Construction of Intelligent Virtual Worlds Using a Grammatical Framework

The potential of integrating multiagent systems and virtual environments has not been exploited to its whole extent. This paper proposes a model based on grammars, called Minerva, to construct complex virtual environments that integrate the features of agents. A virtual world is described as a set of dynamic and static elements. The static part is represented by a sequence of primitives and transformations and the dynamic elements by a series of agents. Agent activation and communication is achieved using events, created by the so-called event generators. The grammar defines a descriptive language with a simple syntax and a semantics, defined by functions. The semantics functions allow the scene to be displayed in a graphics device, and the description of the activities of the agents, including artificial intelligence algorithms and reactions to physical phenomena. To illustrate the use of Minerva, a practical example is presented: a simple robot simulator that considers the basic features of a typical robot. The result is a functional simple simulator. Minerva is a reusable, integral, and generic system, which can be easily scaled, adapted, and improved. The description of the virtual scene is independent from its representation and the elements that it interacts with.

An approach to the application of shift-and-add algorithms on engineering and industrial processes

Different kinds of algorithms can be chosen so as to compute elementary functions. Among all of them, it is worthwhile mentioning the shift-and-add algorithms due to the fact that they have been specifically designed to be very simple and to save computer resources. In fact, almost the only operations usually involved with these methods are additions and shifts, which can be easily and efficiently performed by a digital processor. Shift-and-add algorithms allow fairly good precision with low cost iterations. The most famous algorithm belonging to this type is CORDIC. CORDIC has the capability of approximating a wide variety of functions with only the help of a slight change in their iterations. In this paper, we will analyze the requirements of some engineering and industrial problems in terms of type of operands and functions to approximate. Then, we will propose the application of shift-and-add algorithms based on CORDIC to these problems. We will make a comparison between the different methods applied in terms of the precision of the results and the number of iterations required.

Crypto at the Time of Surveillance: Sharing with the Cloud

These days as we are facing extremely powerful attacks on servers over the Internet (say, by the Advanced Persistent Threat attackers or by Surveillance by powerful adversary), Shamir has claimed that “Cryptography is Ineffective”and some understood it as “Cryptography is Dead!” In this talk I will discuss the implications on cryptographic systems design while facing such strong adversaries. Is crypto dead or we need to design it better, taking into account, mathematical constraints, but also systems vulnerability constraints. Can crypto be effective at all when your computer or your cloud is penetrated? What is lost and what can be saved? These are very basic issues at this point of time, when we are facing potential loss of privacy and security.

A Matrix PRNG with S-Box Output Filtering

We describe a modification to a previously published pseudorandom number generator improving security while maintaining high performance. The proposed generator is based on the powers of a word-packed block upper triangular matrix and it is designed to be fast and easy to implement in software since it mainly involves bitwise operations between machine registers and, in our tests, it presents excellent security and statistical characteristics. The modifications include a new, key-derived s-box based nonlinear output filter and improved seeding and extraction mechanisms. This output filter can also be applied to other generators.

A new betweenness centrality measure based on an algorithm for ranking the nodes of a network

We propose and discuss a new centrality index for urban street patterns represented as networks in geographical space. This centrality measure, that we call ranking-betweenness centrality, combines the idea behind the random-walk betweenness centrality measure and the idea of ranking the nodes of a network produced by an adapted PageRank algorithm. We initially use a PageRank algorithm in which we are able to transform some information of the network that we want to analyze into numerical values. Numerical values summarizing the information are associated to each of the nodes by means of a data matrix. After running the adapted PageRank algorithm, a ranking of the nodes is obtained, according to their importance in the network. This classification is the starting point for applying an algorithm based on the random-walk betweenness centrality. A detailed example of a real urban street network is discussed in order to understand the process to evaluate the ranking-betweenness centrality proposed, performing some comparisons with other classical centrality measures.

