Proceedings of the First International Conference on Autonomous Agents, 1997
... Nal.III Km.22 La Poveda Arganda -28500-Madrid Spain Phone: 34 1 871 1100 Fax: 34 1 871 7050 e... more ... Nal.III Km.22 La Poveda Arganda -28500-Madrid Spain Phone: 34 1 871 1100 Fax: 34 1 871 7050 e-mail: [email protected] Abstract This paper ssumes the concept of "behavior" as the measurable flow of information in perception - action loops between a system and its ...
In the autonomous piloting of vehicles, the characterization of nearby dynamic object motion by p... more In the autonomous piloting of vehicles, the characterization of nearby dynamic object motion by perception and tracking techniques aids in the optimization of avoidance strategies. Knowledge of the features of object motion in goal-driven navigation allows for accurate deviation strategies to be implemented with appropriate anticipation. This perceptual competence is a fundamental issue in the design of unmanned commercial outdoor vehicles with an often reduced capability for maneuvering. To this aim, a grid map representation of the local panorama is proposed such that laser rangefinder images are converted into grid cells that are segmented and assigned to objects, allowing classification and monitoring. The motion properties of objects are thus used to establish avoidance behavior to smartly control the vehicle steering, such that a safe and optimal detour maneuver is carried out while driving to a target. The developed perceptual ability is demonstrated here in several tests performed in a relatively clutter-free area to detect and track walking pedestrians. Some results are also shown to highlight the modulation of moving object properties on trajectories described by a robot when a fuzzy avoidance strategy is used to control the steering angle.
The movement of the vehicle is an useful information for different applications, such as driver a... more The movement of the vehicle is an useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by different methods, for instance, by using a GPS or by means of the visual odometry. However, there are some situations where both methods do not work correctly. For example, there are areas in urban environments where the signal of the GPS is not available, as tunnels or streets with high buildings. On the other hand, the algorithms of computer vision are affected by outdoor environments, and the main source of difficulties is the variation in the ligthing conditions. A method to estimate and predict the movement of the vehicle based on visual odometry and Kalman filter is explained in this paper. The Kalman filter allows both filtering and prediction of vehicle motion, using the results from the visual odometry estimation.
Present work is focused on the design and implementation of a classification algorithm for an art... more Present work is focused on the design and implementation of a classification algorithm for an artificial vision system devoted to the automatic rejection of defective eggs in the farms. The artificial vision system performance is measured in terms of two parameters: short computing time and accuracy in the grading process. An image splitting process is proposed to iteratively calculate the number of defective pixels from the whole image to evershorter image regions using evolutionary algorithms. The antecedents of the classification rules of the proposed algorithm are obtained by means of an examples-based learning method that derives the best antecedents. Genetic Algorithms are used as a learning process that discovers the best antecedent departing from two sets of binary images: "dirt_eggshells" images or positive examples and "clean_eggshells" images or negative examples. The classification results are displayed and the performance is compared with those obtained in former studies.
Electrochimica Acta Issn 0013 4686 2013 10 Vol 108 N, Oct 1, 2013
Electric modelling and image analysis of channel flow in bipolar plates
Int J Hydrogen Energ, 2007
Bipolar plates are an essential part of Polymer Electrolyte Membrane Fuel Cells (PEMFC) and are r... more Bipolar plates are an essential part of Polymer Electrolyte Membrane Fuel Cells (PEMFC) and are related to fluid conduction. The topology of a bipolar plate is critical to the homogeneous distribution of the feeding gases over the accessible zone of the electrode. An electric model that simulates flow in bipolar plates and permits the optimisation of gas feeding in PEMFCs is proposed. As a first approach, an analogy is made between the gas pressure P and an electric voltage U in a circuit and a gas flow F and an electric current I . The fluidic resistance in a bipolar plate channel is thus R=P/FR=P/F and is equivalent to the electric resistance R=U/IR=U/I in a branch of a circuit. Computer image processing techniques allow the validation of the present flow estimation approach based on electrical variables. Separate plates were developed to experimentally implement a complete parallel bipolar topology.
Framing autonomy
Proceedings of the first international conference on Autonomous agents - AGENTS '97, 1997
ABSTRACT An abstract is not available.
