Georges Lemaître: a visionary contribute to the quest of the world model

The aim of this dissertation is to present the sequence of events which brought the scientific community of the early 20th century to conceive an expanding Universe born from a single origin. Among the facts here reported, some are well-known, some others instead are little-known backstories, not so easy neither to obtain nor to trust. Indeed, several matters shown in this thesis, now as then, create a battleground among scientists. Amid the numerous personalities whose contributions are discussed in this work, the main protagonist is surely Georges Lemaître, who managed to combine – without overlapping – his being both a priest and a scientist. The first chapter is dedicated to his biography, from his childhood in Belgium, to his early adulthood between England and the USA, to his success in the scientific community. The second and the third chapter explain how the race to the understanding of a Universe which not only expands, but also originated from a singularity, developed. The Belgian priest’s discoveries, as shown, were challenged by other important scientists, who, in several cases, Lemaître had a friendly relationship with. As a consequence, the fourth and final chapter deals with the multiple relations that the priest managed to build, thanks to his politeness and kindness. Moreover, it is also covered Lemaître’s personal connection with the Church and religion, without forgetting the personalities that influenced him – above all, Saint Thomas Aquinas. As a conclusion to this thesis, two appendices gather not only a summary of Lemaître’s works which are not already described in the chapters, but also the biographies of all the characters presented in this dissertation.

MARVEL: A System for Recognizing World Locations with Stereo Vision

To use a world model, a mobile robot must be able to determine its own position in the world. To support truly autonomous navigation, I present MARVEL, a system that builds and maintains its own models of world locations and uses these models to recognize its world position from stereo vision input. MARVEL is designed to be robust with respect to input errors and to respond to a gradually changing world by updating its world location models. I present results from real-world tests of the system that demonstrate its reliability. MARVEL fits into a world modeling system under development.

Extracting Causal Graphs from an Open Provenance Data Model

The open provenance architecture (OPA) approach to the challenge was distinct in several regards. In particular, it is based on an open, well-defined data model and architecture, allowing different components of the challenge workflow to independently record documentation, and for the workflow to be executed in any environment. Another noticeable feature is that we distinguish between the data recorded about what has occurred, emphprocess documentation, and the emphprovenance of a data item, which is all that caused the data item to be as it is and is obtained as the result of a query over process documentation. This distinction allows us to tailor the system to separately best address the requirements of recording and querying documentation. Other notable features include the explicit recording of causal relationships between both events and data items, an interaction-based world model, intensional definition of data items in queries rather than relying on explicit naming mechanisms, and emphstyling of documentation to support non-functional application requirements such as reducing storage costs or ensuring privacy of data. In this paper we describe how each of these features aid us in answering the challenge provenance queries.

Probabilistic world modelling for distributed team planning

This paper describes an application of decoupled probabilistic world modeling to achieve team planning. The research is based on the principle that tbe action selection mechanism of a member in a robot team cm select am effective action if a global world model is available to all team members. In the real world, the sensors are imprecise, and are individual to each robot, hence providing each robot a partial and unique view about the environment. We address this problem by creating a probabilistic global view on each agent by combining the perceptual information from each robot. This probsbilistie view forms the basis for selecting actions to achieve the team goal in a dynamic environment. Experiments have been carried ont to investigate the effectiveness of this principle using custom-built robots for real world performance, in addition, to extensive simulation results. The results show an improvement in team effectiveness when using probabilistic world modeling based on perception sharing for team planning.