Numerical resolution of Emden's equation using Adomian polynomials

Purpose: In this paper the authors aim to show the advantages of using the decomposition method introduced by Adomian to solve Emden's equation, a classical non‐linear equation that appears in the study of the thermal behaviour of a spherical cloud and of the gravitational potential of a polytropic fluid at hydrostatic equilibrium. Design/methodology/approach: In their work, the authors first review Emden's equation and its possible solutions using the Frobenius and power series methods; then, Adomian polynomials are introduced. Afterwards, Emden's equation is solved using Adomian's decomposition method and, finally, they conclude with a comparison of the solution given by Adomian's method with the solution obtained by the other methods, for certain cases where the exact solution is known. Findings: Solving Emden's equation for n in the interval [0, 5] is very interesting for several scientific applications, such as astronomy. However, the exact solution is known only for n=0, n=1 and n=5. The experiments show that Adomian's method achieves an approximate solution which overlaps with the exact solution when n=0, and that coincides with the Taylor expansion of the exact solutions for n=1 and n=5. As a result, the authors obtained quite satisfactory results from their proposal. Originality/value: The main classical methods for obtaining approximate solutions of Emden's equation have serious computational drawbacks. The authors make a new, efficient numerical implementation for solving this equation, constructing iteratively the Adomian polynomials, which leads to a solution of Emden's equation that extends the range of variation of parameter n compared to the solutions given by both the Frobenius and the power series methods.

ABPgame+ o cómo hacer del último curso de ingeniería una primera experiencia profesional

Algunos de los aspectos clave en el desarrollo profesional de un ingeniero son su capacidad para trabajar en equipo, para integrar diferentes puntos de vista y para desarrollar grandes proyectos con un alto nivel de incertidumbre. Los planes de estudio de las titulaciones que preparan a estos futuros ingenieros no pueden permanecer ajenos a estas necesidades y deben plantear situaciones lo más cercanas posible a la realidad que se encontrarán nuestros egresados en su vida laboral. Estas razones, nos han llevado a plantear una experiencia innovadora en una titulación de nueva implantación como es el Grado en Ingeniería Multimedia. Hemos elegido, para ello, la metodología del Aprendizaje Basado en Proyectos (ABP), aplicada al itinerario de Creación y Entretenimiento Digital en cuarto curso, donde los estudiantes, agrupados en equipos, desarrollan un único gran proyecto durante el año, que es un videojuego. Queremos destacar dos consecuencias de esta experiencia: primero, el papel fundamental de la asignatura Proyectos Multimedia, sirviendo de apoyo al resto de asignaturas al llevar el peso de la gestión de los equipos y del seguimiento del proyecto. Y después, que los estudiantes pueden obtener un producto terminado al final del curso que les permita inaugurar su portafolio profesional.

Evaluación continua utilizando controles on-line. Percepción de los estudiantes

En la asignatura Sistemas Inteligentes del grado en Ingeniería Informática, durante el curso 2013-14, se planteó a los estudiantes un sistema de evaluación continua de la parte teórica consistente en la realización de controles on-line utilizando cuestionarios Moodle. En las normas de evaluación de la asignatura, los controles acumulaban toda la materia impartida hasta la fecha y su peso creciente de cara a la obtención de la nota final. Teníamos especial interés en determinar si el sistema resultaba estimulante para los estudiantes. El artículo aborda la evaluación continua, el contexto de la asignatura y los criterios de evaluación que se establecieron para la evaluación de la parte teórica de la asignatura. Además, se presentan las características de los cuestionarios Moodle, se aporta la encuesta de valoración del método que se pasó a los estudiantes, los resultados obtenidos en la citada encuesta, las conclusiones y las recomendaciones para el futuro. Deseamos destacar el soporte de la “Red de Investigación en Sistemas Inteligentes. Evaluación continua mediante controles utilizando Moodle” Código de Red ICE: 3021.

3D Maps Representation Using GNG

Current RGB-D sensors provide a big amount of valuable information for mobile robotics tasks like 3D map reconstruction, but the storage and processing of the incremental data provided by the different sensors through time quickly become unmanageable. In this work, we focus on 3D maps representation and propose the use of the Growing Neural Gas (GNG) network as a model to represent 3D input data. GNG method is able to represent the input data with a desired amount of neurons or resolution while preserving the topology of the input space. Experiments show how GNG method yields a better input space adaptation than other state-of-the-art 3D map representation methods.

Nuevo método de evaluación mediante revisiones cruzadas de los estudiantes

Actualmente nos enfrentamos a nuevos desafíos en el mundo de la educación. Entre las cuestiones más importantes se encuentra el grado de participación y compromiso de los estudiantes en su propio proceso de aprendizaje y esto implica que deban participar en su evaluación de manera activa. Así, en este artículo se presenta un nuevo método de evaluación empleado en la asignatura “Arquitecturas y Sistemas Operativos para Tiempo Real”, del título de Ingeniería Informática de la Universidad de Alicante. En este novedoso método, los alumnos participan en el proceso de evaluación de sus propios trabajos por medio de revisiones cruzadas (peer-reviewing) que pretenden identificar las carencias o errores en los trabajos presentados por sus compañeros de asignatura. En pocas semanas los estudiantes pueden entender la innovadora visión del proceso de enseñanza-aprendizaje empleado en nuestra asignatura y se involucran activamente en dicho proceso; con todo ello, sus conocimientos han de actualizarse de manera continua, por lo que son capaces de entender y asimilar los nuevos conceptos explicados por el profesor.

