On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter��s position and using the extracted information to control the UAV.

Energy- and environmentally efficient road management: The case of the Spanish motorway network

Transport is responsible for 41% of CO2 emissions in Spain, and around 65% of that figure is due to road traffic. Tolled motorways are currently managed according to economic criteria: minimizing operational costs and maximizing revenues from tolls. Within this framework, this paper develops a new methodology for managing motorways based on a target of maximum energy efficiency. It includes technological and demand-driven policies, which are applied to two case studies. Various conclusions emerge from this study. One is, that the use of intelligent payment systems is recommended; and another, is that the most sustainable policy would involve defining the most efficient strategy for each motorway section, including the maximum use of its capacity, the toll level which attracts the most vehicles, and the optimum speed limit for each type of vehicle.

Rapid prototyping framework for visual control of autonomous micro aerial vehicles

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro Aerial Vehicles (MAV). We have applied a combination of a proxy-based network communication architecture and a custom Application Programming Interface. This allows multiple experimental configurations, like drone swarms or distributed processing of a drone���s video stream. Currently, the framework supports a low-cost MAV: the Parrot AR.Drone. Real tests have been performed on this platform and the results show comparatively low figures of the extra communication delay introduced by the framework, while adding new functionalities and flexibility to the selected drone. This implementation is open-source and can be downloaded from www.vision4uav.com/?q=VC4MAV-FW

On the economics of energy consumption in 4G networks: the case of Spain

Reducing energy consumption is one of the main challenges in most countries. For example, European Member States agreed to reduce greenhouse gas (GHG) emissions by 20% in 2020 compared to 1990 levels (EC 2008). Considering each sector separately, ICTs account nowadays for 2% of total carbon emissions. This percentage will increase as the demand of communication services and applications steps up. At the same time, the expected evolution of ICT-based developments - smart buildings, smart grids and smart transportation systems among others - could result in the creation of energy-saving opportunities leading to global emission reductions (Labouze et al. 2008), although the amount of these savings is under debate (Falch 2010). The main development required in telecommunication networks ?one of the three major blocks of energy consumption in ICTs together with data centers and consumer equipment (Sutherland 2009) ? is the evolution of existing infrastructures into ultra-broadband networks, the so-called Next Generation Networks (NGN). Fourth generation (4G) mobile communications are the technology of choice to complete -or supplement- the ubiquitous deployment of NGN. The risk and opportunities involved in NGN roll-out are currently in the forefront of the economic and policy debate. However, the issue of which is the role of energy consumption in 4G networks seems absent, despite the fact that the economic impact of energy consumption arises as a key element in the cost analysis of this type of networks. Precisely, the aim of this research is to provide deeper insight on the energy consumption involved in the usage of a 4G network, its relationship with network main design features, and the general economic impact this would have in the capital and operational expenditures related with network deployment and usage.

Modeling impact assessment of transport policies through a multiregional input-output integrated approach

