Compactación en un suelo escarificado a través de lógica difusa

En parcelas con 7 años de siembra directa continua se realizó una labor de escarificado. A los 40 días se abrieron trincheras y sobre una grilla cuadriculada se determinó la penetrometría de pared y la humedad en los perfiles de suelo. Para procesar los histogramas obtenidos en la integración de los relevamientos de resistencia a la penetración en escarificado (E) y no escarificado (NE) se utilizó el módulo fuzzy (tratamiento de imágenes de un sistema de información geográfica). Se determinaron 7 clases de compactación en cada situación, diferenciadas por promedios y rangos. La trinchera con los valores promedios fuzzy de penetrometría en E presentó 25.71 % menos de las clases consideradas más compactadas, siendo significativo el efecto de la labor en el espesor 5-25 cm. No hubo diferencias en humedad entre ambas situaciones, a excepción del estrato 30-35 cm donde -en E- fue mayor. La labor de escarificado produjo modificaciones favorables en los distintos estados de compactación de suelo, principalmente en los espesores intermedios. A través del tratamiento de lógica difusa se determinaron diferentes clases de compactación y su distribución espacial.

Stress Detection by means of Stress Physiological Template

This paper describes a stress detection system based on fuzzy logic and two physiological signals: Galvanic Skin Response and Heart Rate. Instead of providing a global stress classification, this approach creates an individual stress templates, gathering the behaviour of individuals under situations with different degrees of stress. The proposed method is able to detect stress properly with a rate of 99.5%, being evaluated with a database of 80 individuals. This result improves former approaches in the literature and well-known machine learning techniques like SVM, k-NN, GMM and Linear Discriminant Analysis. Finally, the proposed method is highly suitable for real-time applications

Secure access control by means of human stress detection

This paper proposes a stress detection system based on fuzzy logic and the physiological signals heart rate and galvanic skin response. The main contribution of this method relies on the creation of a stress template, collecting the behaviour of previous signals under situations with a different level of stress in each individual. The creation of this template provides an accuracy of 99.5% in stress detection, improving the results obtained by current pattern recognition techniques like GMM, k-NN, SVM or Fisher Linear Discriminant. In addition, this system can be embedded in security systems to detect critical situations in accesses as cross-border control. Furthermore, its applications can be extended to other fields as vehicle driver state-of-mind management, medicine or sport training.

Driving assistance system applied in curves for real vehicles | Sistema de ayuda a la conducción en curvas para vehículos reales

Decreasing the accidents on highway and urban environments is the main motivation for the research and developing of driving assistance systems, also called ADAS (Advanced Driver Assistance Systems). In recent years, there are many applications of these systems in commercial vehicles: ABS systems, Cruise Control (CC), parking assistance and warning systems (including GPS), among others. However, the implementation of driving assistance systems on the steering wheel is more limited, because of their complexity and sensitivity. This paper is focused in the development, test and implementation of a driver assistance system for controlling the steering wheel in curve zones. This system is divided in two levels: an inner control loop which permits to execute the position and speed target, softening the action over the steering wheel, and a second control outer loop (controlling for fuzzy logic) that sends the reference to the inner loop according the environment and vehicle conditions. The tests have been done in different curves and speeds. The system has been proved in a commercial vehicle with satisfactory results.

Empowering and assisting natural human mobility: The simbiosis walker

This paper presents the complete development of the Simbiosis Smart Walker. The device is equipped with a set of sensor subsystems to acquire user-machine interaction forces and the temporal evolution of user's feet during gait. The authors present an adaptive filtering technique used for the identification and separation of different components found on the human-machine interaction forces. This technique allowed isolating the components related with the navigational commands and developing a Fuzzy logic controller to guide the device. The Smart Walker was clinically validated at the Spinal Cord Injury Hospital of Toledo - Spain, presenting great acceptability by spinal chord injury patients and clinical staff

Contribución al estudio de la incompatibilidad y otras medidas relacionadas en la lógica borrosa

