Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven 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 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 briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

SLAM using an Imaging Sonar for Partially Structured Underwater Environments

In this paper we describe a system for underwater navigation with AUVs in partially structured environments, such as dams, ports or marine platforms. An imaging sonar is used to obtain information about the location of planar structures present in such environments. This information is incorporated into a feature-based SLAM algorithm in a two step process: (I) the full 360deg sonar scan is undistorted (to compensate for vehicle motion), thresholded and segmented to determine which measurements correspond to planar environment features and which should be ignored; and (2) SLAM proceeds once the data association is obtained: both the vehicle motion and the measurements whose correct association has been previously determined are incorporated in the SLAM algorithm. This two step delayed SLAM process allows to robustly determine the feature and vehicle locations in the presence of large amounts of spurious or unrelated measurements that might correspond to boats, rocks, etc. Preliminary experiments show the viability of the proposed approach

Neptune: a hil simulator for multiple UUVs

This paper overviews the field of graphical simulators used for AUV development, presents the taxonomy of these applications and proposes a classification. It also presents Neptune, a multivehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

On AUV control architecture

This paper surveys control architectures proposed in the literature and describes a control architecture that is being developed for a semi-autonomous underwater vehicle for intervention missions (SAUVIM) at the University of Hawaii. Conceived as hybrid, this architecture has been organized in three layers: planning, control and execution. The mission is planned with a sequence of subgoals. Each subgoal has a related task supervisor responsible for arranging a set of pre-programmed task modules in order to achieve the subgoal. Task modules are the key concept of the architecture. They are the main building blocks and can be dynamically re-arranged by the task supervisor. In our architecture, deliberation takes place at the planning layer while reaction is dealt through the parallel execution of the task modules. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment

Efectos de la presi??n temporal sobre la cohesi??n grupal en diferentes tipos de tareas y en diferentes canales de comunicaci??n

Resumen tomado de la publicaci??n

Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments

This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Mestre educació musical: ampliació de coneixements. Obertura a altres sistemes educatius. Exposició, reflexió i valoració de l’experiència

La implantació del pla d’estudis de 1992, suposà un canvi en els estudis de mestre i l’aparició de l’especialitat d’educació musical. Conseqüentment, la didàctica aplicada als estudis de música va propiciar que volguéssim conèixer la font de la metodologia musical més arrelada a casa nostra després de l’adaptació del mètode Kódaly (Hongria) que el P. Ireneu Segarra, monjo de Montserrat, va fer a Catalunya. L’interès venia donat per conèixer de primera mà una de les propostes formatives més difoses a l’ensenyament primari. L’èxit d’aquesta primera experiència realitzada el 1994 ens va portar a fer una planificació d’altres possibles llocs d’interès, bé per les seves metodologies, bé per la cultura musical pròpia. Això va donar lloc a realitzar visites a institucions educatives de França (París, 1999), Suïssa (Ginebra, 2000 i 2007), Àustria (Salzburg, 2001 i 2009), Hongria (Kescskemet, 2002), Bèlgica (Namur, 2003), Itàlia (Bologna i Milano, 2004), i Anglaterra (Reading, Oxford i Cambridge 2005)

L'ús de les tecnologies de la informació i la comunicació a les nostres aules. 'El uso de las tecnologías de la información y la comunicación en nuestras aulas'.

Se presentan las tecnologías de la información y la comunicación como herramienta a introducir en el ámbito educativo. Se exponen una serie de ventajas y posibilidades que presentan las TIC a través de su uso en las aulas, así como la realidad en la que se encuentran los docentes a la hora de integrar las TIC en su práctica educativa. Se enumeran una serie de propuestas para saber cómo introducir las TIC en el aula, las posibles dificultades con las que se pueden encontrar los docentes y las soluciones a las mismas.

Les polítiques públiques de foment a la lectura : el moviment associatiu i els mitjans de comunicació. 'Las políticas públicas de fomento de la lectura : el movimiento asociativo y los medios de comunicación'.

Resumen tomado de la publicación

Brecha digital. Posibilidad de acceso a las tecnolog??as de la informaci??n y la comunicaci??n (TICs), seg??n ubicaci??n geogr??fica : an??lisis descriptivo preliminar

Resumen tomado parcialmente del autor. Incluye tablas de datos

La gestió pública i privada dels espais esportius a les comunitats autònomes i els sistemes locals.

Resumen tomado del autor. Aparecen tablas de datos

Els sistemes de formació reglada i no reglada com a opcions de futur professional. 'Los sistemas de formación reglada y no reglada como opciones de futuro profesional'.

Resumen tomado parcialmente de la propia revista

L´assoliment de la competència en comunicació lingüística en llengua catalana i en llengua castellana per l´alumnat de les Illes Balears. 'El logro de la competencia en comunicación lingüística en lengua catalana y lengua castellana por el alumnado de las Islas Baleares'.

Resumen tomado del autor. Incluye gráficos y tablas de datos del análisis de los resultados obtenidos en las pruebas

El futuro docente ante las competencias en el uso de las tecnolog??as de la informaci??n y comunicaci??n para ense??ar

Resumen tomado del autor