Mobile Robot Local Predictive Control under Perception Constraints

This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platformused is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields

Autorregulación de aprendizajes en educación superior mediante la escritura de blogs

La importancia de mecanismos de regulación de los propios aprendizajes por parte de los estudiantes, así como de la calidad de la retroalimentación y de la evaluación formativa por parte de los profesores está en las agendas internacionales de la calidad de la enseñanza superior. El uso de herramientas de lectura, escritura e interacción web 2.0 se enmarca claramente en ese propósito general. El artículo ofrece resultados de una investigación-acción interuniversitaria sobre la evaluación de competencias con blogs. Más concretamente, presenta tres escenarios formativos en los que el blog se utiliza como herramienta de evaluación reflexiva; indaga el grado en que el alumnado se hace consciente de su proceso de aprendizaje, cómo lo evidencia y cómo lo autorregula; y, finalmente, analiza el tipo de feed-back utilizado por el profesorado. Se presentan resultados del análisis documental tanto de las producciones llevadas a cabo en los blogs como del feed-back facilitado por el profesorado. Los resultados muestran el peso que tiene la calidad del feed-back que facilita el profesorado en el proceso de acompañamiento de construcción de competencias.

Sistema de evaluación para la toma decisión en la modificación de una estación de tren via simulación informática

Proyecto centrado en la simulación informática de modelos para la creación y modificaciones de una línea de ferrocarriles (tanto de paradas, intercambiadores como las infraestructura que los componen). Se utiliza Anylogic ya que cumple con los requisitos que se necesitan para la realización del modelo en realización prestaciones-precio, además, nos permite la importación y exportación de los datos para la generación de las entradas y estudio de las salidas.

Short-time dynamics of colloidal suspensions in confined geometries

We analyze the short-time dynamical behavior of a colloidal suspension in a confined geometry. We analyze the relevant dynamical response of the solvent, and derive the temporal behavior of the velocity autocorrelation function, which exhibits an asymptotic negative algebraic decay. We are able to compare quantitatively with theoretical expressions, and analyze the effects of confinement on the diffusive behavior of the suspension.

A semi-grand canonical Monte Carlo simulation model for ion binding to ionizable surfaces: proton binding of carboxylated latex particles as a case study

In this paper, we present a computer simulation study of the ion binding process at an ionizable surface using a semi-grand canonical Monte Carlo method that models the surface as a discrete distribution of charged and neutral functional groups in equilibrium with explicit ions modelled in the context of the primitive model. The parameters of the simulation model were tuned and checked by comparison with experimental titrations of carboxylated latex particles in the presence of different ionic strengths of monovalent ions. The titration of these particles was analysed by calculating the degree of dissociation of the latex functional groups vs. pH curves at different background salt concentrations. As the charge of the titrated surface changes during the simulation, a procedure to keep the electroneutrality of the system is required. Here, two approaches are used with the choice depending on the ion selected to maintain electroneutrality: counterion or coion procedures. We compare and discuss the difference between the procedures. The simulations also provided a microscopic description of the electrostatic double layer (EDL) structure as a function of p H and ionic strength. The results allow us to quantify the effect of the size of the background salt ions and of the surface functional groups on the degree of dissociation. The non-homogeneous structure of the EDL was revealed by plotting the counterion density profiles around charged and neutral surface functional groups.

A Gain Scheduling Model Predictive Controller for Blood Glucose Control in Type 1 Diabetes

This paper presents a control strategy for blood glucose(BG) level regulation in type 1 diabetic patients. To design the controller, model-based predictive control scheme has been applied to a newly developed diabetic patient model. The controller is provided with a feedforward loop to improve meal compensation, a gain-scheduling scheme to account for different BG levels, and an asymmetric cost function to reduce hypoglycemic risk. A simulation environment that has been approved for testing of artificial pancreas control algorithms has been used to test thecontroller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model–patient mismatch and errors in mealestimation

Reconeixement de punts clau en imatges mitjançant l'algorisme Random Ferns

Treball final de carrera basat en el reconeixement de punts clau en imatges mitjançant l'algorisme Random Ferns.

Videojuegos como un entorno de aprendizaje: el caso de "Monturiol el joc"

Video games in a learning environ-ment and their application to the educational world has become a common study between researchers because the use of videogames in the classroom is coherent with a compe-tence-based education theory. A social science approach to video-games allows an exhaustive under-standing of the video games and of the game experience in the classroom. When a video game gives to the user a high level of immersion, all his interest and energy is focused in the game, this fact together with the motivation in the video game is the basis of interest for educators and researchers in the potentiality of the video games as learning environ-ments. In this presentation, we will show and analyze the importance of the video games in an educational context, using a case study: the video game "Monturiol el joc". In the paper, we describe the video game structure, the instructional function, the practice application and the future work. Also, we discuss the impor-tance of the video games as a learning immersive environment, and we conclude our report with a brief analysis of the importance of the study of video games.

