Guidance of a mobile robot using an array of static cameras located in the environment

This paper presents a new proposal for positioning and guiding mobile robots in indoor environments. The proposal is based on the information provided by static cameras located in the movement environment. This proposal falls within the scope of what are known as intelligent environments; in this case, the environment is provided with cameras that, once calibrated, allow the position of the robots to be obtained. Based on this information, control orders for the robots can be generated using a radio frequency link. In order to facilitate identification of the robots, even under extremely adverse ambient lighting conditions, a beacon consisting of four circular elements constructed from infrared diodes is mounted on board the robots. In order to identify the beacon, an edge detection process is carried out. This is followed by a process that, based on the algebraic distance, obtains the estimated ellipses associated with each element of the beacon. Once the beacon has been identified, the coordinates of the centroids for the elements that make up the beacon are obtained on the various image planes. Based on these coordinates, an algorithm is proposed that takes into account the standard deviation of the error produced in the various cameras in ascertaining the coordinates of the beacon’s elements. An odometric system is also used in guidance that, in conjunction with a Kalman Filter, allows the position of the robot to be estimated during the time intervals required to process the visual information provided by the cameras.

Guidelines for the incremental identification of aspects in requirements specifications

The desired principle of separation of concerns in software development can be jeopardized by the so-called crosscutting concerns, which tend to be scattered over (and tangled with) the functionality of the modular units of a system. The correct identification of such concerns (and their encapsulation into separate artifacts) is thereby considered a way to improve software understanding and evolution. Pursuing a proper management of concerns from the requirements engineering stage can greatly benefit the entire software life-cycle. In this paper, we propose conceptual guidelines on how to perform the identification of crosscutting concerns in the process of building requirements specifications. We argue that the identification must be carried out in an incremental way, to encapsulate apart the crosscutting concerns even if they have not emerged completely yet.

Group weighted finite transducers

We consider weighted finite transducers over arbitrary groups, that is finite transducers having a counter in which, at any step, a value of the group is stored but no information regarding the content of this counter is available until the computation is finished. The computation is valid if the counter value is the neutral element of the group. We generalize here some results from [8] and [17]. Received: 28 January 2001 / 5 June 2001     

A socioeconomic model for managing water resources in Alicante,southeast Spain

The study analyzes variables that influence the water management model based on a simultaneous relationship between competing demands in the Marina Baja of Alicante, using a methodology that directly links together urban and irrigation demands, making them relevant to each other from a socioeconomic point of view. The paper identifies the relevant variables of this model and the agent behaviour in a closed and joint system. It also aims to demonstrate that by considering water demands for different yet simultaneous uses and regarding clean and reclaimed waters as integrated resources, the system could remain in equilibrium without external water supplies.     

The Social Sustainable Aquifer Yield: An Indicator for the Analysis and Assessment of the Integrated Aquifers Management

Integrated Aquifers Management (IAM) demands innovative tools and methods that are able to consider as much perspectives as possible. This research is aimed to design, apply and provide an indicator named Social Sustainable Aquifer Yield (SSAY), expressed in units of time that includes pure hydrological variables as well as social ones. The indicator is defined as the relation between the Residence Time, which is the relation between aquifer Storage (S) and Recharge (R) (S/R), and the relation between the aquifer Pumping (P) and the new variable named Aquifer Social Yield (ASY). The whole indicator is defined by this formula: (S/R)/(P/ASY). The assessment of the residence time is essential in aquifers with at least one of the following features: i) high hydraulic diffusivity, and ii) small volume of reserves. Finally, the variable ASY is defined as the average perception from the stakeholders about the maximum acceptable aquifer exploitation. This indicator has been successfully applied in the aquifers located in southern Jaen province (South Spain) belonging to the Water System SE4-Jaén Water Supply. The results probe the high utility of the indicator, especially in regards to the public participation processes.     

