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  • GSVM: An SVM for handling imbalanced accuracy between classes in bi-classification problems

     Gonzalez Abril, Luis; Núñez Castro, Haydemar; Angulo Bahón, Cecilio; Velasco, Francisco
    Applied soft computing
    Date of publication: 2014-04
    Journal article

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    A new support vector machine, SVM, is introduced, called GSVM, which is specially designed for bi-classification problems where balanced accuracy between classes is the objective. Starting from a standard SVM, the GSVM is obtained from a low-cost post-processing strategy by modifying the initial bias. Thus, the bias for GSVM is calculated by moving the original bias in the SVM to improve the geometric mean between the true positive rate and the true negative rate. The proposed solution neither modifies the original optimization problem for SVM training, nor introduces new hyper-parameters. Experimentation carried out on a high number of databases (23) shows GSVM obtaining the desired balanced accuracy between classes. Furthermore, its performance improves well-known cost-sensitive schemes for SVM, without adding complexity or computational cost.

  • Continuous Generalized Procrustes analysis

     Igual, Laura; Perez Sala, Xavier; Escalera, Sergio; Angulo Bahón, Cecilio; De La Torre, Fernando
    Pattern recognition
    Date of publication: 2014-02
    Journal article

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    Two-dimensional shape models have been successfully applied to solve many problems in computer vision, such as object tracking, recognition, and segmentation. Typically, 2D shape models are learned from a discrete set of image landmarks (corresponding to projection of 3D points of an object), after applying Generalized Procustes Analysis (GPA) to remove 2D rigid transformations. However, the standard GPA process suffers from three main limitations. Firstly, the 2D training samples do not necessarily cover a uniform sampling of all the 3D transformations of an object. This can bias the estimate of the shape model. Secondly, it can be computationally expensive to learn the shape model by sampling 3D transformations. Thirdly, standard GPA methods use only one reference shape, which can might be insufficient to capture large structural variability of some objects. To address these drawbacks, this paper proposes continuous generalized Procrustes analysis (CGPA). CGPA uses a continuous formulation that avoids the need to generate 2D projections from all the rigid 3D transformations. It builds an efficient (in space and time) non-biased 2D shape model from a set of 3D model of objects. A major challenge in CGPA is the need to integrate over the space of 3D rotations, especially when the rotations are parameterized with Euler angles. To address this problem, we introduce the use of the Haar measure. Finally, we extended CGPA to incorporate several reference shapes. Experimental results on synthetic and real experiments show the benefits of CGPA over GPA.

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    A survey on model based approaches for 2D and 3D visual human pose recovery  Open access

     Perez Sala, Xavier; Escalera, Sergio; Angulo Bahón, Cecilio; Gonzàlez, Jordi
    Sensors
    Date of publication: 2014-03-03
    Journal article

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    Human Pose Recovery has been studied in the field of Computer Vision for the last 40 years. Several approaches have been reported, and significant improvements have been obtained in both data representation and model design. However, the problem of Human Pose Recovery in uncontrolled environments is far from being solved. In this paper, we define a general taxonomy to group model based approaches for Human Pose Recovery, which is composed of five main modules: appearance, viewpoint, spatial relations, temporal consistence, and behavior. Subsequently, a methodological comparison is performed following the proposed taxonomy, evaluating current SoA approaches in the aforementioned five group categories. As a result of this comparison, we discuss the main advantages and drawbacks of the reviewed literature.

    Human Pose Recovery has been studied in the field of Computer Vision for the last 40 years. Several approaches have been reported, and significant improvements have been obtained in both data representation and model design. However, the problem of Human Pose Recovery in uncontrolled environments is far from being solved. In this paper, we define a general taxonomy to group model based approaches for Human Pose Recovery, which is composed of five main modules: appearance, viewpoint, spatial relations, temporal consistence, and behavior. Subsequently, a methodological comparison is performed following the proposed taxonomy, evaluating current SoA approaches in the aforementioned five group categories. As a result of this comparison, we discuss the main advantages and drawbacks of the reviewed literature.

  • 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
    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.

    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.

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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
    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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    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
    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.

