Real-time hierarchical stereo Visual SLAM in large-scale environments

In this paper we present a new real-time hierarchical (topological/metric) Visual SLAM system focusing on the localization of a vehicle in large-scale outdoor urban environments. It is exclusively based on the visual information provided by a cheap wide-angle stereo camera. Our approach divides the whole map into local sub-maps identified by the so-called fingerprints (vehicle poses). At the sub-map level (low level SLAM), 3D sequential mapping of natural landmarks and the robot location/orientation are obtained using a top-down Bayesian method to model the dynamic behavior. A higher topological level (high level SLAM) based on fingerprints has been added to reduce the global accumulated drift, keeping real-time constraints. Using this hierarchical strategy, we keep the local consistency of the metric sub-maps, by mean of the EKF, and global consistency by using the topological map and the MultiLevel Relaxation (MLR) algorithm. Some experimental results for different large-scale outdoor environments are presented, showing an almost constant processing time.     

Guaranteed cost control analysis and iterative design for constrained Takagi–Sugeno systems

This paper presents a novel control design technique in order to obtain a guaranteed cost fuzzy controller subject to constraints on the input channel. This guaranteed cost control law is obtained via multi-parametric quadratic programming. The result is a piecewise fuzzy control law where the state partition is defined by fuzzy inequalities. The parameters of the Lyapunov function can be obtained previously using Linear Matrix Inequalities optimization.     

Two-stage cascaded classification approach based on genetic fuzzy learning for speech/music discrimination

Automatic discrimination of speech and music is an important tool in many multimedia applications. The paper presents a robust and effective approach for speech/music discrimination, which relies on a two-stage cascaded classification scheme. The cascaded classification scheme is composed of a statistical pattern recognition classifier followed by a genetic fuzzy system. For the first stage of the classification scheme, other widely used classifiers, such as neural networks and support vector machines, have also been considered in order to assess the robustness of the proposed classification scheme. Comparison with well-proven signal features is also performed. In this work, the most commonly used genetic learning algorithms (Michigan and Pittsburgh) have been evaluated in the proposed two-stage classification scheme. The genetic fuzzy system gives rise to an improvement of about 4% in the classification accuracy rate. Experimental results show the good performance of the proposed approach with a classification accuracy rate of about 97% for the best trial.     

A technique for defining agent-oriented engineering processes with tool support

The formalization of engineering processes is necessary for guaranteeing the quality and cost of the products involved. Agent-oriented engineering has already proposed development processes that still need to be further formalized to be applicable by non-researchers. This paper proposes a technique to instantiate processes for specific agent-oriented methodologies. This technique is based on three orthogonal views that are respectively related with lifecycles, disciplines and guidances. In addition, processes are modeled with a tool, which is automatically generated from a process metamodel inspired by the software & systems process engineering metamodel. Accordingly, engineers can choose the methodology–process pair best-suited for the characteristics of their project. The paper illustrates the approach based on the unified development process and the scrum process for the INGENIAS methodology and compares the results with other existing alternatives.     

A natural-disaster management DSS for Humanitarian Non-Governmental Organisations

Humanitarian Non-Governmental Organisations (NGOs) play a growing role in the response to natural disasters, but despite being largely demanded, there is no available decision support system (DSS) specifically designed to address their problem. In this paper we present a decision support system (DSS) to aid those Humanitarian NGOs concerned with the response to natural disasters. Such a DSS has been designed avoiding sophisticated methodologies that may exceed the infrastructural requirements and constraints of emergency management by NGOs. A data-based, two-level knowledge methodology which allows damage assessment of multiple disaster scenarios is presented in order to address that problem. Validation results show viability of our approach.     

A framework for the definition of metamodels for Computer-Aided Software Engineering tools

Computer-Aided Software Engineering (CASE) tools support modeling-related activities in development projects. Given the variety of tools and functionalities, it is quite common to work with several tools in the same project. However, data cannot usually be exchanged between these tools without loss of information. Recent approaches address this model interchange problem using metamodels to characterize the involved information and transformations to export/import it. Nevertheless, most of these solutions focus on the abstract syntax of models. They fail to consider aspects such as the presentation of models or tool-specific information, which are either disregarded or represented in ad-hoc ways that make difficult their processing. In order to overcome these limitations, this paper introduces a framework to define metamodels of CASE tools and a process to carry out the model interchange using them. The proposed metamodels have a modular organization with several internal metamodels. Each of them is aimed at describing some specific information about content, structure and presentation for both models and tools. The paper illustrates this approach with a case study used for comparison with existing works for this problem.     

Simultaneous algorithm for trajectory planning

This paper addresses the solution of smooth trajectory planning for industrial robots in environments with obstacles using a direct method, creating the trajectory gradually as the robot moves. The presented method deals with the uncertainties associated with the lack of knowledge of kinematic properties of intermediate via‐points since they are generated as the algorithm evolves looking for the solution. Several cost functions are also proposed, which use the time that has been calculated to guide the robot motion. The method has been applied successfully to a PUMA 560 robot and four operational parameters (execution time, computational time, distance travelled and number of configurations) have been computed to study the properties and influence of each cost function on the trajectory obtained. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society     

APROMORE: An advanced process model repository

Business process models are becoming available in large numbers due to their widespread use in many industrial applications such as enterprise and quality engineering projects. On the one hand, this raises a challenge as to their proper management: how can it be ensured that the proper process model is always available to the interested stakeholder? On the other hand, the richness of a large set of process models also offers opportunities, for example with respect to the re-use of existing model parts for new models. This paper describes the functionality and architecture of an advanced process model repository, named APROMORE. This tool brings together a rich set of features for the analysis, management and usage of large sets of process models, drawing from state-of-the art research in the field of process modeling. A prototype of the platform is presented in this paper, demonstrating its feasibility, as well as an outlook on the further development of APROMORE.