RoboCup Soccer Leagues

RoboCup was created in 1996 by a group of Japanese, American, and European Artificial Intelligence and Robotics researchers with a formidable, visionary long-term challenge: “By 2050 a team of robot soccer players will beat the human World Cup champion team.” At that time, in the mid 90s, when there were very few effective mobile robots and the Honda P2 humanoid robot was presented to a stunning public for the first time also in 1996, the RoboCup challenge, set as an adversarial game between teams of autonomous robots, was fascinating and exciting. RoboCup enthusiastically and concretely introduced three robot soccer leagues, namely “Simulation,” “Small-Size,” and “Middle-Size,” as we explain below, and organized its first competitions at IJCAI’97 in Nagoya with a surprising number of 100 participants [RC97]. It was the beginning of what became a continously growing research community. RoboCup established itself as a structured organization (the RoboCup Federation www.RoboCup.org). RoboCup fosters annual competition events, where the scientific challenges faced by the researchers are addressed in a setting that is attractive also to the general public. and the RoboCup events are the ones most popular and attended in the research fields of AI and Robotics.RoboCup further includes a technical symposium with contributions relevant to the RoboCup competitions and beyond to the general AI and robotics.

Modern optimization in earthwork construction

Earthworks tasks are often regarded in transportation projects as some of the most demanding processes. In fact, sequential tasks such as excavation, transportation, spreading and compaction are strongly based on heavy mechanical equipment and repetitive processes, thus becoming as economically demanding as they are time-consuming. Moreover, actual construction requirements originate higher demands for productivity and safety in earthwork constructions. Given the percentual weight of costs and duration of earthworks in infrastructure construction, the optimal usage of every resource in these tasks is paramount. Considering the characteristics of an earthwork construction, it can be looked at as a production line based on resources (mechanical equipment) and dependency relations between sequential tasks, hence being susceptible to optimization. Up to the present, the steady development of Information Technology areas, such as databases, artificial intelligence and operations research, has resulted in the emergence of several technologies with potential application bearing that purpose in mind. Among these, modern optimization methods (also known as metaheuristics), such as evolutionary computation, have the potential to find high quality optimal solutions with a reasonable use of computational resources. In this context, this work describes an optimization algorithm for earthworks equipment allocation based on a modern optimization approach, which takes advantage of the concept that an earthwork construction can be regarded as a production line.

Concise server-wide causality management for eventually consistent data stores

Large scale distributed data stores rely on optimistic replication to scale and remain highly available in the face of net work partitions. Managing data without coordination results in eventually consistent data stores that allow for concurrent data updates. These systems often use anti-entropy mechanisms (like Merkle Trees) to detect and repair divergent data versions across nodes. However, in practice hash-based data structures are too expensive for large amounts of data and create too many false conflicts. Another aspect of eventual consistency is detecting write conflicts. Logical clocks are often used to track data causality, necessary to detect causally concurrent writes on the same key. However, there is a nonnegligible metadata overhead per key, which also keeps growing with time, proportional with the node churn rate. Another challenge is deleting keys while respecting causality: while the values can be deleted, perkey metadata cannot be permanently removed without coordination. Weintroduceanewcausalitymanagementframeworkforeventuallyconsistentdatastores,thatleveragesnodelogicalclocks(BitmappedVersion Vectors) and a new key logical clock (Dotted Causal Container) to provides advantages on multiple fronts: 1) a new efficient and lightweight anti-entropy mechanism; 2) greatly reduced per-key causality metadata size; 3) accurate key deletes without permanent metadata.

Immersiveness of ubiquitous computing environments prototypes: A case study

The development of ubiquitous computing (ubicomp) environments raises several challenges in terms of their evaluation. Ubicomp virtual reality prototyping tools enable users to experience the system to be developed and are of great help to face those challenges, as they support developers in assessing the consequences of a design decision in the early phases of development. Given the situated nature of ubicomp environments, a particular issue to consider is the level of realism provided by the prototypes. This work presents a case study where two ubicomp prototypes, featuring different levels of immersion (desktop-based versus CAVE-based), were developed and compared. The goal was to determine the cost/benefits relation of both solutions, which provided better user experience results, and whether or not simpler solutions provide the same user experience results as more elaborate one.

Exploring scenario exploration

Model finders are very popular for exploring scenarios, helping users validate specifications by navigating through conforming model instances. To be practical, the semantics of such scenario exploration operations should be formally defined and, ideally, controlled by the users, so that they are able to quickly reach interesting scenarios. This paper explores the landscape of scenario exploration operations, by formalizing them with a relational model finder. Several scenario exploration operations provided by existing tools are formalized, and new ones are proposed, namely to allow the user to easily explore very similar (or different) scenarios, by attaching preferences to model elements. As a proof-of-concept, such operations were implemented in the popular Alloy Analyzer, further increasing its usefulness for (user-guided) scenario exploration.

Monitoring for a decidable fragment of MTL-∫

Temporal logics targeting real-time systems are traditionally undecidable. Based on a restricted fragment of MTL-R, we propose a new approach for the runtime verification of hard real-time systems. The novelty of our technique is that it is based on incremental evaluation, allowing us to e↵ectively treat duration properties (which play a crucial role in real-time systems). We describe the two levels of operation of our approach: offline simplification by quantifier removal techniques; and online evaluation of a three-valued interpretation for formulas of our fragment. Our experiments show the applicability of this mechanism as well as the validity of the provided complexity results.

Some variational problems from image processing

"Vegeu el resum a l'inici del document del fitxer adjunt."