  • A study on output normalization in multiclass SVMs

     González Abril, Luis; Velasco Morente, Francisco; Angulo Bahón, Cecilio; Ortega Ramirez, Juan Antonio
    Pattern recognition letters
    Date of publication: 2013-02-01
    Journal article

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    The use of binary support vector machines (SVMs) in multi-classification is addressed in this paper. Margins associated to the bi-classifiers, since they depend on the geometrical disposition of the classes being separated, are, in general, of various magnitudes. In order to overcome this scaling problem, a normalization process should be applied on the SVMs’ outputs. Thus, a new normalization approach is presented based on the convex hulls that contain the classes to be separated. Furthermore, a theoretical study is developed which justifies the proposed approach, and an interpretation is provided. An empirical study is also carried out to compare this normalization with others found in the literature.

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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
    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.

    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.

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    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.

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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
    Presentation of work at congresses

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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.

  • 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
    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.

  • 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
    Presentation's date: 2013-08-28
    Presentation of work at congresses

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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.

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    Estabilización robusta de vídeo basada en diferencia de nivel de gris  Open access

     Aguilar, Wilbert G.; Angulo Bahón, Cecilio
    Congreso de Ciencia y Tecnología
    Presentation's date: 2013-06-05
    Presentation of work at congresses

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    La estabilización de vídeo se está convirtiendo en una importante técnica de post-procesado para secuencias de fotogramas (frames) adquiridas con cámaras digitales, especialmente debido al uso generalizado de cámaras de mano (hand-held) así como la utilización de estos dispositivos como elementos de entrada en sistemas robotizados complejos, robots humanoides o vehículos aéreos no tripulados. El presente artículo propone una combinación del método iterativo RANSAC (RANdom SAmple Consensus), para otorgar robustez a la estimación del movimiento como parte del proceso de estabilización de vídeo, en conjunto con una función coste basada en la diferencia del nivel de gris entre imágenes.

    La estabilización de vídeo se está convirtiendo en una importante técnica de post-procesado para secuencias de fotogramas (frames) adquiridas con cámaras digitales, especialmente debido al uso generalizado de cámaras de mano (hand-held) así como la utilización de estos dispositivos como elementos de entrada en sistemas robotizados complejos, robots humanoides o vehículos aéreos no tripulados. El presente artículo propone una combinación del método iterativo RANSAC (RANdom SAmple Consensus), para otorgar robustez a la estimación del movimiento como parte del proceso de estabilización de vídeo, en conjunto con una función coste basada en la diferencia del nivel de gris entre imágenes.

  • TRATAMIENTO DEL DOLOR Y LA ANSIEDAD BASADO EN LA INTERACCION DE ROBOTS SOCIALES CON

     Diaz Boladeras, Marta; Angulo Bahón, Cecilio
    Participation in a competitive project

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    Online motion recognition using an accelerometer in a mobile device  Open access

     Fuentes, Daniel; González Abril, Luis; Angulo Bahón, Cecilio; Ortega Ramirez, Juan Antonio
    Expert systems with applications
    Date of publication: 2012
    Journal article

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    This paper introduces a new method to implement a motion recognition process using a mobile phone fitted with an accelerometer. The data collected from the accelerometer are interpreted by means of a statistical study and machine learning algorithms in order to obtain a classification function. Then, that function is implemented in a mobile phone and online experiments are carried out. Experimental results show that this approach can be used to effectively recognize different human activities with a high-level accuracy.

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    Fuzzy expert system for the detection of episodes of poor water quality through continuous measurement  Open access

     Angulo Bahón, Cecilio; Cabestany Moncusi, Joan; Rodríguez, Pablo; Batlle, Montserrat; González, Antonio; de Campos, Sergio
    Expert systems with applications
    Date of publication: 2012
    Journal article

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    In order to prevent and reduce water pollution, promote a sustainable use, protect the environment and enhance the status of aquatic ecosystems, this article deals with the application of advanced mathematical techniques designed to aid in the management of records of different water quality monitoring networks. These studies include the development of a software tool for decision support, based on the application of fuzzy logic techniques, which can indicate water quality episodes from the behaviour of variables measured at continuous automatic water control networks. Using a few physicalchemical variables recorded continuously, the expert system is able to obtain water quality phenomena indicators, which can be associated, with a high probability of cause-effect relationship, with human pressure on the water environment, such as urban discharges or diffuse agricultural pollution. In this sense, at the proposed expert system, automatic water quality control networks complement manual sampling of official administrative networks and laboratory analysis, providing information related to specific events (discharges) or continuous processes (eutrophication, fish risk) which can hardly be detected by discrete sampling.