Resumen La investigación descrita en esta memoria se enmarca en el campo de la lógica borro¬sa. Más concretamente, en el estudio de la incompatibilidad, de la compatibilidad y de la suplementaridad en los conjuntos borrosos y en los de Atanassov. En este orden de ideas, en el primer capítulo, se construyen, tanto de forma directa como indirecta, funciones apropiadas para medir la incompatibilidad entre dos conjuntos borro-sos. Se formulan algunos axiomas para modelizar la continuidad de dichas funciones, y se determina si las medidas propuestas, y otras nuevas que se introducen, verifican algún tipo de continuidad. Finalmente, se establece la noción de conjuntos borrosos compatibles, se introducen axiomas para medir esta propiedad y se construyen algunas medidas de compa¬tibilidad. El segundo capítulo se dedica al estudio de la incompatibilidad y de la compatibilidad en el campo de los conjuntos de Atanassov. Así, en primer lugar, se presenta una definición axiomática de medida de incompatibilidad en este contexto. Después, se construyen medidas de incompatibilidad por medio de los mismos métodos usados en el caso borroso. Además, se formulan axiomas de continuidad y se determina el tipo de continuidad de las medidas propuestas. Finalmente, se sigue un camino similar al caso borroso para el estudio de la compatibilidad. En el tercer capítulo, después de abordar la antonimia de conjuntos borrosos y de conjuntos de Atanassov, se formalizan las nociones de conjuntos suplementarios en estos dos entornos y se presenta, en ambos casos, un método para obtener medidas de suplementaridad a partir de medidas de incompatibilidad vía antónimos. The research described in this report pertains to the field of fuzzy logic and specifically studies incompatibility, compatibility and supplementarity in fuzzy sets and Atanassov's fuzzy sets. As such is the case, Chapter 1 describes both the direct and indirect construction of appropriate functions for measuring incompatibility between two fuzzy sets. We formulate some axioms for modelling the continuity of functions and determine whether the proposed and other measures introduced satisfy any type of continuity. Chapter 2 focuses on the study of incompatibility and compatibility in the field of Ata¬nassov's fuzzy sets. First, we present an axiomatic definition of incompatibility measure in this field. Then, we use the same methods to construct incompatibility measures as in the fuzzy case. Additionally, we formulate continuity axioms and determine the type of conti¬nuity of the proposed measures. Finally, we take a similar approach as in the fuzzy case to the study of compatibility. After examining the antonymy of fuzzy sets and Atanassov's sets, Chapter 3 formalizes the notions of supplementary sets in these two domains, and, in both cases, presents a method for obtaining supplementarity measures from incompatibility measures via antonyms.

