On-line learning of a fuzzy controller for a precise vehicle cruise control system

Usually, vehicle applications require the use of artificial intelligent techniques to implement control methods, due to noise provided by sensors or the impossibility of full knowledge about dynamics of the vehicle (engine state, wheel pressure or occupiers weight). This work presents a method to on-line evolve a fuzzy controller for commanding vehicles? pedals at low speeds; in this scenario, the slightest alteration in the vehicle or road conditions can vary controller?s behavior in a non predictable way. The proposal adapts singletons positions in real time, and trapezoids used to codify the input variables are modified according with historical data. Experimentation in both simulated and real vehicles are provided to show how fast and precise the method is, even compared with a human driver or using different vehicles.

Geometric Study of the Weak Equilibrium in a Weighted Case for a Two-Dimensional Competition Game

In this work, an improvement of the results presented by [1] Abellanas et al. (Weak Equilibrium in a Spatial Model. International Journal of Game Theory, 40(3), 449-459) is discussed. Concretely, this paper investigates an abstract game of competition between two players that want to earn the maximum number of points from a finite set of points in the plane. It is assumed that the distribution of these points is not uniform, so an appropriate weight to each position is assigned. A definition of equilibrium which is weaker than the classical one is included in order to avoid the uniqueness of the equilibrium position typical of the Nash equilibrium in these kinds of games. The existence of this approximated equilibrium in the game is analyzed by means of computational geometry techniques.

Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la actividad de patrullar un entorno determinado para monitorear cualquier actividad o sensar algunas variables ambientales. En esta actividad, un grupo de robots debe visitar un conjunto de puntos de interés definidos en un entorno en intervalos de tiempo irregulares con propósitos de seguridad. Los modelos de partullaje multi-robot son utilizados para resolver este problema. Hasta el momento existen trabajos que resuelven este problema utilizando diversos principios matemáticos. Los modelos de patrullaje multi-robot desarrollados en esos trabajos representan un gran avance en este campo de investigación. Sin embargo, los modelos con los mejores resultados no son viables para aplicaciones de seguridad debido a su naturaleza centralizada y determinista. Esta tesis presenta cinco modelos de patrullaje multi-robot distribuidos e impredecibles basados en modelos matemáticos de aprendizaje de Teoría de Juegos. El objetivo del desarrollo de estos modelos está en resolver los inconvenientes presentes en trabajos preliminares. Con esta finalidad, el problema de patrullaje multi-robot se formuló utilizando conceptos de Teoría de Grafos, en la cual se definieron varios juegos en cada vértice de un grafo. Los modelos de patrullaje multi-robot desarrollados en este trabajo de investigación se han validado y comparado con los mejores modelos disponibles en la literatura. Para llevar a cabo tanto la validación como la comparación se ha utilizado un simulador de patrullaje y un grupo de robots reales. Los resultados experimentales muestran que los modelos de patrullaje desarrollados en este trabajo de investigación trabajan mejor que modelos de trabajos previos en el 80% de 150 casos de estudio. Además de esto, estos modelos cuentan con varias características importantes tales como distribución, robustez, escalabilidad y dinamismo. Los avances logrados con este trabajo de investigación dan evidencia del potencial de Teoría de Juegos para desarrollar modelos de patrullaje útiles para proteger infraestructuras. ABSTRACT Game theory principle allows to developing stochastic multi-robot patrolling models to protect critical infrastructures. Critical infrastructures protection is a great concern for countries around the world, mainly due to terrorist attacks in the last decade. In this document, the term infrastructures includes airports, nuclear power plants, and many other facilities. The patrolling problem is defined as the activity of traversing a given environment to monitoring any activity or sensing some environmental variables If this activity were performed by a fleet of robots, they would have to visit some places of interest of an environment at irregular intervals of time for security purposes. This problem is solved using multi-robot patrolling models. To date, literature works have been solved this problem applying various mathematical principles.The multi-robot patrolling models developed in those works represent great advances in this field. However, the models that obtain the best results are unfeasible for security applications due to their centralized and predictable nature. This thesis presents five distributed and unpredictable multi-robot patrolling models based on mathematical learning models derived from Game Theory. These multi-robot patrolling models aim at overcoming the disadvantages of previous work. To this end, the multi-robot patrolling problem was formulated using concepts of Graph Theory to represent the environment. Several normal-form games were defined at each vertex of a graph in this formulation. The multi-robot patrolling models developed in this research work have been validated and compared with best ranked multi-robot patrolling models in the literature. Both validation and comparison were preformed by using both a patrolling simulator and real robots. Experimental results show that the multirobot patrolling models developed in this research work improve previous ones in as many as 80% of 150 cases of study. Moreover, these multi-robot patrolling models rely on several features to highlight in security applications such as distribution, robustness, scalability, and dynamism. The achievements obtained in this research work validate the potential of Game Theory to develop patrolling models to protect infrastructures.

