In recent years different control architectures have been proposed for autonomous robots that are required to carry out service tasks robustly in civilian environments. In this paper a novel architecture is presented, which differs from the typical approaches from two main points of view: it is non hierarchical and it introduces an additional level of representation and reasoning based on image...

In this paper, we present HiME, a tool for editing i* models. The distinguishing characteristic of HiME is its ability to deal with inheritance. It includes specific operations for declaring an actor as heir of another and then stating the relationships between the intentional elements of both actors.

Working toward a model independent understanding of cosmic microwave background (CMB) anisotropies and their significance, we undertake a comprehensive and self-contained study of scalar perturbation theory. Initial conditions, evolution, thermal history, matter content, background dynamics, and geometry all play a role in determining the anisotropy. By employing analytic techniques to illumina...