Estimation and control of non-linear and hybrid systems with applications to air-to-air guidance

Issued as Progress report, and Final report, Project no. E-21-67

Model-Based Environmental Visual Perception for Humanoid Robots

The visual perception of a robot should answer two fundamental questions: What? and Where? In order to properly and efficiently reply to these questions, it is essential to establish a bidirectional coupling between the external stimuli and the internal representations. This coupling links the physical world with the inner abstraction models by sensor transformation, recognition, matching and optimization algorithms. The objective of this PhD is to establish this sensor-model coupling

Hierarchical Control and Trajectory Planning

Most of the time on this project was spent on the trajectory planning problem. The construction is equivalent to the classical spline construction in the case that the system matrix is nilpotent. If the dimension of the system is n then the spline of degree 2n-1 is constructed. This gives a new approach to the construction of splines that is more efficient than the usual construction and at the same time allows the construction of a much larger class of splines. All known classes of splines are reconstructed using the approach of linear control theory. As a numerical analysis tool control theory gives a very good tool for constructing splines. However, for the purposes of trajectory planning it is quite another story. Enclosed in this document are four reports done under this grant

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty

Biological Networks

Networks of coordinated interactions among biological entities govern a myriad of biological functions that span a wide range of both length and time scales—from ecosystems to individual cells and from years to milliseconds. For these networks, the concept “the whole is greater than the sum of its parts” applies as a norm rather than an exception. Meanwhile, continued advances in molecular biology and high-throughput technology have enabled a broad and systematic interrogation of whole-cell networks, allowing the investigation of biological processes and functions at unprecedented breadth and resolution—even down to the single-cell level. The explosion of biological data, especially molecular-level intracellular data, necessitates new paradigms for unraveling the complexity of biological networks and for understanding how biological functions emerge from such networks. These paradigms introduce new challenges related to the analysis of networks in which quantitative approaches such as machine learning and mathematical modeling play an indispensable role. The Special Issue on “Biological Networks” showcases advances in the development and application of in silico network modeling and analysis of biological systems

Sustainable development schemes: a complex network application to Caldas region

Este trabajo presenta un modelo matemático de ecuaciones diferenciales ordinarias (EDOs),para obtener la descripción dinámica de cada una de las componentes de la sostenibilidad (economia, desarrollo social y conservacion del medio ambiente), junto con su dependencia con la dinámica demográfica. A través del trabajo se obtuvieron las relaciones causales entre cada una de las componentes. Una vez construido el modelo, se procedió al estudio del estado estacionario del sistema, en el cual se hallaron ricos comportamientos dinámicos, desde bifurcaciones de codimensión 1 y 2 hasta dinámicas caóticas. Finalmente, se presenta una aplicación del modelo a un entorno geográfico específico (región de Caldas) mediante una aprximación de redes complejas / Abstract: This work presents a mathematical model of ordinary differential equations (ODEs), in order to obtain the dynamical description of each one of the sustainability components (economy,social development and environment conservation), together with their dependence with demographic dynamics. Through the work, causal relationships between each of the components were obtained. Once the model was constructed, the steady state of the system was studied. Several dynamical behavior were found, such as codim 1 and 2 bifurcations and chaotic dynamics. Finally, an application of the model is presented for a specific geographical environment (Caldas region), through a complex networks approachMaestrí