Effects of coaches' timeouts on basketball teams' offensive and defensive performances according to momentary differences in score and game period.

The aim of the present study was to assess the effects of game timeouts on basketball teams? offensive and defensive performances according to momentary differences in score and game period. The sample consisted of 144 timeouts registered during 18 basketball games randomly selected from the 2007 European Basketball Championship (Spain). For each timeout, five ball possessions were registered before (n?493) and after the timeout (n?475). The offensive and defensive efficiencies were registered across the first 35 min and last 5 min of games. A k-means cluster analysis classified the timeouts according to momentary score status as follows: losing ( ?10 to ?3 points), balanced ( ?2 to 3 points), and winning (4 to 10 points). Repeated-measures analysis of variance identified statistically significant main effects between pre and post timeout offensive and defensive values. Chi-square analysis of game period identified a higher percentage of timeouts called during the last 5 min of a game compared with the first 35 min (64.999.1% vs. 35.1910.3%; x ?5.4, PB0.05). Results showed higher post timeout offensive and defensive performances. No other effect or interaction was found for defensive performances. Offensive performances were better in the last 5 min of games, with the least differences when in balanced situations and greater differences when in winning situations. Results also showed one interaction between timeouts and momentary differences in score, with increased values when in losing and balanced situations but decreased values when in winning situations. Overall, the results suggest that coaches should examine offensive and defensive performances according to game period and differences in score when considering whether to call a timeout.

Architecture as a game field. House of would

Artículo del proyecto House of Would del estudio Elii en la revista Panorama

Innovations in the video game industry: changing global markets

The paper examines the video game industry in the perspective of being the paradigm of innovation in digital media and content. In particular, it analyses the response to two main factors that have impacted this industry over the last decade. First, it tracks the evolution of its global market and its emerging geography with the rise of Asia. Second, within this global landscape the paper explores how the changes derived from mobile and on-line gaming enabled major transformations of this industry. From here, some conclusions on the lessons from the evolution of this sector for the whole media and content industries are presented.

A game theory based strategy for reducing energy consumption in cognitive WSN

Wireless sensor networks (WSNs) are one of the most important users of wireless communication technologies in the coming years and some challenges in this area must be addressed for their complete development. Energy consumption and spectrum availability are two of the most severe constraints of WSNs due to their intrinsic nature. The introduction of cognitive capabilities into these networks has arisen to face the issue of spectrum scarcity but could be used to face energy challenges too due to their new range of communication possibilities. In this paper a new strategy based on game theory for cognitive WSNs is discussed. The presented strategy improves energy consumption by taking advantage of the new change-communication-channel capability. Based on game theory, the strategy decides when to change the transmission channel depending on the behavior of the rest of the network nodes. The strategy presented is lightweight but still has higher energy saving rates as compared to noncognitive networks and even to other strategies based on scheduled spectrum sensing. Simulations are presented for several scenarios that demonstrate energy saving rates of around 65% as compared to WSNs without cognitive techniques.

A General Purpose Configurable Controller for Indoors and Outdoors GPS-Denied Navigation for Multirotor Unmanned Aerial Vehicles

This research on odometry based GPS-denied navigation on multirotor Unmanned Aerial Vehicles is focused among the interactions between the odometry sensors and the navigation controller. More precisely, we present a controller architecture that allows to specify a speed specified flight envelope where the quality of the odometry measurements is guaranteed. The controller utilizes a simple point mass kinematic model, described by a set of configurable parameters, to generate a complying speed plan. For experimental testing, we have used down-facing camera optical-flow as odometry measurement. This work is a continuation of prior research to outdoors environments using an AR Drone 2.0 vehicle, as it provides reliable optical flow on a wide range of flying conditions and floor textures. Our experiments show that the architecture is realiable for outdoors flight on altitudes lower than 9 m. A prior version of our code was utilized to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012. The code will be released as an open-source ROS stack hosted on GitHub.

