Goal recognition over POMDPs: inferring the intention of a POMDP agent

Plan recognition is the problem of inferring the goals and plans of an agent from partial observations of her behavior. Recently, it has been shown that the problem can be formulated and solved usingplanners, reducing plan recognition to plan generation.In this work, we extend this model-basedapproach to plan recognition to the POMDP setting, where actions are stochastic and states are partially observable. The task is to infer a probability distribution over the possible goals of an agent whose behavior results from a POMDP model. The POMDP model is shared between agent and observer except for the true goal of the agent that is hidden to the observer. The observations are action sequences O that may contain gaps as some or even most of the actions done by the agent may not be observed. We show that the posterior goal distribution P(GjO) can be computed from the value function VG(b) over beliefs b generated by the POMDPplanner for each possible goal G. Some extensionsof the basic framework are discussed, and a numberof experiments are reported.

Does affirmative action reduce effort incentives? A contest game analysis

In this paper a contest game with heterogeneous players is analyzed in which heterogeneity could be the consequence of past discrimination. Based on the normative perception of the heterogeneity there are two policy options to tackle this heterogeneity: either it is ignored and the contestants are treated equally, or affirmative action is implemented which compensates discriminated players. The consequences of these two policy options are analyzed for a simple two-person contest game and it is shown that the frequently criticized trade-off between affirmative action and total effort does not exist: Instead, affirmative action fosters effort incentives. A generalization to the n-person case and to a case with a partially informed contest designer yields the same result if the participation level is similar under each policy.

Dance movement patterns recognition

"Es tracta d'un projecte dividit en dues parts independents però complementàries, realitzades per autors diferents. Aquest document conté originàriament altre material i/o programari només consultable a la Biblioteca de Ciència i Tecnologia"

Leadership in collective action

We extend the model of collective action in which groups compete for a budged by endogenizing the group platform, namely the specific mixture of public/private good and the distribution of the private good to group members which can be uniform or performance-based. While the group-optimal platform contains a degree of publicness that increases in group size and divides the private benefits uniformly, a success-maximizing leader uses incentives and distorts the platform towards more private benefits - a distortion that increases with group size. In both settings we obtain the anti-Olson type result that win probability increases with group size.

Object recognition for autonomous objects: comparison of two approaches

Report for the scientific sojourn at the Swiss Federal Institute of Technology Zurich, Switzerland, between September and December 2007. In order to make robots useful assistants for our everyday life, the ability to learn and recognize objects is of essential importance. However, object recognition in real scenes is one of the most challenging problems in computer vision, as it is necessary to deal with difficulties. Furthermore, in mobile robotics a new challenge is added to the list: computational complexity. In a dynamic world, information about the objects in the scene can become obsolete before it is ready to be used if the detection algorithm is not fast enough. Two recent object recognition techniques have achieved notable results: the constellation approach proposed by Lowe and the bag of words approach proposed by Nistér and Stewénius. The Lowe constellation approach is the one currently being used in the robot localization project of the COGNIRON project. This report is divided in two main sections. The first section is devoted to briefly review the currently used object recognition system, the Lowe approach, and bring to light the drawbacks found for object recognition in the context of indoor mobile robot navigation. Additionally the proposed improvements for the algorithm are described. In the second section the alternative bag of words method is reviewed, as well as several experiments conducted to evaluate its performance with our own object databases. Furthermore, some modifications to the original algorithm to make it suitable for object detection in unsegmented images are proposed.

Destruction of invariant curves in the restricted circular planar three body problem using comparison of action

"Vegeu el resum a l'inici del document del fitxer adjunt."