Soft-computing based visual control for unmanned vehicles

El objetivo principal de esta Tesis es extender la utilización del “Soft- Computing” para el control de vehículos sin piloto utilizando visión. Este trabajo va más allá de los típicos sistemas de control utilizados en entornos altamente controlados, demonstrando la fuerza y versatilidad de la lógica difusa (Fuzzy Logic) para controlar vehículos aéreos y terrestres en un abanico de applicaciones diferentes. Para esta Tesis se ha realizado un gran número de pruebas reales en las cuales los controladores difusos han manejado una plataforma visual “pan-and-tilt”, un helicoptero, un coche comercial y hasta dos tipos de quadrirotores. El uso del método de optimización “Cross-Entropy” ha sido utilizado para mejorar el comportamiento de algunos de los controladores borrosos. Todos los controladores difusos presentados en ésta Tesis han sido implementados utilizando un código desarrollado por el candidato para tal efecto, llamado MOFS (Miguel Olivares’ Fuzzy Software). Diferentes algoritmos visuales han sido utilizados para adquirir la informaci´on visual del entorno, “Cmashift”, descomposición de la homografía y detección de marcas de realidad aumentada, entre otros. Dicha información visual ha sido utilizada como entrada de los controladores difusos para comandar los vehículos en las diferentes applicaciones autonomas. El volante de un vehículo comercial ha sido controlado para realizar pruebas de conducción autónoma en condiciones de tráfico similares a las de una ciudad. El sistema ha llegado a completar con éxito pruebas de más de 6 km sin ninguna interacción humana, mediante el seguimiento de una línea pintada en el suelo. El limitado campo visual del sistema no ha sido impedimento para alcanzar velocidades de hasta 48 km/h y ser guiado autonomamente en curvas de radio reducido. Objetos estáticos y móviles han sido seguidos desde un helicoptero no tripulado, mediante el control de una plataforma visual “pan-and-tilt”. ´Éste mismo helicoptero ha sido controlado completamente para su aterrizaje autonomo, mediante el control del movimiento lateral (roll), horizontal (pitch) y de altitud. El seguimiento de objetos volantes ha sido resulto mediante el control horizontal (pitch) y de orientación (heading) de un quadrirotor. Para tareas de evitación de obstáculos se ha implementado un controlador difuso para el manejo de la orientación (heading) de un quadrirotor. En el campo de la optimización de controladores se ha aportado al estado del arte una extensión del uso del método “Cross-Entropy”. Está Tesis presenta una novedosa implementación de dicho método para la optimización de las ganancias, la posición y medida de los conjuntos de las funciones de pertenecia y el peso de las reglas para mejorar el comportamiento de un controlador difuso. Dichos procesos de optimización se han realizado utilizando “ROS” y “Matlab Simulink” para obtener mejores resultados para la evitación de colisiones con vehículos aéreos no tripulados. Ésta Tesis demuestra que los controladores implementados con lógica difusa son altamente capaces de controlador sistemas sin tener en cuenta el modelo del vehículo a controlador en entornos altamente perturbables con un sensor de bajo coste como es una cámara. El ruido presentes causado por los cambios de iluminación en la adquisición de imágenes y la alta incertidumbre en la detección visual han sido manejados satisfactoriamente por ésta técnica de de “Soft-Computing” para distintas aplicaciones tanto con vehículos aéreos como terrestres.

An approach to automatic learning assessment based on the computational theory of perceptions

E-learning systems output a huge quantity of data on a learning process. However, it takes a lot of specialist human resources to manually process these data and generate an assessment report. Additionally, for formative assessment, the report should state the attainment level of the learning goals defined by the instructor. This paper describes the use of the granular linguistic model of a phenomenon (GLMP) to model the assessment of the learning process and implement the automated generation of an assessment report. GLMP is based on fuzzy logic and the computational theory of perceptions. This technique is useful for implementing complex assessment criteria using inference systems based on linguistic rules. Apart from the grade, the model also generates a detailed natural language progress report on the achieved proficiency level, based exclusively on the objective data gathered from correct and incorrect responses. This is illustrated by applying the model to the assessment of Dijkstra’s algorithm learning using a visual simulation-based graph algorithm learning environment, called GRAPHs

Some insights for a relationship marketing model integrating SERVQUAL and customer loyalty in dental clinics

The demand of new services, the emergence of new business models, insufficient innovation, underestimation of customer loyalty and reluctance to adopt new management are evidence of the deficiencies and the lack of research about the relations between patients and dental clinics. In this article we propose the structure of a model of Relationship Marketing (RM) in the dental clinic that integrates information from SERVQUAL, Customer Loyalty (CL) and activities of RM and combines the vision of dentist and patient. The first pilot study on dentists showed that: they recognize the value of maintaining better patients however they don't perform RM actions to retain them. They have databases of patients but not sophisticated enough as compared to RM tools. They perceive that the patients value "Assurance" and "Empathy" (two dimensions of service quality). Finally, they indicate that a loyal patient not necessarily pays more by the service. The proposed model will be validated using Fuzzy Logic simulation and the ultimate goal of this research line is contributing a new definition of CL.

Intelligent automatic overtaking system using vision for vehicle detection

There is clear evidence that investment in intelligent transportation system technologies brings major social and economic benefits. Technological advances in the area of automatic systems in particular are becoming vital for the reduction of road deaths. We here describe our approach to automation of one the riskiest autonomous manœuvres involving vehicles – overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manœuvre. To this end, a fuzzy-logic based controller was developed to emulate how humans overtake. Its input is information from the vision system and from a positioning-based system consisting of a differential global positioning system (DGPS) and an inertial measurement unit (IMU). Its output is the generation of action on the vehicle’s actuators, i.e., the steering wheel and throttle and brake pedals. The system has been incorporated into a commercial Citroën car and tested on the private driving circuit at the facilities of our research center, CAR, with different preceding vehicles – a motorbike, car, and truck – with encouraging results.

