Unsupervised classification of dynamic obstacles in urban environments

This paper presents a solution to the problem of unsupervised classification of dynamic obstacles in urban environments. A track‐based model is introduced for the integration of two‐dimensional laser and vision information that provides a robust spatiotemporal synthesis of the sensed moving obstacles and forms the basis for suitable algorithms to perform unsupervised classification by clustering. This work presents various contributions in order to achieve accurate and efficient performance, initially using laser tracks for classification and then incorporating visual tracks to the model. A procedure is proposed for accurate unsupervised classification of dynamic obstacles using a laser stamp representation of the tracks. Laser data are then integrated with visual information through a single‐instance visual stamp representation, which is finally extended using a multiple‐instance framework to robustly deal with challenges associated with perception in real‐world scenarios. The proposed algorithms are extensively validated with a simulated environment. Experiments with a research vehicle in an urban environment demonstrate the performance of the approach with real data. The experimental results reach an accuracy of more than 92% for obstacle classification, finding the clusters that correspond to the main obstacle classes in the data. © 2010 Wiley Periodicals, Inc.     

A historical perspective of algorithmic lateral inhibition and accumulative computation in computer vision

Certainly, one of the prominent ideas of Professor José Mira was that it is absolutely mandatory to specify the mechanisms and/or processes underlying each task and inference mentioned in an architecture in order to make operational that architecture. The conjecture of the last fifteen years of joint research has been that any bottom-up organization may be made operational using two biologically inspired methods called “algorithmic lateral inhibition”, a generalization of lateral inhibition anatomical circuits, and “accumulative computation”, a working memory related to the temporal evolution of the membrane potential. This paper is dedicated to the computational formulation of both methods. Finally, all of the works of our group related to this methodological approximation are mentioned and summarized, showing that all of them support the validity of this approximation.     

A formal analysis of database replication protocols with SI replicas and crash failures

This paper provides a formal specification and proof of correctness of a basic Generalized Snapshot Isolation certification-based data replication protocol for database middleware architectures. It has been modeled using a state transition system, as well as the main system components, allowing a perfect match with the usual deployment in a middleware system. The proof encompasses both safety and liveness properties, as it is commonly done for a distributed algorithm. Furthermore, a crash failure model has been assumed for the correctness proof, although recovery analysis is not the aim of this paper. This allows an easy extension toward a crash-recovery model support in future works. The liveness proof focuses in the uniform commit: if a site has committed a transaction, the rest of sites will either commit it or it would have crashed.     

Condition-based diagnosis of mechatronic systems using a fractional calculus approach

While fractional calculus (FC) is as old as integer calculus, its application has been mainly restricted to mathematics. However, many real systems are better described using FC equations than with integer models. FC is a suitable tool for describing systems characterised by their fractal nature, long-term memory and chaotic behaviour. It is a promising methodology for failure analysis and modelling, since the behaviour of a failing system depends on factors that increase the model’s complexity. This paper explores the proficiency of FC in modelling complex behaviour by tuning only a few parameters. This work proposes a novel two-step strategy for diagnosis, first modelling common failure conditions and, second, by comparing these models with real machine signals and using the difference to feed a computational classifier. Our proposal is validated using an electrical motor coupled with a mechanical gear reducer.     

Towards a dynamic modeling of the predator prey problem

This article addresses a new dynamic optimization problem (DOP) based on the Predator-Prey (PP) relationship in nature. Indeed, a PP system involves two adversary species where the predator’s objective is to hunt the prey while the prey’s objective is to escape from its predator. By analogy to dynamic optimization, a DOP can be seen as a predation between potential solution(s) in the search space, which represents the predator, and the moving optimum, as the prey. Therefore we define the dynamic predator-prey problem (DPP) whose objective is to keep track of the moving prey, so as to minimize the distance to the optimum. To solve this problem, a dynamic approach that continuously adapts to the changing environment is required. Accordingly, we propose a new evolutionary approach based on three main techniques for DOPs, namely: multi-population scheme, random immigrants, and memory of past solutions. This hybridization of methods aims at improving the evolutionary approaches ability to deal with DOPs and to restrain as much as possible their drawbacks. Our computational experiments show that the proposed approach achieves high performance for DPP and and competes with state of the art approaches.     

