CETpD-UPC -Tech. Research Cen.for Dependency Care and Autonom Liviving
Total activity: 1295
Type
Research group
Type of group
Specific research center
Acronym
CETpD-UPC
Address
Rambla de l'Exposició, 61-69 Edifici NEAPOLIS Pl.2 Open in new window
City
Vilanova i la Geltrú
URL
http://www.epsevg.upc.edu/cetpd//index.php Open in new window
Objectives
CETpD's main research goal consists in the knowledge creation within the field of technology addressed to the dependency care area. In this way, the main interest is to improve the quality of life of people with dependency care assistance needs. Particularly, one of the main objectives relies on searching for new paradigms related to human movement analysis, usability and social robotics. CETpD directly cooperates with clinicians from several hospitals around Barcelona and some hospitals along Europe, developing research activities and projects in the dependency care area.

CETpD main research lines are:

Ambient Assisted Living and Pervasive Computing: create smart devices for both home and ambulatory monitoring of elderly people and patients with chronic diseases with tele-medicine and tele-care needs in order to assess gait, balance and falls. In this sense, CETpD has developed a wearable measurement unit for long-term monitoring of human movement. This measurement unit is being used to analyze human movement in the dependency care field.
Computational paradigms: develop soft-computing models, machine learning techniques and pervasive computing approaches addressed to the dependency care area.
Epidemiologic studies: CETpD performs, together with medical centers, clinical and epidemiologic studies on gait pathologies with the aim of knowing its causes and find new therapies that help to prevent its consequences in an effective way.
Social robotics: The priorities of this research line are three: (1) to develop new architectures of control and forms of signal processing which the robots allow to capture knowledge and being cognitive through the human-machine interaction; (2) to research in the more suitable forms of interaction, so they are motivating and satisfying for the user; and (3) to develop in an effective way robotic systems that are capable of supplying with personalised individual assistance to people with dependence (permanent, rehabilitation or convalescence).
Keywords
Inertial sensors, Intelligent algorithms, Motor symptoms, Parkinson's disease, REMPARK info, Smartphone, Wearable devices

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  • Design, implementation and evaluation of a social skills group program of robot-based activities for children with ASD

     Padillo, Vanessa; Barco, Alex; Diaz Boladeras, Marta; Rosa, Lina; Albo Canals, Jordi; Angulo Bahón, Cecilio
    International Conference on Innovative Technologies (IT) for Autism (ASD)
    Presentation's date: 2014-10-03
    Presentation of work at congresses

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    Presentation of a study with 16 children between 9 and 12 years old with high functioning ASD participating in a play-based robotic activities program that was carried out to assess children social behavior and to analyze the effectiveness in order to draw conclusions for designing robot-based interventions. During robotic activities we observed in children engagement and commitment to the activity.

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    Defining dimensions in expertise recommender systems for enhancing open collaborative innovation  Open access

     Jennifer, Nguyen; Asier, Pereda; Sánchez Hernández, Germán; Angulo Bahón, Cecilio
    International Conference of the Catalan Association for Artificial Intelligence
    p. 285-288
    DOI: 10.3233/978-1-61499-452-7-285
    Presentation's date: 2014-10
    Presentation of work at congresses

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    In open innovation a firm¿s R&D crosses not only internal boundaries but disciplines. It is an interactive process of knowledge generation and transfer between internal and external firms. However, the search for an external partner can be time consuming and costly. Open innovation marketplaces broker relationships between seekers and solvers of challenges. Seekers have a problem which they need to solve and solvers are a community of people with the right skills to discover innovative ideas to address them. Despite the assistance of open innovation marketplaces, the process of matching seekers and solvers remains a challenge. It will be argued in this article that expertise recommender systems in an open innovation marketplace can facilitate finding the ¿right partner¿ leading to benefits not only for the seeker and the solver but also for the marketplace. With this aim, a list of appropriated dimensions to be considered for the expertise recommender system are defined. An illustrative example is also provided.

    In open innovation a firm’s R&D crosses not only internal boundaries but disciplines. It is an interactive process of knowledge generation and transfer between internal and external firms. However, the search for an external partner can be time consuming and costly. Open innovation marketplaces broker relationships between seekers and solvers of challenges. Seekers have a problem which they need to solve and solvers are a community of people with the right skills to discover innovative ideas to address them. Despite the assistance of open innovation marketplaces, the process of matching seekers and solvers remains a challenge. It will be argued in this article that expertise recommender systems in an open innovation marketplace can facilitate finding the “right partner” leading to benefits not only for the seeker and the solver but also for the marketplace. With this aim, a list of appropriated dimensions to be considered for the expertise recommender system are defined. An illustrative example is also provided.

  • Reconeixement del Consell Social UPC als guardonats durant l'any 2013

     Cabestany Moncusi, Joan; Català Mallofré, Andreu
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    Subspace procrustes analysis  Open access

     Perez Sala, Xavier; De La Torre, Fernando; Igual, Laura; Escalera, Sergio; Angulo Bahón, Cecilio
    European Conference on Computer Vision
    Presentation's date: 2014-09
    Presentation of work at congresses

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    Procrustes Analysis (PA) has been a popular technique to align and build 2-D statistical models of shapes. Given a set of 2-D shapes PA is applied to remove rigid transformations. Then, a non-rigid 2-D model is computed by modeling (e.g., PCA) the residual. Although PA has been widely used, it has several limitations for modeling 2-D shapes: occluded landmarks and missing data can result in local minima solutions, and there is no guarantee that the 2-D shapes provide a uniform sampling of the 3-D space of rotations for the object. To address previous issues, this paper proposes Subspace PA (SPA). Given several instances of a 3-D object, SPA computes the mean and a 2-D subspace that can simultaneously model all rigid and non-rigid deformations of the 3-D object. We propose a discrete (DSPA) and continuous (CSPA) formulation for SPA, assuming that 3-D samples of an object are provided. DSPA extends the traditional PA, and produces unbiased 2-D models by uniformly sampling different views of the 3-D object. CSPA provides a continuous approach to uniformly sample the space of 3-D rotations, being more effcient in space and time. Experiments using SPA to learn 2-D models of bodies from motion capture data illustrate the benefits of our approach.

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    Develoment of an inverse model for honing processes by means of neural networks  Open access

     Sivatte Adroer, Maurici; Llanas Parra, Francesc Xavier; Buj Corral, Irene; Vivancos Calvet, Joan
    International Reseach/Expert Conference "Trends in the Development of Machinery and Associated Technology"
    p. 9-12
    Presentation's date: 2014-09-11
    Presentation of work at congresses

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    In a previous paper, artificial neural networks were employed for modelling average roughness Ra in rough honing processes as a function of process variables, namely grain size, density, linear speed, tangential speed and pressure, by means of the direct problem. In addition, neural network model was compared to statistical models for modelling roughness. In the present paper the inverse problem was studied and analyzed by means of neural networks, in which given a certain average roughness Ra value, the model predicts process variables to be employed. This is not possible with statistical models. Two different approaches were considered: use of a single network or use of five networks.

  • Emotions in Archetypal Media Content

     Huang-Ming, Chang
    Technische Universiteit Eindhoven
    Theses

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    Emotion is an intriguing and mysterious psychological phenomenon. While everyone seems to know what it is, researchers have not yet come to consensus on its definition, and many questions still remain unanswered. While the nature of emotion is yet to discover, the design community has noticed its importance, and poses the challenge of how emotion could inform design. We see the necessity to follow the state of the art in psychology and initiate the undertaking by exploring the emotional qualities in various types of media content. The first part of this thesis aims at constructing a theoretical framework. Recent years have seen empirical studies suggest that emotion could be unconscious. While this is to be further justified, scientists are motivated to reconsider current theories of emotion to account for this phenomenon. In light of this, we integrate these studies about unconscious emotion into our literature review. An overview from theory to practice is illustrated to provide a reference for viewing the current states in application domains, such as affective computing and emotional design. This review offers a holistic understanding about emotion from various perspectives, which allow us to look for new directions in future studies. Based on our review, we see a promising direction by applying psychoanalysis methods to analyze the media content as affective stimuli, and these stimuli can be evaluated by using quantitative measures to investigate the connection between the content and the corresponding emotions. The analysis on the media content is based on a psychoanalysis theory¿the theory of archetypes¿proposed by Carl Jung. He argues that there exists a universal pattern in humans¿ unconscious thoughts, which can be manifested as symbolic content in various forms of narratives, such as myth and fairy tales. Today, this archetypal symbolic content can be seen in modern media, particularly in movies. By applying the Jungian approach, we analyzed the symbolic meaning in movie scenes and edit these feature scenes into a collection of archetypal media content, which serve as the experimental materials for later explorations. In the second part of this thesis, we present three experimental studies that aim at determining if archetypal media content can be differentiated based on emotional responses. We adopted the psychoanalytical approach described earlier to collect feature scenes in movies as archetypal media content. Meanwhile, affective stimuli of explicit emotions are also included as benchmarks for comparison, such as sadness and joy.

  • Observation of chaotic behavior in automatic tuning loops for continuous-time filters

     Martínez García, Herminio; Cosp Vilella, Jordi; Manzanares Brotons, Manuel
    IEEE International Midwest Symposium on Circuits and Systems
    p. 742-745
    DOI: 10.1109/MWSCAS.2013.6674756
    Presentation's date: 2014-08
    Presentation of work at congresses

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    he appropriate linear dynamic modeling of continuous-time filters (CTFs) with automatic tuning loops should be obtained to assure stability in case an improved design of the loop controllers is to be carried out. With this aim, starting from a general and systematic analysis in order to obtain an equivalent small-signal linearized incremental model, from which transfer functions between output variables and control voltages are derived, the subsequent design of compensated loops with enhanced stability and dynamic performance is required. This systematic procedure allows obtaining improved controllers for the two involved control loops. However, CTFs with automatic tuning loops are nonlinear feedback systems with potential instability. What is more, nonlinear phenomena, which cannot be predicted by a design-oriented small signal modeling approach, are observed in this kind of tuning systems. The purpose of this work is to highlight that when control parameters are varied, the system could present different kinds of dynamical nonlinear phenomena such as bifurcations and chaotic behavior, which cannot be predicted by the small signal design-oriented model.

