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.

On Degeneracy of Linear Reconstruction from Three Views: Linear Line Complex and Applications

This paper investigates the linear degeneracies of projective structure estimation from point and line features across three views. We show that the rank of the linear system of equations for recovering the trilinear tensor of three views reduces to 23 (instead of 26) in the case when the scene is a Linear Line Complex (set of lines in space intersecting at a common line) and is 21 when the scene is planar. The LLC situation is only linearly degenerate, and we show that one can obtain a unique solution when the admissibility constraints of the tensor are accounted for. The line configuration described by an LLC, rather than being some obscure case, is in fact quite typical. It includes, as a particular example, the case of a camera moving down a hallway in an office environment or down an urban street. Furthermore, an LLC situation may occur as an artifact such as in direct estimation from spatio-temporal derivatives of image brightness. Therefore, an investigation into degeneracies and their remedy is important also in practice.

Projecte d’instal·lacions d’un club esportiu

Aquest projecte desenvolupa el càlcul de les instal·lacions d’un club esportiu. Un dels objectiu es poder comprovar el correcte dimensionament de les instal·lacions actuals, degut a que les instal·lacions han sofert múltiples modificacions respecte al que es va preveure originalment. També s’ aprofita per realitzar uns plànols actualitzat de les instal·lacions

El calendari esportiu. L'esforç de l'alta competició i la resistència del cos humà : reflexions al voltant del dopatge.

Resumen tomado del autor. Se muestran tablas y esquemas de rendimiento y resultados. Se incluye Anexo 'El dopaje en el centro' al final del artículo. Artículo disponible en castellano y catalán

Son i entrenament esportiu.

Resumen tomado del autor. Contiene tablas de resultados, fotografías y gráficas. Incluye anexo

Influència de les tiretes nasals sobre el rendiment esportiu.

Resumen tomado del autor. Contiene tablas de resultados

Variables d'interès en l'estudi dels efectes de l'exercici excèntric sobre el rendiment esportiu : revisió bibliogràfica.

Resumen tomado del autor. Contiene gráfica de las diferencias en la activación neuromuscular en contracciones excéntricas y concéntricas (Enoka, 1996)

Complex Variable and Integrals

Exercises and solutions for a third year engineering maths course. Diagrams for the question are all together in the support.zip file, as .eps files

Complex Variable Theory

Notes, exercises, exam questions and solutions for a second year complex variable course.

Retxa : un joc complex per a l'educació física. 'Raya : un juego complejo para la educación física'.

Resumen tomado de la propia revista

HDI find complex roots

This is a sample video used to support Electrical Engineers

3D Analysis of the TCR/pMHCII Complex Formation in Monkeys Vaccinated with the First Peptide Inducing Sterilizing Immunity against Human Malaria

T-cell receptor gene rearrangements were studied in Aotus monkeys developing high antibody titers and sterilizing immunity against the Plasmodium falciparum malaria parasite upon vaccination with the modified synthetic peptide 24112, which was identified in the Merozoite Surface Protein 2 (MSP-2) and is known to bind to HLA-DR beta 1*0403 molecules with high capacity. Spectratyping analysis showed a preferential usage of V beta 12 and V beta 6 TCR gene families in 67% of HLA-DR beta 1*0403-like genotyped monkeys. Docking of peptide 24112 into the HLA-DR beta 1*0401-HA peptide-HA1.7TCR complex containing the VDJ rearrangements identified in fully protected monkeys showed a different structural signature compared to nonprotected monkeys. These striking results show the exquisite specificity of the TCR/pMHCII complex formation needed for inducing sterilizing immunity and provide important hints for a logical and rational methodology to develop multiepitopic, minimal subunit-based synthetic vaccines against infectious diseases, among them malaria.

Experiences, sensations and demands of citizen (in)security: recent complex configurations in Argentina

Over the last decades the issue of insecurity due to an increase in crime rates and its possible impact on the stability of Latin American democracies has sparked an ongoing debate. In this context, the present article studies, for the case of Argentina, how experiences and sensations of insecurity may be articulated to demands for greater punitive rigor. The analysis is based on two types of information. Initially, data from international surveys such as Latinoabarometer are considered. Then, these are compared to data from prolonged on-site observations in a poor neighborhood of a mid-sized Argentine city. The combination of these different types of data shows the complexity of the process. Contrary to what is often assumed, experiences and sensations of insecurity do not lineally lead to demands for greater punitive rigor. The way in which social actors elaborate their experiences of insecurity is highly situational and not systematic. We have found that there is not necessarily a consistent process of ‘meaning construction’ that articulates experiences and sensations of insecurity with political demands.

Leadership: A complex concept awaiting a new explanation?

Leaders have the task of developing future strategy while being consciously engaged in executing current strategy and mapping landmarks, pathways and obstacles which they meet asthey endeavor to traverse challenging, rapidly evolving terrain. In an era in which there is a global leadership credibility crisis, business as usual is no longer an option in the pursuit of the longer-term survival of any organization. The leadership approach to complexity outlined here is based on learning to achieve results through experimentation, learning, and reflection. A case study is presented that illustrates the application of this approach. In this paper, the reader is first introduced to a brief overview of some key definitions and debates, shifting leadership boundaries, and emerging accountabilities and opportunities. This is followed by a summary of some of the key topics and issues that face current and future leaders.