  • Uniform sampling of rotations for discrete and continuous learning of 2D shape models

     Perez-Sala, Xavier; Igual, Laura; Escalera, Sergio; Angulo Bahón, Cecilio
    Date of publication: 2012-12
    Book chapter

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    Different methodologies of uniform sampling over the rotation group, SO(3), for building unbiased 2D shape models from 3D objects are introduced and reviewed in this chapter. State-of-the-art non uniform sampling approaches are discussed, and uniform sampling methods using Euler angles and quaternions are introduced. Moreover, since presented work is oriented to model building applications, it is not limited to general discrete methods to obtain uniform 3D rotations, but also from a continuous point of view in the case of Procrustes Analysis.

  • BoVDW: Bag-of-Visual-and-Depth-Words for gesture recognition

     Hernandez Vela, Antonio; Bautista, Miguel Angel; Perez-Sala, Xavier; Ponce, Víctor; Baró, Xavier; Pujol, Oriol; Angulo Bahón, Cecilio; Escalera, Sergio
    International Conference on Pattern Recognition
    Presentation's date: 2012-11
    Presentation of work at congresses

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    We present a Bag-of-Visual-and-Depth-Words (BoVDW) model for gesture recognition, an extension of the Bag-of-Visual-Words (BoVW) model, that benefits from the multimodal fusion of visual and depth features. State-of-the-art RGB and depth features, including a new proposed depth descriptor, are analysed and combined in a late fusion fashion. The method is integrated in a continuous gesture recognition pipeline, where Dynamic Time Warping (DTW) algorithm is used to perform prior segmentation of gestures. Results of the method in public data sets, within our gesture recognition pipeline, show better performance in comparison to a standard BoVW model.

    We present a Bag-of-Visual-and-Depth-Words (BoVDW) model for gesture recognition, an extension of the Bag-of-Visual-Words (BoVW) model, that benefits from the multimodal fusion of visual and depth features. State-of-the-art RGB and depth features, including a new proposed depth descriptor, are analysed and combined in a late fusion fashion. The method is integrated in a continuous gesture recognition pipeline, where Dynamic Time Warping (DTW) algorithm is used to perform prior segmentation of gestures. Results of the method in public data sets, within our gesture recognition pipeline, show better performance in comparison to a standard BoVW model.

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    Survey on 2D and 3D human pose recovery  Open access

     Perez-Sala, Xavier; Escalera, Sergio; Angulo Bahón, Cecilio
    International Conference of the Catalan Association for Artificial Intelligence
    Presentation's date: 2012-10
    Presentation of work at congresses

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    Human Pose Recovery approaches have been studied in the eld of Computer Vision for the last 40 years. Several approaches have been reported, and signi cant improvements have been obtained in both data representation and model design. However, the problem of Human Pose Recovery in uncontrolled environments is far from being solved. In this paper, we de ne a global taxonomy to group the model based methods and discuss their main advantages and drawbacks.

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    A field study with primary school children on perception of social presence and interactive behavior with a pet robot  Open access

     Heerink, Marcel; Diaz Boladeras, Marta; Albo Canals, Jordi; Angulo Bahón, Cecilio; Barco, Alex; Casacuberta Bagó, Judit; Garriga Berga, Carles
    IEEE International Symposium on Robot and Human Interactive Communication
    Presentation's date: 2012-09-13
    Presentation of work at congresses

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    This paper presents a study on measuring (1) how children experience a pet robot, (2) how they play with it and (3) how children’s perceptions on and interaction with pet robots are interrelated. The study features different types of subjective and objective techniques to assess the degree of perceived social entity from self-reports (i.e. questionnaires) and observed behavior. Three short questionnaires and an ad hoc code scheme of 15 low-level micro-behaviors were developed. 28 scholars aged 8 to 12 were observed at school during a play period with a Pleo robot and asked to answer the questionnaires. We found that the different questionnaire based methods were in line each other. Therefore, anyone of them can be used to measure the experience of a social entity. Play analyses showed that the two most prevalent behaviors were clearly social: petting the robot and showing it objects to engage in interaction. Moreover, children spent on average less than one per cent of the session time treating the robot as an artifact. However, significant covariation between the experience of a social entity and observed behavior could not be established.

