Learning from Morella: the memory of the urban form and the dialogical-historical approach in the contemporary design

From the dialogical models defended by Mijai´l Bajti´n (Bakhtin 1982), GIRAS Research Group has analyzed for years the historical urban form and architecture, trying to clarify how the architect can at the same time, innovate and preserve, understanding that in the specific of each place are the seeds for a good modernization. (Muntañola 2016). To understand the relationships between history and memory and to clarify the types of memory that the architect can use to learn from the city, we use Paul Ricoeur’s theory (Ricoeur 2010) and Space Syntax as a theory as well as a meth- od (Hillier 1996). In the case study of Morella, Spain, we will see that the urban form of the historical city has kept in his memory the existence of an old gate of the wall, in a place that people has forgotten. With historical drawings, plans, written sources, with archaeological exploration and with Space Syntax analysis, it will be shown that the memory of the city is present in the constructed form. In Morella, we will find some interesting examples about how the architect can make bridges between the new design and the history of the profession, of the place and of the society, analyzing two heritage buildings restored in the core of the city, the town hall and a church as a health center, and two new buildings outside the wall, the Primary School designed by Miralles & Pino´s and the Secondary School by Helio Piñón, both of them with international awards. (Beltran 2015)Peer ReviewedPostprint (published version

A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks

Exploiting interaction with the environment is a promising and powerful way to enhance stability of humanoid robots and robustness while executing locomotion and manipulation tasks. Recently some works have started to show advances in this direction considering humanoid locomotion with multi-contacts, but to be able to fully develop such abilities in a more autonomous way, we need to first understand and classify the variety of possible poses a humanoid robot can achieve to balance. To this end, we propose the adaptation of a successful idea widely used in the field of robot grasping to the field of humanoid balance with multi-contacts: a whole-body pose taxonomy classifying the set of whole-body robot configurations that use the environment to enhance stability. We have revised criteria of classification used to develop grasping taxonomies, focusing on structuring and simplifying the large number of possible poses the human body can adopt. We propose a taxonomy with 46 poses, containing three main categories, considering number and type of supports as well as possible transitions between poses. The taxonomy induces a classification of motion primitives based on the pose used for support, and a set of rules to store and generate new motions. We present preliminary results that apply known segmentation techniques to motion data from the KIT whole-body motion database. Using motion capture data with multi-contacts, we can identify support poses providing a segmentation that can distinguish between locomotion and manipulation parts of an action.Comment: 8 pages, 7 figures, 1 table with full page figure that appears in landscape page, 2015 IEEE/RSJ International Conference on Intelligent Robots and System

Morfologia verbal i anivellament dialectal: el cas del present de subjectiu calero

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Analyzing Whole-Body Pose Transitions in Multi-Contact Motions

When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved in walking, very few works analyze human motion where more complex supports occur. In this work, we analyze complex support pose transitions in human motion involving locomotion and manipulation tasks (loco-manipulation). We have applied a method for the detection of human support contacts from motion capture data to a large-scale dataset of loco-manipulation motions involving multi-contact supports, providing a semantic representation of them. Our results provide a statistical analysis of the used support poses, their transitions and the time spent in each of them. In addition, our data partially validates our taxonomy of whole-body support poses presented in our previous work. We believe that this work extends our understanding of human motion for humanoids, with a long-term objective of developing methods for autonomous multi-contact motion planning.Comment: 8 pages, IEEE-RAS International Conference on Humanoid Robots (Humanoids) 201

Efectos del estrés psicologico en la respuesta linfocitaria a los mitógenos

Se resumen 10s trabajos realizados hasta el presente en el ámbito de la psiconeuroinmunologia, dentro del grupo de investigación en psicologia de la salud de la Universitat Autbnoma de Barcelona, acerca de los efectos del estrés vital percibido y del estrés psicológico prequirúrgico en la respuesta prolifeativa de los linfocitos a la estimulación con mitógenosWe review the studies done at present in the field of psychoneuroimrnunology within the research group on health psychology at the Universitat Autònoma de Barcelona concerning the effects of perceived life stress and presurgical psychological stress on the proliferative Iymphocyte response to mitogens stimulatio