Automatic lateral control for unmanned vehicles via genetic algorithms

It is known that the techniques under the topic of Soft Computing have a strong capability of learning and cognition, as well as a good tolerance to uncertainty and imprecision. Due to these properties they can be applied successfully to Intelligent Vehicle Systems; ITS is a broad range of technologies and techniques that hold answers to many transportation problems. The unmannedcontrol of the steering wheel of a vehicle is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle; to reach it, information about the car state while a human driver is handling the car is taken and used to adjust, via iterative geneticalgorithms an appropriated fuzzy controller. To evaluate the obtained controllers, it will be considered the performance obtained in the track following task, as well as the smoothness of the driving carried out.

A review of estimation of distribution algorithms in bioinformatics

Evolutionary search algorithms have become an essential asset in the algorithmic toolbox for solving high-dimensional optimization problems in across a broad range of bioinformatics problems. Genetic algorithms, the most well-known and representative evolutionary search technique, have been the subject of the major part of such applications. Estimation of distribution algorithms (EDAs) offer a novel evolutionary paradigm that constitutes a natural and attractive alternative to genetic algorithms. They make use of a probabilistic model, learnt from the promising solutions, to guide the search process. In this paper, we set out a basic taxonomy of EDA techniques, underlining the nature and complexity of the probabilistic model of each EDA variant. We review a set of innovative works that make use of EDA techniques to solve challenging bioinformatics problems, emphasizing the EDA paradigm's potential for further research in this domain.

Annotation algorithms for unrestricted independent and-parallelism in logic programs

We present two new algorithms which perform automatic parallelization via source-to-source transformations. The objective is to exploit goal-level, unrestricted independent and-parallelism. The proposed algorithms use as targets new parallel execution primitives which are simpler and more flexible than the well-known &/2 parallel operator. This makes it possible to genérate better parallel expressions by exposing more potential parallelism among the literals of a clause than is possible with &/2. The difference between the two algorithms stems from whether the order of the solutions obtained is preserved or not. We also report on a preliminary evaluation of an implementation of our approach. We compare the performance obtained to that of previous annotation algorithms and show that relevant improvements can be obtained.

Optimized algorithms for the incremental analysis of logic programs

Global analysis of logic programs can be performed effectively by the use of one of several existing efficient algorithms. However, the traditional global analysis scheme in which all the program code is known in advance and no previous analysis information is available is unsatisfactory in many situations. Incrementa! analysis of logic programs has been shown to be feasible and much more efficient in certain contexts than traditional (non-incremental) global analysis. However, incremental analysis poses additional requirements on the fixpoint algorithm used. In this work we identify these requirements, present an important class of strategies meeting the requirements, present sufficient a priori conditions for such strategies, and propose, implement, and evalúate experimentally a novel algorithm for incremental analysis based on these ideas. The experimental results show that the proposed algorithm performs very efficiently in the incremental case while being comparable to (and, in some cases, considerably better than) other state-of-the-art analysis algorithms even for the non-incremental case. We argüe that our discussions, results, and experiments also shed light on some of the many tradeoffs involved in the design of algorithms for logic program analysis.

Adapting autonomously classification data mining algorithms for ubiquitous devices

Abstract Due to recent scientific and technological advances in information sys¬tems, it is now possible to perform almost every application on a mobile device. The need to make sense of such devices more intelligent opens an opportunity to design data mining algorithm that are able to autonomous execute in local devices to provide the device with knowledge. The problem behind autonomous mining deals with the proper configuration of the algorithm to produce the most appropriate results. Contextual information together with resource information of the device have a strong impact on both the feasibility of a particu¬lar execution and on the production of the proper patterns. On the other hand, performance of the algorithm expressed in terms of efficacy and efficiency highly depends on the features of the dataset to be analyzed together with values of the parameters of a particular implementation of an algorithm. However, few existing approaches deal with autonomous configuration of data mining algorithms and in any case they do not deal with contextual or resources information. Both issues are of particular significance, in particular for social net¬works application. In fact, the widespread use of social networks and consequently the amount of information shared have made the need of modeling context in social application a priority. Also the resource consumption has a crucial role in such platforms as the users are using social networks mainly on their mobile devices. This PhD thesis addresses the aforementioned open issues, focusing on i) Analyzing the behavior of algorithms, ii) mapping contextual and resources information to find the most appropriate configuration iii) applying the model for the case of a social recommender. Four main contributions are presented: - The EE-Model: is able to predict the behavior of a data mining algorithm in terms of resource consumed and accuracy of the mining model it will obtain. - The SC-Mapper: maps a situation defined by the context and resource state to a data mining configuration. - SOMAR: is a social activity (event and informal ongoings) recommender for mobile devices. - D-SOMAR: is an evolution of SOMAR which incorporates the configurator in order to provide updated recommendations. Finally, the experimental validation of the proposed contributions using synthetic and real datasets allows us to achieve the objectives and answer the research questions proposed for this dissertation.