Integración de políticas medio ambientales: Transformaciones institucionales en España

La Integración de la Políticas Ambientales (IPA) consiste en la incorporación de los objetivos ambientales en todos los estadios de elaboración e implementación de las políticas no ambientales (o sectoriales), con un reconocimiento específico de dicho objetivo como principio director de la programación y la puesta en práctica. Se complementa con la previsión de las consecuencias ambientales mediante una evaluación de conjunto de la política con objeto de minimizar las contradicciones entre las políticas ambientales y no ambientales dando prioridad a las primeras. La naturaleza transversal de la IPA no se ajusta a la forma tradicional de gobernanza jerárquica basada en la autoridad del Estado, la diferenciación sectorial, y los instrumentos típicos de dirección y control. Por ello, no es extraño que la IPA se encuentre a menudo asociada a los llamados "nuevos modos de gobernanza". Esta tesis propone analizar empíricamente el estado de la cuestión en España con respecto a la Integración de la política ambiental , tanto a nivel estatal como autonómico (Cataluña, País Vasco), yendo más allá de los compromisos políticos a favor de un mayor grado de integración de los factores ambientales en las demás políticas. En particular, los ámbitos de investigación seleccionados para esta finalidad son el de las políticas de mitigación de las causas y los efectos del cambio climático, y las políticas de desarrollo sostenible. En términos de ‘variable independiente’ La hipótesis que se quiere comprobar es que la acción llevada a cabo por la Unión Europea ha generado profundos cambios en las estructuras de las instituciones mencionadas y en los procesos de elaboración y implementación de determinadas políticas (energía y transporte) así como en las relaciones entre sectores de la administración pública y entre el sector público y el privado.

Probiotic microorganisms: 100 years of innovation and efficacy. Modes of action

AbstractArticle StructureFigures and TablesReferences Benefits from probiotic micro-organisms have been recognised for over 100 years, and as being useful in poultry for 50 years. Fuller (1989) redefined probiotics as ‘a live microbial feed supplement which beneficially affects the host animal by improving its intestinal microbial balance’. Benefits derived from this improved intestinal microbial balance could be reflected in performance or prevention of pathogen colonisation. Probiotic micro-organisms use in poultry production has been widely accepted and new opportunities arose from the 2006 EU ban on antimicrobial growth promoters. The majority of microbial products for compound feeds are made up from a relatively small number of micro-organisms that are normally present in the GI tract. They include non-sporulated bacteria, sporulated bacteria, fungi or yeasts; and presented from single to multi-strain products. A review on the proposed modes of action is presented including recent approaches to quorum sensing interference

La formació permanent en el context de l'Espai Europeu de la Formació Permanent

La importància de la formació permanent és indiscutible en qualsevol context laboral i molt especialment en les actuals circumstàncies de crisi econòmica mundial. Però en l'actual espai europeu d'educació superior (EEES), les tendències i els plans de formació contínua adquireixen una dimensió global, que supera o, millor dit, hauria de superar els plantejaments reduccionistes. Per això, la construcció i el desenvolupament de l'espai europeu de formació permanent, EEFP (Comissió de les Comunitats Europees, 2001a), ha d'entendre's com un procés que està immers en un teixit més ampli. Es tracta d'una acció en xarxa on és necessària la implicació de molts agents actius professionals i on la convergència, el reconeixement i la cohesió han de ser els seus màxims elements qualitatius

Family-based affirmative action? Subversion and resilience strategies of gay father families

