Designing electronic collaborative learning environments

Electronic collaborative learning environments for learning and working are in vogue. Designers design them according to their own constructivist interpretations of what collaborative learning is and what it should achieve. Educators employ them with different educational approaches and in diverse situations to achieve different ends. Students use them, sometimes very enthusiastically, but often in a perfunctory way. Finally, researchers study them and—as is usually the case when apples and oranges are compared—find no conclusive evidence as to whether or not they work, where they do or do not work, when they do or do not work and, most importantly, why, they do or do not work. This contribution presents an affordance framework for such collaborative learning environments; an interaction design procedure for designing, developing, and implementing them; and an educational affordance approach to the use of tasks in those environments. It also presents the results of three projects dealing with these three issues

Enhancing Energy Production with Exascale HPC Methods

High Performance Computing (HPC) resources have become the key actor for achieving more ambitious challenges in many disciplines. In this step beyond, an explosion on the available parallelism and the use of special purpose processors are crucial. With such a goal, the HPC4E project applies new exascale HPC techniques to energy industry simulations, customizing them if necessary, and going beyond the state-of-the-art in the required HPC exascale simulations for different energy sources. In this paper, a general overview of these methods is presented as well as some specific preliminary results.The research leading to these results has received funding from the European Union's Horizon 2020 Programme (2014-2020) under the HPC4E Project (www.hpc4e.eu), grant agreement n° 689772, the Spanish Ministry of Economy and Competitiveness under the CODEC2 project (TIN2015-63562-R), and from the Brazilian Ministry of Science, Technology and Innovation through Rede Nacional de Pesquisa (RNP). Computer time on Endeavour cluster is provided by the Intel Corporation, which enabled us to obtain the presented experimental results in uncertainty quantification in seismic imagingPostprint (author's final draft

A Hierarchal Planning Framework for AUV Mission Management in a Spatio-Temporal Varying Ocean

The purpose of this paper is to provide a hierarchical dynamic mission planning framework for a single autonomous underwater vehicle (AUV) to accomplish task-assign process in a limited time interval while operating in an uncertain undersea environment, where spatio-temporal variability of the operating field is taken into account. To this end, a high level reactive mission planner and a low level motion planning system are constructed. The high level system is responsible for task priority assignment and guiding the vehicle toward a target of interest considering on-time termination of the mission. The lower layer is in charge of generating optimal trajectories based on sequence of tasks and dynamicity of operating terrain. The mission planner is able to reactively re-arrange the tasks based on mission/terrain updates while the low level planner is capable of coping unexpected changes of the terrain by correcting the old path and re-generating a new trajectory. As a result, the vehicle is able to undertake the maximum number of tasks with certain degree of maneuverability having situational awareness of the operating field. The computational engine of the mentioned framework is based on the biogeography based optimization (BBO) algorithm that is capable of providing efficient solutions. To evaluate the performance of the proposed framework, firstly, a realistic model of undersea environment is provided based on realistic map data, and then several scenarios, treated as real experiments, are designed through the simulation study. Additionally, to show the robustness and reliability of the framework, Monte-Carlo simulation is carried out and statistical analysis is performed. The results of simulations indicate the significant potential of the two-level hierarchical mission planning system in mission success and its applicability for real-time implementation