Modeling the forensic two-trace problem with Bayesian networks

The forensic two-trace problem is a perplexing inference problem introduced by Evett (J Forensic Sci Soc 27:375-381, 1987). Different possible ways of wording the competing pair of propositions (i.e., one proposition advanced by the prosecution and one proposition advanced by the defence) led to different quantifications of the value of the evidence (Meester and Sjerps in Biometrics 59:727-732, 2003). Here, we re-examine this scenario with the aim of clarifying the interrelationships that exist between the different solutions, and in this way, produce a global vision of the problem. We propose to investigate the different expressions for evaluating the value of the evidence by using a graphical approach, i.e. Bayesian networks, to model the rationale behind each of the proposed solutions and the assumptions made on the unknown parameters in this problem.

La convivencia con los cyborgs y los robots: Consideraciones filosóficas, ético-morales y sociopolíticas

In this work, we present the cultural evolution that has allowed to overcome many problems derived from the limitations of the human body. These limitations have been solved by a"cyborization" process that began since early anthropogenesis. Originally, it was envisioned to deal with some diseases, accidents or body malfunctions. Nowadays, augmentations improve common human capabilities; one of the most notable is the increase of brain efficiency by using connections with a computer. A basic social question also addressed is which people will and should have access to these augmentations. Advanced humanoid robots (with human external aspect, artificial intelligence and even emotions) already exist and consequently a number of questions arise. For instance, will robots be considered living organisms? Could they be considered as persons? Will we confer the human status to robots? These questions are discussed. Our conclusions are that the advanced humanoid robots display some actions that may be considered as life-like, yet different to the life associated with living organisms, also, to some extend they could be considered as persons-like, but not humans.

Stress intensity factor of wood from crack-tip displacement fields obtained from digital image processing

Abstract

A web ontologies framework for digital rights management

In order to improve the management of copyright in the Internet, known as Digital Rights Management, there is the need for a shared language for copyright representation. Current approaches are based on purely syntactic solutions, i.e. a grammar that defines a rights expression language. These languages are difficult to put into practise due to the lack of explicit semantics that facilitate its implementation. Moreover, they are simple from the legal point of view because they are intended just to model the usage licenses granted by content providers to end-users. Thus, they ignore the copyright framework that lies behind and the whole value chain from creators to end-users. Our proposal is to use a semantic approach based on semantic web ontologies. We detail the development of a copyright ontology in order to put this approach into practice. It models the copyright core concepts for creation, rights and the basic kinds of actions that operate on content. Altogether, it allows building a copyright framework for the complete value chain. The set of actions operating on content are our smaller building blocks in order to cope with the complexity of copyright value chains and statements and, at the same time, guarantee a high level of interoperability and evolvability. The resulting copyright modelling framework is flexible and complete enough to model many copyright scenarios, not just those related to the economic exploitation of content. The ontology also includes moral rights, so it is possible to model this kind of situations as it is shown in the included example model for a withdrawal scenario. Finally, the ontology design and the selection of tools result in a straightforward implementation. Description Logic reasoners are used for license checking and retrieval. Rights are modelled as classes of actions, action patterns are modelled also as classes and the same is done for concrete actions. Then, to check if some right or license grants an action is reduced to check for class subsumption, which is a direct functionality of these reasoners.

How hard is a commercial puzzle: the eternity II challenge

Recently, edge matching puzzles, an NP-complete problem, have received, thanks to money-prized contests, considerable attention from wide audiences. We consider these competitions not only a challenge for SAT/CSP solving techniques but also as an opportunity to showcase the advances in the SAT/CSP community to a general audience. This paper studies the NP-complete problem of edge matching puzzles focusing on providing generation models of problem instances of variable hardness and on its resolution through the application of SAT and CSP techniques. From the generation side, we also identify the phase transition phenomena for each model. As solving methods, we employ both; SAT solvers through the translation to a SAT formula, and two ad-hoc CSP solvers we have developed, with different levels of consistency, employing several generic and specialized heuristics. Finally, we conducted an extensive experimental investigation to identify the hardest generation models and the best performing solving techniques.

Protocolo de comunicación trabajador-robot mediante imágenes

La idea del proyecto viene del concepto de “fábricas del futuro”, donde las barreras entre robots y humanos se rompen para que la colaboración entre ambos sea como en un equipo. Para la realización de este proyecto se ha utilizado el brazo robótico IRB120 de la marca ABB de 6 Grados de libertad, Matlab y el software Robot Studio. El Objetivo principal de este proyecto es establecer el protocolo de comunicación trabajador-robot mediante imágenes. El trabajador debería poder controlar el robot mediante dibujos realizados en la mesa de trabajo. En el desarrollo de la comunicación trabajador-robot cabe distinguir tres partes: · El análisis y tratamiento de imágenes para el cual se ha utilizado el software Matlab. · Transmisión de los datos desde Matlab al robot. · Programación de las acciones a realizar por el robot mediante el software “Robot Studio”. Con el protocolo de comunicación desarrollado y las imágenes realizadas por el trabajador el robot es capaz de detectar lo siguiente: · la herramienta que debe utilizar (rotulador, boli o ventosa) · si lo que tiene que dibujar en la mesa de trabajo son puntos o trazo continuo. · la localización de los puntos o del trazo continuo en la mesa de trabajo. Se ha alcanzado el objetivo propuesto con éxito, el protocolo de comunicación trabajador-robot mediante imágenes ha sido establecido. Mediante el análisis y tratamiento de imágenes se puede conseguir la información necesaria para que el robot pueda ejecutar las acciones requeridas por el trabajador.