Response threshold models, stochastic learning automata and ant colony optimization-based decentralized self-coordination algorithms for heterogeneous multi-tasks distribution in multi-robot systems

In recent decades, there has been an increasing interest in systems comprised of several autonomous mobile robots, and as a result, there has been a substantial amount of development in the eld of Articial Intelligence, especially in Robotics. There are several studies in the literature by some researchers from the scientic community that focus on the creation of intelligent machines and devices capable to imitate the functions and movements of living beings. Multi-Robot Systems (MRS) can often deal with tasks that are dicult, if not impossible, to be accomplished by a single robot. In the context of MRS, one of the main challenges is the need to control, coordinate and synchronize the operation of multiple robots to perform a specic task. This requires the development of new strategies and methods which allow us to obtain the desired system behavior in a formal and concise way. This PhD thesis aims to study the coordination of multi-robot systems, in particular, addresses the problem of the distribution of heterogeneous multi-tasks. The main interest in these systems is to understand how from simple rules inspired by the division of labor in social insects, a group of robots can perform tasks in an organized and coordinated way. We are mainly interested on truly distributed or decentralized solutions in which the robots themselves, autonomously and in an individual manner, select a particular task so that all tasks are optimally distributed. In general, to perform the multi-tasks distribution among a team of robots, they have to synchronize their actions and exchange information. Under this approach we can speak of multi-tasks selection instead of multi-tasks assignment, which means, that the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation ix of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. In addition, it is very interesting the evaluation of the results in function in each approach, comparing the results obtained by the introducing noise in the number of pending loads, with the purpose of simulate the robot's error in estimating the real number of pending tasks. The main contribution of this thesis can be found in the approach based on self-organization and division of labor in social insects. An experimental scenario for the coordination problem among multiple robots, the robustness of the approaches and the generation of dynamic tasks have been presented and discussed. The particular issues studied are: Threshold models: It presents the experiments conducted to test the response threshold model with the objective to analyze the system performance index, for the problem of the distribution of heterogeneous multitasks in multi-robot systems; also has been introduced additive noise in the number of pending loads and has been generated dynamic tasks over time. Learning automata methods: It describes the experiments to test the learning automata-based probabilistic algorithms. The approach was tested to evaluate the system performance index with additive noise and with dynamic tasks generation for the same problem of the distribution of heterogeneous multi-tasks in multi-robot systems. Ant colony optimization: The goal of the experiments presented is to test the ant colony optimization-based deterministic algorithms, to achieve the distribution of heterogeneous multi-tasks in multi-robot systems. In the experiments performed, the system performance index is evaluated by introducing additive noise and dynamic tasks generation over time.

Column Generation Algorithms for Nonlinear Optimization II: Numerical Investigations

García et al. present a class of column generation (CG) algorithms for nonlinear programs. Its main motivation from a theoretical viewpoint is that under some circumstances, finite convergence can be achieved, in much the same way as for the classic simplicial decomposition method; the main practical motivation is that within the class there are certain nonlinear column generation problems that can accelerate the convergence of a solution approach which generates a sequence of feasible points. This algorithm can, for example, accelerate simplicial decomposition schemes by making the subproblems nonlinear. This paper complements the theoretical study on the asymptotic and finite convergence of these methods given in [1] with an experimental study focused on their computational efficiency. Three types of numerical experiments are conducted. The first group of test problems has been designed to study the parameters involved in these methods. The second group has been designed to investigate the role and the computation of the prolongation of the generated columns to the relative boundary. The last one has been designed to carry out a more complete investigation of the difference in computational efficiency between linear and nonlinear column generation approaches. In order to carry out this investigation, we consider two types of test problems: the first one is the nonlinear, capacitated single-commodity network flow problem of which several large-scale instances with varied degrees of nonlinearity and total capacity are constructed and investigated, and the second one is a combined traffic assignment model

A Program for Fractal and Multifractal Analysis of Two-Dimensional Binary Images. Computer Algorithms versus Mathematical Theory.

