Història social de l'escola a la Catalunya central. Vic 1830-1900

En aquesta tesi es valora l'impacte social que comporta per a la ciutat de Vic el bastiment d'un nou sistema educatiu implantat per l'estat liberal en el transcurs del segle XIX. L'estudi s'estructura a partir de: l'anàlisi del discurs i de les accions de les elits locals; de les actituds de les famílies; del sorgiment i consolidació dels i les mestres; i de l'escola com a espai educatiu: Vic esdevé un cas molt particular perquè és capital de bisbat però no de província; perquè exerceix una notable influència sobre el territori i perquè és zona de frontera entre el liberalisme i el carlisme. La tesi valora fins a quin punt tots els agents implicats en la qüestió educativa s'interconecten i com des de l'àmbit local es viuen les transformacions del segle XIX.

WMR navigation using local potential field corridors and narrow local occupancy grid perception

Path planning and control strategies applied to autonomous mobile robots should fulfil safety rules as well as achieve final goals. Trajectory planning applications should be fast and flexible to allow real time implementations as well as environment interactions. The methodology presented uses the on robot information as the meaningful data necessary to plan a narrow passage by using a corridor based on attraction potential fields that approaches the mobile robot to the final desired configuration. It employs local and dense occupancy grid perception to avoid collisions. The key goals of this research project are computational simplicity as well as the possibility of integrating this method with other methods reported by the research community. Another important aspect of this work consist in testing the proposed method by using a mobile robot with a perception system composed of a monocular camera and odometers placed on the two wheels of the differential driven motion system. Hence, visual data are used as a local horizon of perception in which trajectories without collisions are computed by satisfying final goal approaches and safety criteria

A distributed environment for virtual and/or real experiments for underwater robots

This paper presents the distributed environment for virtual and/or real experiments for underwater robots (DEVRE). This environment is composed of a set of processes running on a local area network composed of three sites: 1) the onboard AUV computer; 2) a surface computer used as human-machine interface (HMI); and 3) a computer used for simulating the vehicle dynamics and representing the virtual world. The HMI can be transparently linked to the real sensors and actuators dealing with a real mission. It can also be linked with virtual sensors and virtual actuators, dealing with a virtual mission. The aim of DEVRE is to assist engineers during the software development and testing in the lab prior to real experiments