Bioinspired sparse spectro-temporal representation of speech for robust classification

In this work, a first approach to a robust phoneme recognition task by means of a biologically inspired feature extraction method is presented. The proposed technique provides an approximation to the speech signal representation at the auditory cortical level. It is based on an optimal dictionary of atoms, estimated from auditory spectrograms, and the Matching Pursuit algorithm to approximate the cortical activations. This provides a sparse coding with intrinsic noise robustness, which can be therefore exploited when using the system in adverse environments. The recognition task consisted in the classification of a set of 5 easily confused English phonemes, in both clean and noisy conditions. Multilayer perceptrons were trained as classifiers and the performance was compared to other classic and robust parameterizations: the auditory spectrogram, a probabilistic optimum filtering on Mel frequency cepstral coefficients and the perceptual linear prediction coefficients. Results showed a significant improvement in the recognition rate of clean and noisy phonemes by the cortical representation over these other parameterizations.     

Asymptotic synchronization of the Colpitts oscillator

In this paper we deal with the observer-based asymptotic synchronization problem for a class of chaotic oscillators. Some results based on a differential algebraic approach are used in order to determine the algebraic observability of unknown variables. The strategy consists of proposing a slave system (observer) which tends to follow asymptotically the master system. The methodology is tested in the real-time asymptotic synchronization of the Colpitts oscillator by means of a proportional reduced order observer (PROO) of free-model type.     

Self-Organising Maps: A new way to screen the level of satisfaction of dialysis patients

Evaluation of patient satisfaction has become an important indicator for assessing health care quality. Fresenius Medical Care (FME) as a global provider of dialysis services through its NephroCare network has a strong interest in monitoring patient satisfaction.The aim of the paper is to test and validate a methodology for detecting a residual area of low satisfaction in dialysis patients.The FME Patient Satisfaction Programme questionnaire was distributed to haemodialysis (HD) patients treated in 335 centers of its network. It contained 79 questions covering various satisfaction aspects regarding Dialysis Unit, Dialysis Arrangement, Nurses, Doctors, etc.To analyse the data provided by the questionnaire, the Self-Organising Map (SOM) method was used. SOM is a neural network model for clustering and projecting high-dimensional data into a low-dimensional space, preserving topological relationships of original high-dimensional data spaces.10,632 HD patients completed the questionnaire. Mean age was 63.05 ± 14.93 years with 56.69% males. Response rate was 66%. Overall level of satisfaction was 1.99 (range from ?3 to +3). On average patients were very satisfied with all issues. Nevertheless, a group of patients, around 60 years old, balanced gender ratio, whose level of satisfaction was lower than 1, were highlighted.In the NephroCare clinics patient satisfaction with service is rather high. While traditional analysis usually stops here, the SOM method allows identification of areas of potential improvement for specific patient groups.     

A consensus model for group decision making problems with linguistic interval fuzzy preference relations

Sometimes, we find decision situations in which it is difficult to express some preferences by means of concrete preference degrees. In this paper, we present a consensus model for group decision making problems in which the experts use linguistic interval fuzzy preference relations to represent their preferences. This model is based on two consensus criteria, a consensus measure and a proximity measure, and on the concept of coincidence among preferences. We compute both consensus criteria in the three representation levels of a preference relation and design an automatic feedback mechanism to guide experts in the consensus reaching process.     

On the differential benchmarking of promotional efficiency with machine learning modelling (II): Practical applications

The assessment of promotional sales with models constructed by machine learning techniques is arousing interest due, among other reasons, to the current economic situation leading to a more complex environment of simultaneous and concurrent promotional activities. An operative model diagnosis procedure was previously proposed in the companion paper, which can be readily used both for agile decision making on the architecture and implementation details of the machine learning algorithms, and for differential benchmarking among models. In this paper, a detailed example of model analysis is presented for two representative databases with different promotional behaviour, namely, a non-seasonal category (milk) and a heavily seasonal category (beer). The performance of four well-known machine learning techniques with increasing complexity is analyzed in detail here. In particular, k-Nearest Neighbours, General Regression Neural Networks, Multilayer Perceptron (MLP), and Support Vector Machines (SVM), are differentially compared. Present paper evaluates these techniques along the experiments described for both categories when applying the methodological findings obtained in the companion paper. We conclude that some elements included in the architecture are not essential for a good performance of the machine learning promotional models, such as the semiparametric nature of the kernel in SVM models, whereas other can be strongly dependent of the database, such as the convenience of multiple output models in MLP regression schemes. Additionally, the specificity of the behaviour of certain categories and product ranges determines the need to establish suitable and specific procedures for a better prediction and feature extraction.