3D simulation of complex shading affecting PV systems taking benefit from the power of graphics cards developed for the video game industry

Shading reduces the power output of a photovoltaic (PV) system. The design engineering of PV systems requires modeling and evaluating shading losses. Some PV systems are affected by complex shading scenes whose resulting PV energy losses are very difficult to evaluate with current modeling tools. Several specialized PV design and simulation software include the possibility to evaluate shading losses. They generally possess a Graphical User Interface (GUI) through which the user can draw a 3D shading scene, and then evaluate its corresponding PV energy losses. The complexity of the objects that these tools can handle is relatively limited. We have created a software solution, 3DPV, which allows evaluating the energy losses induced by complex 3D scenes on PV generators. The 3D objects can be imported from specialized 3D modeling software or from a 3D object library. The shadows cast by this 3D scene on the PV generator are then directly evaluated from the Graphics Processing Unit (GPU). Thanks to the recent development of GPUs for the video game industry, the shadows can be evaluated with a very high spatial resolution that reaches well beyond the PV cell level, in very short calculation times. A PV simulation model then translates the geometrical shading into PV energy output losses. 3DPV has been implemented using WebGL, which allows it to run directly from a Web browser, without requiring any local installation from the user. This also allows taken full benefits from the information already available from Internet, such as the 3D object libraries. This contribution describes, step by step, the method that allows 3DPV to evaluate the PV energy losses caused by complex shading. We then illustrate the results of this methodology to several application cases that are encountered in the world of PV systems design. Keywords: 3D, modeling, simulation, GPU, shading, losses, shadow mapping, solar, photovoltaic, PV, WebGL

Diseño de nuevas técnicas evolutivas para videojuegos de lucha

El objetivo de esta tesis fin de máster es la construcción mediante técnicas evolutivas de bases de conocimiento con reglas difusas para desarrollar un sistema autónomo que sea capaz de jugar con destreza a un videojuego de lucha en 2D. El uso de la lógica difusa permite manejar imprecisión, la cual está implícita en las variables de entrada al sistema y favorece la comprensión a nivel humano del comportamiento general del controlador. Se ha diseñado, para obtener la base de conocimiento que permita al sistema tomar las decisiones adecuadas durante el combate, un nuevo operador para algoritmos evolutivos. Se ha observado que la programación genética guiada por gramáticas (PGGG) muestra un sesgo debido al cruce que se suele emplear para obtener nuevos individuos en el proceso evolutivo. Para solventar este problema, se propone el método de sedimentación, capaz de evitar la tendencia que tiene la PGGG a generar bases de conocimiento con pocas reglas, de forma independiente a la gramática. Este método se inspira en la sedimentación que se produce en el fondo de los lechos marinos y permite obtener un sustrato de reglas óptimas que forman la solución final una vez que converge el algoritmo.---ABSTRACT---The objective of this thesis is the construction by evolutionary techniques of fuzzy rule-base system to develop an autonomous controller capable of playing a 2D fighting game. The use of fuzzy logic handles imprecision, which is implicit in the input variables of the system and makes the behavior of the controller easier to understand by humans. A new operator for evolutionary algorithms is designed to obtain the knowledge base that allows the system to take appropriate decision during combat. It has been observed that the grammar guided genetic programming (GGGP) shows a bias due to the crossing that is often used for obtaining new individuals in the evolutionary process. To solve this problem, the sedimentation method, able to avoid the tendency of the PGGG to generate knowledge bases with few rules, independently of the grammar is proposed. This method is inspired by the sedimentation that occurs on the bottom of the seabed and creates an optimal rules substrate that ends on the final solution once the algorithm converges.

A control theoretic approach to solve a constrained uplink power dynamic game

This paper addresses an uplink power control dynamic game where we assume that each user battery represents the system state that changes with time following a discrete-time version of a differential game. To overcome the complexity of the analysis of a dynamic game approach we focus on the concept of Dynamic Potential Games showing that the game can be solved as an equivalent Multivariate Optimum Control Problem. The solution of this problem is quite interesting because different users split the activity in time, avoiding higher interferences and providing a long term fairness.

UAS See-and-Avoid Strategy using a Fuzzy Logic Controller Optimized by Cross-Entropy in Scaling Factors and Membership Functions.

This work aims to develop a novel Cross-Entropy (CE) optimization-based fuzzy controller for Unmanned Aerial Monocular Vision-IMU System (UAMVIS) to solve the seeand-avoid problem using its accurate autonomous localization information. The function of this fuzzy controller is regulating the heading of this system to avoid the obstacle, e.g. wall. In the Matlab Simulink-based training stages, the Scaling Factor (SF) is adjusted according to the specified task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the collison avoidance performance. After obtained the optimal SF and MF, 64% of rules has been reduced (from 125 rules to 45 rules), and a large number of real flight tests with a quadcopter have been done. The experimental results show that this approach precisely navigates the system to avoid the obstacle. To our best knowledge, this is the first work to present the optimized fuzzy controller for UAMVIS using Cross-Entropy method in Scaling Factors and Membership Functions optimization.

A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on "Best Automatic Performance - IMAV 2012" and the second overall prize in the participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.

