DAI-DEPUR: an integrated and distributed architecture for wastewater treatment plants supervision

The activated sludge process - the main biological technology usually applied to wastewater treatment plants (WWTP) - directly depends on live beings (microorganisms), and therefore on unforeseen changes produced by them. It could be possible to get a good plant operation if the supervisory control system is able to react to the changes and deviations in the system and can take the necessary actions to restore the system’s performance. These decisions are often based both on physical, chemical, microbiological principles (suitable to be modelled by conventional control algorithms) and on some knowledge (suitable to be modelled by knowledge-based systems). But one of the key problems in knowledge-based control systems design is the development of an architecture able to manage efficiently the different elements of the process (integrated architecture), to learn from previous cases (spec@c experimental knowledge) and to acquire the domain knowledge (general expert knowledge). These problems increase when the process belongs to an ill-structured domain and is composed of several complex operational units. Therefore, an integrated and distributed AI architecture seems to be a good choice. This paper proposes an integrated and distributed supervisory multi-level architecture for the supervision of WWTP, that overcomes some of the main troubles of classical control techniques and those of knowledge-based systems applied to real world systems

A Multi-agent Architecture with Distributed Coordination for an Autonomous Robot

Aquest treball proposa una nova arquitectura de control amb coordinació distribuïda per a un robot mòbil (ARMADiCo). La metodologia de coordinació distribuïda consisteix en dos passos: el primer determina quin és l'agent que guanya el recurs basat en el càlcul privat de la utilitat i el segon, com es fa el canvi del recurs per evitar comportaments abruptes del robot. Aquesta arquitectura ha estat concebuda per facilitar la introducció de nous components hardware i software, definint un patró de disseny d'agents que captura les característiques comunes dels agents. Aquest patró ha portat al desenvolupament d'una arquitectura modular dins l'agent que permet la separació dels diferents mètodes utilitzats per aconseguir els objectius, la col·laboració, la competició i la coordinació de recursos. ARMADiCo s'ha provat en un robot Pioneer 2DX de MobileRobots Inc.. S'han fet diversos experiments i els resultats han demostrat que s'han aconseguit les característiques proposades per l'arquitectura.

A proposal of a behavior-based control architecture with reinforcement learning for an autonomous underwater robot

