A hybrid solution to the multi-robot integrated exploration problem

In this paper we present a hybrid reactive/deliberative approach to the multi-robot integrated exploration problem. In contrast to other works, the design of the reactive and deliberative processes is exclusively oriented to the exploration having both the same importance level. The approach is based on the concepts of expected safe zone and gateway cell. The reactive exploration of the expected safe zone of the robot by means of basic behaviours avoids the presence of local minima. Simultaneously, a planner builds up a decision tree in order to decide between exploring the current expected safe zone or changing to other zone by means of travelling to a gateway cell. Furthermore, the model takes into account the degree of localization of the robots to return to previously explored areas when it is necessary to recover the certainty in the position of the robots. Several simulations demonstrate the validity of the approach.     

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.     

Batch process monitoring in the original measurement's space

Quality control and safety related issues have become more and more important in industrial production of high added value products and chemical specialities during last years. In this regard, many successful applications of multivariate statistical process control (MSPC) for monitoring and diagnosis of batch processes have been presented. It is a common industrial practice to monitor the batch progress by exploiting the information contained in a historical database of successful batches using projection techniques such as principal components analysis (PCA), partial least squares (PLS) and independent component analysis (ICA). In this work, a new MSPC strategy for batch process monitoring is presented. Its distinctive feature is that it works in the space of the original variables. The technique uses only the T²-statistic for detection and identification purposes. The identification of the set of observations that signal the fault is accomplished by decomposing the T²-statistic as a unique sum of each variable contribution. Performance comparisons among the proposed strategy and the most popular PCA-based approaches are carried out by simulation of polymerization and penicillin cultivation batch processes. Results show that the new approach can be successfully applied to monitor this kind of processes since it works very well during both fault detection and identification stages.     

A comparison of several neural networks to predict the execution times in injection molding production for automotive industry

In the industrial environment, specifically in the automotive industry, an accurate prediction of execution times for each production task is very useful in order to plan the work and to optimize the human, technical and material resources. In this paper, we applied several regression neural networks to predict the execution times of the tasks in the production of parts for plastic injection molds. These molds are used to make a variety of car components in automotive industry. The prediction is based on the geometric features of the mold parts to be made. The accuracy of the predicted times is high enough to be used as a tool for the design stage of the mold parts, e.g. guiding the design process in order to get the lowest production time.     

Semi-formal transformation of secure business processes into analysis class and use case models: An MDA approach

ContextModel-Driven Development (MDD) is an alternative approach for information systems development. The basic underlying concept of this approach is the definition of abstract models that can be transformed to obtain models near implementation. One fairly widespread proposal in this sphere is that of Model Driven Architecture (MDA). Business process models are abstract models which additionally contain key information about the tasks that are being carried out to achieve the company’s goals, and two notations currently exist for modelling business processes: the Unified Modelling Language (UML), through activity diagrams, and the Business Process Modelling Notation (BPMN).ObjectiveOur research is particularly focused on security requirements, in such a way that security is modelled along with the other aspects that are included in a business process. To this end, in earlier works we have defined a metamodel called secure business process (SBP), which may assist in the process of developing software as a source of highly valuable requirements (including very abstract security requirements), which are transformed into models with a lower abstraction level, such as analysis class diagrams and use case diagrams through the approach presented in this paper.MethodWe have defined all the transformation rules necessary to obtain analysis class diagrams and use case diagrams from SBP, and refined them through the characteristic iterative process of the action-research method.ResultsWe have obtained a set of rules and a checklist that make it possible to automatically obtain a set of UML analysis classes and use cases, starting from SBP models. Our approach has additionally been applied in a real environment in the area of the payment of electrical energy consumption.ConclusionsThe application of our proposal shows that our semi-automatic process can be used to obtain a set of useful artifacts for software development processes.     

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.     

A CSP model for simple non-reversible and parallel repair plans

This work presents a constraint satisfaction problem (CSP) model for the planning and scheduling of disassembly and assembly tasks when repairing or substituting faulty parts. The problem involves not only the ordering of assembly and disassembly tasks, but also the selection of them from a set of alternatives. The goal of the plan is the minimization of the total repairing time, and the model considers, apart from the durations and resources used for the assembly and disassembly tasks, the necessary delays due to the change of configuration in the machines, and to the transportation of intermediate subassemblies between different machines. The problem considers that sub-assemblies that do not contain the faulty part are nor further disassembled, but allows non-reversible and parallel repair plans. The set of all feasible repair plans are represented by an extended And/Or graph. This extended representation embodies all of the constraints of the problem, such as temporal and resource constraints and those related to the selection of tasks for obtaining a correct plan.     

Linear,parameter-varying control of a supercavitating vehicle

A systematic approach to parameter-dependent control synthesis of a high-speed supercavitation vehicle (HSSV) is presented. The aim of the control design is to provide robust reference tracking across a large flight envelope, while directly accounting for the interaction of liquid and gas phases with the vehicle. A nonlinear dynamic HSSV model is presented and discussed relative to the actual vehicle. A linear, parameter-varying (LPV) controller is synthesized for angle rate tracking in the presence of model uncertainty. The control design takes advantage of coupling in the governing equations to achieve improved performance. Multiple LPV controllers synthesized for smaller overlapping regions of the parameter space are blended together, providing a single controller for the full flight envelope. Time-domain simulations implemented on high-fidelity simulations, provide insight into the performance and robustness of the proposed scheme.     

Detecting skin in face recognition systems: A colour spaces study

Skin colour detection is a technique very used in most of face detectors to find faces in images or videos. However, there is not a common opinion about which colour space is the best choice to do this task. Therefore, the motivation for our study is to discover which colour model is the best option to build an efficient face detector which can be embedded in a functional face recognition system. We have studied 10 of the most common and used colour spaces doing different comparisons among them, in order to know which one is the best option for human skin colour detection. In concrete, we have studied the models: RGB, CMY, YUV, YIQ, YPbPr, YCbCr, YCgCr, YDbDr, HSV—or HSI—and CIE-XYZ. To make the comparison among them, we have used 15 truth images where the skin colour of a face is clearly separated from the rest of the image (background, eyes, lips, hair, etc.). Thus we can compare at level pixel each colour model, doing a detailed study of each format. We present the final conclusions comparing different results, such as: right detections, false positives and false negatives for each colour space. According to the obtained results, the most appropriate colour spaces for skin colour detection are HSV model (the winner in our study), and the models YCgCr and YDbDr.