Cognitive stimulation through task-oriented telerobotics

The project presented, iCognos, consists of a flexible platform to assist end-users in performing a series of mental tasks with a sensitized mobile telerobotic platform aimed at mitigating the problems associated to cognitive disorders with an ecological cognition approach.

Implementing interactive computing in an object-oriented environment

Statistical computing when input/output is driven by a Graphical User Interface is considered. A proposal is made for automatic control ofcomputational flow to ensure that only strictly required computationsare actually carried on. The computational flow is modeled by a directed graph for implementation in any object-oriented programming language with symbolic manipulation capabilities. A complete implementation example is presented to compute and display frequency based piecewise linear density estimators such as histograms or frequency polygons.

Anàlisi del sistema operatiu RTLinux e implementació d'un entorn de desenvolupament de tasques en temps real (aplicat al control de processos)

El projecte "Anàlisi del sistema operatiu RTLinux i implementació d'un entorn de desenvolupament de tasques en temps real" analitza la possibilitat de crear un entorn de desenvolupament de tasques en temps real per poder crear sistemes de control complex, tot això mitjançant codi lliure. Inicialment es fa un aprenentatge sobre el concepte de temps real, després s'elegeix el sistema operatiu en temps real RTLinux per a crear l'entorn de desenvolupament utilitzant el llenguatge de programació Tcl/Tk. Es creen un conjunt d'aplicacions (pel control computacional) per estudiar la viabilitat de la construcció de l'entorn desitjat per facilitar la tasca de l'usuari final. Aquest projecte obre multitud de possibles camins a continuar: comunicació remota, implementació de planificadors, estudi de controladors, etc.

Virtual Library Services for a Virtual University : User-Oriented Virtual Sites in an Open Library

La llegada de las tecnologías de la información, y su uso cada vez mayor y generalizado que se está haciendo de ellas, ha permitido para que una nueva situación aparezca que, a su vez, ha originado - de hecho, que ha precipitado - una serie de cambios de gran importancia en todos los niveles, pero especialmente en los niveles sociales, económicos y culturales. Este nueva escena ha tenido una gran influencia en el entorno pedagógico. De hecho, la aparición de nuevos modelos educativos como resultado de este cambio ha estado sucediendo de una manera continuada e ininterrumpida durante la década pasada. Estos cambios recientes en los sistemas actuales de enseñanza y de aprendizaje han significado un aumento y un cambio en el tipo de demandas hechas desde las bibliotecas y los centros de documentación.

Intelligent task-level grasp mapping for robot control

In the future, robots will enter our everyday lives to help us with various tasks.For a complete integration and cooperation with humans, these robots needto be able to acquire new skills. Sensor capabilities for navigation in real humanenvironments and intelligent interaction with humans are some of the keychallenges.Learning by demonstration systems focus on the problem of human robotinteraction, and let the human teach the robot by demonstrating the task usinghis own hands. In this thesis, we present a solution to a subproblem within thelearning by demonstration field, namely human-robot grasp mapping. Robotgrasping of objects in a home or office environment is challenging problem.Programming by demonstration systems, can give important skills for aidingthe robot in the grasping task.The thesis presents two techniques for human-robot grasp mapping, directrobot imitation from human demonstrator and intelligent grasp imitation. Inintelligent grasp mapping, the robot takes the size and shape of the object intoconsideration, while for direct mapping, only the pose of the human hand isavailable.These are evaluated in a simulated environment on several robot platforms.The results show that knowing the object shape and size for a grasping taskimproves the robot precision and performance

A Robust Multiple Feature Approach To Endpoint Detection In Car Environment Based On Advanced Classifiers

In this paper we propose an endpoint detection system based on the use of several features extracted from each speech frame, followed by a robust classifier (i.e Adaboost and Bagging of decision trees, and a multilayer perceptron) and a finite state automata (FSA). We present results for four different classifiers. The FSA module consisted of a 4-state decision logic that filtered false alarms and false positives. We compare the use of four different classifiers in this task. The look ahead of the method that we propose was of 7 frames, which are the number of frames that maximized the accuracy of the system. The system was tested with real signals recorded inside a car, with signal to noise ratio that ranged from 6 dB to 30dB. Finally we present experimental results demonstrating that the system yields robust endpoint detection.