El objetivo de esta investigaci��n es desarrollar una metodolog��a para estimar los potenciales impactos econ��micos y de transporte generados por la aplicaci��n de pol��ticas en el sector transporte. Los departamentos de transporte y otras instituciones gubernamentales relacionadas se encuentran interesadas en estos an��lisis debido a que son presentados com��nmente de forma err��nea por la insuficiencia de datos o por la falta de metodolog��as adecuadas. La presente investigaci��n tiene por objeto llenar este vac��o haciendo un an��lisis exhaustivo de las t��cnicas disponibles que coincidan con ese prop��sito. Se ha realizado un an��lisis que ha identificado las diferencias cuando son aplicados para la valoraci��n de los beneficios para el usuario o para otros efectos como aspectos sociales. Como resultado de ello, esta investigaci��n ofrece un enfoque integrado que incluye un modelo Input-Output de m��ltiples regiones basado en la utilidad aleatoria (RUBMRIO), y un modelo de red de transporte por carretera. Este modelo permite la reproducci��n con mayor detalle y realismo del transporte de mercanc��as que por medio de su estructura sectorial identifica los v��nculos de las compras y ventas inter-industriales dentro de un pa��s utilizando los servicios del transporte de mercanc��as. Por esta raz��n, el modelo integrado es aplicable a diversas pol��ticas de transporte. En efecto, el enfoque se ha aplicado para estudiar los efectos macroecon��micos regionales de la implementaci��n de dos pol��ticas diferentes en el sistema de transporte de mercanc��as de Espa��a, tales como la tarificaci��n basada en la distancia recorrida por veh��culo-kil��metro (���/km) aplicada a los veh��culos del transporte de mercanc��as, y para la introducci��n de veh��culos m��s largos y pesados de mercanc��as en la red de carreteras de Espa��a. El enfoque metodol��gico se ha evaluado caso por caso teniendo en cuenta una selecci��n de la red de carreteras que unen las capitales de las regiones espa��olas. Tambi��n se ha tenido en cuenta una dimensi��n econ��mica a trav��s de una tabla Input-Output de m��ltiples regiones (MRIO) y la base de datos de conteo de tr��fico existente para realizar la validaci��n del modelo. El enfoque integrado reproduce las condiciones de comercio observadas entre las regiones usando el sistema de transporte de mercanc��as por carretera, y que permite por comparaci��n con los escenarios de pol��ticas, determinar las contribuciones a los cambios distributivos y generativos. As�� pues, el an��lisis estima los impactos econ��micos en cualquier regi��n considerando los cambios en el Producto Interno Bruto (PIB) y el empleo. El enfoque identifica los cambios en el sistema de transporte a trav��s de todos los caminos de la red de transporte a trav��s de las medidas de efectividad (MOEs). Los resultados presentados en esta investigaci��n proporcionan evidencia sustancial de que en la evaluaci��n de las pol��ticas de transporte, es necesario establecer un v��nculo entre la estructura econ��mica de las regiones y de los servicios de transporte. Los an��lisis muestran que para la mayor��a de las regiones del pa��s, los cambios son evidentes para el PIB y el empleo, ya que el comercio se fomenta o se inhibe. El enfoque muestra c��mo el tr��fico se desv��a en ambas pol��ticas, y tambi��n determina detalles de las emisiones de contaminantes en los dos escenarios. Adem��s, las pol��ticas de fijaci��n de precios o de regulaci��n de los sistemas de transporte de mercanc��as por carretera dirigidas a los productores y consumidores en las regiones promover��n transformaciones regionales afectando todo el pa��s, y esto conduce a conclusiones diferentes. As�� mismo, este enfoque integrado podr��a ser ��til para evaluar otras pol��ticas y otros pa��ses en todo el mundo. The purpose of this research is to develop a methodological approach aimed at assessing the potential economic and transportation impacts of transport policies. Transportation departments and other related government parties are interested in such analysis because it is commonly misrepresented for the insufficiency of data and suitable methodologies available. This research is directed at filling this gap by making a comprehensive analysis of the available techniques that match with that purpose. The differences when they are applied for the valuation of user benefits or for other impacts as social matters have been identified. As a result, this research presents an integrated approach which includes both a random utility-based multiregional Input-Output model (RUBMRIO), and a road transport network model. This model accounts for freight transport with more detail and realism because its commodity-based structure traces the linkages of inter-industry purchases and sales that use freight services within a given country. For this reason, the integrated model is applicable to various transport policies. In fact, the approach is applied to study the regional macroeconomic effects of implementing two different policies in the freight transport system of Spain, such as a distance-based charge in vehicle-kilometer (���/km) for Heavy Goods Vehicles (HGVs), and the introduction of Longer and Heavier Vehicles (LHVs) in the road network of Spain. The methodological approach has been evaluated on a case by case basis considering a selected road network of highways linking the capitals of the Spanish regions. It has also considered an economic dimension through a Multiregional Input Output Table (MRIO) and the existing traffic count database used in the model validation. The integrated approach replicates observed conditions of trade among regions using road freight transport systems that determine contributions to distributional and generative changes by comparison with policy scenarios. Therefore, the model estimates economic impacts in any given area by considering changes in Gross Domestic Product (GDP), employment (jobs), and in the transportation system across all paths of the transport network considering Measures of effectiveness (MOEs). The results presented in this research provide substantive evidence that in the assessment of transport policies it is necessary to establish a link between the economic structure of regions and the transportation services. The analysis shows that for most regions in the country, GDP and employment changes are noticeable when trade is encouraged or discouraged. This approach shows how traffic is diverted in both policies, and also provides details of the pollutant emissions in both scenarios. Furthermore, policies, such as pricing or regulation of road freight transportation systems, directed to producers and consumers in regions will promote different regional transformations across the country, and this lead to different conclusions. In addition, this integrated approach could be useful to assess other policies and countries worldwide.

A Hierarchical Tracking Strategy for Vision-Based Applications On-Board UAVs

In this paper, we apply a hierarchical tracking strategy of planar objects (or that can be assumed to be planar) that is based on direct methods for vision-based applications on-board UAVs. The use of this tracking strategy allows to achieve the tasks at real-time frame rates and to overcome problems posed by the challenging conditions of the tasks: e.g. constant vibrations, fast 3D changes, or limited capacity on-board. The vast majority of approaches make use of feature-based methods to track objects. Nonetheless, in this paper we show that although some of these feature-based solutions are faster, direct methods can be more robust under fast 3D motions (fast changes in position), some changes in appearance, constant vibrations (without requiring any specific hardware or software for video stabilization), and situations in which part of the object to track is outside of the field of view of the camera. The performance of the proposed tracking strategy on-board UAVs is evaluated with images from realflight tests using manually-generated ground truth information, accurate position estimation using a Vicon system, and also with simulated data from a simulation environment. Results show that the hierarchical tracking strategy performs better than wellknown feature-based algorithms and well-known configurations of direct methods, and that its performance is robust enough for vision-in-the-loop tasks, e.g. for vision-based landing tasks.

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

This research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan. For experimental testing, we have used down-facing camera optical-flow as odometry measurement. This work is a continuation of prior research to outdoors environments using an AR Drone 2.0 vehicle, as it provides reliable optical flow on a wide range of flying conditions and floor textures. Our experiments show that the architecture is realiable for outdoors flight on altitudes lower than 9 m. A prior version of our code was utilized to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012. The code will be released as an open-source ROS stack hosted on GitHub.

Una propuesta de modelado del estudiante basada en ontolog��as y diagn��stico pedag��gico-cognitivo no mon��tono

Los recientes avances tecnol��gicos han encontrado un potencial campo de explotaci��n en la educaci��n asistida por computador. A finales de los a��os 90 surgi�� un nuevo campo de investigaci��n denominado Entornos Virtuales Inteligentes para el Entrenamiento y/o Ense��anza (EVIEs), que combinan dos ��reas de gran complejidad: Los Entornos Virtuales (EVs) y los Sistemas de Tutor��a Inteligente (STIs). De este modo, los beneficios de los entornos 3D (simulaci��n de entornos de alto riesgo o entornos de dif��cil uso, etc.) pueden combinarse con aqu��llos de un STIs (personalizaci��n de materias y presentaciones, adaptaci��n de la estrategia de tutor��a a las necesidades del estudiante, etc.) para proporcionar soluciones educativas/de entrenamiento con valores a��adidos. El Modelo del Estudiante, n��cleo de un SIT, representa el conocimiento y caracter��sticas del estudiante, y refleja el proceso de razonamiento del estudiante. Su complejidad es incluso superior cuando los STIs se aplican a EVs porque las nuevas posibilidades de interacci��n proporcionadas por estos entornos deben considerarse como nuevos elementos de informaci��n clave para el modelado del estudiante, incidiendo en todo el proceso educativo: el camino seguido por el estudiante durante su navegaci��n a trav��s de escenarios 3D; el comportamiento no verbal tal como la direcci��n de la mirada; nuevos tipos de pistas e instrucciones que el m��dulo de tutor��a puede proporcionar al estudiante; nuevos tipos de preguntas que el estudiante puede formular, etc. Por consiguiente, es necesario que la estructura de los STIs, embebida en el EVIE, se enriquezca con estos aspectos, mientras mantiene una estructura clara, estructurada, y bien definida. La mayor��a de las aproximaciones al Modelo del Estudiante en STIs y en IVETs no consideran una taxonom��a de posibles conocimientos acerca del estudiante suficientemente completa. Adem��s, la mayor��a de ellas s��lo tienen validez en ciertos dominios o es dif��cil su adaptaci��n a diferentes STIs. Para vencer estas limitaciones, hemos propuesto, en el marco de esta tesis doctoral, un nuevo mecanismo de Modelado del Estudiante basado en la Ingenier��a Ontol��gica e inspirado en principios pedag��gicos, con un modelo de datos sobre el estudiante amplio y flexible que facilita su adaptaci��n y extensi��n para diferentes STIs y aplicaciones de aprendizaje, adem��s de un m��todo de diagn��stico con capacidades de razonamiento no mon��tono. El m��todo de diagn��stico es capaz de inferir el estado de los objetivos de aprendizaje contenidos en el SIT y, a partir de ��l, el estado de los conocimientos del estudiante durante su proceso de aprendizaje. La aproximaci��n almodelado del estudiante propuesta ha sido implementada e integrada en un agente software (el agente de modelado del estudiante) dentro de una plataforma software existente para el desarrollo de EVIEs denominadaMAEVIF. Esta plataforma ha sido dise��ada para ser f��cilmente configurable para diferentes aplicaciones de aprendizaje. El modelado del estudiante presentado ha sido implementado e instanciado para dos tipos de entornos de aprendizaje: uno para aprendizaje del uso de interfaces gr��ficas de usuario en una aplicaci��n software y para un Entorno Virtual para entrenamiento procedimental. Adem��s, se ha desarrollado una metodolog��a para guiar en la aplicaci��n del esta aproximaci��n de modelado del estudiante a cada sistema concreto.---ABSTRACT---Recent technological advances have found a potential field of exploitation in computeraided education. At the end of the 90���s a new research field emerged, the so-called Intelligent Virtual Environments for Training and/or Education (IVETs), which combines two areas of great complexity: Virtual Environments (VE) and Intelligent Tutoring Systems (ITS). In this way, the benefits of 3D environments (simulation of high risk or difficult-to-use environments, etc.) may be combined with those of an ITS (content and presentation customization, adaptation of the tutoring strategy to the student requirements, etc.) in order to provide added value educational/training solutions. The StudentModel, core of an ITS, represents the student���s knowledge and characteristics, and reflects the student���s reasoning process. Its complexity is even higher when the ITSs are applied on VEs because the new interaction possibilities offered by these environments must be considered as new key information pieces for student modelling, impacting all the educational process: the path followed by the student during their navigation through 3D scenarios; non-verbal behavior such as gaze direction; new types of hints or instructions that the tutoring module can provide to the student; new question types that the student can ask, etc. Thus, it is necessary for the ITS structure, which is embedded in the IVET, to be enriched by these aspects, while keeping a clear, structured and well defined architecture. Most approaches to SM on ITSs and IVETs don���t consider a complete enough taxonomy of possible knowledge about the student. In addition, most of them have validity only in certain domains or they are hard to be adapted for different ITSs. In order to overcome these limitations, we have proposed, in the framework of this doctoral research project, a newStudentModeling mechanism that is based onOntological Engineering and inspired on pedagogical principles, with a wide and flexible data model about the student that facilitates its adaptation and extension to different ITSs and learning applications, as well as a rich diagnosis method with non-monotonic reasoning capacities. The diagnosis method is able to infer the state of the learning objectives encompassed by the ITS and, fromit, the student���s knowledge state during the student���s process of learning. The proposed student modelling approach has been implemented and integrated in a software agent (the student modeling agent) within an existing software platform for the development of IVETs called MAEVIF. This platform was designed to be easily configurable for different learning applications. The proposed student modeling has been implemented and it has been instantiated for two types of learning environments: one for learning to use the graphical user interface of a software application and a Virtual Environment for procedural training. In addition, a methodology to guide on the application of this student modeling approach to each specific system has been developed.

Especificaci��n del comportamiento de un avatar en un mundo virtual mediante una ontolog��a

El presente trabajo describe la construcci��n de una aplicaci��n que controla a un Non Player Character (NPC), en un mundo virtual. La aplicaci��n desarrollada, que tiene como nombre BotManager, realiza dos tareas fundamentales: 1) conectarse al repositorio de conocimiento, que en esta implementaci��n es una ontolog��a expresada en OWL, para obtener las acciones que debe realizar el NPC dentro del mundo virtual; y 2) ordenar al NPC que realice estas acciones en un mundo virtual creado con la plataforma OpenSimulator. BotManager puede tener variadas aplicaciones, por lo tanto puede ser usada como complemento en mundos virtuales aplicados a la educaci��n, simulaci��n, ocio, etc. Ahora bien, la principal raz��n que motiv�� el desarrollo del BotManager fue la de crear un sistema de demostraci��n autom��tica de tareas en un mundo virtual destinado a la educaci��n/ entrenamiento. De esta forma, un Sistema Inteligente de Tutor��a integrado con un mundo virtual podr��a demostrar paso a paso a un estudiante c��mo realizar una tarea en el mundo virtual. La ontolog��a que lee el BotManager extiende la ontolog��a propuesta en la tesis ���Una propuesta de modelado del estudiante basada en ontolog��as y diagn��stico pedag��gico-cognitivo no mon��tono��� de Julia Parraga en el 2011 (Ontolog��a de Julia). La construcci��n y las pruebas del BotManager se llevaron a cabo en tres etapas: 1) creaci��n de la Ontolog��a de Acciones del NPC que extiende la Ontolog��a de Julia; 2) dise��o e implementaci��n de la aplicaci��n en C# que lee la ontolog��a que contiene el plan de acci��n del NPC, y ordena al NPC realizar las acciones en el mundo virtual; y 3) pruebas de la aplicaci��n con la pr��ctica ���preparaci��n de una taza de cafe���, que es parte de un Laboratorio Virtual de Biotecnolog��a. El BotManager se ha dise��ado como una aplicaci��n cliente que se conecta a un servidor de Open- Simulator. Por lo tanto, puede ejecutarse en una m��quina distinta a la del servidor. Asimismo, en la implementaci��n del BotManager se ha utilizado una librer��a gratuita denominada LibOpenMetaverse que permite controlar un NPC de forma remota.---ABSTRACT---This paper describes the construction of an application that controls a Non Player Character (NPC), in a virtual world. The application developed, called BotManager, performs two main tasks: 1) the connection to the repository of knowledge, which in this implementation is an ontology expressed in OWL, and retrieving the actions to be performed by the NPC within the virtual world; and 2) commanding the NPC to perform these actions in a virtual world created with the OpenSimulator platform. BotManager can have diverse applications, therefore it can be used as a complement in virtual worlds applied to education, simulation, entertainment, etc. However, the main reason behind the development of BotManager was to create an automatic demonstration of tasks in a virtual world for education / training. Thus, a virtual world integrated with an Intelligent Tutoring Systems could demonstrate step by step to a student how to perform a task in the virtual world. The ontology used by the BotManager extends ontology proposed in the thesis ���A proposal for modeling ontologies based student and not monotonous teaching-cognitive diagnosis��� by Julia Parraga in 2011 (Julia���s Ontology). Construction and testing of BotManager were conducted in three stages: 1) creation of the NPC Actions Ontology by extending the Julia���s Ontology; 2) design and implementation of the application in C# that reads the ontology containing the plan of action of the NPC, and commands the NPC to perform the read plan in the virtual world; and 3) testing of the application with the practice ���preparing a cup of coffee���, which is part of a Virtual Laboratory of Biotechnology. The BotManager has been designed as a client application that connects to an OpenSimulator server. Therefore, it can run on a different machine to the server. To implement the BotManager we have used a free library called libopenmetaverse that allows us to control a NPC remotely.

Cooperative ITS communications architecture: the FOTsis project approach and beyond

With the continuous development in the fields of sensors, advanced data processing and communications, road transport oriented intelligent applications and services have reached a significant maturity and complexity. Cooperative ITS services, based on the idea of sharing accurate information among road entities, are currently being tested on a large scale by different initiatives. The field operational test (FOTsis) project contributes to the deployment environment with services that involve a significant number of entities out of the vehicle. This made necessary the specification of an architecture which, based on the ISO ITS station reference architecture for communications, could support the requirements of the services proposed in the project. During the project, internal implementation tests and external interoperability tests have resulted in the validation of the proposed architecture. At the same time, these tests have had as a result the awareness of areas in which the FOTsis architecture could be completed, mainly to take full advantage of all the emerging and foreseeable data sources which may be relevant in the road environment. In this study, the authors will outline an approach that, based on the current cooperative ITS architecture and the SmartCities and Internet Of Things (IoT) architectures, can provide a common convergence platform to maximise the information available for ITS purposes.

Implementaci��n de un sistema inform��tico para el procesamiento de datos de tr��fico vial

El presente Trabajo de Fin de Grado se enmarca dentro de un sistema de control y desarrollo de sistemas inteligentes de transporte (ITS). Este Trabajo consta de varias l��neas de desarrollo, que se engloban dentro de dicho marco y surgen de la necesidad de aumentar la seguridad, flujo, estructura y mantenimiento de las carreteras incorporando las tecnolog��as m��s recientes. En primer lugar, el presente Trabajo se centra en el desarrollo de un nuevo sistema de procesamiento de datos de tr��fico en tiempo real que aprovecha las tecnolog��as de Big Data, Cloud Computing y Map-Reduce que han surgido estos ��ltimos a��os. Para ello se realiza un estudio previo de los datos de tr��fico vial que originan los veh��culos que viajan por carreteras. Centr��ndose en el sistema empleado por la Direcci��n General de Tr��fico de Espa��a y compar��ndolos con el de las Empresas basadas en servicios de localizaci��n (LBS). Se expone el modelo Hadoop utilizado as�� como el proceso Map-Reduce implementado en este sistema analizador. Por ��ltimo los datos de salida son preparados y enviados a un m��dulo web b��sico que act��a como Sistema de Informaci��n Geogr��fica (GIS).---ABSTRACT---This Final Degree Project is part of a control system and development of intelligent transport systems (ITS). This work is part of a several lines of development, which are included within this framework and arise from the need to increase security, flow, structure and maintenance of roads incorporating the latest technologies. First, this paper focuses on the development of a new data processing system of real-time traffic that takes advantage of Big Data, Cloud Computing and Map-Reduce technologies emerged in our recent years. It is made a preliminary study of road traffic data originated by vehicles traveling by road. Focusing on the system used by the Direcci��n General de Tr��fico of Spain and compared with that of the companies offering location based services (LBS). It is exposed the used Hadoop model and the Map-Reduce process implemented on this analyzer system. Finally, the output data is prepared and sent to a basic web module that acts as Geographic Information System (GIS).

Vacant parking area estimation through background subtraction and transience map analysis

A method for estimating the dimensions of non-delimited free parking areas by using a static surveillance camera is proposed. The proposed method is specially designed to tackle the main challenges of urban scenarios (multiple moving objects, outdoor illumination conditions and occlusions between vehicles) with no training. The core of this work is the temporal analysis of the video frames to detect the occupancy variation of the parking areas. Two techniques are combined: background subtraction using a mixture of Gaussians to detect and track vehicles and the creation of a transience map to detect the parking and leaving of vehicles. The authors demonstrate that the proposed method yields satisfactory estimates on three real scenarios while being a low computational cost solution that can be applied in any kind of parking area covered by a single camera.

Local optimal scale in a hierarchical segmentation method for satellite image: an OBIA approach for the agricultural landscape

Overrecentdecades,remotesensinghasemergedasaneffectivetoolforimprov- ing agriculture productivity. In particular, many works have dealt with the problem of identifying characteristics or phenomena of crops and orchards on different scales using remote sensed images. Since the natural processes are scale dependent and most of them are hierarchically structured, the determination of optimal study scales is mandatory in understanding these processes and their interactions. The concept of multi-scale/multi- resolution inherent to OBIA methodologies allows the scale problem to be dealt with. But for that multi-scale and hierarchical segmentation algorithms are required. The question that remains unsolved is to determine the suitable scale segmentation that allows different objects and phenomena to be characterized in a single image. In this work, an adaptation of the Simple Linear Iterative Clustering (SLIC) algorithm to perform a multi-scale hierarchi- cal segmentation of satellite images is proposed. The selection of the optimal multi-scale segmentation for different regions of the image is carried out by evaluating the intra- variability and inter-heterogeneity of the regions obtained on each scale with respect to the parent-regions defined by the coarsest scale. To achieve this goal, an objective function, that combines weighted variance and the global Moran index, has been used. Two different kinds of experiment have been carried out, generating the number of regions on each scale through linear and dyadic approaches. This methodology has allowed, on the one hand, the detection of objects on different scales and, on the other hand, to represent them all in a sin- gle image. Altogether, the procedure provides the user with a better comprehension of the land cover, the objects on it and the phenomena occurring.

Bio-inspired enhancement of reputation systems for intelligent environments

Providing security to the emerging field of ambient intelligence will be difficult if we rely only on existing techniques, given their dynamic and heterogeneous nature. Moreover, security demands of these systems are expected to grow, as many applications will require accurate context modeling. In this work we propose an enhancement to the reputation systems traditionally deployed for securing these systems. Different anomaly detectors are combined using the immunological paradigm to optimize reputation system performance in response to evolving security requirements. As an example, the experiments show how a combination of detectors based on unsupervised techniques (self-organizing maps and genetic algorithms) can help to significantly reduce the global response time of the reputation system. The proposed solution offers many benefits: scalability, fast response to adversarial activities, ability to detect unknown attacks, high adaptability, and high ability in detecting and confining attacks. For these reasons, we believe that our solution is capable of coping with the dynamism of ambient intelligence systems and the growing requirements of security demands.

Knowledge-based models for adaptive traffic management systems

This paper describes a general approach for real time traffic management support using knowledge based models. Recognizing that human intervention is usually required to apply the current automatic traffic control systems, it is argued that there is a need for an additional intelligent layer to help operators to understand traffic problems and to make the best choice of strategic control actions that modify the assumption framework of the existing systems.