Document retrieval based on a cognitive model of dialogue

Owing to the rise in the volume of literature, problems arise in the retrieval of required information. Various retrieval strategies have been proposed, but most of that are not flexible enough for their users. Specifically, most of these systems assume that users know exactly what they are looking for before approaching the system, and that users are able to precisely express their information needs according to l aid- down specifications. There has, however, been described a retrieval program THOMAS which aims at satisfying incompletely- defined user needs through a man- machine dialogue which does not require any rigid queries. Unlike most systems, Thomas attempts to satisfy the user's needs from a model which it builds of the user's area of interest. This model is a subset of the program's "world model" - a database in the form of a network where the nodes represent concepts since various concepts have various degrees of similarities and associations, this thesis contends that instead of models which assume equal levels of similarities between concepts, the links between the concepts should have values assigned to them to indicate the degree of similarity between the concepts. Furthermore, the world model of the system should be structured such that concepts which are related to one another be clustered together, so that a user- interaction would involve only the relevant clusters rather than the entire database such clusters being determined by the system, not the user. This thesis also attempts to link the design work with the current notion in psychology centred on the use of the computer to simulate human cognitive processes. In this case, an attempt has been made to model a dialogue between two people - the information seeker and the information expert. The system, called Thomas-II, has been implemented and found to require less effort from the user than Thomas.

Learning Robot Environment through Simulation

Traditionally simulators have been used extensively in robotics to develop robotic systems without the need to build expensive hardware. However, simulators can be also be used as a “memory”for a robot. This allows the robot to try out actions in simulation before executing them for real. The key obstacle to this approach is an uncertainty of knowledge about the environment. The goal of the Master’s Thesis work was to develop a method, which allows updating the simulation model based on actual measurements to achieve a success of the planned task. OpenRAVE was chosen as an experimental simulation environment on planning,trial and update stages. Steepest Descent algorithm in conjunction with Golden Section search procedure form the principle part of optimization process. During experiments, the properties of the proposed method, such as sensitivity to different parameters, including gradient and error function, were examined. The limitations of the approach were established, based on analyzing the regions of convergence.

Periodic Reordering

For many networks in nature, science and technology, it is possible to order the nodes so that most links are short-range, connecting near-neighbours, and relatively few long-range links, or shortcuts, are present. Given a network as a set of observed links (interactions), the task of finding an ordering of the nodes that reveals such a range-dependent structure is closely related to some sparse matrix reordering problems arising in scientific computation. The spectral, or Fiedler vector, approach for sparse matrix reordering has successfully been applied to biological data sets, revealing useful structures and subpatterns. In this work we argue that a periodic analogue of the standard reordering task is also highly relevant. Here, rather than encouraging nonzeros only to lie close to the diagonal of a suitably ordered adjacency matrix, we also allow them to inhabit the off-diagonal corners. Indeed, for the classic small-world model of Watts & Strogatz (1998, Collective dynamics of ‘small-world’ networks. Nature, 393, 440–442) this type of periodic structure is inherent. We therefore devise and test a new spectral algorithm for periodic reordering. By generalizing the range-dependent random graph class of Grindrod (2002, Range-dependent random graphs and their application to modeling large small-world proteome datasets. Phys. Rev. E, 66, 066702-1–066702-7) to the periodic case, we can also construct a computable likelihood ratio that suggests whether a given network is inherently linear or periodic. Tests on synthetic data show that the new algorithm can detect periodic structure, even in the presence of noise. Further experiments on real biological data sets then show that some networks are better regarded as periodic than linear. Hence, we find both qualitative (reordered networks plots) and quantitative (likelihood ratios) evidence of periodicity in biological networks.

A complex network-based approach for boundary shape analysis

This paper introduces a novel methodology to shape boundary characterization, where a shape is modeled into a small-world complex network. It uses degree and joint degree measurements in a dynamic evolution network to compose a set of shape descriptors. The proposed shape characterization method has all efficient power of shape characterization, it is robust, noise tolerant, scale invariant and rotation invariant. A leaf plant classification experiment is presented on three image databases in order to evaluate the method and compare it with other descriptors in the literature (Fourier descriptors, Curvature, Zernike moments and multiscale fractal dimension). (C) 2008 Elsevier Ltd. All rights reserved.

Strong semiclassical gravity in the universe and the laboratory

Three published papers are resumed in this thesis. Different aspects of the semiclassical theory of gravity are discussed. In chapter 1 we find a new perturbative (yet analytical) solution to the unsolved problem of the metric junction between two Friedmann-Robertson-Walker using Israel's formalism. The case of an expanding radiation core inside an expanding or collapsing dust exterior is treated. This model can be useful in the "landscape" cosmology in string theory or for treating new gravastar configurations. In chapter 2 we investigate the possible use of the Kodama vector field as a substitute for the Killing vector field. In particular we find the response function of an Unruh detector following an (accelerated) Kodama trajectory. The detector has finite extension and backreaction is considered. In chapter 3 we study the possible creation of microscopic black holes at LHC in the brane world model. It is found that the black hole tidal charge has a fundamental role in preventing the formation of the horizon.