  • Probability-based dynamic time warping for gesture recognition on RGB-D data

     Bautista, Miguel Angel; Hernandez Vela, Antonio; Ponce, Víctor; Perez-Sala, Xavier; Baró, Xavier; Pujol, Oriol; Angulo Bahón, Cecilio; Escalera, Sergio
    International workshop on depth image analysis
    Presentation's date: 2012-11-11
    Presentation of work at congresses

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  • Human - Humanoid Robot Interaction: The 20Q Game

     Pardo Ayala, Diego Esteban; Franco Genís, Oscar; Sàez Pons, Joan; Andrés, Amara; Angulo Bahón, Cecilio
    Ubiquitous Computing and Ambient Intelligence
    Presentation's date: 2012-12-03
    Presentation of work at congresses

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    This article introduces the development of a human-robot interaction’s system. The NAO humanoid robot has been programmed to play the popular 20 questions (20Q) game. The system includes modules for both, speech recognition and text-to-speech as mechanisms for exchanging information with the humanoid robot. The system has been tested with non-expert volunteers to analyse which kind of interaction is obtained.

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    The Impact of Introducing Therapeutic Robots in Hospital's Organization  Open access

     Chung Chang, Cecilia Yu; Diaz Boladeras, Marta; Angulo Bahón, Cecilio
    International Workshop on Ambient Assisted Living
    Presentation's date: 2012-12-04
    Presentation of work at congresses

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    The introduction of robots in health and wellbeing services could mean a great improvement in patients’ life, but also implies a huge change in hospital’s organization. This work introduces a empirical study that investigates the factors influencing the process of adoption of robots in hospitals. Interviews have been completed in a health organization leading this change. Learned lessons lead to define a balance of facilitators and barriers that should help to apply the innovation. This process has been completed from Kotter’s leading change approach, since it would be the roadmap for the whole procedure.

  • Robot Assisted Play with a Mobile Robot in a Training Group of Children with Autism

     Diaz Boladeras, Marta; Barco, Alex; Casacuberta Bago, Judit; Albo Canals, Jordi; Angulo Bahón, Cecilio; Garriga, Carles
    2012 International Workshop on Human-Agent Interaction
    Presentation's date: 2012-10-11
    Presentation of work at congresses

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  • A qualitative learning system for human sensory abilities in adjustment tasks

     Ruiz Vegas, Francisco Javier; Agell Jané, Núria; Angulo Bahón, Cecilio; Sanchez Soler, Monica
    International Workshop on Qualitative Reasoning
    Presentation's date: 2012-07-16
    Presentation of work at congresses

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    Pain and anxiety treatment based on social robot interaction with children to improve patient experience. Ongoing research  Open access

     Angulo Bahón, Cecilio; Garriga Berga, Carles; Luaces, Carlos; Perez Payarols, Jaume; Albo Canals, Jordi; Diaz Boladeras, Marta
    Sistemas Cualitativos y sus Aplicaciones en Diagnosis, Robótica e Inteligencia Ambiental
    Presentation's date: 2012-06-25
    Presentation of work at congresses

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    A major focus for children’s quality of life programs in hospitals is improving their experiences during procedures. In anticipation of treatment, children may become anxious and during procedures pain appears. The aim of this article is to introduce a proposal to design pioneering techniques based on the use of social robots to improve the patient experience by eliminating or minimizing pain and anxiety. According to this proposed challenge, this research aims to design and develop specific human-social robot interaction with pet robots. Robot interactive behavior will be designed based on modular skills using soft-computing paradigms.

