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.

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.

El món rural : un món complex i canviant. 'El mundo rural : un mundo complejo y cambiante'.

Resumen del autor en catalán

A systematic review of the complex organization of human cognitive domains and their heritability

Resumen tomado de la publicación

Fronts from complex two-dimensional dispersal kernels: theory and application to Reid's paradox

Bimodal dispersal probability distributions with characteristic distances differing by several orders of magnitude have been derived and favorably compared to observations by Nathan [Nature (London) 418, 409 (2002)]. For such bimodal kernels, we show that two-dimensional molecular dynamics computer simulations are unable to yield accurate front speeds. Analytically, the usual continuous-space random walks (CSRWs) are applied to two dimensions. We also introduce discrete-space random walks and use them to check the CSRW results (because of the inefficiency of the numerical simulations). The physical results reported are shown to predict front speeds high enough to possibly explain Reid's paradox of rapid tree migration. We also show that, for a time-ordered evolution equation, fronts are always slower in two dimensions than in one dimension and that this difference is important both for unimodal and for bimodal kernels

La catedral i Girona: l' entrada del complex episcopal dins murs entre els segles X-XI

Fins a la darreria del segle VIII, el complex episcopal gironí se situava fora murs, al voltant de l'església martirial de Sant Feliu; a principis del segle IX, el complex es desdoblà amb la consagració d'una segona església episcopal, Santa Maria, dins murs, raó per la qual la seu fou coneguda, al llarg d'aquella centúria, amb la doble advocació de Santa Maria i Sant Feliu. Al llarg del segle X, s'afermà la preeminència de Santa Maria fins al punt que, en l'últim terç del segle. Sant Feliu ja no és esmentada com a seu episcopal, encara que hi continuà vinculada com a una església dependent, sense personalitat ni administració pròpia. Des de final del segle, el procés s'accelerà amb la construcció d'una nova església catedral a Santa Maria, que complementà l'aixecament d'un nou complex episcopal dins murs, en gran part culminat a mitjan segle XI i format per xenodoquium, catedral, palau episcopal i conjunt canonical, a banda de noves residències de canonges i altres clergues en el seu entorn. Aquests fets significaren la consolidació de Santa Maria com a seu única, però també la profunda remodelació urbanística d'un sector significatiu de la ciutat, prop d'un 20% del total, expressió del nou domini del bisbe i dels clergues sobre la 'seva ciutat'