  • Proposal and development of a highly modular and scalable self-adaptive hardware architecture with parallel processing capability  Open access

     Soto Vargas, Javier Evandro
    Department of Electronic Engineering, Universitat Politècnica de Catalunya
    Theses

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    Esta tesis doctoral describe una arquitectura de hardware auto-adaptable novedosa y no convencional con capacidad de procesamiento en paralelo. Por razones de escalabilidad, esta arquitectura bioinspirada está basada en una matriz regular de células homogéneas. La arquitectura propuesta es programable, e implementa de manera distribuida diversas capacidades auto-adaptables incluyendo el auto-emplazamiento y auto-enrutamiento, los cuales debido a su diseño intrínseco, permiten el desarrollo de sistemas reconfigurables en tiempo de ejecución, así como de sistemas auto-reparables y/o con capacidades de tolerancia a fallos. La implementación física de esta arquitectura esta compuesta de dos capas, que incluyen células interconectadas en el primer nivel y matrices de conmutación y pines en el segundo nivel. La célula es el elemento básico de la arquitectura propuesta. Cualquier aplicación que se quiera programar en el sistema debe estar organizada en componentes, donde cada componente está compuesto por una o más células interconectadas. La interconexión de células dentro de un componente es realizado en el mismo nivel de la matriz de células, mientras que la interconexión de componentes es realizada en la segunda capa. Adicionalmente, se definen dos capas conceptuales que son usadas con propósitos organizativos en aplicaciones de propósito general, estas son: el SANE y el SANE-assembly (o conjunto de SANEs). La entidad auto-adaptable interconectada o SANE está compuesta por un grupo de componentes. Este es el sistema de computación auto-adaptable básico, el cual tiene la habilidad de monitorizar su entorno local y su proceso de computación interno.Las capacidades de procesamiento de la célula están incluidas en su unidad funcional (FU). Esta puede ser definida como un multicomputador configurable con cuatro núcleos, los cuales son agrupados o no dependiendo del modo de configuración. La FU tiene doce modos de configuración programables, por lo que cada célula permite seleccionar entre uno y cuatro procesadores trabajando en paralelo con diversas capacidades en las memorias de programa y datos. Las capacidades auto-adaptables de la célula son ejecutadas principalmente por la unidad de configuración de la célula (CCU). El algoritmo de auto-emplazamiento es el encargado de encontrar la posición mas adecuada dentro de la matriz de células para insertar la nueva célula de un componente. El algoritmo de auto-enrutamiento permite interconectar los puertos de las FU de dos células. Los procesos de auto-emplazamiento y auto-enrutamiento permiten realizar en tiempo real cambios funcionales complejos; estos procesos dotan al sistema de una mayor funcionalidad, permitiendo que el sistema cambie por si mismo, lo que permite la implementación de la auto-configuración en tiempo real, sin la necesidad de ningún gestor de configuración.La arquitectura propuesta incluye dos mecanismos de tolerancia a fallos. Uno de estos es una técnica escalonada y dinámica de tolerancia a fallos, que tiene la habilidad de crear y eliminar copias redundantes de la unidad funcional (o de cómputo) de una aplicación específica. El otro mecanismo de tolerancia a fallos es el Sistema de Tolerancia a Fallos dedicado o estático. Este provee capacidades de procesamiento redundante que están en funcionamiento continuamente. Cuando un fallo en la ejecución de un programa es detectado, los procesadores de la célula son detenidos y los procesos de auto-eliminación y auto-replicación se inician para la célula (o células) implicada en el fallo. Se desarrolló un prototipo basado en FPGAs y una herramienta de software para comprobar la funcionalidad del sistema. El prototipo incluye todas las características de los sistemas auto-adaptable descritas en este trabajo. El SANE Project developer (SPD) es un ambiente integrado de desarrollo (IDE) que permite generar y descargar la memoria de inicialización de datos para el Microprocesador de Control dentro del prototipo.

    This dissertation describes a novel unconventional self-adaptive hardware architecture with capacity for parallel processing. For scalability issues, this bioinspired architecture is based on a regular array of homogeneous cells. The proposed programmable architecture implements in a distributed way self-adaptive capabilities including self-placement and self-routing which, due to its intrinsic design, enable the development of systems with runtime reconfiguration, self-repair and/or fault tolerance capabilities. The physical implementation of this architecture is composed of two-layers, interconnected cells in the first level and interconnected switch and pin matrices in the second level. The cell is the basic element of the proposed self-adaptive architecture. Any application scheduled to the system has to be organized in components, where each component is composed by one or more interconnected cells. The interconnection of cells inside a component is made at cell level (first layer), while the physical interconnections of components are made in the second layer. Additionally, two layers are defined as conceptual organization for the implementation of general purpose applications: the SANE and the SANE assembly. The Self-Adaptive Networked Entity (SANE) is composed by a group of components. This is the basic self-adaptive computing system. It has the ability to monitor its local environment and its internal computation process. The SANE-Assembly (SANE-ASM) is composed by a group of interconnected SANEs. The processing capabilities of the cell are included in its Functional Unit (FU), which can be described as a four-core configurable multicomputer. The FU includes twelve programmable configuration modes, i.e., each cell permits to select from one to four processors working in parallel, with different size of program and data memories. The self-adaptive capabilities of the cell are executed mainly by the Cell Configuration Unit (CCU). The self-placement algorithm is responsible for finding out the most suitable position in the cell array to insert the new cell of a component. The self-routing algorithm permits interconnecting the ports of the FU of two cells through the cell ports. The self-placement and self-routing processes allow for performing complex functionality changes in real time, these processes endow the system with enhanced functionality, enabling the system to change itself, this allows for the implementation of run-time self-configuration, without the need for any configuration manager. The architecture proposed includes two mechanisms of fault tolerance. One of these is the Dynamic Fault Tolerance Scaling Technique, that has the ability to create and eliminate the redundant copies of the functional section of a specific application. The other mechanism of fault tolerance is a dedicated or static Fault Tolerance System. It provides redundant processing capabilities that are working continuously. When a failure in the execution of a program is detected, the processors of the cell are stopped and the self-elimination and self-replication processes start for the cell (or cells) involved in the failure. An FPGA-based prototype and a software tool have been built for demonstration purposes. The prototype includes all the self-adaptive capabilities described in this dissertation. With the purpose of having a complete development system, the software tool SANE Project Developer (SPD) has been implemented. The SPD is an Integrated Development Environment (IDE) that allows generating the memory initialization data for the control microprocessor inside the prototype.

    Esta tesis doctoral describe una arquitectura de hardware auto-adaptable novedosa y no convencional con capacidad de procesamiento en paralelo. Por razones de escalabilidad, esta arquitectura bioinspirada está basada en una matriz regular de células homogéneas. La arquitectura propuesta es programable, e implementa de manera distribuida diversas capacidades auto-adaptables incluyendo el auto-emplazamiento y auto-enrutamiento, los cuales debido a su diseño intrínseco, permiten el desarrollo de sistemas reconfigurables en tiempo de ejecución, así como de sistemas autoreparables y/o con capacidades de tolerancia a fallos. La implementación física de esta arquitectura esta compuesta de dos capas, que incluyen células interconectadas en el primer nivel y matrices de conmutación y pines en el segundo nivel. La célula es el elemento básico de la arquitectura propuesta. Cualquier aplicación que se quiera programar en el sistema debe estar organizada en componentes, donde cada componente está compuesto por una o más células interconectadas. La interconexión de células dentro de un componente es realizado en el mismo nivel de la matriz de células, mientras que la interconexión de componentes es realizada en la segunda capa. Adicionalmente, se definen dos capas conceptuales que son usadas con propósitos organizativos en aplicaciones de propósito general, estas son: el SANE y el SANE-assembly (o conjunto de SANEs). La entidad auto-adaptable interconectada o SANE está compuesta por un grupo de componentes. Este es el sistema de computación auto-adaptable básico, el cual tiene la habilidad de monitorizar su entorno local y su proceso de computación interno. Las capacidades de procesamiento de la célula están incluidas en su unidad funcional (FU). Esta puede ser definida como un multicomputador configurable con cuatro núcleos, los cuales son agrupados o no dependiendo del modo de configuración. La FU tiene doce modos de configuración programables, por lo que cada célula permite seleccionar entre uno y cuatro procesadores trabajando en paralelo con diversas capacidades en las memorias de programa y datos. Las capacidades auto-adaptables de la célula son ejecutadas principalmente por la unidad de configuración de la célula (CCU). El algoritmo de auto-emplazamiento es el encargado de encontrar la posición mas adecuada dentro de la matriz de células para insertar la nueva célula de un componente. El algoritmo de auto-enrutamiento permite interconectar los puertos de las FU de dos células. Los procesos de auto-emplazamiento y auto-enrutamiento permiten realizar en tiempo real cambios funcionales complejos; estos procesos dotan al sistema de una mayor funcionalidad, permitiendo que el sistema cambie por si mismo, lo que permite la implementación de la auto-configuración en tiempo real, sin la necesidad de ningún gestor de configuración. La arquitectura propuesta incluye dos mecanismos de tolerancia a fallos. Uno de estos es una técnica escalonada y dinámica de tolerancia a fallos, que tiene la habilidad de crear y eliminar copias redundantes de la unidad funcional (o de cómputo) de una aplicación específica. El otro mecanismo de tolerancia a fallos es el Sistema de Tolerancia a Fallos dedicado o estático. Este provee capacidades de procesamiento redundante que están en funcionamiento continuamente. Cuando un fallo en la ejecución de un programa es detectado, los procesadores de la célula son detenidos y los procesos de auto-eliminación y auto-replicación se inician para la célula (o células) implicada en el fallo. Se desarrolló un prototipo basado en FPGAs y una herramienta de software para comprobar la funcionalidad del sistema. El prototipo incluye todas las características de los sistemas auto-adaptable descritas en este trabajo. El SANE Project developer (SPD) es un ambiente integrado de desarrollo (IDE) que permite generar y descargar la memoria de inicialización de datos para el Microprocesador de Control dentro del prototipo.

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    Robotics@Montserrat: A case of Learning through robotics community in a primary and secondary school  Open access

     Sans-Cope, Olga; Barco, Alex; Albo Canals, Jordi; Diaz Boladeras, Marta; Angulo Bahón, Cecilio
    Child-Robot Interaction Workshop at Interaction Design and Children Conference
    p. 1-5
    Presentation's date: 2014-06-17
    Presentation of work at congresses

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    Nowadays is well known that the learning of STEM (science, technology, engineering, and mathematics) can benefit from using Robotics technologies. Furthermore, robot-based educational activities can enhance not only the acquirement of concepts in other fields (e.g. literature, history) but even improve children emotional and social development. This paper describes how robotics has been introduced transversally at all k12 level in the school Montserrat in Barcelona, Spain. The infrastructure to support the program, the planning of the activities and research studies, a classification of these activities based on the children-robot interaction modality, and the details of some examples are described and discussed.

  • Efficient multiprocessing architectures for Spiking Neural Network emulation based on configurable devices

     Sanchez Rivera, Giovanny
    Department of Electronic Engineering, Universitat Politècnica de Catalunya
    Theses

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    L'estudi de la dinàmica de les xarxes neuronals bio-inspirades ha permès als neurocientífics entendre alguns processos i estructures del cervell . Les implementacions electròniques d'aquestes xarxes neuronals són eines útils per dur a terme aquest tipus d'estudi . No obstant això, l'alta complexitat de les xarxes neuronals requereix d'una arquitectura apropiada que pugui simular aquest tipus de xarxes. Emular aquest tipus de xarxes en dispositius configurables és possible a causa del seu extraordinari desenvolupament respecte a la seva disponibilitat de recursos, velocitat i capacitat de reconfiguració (FPGAs ) .En aquesta tesi es proposa una arquitectura maquinari paral · lela i configurable per emular les complexes i realistes xarxes neuronals tipus spiking en temps real . S'han estudiat i analitzat alguns models de neurones tipus spiking rellevants i les seves implementacions en maquinari , amb la finalitat de crear una arquitectura que suporti la implementació d'aquests models de manera eficient .S'han tingut en compte diversos factors clau, incloent flexibilitat en la programació d'algorismes, processament d'alt rendiment, baix consum d'energia i àrea. S'han aplicat diverses tècniques en l'arquitectura desenvolupada amb el propòsit d'augmentar la seva capacitat de processament. Aquestes tècniques són: mapejat de temps a espai, virtualització de les neurones, mapeig flexible de neurones i sinapsis, modes d'execució, i aprenentatge específic, entre d'altres. A més, s'ha desenvolupat una unitat d'interfície de dades per tal de construir un sistema bio-inspirat, que pot processar informació sensorial del medi ambient. Aquest sistema basat en neurones tipus spiking combina implementacions analògiques i digitals. S'han desenvolupat diverses aplicacions usant aquest sistema com a prova de concepte, per tal de mostrar les capacitats de l'arquitectura proposada per al processament d'aquest tipus d'informació.