Integrated management of chemical processes in a competitive environment

El objetivo general de esta Tesis es mejorar el proceso de la toma de decisiones en la gestión de cadenas de suministro, tomando en cuenta principalmente dos diferencias: ser competitivo considerando las decisiones propias de la cadena de suministro, y ser competitivo dentro de un entorno global. La estructura de ésta tesis se divide en 4 partes principales: La Parte I consiste en una introducción general de los temas cubiertos en esta Tesis (Capítulo 1). Una revisión de la literatura, que nos permite identificar las problemáticas asociadas al proceso de toma de decisiones (Capítulo 2). El Capítulo 3 presenta una introducción de las técnicas y métodos de optimización utilizados para resolver los problemas propuestos en esta Tesis. La Parte II se enfoca en la integración de los niveles de decisión, buscando mejorar la toma de decisiones de la propia cadena de suministro. El Capítulo 4 presenta una formulación matemática que integra las decisiones de síntesis de procesos y las decisiones operacionales. Además, este capítulo presenta un modelo integrado para la toma de decisiones operacionales incluyendo las características del control de procesos. El Capítulo 5 muestra la integración de las decisiones del nivel táctico y el operacional, dicha propuesta está basada en el conocimiento adquirido capturando la información relacionada al nivel operacional. Una vez obtenida esta información se incluye en la toma de decisiones a nivel táctico. Finalmente en el capítulo 6 se desarrolla un modelo simplificado para integrar múltiples cadenas de suministro. El modelo propuesto incluye la información detallada de las entidades presentes en una cadena de suministro (suministradores, plantas de producción, distribuidores y mercados) introduciéndola en un modelo matemático para su coordinación. La Parte III propone la integración explicita de múltiples cadenas de suministro que tienen que enfrentar numerosas situaciones propias de un mercado global. Asimismo, esta parte presenta una nueva herramienta de optimización basada en el uso integrado de métodos de programación matemática y conceptos relacionados a la Teoría de Juegos. En el Capítulo 7 analiza múltiples cadenas de suministro que cooperan o compiten por la demanda global del mercado. El Capítulo 8 incluye una comparación entre el problema resuelto en el Capítulo anterior y un modelo estocástico, los resultados obtenidos nos permiten situar el comportamiento de los competidores como fuente exógena de la incertidumbre típicamente asociada la demanda del mercado. Además, los resultados de ambos Capítulos muestran una mejora sustancial en el coste total de las cadenas de suministro asociada al hecho de cooperar para atender de forma conjunta la demanda disponible. Es por esto, que el Capítulo 9 presenta una nueva herramienta de negociación, basada en la resolución del mismo problema (Capítulo 7) bajo un análisis multiobjetivo. Finalmente, la parte IV presenta las conclusiones finales y una descripción general del trabajo futuro.This Thesis aims to enhance the decision making process in the SCM, remarking the difference between optimizing the SC to be competitive by its own, and to be competitive in a global market in cooperative and competitive environments. The structure of this work has been divided in four main parts: Part I: consists in a general introduction of the main topics covered in this manuscript (Chapter I); a review of the State of the Art that allows us to identify new open issues in the PSE (Chapter 2). Finally, Chapter 3 introduces the main optimization techniques and methods used in this contribution. Part II focuses on the integration of decision making levels in order to improve the decision making of a single SC: Chapter 4 presents a novel formulation to integrate synthesis and scheduling decision making models, additionally, this chapter also shows an integrated operational and control decision making model for distributed generations systems (EGS). Chapter 5 shows the integration of tactical and operational decision making levels. In this chapter a knowledge based approach has been developed capturing the information related to the operational decision making level. Then, this information has been included in the tactical decision making model. In Chapter 6 a simplified approach for integrated SCs is developed, the detailed information of the typical production‐distribution SC echelons has been introduced in a coordinated SC model. Part III proposes the explicit integration of several SC’s decision making in order to face several real market situations. As well, a novel formulation is developed using an MILP model and Game Theory (GT) as a decision making tool. Chapter 7 includes the tactical and operational analysis of several SC’s cooperating or competing for the global market demand. Moreover, Chapter 8 includes a comparison, based on the previous results (MILP‐GT optimization tool) and a two stage stochastic optimization model. Results from both Chapters show how cooperating for the global demand represent an improvement of the overall total cost. Consequently, Chapter 9 presents a bargaining tool obtained by the Multiobjective (MO) resolution of the model presented in Chapter 7. Finally, final conclusions and further work have been provided in Part IV.Postprint (published version

Probabilistically Safe Avoidance of Dynamic Obstacles with Uncertain Motion Patterns

This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment, including dynamic obstacles with uncertain motion patterns. The key contribution of the work is the integration of a novel method for modeling dynamic obstacles with uncertain future trajectories. The method, denoted as RR-GP, uses a learned motion pattern model of the dynamic obstacles to make long-term predictions of their future paths. This is done by combining the flexibility of Gaussian processes (GP) with the efficiency of RRT-Reach, a sampling-based reachability computation method which ensures dynamic feasibility. This prediction model is then utilized within chance-constrained rapidly-exploring random trees (CC-RRT), which uses chance constraints to explicitly achieve probabilistic constraint satisfaction while maintaining the computational benefits of sampling-based algorithms. With RR-GP embedded in the CC-RRT framework, theoretical guarantees can be demonstrated for linear systems subject to Gaussian uncertainty, though the extension to nonlinear systems is also considered. Simulation results show that the resulting approach can be used in real-time to efficiently and accurately execute safe paths

SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior