Probability and Common-Sense: Tandem Towards Robust Robotic Object Recognition in Ambient Assisted Living

The suitable operation of mobile robots when providing Ambient Assisted Living (AAL) services calls for robust object recognition capabilities. Probabilistic Graphical Models (PGMs) have become the de-facto choice in recognition systems aiming to e ciently exploit contextual relations among objects, also dealing with the uncertainty inherent to the robot workspace. However, these models can perform in an inco herent way when operating in a long-term fashion out of the laboratory, e.g. while recognizing objects in peculiar con gurations or belonging to new types. In this work we propose a recognition system that resorts to PGMs and common-sense knowledge, represented in the form of an ontology, to detect those inconsistencies and learn from them. The utilization of the ontology carries additional advantages, e.g. the possibility to verbalize the robot's knowledge. A primary demonstration of the system capabilities has been carried out with very promising results.

Una codificación prefija para un idioma artificial

This work focuses in the formal and technical analysis of some aspects of a constructed language. As a first part of the work, a possible coding for the language will be studied, emphasizing the pre x coding, for which an extension of the Hu man algorithm from binary to n-ary will be implemented. Because of that in the language we can't know a priori the frequency of use of the words, a study will be done and several strategies will be proposed for an open words system, analyzing previously the existing number of words in current natural languages. As a possible upgrade of the coding, we'll take also a look to the synchronization loss problem, as well as to its solution: the self-synchronization, a t-codes study with the number of possible words for the language, as well as other alternatives. Finally, and from a less formal approach, several applications for the language have been developed: A voice synthesizer, a speech recognition system and a system font for the use of the language in text processors. For each of these applications, the process used for its construction, as well as the problems encountered and still to solve in each will be detailed.

Targeted gene modification in Fragaria vesca mediated by CRISPR/Cas9 system

Genome editing is becoming an important biotechnological tool for gene function analysis and crop improvement, being the CRISPR-Cas9 (Clustered Regularly Interspaced Short Palindromic Repeat-CRISPR associated protein 9) system the most widely used. The natural CRISPR/Cas9 system has been reduced to two components: a single-guide RNA (sgRNA) for target recognition via RNA-DNA base pairing, which is commonly expressed using a promoter for small-RNAs (U6 promoter), and the Cas9 endonuclease for DNA cleavage (1). To validate the CRISPR/Cas9 system in strawberry plants, we designed two sgRNAs directed against the floral homeotic gene APETALA3 (sgRNA-AP3#1 and sgRNA-AP3#2). This gene was selected because ap3 mutations induce clear developmental phenotypes in which petals and stamens are missing or partially converted to sepals and carpels respectively (2). In this work, we used two different U6 promoters to drive the sgRNA-AP3s expression: AtU6-26 from Arabidopsis (4), and a U6 promoter from Fragaria vesca (FvU6) (this work). We also tested two different coding sequences of Cas9: a human- (hSpCas9) (3) and a plant-codon optimized (pSpCas9) (this work). Transient expression experiments using both CRISPR/Cas9 systems (AtU6-26:sgRNA-AP3#1_35S:hSpCas9_AtU6-26:sgRNA-AP3#2 and FvU6:sgRNA-AP3#1_35S:pSpCas9_FvU6:sgRNA-AP3#2) were performed infiltrating Agrobacterium tumefaciens into F. vesca fruits. PCR amplification and sequencing analyses across the target sites showed a deletion of 188-189 bp corresponding to the region comprised between the two cutting sites of Cas9, confirming that the CRISPR/Cas9 system is functional in F. vesca. Remarkably, the two systems showed different mutagenic efficiency that could be related to differences in expression of the U6 promoters as well as differences in the Cas9 transcripts stability and translation. Stable transformants for both F. vesca (2n) and Fragaria X anannassa (8n) are currently being established to test whether is possible to obtain heritable homozygous mutants derived from CRISPR/Cas9 strategies in strawberry. Thus, our work offers a promising tool for genome editing and gene functional analysis in strawberry. This tool might represent a more efficient alternative to the sometimes inefficient RNAi silencing methods commonly used in this species.

A discrete-time queueing system with feedback and optional service

Queueing systems constitute a central tool in modeling and performance analysis. These types of systems are in our everyday life activities, and the theory of queueing systems was developed to provide models for forecasting behaviors of systems subject to random demand. The practical and useful applications of the discrete-time queues make the researchers to con- tinue making an e ort in analyzing this type of models. Thus the present contribution relates to a discrete-time Geo/G/1 queue in which some messages may need a second service time in addition to the rst essential service. In day-to-day life, there are numerous examples of queueing situations in general, for example, in manufacturing processes, telecommunication, home automation, etc, but in this paper a particular application is the use of video surveil- lance with intrusion recognition where all the arriving messages require the main service and only some may require the subsidiary service provided by the server with di erent types of strategies. We carry out a thorough study of the model, deriving analytical results for the stationary distribution. The generating functions of the number of messages in the queue and in the system are obtained. The generating functions of the busy period as well as the sojourn times of a message in the server, the queue and the system are also provided.