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    Estabilización de vídeo en micro vehículos aéreos y su aplicación en la detección de caras  Open access

     Aguilar, Wilbert; Angulo Bahón, Cecilio
    Congreso de Ciencia y Tecnología
    p. 155-160
    Presentation's date: 2014-05
    Presentation of work at congresses

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    Actualmente, los vehículos aéreos de micros escala (MAVs) se han tornado populares para múltiples aplicaciones como rescate, vigilancia, mapeo, entre otras. Para todos los casos, es necesario un óptimo desempeño de los vídeos capturados a bordo, y uno de los principales problemas constituyen los movimientos indeseados entre fotogramas consecutivos. Para solventar esta problemática existes diferentes enfoques que, aplicados a post-procesamiento, consiguen una estabilización robusta en la imagen. Sin embargo, muy pocos algoritmos son capaces de ser aplicados en tiempo real. En este artículo se presenta un nuevo enfoque que puede ser implementado en tiempo real sin que se generen movimientos falsos. Nuestra propuesta usa una combinación de un filtro pasabajos, y la información de la acción de control para la estimación de la intención de movimiento. Adicionalmente, se presenta la aplicación de nuestra propuesta en el algoritmo de detección de caras, en el cual, la robustez se incrementa al ser implementado a partir de la secuencia estable de vídeo.

    Actualmente, los vehículos aéreos de micros escala (MAVs) se han tornado populares para múltiples aplicaciones como rescate, vigilancia, mapeo, entre otras. Para todos los casos, es necesario un óptimo desempeño de los vídeos capturados a bordo, y uno de los principales problemas constituyen los movimientos indeseados entre fotogramas consecutivos. Para solventar esta problemática existes diferentes enfoques que, aplicados a post-procesamiento, consiguen una estabilización robusta en la imagen. Sin embargo, muy pocos algoritmos son capaces de ser aplicados en tiempo real. En este artículo se presenta un nuevo enfoque que puede ser implementado en tiempo real sin que se generen movimientos falsos. Nuestra propuesta usa una combinación de un filtro pasabajos, y la información de la acción de control para la estimación de la intención de movimiento. Adicionalmente, se presenta la aplicación de nuestra propuesta en el algoritmo de detección de caras, en el cual, la robustez se incrementa al ser implementado a partir de la secuencia estable de vídeo.

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    Control autónomo de cuadricópteros para seguimiento de trayectorias  Open access

     Aguilar, Wilbert; Costa Castelló, Ramon; Angulo Bahón, Cecilio; Molina, Luis
    Congreso de Ciencia y Tecnología
    p. 140-144
    Presentation's date: 2014-05
    Presentation of work at congresses

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    El presente artículo técnico describe brevemente la propuesta de solución al control autónomo del seguimiento de trayectoria en el plano XY para el vehículo cuatrirrotor, como parte de la primer etapa del Concurso de Ingeniería de Control 2013 organizado por el Comité Español de Automática. El vehículo cuatrirrotor es el AR.Drone 1.0 de la empresa Parrot cuyo comportamiento es no lineal. La propuesta incluye modelado del sistema, diseño del controlador, planificador y simulación de los resultados.

    El presente artículo técnico describe brevemente la propuesta de solución al control autónomo del seguimiento de trayectoria en el plano XY para el vehículo cuatrirrotor, como parte de la primer etapa del Concurso de Ingeniería de Control 2013 organizado por el Comité Español de Automática. El vehículo cuatrirrotor es el AR.Drone 1.0 de la empresa Parrot cuyo comportamiento es no lineal. La propuesta incluye modelado del sistema, diseño del controlador, planificador y simulación de los resultados.

  • Digitizing archetypal human experience through pshysiological signals

     Ivonin, Leonid
    Eindhoven University of Technology
    Theses

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    The problem of capturing human experience is relevant in many application domains. In fact, the process of describing and sharing individual experience lies at the heart of human culture. Throughout the courses of our lives we learn a great deal of information about the world from other people¿s experience. Besides the ability to share utilitarian experience such as whether a particular plant is poisonous, humans have developed a sophisticated competency of social signaling that enables us to express and decode emotional experience. The natural way of sharing emotional experiences requires those who share to be co-present during this event. However, people have overcome the limitation of physical presence by creating a symbolic system of representations. This advancement came at a price of losing some of the multidimensional aspects of primary, bodily experience during its projection into the symbolic form. Recent research in the field of affective computing has addressed the question of digitization and transmission of emotional experience through monitoring and interpretation of physiological signals. Although the outcomes of this research represent a great step forward in developing a technology that supports sharing of emotional experiences, they do not seem to help in preserving the original phenomenological experience during the aforementioned projection. This circumstance is explained by the fact that in affective computing the focus of investigation has been aimed at emotional experiences which can be consciously evaluated and described by individuals themselves. Therefore, generally speaking, applying an affective computing technique for capturing emotions of an individual is not a deeper or more precise way to project her experience into the symbolic form than asking this person to write down a description of her emotions on a piece of paper. One can say that so far the research in affective computing has aimed at delivering Technology that could automate the projection but it has not considered the problem of improving the projection in order to preserve more of the multidimensional aspects of human experience. This dissertation examines whether human experience, which individuals are not able to consciously transpose into the symbolic representation, can still be captured using the techniques of affective computing. First, a theoretical framework for description of human experience which is not accessible for conscious awareness was formulated. This framework was based on the work of Carl Jung who introduced a model of a psyche that includes three levels: consciousness, the personal unconscious and the collective unconscious. [...]

  • Contribución al análisis del movimiento humano aplicado a la identificación de posturas y bloqueos de la marcha en pacientes con Parkinson  Open access

     Rodriguez Martin, Daniel Manuel
    Universitat Politècnica de Catalunya
    Theses

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    La siguiente disertación presenta las aportaciones del autor en el campo de la monitorización del movimiento humano y, especialmente, en la enfermedad del Parkinson. Las recientes tecnologías han permitido desarrollar sensores inerciales de tamaño muy reducido para monitorizar el movimiento humano. En consecuencia, el uso de las llamadas unidades de medida inercial, que consisten en unos dispositivos de pequeño tamaño capaces de medir el movimiento, se ha extendido ampliamente empleándose, entre otros, en campos como la medicina, el deporte, la automoción o los videojuegos. En la primera parte de la presente tesis, se describe el desarrollo de una unidad de medida inercial capaz de adquirir datos con una larga autonomía. La principal novedad aportada consiste en la posibilidad de implementar clasificadores basados en inteligencia artificial en tiempo real a través de un hardware y un firmware diseñados específicamente para que el sistema inercial sea flexible y capaz de implementar las dos operaciones. Esta herramienta se ha validado en diferentes proyectos europeos y diferentes trabajos llevados a cabo en el Centro de Estudios Tecnológicos para la Atención de la Dependencia y la Vida Autónoma de la Universidad Politécnica de Catalunya (CETpD-UPC)En la segunda parte de la tesis se describen dos algoritmos para identificar diferentes tipos de posturas. Los datos empleados para poder desarrollar los algoritmos se han adquirido con el sistema inercial presentado en la primera parte de la tesis. Los algoritmos desarrollados se han validado en personas sanas y en pacientes con la enfermedad del Parkinson. El algoritmo se focaliza en la detección de posturas con un único sistema inercial localizado en la cintura, consiguiendo una mayor comodidad para los usuarios. Una aportación clave es la metodología ofrecida para poder detectar transiciones posturales (movimiento para pasar de una postura a otra) a través de `Máquinas de vectores soporte¿, permitiendo tanto distinguirlas como detectarlas. La detección de transiciones posturales se integra en un sistema jerárquico de clasificación, al cual se añade un detector de actividades básicas donde se identifican posturas estáticas como estar sentado, de pie, o tumbado, y posturas dinámicas, como caminar. En la parte final de la tesis se presenta una aportación a la identificación de uno de los síntomas de la enfermedad del Parkinson más incapacitantes, el bloqueo de la marcha. El algoritmo de posturas se aplica en señales captadas por la unidad inercial descrita en la primera parta de la tesis para complementar a los algoritmos actuales de detección de bloqueos de la marcha. Además, se demuestra cómo los valores de evaluación del algoritmo de detección del bloqueo de la marcha mejoran al aplicar el algoritmo de posturas. De esta forma, se contextualiza el algoritmo, pudiendo discriminar aquellos episodios detectados provocados en situaciones donde no es posible que ocurra un episodio de bloqueo de la marcha.

    The following dissertation presents the contributions of the author in the field of human movement analysis and, specifically, in Parkinson's disease. Recent technologies have allowed developing reduced inertial sensors capable of monitoring human movement. This, along with the reduced prices of these inertial sensors, the so-called inertial measurement units, which consists in small devices capable to measure movement by means of inertial sensors, have widely spread. Inertial measurement units have been employed among others, in fields such as medicine, sports, automotive and gaming. In the first part of the present thesis, a wearable long-term monitoring inertial measurement unit is presented as the first main contribution in human movement analysis. The unit is capable of acquiring data and provides the possibility of implementing artificial intelligence-based classifiers in real time. A specific hardware and firmware has been developed in order to implement both operations. This tool has been validated in different European projects and studies carried out in the Technical Research Centre for Dependency Care and Autonomous Living of the Universitat Politècnica de Catalunya (CETpD-UPC). The second part of the thesis addresses the analysis of human posture based on accelerometry measurements. To this end, data acquired from the inertial system described at the first part of the thesis have been used. Two methodologies are presented that have been validated on healthy people and patients with Parkinson's disease. The algorithms developed are focused on the detection of positions with a single inertial system located at the waist thereby achieving an enhanced comfort and acceptance by the users. A key contribution is the methodology provided to detect postural transitions, which consist in the movement performed to achieve a position from another one. The algorithm is based on support vector machines applied to the inertial data coming from a single measurement unit. Basic activity recognition is performed recognizing static postures such as sitting, standing, or lying with a hierarchical classification system. Moreover, dynamic postures such as walking and different postural transitions are also recognized. Finally, the posture detection methodologies are employed to enhance the identification of one of the most annoying symptoms of Parkinson's disease, the so-called Freezing of Gait. This contribution relies on the posture algorithm which has been validated in Parkinson's disease patients. Furthermore, it is shown how the introduction of the posture detection improves the evaluation values of the FOG algorithms