In this paper we present a tool to carry out the multifractal analysis of binary, two-dimensional images through the calculation of the Rényi D(q) dimensions and associated statistical regressions. The estimation of a (mono)fractal dimension corresponds to the special case where the moment order is q = 0.

Evaluation of a Change Detection Methodology by Means of Binary Thresholding Algorithms and Informational Fusion Processes

Landcover is subject to continuous changes on a wide variety of temporal and spatial scales. Those changes produce significant effects in human and natural activities. Maintaining an updated spatial database with the occurred changes allows a better monitoring of the Earth?s resources and management of the environment. Change detection (CD) techniques using images from different sensors, such as satellite imagery, aerial photographs, etc., have proven to be suitable and secure data sources from which updated information can be extracted efficiently, so that changes can also be inventoried and monitored. In this paper, a multisource CD methodology for multiresolution datasets is applied. First, different change indices are processed, then different thresholding algorithms for change/no_change are applied to these indices in order to better estimate the statistical parameters of these categories, finally the indices are integrated into a change detection multisource fusion process, which allows generating a single CD result from several combination of indices. This methodology has been applied to datasets with different spectral and spatial resolution properties. Then, the obtained results are evaluated by means of a quality control analysis, as well as with complementary graphical representations. The suggested methodology has also been proved efficiently for identifying the change detection index with the higher contribution.

Thermal food processing optimization: Algorithms and software

The algorithms and graphic user interface software package ?OPT-PROx? are developed to meet food engineering needs related to canned food thermal processing simulation and optimization. The adaptive random search algorithm and its modification coupled with penalty function?s approach, and the finite difference methods with cubic spline approximation are utilized by ?OPT-PROx? package (http://tomakechoice. com/optprox/index.html). The diversity of thermal food processing optimization problems with different objectives and required constraints are solvable by developed software. The geometries supported by the ?OPT-PROx? are the following: (1) cylinder, (2) rectangle, (3) sphere. The mean square error minimization principle is utilized in order to estimate the heat transfer coefficient of food to be heated under optimal condition. The developed user friendly dialogue and used numerical procedures makes the ?OPT-PROx? software useful to food scientists in research and education, as well as to engineers involved in optimization of thermal food processing.

Parallel Algorithms for FE-BE Coupling

When non linear physical systems of infinite extent are modelled, such as tunnels and perforations, it is necessary to simulate suitably the solution in the infinite as well as the non linearity. The finite element method (FEM) is a well known procedure for simulating the non linear behavior. However, the treatment of the infinite field with domain truncations is often questionable. On the other hand, the boundary element method (BEM) is suitable to simulate the infinite behavior without truncations. Because of this, by the combination of both methods, suitable use of the advantages of each one may be obtained. Several possibilities of FEM-BEM coupling and their performance in some practical cases are discussed in this paper. Parallelizable coupling algorithms based on domain decomposition are developed and compared with the most traditional coupling methods.

Application of postprocessing techniques methods for noise reduction in cylindrical near field antenna measurements

Three different methods to reduce the noise power in the far-field pattern of an antenna when it is measured in a cylindrical near field system are presented and compared. The first one is based on a modal filtering while the other two are based on spatial filtering, either on an antenna plane or either on a cylinder of smaller radius. Simulated and measured results will be presented.

Experiences on the specification of algorithms for fire and smoke control in road tunnels

The main objective of ventilation systems in case of fire is the reduction of the possible consequences by achieving the best possible conditions for the evacuation of the users and the intervention of the emergency services. The required immediate transition, from normal to emergency functioning of the ventilation equipments, is being strengthened by the use of automatic and semi-automatic control systems, what reduces the response times through the help to the operators, and the use of pre-defined strategies. A further step consists on the use of closed-loop algorithms, which takes into account not only the initial conditions but their development (air velocity, traffic situation, etc.), optimizing smoke control capacity.

