Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

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

Underwater SLAM in a marina environment

This paper describes a navigation system for autonomous underwater vehicles (AUVs) in partially structured environments, such as dams, harbors, marinas or marine platforms. A mechanical scanning imaging sonar is used to obtain information about the location of planar structures present in such environments. A modified version of the Hough transform has been developed to extract line features, together with their uncertainty, from the continuous sonar dataflow. The information obtained is incorporated into a feature-based SLAM algorithm running an Extended Kalman Filter (EKF). Simultaneously, the AUV's position estimate is provided to the feature extraction algorithm to correct the distortions that the vehicle motion produces in the acoustic images. Experiments carried out in a marina located in the Costa Brava (Spain) with the Ictineu AUV show the viability of the proposed approach

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

Visual SLAM for 3D large-scale seabed acquisition employing underwater vehicles

This paper presents a novel technique to align partial 3D reconstructions of the seabed acquired by a stereo camera mounted on an autonomous underwater vehicle. Vehicle localization and seabed mapping is performed simultaneously by means of an Extended Kalman Filter. Passive landmarks are detected on the images and characterized considering 2D and 3D features. Landmarks are re-observed while the robot is navigating and data association becomes easier but robust. Once the survey is completed, vehicle trajectory is smoothed by a Rauch-Tung-Striebel filter obtaining an even better alignment of the 3D views and yet a large-scale acquisition of the seabed

Visual SLAM for underwater vehicles using video velocity log and natural landmarks

A visual SLAM system has been implemented and optimised for real-time deployment on an AUV equipped with calibrated stereo cameras. The system incorporates a novel approach to landmark description in which landmarks are local sub maps that consist of a cloud of 3D points and their associated SIFT/SURF descriptors. Landmarks are also sparsely distributed which simplifies and accelerates data association and map updates. In addition to landmark-based localisation the system utilises visual odometry to estimate the pose of the vehicle in 6 degrees of freedom by identifying temporal matches between consecutive local sub maps and computing the motion. Both the extended Kalman filter and unscented Kalman filter have been considered for filtering the observations. The output of the filter is also smoothed using the Rauch-Tung-Striebel (RTS) method to obtain a better alignment of the sequence of local sub maps and to deliver a large-scale 3D acquisition of the surveyed area. Synthetic experiments have been performed using a simulation environment in which ray tracing is used to generate synthetic images for the stereo system

Assessing indirect aggression in aggressors and targets : Spanish adaptation of the Indirect Aggression Scales

Resumen tomado de la publicaci??n

Adaptation and Personalisation

(with notes in powerpoint)

Extensión de la especificación IMS Learning Design desde la adaptación e integración de unidades de aprendizaje. `Extension of the IMS Learnin Design specification based on adaptation and integration of units of learning´.

La tesis se centra en el aprendizaje personalizado y en la integración de Unidades de Aprendizaje. El objetivo fundamental es mejorar la expresividad pedagógica de IMS-LD, refinando estructuras de modelado y arquitectura existentes y desarrollando estructuras complementarias que permitan una formalización más precisa, versátil y sencilla de procesos de aprendizaje adaptativo y de mecanismos y procesos de integración con sistemas de aprendizaje y otras especificaciones. En esta tesis se estudia la especificación desde la base, analizando su modelo de información y cómo se construyen Unidades de Aprendizaje. Se analiza la estructura de la especificación, basándose en un estudio teórico y una investigación práctica fruto del modelado de Unidades de Aprendizaje reales y ejecutables que proporcionan una información útil de base. A partir de este estudio, se analiza la integración de Unidades de Aprendizaje con otros sistemas y especificaciones, abarcando desde la integración mínima mediante un enlace directo hasta compartir variables y estados que permiten una comunicación en tiempo real de ambas partes. La conclusión es que IMS-LD necesita una reestructuración y modificación de ciertos elementos, así como la incorporación de otros nuevos, para mejorar una expresividad pedagógica y una capacidad de integración con otros sistemas de aprendizaje y estándares eLearning, si se pretenden alcanzar: la personalización del proceso de aprendizaje y la interoperabilidad real. La implantación de la especificación se vería mejorada si existieran unas herramientas de más alto nivel, preferiblemente con planteamiento visual, que permitieran un modelado sencillo por parte de los usuarios finales reales de este tipo de especificaciones, como son los profesores, los creadores de contenido y los pedagogos-didactas que diseñan la experiencia de aprendizaje.

Adaptation to climate change : from resilience to transformation.

Es un análisis exhaustivo de las dimensiones sociales del cambio climático, pues se considera una prioridad para el desarrollo humano aprender a vivir con sus efectos. Se presentan una serie de opciones que puede afrontar la humanidad en esta tarea estrictamente defensiva de adaptación a los riesgos del calentamiento global de la Tierra. Es una obra de referencia para los estudiantes de pregrado y postgrado interesados en los estudios sobre cambio climático, geografía y desarrollo.

Un niveau seuil y adaptation de un niveau seuil pour des contextes scolaires.

Dentro del Consejo de Europa se da gran importancia al conocimiento de las lenguas modernas ya que da lugar al acceso a otras culturas y conduce al desarrollo de la comprensión entre los pueblos de Europa. Se presenta un estudio de los documentos elaborados por las distintas comisiones de expertos relacionados con la evolución del aprendizaje-enseñanza de las lenguas modernas. En concreto, se trata de unos estudios que establecen los niveles-umbrales de las distintas lenguas europeas: inglés, francés, español, alemán e italiano.

Assessment of the effects of a cooperative play programme for children aged 10-11 years on social adaptation and on the perception that parents, teachers and peers have of children's prosocial behaviours. 'Evaluación de los efectos de un programa de juego cooperativo para los niños de 10-11 años en la adapatación social y en la percepción que padres, profesores y compañeros tienen de las conductas prosociales de los niños'.

Resumen tomado de la publicación

The MOOD Questionnaire : Adaptation and validation of the Spanish versión

Resumen tomado de la publicación

Spanish adaptation and validation of the Exercise Addiction Inventory (EAI)

Resumen tomado de la publicación

Spanish adaptation of the Expectancy Questionnaire (EQ) about alcohol effects in adolescents

Resumen tomado de la publicación