    La siguiente disertación presenta las aportaciones del autor en el campo de la monitorización del movimiento humano y, especialmente, en la enfermedad del Parkinson. Las recientes tecnologías han permitido desarrollar sensores inerciales de tamaño muy reducido para monitorizar el movimiento humano. Estos sensores se emplean en las llamadas unidades de medida inercial, que son unos dispositivos de pequeño tamaño capaces de medir el movimiento, se ha extendido ampliamente empleándose, entre otros, en campos como la medicina, el deporte, la automoción o los videojuegos. En la primera parte de la presente tesis, se describe el desarrollo de una unidad de medida inercial optimizada para realizar la adquisición y el tratamiento de los datos con un mínimo consumo y, de esa forma, conseguir una larga autonomía. La principal novedad aportada consiste en la posibilidad de implementar en tiempo real clasificadores basados en inteligencia artificial a través de un hardware y un firmware diseñados específicamente para que el sistema inercial sea flexible y capaz de implementar las dos operaciones, captura de datos y ejecución de algoritmos. Esta herramienta se ha validado en diferentes proyectos europeos y diferentes trabajos llevados a cabo en el Centro de Estudios Tecnológicos para la Atención de la Dependencia y la Vida Autónoma de la Universidad Politécnica de Catalunya (CETpDUPC). En la segunda parte de la tesis se describen dos algoritmos para identificar diferentes tipos de posturas. Los datos empleados para poder desarrollar los algoritmos se han adquirido con el sistema inercial presentado en la primera parte de la tesis. Los algoritmos desarrollados se han validado en personas sanas y en pacientes con la enfermedad del Parkinson. Estos algoritmos se focalizan en la detección de posturas con un único sistema inercial localizado en la cintura. Esta localización permite una mayor comodidad para los usuarios, entre otras ventajas. Una aportación importante es la metodología utilizada para poder detectar transiciones posturales (movimiento para pasar de una postura a otra). Se ha empleado el paradigma de las máquinas de vectores soporte para poder distinguir las diferentes posturas del usuario o paciente. La detección de transiciones posturales se integra en un sistema jerárquico de clasificación, al cual se añade un detector de actividades básicas donde se identifican posturas estáticas, como estar sentado, de pie, o tumbado, y posturas dinámicas, como caminar. En la parte final de la tesis se presenta una aportación a la identificación de uno de los síntomas de la enfermedad del Parkinson más incapacitantes: el bloqueo de la marcha. El algoritmo de posturas se aplica en señales captadas por la unidad inercial descrita en la primera parta de la tesis para complementar a los algoritmos actuales de detección de bloqueos de la marcha. Además, se demuestra cómo los valores de evaluación del algoritmo de detección del bloqueo de la marcha mejoran al aplicar el algoritmo de posturas. De esta forma, el nuevo algoritmo contextualiza la detección del bloqueo de la marcha, omitiendo los casos positivos que ocurran en situaciones donde no es posible que un bloqueo de la marcha ocurra.

  • Access to the full text
    A week-long study on Robot-Visitors Spatial Relationships during Guidance in a Sciences Museum  Open access

     Diaz Boladeras, Marta; Paillacho, Dennys; Angulo Bahón, Cecilio; Torres, Oriol; González, Jonathan; Albo Canals, Jordi
    ACM/IEEE International Conference on Human-Robot Interaction
    p. 152-153
    DOI: 10.1145/2559636.2559797
    Presentation's date: 2014-03
    Presentation of work at congresses

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    In order to observe spatial relationships in social human-robot interactions, a eld trial was carried out within the CosmoCaixa Science Museum in Barcelona. The follow me episodes studied showed that the space congurations formed by guide and visitors walking together did not always tthe robot social affordances and navigation requirements to perform the guidance successfully, thus additional communication prompts are considered to regulate effectively the walking together and follow me behaviors.

    In order to observe spatial relationships in social human-robot interactions, a eld trial was carried out within the CosmoCaixa Science Museum in Barcelona. The follow me episodes studied showed that the space con gurations formed by guide and visitors walking together did not always tthe robot social affordances and navigation requirements to perform the guidance successfully, thus additional communication prompts are considered to regulate effectively the walking together and follow me behaviors.

  • Unifying interaction across distributed controls in a smart environment : Using anthropology-based computing to make human-computer interaction "Calm"

     Brown, John Neal Abram
    DOI: 10.13140/2.1.5166.4645
    Alpen-Adria-Universität Klagenfurt
    Theses

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    Rather than adapt human behavior to suit a life surrounded by computerized systems, is it possible to adapt the systems to suit humans? Mark Weiser called for this fundamental change to the design and engineering of computer systems nearly twenty years ago. We believe it is possible and offer a series of related theoretical developments and practical experiments designed in an attempt to build a system that can meet his challenge without resorting to black box design principles or Wizard of Oz protocols. This culminated in a trial involving 32 participants, each of whom used two different multimodal interactive techniques, based on our novel interaction paradigm, to intuitively control nine distributed devices in a smart home setting. The theoretical work and practical developments have led to our proposal of seven contributions to the state of the art.

  • Robust video stabilization based on motion intention for low-cost micro aerial vehicles

     Aguilar, Wilbert; Angulo Bahón, Cecilio
    International Multi-Conference on Systems, Signals and Devices
    p. 1-6
    Presentation's date: 2014-02-12
    Presentation of work at congresses

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    Currently, different hand-held devices as domestic cameras, smart-phones, tablets, or on-board cameras for robots are becoming popular for video capturing. A main concern with these gadgets is undesired movement between consecutive frames. Video stabilization is a technique with increasing impact for solving this problem. In this paper, a proposal is introduced for robust video stabilization, in particular for on-board cameras in micro aerial vehicles. It is based on a combination of the RANSAC (RANdom SAmple Consensus) algorithm and gray level differences as cost function for local motion parameter estimation, as well as a low-pass filter for global motion smoothing. Experimentation will illustrate about of the robustness proposed solution.

  • Centre d'Estudis Tecnològics per a l'atenció a la Dependència i vida autònoma

     Cabestany Moncusi, Joan; Moreno Arostegui, Juan Manuel; Madrenas Boadas, Jordi; Cosp Vilella, Jordi; Llanas Parra, Francesc Xavier; Sama Monsonis, Albert; Perez Lopez, Carlos; Rodriguez Martin, Daniel Manuel; Reyes Ortiz, Jorge Luis; Sayeed, Taufique; Takac, Boris; Khan, Rafiullah; Huang-Ming, Chang; Bano, Sophia; Català Mallofré, Andreu
    Competitive project

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  • prórroga del TIN2010-20966-C02-02 - APRENDIZAJE AUTOMATICO DE CAPACIDADES SENSORIALES MEDIANTE MAQUINAS DE SOPORTE VECTORIAL

     Sanchez Soler, Monica; Ruiz Vegas, Francisco Javier; Prats Duaygues, Francesc; Aguado Chao, Juan Carlos; Sama Monsonis, Albert
    Competitive project

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    Design of an on-chip linear-assisted DC-DC voltage regulator  Open access

     Cosp Vilella, Jordi; Martínez García, Herminio
    IEEE International Conference on Electronics, Circuits and Systems
    p. 353-356
    Presentation's date: 2013-12-10
    Presentation of work at congresses

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    This article shows the design of an on-chip CMOS linear-assisted DC-DC regulator. It results a good alternative topology to classic switching DC-DC power converters. In the presented technique, an auxiliary linear regulator is used to cancel the output voltage ripple and provides fast responses for load and line variations. On the other hand, a switching converter, connected in parallel, allows supplying almost the whole output current demanded by the load. The objective of this linear-assisted regulator or hybrid topology is to achieve a high efficiency of switching converters, with suitable load and line regulation features, typical of linear regulators. In this kind of on-chip applications, CMOS is the current prevailing technology. Thus, in order to implement on-chip power supply systems and on-chip power management systems with low-to-medium current consumption, this structure has good features.

    Postprint (author’s final draft)

  • Contribució en la modelització de la rugositat superficial obtinguda en els processos de honing utilitzant xarxes neuronals artificials

     Sivatte Adroer, Maurici
    Universitat Politècnica de Catalunya
    Theses

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    A partir de dades experimentals obtingudes en una màquina d'assaigs construïda a l'efecte,l'objectiu d'aquesta tesi és modelitzar el procés de brunyit dels interiors de cilindres d'acer(procés de honing), utilitzant les xarxes neuronals artificials.Es seleccionen les cinc variables de procés que es consideren més rellevants i es defineix elPerceptró Multicapa amb l'algoritme d'aprenentatge backpropagation i el sistema de validaciócross-validation, com a xarxa neuronal base.En una primera fase es dissenya un model neuronal, de forma què a partir de les dades de procésseleccionades, dóna el paràmetre de rugositat superficial "Ra" que hi correspondria.En una segona fase es modelitza el problema invers. A partir del valor de la rugositat superficial"Ra" que es desitja, el model neuronal explicita els valors de les variables de procés que lafarien possible.Finalment, es dissenya un model iteratiu, utilitzant les xarxes seleccionades en les fasesanteriors, per millorar la modelització inversa.

  • Access to the full text
    A Cloud robotics architecture to foster individual child partnership in medical facilities  Open access

     Navarro, Joan; Sancho-Asensio, Andreu; Garriga, Carles; Albo Canals, Jordi; Ortiz-Villajos Maroto, Julio; Raya Giner, Cristobal; Angulo Bahón, Cecilio; Miralles, David
    IROS Workshop on Cloud Robotics
    Presentation's date: 2013-11-03
    Presentation of work at congresses

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    Robots and automation systems have become a valuable partner in several facets of human life: from learning and teaching, to daily working, including health monitoring and assistance. So far, these appealing robot-based applications are restricted to conduct repetitive, yet useful, tasks due to the reduced individual robots¿ capabilities in terms of processing and computation. This concern prevents current robots from facing more complex applications related to understanding hu- man beings and perceiving their subtle feelings. Such hardware limitations have been already found in the computer science field. In this domain, they are currently being addressed using a new resource exploitation model coined as cloud computing, which is targeted at enabling massive storage and computation using smartly connected and inexpensive commodity hardware. The purpose of this paper is to propose a cloud-based robotics architecture to effectively develop complex tasks related to hospitalized children assistance. More specifically, this paper presents a multi-agent learning system that combines machine learning and cloud computing using low-cost robots to (1) collect and perceive children status, (2) build a human-readable set of rules related to the child-robot relationship, and (3) improve the children experience during their stay in the hos- pital. Conducted preliminary experiments proof the feasibility of this proposal and encourage practitioners to work towards this direction.

    Robots and automation systems have become a valuable partner in several facets of human life: from learning and teaching, to daily working, including health monitoring and assistance. So far, these appealing robot-based applications are restricted to conduct repetitive, yet useful, tasks due to the reduced individual robots’ capabilities in terms of processing and computation. This concern prevents current robots from facing more complex applications related to understanding hu- man beings and perceiving their subtle feelings. Such hardware limitations have been already found in the computer science field. In this domain, they are currently being addressed using a new resource exploitation model coined as cloud computing, which is targeted at enabling massive storage and computation using smartly connected and inexpensive commodity hardware. The purpose of this paper is to propose a cloud-based robotics architecture to effectively develop complex tasks related to hospitalized children assistance. More specifically, this paper presents a multi-agent learning system that combines machine learning and cloud computing using low-cost robots to (1) collect and perceive children status, (2) build a human-readable set of rules related to the child-robot relationship, and (3) improve the children experience during their stay in the hos- pital. Conducted preliminary experiments proof the feasibility of this proposal and encourage practitioners to work towards this direction.