Aquesta tesi proposa l'ús d'un seguit de tècniques pel control a alt nivell d'un robot autònom i també per l'aprenentatge automàtic de comportaments. L'objectiu principal de la tesis fou el de dotar d'intel·ligència als robots autònoms que han d'acomplir unes missions determinades en entorns desconeguts i no estructurats. Una de les premisses tingudes en compte en tots els passos d'aquesta tesis va ser la selecció d'aquelles tècniques que poguessin ésser aplicades en temps real, i demostrar-ne el seu funcionament amb experiments reals. El camp d'aplicació de tots els experiments es la robòtica submarina. En una primera part, la tesis es centra en el disseny d'una arquitectura de control que ha de permetre l'assoliment d'una missió prèviament definida. En particular, la tesis proposa l'ús de les arquitectures de control basades en comportaments per a l'assoliment de cada una de les tasques que composen la totalitat de la missió. Una arquitectura d'aquest tipus està formada per un conjunt independent de comportaments, els quals representen diferents intencions del robot (ex.: "anar a una posició", "evitar obstacles",...). Es presenta una recerca bibliogràfica sobre aquest camp i alhora es mostren els resultats d'aplicar quatre de les arquitectures basades en comportaments més representatives a una tasca concreta. De l'anàlisi dels resultats se'n deriva que un dels factors que més influeixen en el rendiment d'aquestes arquitectures, és la metodologia emprada per coordinar les respostes dels comportaments. Per una banda, la coordinació competitiva és aquella en que només un dels comportaments controla el robot. Per altra banda, en la coordinació cooperativa el control del robot és realitza a partir d'una fusió de totes les respostes dels comportaments actius. La tesis, proposa un esquema híbrid d'arquitectura capaç de beneficiar-se dels principals avantatges d'ambdues metodologies. En una segona part, la tesis proposa la utilització de l'aprenentatge per reforç per aprendre l'estructura interna dels comportaments. Aquest tipus d'aprenentatge és adequat per entorns desconeguts i el procés d'aprenentatge es realitza al mateix temps que el robot està explorant l'entorn. La tesis presenta també un estat de l'art d'aquest camp, en el que es detallen els principals problemes que apareixen en utilitzar els algoritmes d'aprenentatge per reforç en aplicacions reals, com la robòtica. El problema de la generalització és un dels que més influeix i consisteix en permetre l'ús de variables continues sense augmentar substancialment el temps de convergència. Després de descriure breument les principals metodologies per generalitzar, la tesis proposa l'ús d'una xarxa neural combinada amb l'algoritme d'aprenentatge per reforç Q_learning. Aquesta combinació proporciona una gran capacitat de generalització i una molt bona disposició per aprendre en tasques de robòtica amb exigències de temps real. No obstant, les xarxes neurals són aproximadors de funcions no-locals, el que significa que en treballar amb un conjunt de dades no homogeni es produeix una interferència: aprendre en un subconjunt de l'espai significa desaprendre en la resta de l'espai. El problema de la interferència afecta de manera directa en robòtica, ja que l'exploració de l'espai es realitza sempre localment. L'algoritme proposat en la tesi té en compte aquest problema i manté una base de dades representativa de totes les zones explorades. Així doncs, totes les mostres de la base de dades s'utilitzen per actualitzar la xarxa neural, i per tant, l'aprenentatge és homogeni. Finalment, la tesi presenta els resultats obtinguts amb la arquitectura de control basada en comportaments i l'algoritme d'aprenentatge per reforç. Els experiments es realitzen amb el robot URIS, desenvolupat a la Universitat de Girona, i el comportament après és el seguiment d'un objecte mitjançant visió per computador. La tesi detalla tots els dispositius desenvolupats pels experiments així com les característiques del propi robot submarí. Els resultats obtinguts demostren la idoneïtat de les propostes en permetre l'aprenentatge del comportament en temps real. En un segon apartat de resultats es demostra la capacitat de generalització de l'algoritme d'aprenentatge mitjançant el "benchmark" del "cotxe i la muntanya". Els resultats obtinguts en aquest problema milloren els resultats d'altres metodologies, demostrant la millor capacitat de generalització de les xarxes neurals.

VLSI architecture for motion estimation in underwater imaging

El treball desenvolupat en aquesta tesi aprofundeix i aporta solucions innovadores en el camp orientat a tractar el problema de la correspondència en imatges subaquàtiques. En aquests entorns, el que realment complica les tasques de processat és la falta de contorns ben definits per culpa d'imatges esborronades; un fet aquest que es deu fonamentalment a il·luminació deficient o a la manca d'uniformitat dels sistemes d'il·luminació artificials. Els objectius aconseguits en aquesta tesi es poden remarcar en dues grans direccions. Per millorar l'algorisme d'estimació de moviment es va proposar un nou mètode que introdueix paràmetres de textura per rebutjar falses correspondències entre parells d'imatges. Un seguit d'assaigs efectuats en imatges submarines reals han estat portats a terme per seleccionar les estratègies més adients. Amb la finalitat d'aconseguir resultats en temps real, es proposa una innovadora arquitectura VLSI per la implementació d'algunes parts de l'algorisme d'estimació de moviment amb alt cost computacional.