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms

This paper describes the design and evaluation of a new platform created in order to improve the learning experience of bilateral control algorithms in teleoperation. This experimental platform, developed at Universidad Politécnica de Madrid, is used by the students of the Master on Automation and Robotics in the practices of the subject called “Telerobotics and Teleoperation”. The main objective is to easily implement different control architectures in the developed platform and evaluate them under different conditions to better understand the main advantages and drawbacks of each control scheme. So, the student’s tasks are focused on adjusting the control parameters of the predefined controllers and designing new ones to analyze the changes in the behavior of the whole system. A description of the subject, main topics and the platform constructed are detailed in the paper. Furthermore, the methodology followed in the practices and the bilateral control algorithms are presented. Finally, the results obtained in the experiments with students are also shown.

Optimisation of algorithms to compute information theoretic indexes

Analysis of big amount of data is a field with many years of research. It is centred in getting significant values, to make it easier to understand and interpret data. Being the analysis of interdependence between time series an important field of research, mainly as a result of advances in the characterization of dynamical systems from the signals they produce. In the medicine sphere, it is easy to find many researches that try to understand the brain behaviour, its operation mode and its internal connections. The human brain comprises approximately 1011 neurons, each of which makes about 103 synaptic connections. This huge number of connections between individual processing elements provides the fundamental substrate for neuronal ensembles to become transiently synchronized or functionally connected. A similar complex network configuration and dynamics can also be found at the macroscopic scales of systems neuroscience and brain imaging. The emergence of dynamically coupled cell assemblies represents the neurophysiological substrate for cognitive function such as perception, learning, thinking. Understanding the complex network organization of the brain on the basis of neuroimaging data represents one of the most impervious challenges for systems neuroscience. Brain connectivity is an elusive concept that refers to diferent interrelated aspects of brain organization: structural, functional connectivity (FC) and efective connectivity (EC). Structural connectivity refers to a network of physical connections linking sets of neurons, it is the anatomical structur of brain networks. However, FC refers to the statistical dependence between the signals stemming from two distinct units within a nervous system, while EC refers to the causal interactions between them. This research opens the door to try to resolve diseases related with the brain, like Parkinson’s disease, senile dementia, mild cognitive impairment, etc. One of the most important project associated with Alzheimer’s research and other diseases are enclosed in the European project called Blue Brain. The center for Biomedical Technology (CTB) of Universidad Politecnica de Madrid (UPM) forms part of the project. The CTB researches have developed a magnetoencephalography (MEG) data processing tool that allow to visualise and analyse data in an intuitive way. This tool receives the name of HERMES, and it is presented in this document. Analysis of big amount of data is a field with many years of research. It is centred in getting significant values, to make it easier to understand and interpret data. Being the analysis of interdependence between time series an important field of research, mainly as a result of advances in the characterization of dynamical systems from the signals they produce. In the medicine sphere, it is easy to find many researches that try to understand the brain behaviour, its operation mode and its internal connections. The human brain comprises approximately 1011 neurons, each of which makes about 103 synaptic connections. This huge number of connections between individual processing elements provides the fundamental substrate for neuronal ensembles to become transiently synchronized or functionally connected. A similar complex network configuration and dynamics can also be found at the macroscopic scales of systems neuroscience and brain imaging. The emergence of dynamically coupled cell assemblies represents the neurophysiological substrate for cognitive function such as perception, learning, thinking. Understanding the complex network organization of the brain on the basis of neuroimaging data represents one of the most impervious challenges for systems neuroscience. Brain connectivity is an elusive concept that refers to diferent interrelated aspects of brain organization: structural, functional connectivity (FC) and efective connectivity (EC). Structural connectivity refers to a network of physical connections linking sets of neurons, it is the anatomical structur of brain networks. However, FC refers to the statistical dependence between the signals stemming from two distinct units within a nervous system, while EC refers to the causal interactions between them. This research opens the door to try to resolve diseases related with the brain, like Parkinson’s disease, senile dementia, mild cognitive impairment, etc. One of the most important project associated with Alzheimer’s research and other diseases are enclosed in the European project called Blue Brain. The center for Biomedical Technology (CTB) of Universidad Politecnica de Madrid (UPM) forms part of the project. The CTB researches have developed a magnetoencephalography (MEG) data processing tool that allow to visualise and analyse data in an intuitive way. This tool receives the name of HERMES, and it is presented in this document.