  • Comparative and adaptation of step detection and step length estimators to a lateral belt worn accelerometer

     Sayeed, Taufique; Sama Monsonis, Albert; Català Mallofré, Andreu; Cabestany Moncusi, Joan
    IEEE International Conference on e-Health Networking, Applications and Services
    p. 105-109
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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    Parkinson¿s Disease (PD) is a neurodegenerative disease that predominantly alter patients¿ motor performance and compromises the speed, the automaticity and fluidity of natural movements. The patients fluctuate between periods in which they can move almost normally for some hours (ON state) and periods with motor disorders (OFF state). Gait properties are affected by the motor state of a patient: reduced stride length, reduced gait speed, increased stride width etc. The ability to assess the motor states (ON/OFF) on a continuous basis for long time without disturbing the patients¿ daily life activities is an important component of PD management. An accurate report of motor states could allow clinics to adjust the medication regimen to avoid OFF periods. The real-time monitoring will also allow an online treatment by combining, for instance, with automatic drug-administration pump doses. Many studies have attempted to extract gait properties through a belt-worn single tri-axial accelerometer. In this paper, a user friendly position is proposed to place the accelerometer and three step detection methods and three step length estimators are compared considering the proposed sensor placement in signals obtained from healthy volunteers and PD patients. Adaptation methods to these step length estimators are also proposed and compared. The comparison shows that the adapted estimators improve the performance with the new proposed step detection method and reduce errors in respect of the original methods.

    Parkinson’s Disease (PD) is a neurodegenerative disease that predominantly alter patients’ motor performance and compromises the speed, the automaticity and fluidity of natural movements. The patients fluctuate between periods in which they can move almost normally for some hours (ON state) and periods with motor disorders (OFF state). Gait properties are affected by the motor state of a patient: reduced stride length, reduced gait speed, increased stride width etc. The ability to assess the motor states (ON/OFF) on a continuous basis for long time without disturbing the patients’ daily life activities is an important component of PD management. An accurate report of motor states could allow clinics to adjust the medication regimen to avoid OFF periods. The real-time monitoring will also allow an online treatment by combining, for instance, with automatic drug-administration pump doses. Many studies have attempted to extract gait properties through a belt-worn single tri-axial accelerometer. In this paper, a user friendly position is proposed to place the accelerometer and three step detection methods and three step length estimators are compared considering the proposed sensor placement in signals obtained from healthy volunteers and PD patients. Adaptation methods to these step length estimators are also proposed and compared. The comparison shows that the adapted estimators improve the performance with the new proposed step detection method and reduce errors in respect of the original methods.

  • Introducing a 'Difficulty Factor' for dataset bi-classification using SVM

     Gonzalez Abril, Luis; Angulo Bahón, Cecilio
    International Conference of the Catalan Association for Artificial Intelligence
    p. 181-184
    DOI: 10.3233/978-1-61499-320-9-181
    Presentation's date: 2013-10-25
    Presentation of work at congresses

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    This paper analyses the difficulty associated to the task of binary classification when a Support Vector Machine is employed for the construction of the classifier. Derived from a business management framework, an index is introduced in terms of the Lagrange multipliers and the number of support vectors.

  • Human movement analysis by means of accelerometers: Aplication to human gait and motor symptoms of Parkinson's Disease  Open access

     Sama Monsonis, Albert
    Universitat Politècnica de Catalunya
    Theses

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    La tesis que este documento recoge es una aportación al análisis del movimiento humano a partir de las señalescapturadas por acelerómetros. Estos sensores permiten convertir la aceleración producida por algunas partes del cuerpoen señales eléctricas susceptibles de un análisis posterior. El progresivo perfeccionamiento y miniaturización de losacelerómetros ha permitido construir sensores poco invasivos que pueden ser usados de forma ambulatoria para registrarlos movimientos realizados en las actividades de la vida diaria del sujeto.La tesis se focaliza en dos ámbitos. El primero, fundamentalmente clínico, se ha centrado en el análisis del movimiento enenfermos de la Enfermedad de Parkinson (EP). El segundo ámbito, más general, ha consistido en relacionar las señalesacelerométricas con características de la marcha. Con este fin, se han desarrollado métodos para la obtención de lavelocidad de la marcha y la longitud del paso, así como para la identificación de personas. En ambos ámbitos se haempleado un único acelerómetro situado en un lado de la cintura.La EP es una enfermedad neurodegenerativa que produce primordialmente trastornos del movimiento en los pacientes quela sufren. Los principales sóntomas motores de la enfermedad son 1) los temblores, 2) la lentitud de movimientos obradicinesia, 3) la congelación de la marcha (freezing of gait FoG) y 4) los movimientos involuntarios o discinesias. Los tresprimeros síntomas aparecen cuando la medicación no ha alcanzado un efecto terapeútico efectivo. Estos periodos seconocen habitualmente como período o estado motor OFF. Los periodos en los cuales la medicación hace efecto y lospacientes presentan una movilidad normal (o casi normal) son los periodos o estados motores ON. Las discinesiasaparecen principalmente cuando el nivel de medicación en sangre es excesivo. Tanto las discinesias como los estadosOFF son consecuencia de un defecto en la administración de la medicación. Un dispositivo no invasivo que detecte yregistre las discinesias y ambos periodos ON y OFF supone una importante herramienta que permite al médico prescribircon mayor precisión la dosis de medicamento adecuada a su paciente.El trabajo realizado en esta tesis en el ámbito de la EP ha consistido en el desarrollo de algoritmos de detección dediscinesias y periodos OFF. Estos algoritmos han sido adaptados para proporcionar una detección en tiempo real, de formaque se han empleado ya en un estudio piloto en los que el ajuste de medicación suministrada por una bomba de infusiónsubcutánea se realiza de forma automática en función de la presencia de discinesias y el estado motor del paciente.La experiencia ganada en el tratamiento de la señal acelerométrica proveniente de enfermos de Parkinson ha permitidocontribuir en el campo del análisis de la marcha y realizar una aportación que relaciona varios parámetros de la misma conla señal que suministra un único acelerómetro situado en la cintura. No solo la EP puede beneficiarse de este estudio, sinotambién otras enfermedades como la Diabetes o algunas enfermedades ortopédicas y traumatológicas puedenaprovecharse de sus resultados.Por útimo, usando algunas de las ténicas de los estudios anteriores, se ha realizado una importante contribución en elámbito de la identificación biométrica de personas. Se ha puesto de manifiesto que la señal proveniente de un únicoacelerómetro situado en la cintura no solo permite obtener algunas de las características de la marcha sino tambiénpermite identificar a la persona a través del patrón de su marcha. La principal contribución teórica de esta tesis ha sido eldesarrollo de técnicas basadas en la reconstrucción de atractores. Se ha evidenciado que un número muy reducido decaracterísticas procedentes del atractor reconstruido a partir de una serie temporal de medidas de aceleración permite laextracción de los parámetros de la marcha y la identificación de personas.

    This thesis presents the original contributions of the author on the field of human movement analysis from signals captured by accelerometers. These sensors are capable of converting acceleration from some body parts into electric signals for further analysis. The progressive refinement and miniaturization of accelerometers has allowed the development of minimally invasive devices that can be used to ambulatory monitor human movements during daily live activities. The study's contributions mainly fall under two heads: first, the analysis of movement in Parkinson's disease (PD); and, second, the relationship between accelerometer signals and characteristics of gait. To this end, new methods for obtaining speed and length of strides and, also, for identifying people have been developed. In all these studies, a single sensor fixed to the patient's waist has been used. PD is a neurodegenerative disease characterized by movement alterations. The main motor symptoms of PD are 1) tremor, 2) bradykinesia or slowness of movements, 3) freezing of gait and 4) dyskinesia or abnormal involuntary movements. The first three symptoms primarily occur when the medication has not yet reached an effective therapeutic effect. These periods are commonly known as OFF periods or OFF motor state. On the other hand, periods when the patient is suitably responding to the medication are known as ON periods or ON motor state. Dyskinesias mainly appear when the medication blood level is excessive. Both dyskinesias and OFF motor states are caused by a defect in the medication administration. In this sense, a wearable device capable of detecting and recording dyskinesias and OFF periods represents an important tool that enables clinics to more accurately prescribe the medication regimen of a patient. The work done in the field of PD consisted in developing algorithms able to detect dyskinesias and both ON and OFF periods. These algorithms have been adapted to provide real-time detection, which enabled their employment in a pilot study. This clinical study has tested, for the first time, the automatic adjustment of medication performed by means of a subcutaneous infusion pump according to the dyskinesias appearance and motor state of PD patients. The experience gained in the treatment of accelerometric signals from PD has led to contribute in the field of gait analysis. First, new methods for obtaining speed and length of strides from a single sensor fixed to the patient's waist have been obtained. Not only the PD can benefit from this study, but other diseases such as diabetes or some orthopedotraumatological diseases can also benefit from its results. Finally, using some of the techniques of the previous studies, another important contribution has been made in the field of biometric person identification. The work presented shows how the signal obtained from a single accelerometer located at the waist not only enables the extraction of some gait characteristics but also permits the identification of a person through its gait pattern. The main theoretical contribution of this thesis has been the development of techniques based on the reconstruction of attractors. It has been shown that the usage of only a small number of features that characterize the reconstructed attractor obtained from a time series of acceleration measurements makes possible the extraction of important parameters of gait and the person identification.

