Generative Temporal Planning with Complex Processes

Autonomous vehicles are increasingly being used in mission-critical applications, and robust methods are needed for controlling these inherently unreliable and complex systems. This thesis advocates the use of model-based programming, which allows mission designers to program autonomous missions at the level of a coach or wing commander. To support such a system, this thesis presents the Spock generative planner. To generate plans, Spock must be able to piece together vehicle commands and team tactics that have a complex behavior represented by concurrent processes. This is in contrast to traditional planners, whose operators represent simple atomic or durative actions. Spock represents operators using the RMPL language, which describes behaviors using parallel and sequential compositions of state and activity episodes. RMPL is useful for controlling mobile autonomous missions because it allows mission designers to quickly encode expressive activity models using object-oriented design methods and an intuitive set of activity combinators. Spock also is significant in that it uniformly represents operators and plan-space processes in terms of Temporal Plan Networks, which support temporal flexibility for robust plan execution. Finally, Spock is implemented as a forward progression optimal planner that walks monotonically forward through plan processes, closing any open conditions and resolving any conflicts. This thesis describes the Spock algorithm in detail, along with example problems and test results.

A compositional data analysis package for R providing multiple approaches

”compositions” is a new R-package for the analysis of compositional and positive data. It contains four classes corresponding to the four different types of compositional and positive geometry (including the Aitchison geometry). It provides means for computation, plotting and high-level multivariate statistical analysis in all four geometries. These geometries are treated in an fully analogous way, based on the principle of working in coordinates, and the object-oriented programming paradigm of R. In this way, called functions automatically select the most appropriate type of analysis as a function of the geometry. The graphical capabilities include ternary diagrams and tetrahedrons, various compositional plots (boxplots, barplots, piecharts) and extensive graphical tools for principal components. Afterwards, ortion and proportion lines, straight lines and ellipses in all geometries can be added to plots. The package is accompanied by a hands-on-introduction, documentation for every function, demos of the graphical capabilities and plenty of usage examples. It allows direct and parallel computation in all four vector spaces and provides the beginner with a copy-and-paste style of data analysis, while letting advanced users keep the functionality and customizability they demand of R, as well as all necessary tools to add own analysis routines. A complete example is included in the appendix

Desenvolupament d’una biblioteca per a la generació de diagrames vectorials basat en l’entorn gràfic de JAVA2D i aplicació d’aquesta biblioteca per a la implementació d’una eina per al desenvolupament de diagrames d’E/R

En aquest projecte es vol implementar una llibreria en Java, que proporcioni les eines necessàries per a crear diagrames i esquemes. Es vol proporcionar a la llibreria un conjunt d’objectes bàsics, també mètodes i funcionalitats suficients per a gestionar aquests objectes. Per altra part, es vol implementar una aplicació per a dissenyar diagrames Entitat-Relació que utilitzi aquesta llibreria

Model-based objects recognition in man-made environments

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm

Embedding objects into Matlab/Simulink for process supervision

This paper introduces how artificial intelligence technologies can be integrated into a known computer aided control system design (CACSD) framework, Matlab/Simulink, using an object oriented approach. The aim is to build a framework to aid supervisory systems analysis, design and implementation. The idea is to take advantage of an existing CACSD framework, Matlab/Simulink, so that engineers can proceed: first to design a control system, and then to design a straightforward supervisory system of the control system in the same framework. Thus, expert systems and qualitative reasoning tools are incorporated into this popular CACSD framework to develop a computer aided supervisory system design (CASSD) framework. Object-variables an introduced into Matlab/Simulink for sharing information between tools

Programming Principles: Computational Thinking

In this session we look at how to think systematically about a problem and create a solution. We look at the definition and characteristics of an algorithm, and see how through modularisation and decomposition we can then choose a set of methods to create. We also compare this somewhat procedural approach, with the way that design works in Object Oriented Systems,

Programming Principles: Encapsulation and Constructors

In this session we look at the public and protected keywords, and the principle of encapsulation. We also look at how Constructors can help you initialise objects, while maintaining the encapsulation principle.

Programming Principles: Super and Sub-classes

In this session we introduce inheritance - one of the cornerstone concepts of object oriented programming. We look at how to define super and sub-classes, how to maintain encapsulation using the super() constructor, and why it is useful to use substitution to hold references to sub-classes in references typed as their super-class.

Programming Principles: Polymorphism

In this session we build on inheritance and look at overriding methods and dynamic binding. Together these give us Polymorphism - the third pillar of Object Oriented Programming - and a very powerful feature that allows us to build methods that deal with superclasses, but whose calls get redirected when we pass in sub-classes.