Concurrent : Easy to use Python computing environment

Concurrent aims to be a different type of task distribution system compared to what MPI like system do. It adds a simple but powerful application abstraction layer to distribute the logic of an entire application onto a swarm of clusters holding similarities with volunteer computing systems. Traditional task distributed systems will just perform simple tasks onto the distributed system and wait for results. Concurrent goes one step further by letting the tasks and the application decide what to do. The programming paradigm is then totally async without any waits for results and based on notifications once a computation has been performed.

Environment conditions and biological innovations in the european agrarian growth, 1819-1939

The circumstances that were the driving forces behind Europe's economic growth beginning in the 19th century are diverse, and not easily prioritized. Until the 1970's, specifically, in Economy and Economic History, attention was focused on different institutional and technological variables, and various regularities were proposed. Nevertheless, new studies also underlined that the evolution of economic activity could not be understood considering only the new production possibilities offered by market economies. As a result, today it is also accepted that those processes can not be explained without considering two additional circumstances: the energy flows that sustained them, and the changes undergone in their transformation In this context, a question arises that takes on special importance. Which was the influence of the biological change in the economic growth?. A part of the flows of energy must be made into food, and this transformation can only happen with the participation.

Sistema gràfic de depuració per xarxes (NoC)

Aquest projecte descriu el disseny i desenvolupament d’una eina gràfica per a la depuració de projectes desenvolupats amb un llenguatge de descripció de sistemes com és el SystemC. Amb aquest llenguatge s’ha desenvolupat una NoC (Network on Chip). L’eina desenvolupada mostra de forma visual l’arquitectura de la xarxa NoC, els valors dels senyals que es transmeten a través de la xarxa i estadístiques sobre aquests per tal de poder fer un seguiment exhaustiu i agilitzar la recerca d’errors com interbloquejos, pèrdua de dades i d’altres. Al concentrar en un únic entorn la descripció de la NoC i les dades relatives a les senyals en temps de simulació, proporciona un valor afegit a altres eines disponibles per a realitzar aquesta tasca.

Systematic Construction of Goal-Oriented COTS Taxonomies

Informe de investigación realizado a partir de una estancia en el Department of Computer and Information Science de la Norwegian University of Science and Technology (NTNU), Noruega, entre setiembre i diciembre de 2006. El uso de componentes de software llamados Commercial-Off-The-Shelf (COTS) en el desarrollo de sistemas basados en componentes implica varios retos. Uno de ellos es la falta de información disponible y adecuada para dar soporte al proceso de selección de componentes a ser integrados. Para lidiar con estos problemas, se esta desarrollando un trabajo de tesis que propone un método llamado GOThIC (Goal-Oriented Taxonomy and reuse Infrastructure Construction). El método está orientado a construir una infrastructura de reuse para facilitar la búsqueda y reuse de componentes COTS. La estancia en la NTNU, reportada en este documento, tuvo como objetivo primordial las mejora del método y la obtención de datos empíricos para darle soporte. Algunos de los principales resultados fueron la obtención de datos empíricos fundamentando la utilización del método en ámbitos industriales de selección de componentes COTS, así como una nueva estrategia para conseguir de forma factible e incremental, la federación y reuso de los diferentes esfuerzos existentes para encontrar, seleccionar y mantener componentes COTS y Open Source (OSS) -comúnmente llamados componentes Off-The-Shelf (OTS) - en forma estructurada.

Study of the influence of grain size and precipitates on the electromagnetic losses in different grades of non-oriented fully processed electrical steel

The study was performed in the installations of OCAS, a Steel Research Centre of ArcelorMittal. Taking M32 steel (3.25%Si+0.9%Al) as the basis chemical composition and three different thicknesses (0.35, 0.5 and 0.65mm), different annealing conditions (temperature and time) have been applied in the laboratory simulator at St. Chély, France. The aim was to link annealing parameters, grain size and energy loss. It was determined the optimum annealing parameters to reach the lowest power losses for three different grades of non-oriented fully processed electrical steel. In addition, M250-50 samples having different magnetic behaviour (high and low losses) but the same grain size and texture, have been analyzed in terms of TEM observations of their precipitates, in the University of Marseille. The results reveal that a high amount of medium and big precipitates (&10 nm) worsen the magnetic properties of the material. The small precipitates (&10nm) do not have a strong influence on the magnetic properties. The presence of precipitates can have a great influence on the power losses and further work is clearly necessary.

