Contributions to 3D Data Registration and Representation

Nowadays, new computers generation provides a high performance that enables to build computationally expensive computer vision applications applied to mobile robotics. Building a map of the environment is a common task of a robot and is an essential part to allow the robots to move through these environments. Traditionally, mobile robots used a combination of several sensors from different technologies. Lasers, sonars and contact sensors have been typically used in any mobile robotic architecture, however color cameras are an important sensor due to we want the robots to use the same information that humans to sense and move through the different environments. Color cameras are cheap and flexible but a lot of work need to be done to give robots enough visual understanding of the scenes. Computer vision algorithms are computational complex problems but nowadays robots have access to different and powerful architectures that can be used for mobile robotics purposes. The advent of low-cost RGB-D sensors like Microsoft Kinect which provide 3D colored point clouds at high frame rates made the computer vision even more relevant in the mobile robotics field. The combination of visual and 3D data allows the systems to use both computer vision and 3D processing and therefore to be aware of more details of the surrounding environment. The research described in this thesis was motivated by the need of scene mapping. Being aware of the surrounding environment is a key feature in many mobile robotics applications from simple robotic navigation to complex surveillance applications. In addition, the acquisition of a 3D model of the scenes is useful in many areas as video games scene modeling where well-known places are reconstructed and added to game systems or advertising where once you get the 3D model of one room the system can add furniture pieces using augmented reality techniques. In this thesis we perform an experimental study of the state-of-the-art registration methods to find which one fits better to our scene mapping purposes. Different methods are tested and analyzed on different scene distributions of visual and geometry appearance. In addition, this thesis proposes two methods for 3d data compression and representation of 3D maps. Our 3D representation proposal is based on the use of Growing Neural Gas (GNG) method. This Self-Organizing Maps (SOMs) has been successfully used for clustering, pattern recognition and topology representation of various kind of data. Until now, Self-Organizing Maps have been primarily computed offline and their application in 3D data has mainly focused on free noise models without considering time constraints. Self-organising neural models have the ability to provide a good representation of the input space. In particular, the Growing Neural Gas (GNG) is a suitable model because of its flexibility, rapid adaptation and excellent quality of representation. However, this type of learning is time consuming, specially for high-dimensional input data. Since real applications often work under time constraints, it is necessary to adapt the learning process in order to complete it in a predefined time. This thesis proposes a hardware implementation leveraging the computing power of modern GPUs which takes advantage of a new paradigm coined as General-Purpose Computing on Graphics Processing Units (GPGPU). Our proposed geometrical 3D compression method seeks to reduce the 3D information using plane detection as basic structure to compress the data. This is due to our target environments are man-made and therefore there are a lot of points that belong to a plane surface. Our proposed method is able to get good compression results in those man-made scenarios. The detected and compressed planes can be also used in other applications as surface reconstruction or plane-based registration algorithms. Finally, we have also demonstrated the goodness of the GPU technologies getting a high performance implementation of a CAD/CAM common technique called Virtual Digitizing.

Enrichment of the Phenotypic and Genotypic Data Warehouse analysis using Question Answering systems to facilitate the decision making process in cereal breeding programs

Currently there are an overwhelming number of scientific publications in Life Sciences, especially in Genetics and Biotechnology. This huge amount of information is structured in corporate Data Warehouses (DW) or in Biological Databases (e.g. UniProt, RCSB Protein Data Bank, CEREALAB or GenBank), whose main drawback is its cost of updating that makes it obsolete easily. However, these Databases are the main tool for enterprises when they want to update their internal information, for example when a plant breeder enterprise needs to enrich its genetic information (internal structured Database) with recently discovered genes related to specific phenotypic traits (external unstructured data) in order to choose the desired parentals for breeding programs. In this paper, we propose to complement the internal information with external data from the Web using Question Answering (QA) techniques. We go a step further by providing a complete framework for integrating unstructured and structured information by combining traditional Databases and DW architectures with QA systems. The great advantage of our framework is that decision makers can compare instantaneously internal data with external data from competitors, thereby allowing taking quick strategic decisions based on richer data.

