Efficient learning of reactive robot behaviors with a Neural-Q_learning approach

The purpose of this paper is to propose a Neural-Q_learning approach designed for online learning of simple and reactive robot behaviors. In this approach, the Q_function is generalized by a multi-layer neural network allowing the use of continuous states and actions. The algorithm uses a database of the most recent learning samples to accelerate and guarantee the convergence. Each Neural-Q_learning function represents an independent, reactive and adaptive behavior which maps sensorial states to robot control actions. A group of these behaviors constitutes a reactive control scheme designed to fulfill simple missions. The paper centers on the description of the Neural-Q_learning based behaviors showing their performance with an underwater robot in a target following task. Real experiments demonstrate the convergence and stability of the learning system, pointing out its suitability for online robot learning. Advantages and limitations are discussed

Práctica educativa y diversidad lingüística = Educational practice and linguistic diversity

Los movimientos migratorios han crecido espectacularmente durante los últimos años y la escuela en nuestro país se ha visto afectada por los cambios demográficos ocurridos durante la última década. Una gran parte del alumnado presente en las aulas de nuestro sistema educativo está escolarizado en programas de cambio de lengua del hogar a la escuela que no cumplen los requisitos de la inmersión lingüística. Dada la gran diversidad de lenguas existentes, el sistema educativo no se puede organizar según los parámetros de la educación bilingüe. Esto no significa que dicho alumnado esté condenado al fracaso escolar: desde la práctica educativa y la modificación de la organización escolar existen soluciones para que todo el alumnado progrese a lo largo de la enseñanza obligatoria. El artículo analiza las condiciones implicadas en una práctica educativa que facilite el aprendizaje de la lengua de la escuela. Asimismo, sugerimos algunos criterios para la evaluación de este alumnado

Algunes qüestions referides a l’aprenentatge lingüístic de la infància estrangera a Catalunya

L’article està organitzat en dues parts. A la primera, s’aborden algunes qüestions generals relacionades amb la integració i l’aprenentatge de llengües. A la segona, es discuteix la manera de fer possible l’aprenentatge de les llengües de l’escola a aquesta part de la infància, amb un èmfasi especial en el tractament de la seva pròpia llengua

A teaching/learning support tool for introductory programming courses

In This work we present a Web-based tool developed with the aim of reinforcing teaching and learning of introductory programming courses. This tool provides support for teaching and learning. From the teacher's perspective the system introduces important gains with respect to the classical teaching methodology. It reinforces lecture and laboratory sessions, makes it possible to give personalized attention to the student, assesses the degree of participation of the students and most importantly, performs a continuous assessment of the student's progress. From the student's perspective it provides a learning framework, consisting in a help environment and a correction environment, which facilitates their personal work. With this tool students are more motivated to do programming

El coneixement de la llengua catalana i la llengua castellana per part de l'alumnat estranger escolaritzat a l'educació primària de Catalunya: factors explicatius i relacions d'interdependència lingüística.

La tesi presenta els resultats de coneixement de català i castellà de 515 alumnes estrangers escolaritzats a Catalunya al finalitzar sisè de primària durant el curs 2006/07. En concret, analitza la incidència d'algunes variables en el seu coneixement lingüístic (el temps d'estada, la llengua inicial, l'escolaritat prèvia, el nivell educatiu familiar, el context sociolingüístic del centre, la concentració d'alumnat estranger per aula, els usos de les diferents llengües a l'entorn social, escolar i familiar, entre altres) i també estudia les relacions d'interdependència lingüística (Cummins, 1979) que es produeixen entre les llengües que aquest alumnat aprèn des de l'escola. Les proves utilitzades avaluen diferents habilitats relacionades amb el coneixement de llengua oral i escrita de català i castellà. El tractament que es fa de les dades és estadístic. Les conclusions apunten alguns dels elements que cal considerar pel tractament educatiu i lingüístic de la infància i l'adolescència estrangera escolaritzada a Catalunya.