Optimization of anisotropic composite panels with T-shaped stiffeners including transverse shear effects and out-of-plane loading

A two-step method to optimize anisotropic composite panels with T-shaped stiffeners, including a new formulation of the transverse shear properties and an approximation of the ply contiguity (blocking) constraints as functions of the lamination parameters is provided. At the first step, a representative element of the stiffened panel (superstiffener) is optimized using mathematical programming and lamination parameters subjected to combined loading (in-plane and out-of-plane) under strength (laminate or ply failure), buckling and practical design constraints. Ply blocking constraints are imposed at this step to improve convergence towards practical laminates. At the second step, the actual superstiffener’s laminates are obtained by using a genetic algorithm. Results, for the case considered, show that the inclusion of transverse shear effects has an associated 2.5% mass penalty and that neglecting its effects might invoke earlier buckling failure. In addition, the influence of designing for failure strength at laminate or ply level is assessed.     

Exploring different technological platforms for supporting co-located collaborative games in the classroom

Computer Supported Collaborative Learning is a pedagogical approach that can be used for deploying educational games in the classroom. However, there is no clear understanding as to which technological platforms are better suited for deploying co-located collaborative games, nor the general affordances that are required. In this work we explore two different technological platforms for developing collaborative games in the classroom: one based on augmented reality technology and the other based on multiple-mice technology. In both cases, the same game was introduced to teach electrostatics and the results were compared experimentally using a real class.     

Multi‐objective optimization using metaheuristics: non‐standard algorithms

In recent years, the application of metaheuristic techniques to solve multi‐objective optimization problems has become an active research area. Solving this kind of problems involves obtaining a set of Pareto‐optimal solutions in such a way that the corresponding Pareto front fulfils the requirements of convergence to the true Pareto front and uniform diversity. Most of the studies on metaheuristics for multi‐objective optimization are focused on Evolutionary Algorithms, and some of the state‐of‐the‐art techniques belong this class of algorithms. Our goal in this paper is to study open research lines related to metaheuristics but focusing on less explored areas to provide new perspectives to those researchers interested in multi‐objective optimization. In particular, we focus on non‐evolutionary metaheuristics, hybrid multi‐objective metaheuristics, parallel multi‐objective optimization and multi‐objective optimization under uncertainty. We analyze these issues and discuss open research lines.     

Characterization of nickel-bearing ferrites obtained as by-products of hydrochemical wastewater purification processes

The efficiency of the ‘ferrite process’ for the purification of wastewater heavily contaminated with nickel is evaluated, and the solid residues formed are characterised. The efficiency of the purification process is always above 99.9% for Fe²⁺/Ni²⁺ ratios greater than 3. The tested Fe²⁺/Ni²⁺ molar ratios (15/1, 7/1 and 3/1) yielded three different nickel ferrites. Inductively-coupled plasma atomic emission spectroscopy (ICP-AES), potentiometric titration, X-ray fluorescence (XRF), X-ray diffractometry (XRD) and differential scanning calorimetry (DSC) yielded Ni_xFe_1−x^IIFe₂^IIIO₄ (x=0.18, 0.40 and 0.65, respectively) as the most probable stoichiometry, and inverse spinel as the most probable structure. Heating at 600 °C causes the transformation of the solids into a mixture of NiFe₂O₄, α-Fe₂O₃ and NiO. Electrochemical analysis of the solid nickel ferrites was performed using carbon paste electrodes (CPEs) in HClO₄ and HCl media. In each case, the first cyclic voltammogram showed the participation of solid species in the electrochemical transformation process, since the shape of the redox peaks could be related to the structure and stoichiometry of the ferrites. In second and successive scans, the voltammograms indicated the redox couples Fe_ads³⁺+1e⁻⇔Fe_ads²⁺ (0.525 V vs. Ag/AgCl) and Ni_ads²⁺+2e⁻⇔Ni(s) (−0.470 V) in HClO₄, and FeCl_2,ads⁺+1e⁻⇔FeCl_ads⁺+Cl⁻ (0.475 V) and NiCl_x,ads^(x−2)−+2e⁻⇔Ni(s)+xCl⁻ (−0.550 V) in HCl.