    La tesis que este documento recoge es una aportaci on al an alisis del movimiento humano a partir de las señales capturadas por aceler ometros. Estos sensores permiten convertir la aceleraci on producida por algunas partes del cuerpo en señales el ectricas susceptibles de un an alisis posterior. El progresivo perfeccionamiento y miniaturización de los aceler ometros ha permitido construir sensores poco invasivos y que pueden ser usados de forma ambulatoria para registrar los movimientos realizados en las actividades de la vida diaria del sujeto. La tesis se focaliza en dos ambitos. El primero, fundamentalmente cl inico, se ha centrado en el an alisis del movimiento en enfermos de la Enfermedad de Parkinson (EP). El segundo ambito, m as general, ha consistido en relacionar las señales acelerom etricas con caracter sticas de la marcha. Con este fin, se han desarrollado m etodos para la obtenci on de la velocidad de la marcha y la longitud del paso, as í como para la identificaci on de personas. En ambos ambitos se ha empleado un unico aceler ometro situado en un lado de la cintura. La EP es una enfermedad neurodegenerativa que produce primordialmente trastornos del movimiento en los pacientes que la sufren. Los principales sí ntomas motores de la enfermedad son 1) los temblores, 2) la lentitud de movimientos o bradicinesia, 3) la congelaci on de la marcha (freezing of gait FoG) y 4) los movimientos involuntarios o discinesias. Los tres primeros s ntomas aparecen cuando la medicaci on no ha alcanzado un efecto terape utico efectivo. Estos periodos se conocen habitualmente como per odo o estado motor OFF. Los periodos en los cuales la medicaci on hace efecto y los pacientes presentan una movilidad normal (o casi normal) son los periodos o estados motores ON. Las discinesias aparecen principalmente cuando el nivel de medicaci on en sangre es excesivo. Tanto las discinesias como los estados OFF son consecuencia de un defecto en la administraci on de la medicaci on. Un dispositivo no invasivo que detecte y registre las discinesias y ambos periodos ON y OFF supone una importante herramienta que permite al m edico prescribir con mayor precisi on la dosis de medicamento adecuada a su paciente. El trabajo realizado en esta tesis en el ambito de la EP ha consistido en el desarrollo de algoritmos de detecci on de discinesias y periodos OFF. Estos algoritmos han sido adaptados para proporcionar una detecci on en tiempo real, de forma que se han empleado ya en un estudio piloto en los que el ajuste de medicaci on suministrada por una bomba de infusi on subcut anea se realiza de forma autom atica en funci on de la presencia de discinesias y el estado motor del paciente. La experiencia ganada en el tratamiento de la señal acelerom etrica proveniente de enfermos de Parkinson ha permitido contribuir en el campo del an alisis de la marcha y realizar una aportaci on que relaciona varios par ametros de la misma con la señal que suministra un unico aceler ometro situado en la cintura. No solo la EP puede bene ciarse de este estudio, sino tambi en otras enfermedades como la Diabetes o algunas enfermedades ortop edicas y traumatol ogicas pueden aprovecharse de sus resultados. Por ultimo, usando algunas de las t ecnicas de los estudios anteriores, se ha realizado una importante contribuci on en el ambito de la identi caci on biom etrica de personas. Se ha puesto de mani esto que la señal proveniente de un unico aceler ometro situado en la cintura no solo permite obtener algunas de las caracter sticas de la marcha sino tambi en permite identi car a la persona a trav es del patr on de su marcha. La principal contribuci on te orica de esta tesis ha sido el desarrollo de t ecnicas basadas en la reconstrucci on de atractores. Se ha evidenciado que un n umero muy reducido de caracter sticas procedentes del atractor reconstruido a partir de una serie temporal de medidas de aceleraci on permite la extracci on de los par ametros de la marcha y la identi caci on de personas

  • On chaotic behavior in automatic tuning loops for continuous-time filters

     Cosp Vilella, Jordi; Martínez García, Herminio
    European Conference on Circuit Theory and Design
    p. 1-4
    DOI: 10.1109/ECCTD.2013.6662232
    Presentation's date: 2013-09-10
    Presentation of work at congresses

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    Continuous-time filters (CTFs) with automatic tuning loops are nonlinear feedback systems with potential instability. Thus, their appropriate linear dynamic modeling should be obtained to assure stability in case of an improved design of the loop controllers is to be carried out. A systematic approach using a small signal model would allow obtaining these controllers. However, bifurcations and nonlinear phenomena may appear which cannot be predicted by this analysis. This leads to potential instability, semiperiodic or chaotic behavior and, thus, circuit malfunction. The aim of this paper is to show by means of simulations and experimental results that nonlinear phenomena, which cannot be predicted by the common small signal analysis, may appear in this kind of circuits when circuit parameters are varied.

    Continuous–time filters (CTFs) with automatic tuning loops are nonlinear feedback systems with potential instability. Thus, their appropriate linear dynamic modeling should be obtained to assure stability in case of an improved design of the loop controllers is to be carried out. A systematic approach using a small signal model would allow obtaining these controllers. However, bifurcations and nonlinear phenomena may appear which cannot be predicted by this analysis. This leads to potential instability, semiperiodic or chaotic behavior and, thus, circuit malfunction. The aim of this paper is to show by means of simulations and experimental results that nonlinear phenomena, which cannot be predicted by the common small signal analysis, may appear in this kind of circuits when circuit parameters are varied.

  • Comparison and adaptation of step length and gait speed estimators from single belt worn accelerometer positioned on lateral side of the body

     Sayeed, Taufique; Sama Monsonis, Albert; Català Mallofré, Andreu; Cabestany Moncusi, Joan
    IEEE International Symposium on Intelligent Signal Processing
    p. 14-20
    Presentation's date: 2013-09-17
    Presentation of work at congresses

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    Parkinson¿s Disease (PD) is a neurodegenerative disease that predominantly alter patients¿ motor performance and compromises the speed, the automaticity and fluidity of natural movements. The patients fluctuate between periods in which they can move almost normally for some hours (ON state) and periods with motor disorders (OFF state). Gait properties are affected by the motor state of a patient: reduced stride length, reduced gait speed, increased stride width etc. The ability to assess the motor states (ON/OFF) on a continuous basis for long time without disturbing the patients¿ daily life activities is an important component of PD management. An accurate report of motor states could allow clinics to adjust the medication regimen to avoid OFF periods. The real-time monitoring will also allow an online treatment by combining, for instance, with automatic drugadministration pump doses. Many studies have attempted to extract gait properties through a belt-worn single tri-axial accelerometer. In this paper, a user friendly position is proposed to place the accelerometer and six step length estimators are compared considering the proposed sensor placement in a preliminary database of healthy volunteers. Adaptation methods to some of these estimators are also proposed and compared. The comparison shows that the adapted estimators improve the performance and reduce errors in respect of the original methods applied in the new sensor location.

    Parkinson’s Disease (PD) is a neurodegenerative disease that predominantly alter patients’ motor performance and compromises the speed, the automaticity and fluidity of natural movements. The patients fluctuate between periods in which they can move almost normally for some hours (ON state) and periods with motor disorders (OFF state). Gait properties are affected by the motor state of a patient: reduced stride length, reduced gait speed, increased stride width etc. The ability to assess the motor states (ON/OFF) on a continuous basis for long time without disturbing the patients’ daily life activities is an important component of PD management. An accurate report of motor states could allow clinics to adjust the medication regimen to avoid OFF periods. The real-time monitoring will also allow an online treatment by combining, for instance, with automatic drugadministration pump doses. Many studies have attempted to extract gait properties through a belt-worn single tri-axial accelerometer. In this paper, a user friendly position is proposed to place the accelerometer and six step length estimators are compared considering the proposed sensor placement in a preliminary database of healthy volunteers. Adaptation methods to some of these estimators are also proposed and compared. The comparison shows that the adapted estimators improve the performance and reduce errors in respect of the original methods applied in the new sensor location.

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    Usability of vision-based interfaces  Open access

     Manresa-Yee, Cristina; Amengual, Esperança; Ponsa Asensio, Pedro
    Congreso Internacional de Interacción Persona-Ordenador
    p. 113-118
    Presentation's date: 2013-09-17
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    Vision-based interfaces can employ gestures to interact with an interactive system without touching it. Gestures are frequently modelled in laboratories, and usability testing should be carried out. However, often these interfaces present usability issues, and the great diversity of uses of these interfaces and the applications where they are used, makes it difficult to decide which factors to take into account in a usability test. In this paper, we review the literature to compile and analyze the usability factors and metrics used for vision-based interfaces.

  • Selection of a neural network for modelling the honing process

     Sivatte Adroer, Maurici; Llanas Parra, Francesc Xavier; Buj Corral, Irene; Vivancos Calvet, Joan
    International Reseach/Expert Conference "Trends in the Development of Machinery and Associated Technology"
    p. 1-4
    Presentation's date: 2013-09-11
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    Roughness obtained in honing process depends on many different process parameters, such as grain size of abrasive stones, pressure of stones on the workpiece¿s surface, density of abrasive, tangential speed of the honing head and linear speed of the honing head. This fact makes it difficult to study the process from an analytical point of view. For this reason, use of empirical methods or use of artificial intelligence is recommended in this case. In the present paper, results about use of neural networks for obtaining average roughness Ra as a function of honing parameters are presented. Best neural network was chosen among different possibilities. For doing this, experimental results were divided into three groups: 70 % of results were used for training, 15 % of results were used for validation and 15 % of results were used as test to compare networks with other models. The best neural network was considered to be the one with lowest errors using the validation experimental results.

    Roughness obtained in honing process depends on many different process parameters, such as grain size of abrasive stones, pressure of stones on the workpiece’s surface, density of abrasive, tangential speed of the honing head and linear speed of the honing head. This fact makes it difficult to study the process from an analytical point of view. For this reason, use of empirical methods or use of artificial intelligence is recommended in this case. In the present paper, results about use of neural networks for obtaining average roughness Ra as a function of honing parameters are presented. Best neural network was chosen among different possibilities. For doing this, experimental results were divided into three groups: 70 % of results were used for training, 15 % of results were used for validation and 15 % of results were used as test to compare networks with other models. The best neural network was considered to be the one with lowest errors using the validation experimental results.

  • The imbalance network and incremental evolution for mobile robot nervous system design

     Olivier, Paul; Moreno Arostegui, Juan Manuel
    International Conference on Artificial Neural Networks
    p. 519-526
    DOI: 10.1007/978-3-642-40728-4_65
    Presentation's date: 2013-09
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    Automatic design of neurocontrollers (as in Evoluationary Robotics) utilizes incremental evolution to solve for more complex behaviors. Also manual design techniques such as task decomposition are employed. Manual design itself can benefit from focusing on using incremental evolution to add more automatic design. The imbalance network is a neural network that integrates incremental evolution with an incremental design process without the need for task decomposition. Instead, the imbalance network uses the mechanism of the equilibrium-action cycle to structure the network while emphasizing behavior emergence. An example 11-step design (including a 5-step evolutionary process) is briefly mentioned to help ground the imbalance network concepts.

    Automatic design of neurocontrollers (as in Evoluationary Robotics) utilizes incremental evolution to solve for more complex behaviors. Also manual design techniques such as task decomposition are employed. Manual design itself can benefit from focusing on using incremental evolution to add more automatic design. The imbalance network is a neural network that integrates incremental evolution with an incremental design process without the need for task decomposition. Instead, the imbalance network uses the mechanism of the equilibrium-action cycle to structure the network while emphasizing behavior emergence. An example 11-step design (including a 5-step evolutionary process) is briefly mentioned to help ground the imbalance network concepts.

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    What do we feel about archetypes: self-reports and physiological signals  Open access

     Chang, Huang-ming; Ivonin, Leonid; Diaz Boladeras, Marta; Català Mallofré, Andreu; Chen, Wei; Rauterberg, Mattias
    European Signal Processing Conference
    p. 1-5
    Presentation's date: 2013-09-10
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    In research on emotion, presenting affective stimuli has been believed to be an effective and reliable technique for emotion elicitation. Instead of collecting stimuli for pre- defined emotions, we propose to develop stimuli based on their symbolic meanings. We adopted archetypal symbolism as a standard to edit eight movie clips of archetypes as a new set of affective stimuli. These stimuli were used in an experiment for emotion elicitation. Participants¿ emotional responses toward these stimuli of archetypes were measured by the self-report technique and the physiological measurement. The results of linear discriminant analysis show that physiological measurement is more robust than the self-report techniques in recognizing emotions toward stimuli of archetypes. However, it is still unclear which technique reflects the ground truth of human emotion. We discuss alternative implications of these results, and provide more research questions for future studies on emotion recognition and model development.