Link between microstructure and properties in new metallurgical concepts for very low loss non-oriented electrical steel

The influence of chemistry and soaking temperature (maximal temperature of the continuous annealing) on the final properties of non-oriented electrical steels has been studied. With this objective two different studies have been performed. First the Mn, Ni and Cr content of a low loss electrical steel composition has been modified. An intermediate content and a high content of each element has been added in order to study the influence of this components on the magnetic looses, grain size and texture. Secondly the influence of the soaking temperature on magnetic properties, grain size and oxidation in four grades of non-oriented electrical steels (Steel A, B, C and D) was studied.

Desenvolupament d'aplicacions per a dispositius mòbils

La finalitat d’aquest projecte és obtenir una visió global de la programació per dispositius mòbils i a més fer una avaluació del que podria costar (tant les eines com el reciclatge de programadors) a una empresa dedicada a TIC començar a implementar aplicacions per a dispositius mòbils. Amb un plantejament molt ampli al principi i reduït només a tres opcions (BlackBerry, Windows Mobile i Android), es desenvolupa una aplicació per aquests dispositius. Els resultats obtinguts mostren que a nivell econòmic les millors opcions són el desenvolupament per Android (gratuït) i per BlackBerry (20$). Però en canvi a nivell d’adaptació dels llenguatges de programació la opció de Windows Mobile és la que presenta menys obstacles per passar de coneixements de programació d’aplicacions de servidor o sobre taula (en entorn .NET) a dispositius mòbils.

Simulador de conducció enfocat a la investigació

El desenvolupament de sistemes d’assistència a la conducció (ADAS) és, avui dia, una de les àrees de recerca de més interès pel Centre de Visió per Computador. A partir de la informació adquirida per sensors instal·lats en un vehicle, els ADAS assisteixen al conductor per tal d’evitar situacions de perill. La validació d’aquests sistemes però, requereix de l’obtenció "manual" de les dades que defineixen l’entorn de conducció de forma precisa: una tasca costosa i subjecta a l’error humà. Per tal de resoldre aquest problema, en aquest projecte s’ha implementat IOCS, un simulador de conducció creat a partir d’un de robots, capaç de crear entorns realistes de conducció i d’obtenir, simultàniament, les dades sobre l’entorn inferides per un ADAS i les que el descriuen objectivament. Aquesta funcionalitat facilita extremadament el procés de validació actual dels sistemes d’assistència a la conducció.

Development of an optimized methodology for tensile testing of carbon steels in hydrogen environment

The study was performed at OCAS, the Steel Research Centre of ArcelorMittal for the Industry market. The major aim of this research was to obtain an optimized tensile testing methodology with in-situ H-charging to reveal the hydrogen embrittlement in various high strength steels. The second aim of this study has been the mechanical characterization of the hydrogen effect on hight strength carbon steels with varying microstructure, i.e. ferrite-martensite and ferrite-bainite grades. The optimal parameters for H-charging - which influence the tensile test results (sample geometry type of electrolyte, charging methods effect of steel type, etc.) - were defined and applied to Slow Strain Rate testing, Incremental Step Loading and Constant Load Testing. To better understand the initiation and propagation of cracks during tensile testing with in-situ H-charging, and to make the correlation with crystallographic orientation, some materials have been analyzed in the SEM in combination with the EBSD technique. The introduction of a notch on the tensile samples permits to reach a significantly improved reproducibility of the results. Comparing the various steel grades reveals that Dual Phase (ferrite-martensite) steels are more sensitive to hydrogen induced cracking than the FB (ferritic-bainitic) ones. This higher sensitivity to hydrogen was found back in the reduced failure times, increased creep rates and enhanced crack initiation (SEM) for the Dual Phase steels in comparison with the FB steels.