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    Máquinas de soporte vectorial sobre conjuntos de datos no balanceados: propuesta de un nuevo sesgo  Open access

     Núñez Castro, Haydemar; González Abril, Luis; Angulo Bahón, Cecilio
    Date: 2012-09
    Report

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    En el aprendizaje con conjuntos de datos no balanceados, la máquina de soporte vectorial (SVM) puede exhibir un bajo rendimiento sobre la clase minoritaria ya que, como otras máquinas de aprendizaje, están diseñadas para inducir un modelo de clasificación basado en un error global. Con el fin de mejorar su desempeño en este tipo de problemas, en este trabajo se propone una estrategia de post-procesamiento basada en el cálculo de un nuevo sesgo o umbral que toma en cuenta la proporción de las clases en el conjunto de datos y que permite ajustar la función aprendida por la SVM para mejorar su desempeño sobre la clase minoritaria. Esta solución no supone la entonación de nuevos parámetros ni la modificación del problema de optimización estándar para entrenar la SVM. Los resultados obtenidos de la experimentación sobre 23 conjuntos de datos con diferentes grados de desbalance, muestran que efectivamente se logra mejorar las clasificaciones sobre la clase minoritaria, medidas en función de g-media y la sensibilidad.

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    Analyzing human gait and posture by combining feature selection and kernel methods  Open access

     Sama Monsonis, Albert; Angulo Bahón, Cecilio; Pardo Ayala, Diego Esteban; Català Mallofré, Andreu; Cabestany Moncusi, Joan
    Neurocomputing
    Date of publication: 2011-09
    Journal article

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    This paper evaluates a set of computational algorithms for the automatic estimation of human postures and gait properties from signals provided by an inertial body sensor. The use of a single sensor device imposes limitations for the automatic estimation of relevant properties, like step length and gait velocity, as well as for the detection of standard postures like sitting or standing. Moreover, the exact location and orientation of the sensor is also a common restriction that is relaxed in this study. Based on accelerations provided by a sensor, known as the `9 2', three approaches are presented extracting kinematic information from the user motion and posture. Firstly, a two-phases procedure implementing feature extraction and Support Vector Machine based classi cation for daily living activity monitoring is presented. Secondly, Support Vector Regression is applied on heuristically extracted features for the automatic computation of spatiotemporal properties during gait. Finally, sensor information is interpreted as an observation of a particular trajectory of the human gait dynamical system, from which a reconstruction space is obtained, and then transformed using standard principal components analysis, nally Support Vector Regression is used for prediction. Daily living Activities are detected and spatiotemporal parameters of human gait are estimated using methods sharing a common structure based on feature extraction and kernel methods. The approaches presented are susceptible to be used for medical purposes.

  • Biologically inspired path execution using SURF flow in robot navigation

     Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio
    Lecture notes in computer science
    Date of publication: 2011-06
    Journal article

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    An exportable and robust system using only camera images is proposed for path execution in robot navigation. Motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames, so the method is called SURF flow. This information is used to correct robot displacement when a straight forward path command is sent to the robot, but it is not really executed due to several robot and environmental concerns. The proposed system has been successfully tested on the legged robot Aibo.

  • Aibo JukeBox : a robot dance interactive experience

     Angulo Bahón, Cecilio; Comas-Fernandez, Joan; Pardo Ayala, Diego Esteban
    Lecture notes in computer science
    Date of publication: 2011-06
    Journal article

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    This paper presents a human-robot interaction system based on the Aibo platform. This robot is both, complex and empathetic enough to generate a high level of interest from the user. The complete system is an interactive JukeBox intending to generate affective participation, i.e., empathy, from the user towards the robot and its behavior. This application is based on a robotic dance control system that generates movements adequate to the music rhythm using a stochastic controller. The user can interact with the system selecting or providing the songs to be danced by the robot. The application has been successfully presented in different non-scientific scenarios.

  • Distributed neural control for complex autonomous robots

     Téllez, Ricardo A.
    Defense's date: 2011-01-24
    Department of Computer Science, Universitat Politècnica de Catalunya
    Theses

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    Prototipo sostenible para laboratorio remoto  Open access

     Ballesteros, Anderson; Costa Castelló, Ramon; Galceran Saez, Jesus Martin; Angulo Bahón, Cecilio
    Jornadas de Automática
    Presentation's date: 2011-09-07
    Presentation of work at congresses

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    El artículo describe los trabajos y diseños realizados para construir una maqueta pensada para la realización de prácticas remotas en el ámbito de la automática. El diseño tiene en cuenta diferentes aspectos de sostenibilidad y simplificación del desarrollo del laboratorio remoto.

