Haptic Interaction with 3D oriented point clouds on the GPU

Real-time point-based rendering and interaction with virtual objects is gaining popularity and importance as di�erent haptic devices and technologies increasingly provide the basis for realistic interaction. Haptic Interaction is being used for a wide range of applications such as medical training, remote robot operators, tactile displays and video games. Virtual object visualization and interaction using haptic devices is the main focus; this process involves several steps such as: Data Acquisition, Graphic Rendering, Haptic Interaction and Data Modi�cation. This work presents a framework for Haptic Interaction using the GPU as a hardware accelerator, and includes an approach for enabling the modi�cation of data during interaction. The results demonstrate the limits and capabilities of these techniques in the context of volume rendering for haptic applications. Also, the use of dynamic parallelism as a technique to scale the number of threads needed from the accelerator according to the interaction requirements is studied allowing the editing of data sets of up to one million points at interactive haptic frame rates

Liberties and Rights relative to access and participation in Cultural Life

Se presenta una reflexión, tomando como base la Declaración de Friburgo, a propósito de los derechos y libertades tocantes a las posibilidades de acceso y particip ación de la ciudadanía en el mundo de la cultura.A reflexion is presented, based on the Freiburg Declaration, regarding the rights and liberties related to the possibilities for public access and participation in the world of culture

Aplicación de técnicas de Deep Reinforcement Learning a misiones de exploración para vehículos autónomos en escenarios lacustres

Este trabajo se enmarca dentro un proyecto de colaboración entre la Escuela Técnica Superior de Ingeniería de Sevilla (ACE-TI) y la Universidad Nacional de Asunción de Paraguay para la monitorización y supervisión del estado de contaminación del lago Ypacaraí (Paraguay). En este proyecto se ha llevado a cabo un estudio de distintas metodologías de planificación y exploración con vehículos autónomos basadas en las, cada vez más populares, técnicas de Reinforcement Learning y Deep Reinforcement Learning. Se ha diseñado un escenario basado en la geometría espacial del lago y se han parametrizado y aplicado distintos algoritmos como Deep Q-Learning y Double Deep Q-Learning para acometer la tarea de que el agente, un vehículos de superficie autónomo, aprenda a cubrir con eficiencia todas las zonas del lago siguiendo distintos criterios de ponderación. Adicionalmente, se ha realizado un acercamiento a la sintonización de los hiperparámetros de entrenamiento para alcanzar resultados cercanos a los óptimos.This research takes place within the context of a collaborative project between the Engineering School of Seville (ACE-TI research group) and Asunción University of Paraguay. Its objetive are the supervision and monitoring of the contamination state of Ypacari Lake in Paraguay. In this academic research, a study of several methodologies has been done whith the focus in exploration and path planning in Autonomous Surface Vehicles based on recently trending Reinforcement Learning and Deep Reinforcement Learning technics. An environment based on the spatial geometry of Ypacarai Lake has been designed and some algorithms as Deep Q-Learning and Double Deep Q-Learning have been implemented in order to achieve the main goal: training an autonomous surface vehicle to explore with efficiency the lake following some importance criteria. In addition, a hyperparameter tunning approach has been achieved for obtaining more optimal-near results.Universidad de Sevilla. Máster en Ingeniería Electrónica, Robótica y Automátic

Análisis y modelado de un vehículo VTOL híbrido. Caso bidimensional

En este documento se ha realizado un análisis de la dinámica de una aeronave tipo Tilt-Wing UAV (Unmanned Aerial Vehicle) desde el punto de vista mecánico, aerodinámico y propulsivo para su posterior modelado e implementado en un simulador dentro de Matlab™. Habiéndose descrito la dinámica del sistema, se disponen las ecuaciones de los modelos sobre los que se linealizará posteriormente con el objetivo de plantear dos estrategias de control distintas: por un lado, tendremos una estrategia de control desacoplado por linealización y por otro, una mecánica de control basada en la prelinealización por realimentación. Ambas estrategias son comparadas según distintos criterios de viabilidad y efectividad. Se plantean dos métodos derivados de estas dos estrategias de control para realizar la transición entre los dos modos extremos de vuelo (modo helicóptero a baja velocidad aerodinámica y modo de vuelo longitudinal a alta velocidad aerodinámica). Estas dos estrategias plantearán las líneas iniciales de investigación en el aspecto del control de la aeronave Emergentia. Por último, se realiza un breve análisis de la dinámica de bajo nivel de los actuadores (motores BLCD y servomotores) con el objetivo de dimensionar dicho hardware para la posterior implementación en el prototipo real de la aeronave.In this document an analysis of the dynamics of a Tilt-Wing UAV (Unmanned Aerial Vehicle) has been developed from the point of view of the mechanics, aerodynamics and propulsive system in order to obtain a model and a simulator in Matlab™. Once described the dynamics of the system, the equations of the models are set for a posterior linearization with the aim to stablish two different control strategies: in one hand, a linearization and decoupling control strategie; in the other hand, a prelinearization by feedback control scheme. Both technics are compared under different criteria of viability and effectivity. Two methods are set to achieve the transition between the two flight complementary modes (Helicopter mode with a low airspeed and Longitudinal Flight mode with high airspeed). These strategies lay the basis of the control research for the Emergentia aircraft. Finally, a brief analysis of the low level actuators dynamics is obtained (BLDC motors and servomotors) with the objective of dimensioning the hardware which could be implemented in the real prototype of the aircraft.Universidad de Sevilla. Grado en Ingeniería Electrónica, Robótica y Mecatrónic

Caracterización de la demanda de transporte

Incluye Bibliografí

Censored deep reinforcement patrolling with information criterion for monitoring large water resources using Autonomous Surface Vehicles

© 2022 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/)Monitoring and patrolling large water resources is a major challenge for nature conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of Autonomous Surface Vehicles equipped with water quality sensor modules can serve as an early-warning system for contamination peak-detection, algae blooms monitoring, or oil-spill scenarios. In addition to information gathering, the vehicle must plan routes that are free of obstacles on non-convex static and dynamics maps. This work proposes a novel framework to obtain a collision-free policy using deterministic knowledge of the environment by means of a censoring operator and noisy networks that addresses the informative path planning with emphasis in temporal patrolling. Using information gain as a measure of the uncertainty reduction over data, it is proposed a Deep Q-Learning algorithm improved by a Q-Censoring mechanism for model-based obstacle avoidance. The obtained results demonstrate the effectiveness of the proposed algorithm for both cases in the Ypacaraí monitorization task. Simulations showed that the use of noisy-networks are a good choice for enhanced exploration, with 3 times less redundancy in the paths with respect to — greedy policy. Previous coverage strategies are also outperformed both in the accuracy of the obtained contamination model by a 13% on average and by a 37% in the detection of dangerous contamination peaks. Finally, the achieved results indicate the appropriateness of the proposed framework for monitoring scenarios with autonomous vehicles

Las libertades y los derechos relativos al acceso y a la participación en la vida cultural

Se presenta una reflexión, tomando como base la Declaración de Friburgo, a propósito de los derechos y libertades tocantes a las posibilidades de acceso y particip ación de la ciudadanía en el mundo de la cultura. Palabras clave: cultura; derecho cultural; acceso y participación a la cultura; Declaración de Friburgo. Liberties and Rights relative to access and participation in Cultural Life Abstract: A reflexion is presented, based on the Freiburg Declaration, regarding the rights and liberties related to the possibilities for public access and participation in the world of culture. Keywords: culture; cultural law; access and participation in culture; Freiburg Declaration. Artículo recibido: 27/09/2014. Aceptado: 13/09/201