    In research on emotion, presenting affective stimuli has been believed to be an effective and reliable technique for emotion elicitation. Instead of collecting stimuli for predefined emotions, we propose to develop stimuli based on their symbolic meanings. We adopted archetypal symbolism as a standard to edit eight movie clips of archetypes as a new set of affective stimuli. These stimuli were used in an experiment for emotion elicitation. Participants’ emotional responses toward these stimuli of archetypes were measured by the self-report technique and the physiological measurement. The results of linear discriminant analysis show that physiological measurement is more robust than the self-report techniques in recognizing emotions toward stimuli of archetypes. However, it is still unclear which technique reflects the ground truth of human emotion. We discuss alternative implications of these results, and provide more research questions for future studies on emotion recognition and model development.

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    User-centred design for industrial engineers  Open access

     Ponsa Asensio, Pedro; Garvin, Kevin; González, Fernanda; Ruegger, Raíssa; Santos, Larissa; Granollers, Antoni; Vilanova Arbós, Ramón
    Congreso Internacional de Interacción Persona-Ordenador
    p. 127-130
    Presentation's date: 2013-09-18
    Presentation of work at congresses

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    The association between human computer interaction methods within traditional design methods is presented in this paper. The engineering degree of industrial design and product development is composed by subjects and an international mobility program that facilitates this relationship. For this reason the role playing model is used with the aim to work with multidisciplinary teams. This paper shows study cases of interactive systems: design, prototype devices (vibrating bracelet) and evaluation of small interfaces (Tablet PC) and the assessment of this teaching experience.

  • Do we know enough about the factors of the TAM model to predict the information system¿s acceptance?

     Cano Giner, Josep Lluis; Fernández Alarcón, Vicenç; Diaz Boladeras, Marta
    International Conference on Logistics, Informatics and Service Science
    p. 1-5
    Presentation's date: 2013-08-21
    Presentation of work at congresses

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    The acquisition and use of information are key factors in successful executive performance. Recently, EIS have been analyzed through the Technology Acceptance Model (TAM) with significant results. In order to answer the research question "Is additional qualitative research needed to find more valuable information about the factors of the TAM model?", we developed a deep literature review from three different perspectives and interviews to experts on EIS. The results suggested that more qualitative research is necessary to uncover more valuable information about the factors.

    The acquisition and use of information are key factors in successful executive performance. Recently, EIS have been analyzed through the Technology Acceptance Model (TAM) with significant results. In order to answer the research question "Is additional qualitative research needed to find more valuable information about the factors of the TAM model?", we developed a deep literature review from three different perspectives and interviews to experts on EIS. The results suggested that more qualitative research is necessary to uncover more valuable information about the factors.

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    Group decision-making system based on a qualitative location function: an application to chocolates design  Open access

     Agell Jané, Núria; Sánchez Hernández, Germán; Sanchez Soler, Monica; Ruiz Vegas, Francisco Javier
    International Workshop on Qualitative Reasoning
    p. 71-76
    Presentation's date: 2013-08-27
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    When a group of experts is involved in the design of a new product as a team, consensus and Group decision making (GDM) techniques able to deal with complex descriptions are required. In addition, individual decisions based on human sensory perception, such as color, smell or taste, are usually qualitative and made under uncertainty. In this paper we consider a methodology based upon qualitative reasoning techniques for representing and synthesizing the information given by a group of experts in order to capture the sensorial aspects of the alternatives. A real application of the proposed GDM method to chocolates design has been conducted throughout 2012 with the Chocolate Chef Oriol Balaguer¿s team. We present the results obtained by applying the proposed methodology to aggregate experts¿ opinion during a creative session. In this session, some members of Oriol Balaguer¿s team tested and evaluated combinations of black chocolate with six different fruits, considered as alternatives, to select the best combination for the design and creation of a new cake.

    When a group of experts is involved in the design of a new product as a team, consensus and Group decision making (GDM) techniques able to deal with complex descriptions are required. In addition, individual decisions based on human sensory perception, such as color, smell or taste, are usually qualitative and made under uncertainty. In this paper we consider a methodology based upon qualitative reasoning techniques for representing and synthesizing the information given by a group of experts in order to capture the sensorial aspects of the alternatives. A real application of the proposed GDM method to chocolates design has been conducted throughout 2012 with the Chocolate Chef Oriol Balaguer’s team. We present the results obtained by applying the proposed methodology to aggregate experts’ opinion during a creative session. In this session, some members of Oriol Balaguer’s team tested and evaluated combinations of black chocolate with six different fruits, considered as alternatives, to select the best combination for the design and creation of a new cake.

  • Comparing two LEGO Robotics-Based Interventions for Social Skills Training with Children with ASD

     Albo Canals, Jordi; Diaz Boladeras, Marta; Angulo Bahón, Cecilio
    IEEE International Symposium on Robot and Human Interactive Communication
    p. 638-643
    DOI: 10.1109/ROMAN.2013.6628420
    Presentation's date: 2013-08-28
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    This paper presents an analysis of two comparable studies with LEGO Robotics-based activities in a social skills training program for children with autism spectrum disorders (ASD). One study has been carried out with a group of 16 children in the Unit of Pediatrics Psychology and Psychiatry in HSJD in Barcelona , Spain and the other with a group of 17 children at the Center for Education and Engineering Outreach (Tufts U.) in Boston, USA. The aim of this comparison is discuss lessons learnt and develop empirical based guidelines for intervention design.

    This paper presents an analysis of two comparable studies with LEGO Robotics-based activities in a social skills training program for children with autism spectrum disorders (ASD). One study has been carried out with a group of 16 children in the Unit of Pediatrics Psychology and Psychiatry in HSJD in Barcelona , Spain and the other with a group of 17 children at the Center for Education and Engineering Outreach (Tufts U.) in Boston, USA. The aim of this comparison is discuss lessons learnt and develop empirical based guidelines for intervention design.

  • Observation of chaotic behavior in automatic tuning loops for continuous¿time filters

     Martínez García, Herminio; Cosp Vilella, Jordi; Manzanares Brotons, Manuel
    IEEE International Midwest Symposium on Circuits and Systems
    p. 742-745
    Presentation's date: 2013-08-06
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    The appropriate linear dynamic modeling of continuous¿time filters (CTFs) with automatic tuning loops should be obtained to assure stability in case an improved design of the loop controllers is to be carried out. With this aim, starting from a general and systematic analysis in order to obtain an equivalent small¿signal linearized incremental model, from which transfer functions between output variables and control voltages are derived, the subsequent design of compensated loops with enhanced stability and dynamic performance is required. This systematic procedure allows obtaining improved controllers for the two involved control loops. However, CTFs with automatic tuning loops are nonlinear feedback systems with potential instability. What is more, nonlinear phenomena, which cannot be predicted by a design-oriented small signal modeling approach, are observed in this kind of tuning systems. The purpose of this work is to highlight that when control parameters are varied, the system could present different kinds of dynamical nonlinear phenomena such as bifurcations and chaotic behavior, which cannot be predicted by the small signal design-oriented model.

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    Emotional factors in robot-based assistive services for elderly at home  Open access

     Diaz Boladeras, Marta; Saez Pons, Joan; Heerink, Marcel; Angulo Bahón, Cecilio
    IEEE International Symposium on Robot and Human Interactive Communication
    Presentation's date: 2013-08-29
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    Emotional factors related to aging at home assistive technology are known to affect technology acceptance, effective use, and quality of life improvement. This paper is a survey on the affective dimension of robot-based systems conceived for helping elderly at home. The specificity of elders¿capabilities (e.g. sensory and cognitive), coping styles, aspirations, lifestyles, social rules and preferences are facedwith available knowledge from the fields of social psychology, sociology and gerontology. In the case of social robots,convenient verbal and non-verbal communication and motion behavior (e.g. social distance, space formations) are to be designed according to generational and cultural rules. Moreover, robot behavior should be congruent with its role (i.e. helper, companion) and affordances.

    Emotional factors related to aging at home assistive technology are known to affect technology are known to affect technology acceptance effective use, and quality of life improvement. This paper is a survey on the affective dimension of robot-based systems conceived for helping elderly at home. the specificity of elders' capabilities (e.g. sensory and cognitive), coping styles, aspirations, lifestyles, social rules and preferences are faced with available knowledge from the fields of social psychology, sociology and gerontology. In the case of social robots, convenient verbal and non-verbal communication and motion behavior (e.g. social distance, space formations) are to be designed according to generational and cultural rules. Moreover, robot behavior should be congruent with its role (i.e. helper, companion) and affordances.

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    Aspectos innovadores del grado de ingeniería de diseño y desarrollo del producto en el campus de la Universidad Politécnica de Cataluña en Vilanova i la Geltrú  Open access

     Vilà Martí, Frederic; Ponsa Asensio, Pedro; Pérez Soriano, Jaume; Roman Jimenez, Jose Antonio
    Congreso Universitario de Innovación Educativa en las Enseñanzas Técnicas
    p. 348-355
    Presentation's date: 2013-07-10
    Presentation of work at congresses

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    Al finalizar este curso académico la Escuela Politécnica Superior de Ingeniería de Vilanova i la Geltrú tendrá su primer grupo de egresados del grado de ingeniería de diseño y desarrollo del producto. Este artículo presenta de forma reflexiva una primera valoración de las metodologías de enseñanza y aprendizaje que se han llevado a cabo. Así mismo, se exponen los aspectos innovadores con los que se ha querido aportar una diferenciación y singularidad respecto a otros centros que imparten la misma titulación. El enfoque sistemático que aquí se presenta se enlaza con la misión y valores del plan estratégico de nuestro centro en el que se profundiza en aspectos de innovación docente y emprendedurismo.

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    La planificación estratégica en el Campus de la Universidad Politécnica de Cataluña en Vilanova i la Geltrú como factor clave para afrontar nuevos retos  Open access

     Roman Jimenez, Jose Antonio; Pérez Soriano, Jaume; Ponsa Asensio, Pedro; Quiñones Ruiz, Jose Miguel; De la Vega, Ricardo; Vilà Martí, Frederic
    Congreso Universitario de Innovación Educativa en las Enseñanzas Técnicas
    p. 51-58
    Presentation's date: 2013-07-10
    Presentation of work at congresses

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    La Escuela Politécnica Superior de Ingeniería de Vilanova i la Geltrú ha realizado ya tres planes estratégicos desde 1997. En la actualidad estamos desarrollando el cuarto plan con un enfoque renovado para hacerlo más ágil, concentrándonos en unos pocos retos estratégicos. Hemos contado con la orientación del Gabinete de Planificación, Evaluación y Calidad de la universidad, para realizar el diseño del plan de la mejor forma posible. En este artículo mostraremos el proceso que estamos siguiendo en la definición y puesta en marcha del plan estratégico 2013-2016 de nuestro Campus. Expondremos como se ha definido el proceso de forma participativa, que etapas se han seguido para analizar correctamente la situación de partida, como hemos definido hacia donde deseamos dirigirnos y cómo hacerlo con éxito, con objetivos compartidos por la comunidad para hacer frente con mayor garantía a los retos y dificultades actuales.

  • Supervisory control interface design for unmanned aerial vehicles through GEDIS-UAV

     Lorite, Salvador; Muñoz, Adolfo; Tornero, Josep; Ponsa Asensio, Pedro; Pastor Llorens, Enrique
    DOI: 10.1007/978-3-642-39232-0
    Date of publication: 2013-07-26
    Book chapter

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    This paper reflects the state of art in the field of human factors for unmanned aerial vehicles. It describes the GEDIS-UAV guide, which is a modification of the GEDIS guide. It also shows the evaluation of the Sky-eye project graphical user interface as an example of the methodology. The analysis and evaluation method reflected in this paper may be used to improve the graphical user interface of any unmanned aerial vehicle.