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    Building up child-robot relationship: from initial attraction towards long-term social engagement  Open access

     Diaz Boladeras, Marta; Nuño Bermudez, Neus; Sàez Pons, Joan; Pardo Ayala, Diego Esteban; Angulo Bahón, Cecilio; Andrés, Amara
    ACM/IEEE International Conference on Human-Robot Interaction
    Presentation's date: 2011-03-06
    Presentation of work at congresses

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    To explore social bonds’ emergence with robots, a field study with 49 sixth grade scholars (aged 11-12 years) and 4 different robots was carried out at an elementary school. A subsequent laboratory experiment with 4 of the participants was completed in order to explore social engagement. At school, children’s preferences, expectations on functionality and communication, and interaction behavior were studied. In the lab, recognition, partner’s selection, and dyadic interaction were explored. Both at school and in the lab, data from videotaped direct observation, questionnaires and interviews were gathered. The results showed that different robots’ appearance and performance elicit in children distinctive perceptions and interactive behavior and affect social processes (e. g., role attribution and attachment). The preliminary results will help in the design of robot-based programs for hospitalized children to improve quality of life1

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    Modificación del sesgo de una SVM entrenada sobre clases no balanceadas  Open access

     Núñez Castro, Haydemar; Angulo Bahón, Cecilio; González Abril, Luis
    Jornadas de ARCA
    Presentation's date: 2011-06-28
    Presentation of work at congresses

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    En el área de aprendizaje automático, uno de los problemas que se presenta es el relacionado con las clases no balanceadas. Esto ocurre cuando en el conjunto de datos se dispone de muchos ejemplos de una clase, pero muy pocos de otra. La principal contribución de este trabajo es la definición de un sesgo modificado, con la SVM entrenada original, de forma que se mejora la generalización sobre conjuntos no balanceados medida en forma de media geométrica. Una ventaja importante de nuestra propuesta es que el problema de optimización para hallar la SVM no cambia para el sesgo elegido y, por tanto, el coste computacional es casi nulo. Los resultados de experimentación confirman que la propuesta iguala en prestaciones aquellas con mayor rendimiento en la literatura, mientras que no añade coste computacional.

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    A post-processing strategy for SVM learning from unbalanced data  Open access

     Núñez Castro, Haydemar; González Abril, Luis; Angulo Bahón, Cecilio
    European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning
    Presentation's date: 2011-04
    Presentation of work at congresses

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    Standard learning algorithms may perform poorly when learning from unbalanced datasets. Based on the Fisher’s discriminant analysis, a post-processing strategy is introduced to deal datasets with significant imbalance in the data distribution. A new bias is defined, which reduces skew towards the minority class. Empirical results from experiments for a learned SVM model on twelve UCI datasets indicates that the proposed solution improves the original SVM, and they also improve those reported when using a z-SVM, in terms of g-mean and sensitivity.

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    Identificación y seguimiento de personas usando kinect por parte de un robot seguidor  Open access

     Franco Genís, Oscar; Perez-Sala, Xavier; Angulo Bahón, Cecilio
    Jornadas de ARCA
    Presentation's date: 2011-06-28
    Presentation of work at congresses

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    El presente trabajo aborda uno de los problemas que surgen en la interacción entre un humano y un robot durante la navegación conjunta: el seguimiento de una persona por parte de un robot, así como la posibilidad de intercambiar sus roles de guía - seguidor. Se ofrece como solución para la identificación y seguimiento del humano por parte del robot un algoritmo basado en la evaluación de su posición en función de las condiciones dinámicas y su identificación por medio del histograma de color. El sistema se ha demostrado fiable en la experimentación cuando el sensor se procesa desde un ordenador personal en situación de reposo. Sin embargo, los movimientos bruscos del robot empleado, su reducida velocidad de movimiento y la baja velocidad de procesado de su ordenador de a bordo, provoca que el porcentaje de éxito en el seguimiento se reduzca cuando se halla en condiciones de reales de seguimiento de una persona.

