Temporal task allocation in periodic environments. An approach based on synchronization

In this paper, we study a robot swarm that has to perform task allocation in an environment that features periodic properties. In this environment, tasks appear in different areas following periodic temporal patterns. The swarm has to reallocate its workforce periodically, performing a temporal task allocation that must be synchronized with the environment to be effective. We tackle temporal task allocation using methods and concepts that we borrow from the signal processing literature. In particular, we propose a distributed temporal task allocation algorithm that synchronizes robots of the swarm with the environment and with each other. In this algorithm, robots use only local information and a simple visual communication protocol based on light blinking. Our results show that a robot swarm that uses the proposed temporal task allocation algorithm performs considerably more tasks than a swarm that uses a greedy algorithm.

Cálculo de pilas con aparatos de apoyo tipo POT y tablero con punto fijo

In recent years a great number of high speed railway bridges have been constructed within the Spanish borders. Due to the demanding high speed trains route's geometrical requirements, bridges frequently show remarkable lengths. This fact is the main reason why railway bridges are overall longer than roadway bridges. In the same line, it is also worth highlighting the importance of high speed trains braking forces compared to vehicles. While vehicles braking forces can be tackled easily, the railway braking forces demand the existence of a fixed-point. It is generally located at abutments where the no-displacements requirement can be more easily achieved. In some other cases the fixed-point is placed in one of the interior columns. As a consequence of these bridges' length and the need of a fixed-point, temperature, creep and shrinkage strains lead to fairly significant deck displacements, which become greater with the distance to the fixed-point. These displacements need to be accommodated by the piers and bearings deformation. Regular elastomeric bearings are not able to allow such displacements and therefore are not suitable for this task. For this reason, the use of sliding PTFE POT bearings has been an extensive practice mainly because they permit sliding with low friction. This is not the only reason of the extensive use of these bearings to high-speed railways bridges. The value of the vertical loads at each bent is significantly higher than in roadway bridges. This is so mainly because the live loads due to trains traffic are much greater than vehicles. Thus, gravel rails foundation represents a non-negligible permanent load at all. All this together increases the value of vertical loads to be withstood. This high vertical load demand discards the use of conventional bearings for excessive compressions. The PTFE POT bearings' higher technology allows to accommodate this level of compression thanks to their design. The previously explained high-speed railway bridge configuration leads to a key fact regarding longitudinal horizontal loads (such as breaking forces) which is the transmission of these loads entirely to the fixed-point alone. Piers do not receive these longitudinal horizontal loads since PTFE POT bearings displayed are longitudinally free-sliding. This means that longitudinal horizontal actions on top of piers will not be forces but imposed displacements. This feature leads to the need to approach these piers design in a different manner that when piers are elastically linked to superstructure, which is the case of elastomeric bearings. In response to the previous, the main goal of this Thesis is to present a Design Method for columns displaying either longitudinally fixed POT bearings or longitudinally free PTFE POT bearings within bridges with fixed-point deck configuration, applicable to railway and road vehicles bridges. The method was developed with the intention to account for all major parameters that play a role in these columns behavior. The long process that has finally led to the method's formulation is rooted in the understanding of these column's behavior. All the assumptions made to elaborate the formulations contained in this method have been made in benefit of conservatives results. The singularity of the analysis of columns with this configuration is due to a combination of different aspects. One of the first steps of this work was to study they of these design aspects and understand the role each plays in the column's response. Among these aspects, special attention was dedicated to the column's own creep due to permanent actions such us rheological deck displacements, and also to the longitudinally guided PTFE POT bearings implications in the design of the column. The result of this study is the Design Method presented in this Thesis, that allows to work out a compliant vertical reinforcement distribution along the column. The design of horizontal reinforcement due to shear forces is not addressed in this Thesis. The method's formulations are meant to be applicable to the greatest number of cases, leaving to the engineer judgement many of the different parameters values. In this regard, this method is a helpful tool for a wide range of cases. The widespread use of European standards in the more recent years, in particular the so-called Eurocodes, has been one of the reasons why this Thesis has been developed in accordance with Eurocodes. Same trend has been followed for the bearings design implications, which are covered by the rather recent European code EN-1337. One of the most relevant aspects that this work has taken from the Eurocodes is the non-linear calculations security format. The biaxial bending simplified approach that shows the Design Method presented in this work also lies on Eurocodes recommendations. The columns under analysis are governed by a set of dimensionless parameters that are presented in this work. The identification of these parameters is a helpful for design purposes for two columns with identical dimensionless parameters may be designed together. The first group of these parameters have to do with the cross-sectional behavior, represented in the bending-curvature diagrams. A second group of parameters define the columns response. Thanks to this identification of the governing dimensionless parameters, it has been possible what has been named as Dimensionless Design Curves, which basically allows to obtain in a reduced time a preliminary vertical reinforcement column distribution. These curves are of little use nowadays, firstly because each family of curves refer to specific values of many different parameters and secondly because the use of computers allows for extremely quick and accurate calculations.