Aprendizaje léxico y desarrollo de la gramática: vocabulario verbal, aceleración morfológica y complejidad sintáctica

This paper studies the initial development of certain language components. More precisely, we analyse the relation between three aspects that are closely involved in the grammar of the verb: morphological productivity, syntactic complexity, and verb vocabulary learning. The study is based on data about the relationship between lexical development and grammatical development, and also on proposals that a critical mass of vocabulary is needed in order to develop a grammatical component. The sample comprised six subjects who are monolingual or bilingual in Catalan andlor Spanish. Results show a morphological spurt some time afer the learning of a certain quantity of verbs. Moreover, syntactic complexity is only evident some months after this morphological spurt

Acerca de las relaciones entre escuela e inmigración

El artículo repasa algunos aspectos sobre la relación entre educación escolar e inmigración. Así, al inicio se analizan de manera descriptiva las características de la inmigración ligada a la sociedad de la información y sus repercusiones educativas. Igualmente, se repasan algunos trabajos sobre el rendimiento académico de la infancia y la adolescencia extranjera, y se enfatiza el factor lingüístico como una de las fuentes explicativas de dicho rendimiento. En este sentido, se muestran varias investigaciones dedicadas a conocer los factores que inciden en el aprendizaje por el alumnado extranjero de la lengua de la escuela y, finalmente, se ofrecen varios criterios para encarar con éxito la relación entre escolarización e inmigración

El cant coral infantil i juvenil educa en valors, hàbits i competències

This doctoral thesis is the result of the experience, continuous practice and day to day work as head of infant and youth choirs that the candidate has developed for over more than thirty years. The motivation, the concerns and the questions formulated with regards to choral singing, have underpinned this research. The thesis has focused on the learning of values, habits and competences in order to demonstrate that singing in an infant or youth choir is educational and goes far beyond the mere act of singing in a choir. We can therefore state that education is continuous, it never comes to an end and, furthermore, it unfolds in divergent ways. In summary to show that singing in an infant or youth choir is educational in the widest possible sense.

Innovación y mejora del proceso de evaluación del aprendizaje. Una investigación-acción colaborativa en la asignatura Matemática I de los estudios de ingeniería de la UNEXPO, Vicerrectorado Puerto Ordaz, Venezuela

Esta investigación es un trabajo de intervención que se ha enmarcado dentro de la metodología cualitativa, bajo una perspectiva interpretativa, asumiendo como fundamento el desarrollo de un proceso de análisis participativo, en la que se han unido docentes y estudiantes en un proceso de reconocimiento y comprensión de la dinámica que gira alrededor del proceso de enseñanza y aprendizaje de Matemática I, en la Universidad Nacional Experimental Politécnica "Antonio José de Sucre" (UNEXPO), Vicerrectorado Puerto Ordaz, Estado Bolívar, Venezuela. Es por ello que la investigación se ha situado, particularmente, en la perspectiva de la investigación-acción colaborativa, en la que han participado los profesores colaboradores de manera activa en una serie de acciones promotoras de cambios en sus ámbitos de actuación y de acuerdo con sus necesidades, para interpretar las implicaciones de esos cambios en su desarrollo y valorar las transformaciones que se iban dando dentro del proceso.

La evaluación como instrumento de mejora de la calidad del aprendizaje. Propuesta de intervención psicopedagógica para el aprendizaje del idioma inglés

La evaluación del aprendizaje del inglés en las carreras que estudian esta lengua con fines específicos en la Universidad Central "Marta Abreu" de Las Villas da cuenta de niveles de competencia comunicativa que no se corresponden con las exigencias que los estudiantes encontrarán en la práctica profesional. El estudio se dirige a la mejora del proceso de enseñanza-aprendizaje del inglés centrado en modificaciones al proceso de evaluación. Este se concibe como proceso integrado a la enseñanza y el aprendizaje mediante el uso de formas alternativas de evaluación. Estas formas deben propiciar una evaluación formativa de la lengua en situaciones auténticas de comunicación. El trabajo se centra en la formación del profesor para introducir los cambios en sus prácticas evaluativas y como resultado se hacen factibles transformaciones a corto plazo que repercuten en un mejor aprendizaje de la lengua. La investigación se realizó desde una perspectiva interpretativa, utilizando una metodología cualitativa.