  • Biologically inspired turn control for autonomous mobile robots

     Perez-Sala, Xavier; Angulo Bahón, Cecilio; Escalera, Sergio
    International Conference of the Catalan Association for Artificial Intelligence
    Presentation's date: 2011-10
    Presentation of work at congresses

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    An exportable and robust system for turn control using only camera images is proposed for path execution in robot navigation. Robot motion information is extracted in the form of optical flow from SURF robust descriptors of consecutive frames in the image sequence. This information is used to compute the instantaneous rotation angle. Finally, control loop is closed correcting robot displacements when it is requested for a turn command. The proposed system has been successfully tested on the four-legged Sony Aibo robot.

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    Robots sociales en la escuela : explorando la conducta interactiva con niñ@s en edad escolar  Open access

     Diaz Boladeras, Marta; Andrés, Amara; Casacuberta Bagó, Judit; Angulo Bahón, Cecilio
    Workshop Español de Robótica
    Presentation's date: 2011-11-29
    Presentation of work at congresses

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    Este artículo describe una experiencia de interacción con los robots sociales PLEO y NAO con niños de entre 9 y 11 años. Para llevar a cabo dicha experiencia y poder evaluar la interacción social entre los usuarios y este tipo de plataformas robóticas se realizaron dos actividades sobre robótica en la escuela para todos los alumnos. Una de las actividades se llevó a cabo con los niños de 4º de primaria y la otra consistió en una sesión abierta de presentación de diversas plataformas robóticas a toda la escuela (desde P3 a 6º de primaria).

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    Propuesta metodológica para la evaluación de la interacción persona-robot en diversos escenarios de aplicación  Open access

     Diaz Boladeras, Marta; Andrés, Amara; Casacuberta Bagó, Judit; Angulo Bahón, Cecilio
    Workshop Español de Robótica
    Presentation's date: 2011-11-29
    Presentation of work at congresses

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    La mayoría de estudios que investigan la interacción Persona-Robot (HRI) habitualmente recogen datos mediante grabaciones para su posterior análisis. Sin embargo, la manera más frecuente de proceder para registrar el comportamiento que acontece es proponer un pequeño número de unidades de conducta y registrar la frecuencia y/o duración de dichos comportamientos. Además, la conducta que emerge a lo largo del proceso interactivo es dependiente de los recursos para la interacción de cada plataforma así como del contexto en que se desarrolla. Desde el proyecto ACROSS se propone un método de evaluación de la interacción persona-robot teniendo en cuenta dos aspectos principales: las capacidades sociales del robot y la conducta interactiva entre el usuario y el robot.

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    Robots for social service: ACROSS project  Open access

     Fernández Cossio, Lucía; Fínez Martínez, Sergio; Angulo Bahón, Cecilio; Bustos García, Pablo
    Workshop Español de Robótica
    Presentation's date: 2011-11-29
    Presentation of work at congresses

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    A lo largo de los años la robótica ha conseguido convertirse en una herramienta tecnológica de servicio en aplicaciones de diferente ámbito. El proyecto ACROSS modifica la perspectiva de la robótica de servicios, proporcionando sistemas inteligentes capaces de adaptarse a los requerimientos del usuario, modificando su comportamiento de forma autónoma. Con el objetivo de proporcionar un marco abierto de colaboración entre empresas, universidades, centros de investigación y la Administración, el proyecto ACROSS se apoya en la filosofía de generación de servicios de código libre.

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    Definición de reglas de comportamiento para un robot cognitivo social  Open access

     Diaz Boladeras, Marta; Sàez Pons, Joan; Angulo Bahón, Cecilio
    Workshop Español de Robótica
    Presentation's date: 2011-11-29
    Presentation of work at congresses

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    En el proyecto singular estratégico Avanza2 ACROSS (AutoConfigurable Robots for Social Services) se definen tres escenarios para validar los desarrollos experimentales: (i) marketing, (ii) niños con problemas psicoafectivos y (iii) vida independiente. A su vez, estos escenarios permiten definir diferentes casos de uso, siguiendo un criterio de funcionalidades del robot. Atendiendo a la aproximación general de robótica cognitiva y de conicimiento del contexto del proyecto, este documento tiene por objetivo la definición de unas reglas de comportamiento robóticas para cada diversos de esos casos de uso. Las reglas se definen en función de las características técnicas del robot y las necesidades de usuario en cada escenario y caso de uso. Para ello se ha realizado un estudio sobre la recogida continuada de información de los usuarios antes y después de su interacción experimental con las plataformas robóticas.