The present doctoral dissertation is aimed at analyzing how and with what consequences gay father families and their children’s schools negotiate possible differences in the construction of family and gender at home and in the families’ social milieus. This objective fits in with the broader goal of researching how family-school interactons are influenced by the social context such as hegemonic masculinity (Connell, 2002). The thesis is based on qualitative fieldwork carried out with 18 nonheterosexual parent families in Spain, comprising 30 interviews with 44 people. The principal participant group were 14 de novo (adoptive and surrogacy) gay father families with resident preadolescent children. The findings revealed that all the de novo families assumed open communication strategies at school with inclusive consequences: apart from incidental questions and reactions of surprise, the children did not suffer homophobic bullying. The analisis showed that the necessary condition for inclusion was not the open communication but rather illocutionary orientation (Habermas, 1984; Soler & Flecha, 2010), understood as the parents’ sensitivity to the attitudes of their children and schools. The schools received the families in an inclusive manner, which, however, was only receptive and not proactive, therefore some of the families (reconstituted ones), coerced by the social context, got excluded. Gender relations at home were predominantly androgynous, and outside home predominantly traditional, yet the children negotiated this difference with inclusive consequences. They participated in hegemonic collective practices, thus confirming the thesis on the similarity between homo- and heterosexual-parent families (Golombok, 2006). Consistently, also the families’ identity politics was “assimilationist” and non-queer. Admittedly, the analisis showed that such a politics was increased by social expectations. Still, the findings suggest that educational and other family policies should draw on broad agendas of gender and family diversity rather than on the politics of difference and the unique status of LGB families.

Action Research : the first steps to start up a pilot experiment in heritage education

Peer-reviewed

A new approach to real time traffic sign recognition based on colour information

The automatic interpretation of conventional traffic signs is very complex and time consuming. The paper concerns an automatic warning system for driving assistance. It does not interpret the standard traffic signs on the roadside; the proposal is to incorporate into the existing signs another type of traffic sign whose information will be more easily interpreted by a processor. The type of information to be added is profuse and therefore the most important object is the robustness of the system. The basic proposal of this new philosophy is that the co-pilot system for automatic warning and driving assistance can interpret with greater ease the information contained in the new sign, whilst the human driver only has to interpret the "classic" sign. One of the codings that has been tested with good results and which seems to us easy to implement is that which has a rectangular shape and 4 vertical bars of different colours. The size of these signs is equivalent to the size of the conventional signs (approximately 0.4 m2). The colour information from the sign can be easily interpreted by the proposed processor and the interpretation is much easier and quicker than the information shown by the pictographs of the classic signs

The Decision on Turkish EU accession in December 2002: The logic of anarchy, collective action problems and rhetorical action

Studies of the EU accession of the East and Central European Countries have stressed the importance of neo-liberal institutionalism as an explanation for Member State preferences. In this paper it is argued that Member States’ preferences over Turkish EU accession are better explained by power politics and neo-realism. It seems therefore that Turkey’s way to the EU follows another path than the East and Central Countries. Turkish accession raises the question of the EU’s role in a uni-polar world order – whether the EU should develop into an independent actor on the world stage or not. However, when it comes to the interaction among the Member States in order to decide on when to open accession negotiations with Turkey the constitutive values of the EU seriously modify the outcome that pure power politics would have let to.

The New EU’s External Action: A significant step forward towards the EU’s single voice?ction problems and rhetorical action

The aim of this paper is to analyse the main agreements on the EU’s External Action agreed within the European Convention and the IGC taking into account why, how and who reached the consensus on them. In other words, this paper will explore the principles followed in order to improve the instruments of the EU’s External Action such as authority, coherence, visibility, efficiency and credibility.

La Gestió policial als esdeveniments públics en espais urbans a l'Àfrica: situació actual i perspectives = Policing public events in urban spaces in Africa : an analysis of the current situation and a perspective on follow-up action

L’informe que es presenta en aquest llibre és el resultat d’un nou acord de col·laboració entre el Programa de les Nacions Unides per als Assentaments Humans (ONU-Habitat) i l’Institut de Seguretat Pública de Catalunya, impulsat amb l’objectiu de millorar la seguretat en esdeveniments públics en els espais urbans a l’Àfrica. La fase pilot es va dur a terme el 2010, durant els dos seminaris de formació realitzats a Mollet del Vallès (Barcelona) com a part de la Plataforma Policia per al Desenvolupament Urbà (PPUD). En aquest informe es descriuen els orígens i l’estat de la iniciativa i resumeix els resultats. També s’inclouen algunes recomanacions per a millorar la seguretat d’esdeveniments públics. Font d'informació: http://www.onuhabitat.org.