Research in Architecture: Looking Backward and Forward: Forty-Year Experience in Architectural Research at the Faculty of Architecture STU

The introduction of my contribution contains a brief information on the Faculty of Architecture of the Slovak University of Technology in Bratislava (FA STU) and the architectural research performed at this institution. Schemes and priorities of our research in architecture have changed several times since the very beginning in early 50’s. The most significant change occurred after “the velvet revolution” in 1989. Since 1990 there have been several sources to support research at universities. The significant part of my contribution is rooted in my own research experience since the time I had joined FA STU in 1975 as a young architect and researcher. The period of the 80’s is characterized by the first unintentional attempts to do “research by design” and my “scientific” achievements as by-products of my design work. Some of them resulted in the following issues: conception of mezzo-space, theory of the complex perception of architectural space and definition of basic principles of ecologically conscious architecture. Nowadays I continue my research by design within the application of so called solar envelope in urban scale with my students.

Research by Design is up and running

This paper explores the context of and developments in Research by Design (RbD) as currently developing in Schools of Architecture. It starts from noticing that the design studio is the core of the bachelor and master curriculum. Extending this position to PhD research implies the search for research where the design process is the main method of researching and creating knowledge and understanding. These developments connect to similar developments in the arts. Mode 1 and mode 2 knowledge, reflection and other knowledge processes are the base for developing knowledge for the field of architecture when practice and designing are the main method of research. The paper concludes with observing many PhD and research projects building on design activities and practice are currently under way and are supported by academia. They produce a specific type of knowledge and understanding, usually opening up problems and exploring boundaries.

Architecture & Research: a possible structure

This article results from three conferences organized by the research project titled “Architectural research framework” developed by the research center Architectural Lab – LabART – of the Lusófona University, and also by my personal experiences and dialogs with other members of the EAAE research committee. Architectural research always existed, but only recently some major questions have emerged, by the time that Europe started the last universitary reform on the 80’s. Two aspects are crucial in understanding the problematic that we are referring to. On the one hand we verify that the architectural teaching should maintain the articulation and close relationship between the theoretical and practical aspects. On the other hand, there is a need to confer academic degrees, as the MsC and PhD’s in the Faculties of Architecture. Inevitably, discussions began about the scientificity of architecture (its grounding), the types of research, methodological models, as well as on the evaluation criteria and the quality of research, or the relevance of the results. We will try to approach some of these discussions, and by the end, establish a basic structure that allows us to obtain an open model for research in architecture.

Design factors affecting the success of settlement upgrading projects. Favela Bairro Program, Rio de Janeiro

One of the main stated objectives of the Favela Bairro program was to allow squatter settlements to become part of the formal city. The focus of the study is to assess how different project solutions in the Favela Bairro program have used urban design tools to achieve this objective. A subsequent question concerns the extent to which urban design factors helped to improve the social integration of the settlements, and specifically to overcome poverty and exclusion conditions.This bring us to a another group of problems related to indicators to measure the attainment of these objectives from four perspectives: Spatial, Social, Economical and Political (citizenship and participation)This analysis highlights the major difficulties confronted by the design teams, and allows pinpointing the positive and negative impacts of the interventions on the communities and the city

O círculo de eranos: a experiência da educação do campo ou como os contextos podem gerar