Orchestration signals in the classroom: managing the jigsaw collaborative learning flow

The orchestration of collaborative learning processes in face-to-facephysical settings, such as classrooms, requires teachers to coordinate students indicating them who belong to each group, which collaboration areas areassigned to each group, and how they should distribute the resources or roles within the group. In this paper we present an Orchestration Signal system,composed of wearable Personal Signal devices and an Orchestration Signal manager. Teachers can configure color signals in the manager so that they are transmitted to the wearable devices to indicate different orchestration aspects.In particular, the paper describes how the system has been used to carry out a Jigsaw collaborative learning flow in a classroom where students received signals indicating which documents they should read, in which group they were and in which area of the classroom they were expected to collaborate. The evaluation results show that the proposed system facilitates a dynamic, visual and flexible orchestration.

Remote collaborative multi-user informal learning experiences: design and evaluation

This paper presents a customizable system used to develop a collaborative multi-user problem solving game. It addresses the increasing demand for appealing informal learning experiences in museum-like settings. The system facilitates remote collaboration by allowing groups of learners tocommunicate through a videoconferencing system and by allowing them to simultaneously interact through a shared multi-touch interactive surface. A user study with 20 user groups indicates that the game facilitates collaboration between local and remote groups of learners. The videoconference and multitouch surface acted as communication channels, attracted students’ interest, facilitated engagement, and promoted inter- and intra-group collaboration—favoring intra-group collaboration. Our findings suggest that augmentingvideoconferencing systems with a shared multitouch space offers newpossibilities and scenarios for remote collaborative environments and collaborative learning.

Modelos de simulación informática para el análisis de la evacuación de personas en situación de emergencia

Necesidad de aplicación de MSI para evacuación de personas en situación de incendio. Método para el análisis de la evacuación de personas en edificios de pública concurrencia. Aplicación práctica del método.

Limitacions de la normativa actual de prevenció d’incendis a les activitats multitudinàries. Simuladors d’evacuació

Simular és simplement realitzar mitjançant software ,un anàlisis, que de una manera manual, implicaria massa temps o complicació de càlcul. En el cas d’un edifici la simulació d’evacuació permet estudiar diferents paràmetres de seguretat durant l’evacuació dels seus ocupants. Per altra banda no existeix normativa nacional que reguli els temps d’evacuació en els edificis. Els usos de les simulacions d’evacuació són: Comprovar el compliment de normativa per via prestacional; Eina de suport al desenvolupament conceptual del projecte; Validació o optimització dels dissenys arquitectònics existents; Eina de suport per revisió dels plans d’autoprotecció.

Multidimensional Adaptations for Open Learning Management Systems

Our work is focused on alleviating the workload for designers of adaptive courses on the complexity task of authoring adaptive learning designs adjusted to specific user characteristics and the user context. We propose an adaptation platform that consists in a set of intelligent agents where each agent carries out an independent adaptation task. The agents apply machine learning techniques to support the user modelling for the adaptation process

Performance Analysis of Two Quantum Reaction Dynamics Codes: Time-Dependent and Time-Independent Strategies

The computer simulation of reaction dynamics has nowadays reached a remarkable degree of accuracy. Triatomic elementary reactions are rigorously studied with great detail on a straightforward basis using a considerable variety of Quantum Dynamics computational tools available to the scientific community. In our contribution we compare the performance of two quantum scattering codes in the computation of reaction cross sections of a triatomic benchmark reaction such as the gas phase reaction Ne + H2+ %12. NeH++ H. The computational codes are selected as representative of time-dependent (Real Wave Packet [ ]) and time-independent (ABC [ ]) methodologies. The main conclusion to be drawn from our study is that both strategies are, to a great extent, not competing but rather complementary. While time-dependent calculations advantages with respect to the energy range that can be covered in a single simulation, time-independent approaches offer much more detailed information from each single energy calculation. Further details such as the calculation of reactivity at very low collision energies or the computational effort related to account for the Coriolis couplings are analyzed in this paper.

Estudi de l’eficiència aerodinàmica de vehicles pesants de transport de passatgers

Estudi de l’eficiència aerodinàmica de les carrosseries de vehicles pesants de cara a reduir el consum de combustible en autocars de llarg trajecte. L’estudi es basa en tres aspectes: validació del programa de simulació, estudi aerodinàmic de diferents carrosseries d’autocar de mercat i estudi aerodinàmic de diferents complements