Programming Principles: Abstract Classes and Interfaces

In this session we look at how to use Abstract Classes and Interfaces in Object Oriented Design - especially as a way to get all the advantages of multiple inheritance without any of the problems.

Programming Principles: Designing Applications

In this session we look at the how to use noun verb parsing to try and identify the building blocks of a problem, so that we can start to create object oriented solutions. We also look at some of the challenges of software engineering, and the processes that software engineers use to meet them, and finally we take a look at some more Design Patterns that may help us reuse well known and effective solutions in our own designs.

Programming Principles: Conclusions

This is the revision session for our Programming Principles course. We take a whistle-stop tour of the topics covered in the course, look at the three pillars of object oriented programming, and look ahead to the exam.

Moodle, un entorno virtual colaborativo.

El moodle (Modular Object-Oriented Dynamic Learning Environment) es un entorno virtual de código abierto. Se basa en un sistema de gestión de contenidos organizados por cursos, y ayuda a los educadores a crear comunidades virtuales de aprendizaje. Su filosofía promueve una pedagogía constructivista social basada en la colaboración, en la reflexión y en la propuesta de actividades. Este modelo lo utiliza el Departamento de Educación y los ICE de las universidades públicas catalanas. La formación de las personas formadoras es muy completa y se desarrolla principalmente en cuatro bloques: Matemáticas y su didáctica, Dinámica de grupos, Practica reflexiva y Formación TIC. En los tres primeros bloques, el moodle hace las funciones de espacio de comunicación y repositorio de los documentos. En el bloque de formación TIC tiene un papel predominante el aprendizaje de la utilización y gestión del entorno. El moodle es a la vez herramienta y objeto de aprendizaje, dedica sesiones a estructurar los cursos que posteriormente tienen que servir de apoyo a las actividades piloto de formación, además de facilitar la comunicación e intercambio de comentarios, ideas, reflexiones y materiales entre los participantes y formadores.

Integration of knowledge-based, qualitative and numeric tools for real time dynamic systems supervision

The proposal presented in this thesis is to provide designers of knowledge based supervisory systems of dynamic systems with a framework to facilitate their tasks avoiding interface problems among tools, data flow and management. The approach is thought to be useful to both control and process engineers in assisting their tasks. The use of AI technologies to diagnose and perform control loops and, of course, assist process supervisory tasks such as fault detection and diagnose, are in the scope of this work. Special effort has been put in integration of tools for assisting expert supervisory systems design. With this aim the experience of Computer Aided Control Systems Design (CACSD) frameworks have been analysed and used to design a Computer Aided Supervisory Systems (CASSD) framework. In this sense, some basic facilities are required to be available in this proposed framework: ·

Autocyclic erosion in tidal marshes

A common mode whereby destruction of coastal lowlands occurs is frontal erosion. The edge cliffing, nonetheless, is also an inherent aspect of salt marsh development in many northwest European tidal marshes. Quite a few geomorphologists in the earlier half of the past century recognized such edge erosion as a definite repetitive stage within an autocyclic mode of marsh growth. A shift in research priorities during the past decades (primarily because of coastal management concerns, however) has resulted in an enhanced focus on sediment-flux measurement campaigns on salt marshes. This, somewhat "object-oriented" strategy hindered any further development of the once-established autocyclic growth concept, which virtually has gone into oblivion in recent times. This work makes an attempt to resurrect the notion of autocyclicity by employing its premises to address edge erosion in tidal marshes. Through a review of intertidal morphosedimentology the underlying framework for autocyclicity is envisaged. The phenomenon is demonstrated in the Holocene salt marsh plain of Moricambe basin in NW England that displays several distinct phases of marsh retreat in the form of abandoned clifflets. The suite of abandoned shorelines and terraces has been identified in detailed field mapping that followed analysis of topographic maps and aerial photographs. Vertical trends in marsh plain sediments are recorded in trenches for signs of past marsh front movements. The characteristic sea level history of the area offers an opportunity to differentiate the morphodynamic variability induced in the autocyclic growth of the marsh plain in scenarios of rising and falling sea level and the accompanied change in sediment budget. The ideas gathered are incorporated to construct a conceptual model that links temporal extent of marsh erosion to inner tidal flat sediment budget and sea level tendency. The review leads to recognition of the necessity of adopting an holistic approach in the morphodynamic investigations where marshes should be treated as a component within the "marsh-mudflat system" as each element apparently modulates evolution of the other, with an eventual linkage to subtidal channels. (C) 2009 Elsevier B.V. All rights reserved.