Task-based telemanipulation for maintenance in large scientific facilities

This thesis presents a task-oriented approach to telemanipulation for maintenance in large scientific facilities, with specific focus on the particle accelerator facilities at European Organization for Nuclear Research (CERN) in Geneva, Switzerland and GSI Helmholtz Centre for Heavy Ion Research (GSI) in Darmstadt, Germany. It examines how telemanipulation can be used in these facilities and reviews how this differs from the representation of telemanipulation tasks within the literature. It provides methods to assess and compare telemanipulation procedures as well a test suite to compare telemanipulators themselves from a dexterity perspective. It presents a formalisation of telemanipulation procedures into a hierarchical model which can be then used as a basis to aid maintenance engineers in assessing tasks for telemanipulation, and as the basis for future research. The model introduces a new concept of Elemental Actions as the building block of telemanipulation movements and incorporates the dependent factors for procedures at a higher level of abstraction. In order to gain insight into realistic tasks performed by telemanipulation systems within both industrial and research environments a survey of teleoperation experts is presented. Analysis of the responses is performed from which it is concluded that there is a need within the robotics community for physical benchmarking tests which are geared towards evaluating the dexterity of telemanipulators for comparison of their dexterous abilities. A three stage test suite is presented which is designed to allow maintenance engineers to assess different telemanipulators for their dexterity. This incorporates general characteristics of the system, a method to compare kinematic reachability of multiple telemanipulators and physical test setups to assess dexterity from a both a qualitative perspective and measurably by using performance metrics. Finally, experimental results are provided for the application of the proposed test suite onto two telemanipulation systems, one from a research setting and the other within CERN. It describes the procedure performed and discusses comparisons between the two systems, as well as providing input from the expert operator of the CERN system.

Thermal Scattering Libraries Processing (F4E, Task 6.2)

Presentación del trabajo realizado en el marco del proyecto F4E, sobre el procesamiento de librerías de dispersión térmica de neutrones en formato ACE para su uso con el código MCNP. Se presentan tanto los métodos y procedimientos empleados, como los resultados y diferencias entre las distintas fuentes de datos.

DAEDALUS at SemEval-2014 Task 9: Comparing approaches for sentiment analysis in twitter

This paper describes our participation at SemEval- 2014 sentiment analysis task, in both contextual and message polarity classification. Our idea was to com- pare two different techniques for sentiment analysis. First, a machine learning classifier specifically built for the task using the provided training corpus. On the other hand, a lexicon-based approach using natural language processing techniques, developed for a ge- neric sentiment analysis task with no adaptation to the provided training corpus. Results, though far from the best runs, prove that the generic model is more robust as it achieves a more balanced evaluation for message polarity along the different test sets.

Context-awareness in task automation services by distributed event processing

Everybody has to coordinate several tasks everyday, usually in a manual manner. Recently, the concept of Task Automation Services has been introduced to automate and personalize the task coordination problem. Several user centered platforms and applications have arisen in the last years, that let their users configure their very own automations based on third party services. In this paper, we propose a new system architecture for Task Automation Services in a heterogeneous mobile, smart devices, and cloud services environment. Our architecture is based on the novel idea to employ distributed Complex Event Processing to implement innovative mixed execution profiles. The major advantage of the approach is its ability to incorporate context-awareness and real-time coordination in Task Automation Services.

Efficient RDF Interchange (ERI) format for RDF data streams

RDF streams are sequences of timestamped RDF statements or graphs, which can be generated by several types of data sources (sensors, social networks, etc.). They may provide data at high volumes and rates, and be consumed by applications that require real-time responses. Hence it is important to publish and interchange them efficiently. In this paper, we exploit a key feature of RDF data streams, which is the regularity of their structure and data values, proposing a compressed, efficient RDF interchange (ERI) format, which can reduce the amount of data transmitted when processing RDF streams. Our experimental evaluation shows that our format produces state-of-the-art streaming compression, remaining efficient in performance.