    This paper reflects the state of art in the field of human factors for unmanned aerial vehicles. It describes the GEDIS-UAV guide, which is a mod- ification of the GEDIS guide. It also shows the evaluation of the Sky-eye project graphical user interface as an example of the methodology. The analy- sis and evaluation method reflected in this paper may be used to improve the graphical user interface of any unmanned aerial vehicle.

  • METHODS OF COVERT COMMUNICATION OF SPEECH SIGNALS BASED ON A BIO-INSPIRED PRINCIPLE  Open access

     Ballesteros Larrotta, Dora Maria
    Department of Electronic Engineering, Universitat Politècnica de Catalunya
    Theses

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    Esta tesis presenta dos métodos de comunicación encubierta de señales de voz utilizando un concepto bio-inspirado, conocido como la habilidad de adaptación de señales de voz. Si se tienen dos señales de voz con diferente texto, la primera un mensaje secreto y la segunda una señal de voz con contenido no confidencial (señal objetivo), es posible que el mensaje secreto se manipule para suene como la señal objetivo. La habilidad de adaptación de las señales de voz se utiliza para encriptar señales de voz en el dominio wavelet. A diferencia de los esquemas tradicionales, la señal de voz encriptada es una señal con texto legible y el proceso de permutación se basa en la adaptación entre los coeficientes wavelet del mensaje secreto y los coeficientes wavelet de la señal de voz objetivo. Entonces, el sistema puede ser visto como un caso especial de encriptación tiempo-frecuencia (TFS). Este es un sistema perfectamente secreto porque la longitud de la clave es igual a la longitud del mensaje secreto, hay tantos mensajes secretos como señales encriptadas y el mapeo entre las entradas y las salidas es uno a uno. Se concluye que el sistema supera el ataque de fuerza bruta. Adicionalmente, el mensaje secreto puede ser recuperado por el usuario autorizado aún si la señal de voz encriptada es manipulada utilizando ataques de compresión, filtrado o re-muestreo.En el caso de esteganografía, se proponen dos esquemas. El primero se denomina enmascaramiento wavelet eficiente (EWM) y el segundo EWM mejorado (iEWM). Los dos aprovechan la propiedad de enmascaramiento del sistema auditivo humano (HAS) utilizando un proceso eficiente de enmascaramiento basado en la adaptación del mensaje secreto a la señal de voz huésped. EWM utiliza una sustitución directa basada en el parámetro Pd el cual relaciona la amplitud de los coeficientes wavelet de la señal huésped con los coeficientes wavelet del mensaje secreto adaptado. Los 5 bits menos significativos (LSBs) de los coeficientes wavelet de la señal huésped se reemplazan con el valor de Pd. A diferencia de EWM, iEWM utiliza sustitución directa. En este caso, los coeficientes wavelet del mensaje secreto adaptado se ocultan directamente en los coeficientes wavelet de la señal huésped. El número de bits varía de acuerdo a la amplitud de los coeficientes wavelet de la señal huésped, a mayor amplitud mayor es el número de LSBs que son modificados. No obstante, los bits más significativos (MSBs) se mantienen intactos de acuerdo al parámetro de control SBH. Mientras EWM demostró ser más transparente (es decir que la señal estego no genera sospechas sobre la existencia del mensaje secreto), iEWM es más robusto frente a manipulaciones de señal como compresión y re-muestreo.Dado que los dos modelos propuestos necesitan conocer de antemano tanto el mensaje secreto como la señal objetivo (o la señal huésped), no se pueden utilizar en aplicaciones de tiempo real. De tal forma, se presenta un esquema de esteganografía que trabaja sobre dispositivos hardware en el cual la señal estego se obtiene casi inmediatamente como se pronuncia el mensaje secreto.

    This work presents two speech hiding methods based on a bio-inspired concept known as the ability of adaptation of speech signals. A cryptographic model uses the adaptation to transform a secret message to a non-sensitive target speech signal, and then, the scrambled speech signal is an intelligible signal. The residual intelligibility is extremely low and it is appropriate to transmit secure speech signals. On the other hand, in a steganographic model, the adapted speech signal is hidden into a host signal by using indirect substitution or direct substitution. In the first case, the scheme is known as Efficient Wavelet Masking (EWM), and in the second case, it is known as improved-EWM (iEWM). While EWM demonstrated to be highly statistical transparent, the second one, iEWM, demonstrated to be highly robust against signal manipulations. Finally, with the purpose to transmit secure speech signals in real-time operation, a hardware-based scheme is proposed

    Esta tesis presenta dos métodos de comunicación encubierta de señales de voz utilizando un concepto bio-inspirado, conocido como la “habilidad de adaptación de señales de voz”. El modelo de criptografía utiliza la adaptación para transformar un mensaje secreto a una señal de voz no confidencial, obteniendo una señal de voz encriptada legible. Este método es apropiado para transmitir señales de voz seguras porque en la señal encriptada no quedan rastros del mensaje secreto original. En el caso de esteganografía, la señal de voz adaptada se oculta en una señal de voz huésped, utilizando sustitución directa o indirecta. En el primer caso el esquema se denomina EWM y en el segundo caso iEWM. EWM demostró ser altamente transparente, mientras que iEWM demostró ser altamente robusto contra manipulaciones de señal. Finalmente, con el propósito de transmitir señales de voz seguras en tiempo real, se propone un esquema para dispositivos hardware.

  • Millor projecte europeu de recerca. European Projects Awards 2013

     Cabestany Moncusi, Joan; Rovira, Jordi; Rodríguez, Alejandro
    Award or recognition

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    A first approximation in order to define a Difficulty Factor of the bi-classification in a dataset by using SVMs  Open access

     Gonzalez Abril, Luis; Angulo Bahón, Cecilio
    Jornadas de ARCA
    p. 45-48
    Presentation's date: 2013-06-25
    Presentation of work at congresses

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    The main aim in this paper is to analyze the complexity of a Support Vector Machine -SVM- in the construction of a classifier for a bi-classification problem on a specific dataset. Hence, an index is defined in terms of both, the Lagrange multipliers and the number of support vectors. Experimentation for cheching the defined index is carried out with a well.known dataset, the Glass Identification Database.

  • Multi-criteria preference disaggregation analysis for classification: an application to model colour preferences

     Ghaderi, Mohammad; Agell Jané, Núria; Ruiz Vegas, Francisco Javier; Sanchez Soler, Monica
    International Conference on Multiple Criteria Decision Making
    p. 245
    Presentation's date: 2013-06-20
    Presentation of work at congresses

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    Classication or discrimination problems consider the assignment of a set of alternatives into predened groups. In some situations, groups are dened in an ordinal way from the most to the least preferred. In the multi-criteria decision-aid (MCDA) literature, this is known as a `sorting' or `learning preferences' problem. Capturing the decision makers (DMs) tacit knowledge, by providing them a training sample to be sorted in an ordinal way, is considered of interest in the knowledge management eld. Extracting and mathematically framing the preference system of the decision maker (expert) enables us to predict preferences for cases that are outside of the training sample. Much eort has been made in this direction in the area of articial intelligence, specically in fuzzy set theory and machine learning systems. Preference disaggregation, as one of the most popular approaches for capturing the preference system of DMs, in MCDA is used to infer global preference models from given preferential patterns. Among others, we can highlight: UTA (UTilites Additives); UTASTAR; UTADIS (UTilites Additives Discriminates) ; ELECTRE TRI ; and MHDIS methods. The aim of these approaches is to provide a model that is as consistent as possible with the decisions made by the DM. This research includes a literature review of the existing methodologies for learning preferences and a comparison between some of them. An application related to colour preferences is used to compare these methodologies. Finally, managerial applications involving learning colour preferences are studied.

  • Selecting the best taste: a group decision-making application to chocolates design

     Agell Jané, Núria; Sánchez Hernández, Germán; Sanchez Soler, Monica; Ruiz Vegas, Francisco Javier
    International Fuzzy Systems Association World Congress and European Society of Fuzzy Logic and Technology Conference
    p. 939-943
    DOI: 10.1109/IFSA-NAFIPS.2013.6608526
    Presentation's date: 2013-06-27
    Presentation of work at congresses

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    Creation and design of products based on human sensory perceptions, such as color, smell or taste, require the participation of professionals or experts with highly developed sensory abilities. When a group of experts is involved in such creative process as a team, consensus and group decision-making (GDM) techniques able to deal with qualitative descriptions and uncertainty, can be required. In this paper we consider a methodology based upon qualitative reasoning techniques for representing and synthesizing the information given by a group of experts in order to capture the sensorial aspects of the alternatives. A real application of the proposed GDM method to chocolates design has been conducted throughout 2012 with the Chocolate Chef Oriol Balaguer¿s team. We present the results obtained by applying the proposed methodology to aggregate experts¿ opinion during a creative session. In this session, some members of Oriol Balaguer¿s team tested and evaluated combinations of black chocolate with six different fruits, considered as alternatives, to select the best combination for the design and creation of a new cake.

  • Preface

     Rojas, Ignacio; Joya, Gonzalo; Cabestany Moncusi, Joan
    International Work-Conference on Artificial Neural Networks
    p. V-VII
    Presentation's date: 2013-06
    Presentation of work at congresses

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  • Identification of postural transitions using a waist-located inertial sensor

     Rodriguez Martin, Daniel Manuel; Sama Monsonis, Albert; Perez Lopez, Carlos; Català Mallofré, Andreu; Cabestany Moncusi, Joan; Rodríguez Molinero, Alejandro
    International Work-Conference on Artificial Neural Networks
    p. 142-149
    DOI: 10.1007/978-3-642-38682-4
    Presentation's date: 2013-06-13
    Presentation of work at congresses

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    Analysis of human movement is an important research area, specially for health applications. In order to assess the quality of life of people with mobility problems like Parkinson¿s disease (PD) or stroke patients, it is crucial to monitor their daily life activities. The main goal of this work is to characterize basic activities and their transitions using a single sensor located at the waist. This paper presents a novel postural detection algorithm which is able to detect and identify 6 different postural transitions, sit to stand, stand to sit, bending up/down and lying to sit and sit to lying transitions with a sensitivity of 86.5% and specificity of 95%. The algorithm has been tested on 31 healthy volunteers and 8 PD patients who performed a total of 545 and 176 transitions respectively. The proposed algorithm is suitable to be implemented in real-time systems for on-line monitoring applications.

    Analysis of human movement is an important research area, specially for health applications. In order to assess the quality of life of people with mobility problems like Parkinson’s disease (PD) or stroke patients, it is crucial to monitor their daily life activities. The main goal of this work is to characterize basic activities and their transitions using a single sensor located at the waist. This paper presents a novel postural detection algorithm which is able to detect and identify 6 different postural transitions, sit to stand, stand to sit, bending up/down and lying to sit and sit to lying transitions with a sensitivity of 86.5% and specificity of 95%. The algorithm has been tested on 31 healthy volunteers and 8 PD patients who performed a total of 545 and 176 transitions respectively. The proposed algorithm is suitable to be implemented in real-time systems for on-line monitoring applications.