Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments

This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems

Study of the effect of oral health on physical condition of professional soccer players of the Football Club Barcelona

Objectives: The objective of this study was to evaluate the oral health status of professional soccer players of F.C. Barcelona and its relation to the incidence of sport lesions. Methods: Thirty professional soccer players were consecutively evaluated in the seasons 2003/4, 2004/5 and 2005/6. A research protocol to assess their oral health was developed. DMFT, Quigley & Hein plaque index (PI), Löe & Silness gingival index (GI), World Health Organization malocclusion index, Ramfjord teeth probing pocket depth (PPD), TMJ examination and history of dental trauma were recorded. All physical injuries sustained by players during the season were documented from F.C. Barcelona medical services. Results: Mean DMFT score was 5.7 (SD 4.1), Quigley & Hein plaque index score was 2.3 (SD 1.1), Löe & Silness gingival index was 1.1 (SD 0.8), and periodontal pocket depth was 1.9 mm (SD 0.3). Pearson"s analysis showed a significant correlation between PI and GI (p<0.01). Nine players (30%) presented bruxism - the same proportion of those with severe malocclusion. Seven (23.3%) players had suffered uncomplicated crown fractures. The mean incidence of physical injuries was 8 (SD 3.4) per player. PI and PPD showed a statistically significant correlation to muscle injuries (p<0.05). Conclusions: Soccer players, despite intensive medical follow-up, have significant oral health problems such as untreated caries, gingivitis or malocclusion, and suffer dental trauma as a result of sports activities. Their physical condition could also be associated to oral health

Programación de un robot autónomo: diseño, construcción, programación e integración de un robot autónomo en el entorno Pyro

En aquest projecte, s'ha dissenyat, construït i programat un robot autònom, dotat de sistema de locomoció i sensors que li permeten navegar sense impactar en un entorn controlat. Per assolir aquests objectius s'ha dissenyat i programat una unitat de control que gestiona el hardware de baix volum de dades amb diferents modes d'operació, abstraient-lo en una única interfície. Posteriorment s'ha integrat aquest sistema en l'entorn de robòtica Pyro. Aquest entorn permet usar i adaptar, segons es necessiti, eines d'intel·ligència artificial ja desenvolupades.

Reactive and proactive approaches for introspective CBR

This work investigates applying introspective reasoning to improve the performance of Case-Based Reasoning (CBR) systems, in both reactive and proactive fashion, by guiding learning to improve how a CBR system applies its cases and by identifying possible future system deficiencies. First we present our reactive approach, a new introspective reasoning model which enables CBR systems to autonomously learn to improve multiple facets of their reasoning processes in response to poor quality solutions. We illustrate our model’s benefits with experimental results from tests in an industrial design application. Then as for our proactive approach, we introduce a novel method for identifying regions in a case-base where the system gives low confidence solutions to possible future problems. Experimentation is provided for Zoology and Robo-Soccer domains and we argue how encountered regions of dubiosity help us to analyze the case-bases of a given CBR system.

Robot educatiu per un PBL en enginyeria informàtica

En aquest projecte s’ha estudiat el disseny d’una plataforma robòtica mòbil per un PBL (Aprenentatge Basat en Problemes) en enginyeria informàtica. El principal objectiu és introduir aquest model en l’ensenyament universitari, com a complement de diferents assignatures de primer curs. Per arribar a aconseguir aquests objectius, s’ha dissenyat i construït una plataforma robòtica, dirigida per un microcontrolador i dotada de diversos sensors per interactuar amb l’entorn. El robot permet diferents tipus de programació i esta especialment dissenyada per ser una bona experiència educativa.

Semi-online neural-Q_leaming for real-time robot learning

Reinforcement learning (RL) is a very suitable technique for robot learning, as it can learn in unknown environments and in real-time computation. The main difficulties in adapting classic RL algorithms to robotic systems are the generalization problem and the correct observation of the Markovian state. This paper attempts to solve the generalization problem by proposing the semi-online neural-Q_learning algorithm (SONQL). The algorithm uses the classic Q_learning technique with two modifications. First, a neural network (NN) approximates the Q_function allowing the use of continuous states and actions. Second, a database of the most representative learning samples accelerates and stabilizes the convergence. The term semi-online is referred to the fact that the algorithm uses the current but also past learning samples. However, the algorithm is able to learn in real-time while the robot is interacting with the environment. The paper shows simulated results with the "mountain-car" benchmark and, also, real results with an underwater robot in a target following behavior

PRIM an Open Mobile Robot Platform. Motivation, Present and Future Trends

This paper is focused on the robot mobile platform PRIM (platform robot information multimedia). This robot has been made in order to cover two main needs of our group, on one hand the need for a full open mobile robotic platform that is very useful in fulfilling the teaching and research activity of our school community, and on the other hand with the idea of introducing an ethical product which would be useful as mobile multimedia information point as a service tool. This paper introduces exactly how the system is made up and explains just what the philosophy is behind this work. The navigation strategies and sensor fusion, where machine vision system is the most important one, are oriented towards goal achievement and are the key to the behaviour of the robot