A Personal Agent Architecture for Task Automation in the Web of Data. Bringing intelligence to everyday tasks

Internet está evolucionando hacia la conocida como Live Web. En esta nueva etapa en la evolución de Internet, se pone al servicio de los usuarios multitud de streams de datos sociales. Gracias a estas fuentes de datos, los usuarios han pasado de navegar por páginas web estáticas a interacturar con aplicaciones que ofrecen contenido personalizado, basada en sus preferencias. Cada usuario interactúa a diario con multiples aplicaciones que ofrecen notificaciones y alertas, en este sentido cada usuario es una fuente de eventos, y a menudo los usuarios se sienten desbordados y no son capaces de procesar toda esa información a la carta. Para lidiar con esta sobresaturación, han aparecido múltiples herramientas que automatizan las tareas más habituales, desde gestores de bandeja de entrada, gestores de alertas en redes sociales, a complejos CRMs o smart-home hubs. La contrapartida es que aunque ofrecen una solución a problemas comunes, no pueden adaptarse a las necesidades de cada usuario ofreciendo una solucion personalizada. Los Servicios de Automatización de Tareas (TAS de sus siglas en inglés) entraron en escena a partir de 2012 para dar solución a esta liminación. Dada su semejanza, estos servicios también son considerados como un nuevo enfoque en la tecnología de mash-ups pero centra en el usuarios. Los usuarios de estas plataformas tienen la capacidad de interconectar servicios, sensores y otros aparatos con connexión a internet diseñando las automatizaciones que se ajustan a sus necesidades. La propuesta ha sido ámpliamante aceptada por los usuarios. Este hecho ha propiciado multitud de plataformas que ofrecen servicios TAS entren en escena. Al ser un nuevo campo de investigación, esta tesis presenta las principales características de los TAS, describe sus componentes, e identifica las dimensiones fundamentales que los defines y permiten su clasificación. En este trabajo se acuña el termino Servicio de Automatización de Tareas (TAS) dando una descripción formal para estos servicios y sus componentes (llamados canales), y proporciona una arquitectura de referencia. De igual forma, existe una falta de herramientas para describir servicios de automatización, y las reglas de automatización. A este respecto, esta tesis propone un modelo común que se concreta en la ontología EWE (Evented WEb Ontology). Este modelo permite com parar y equiparar canales y automatizaciones de distintos TASs, constituyendo un aporte considerable paraa la portabilidad de automatizaciones de usuarios entre plataformas. De igual manera, dado el carácter semántico del modelo, permite incluir en las automatizaciones elementos de fuentes externas sobre los que razonar, como es el caso de Linked Open Data. Utilizando este modelo, se ha generado un dataset de canales y automatizaciones, con los datos obtenidos de algunos de los TAS existentes en el mercado. Como último paso hacia el lograr un modelo común para describir TAS, se ha desarrollado un algoritmo para aprender ontologías de forma automática a partir de los datos del dataset. De esta forma, se favorece el descubrimiento de nuevos canales, y se reduce el coste de mantenimiento del modelo, el cual se actualiza de forma semi-automática. En conclusión, las principales contribuciones de esta tesis son: i) describir el estado del arte en automatización de tareas y acuñar el término Servicio de Automatización de Tareas, ii) desarrollar una ontología para el modelado de los componentes de TASs y automatizaciones, iii) poblar un dataset de datos de canales y automatizaciones, usado para desarrollar un algoritmo de aprendizaje automatico de ontologías, y iv) diseñar una arquitectura de agentes para la asistencia a usuarios en la creación de automatizaciones. ABSTRACT The new stage in the evolution of the Web (the Live Web or Evented Web) puts lots of social data-streams at the service of users, who no longer browse static web pages but interact with applications that present them contextual and relevant experiences. Given that each user is a potential source of events, a typical user often gets overwhelmed. To deal with that huge amount of data, multiple automation tools have emerged, covering from simple social media managers or notification aggregators to complex CRMs or smart-home Hub/Apps. As a downside, they cannot tailor to the needs of every single user. As a natural response to this downside, Task Automation Services broke in the Internet. They may be seen as a new model of mash-up technology for combining social streams, services and connected devices from an end-user perspective: end-users are empowered to connect those stream however they want, designing the automations they need. The numbers of those platforms that appeared early on shot up, and as a consequence the amount of platforms following this approach is growing fast. Being a novel field, this thesis aims to shed light on it, presenting and exemplifying the main characteristics of Task Automation Services, describing their components, and identifying several dimensions to classify them. This thesis coins the term Task Automation Services (TAS) by providing a formal definition of them, their components (called channels), as well a TAS reference architecture. There is also a lack of tools for describing automation services and automations rules. In this regard, this thesis proposes a theoretical common model of TAS and formalizes it as the EWE ontology This model enables to compare channels and automations from different TASs, which has a high impact in interoperability; and enhances automations providing a mechanism to reason over external sources such as Linked Open Data. Based on this model, a dataset of components of TAS was built, harvesting data from the web sites of actual TASs. Going a step further towards this common model, an algorithm for categorizing them was designed, enabling their discovery across different TAS. Thus, the main contributions of the thesis are: i) surveying the state of the art on task automation and coining the term Task Automation Service; ii) providing a semantic common model for describing TAS components and automations; iii) populating a categorized dataset of TAS components, used to learn ontologies of particular domains from the TAS perspective; and iv) designing an agent architecture for assisting users in setting up automations, that is aware of their context and acts in consequence.