Propuesta de didactización de contenidos de historia de la traducción para la formación del traductor

La formación humanística inherente al traductor tiene uno de sus pilares en el conocimiento de la historia de la disciplina. En el proceso de enseñanza-aprendizaje, el futuro traductor tiene la oportunidad de ampliar su cosmovisión y aprender a manejar la lanzadera del telar de conocimiento enciclopédico que le permitirá tramar sus textos con artesanal y artística destreza, siendo éste uno de los objetivos de nuestra propuesta. Para ello, optamos por una didactización de contenidos, cuya metodología permita un aprendizaje constructivo en el que, en primer lugar, tras unas pinceladas presentadas a través de una selección de imágenes que hacen visible la actividad traductora, se propone una distribución cronológica por grandes periodos históricos, basándose en conocimientos culturales previos. En cada uno de dichos periodos, se analizan los contextos histórico-sociales y políticos a través de los textos; para adentrarse después en las biografías, sacando a la luz a los actores del proceso traductor; y, por último, se lleva a cabo el análisis, debate y comentario de los textos de los traductores, bien producto de la reflexión sobre su quehacer o bien de la reescritura y recepción de su obra. Así, pues, proponemos una visión circular y constructivista de la historia de la traducción que hace el recorrido mencionado por contexto, actor y texto tejiéndolos en un telar común, donde el hilo conductor de la historia de la traducción forma la trama del tapiz.

Tuning compilations by multi-objective optimization: Application to Apache web server

Modern compilers present a great and ever increasing number of options which can modify the features and behavior of a compiled program. Many of these options are often wasted due to the required comprehensive knowledge about both the underlying architecture and the internal processes of the compiler. In this context, it is usual, not having a single design goal but a more complex set of objectives. In addition, the dependencies between different goals are difficult to be a priori inferred. This paper proposes a strategy for tuning the compilation of any given application. This is accomplished by using an automatic variation of the compilation options by means of multi-objective optimization and evolutionary computation commanded by the NSGA-II algorithm. This allows finding compilation options that simultaneously optimize different objectives. The advantages of our proposal are illustrated by means of a case study based on the well-known Apache web server. Our strategy has demonstrated an ability to find improvements up to 7.5% and up to 27% in context switches and L2 cache misses, respectively, and also discovers the most important bottlenecks involved in the application performance.

La gastronomía como Industria Creativa en un contexto digital. Análisis de webs y redes sociales de los restaurantes españoles con estrella Michelin

En los últimos años es evidente el éxito creciente de la gastronomía, no sólo como mercado económico sino también desde una perspectiva comunicativa. Entendida como una Industria Creativa, la gastronomía está adquiriendo cada vez más peso en el mercado de la comunicación y se están desarrollando planes estratégicos que acercan progresivamente el sector gastronómico a todos los públicos, democratizando el arte de la cocina y haciendo de éste un talento accesible y disponible para todos los públicos. En pleno contexto de crecimiento, las estrategias y recursos comunicativos que utilizan tanto los mass media como los propios restaurantes y profesionales de la cocina, se han de convertir en objeto de estudio necesario para entender, por ejemplo, de qué manera se explotan los recursos comunicacionales y cuál es el alcance de los mismos así como sus oportunidades. El presente artículo se centra en un análisis de contenido de las páginas webs y las redes sociales utilizadas por los ocho restaurantes españoles galardonados con tres estrellas por la Guía Michelin España-Portugal (2014), sometidos a estudio en la misma semana (del 15 al 21 de septiembre). El objetivo principal es tratar de conocer estrategia de comunicación online llevada a cabo por estos restaurantes y establecer la importancia que se les atribuye a los recursos web a la hora de contribuir tanto a la consolidación de sus propias marcas como a la propia Industria Creativa gastronómica. Los resultados muestran cierta disparidad en el uso tanto de los recursos web como de los social media y avanzan que el sector gastronómico y de la restauración española tiene un reto: seguir comunicando implicándose en mayor medida con la bidireccionalidad e invitación a la participación de sus públicos, con el objetivo de captar nuevos contactos, fidelizar a los clientes actuales y convertir a todos ellos en prescriptores de sus servicios.

The other architecture: From natural caves to excavated housing

Excavated towns are an attractive example of underground urbanism that managed to solve, in a very interesting way, thermal problems thanks to natural ground inertia or transition spaces. The aim of this paper is to show the typological evolution of excavated dwellings worldwide, as an architectural proposal and urban solution. The proposed methodology provides an analysis of underground architectures from natural caves to excavated housing, focusing on the study of global constructive solutions to specific problems. Thus, architectures as a natural geography correction (horizontal excavation), buried underground architectures (vertical excavation), subtractive architectures (shallow excavation) and combined architectures (mixed excavation) are studied. In conclusion, there are many examples of typological combinations since troglodyte architects tried to adapt the most elementary constructive rules to get greatly enriched results. These proposals of different underground structures deal with each territory and its geographical features, and obtain urban and architectural solutions transferable to current configurations.