eco-développement.”, “Le territoire en milieu urbain.” i “La territorialité.”

El Bosc, element clau d'un paisatge i d'una comunitat

Aquest treball és un resum de la Memòria de Llicenciatura El Bosc, element clau d’un paisatge i d’una comunitat. La seva percepció per part dels pagesos de l’Alta Garrotxa. Assaig metodològic, llegida el 18 de desembre de 1981 a la Universitat Autònoma de Barcelona

L'Evolució dels enfocaments metodològics en la geografia rural catalana, 1940- 1984

L’article pretén estudiar la introducció dels nous enfocaments metodològics en la geografia catalana en el període 1940-1984, tot estudiant la geografia rural. L’autor s’ha centrat en l’estudi de 19 tesi doctorals què estudien la geografia rural parcial o totalment