AVALIAÇÃO DA COMPRESSÃO DA IMAGEM DIGITAL DA TELERRADIOGRAFIA LATERAL NA REPRODUTIBILIDADE DA MARCAÇÃO DE PONTOS CEFALOMÉTRICOS

A imagem digital adquirida pelo sistema da placa de fósforo foto ativada é visualizada no monitor do computador em um formato denominado DICOM. Este formato ocupa muito espaço para armazenamento, o que dificulta o arquivamento e transmissão da imagem pela Internet. O objetivo deste estudo foi avaliar a influência da compressão JPEG, nos Fatores de Qualidade 100, 80 e 60 na reprodutibilidade da marcação de pontos cefalométricos em imagens de telerradiografias em norma lateral comparadas com o formato DICOM. A amostra consistiu de 120 imagens de telerradiografias em norma lateral obtidas a partir de 30 indivíduos, dos quais se obteve uma radiografia digital no formato DICOM. Essas imagens foram convertidas para o formato JPEG. Após o cegamento e randomização da amostra, três Ortodontistas calibrados marcaram a localização de 12 pontos cefalométricos em cada imagem utilizando o sistema de coordenadas X e Y. Esse procedimento foi repetido após 1 mês. A reprodutibilidade intra e inter observador foi calculada usando o teste de correlação intraclasse. Para comparação entre os grupos de compressão e DICOM na reprodutibilidade de marcação dos pontos utilizou se a Análise de Variância (ANOVA) a um critério para medidas repetidas. Os resultados mostraram que as marcações dos pontos cefalométricos foram bastante reprodutíveis, exceto para o ponto Órbita na coordenada X. Os diferentes formatos de arquivo mostraram estatisticamente iguais para cada ponto e eixo aferido. As compressões JPEG estudadas das imagens de telerradiografias em norma lateral não tiveram efeito na reprodutibilidade da marcação dos pontos cefalométricos testados.

AVALIAÇÃO DA COMPRESSÃO DA IMAGEM DIGITAL DA TELERRADIOGRAFIA LATERAL NA REPRODUTIBILIDADE DA MARCAÇÃO DE PONTOS CEFALOMÉTRICOS

