An hybrid methodology for RL-based behavior coordination in a target following mission with an AUV

Proposes a behavior-based scheme for high-level control of autonomous underwater vehicles (AUVs). Two main characteristics can be highlighted in the control scheme. Behavior coordination is done through a hybrid methodology, which takes in advantages of the robustness and modularity in competitive approaches, as well as optimized trajectories

A system to evaluate the accuracy of a visual mosaicking methodology

When underwater vehicles navigate close to the ocean floor, computer vision techniques can be applied to obtain motion estimates. A complete system to create visual mosaics of the seabed is described in this paper. Unfortunately, the accuracy of the constructed mosaic is difficult to evaluate. The use of a laboratory setup to obtain an accurate error measurement is proposed. The system consists on a robot arm carrying a downward looking camera. A pattern formed by a white background and a matrix of black dots uniformly distributed along the surveyed scene is used to find the exact image registration parameters. When the robot executes a trajectory (simulating the motion of a submersible), an image sequence is acquired by the camera. The estimated motion computed from the encoders of the robot is refined by detecting, to subpixel accuracy, the black dots of the image sequence, and computing the 2D projective transform which relates two consecutive images. The pattern is then substituted by a poster of the sea floor and the trajectory is executed again, acquiring the image sequence used to test the accuracy of the mosaicking system

Las cuevas prehistóricas de Serinyà (Pla de l’Estany, Girona)

The Reclau Caves, which form part of the Serinyà Prehistoric Caves Park (Pla de l’Estany, Girona), are shelters formed by waterfall travertines which have been in turn affected by karstification phenomena. Though relatively small, these cavities were big enough to held human occupation. Its evolution has seen the falling of blocks and infilling of terrigenous materials. Thus, the caves were completely filled and had most of their original roofs fallen. The first excavations of these caves were made in the mid 1940s and they continued, albeit with some interruptions, until present times. The caves were occupied by humans since the late Middle Pleistocene until the Holocene. Hence, the main occupation periods can be attributed to the Middle Paleolithic and Upper Paleolithic cultures. Given the existence of these sites, the project of an archeological park was started and its first phase opened to the public in the summer of 1997. The creation of this park has led to the protection of the three main caves of the site (Arbreda, Mollet and Reclau Viver Caves). The caves have also been adapted and singposted to open them to the public. Other facilities of the park include a reception building and an activity area. The caves can be visited in guided tours which include the projection of a film, the visit to the permanent exhibition room, the three main caves and the participation in some prehistoric-related activities

La difusió de l'arqueologia mitjançant els museus arqueològics: avaluació dels visitants dels museus arqueològics de Catalunya i anàlisi dels conceptes que aquests museus transmeten al públic

The aim of the thesis is to present the visitors knowledge from Archaeology museums in Catalonia, based on the Archaeology museums of Catalonia. In Catalonia there are no studies about the public of these museums. Lack objective data about the public from which they rise to raise our hypotheses regarding the impact of archaeological museums on the population. From a methodological and systematic analysis we can get closer to the knowledge of the general characteristics of the public of these museums. We focus on the visitors through interviews and surveys with observation and indirect functions of museums related to public exposure of their content, and assessing the impact of exposure and whether it has achieved their goals. From there you hire the evolution that has taken Archaeology in our country and if museums are analyzing whether a meeting between researchers and the public. The evaluation presented on visitors and the exhibition halls aims to provide information about museums and approach to the dissemination of knowledge in reference to the archeology in museums in Catalonia.