RESUMO: Estamos a vivenciar dois fatos paradoxais: de um lado, uma organização da escola instituída que gera a autoconservação das práticas do professor e, do outro, tendências nos plano científico e do discurso político que apelam ao retorno ao ator - que reconhece o professor como sujeito de seu saber e fazer. Foi neste contexto que se realizou a pesquisa subjacente a esta tese sobre a formação docente num projeto de escolarização que se fundamenta numa perspetiva de educação popular contra-hegemónica, edificada, no Brasil, como ‗educação do campo‘. Buscou-se compreender a vivência docente, suas perceções e aprendizagens. Desenvolveu-se a investigação a partir das questões: é possível, no contexto atual de mudanças sociais direcionadas ao processo cada vez maior de individuação docente, a formação em democracia participativa numa experiência de educação popular? Como ela se estabelece? O que ela nos ensina? A metodologia assentou na observação participativa das reuniões de planeamento, avaliação e replaneamento dos(as) professores(as) e coordenadores, numa proposta local de educação do campo - do Programa Nacional de Educação na Reforma agrária. As reuniões e escolarização ocorreram em Ilhéus/Bahia/Brasil, durante os anos de 2005-2006. As referências teóricas para a análise empírica do material coletado foram: a perspetiva da reflexão-ação emancipatória de Carr e Kemmis (1998), que compreende as instituições educacionais criadas por pressões sociais e políticas; e a conceção de emancipação desenvolvida por Freire e por Habermas, assente na ação comunicativa/dialógica. Para a análise utilizou-se o método da Análise Crítica de Discurso (ACD), cuja principal referência foi Fairclough. Nas narrativas das reuniões percebeu-se o desenvolvimento de uma polidez positiva – atos de fala que demonstram o falante desejando estabelecer o consenso com ouvinte; assinalada por estruturas modais que direcionaram para a abertura de relacionamento e participação mútua entre professores(as) e coordenadores do projeto. O conteúdo manifesto das falas amparou-se numa perspetiva de educador que se constrói na prática, e, ao mesmo tempo, a constrói, mas que, entretanto, necessita de aportes teóricos críticos no processo de embate epistémico entre os saberes da vida quotidiana concreta e os saberes científicos. A função interpessoal foi expressa pela arquitetura dialógica, permitindo um processo de construção mútua de escola e professores(as). Pode-se afirmar que a prática analisada indica que nestes tempos, de controlo intenso das instituições escolares, de competição, de solidão, é obviamente necessária a organização coletiva de professores (as), de movimentos sociais e universidades, amparados e financiados por ordenamentos legais (conquistados pela população), para consolidar e ampliar projetos críticos de escolarização, mudando, reciprocamente, escolas e professores(as). ABSTRACT: We are experiencing two paradoxical facts: the organization of the established school which generates the self-preservation of teaching practices and, on the other hand, there is a political and scientific trend that claims the return of the ―actor‖ – the teacher being the subject of his knowledge and actions. It was therefore in this context, that the underlying research for this Thesis was conducted. It concerns to the teacher training in an educational project which is based on the perspective of a counter-hegemonic and popular education available to people at the Brazilian countryside – also called ―Field Education‖. We searched the understanding of the educational experience, its perceptions and learning. The investigation was developed from two fundamental questions: Is it possible to have the experience of a popular education system in a functioning democracy, at the light of the recent social changes that lead to a greater individuation? How is it established? What can we learn from it? The methodology was settled on the participant observation of the planning and evaluation meetings of teachers and coordinators of the National Education Program in the Land Reform in Brazil. These meetings occurred in Ilheús- Bahia- Brazil during the years of 2005-2006. The theoretical references to the empirical analyses of the material collected were: the perspective of the reflection – action emancipative of Carr & Kemmis (1998), which comprehends the educational institutions created by social and political pressures; and the conception of emancipation developed by Freire and Habermas, which is settled on the communicative-dialogical action. For the analysis it was elected the method of Critical Analysis of Discourse (CAD),which main reference was Fairclough. During the account of the meetings it was noticed the development of a positive politeness – which reveals the desire of the speaker to reach an agreement with the listener, signalized by modal structures that directed to an open and participative relationship between teachers and coordinators of the project. The manifest content of the speeches was sustained by the educator perspective, which is built on the daily practice. However, it needs some basic theoretical contributions to the epistemic struggle between concrete ordinary life and the scientific knowledge. The interpersonal function was expressed by dialogical architecture, allowing a mutual process of construction that involves the school and the teachers. The practice analyzed indicates that, more than ever, due to the massive control of the institutions, the extreme competition and solitude, the collective organization of the teachers, the social movements and the universities is necessary. They should be supported and financed by legal systems to consolidated and amplify important education projects, bringing necessary changes for schools and teachers reciprocally.