A imagem digital adquirida pelo sistema da placa de fósforo foto ativada é visualizada no monitor do computador em um formato denominado DICOM. Este formato ocupa muito espaço para armazenamento, o que dificulta o arquivamento e transmissão da imagem pela Internet. O objetivo deste estudo foi avaliar a influência da compressão JPEG, nos Fatores de Qualidade 100, 80 e 60 na reprodutibilidade da marcação de pontos cefalométricos em imagens de telerradiografias em norma lateral comparadas com o formato DICOM. A amostra consistiu de 120 imagens de telerradiografias em norma lateral obtidas a partir de 30 indivíduos, dos quais se obteve uma radiografia digital no formato DICOM. Essas imagens foram convertidas para o formato JPEG. Após o cegamento e randomização da amostra, três Ortodontistas calibrados marcaram a localização de 12 pontos cefalométricos em cada imagem utilizando o sistema de coordenadas X e Y. Esse procedimento foi repetido após 1 mês. A reprodutibilidade intra e inter observador foi calculada usando o teste de correlação intraclasse. Para comparação entre os grupos de compressão e DICOM na reprodutibilidade de marcação dos pontos utilizou se a Análise de Variância (ANOVA) a um critério para medidas repetidas. Os resultados mostraram que as marcações dos pontos cefalométricos foram bastante reprodutíveis, exceto para o ponto Órbita na coordenada X. Os diferentes formatos de arquivo mostraram estatisticamente iguais para cada ponto e eixo aferido. As compressões JPEG estudadas das imagens de telerradiografias em norma lateral não tiveram efeito na reprodutibilidade da marcação dos pontos cefalométricos testados.

Chromatic contrast in luminance-defined images affects performance and neural activity during a shape classification task

Funded by BBSRC funded grant, BB/H019731/1.

The impact of cognitive control on children's goal monitoring in a time-based prospective memory task

Peer reviewed

Differences in frontal cortical activation by a working memory task after substitution of risperidone for typical antipsychotic drugs in patients with schizophrenia

Antipsychotic drug treatment of schizophrenia may be complicated by side effects of widespread dopaminergic antagonism, including exacerbation of negative and cognitive symptoms due to frontal cortical hypodopaminergia. Atypical antipsychotics have been shown to enhance frontal dopaminergic activity in animal models. We predicted that substitution of risperidone for typical antipsychotic drugs in the treatment of schizophrenia would be associated with enhanced functional activation of frontal cortex. We measured cerebral blood oxygenation changes during periodic performance of a verbal working memory task, using functional MRI, on two occasions (baseline and 6 weeks later) in two cohorts of schizophrenic patients. One cohort (n = 10) was treated with typical antipsychotic drugs throughout the study. Risperidone was substituted for typical antipsychotics after baseline assessment in the second cohort (n = 10). A matched group of healthy volunteers (n = 10) was also studied on a single occasion. A network comprising bilateral dorsolateral prefrontal and lateral premotor cortex, the supplementary motor area, and posterior parietal cortex was activated by working memory task performance in both the patients and comparison subjects. A two-way analysis of covariance was used to estimate the effect of substituting risperidone for typical antipsychotics on power of functional response in the patient group. Substitution of risperidone increased functional activation in right prefrontal cortex, supplementary motor area, and posterior parietal cortex at both voxel and regional levels of analysis. This study provides direct evidence for significantly enhanced frontal function in schizophrenic patients after substitution of risperidone for typical antipsychotic drugs, and it indicates the potential value of functional MRI as a tool for longitudinal assessment of psychopharmacological effects on cerebral physiology.

Detection of cortical activation during averaged single trials of a cognitive task using functional magnetic resonance imaging

Functional neuroimaging studies in human subjects using positron emission tomography or functional magnetic resonance imaging (fMRI) are typically conducted by collecting data over extended time periods that contain many similar trials of a task. Here methods for acquiring fMRI data from single trials of a cognitive task are reported. In experiment one, whole brain fMRI was used to reliably detect single-trial responses in a prefrontal region within single subjects. In experiment two, higher temporal sampling of a more limited spatial field was used to measure temporal offsets between regions. Activation maps produced solely from the single-trial data were comparable to those produced from blocked runs. These findings suggest that single-trial paradigms will be able to exploit the high temporal resolution of fMRI. Such paradigms will provide experimental flexibility and time-resolved data for individual brain regions on a trial-by-trial basis.

Making artificial antibodies: A format for phage display of combinatorial heterodimeric arrays

The gene VII protein (pVII) and gene IX protein (pIX) are associated closely on the surface of filamentous bacteriophage that is opposite of the end harboring the widely exploited pIII protein. We developed a phagemid format wherein antibody heavy- and light-chain variable regions were fused to the amino termini of pVII and pIX, respectively. Significantly, the fusion proteins interacted to form a functional Fv-binding domain on the phage surface. Our approach will be applicable to the display of generic peptide and protein libraries that can form combinatorial heterodimeric arrays. Consequently, it represents a first step toward artificial antibodies and the selection of novel biological activities.