Intelligent execution monitoring and error analysis in planning involving processes

An intelligent agent, operating in an external world which cannot be fully described in its internal world model, must be able to monitor the success of a previously generated plan and to respond to any errors which may have occurred. The process of error analysis requires the ability to reason in an expert fashion about time and about processes occurring in the world. Reasoning about time is needed to deal with causality. Reasoning about processes is needed since the direct effects of a plan action can be completely specified when the plan is generated, but the indirect effects cannot. For example, the action `open tap' leads with certainty to `tap open', whereas whether there will be a fluid flow and how long it might last is more difficult to predict. The majority of existing planning systems cannot handle these kinds of reasoning, thus limiting their usefulness. This thesis argues that both kinds of reasoning require a complex internal representation of the world. The use of Qualitative Process Theory and an interval-based representation of time are proposed as a representation scheme for such a world model. The planning system which was constructed has been tested on a set of realistic planning scenarios. It is shown that even simple planning problems, such as making a cup of coffee, require extensive reasoning if they are to be carried out successfully. The final Chapter concludes that the planning system described does allow the correct solution of planning problems involving complex side effects, which planners up to now have been unable to solve.

CRISIS ALIMENTARIA: NUEVO MEGA-NEGOCIO GLOBAL

Resumen El presente artículo desenmascara la forma en que falazmente las instituciones financieras multilaterales pretenden hacer ver las causas de lo que han dado en llamar “la crisis alimentaria mundial” a partir del incremento de los precios de los alimentos alrededor del mundo. Agrocombustibles, incremento del precio del petróleo, cambio climático en zonas productoras son algunas de las causas que el Banco Mundial pone como justificación al incremento del precio de la mayoría de cereales y granos básicos. La milagrosa solución al hambre en los países pobres: la minería, es lanzada desde este todopoderoso agente financiero, como panacea para la producción de regalías que permitan a muchos países de África y algunos de América Latina y Asia,  para resolver la problemática alimentaria.  ¡Nada más falso! En los siguientes párrafos se describen las verdaderas razones de la crisis del actual modelo económico mundial, y se proponen desde un país en concreto,  propuestas de política pública para su solución.   Abstract The present article unmasks the way in which multilateral financial institutions pretend fallaciously to show the causes of which they have given to call “the world food crisis” since the increasing prices of food around the world. Agrofuels, increase the price of oil, produces climate chance in zones used for production, these are some of the causes that the World Bank uses to justify the increasing prices of the majority of cereals and grains. The miraculous solution for hunger in poor countries: mining, is launched from this all mighty financial agent, as a panacea to produce royalties that will permit many countries in Africa, and in some in Latin American and Asia, to solve their food problematic. Nothing more false than that! In the next paragraphs the true reasons of this crisis of the actual economic world model are described, and from a particular country, proposals of public politics for their solutions.

World population growth and fertility patterns, 1960-2000. A simple model explaining the evolution of world's fertility during the second half of the 20th Century

In this paper we attempt to describe the general reasons behind the world populationexplosion in the 20th century. The size of the population at the end of the century inquestion, deemed excessive by some, was a consequence of a dramatic improvementin life expectancies, attributable, in turn, to scientific innovation, the circulation ofinformation and economic growth. Nevertheless, fertility is a variable that plays acrucial role in differences in demographic growth. We identify infant mortality, femaleeducation levels and racial identity as important exogenous variables affecting fertility.It is estimated that in poor countries one additional year of primary schooling forwomen leads to 0.614 child less per couple on average (worldwide). While it may bepossible to identify a global tendency towards convergence in demographic trends,particular attention should be paid to the case of Africa, not only due to its differentdemographic patterns, but also because much of the continent's population has yet toexperience improvement in quality of life generally enjoyed across the rest of theplanet.