Traffic jam driving with NMV avoidance

n recent years, the development of advanced driver assistance systems (ADAS) – mainly based on lidar and cameras – has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators – brake and throttle pedals – were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.

Design, implementation and evaluation of an unconstrained and contactless biometric system based on hand geometry and stress detection

Esta tesis propone un sistema biométrico de geometría de mano orientado a entornos sin contacto junto con un sistema de detección de estrés capaz de decir qué grado de estrés tiene una determinada persona en base a señales fisiológicas Con respecto al sistema biométrico, esta tesis contribuye con el diseño y la implementación de un sistema biométrico de geometría de mano, donde la adquisición se realiza sin ningún tipo de contacto, y el patrón del usuario se crea considerando únicamente datos del propio individuo. Además, esta tesis propone un algoritmo de segmentación multiescala para solucionar los problemas que conlleva la adquisición de manos en entornos reales. Por otro lado, respecto a la extracción de características y su posterior comparación esta tesis tiene una contribución específica, proponiendo esquemas adecuados para llevar a cabo tales tareas con un coste computacional bajo pero con una alta precisión en el reconocimiento de personas. Por último, este sistema es evaluado acorde a la norma estándar ISO/IEC 19795 considerando seis bases de datos públicas. En relación al método de detección de estrés, esta tesis propone un sistema basado en dos señales fisiológicas, concretamente la tasa cardiaca y la conductancia de la piel, así como la creación de un innovador patrón de estrés que recoge el comportamiento de ambas señales bajo las situaciones de estrés y no-estrés. Además, este sistema está basado en lógica difusa para decidir el grado de estrés de un individuo. En general, este sistema es capaz de detectar estrés de forma precisa y en tiempo real, proporcionando una solución adecuada para sistemas biométricos actuales, donde la aplicación del sistema de detección de estrés es directa para evitar situaciónes donde los individuos sean forzados a proporcionar sus datos biométricos. Finalmente, esta tesis incluye un estudio de aceptabilidad del usuario, donde se evalúa cuál es la aceptación del usuario con respecto a la técnica biométrica propuesta por un total de 250 usuarios. Además se incluye un prototipo implementado en un dispositivo móvil y su evaluación. ABSTRACT: This thesis proposes a hand biometric system oriented to unconstrained and contactless scenarios together with a stress detection method able to elucidate to what extent an individual is under stress based on physiological signals. Concerning the biometric system, this thesis contributes with the design and implementation of a hand-based biometric system, where the acquisition is carried out without contact and the template is created only requiring information from a single individual. In addition, this thesis proposes an algorithm based on multiscale aggregation in order to tackle with the problem of segmentation in real unconstrained environments. Furthermore, feature extraction and matching are also a specific contributions of this thesis, providing adequate schemes to carry out both actions with low computational cost but with certain recognition accuracy. Finally, this system is evaluated according to international standard ISO/IEC 19795 considering six public databases. In relation to the stress detection method, this thesis proposes a system based on two physiological signals, namely heart rate and galvanic skin response, with the creation of an innovative stress detection template which gathers the behaviour of both physiological signals under both stressing and non-stressing situations. Besides, this system is based on fuzzy logic to elucidate the level of stress of an individual. As an overview, this system is able to detect stress accurately and in real-time, providing an adequate solution for current biometric systems, where the application of a stress detection system is direct to avoid situations where individuals are forced to provide the biometric data. Finally, this thesis includes a user acceptability evaluation, where the acceptance of the proposed biometric technique is assessed by a total of 250 individuals. In addition, this thesis includes a mobile implementation prototype and its evaluation.