Hybridization Processes: The case of the urban game: Hybrid Hunt: Petrified

The proposal highlights certain design strategies and a case study that can link the material urban space to digital emerging realms. The composite nature of urban spaces ?material/ digital- is understood as an opportunity to reconfigure public urban spaces without high-cost, difficult to apply interventions and, furthermore, to reactivate them by inserting dynamic, interactive and playful conditions that engage people and re-establish their relations to the cities. The structuring of coexisting and interconnected material and digital aspects in public urban spaces is proposed through the implementation of hybridization processes. Hybrid spaces can fascinate and provoke the public and especially younger people to get involved and interact with physical aspects of urban public spaces as well as digital representations or interpretations of those. Digital game?s design in urban public spaces can be comprehended as a tool that allows architects to understand and to configure hybrids of material and digital conceptions and project all in one, as an inseparable totality. Digital technologies have for a long time now intervened in our perception of traditional dipoles such as subject - environment. Architects, especially in the past, have been responsible for material mediations and tangible interfaces that permit subjects to relate to their physical environments in a controlled and regulated manner; but, nowadays, architects are compelled to embody in design, the transition that is happening in all aspects of everyday life, that is, from material to digital realities. In addition, the disjunctive relation of material and digital realms is ceding and architects are now faced with the challenge that supposes the merging of both in a single, all-inclusive reality. The case study is a design project for a game implemented simultaneously in a specific urban space and on the internet. This project developed as the spring semester course New Media in Architecture at the Department of Architecture, Democritus University of Thrace, Greece is situated at the city of Xanthi. Composite cities can use design strategies and technological tools to configure augmented and appealing urban spaces that articulate and connect different realms in a single engaging reality.

A real case of a cognitive multiplayer game: design and development of the iOS client in Swift and its cloud architecture

as tecnologías emergentes como el cloud computing y los dispositivos móviles están creando una oportunidad sin precedentes para mejorar el sistema educativo, permitiendo tanto a los educadores personalizar y mejorar la experiencia de aprendizaje, como facilitar a los estudiantes que adquieran conocimientos sin importar dónde estén. Por otra parte, a través de técnicas de gamificacion será posible promover y motivar a los estudiantes a que aprendan materias arduas haciendo que la experiencia sea más motivadora. Los juegos móviles pueden ser el camino correcto para dar soporte a esta experiencia de aprendizaje mejorada. Este proyecto integra el diseño y desarrollo de una arquitectura en la nube altamente escalable y con alto rendimiento, así como el propio cliente de iOS, para dar soporte a una nueva version de Temporis, un juego móvil multijugador orientado a reordenar eventos históricos en una línea temporal (e.j. historia, arte, deportes, entretenimiento y literatura). Temporis actualmente está disponible en Google Play. Esta memoria describe el desarrollo de la nueva versión de Temporis (Temporis v.2.0) proporcionando detalles acerca de la mejora y adaptación basados en el Temporis original. En particular se describe el nuevo backend hecho en Go sobre Google App Engine creado para soportar miles de usuarios, asó como otras características por ejemplo como conseguir enviar noticaciones push desde la propia plataforma. Por último, el cliente de iOS en Temporis v.2.0 se ha desarrollado utilizando las últimas y más relevantes tecnologías, prestando especial atención a Swift (el lenguaje de programación nuevo de Apple, que es seguro y rápido), el Paradigma Funcional Reactivo (que ayuda a construir aplicaciones altamente interactivas además de a minimizar errores) y la arquitectura VIPER (una arquitectura que sigue los principios SOLID, se centra en la separación de asuntos y favorece la reutilización de código en otras plataformas). ABSTRACT Emerging technologies such as cloud computing and mobile devices are creating an unprecedented opportunity for enhancing the educational system, letting both educators customize and improve the learning experience, and students acquire knowledge regardless of where they are. Moreover, through gamification techniques it would be possible to encourage and motivate students to learn arduous subjects by making the experience more motivating. Mobile games can be a perfect vehicle to support this enhanced learning experience. This project integrates the design and development of a highly scalable and performant cloud architecture, as well as the iOS client that uses it, in order to provide support to a new version of Temporis, a mobile multiplayer game focused on ordering time-based (e.g. history, art, sports, entertainment and literature) in a timeline that currently is available on Google Play. This work describes the development of the new Temporis version (Temporis v.2.0), providing details about improvements and details on the adaptation of the original Temporis. In particular, the new Google App Engine backend is described, which was created to support thousand of users developed in Go language are provided, in addition to other features like how to achieve push notications in this platform. Finally, the mobile iOS client developed using the latest and more relevant technologies is explained paying special attention to Swift (Apple's new programming language, that is safe and fast), the Functional Reactive Paradigm (that helps building highly interactive apps while minimizing bugs) and the VIPER architecture (a SOLID architecture that enforces separation of concerns and makes it easy to reuse code for other platforms).