Plane-to-plane positioning from image-based visual servoing and structured light

In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory

Rizoma pedagogia esportiva

Veure, dia a dia, com hi ha nens i nenes que abandonen el seu somni de jugar a futbol només perquè no estan d’acord amb l’entrenador, entrenadora que els ha tocat o perquè els membres de la junta d’un club de futbol de base no respon a les necessitats dels nostres infants i joves, és una llàstima. Des de Rizoma Pedagogia Esportiva no volem que aquests tipus de fets es repeteixin i per això donem assessorament tant a clubs en general com a entrenadors i entrenadores, per evitar aquestes situacions i fer que els nens i les nenes o nois i noies gaudeixin del seu temps de lleure fent allò que més els agrada

Disseny i desenvolupament d'una plataforma robòtica educativa

La finalitat del projecte, com el nom indica, tracta de dissenyar i desenvolupar una plataforma robòtica educativa, que pugui ser controlada des d'un entorn amigable i accessible des del major nombre de situacions possible, evitant en la mesura del que sigui possible, dependre d'un sistema operatiu concret. Així mateix es busca desenvolupar un projecte que sigui fàcilment reproduïble amb el mínim cost econòmic.

Projecte de reg i drenatge de camp de futbol de gespa natural

L’objectiu del projecte és la construcció d’unes noves instal•lacions esportives per a la pràctica del futbol a Castellfollit de la Roca degut a laprecarietat de l’actual camp de futbol. Inicialment s’ha realitzat un replantejament de la zona retirant una primera capa de restes vegetals per tal de deixar la nova parcel•la neta i llisa. No ha estat necessari anivellar el terreny ja que la parcel•la presentava una topografia gairebé plana, amb un pendent del 0,55%. A continuació s’ha realitzar el moviment de terres per extraure una capa de 0,75 metres de les àrees on es crearan els dos camps de futbol, ja que el terreny d’un camp de futbol és un sòl creat a base de capes de graves i sorres. Tot seguit s’ha dimensionat el drenatge, aquest s’ha realitzat suposant que s’ha d’evacuar la pluja màxima caiguda en dues hores per un període de retorn de 5 anys. A partir d’aquí s’ha decidit que aquesta aigua s’havia d’evacuar per dues vies, per drenatge superficial i per drenatge subterrani

Psychological pressure in competitive environments: Evidence from a randomized natural experiment

Much like cognitive abilities, emotional skills can have major effects on performance and economic outcomes. This paper studies the behavior of professionalsubjects involved in a dynamic competition in their own natural environment. Thesetting is a penalty shoot-out in soccer where two teams compete in a tournamentframework taking turns in a sequence of five penalty kicks each. As the kicking order is determined by the random outcome of a coin flip, the treatment and control groups are determined via explicit randomization. Therefore, absent any psychological effects, both teams should have the same probability of winning regardless of the kicking order. Yet, we find a systematic first-kicker advantage. Using data on 2,731 penalty kicks from 262 shoot-outs for a three decade period, we find that teams kicking first win the penalty shoot-out 60.5% of the time. A dynamic panel data analysis shows that the psychological mechanism underlying this result arises from the asymmetry in the partial score. As most kicks are scored, kicking first typically means having the opportunity to lead in the partial score, whereas kicking second typically means lagging in the score and having the opportunity to, at most, get even. Having a worse prospect than the opponent hinders subjects' performance.Further, we also find that professionals are self-aware of their own psychological effects. When a recent change in regulations gives winners of the coin toss the chance to choose the kicking order, they rationally react to it by systematically choosing to kick first. A survey of professional players reveals that when asked to explain why they prefer to kick first, they precisely identify the psychological mechanism for which we find empirical support in the data: they want to lead in the score inorder to put pressure on the opponent.

Remodelació del Nou Camp del F.C. Barcelona

Proposta presentada per al Concurs de Remodelació del Nou Camp del Futbol Club Barcelona.

Reconeixement de veu mitjançant xarxes neuronals

La interacció home-màquina per mitjà de la veu cobreix moltes àrees d’investigació. Es destaquen entre altres, el reconeixement de la parla, la síntesis i identificació de discurs, la verificació i identificació de locutor i l’activació per veu (ordres) de sistemes robòtics. Reconèixer la parla és natural i simple per a les persones, però és un treball complex per a les màquines, pel qual existeixen diverses metodologies i tècniques, entre elles les Xarxes Neuronals. L’objectiu d’aquest treball és desenvolupar una eina en Matlab per al reconeixement i identificació de paraules pronunciades per un locutor, entre un conjunt de paraules possibles, i amb una bona fiabilitat dins d’uns marges preestablerts. El sistema és independent del locutor que pronuncia la paraula, és a dir, aquest locutor no haurà intervingut en el procés d’entrenament del sistema. S’ha dissenyat una interfície que permet l’adquisició del senyal de veu i el seu processament mitjançant xarxes neuronals i altres tècniques. Adaptant una part de control al sistema, es podria utilitzar per donar ordres a un robot com l’Alfa6Uvic o qualsevol altre dispositiu.

Is football an indicator of development at the international level?

[spa] El objetivo de este trabajo es examinar si el fútbol puede ser considerado como un indicador de desarrollo a nivel internacional. Se ha diseñado un modelo econométrico empírico con el fin de analizar el desarrollo en términos de niveles de PIB per cápita y del crecimiento del PIB. Se utiliza información transversal y temporal. Los resultados sugieren que la clasificación FIFA de las selecciones nacionales se puede utilizar para complementar nuestra comprensión del desarrollo multidimensional en aquellos países donde la disponibilidad de la información no es tan buena como los investigadores quisieran.