Expert systems applications in metal cutting processes
A Strategy for Real-Time Signal Processing on Multiple Sensors Based Applications
Generacion de Sistemas de Tiempo-Real para Problemas de Percepcion Artificial
Integracion Sensorial y Percepcion Artificial
Sistema De Posicionamiento Global (GPS): Descripción, Análisis De Errores, Aplicaciones y Futuro
The generation of human-friendly GIS/GPS interfaces is an open field aiming at the development of... more The generation of human-friendly GIS/GPS interfaces is an open field aiming at the development of tools that allow non-expert users to reap maximum profit from the integration of GIS and GPS technologies. This project uses GeoMedia objects to develop an integrated system for both planning field-sampling tasks and for GPS guided navigating. All field properties are recorded in a spatial database. The system is composed of two software packages. First allows users to generate detailed sampling plans: maps, properties, and specific data acquisition processes. The second package uses DGPS to guide the user along the course previously defined, and controls data acquisition at each node of the defined grid. The data acquisition stage of the proposed system can be extremely useful in many domains, in spite of being specifically designed for Precision Agriculture.
This paper addresses the automation of the visual inspection process for eggs grading purposes at... more This paper addresses the automation of the visual inspection process for eggs grading purposes at the farm packers. Some preliminary tests have been performed looking for processing algorithms that hold for a trade-off between the accuracy and speed restrictions. First experimental work is conducted to an image analysis based on the enhancement of the discontinuities with respect to the image background before any quantification is accomplished. Finally sensor integration is suggested as a way to improve the reliability and to enlarge the repertoire of defects suitable to be detected.
10th IEEE International Conference on Fuzzy Systems. (Cat. No.01CH37297), 2001
Current work deals with the design of a local unit, microcontroller based to acquire signals from... more Current work deals with the design of a local unit, microcontroller based to acquire signals from a set of sensors and locally diagnose on the air quality. The local unit permits the interface with standards atmospheric and meteorological sensors, as well as the communication with a central unit by message passing protocol, via GSM. A fuzzy inference system has been developed to perform the approximate reasoning process performed by a human being, based on the perception of the environment conditions. The decision algorithm is based on a performance criterion, the one that forces the emergence of the pollution level with minimum communication and maximum environment safety. The processes running at the local unit have been modularly designed within the frame of a Client/Server architecture to ease its gradual growing and maintenance. The local unit bi-directionally communicates with several central units that record and visualize stationary data and acts at the reception of an emergency message. Communication is performed either following a remotely programmed pattern, event based or under the user demand.
Present work describes the design and implementation of a fuzzy controller for a pneumatic actuat... more Present work describes the design and implementation of a fuzzy controller for a pneumatic actuator to control the steering of an unmanned lawnmower. The fuzzy controller expresses in natural language the human expertise on the control of this non-linear system by means of a set of linguistic expressions. Few investigations have been addressed to the control of such system and the existing one offers a theoretical description of the functioning of its different subsystems. Present work is a novel contribution on the fuzzy control of a pneumatic actuator. Some results are displayed to show the fuzzy controller performance in real time, under a wide range of working conditions to get a remote control of outdoor vehicles
Resumen: La temperatura del subsuelo, prácticamente constante a partir de una cierta profundidad,... more Resumen: La temperatura del subsuelo, prácticamente constante a partir de una cierta profundidad, o bajo una ca-pa ligera de aislante, coincide aproximadamente en cada región con la temperatura media anual del aire en la superficie. Esto significa que disponemos de una fuente ingente de calor a coste reducido. Además esta temperatura en nuestro clima está solo unos grados por debajo de la denominada "banda de con-fort" de los edificios. Por otro lado, frente a una demanda energética de los edificios, que en nuestro clima apenas supera los 100 kWh/m2 año (IDAE), la energía solar recibida en cubierta, es 1.600 kWh/m2 año. Si la Tierra captura el 50% de la -radiación incidente en forma de calor, no resulta técnicamente difícil ni costoso el proceso de captura y almacenamiento en el subsuelo del exceso de energía. Este trabajo describe la técnica, analizando los resultados de diferentes edificios con acumulación ge-otérmica selectiva que garantizan en nuestro clima un coste en...
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