Learning Probabilistic Features for Robotic Navigation Using Laser Sensors

SLAM is a popular task used by robots and autonomous vehicles to build a map of an unknown environment and, at the same time, to determine their location within the map. This paper describes a SLAM-based, probabilistic robotic system able to learn the essential features of different parts of its environment. Some previous SLAM implementations had computational complexities ranging from O(Nlog(N)) to O(N2), where N is the number of map features. Unlike these methods, our approach reduces the computational complexity to O(N) by using a model to fuse the information from the sensors after applying the Bayesian paradigm. Once the training process is completed, the robot identifies and locates those areas that potentially match the sections that have been previously learned. After the training, the robot navigates and extracts a three-dimensional map of the environment using a single laser sensor. Thus, it perceives different sections of its world. In addition, in order to make our system able to be used in a low-cost robot, low-complexity algorithms that can be easily implemented on embedded processors or microcontrollers are used.

Analyzing the commercial activities of a street network by ranking their nodes: a case study in Murcia, Spain

Urban researchers and planners are often interested in understanding how economic activities are distributed in urban regions, what forces influence their special pattern and how urban structure and functions are mutually dependent. In this paper, we want to show how an algorithm for ranking the nodes in a network can be used to understand and visualize certain commercial activities of a city. The first part of the method consists of collecting real information about different types of commercial activities at each location in the urban network of the city of Murcia, Spain. Four clearly differentiated commercial activities are studied, such as restaurants and bars, shops, banks and supermarkets or department stores, but obviously we can study other. The information collected is then quantified by means of a data matrix, which is used as the basis for the implementation of a PageRank algorithm which produces a ranking of all the nodes in the network, according to their significance within it. Finally, we visualize the resulting classification using a colour scale that helps us to represent the business network.

Using a RGB-D camera for 6DoF SLAM

This paper presents a method for fast calculation of the egomotion done by a robot using visual features. The method is part of a complete system for automatic map building and Simultaneous Localization and Mapping (SLAM). The method uses optical flow in order to determine if the robot has done a movement. If so, some visual features which do not accomplish several criteria (like intersection, unicity, etc,) are deleted, and then the egomotion is calculated. We use a state-of-the-art algorithm (TORO) in order to rectify the map and solve the SLAM problem. The proposed method provides better efficiency that other current methods.

An improvement of a SLAM RGB-D method with movement prediction derived from a study of visual features

This paper presents a method for the fast calculation of a robot’s egomotion using visual features. The method is part of a complete system for automatic map building and Simultaneous Location and Mapping (SLAM). The method uses optical flow to determine whether the robot has undergone a movement. If so, some visual features that do not satisfy several criteria are deleted, and then egomotion is calculated. Thus, the proposed method improves the efficiency of the whole process because not all the data is processed. We use a state-of-the-art algorithm (TORO) to rectify the map and solve the SLAM problem. Additionally, a study of different visual detectors and descriptors has been conducted to identify which of them are more suitable for the SLAM problem. Finally, a navigation method is described using the map obtained from the SLAM solution.

Deterministic mathematical morphology for CAD/CAM

Purpose – The purpose of this paper is to present a new geometric model based on the mathematical morphology paradigm, specialized to provide determinism to the classic morphological operations. The determinism is needed to model dynamic processes that require an order of application, as is the case for designing and manufacturing objects in CAD/CAM environments. Design/methodology/approach – The basic trajectory-based operation is the basis of the proposed morphological specialization. This operation allows the definition of morphological operators that obtain sequentially ordered sets of points from the boundary of the target objects, inexistent determinism in the classical morphological paradigm. From this basic operation, the complete set of morphological operators is redefined, incorporating the concept of boundary and determinism: trajectory-based erosion and dilation, and other morphological filtering operations. Findings – This new morphological framework allows the definition of complex three-dimensional objects, providing arithmetical support to generating machining trajectories, one of the most complex problems currently occurring in CAD/CAM. Originality/value – The model proposes the integration of the processes of design and manufacture, so that it avoids the problems of accuracy and integrity that present other classic geometric models that divide these processes in two phases. Furthermore, the morphological operative is based on points sets, so the geometric data structures and the operations are intrinsically simple and efficient. Another important value that no excessive computational resources are needed, because only the points in the boundary are processed.