An approach to coded structured light to obtain three dimensional information

The human visual ability to perceive depth looks like a puzzle. We perceive three-dimensional spatial information quickly and efficiently by using the binocular stereopsis of our eyes and, what is mote important the learning of the most common objects which we achieved through living. Nowadays, modelling the behaviour of our brain is a fiction, that is why the huge problem of 3D perception and further, interpretation is split into a sequence of easier problems. A lot of research is involved in robot vision in order to obtain 3D information of the surrounded scene. Most of this research is based on modelling the stereopsis of humans by using two cameras as if they were two eyes. This method is known as stereo vision and has been widely studied in the past and is being studied at present, and a lot of work will be surely done in the future. This fact allows us to affirm that this topic is one of the most interesting ones in computer vision. The stereo vision principle is based on obtaining the three dimensional position of an object point from the position of its projective points in both camera image planes. However, before inferring 3D information, the mathematical models of both cameras have to be known. This step is known as camera calibration and is broadly describes in the thesis. Perhaps the most important problem in stereo vision is the determination of the pair of homologue points in the two images, known as the correspondence problem, and it is also one of the most difficult problems to be solved which is currently investigated by a lot of researchers. The epipolar geometry allows us to reduce the correspondence problem. An approach to the epipolar geometry is describes in the thesis. Nevertheless, it does not solve it at all as a lot of considerations have to be taken into account. As an example we have to consider points without correspondence due to a surface occlusion or simply due to a projection out of the camera scope. The interest of the thesis is focused on structured light which has been considered as one of the most frequently used techniques in order to reduce the problems related lo stereo vision. Structured light is based on the relationship between a projected light pattern its projection and an image sensor. The deformations between the pattern projected into the scene and the one captured by the camera, permits to obtain three dimensional information of the illuminated scene. This technique has been widely used in such applications as: 3D object reconstruction, robot navigation, quality control, and so on. Although the projection of regular patterns solve the problem of points without match, it does not solve the problem of multiple matching, which leads us to use hard computing algorithms in order to search the correct matches. In recent years, another structured light technique has increased in importance. This technique is based on the codification of the light projected on the scene in order to be used as a tool to obtain an unique match. Each token of light is imaged by the camera, we have to read the label (decode the pattern) in order to solve the correspondence problem. The advantages and disadvantages of stereo vision against structured light and a survey on coded structured light are related and discussed. The work carried out in the frame of this thesis has permitted to present a new coded structured light pattern which solves the correspondence problem uniquely and robust. Unique, as each token of light is coded by a different word which removes the problem of multiple matching. Robust, since the pattern has been coded using the position of each token of light with respect to both co-ordinate axis. Algorithms and experimental results are included in the thesis. The reader can see examples 3D measurement of static objects, and the more complicated measurement of moving objects. The technique can be used in both cases as the pattern is coded by a single projection shot. Then it can be used in several applications of robot vision. Our interest is focused on the mathematical study of the camera and pattern projector models. We are also interested in how these models can be obtained by calibration, and how they can be used to obtained three dimensional information from two correspondence points. Furthermore, we have studied structured light and coded structured light, and we have presented a new coded structured light pattern. However, in this thesis we started from the assumption that the correspondence points could be well-segmented from the captured image. Computer vision constitutes a huge problem and a lot of work is being done at all levels of human vision modelling, starting from a)image acquisition; b) further image enhancement, filtering and processing, c) image segmentation which involves thresholding, thinning, contour detection, texture and colour analysis, and so on. The interest of this thesis starts in the next step, usually known as depth perception or 3D measurement.