Análisis de riesgos en los sistemas de información: un enfoque difuso

En los modelos promovidos por las normativas internacionales de análisis de riesgos en los sistemas de información, los activos están interrelacionados entre sí, de modo que un ataque sobre uno de ellos se puede transmitir a lo largo de toda la red, llegando a alcanzar a los activos más valiosos para la organización. Es necesario entonces asignar el valor de todos los activos, así como las relaciones de dependencia directas e indirectas entre estos, o la probabilidad de materialización de una amenaza y la degradación que ésta puede provocar sobre los activos. Sin embargo, los expertos encargados de asignar tales valores, a menudo aportan información vaga e incierta, de modo que las técnicas difusas pueden ser muy útiles en este ámbito. Pero estas técnicas no están libres de ciertas dificultades, como la necesidad de uso de una aritmética adecuada al modelo o el establecimiento de medidas de similitud apropiadas. En este documento proponemos un tratamiento difuso para los modelos de análisis de riesgos promovidos por las metodologías internacionales, mediante el establecimiento de tales elementos.Abstract— Assets are interrelated in risk analysis methodologies for information systems promoted by international standards. This means that an attack on one asset can be propagated through the network and threaten an organization’s most valuable assets. It is necessary to valuate all assets, the direct and indirect asset dependencies, as well as the probability of threats and the resulting asset degradation. However, the experts in charge to assign such values often provide only vague and uncertain information. Fuzzy logic can be very helpful in such situation, but it is not free of some difficulties, such as the need of a proper arithmetic to the model under consideration or the establishment of appropriate similarity measures. Throughout this paper we propose a fuzzy treatment for risk analysis models promoted by international methodologies through the establishment of such elements.

Variable structure control with chattering reduction of a generalized T-S model

In this paper, a fuzzy logic controller (FLC) based variable structure control (VSC) is presented. The main objective is to obtain an improved performance of highly non-linear unstable systems. New functions for chattering reduction and error convergence without sacrificing invariant properties are proposed. The main feature of the proposed method is that the switching function is added as an additional fuzzy variable and will be introduced in the premise part of the fuzzy rules; together with the state variables. In this work, a tuning of the well known weighting parameters approach is proposed to optimize local and global approximation and modelling capability of the Takagi-Sugeno (T-S) fuzzy model to improve the choice of the performance index and minimize it. The main problem encountered is that the T-S identification method can not be applied when the membership functions are overlapped by pairs. This in turn restricts the application of the T-S method because this type of membership function has been widely used in control applications. The approach developed here can be considered as a generalized version of the T-S method. An inverted pendulum mounted on a cart is chosen to evaluate the robustness, effectiveness, accuracy and remarkable performance of the proposed estimation approach in comparison with the original T-S model. Simulation results indicate the potential, simplicity and generality of the estimation method and the robustness of the chattering reduction algorithm. In this paper, we prove that the proposed estimation algorithm converge the very fast, thereby making it very practical to use. The application of the proposed FLC-VSC shows that both alleviation of chattering and robust performance are achieved.

Decision-Making Mechanism to Organize the Agenda of a Guide-Robot

One of the major challenges in evolutionary robotics is constituted by the need of the robot being able to make decisions on its own, in accordance with the multiple tasks programmed, optimizing its timings and power. In this paper, we present a new automatic decision making mechanism for a robot guide that allows the robot to make the best choice in order to reach its aims, performing its tasks in an optimal way. The election of which is the best alternative is based on a series of criteria and restrictions of the tasks to perform. The software developed in the project has been verified on the tour-guide robot Urbano. The most important aspect of this proposal is that the design uses learning as the means to optimize the quality in the decision making. The modeling of the quality index of the best choice to perform is made using fuzzy logic and it represents the beliefs of the robot, which continue to evolve in order to match the "external reality”. This fuzzy system is used to select the most appropriate set of tasks to perform during the day. With this tool, the tour guide-robot prepares its agenda daily, which satisfies the objectives and restrictions, and it identifies the best task to perform at each moment. This work is part of the ARABOT project of the Intelligent Control Research Group at the Universidad Politécnica de Madrid to create "awareness" in a robot guide.