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  • CIP-ICT-PSP-2010-4, 250577 CAALIX-MW

     Angulo Bahón, Cecilio; Cabestany Moncusi, Joan; Llanas Parra, Francesc Xavier; Sama Monsonis, Albert; Perez Lopez, Carlos; Diaz Boladeras, Marta; Català Mallofré, Andreu
    Participation in a competitive project

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  • Advances in Computational Intelligence and Learning (ESANN 2009)

     Angulo Bahón, Cecilio; Lee, John A.; Schleif, Frank-Michael
    Neurocomputing
    Date of publication: 2010-03
    Journal article

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  • Detección de episodios de baja calidad del agua mediante redes de medida en continuo y aplicación de sistemas expertos

     Angulo Bahón, Cecilio; Rodríguez, Pablo; Batlle, Montserrat; González, Antonio; de Campos, Sergio
    Imu : ingeniería municipal : técnica equipamientos y servicios para municipios
    Date of publication: 2010-07
    Journal article

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    Para impedir y reducir la contaminación del agua, promover un uso sostenible, proteger el medio ambiente y mejorar el estado de los ecosistemas acuáticos, en este artículo se presenta la aplicación de avanzadas técnicas matemáticas diseñadas para ayudar a la gestión de registros de diferentes redes de observación de calidad del agua. Los estudios realizados incluyen el desarrollo de una herramienta informática de ayuda a la decisión, basada en la aplicación de la técnica de lógica borrosa, que distingue episodios de calidad del agua a partir del comportamiento de variables tomadas de redes de medida automática en continuo. Utilizando unas pocas variables ñsicoquímicas registradas continuamente, el sistema experto es capaz de obtener indicadores de fenómenos de calidad del agua que pueden estar asociados, con un alto grado de probabilidad de relación causa-efecto, con presiones antrópicas sobre el medio ambiente acuático, tales como vertidos urbanos o contaminación agrícola difusa. Es este sentido, en el sistema experto propuesto, las redes de medida automática de calidad complementan las redes administrativas oficiales de muestreo manual y los análisis en laboratorio, proporcionando información sobre eventos puntuales (vertidos) oprocesos continuos (eutrofización, riesgo pisCÍcola), que difícilmente pueden detectarse mediante muestreo discreto.

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    A probabilistic tri-class Support Vector Machine  Open access

     González Abril, Luis; Angulo Bahón, Cecilio; Velasco Morente, Francisco; Ortega Ramirez, Juan Antonio
    Journal of pattern recognition research
    Date of publication: 2010-07
    Journal article

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    A probabilistic interpretation for the output obtained from a tri-class Support Vector Machine into a multi-classification problem is presented in this paper. Probabilistic outputs are defined when solving a multi-class problem by using an ensemble architecture with tri-class learning machines working in parallel. This architecture enables the definition of an ‘interpretation’ mapping which works on signed and probabilistic outputs providing more control to the user on the classification problem.

    c 2010 JPRR. All rights reserved. Permissions to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. To copy otherwise, or to republish, requires a fee and/or special permission from JPRR. La publicació original està disponible en www.jprr.org

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    Detección de episodios de baja calidad del agua mediante redes de medida en continuo y aplicación de sistemas expertos  Open access

     Angulo Bahón, Cecilio; Rodríguez, Pablo; Batlle, Montserrat; González, Antonio; de Campos, Sergio
    Infoenviro : actualidad y tecnología de la industria medioambiental
    Date of publication: 2010-07
    Journal article

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    Interval-valued feature selection  Open access

     Sama Monsonis, Albert; Ruiz Vegas, Francisco Javier; Català Mallofré, Andreu; Angulo Bahón, Cecilio
    Jornadas de ARCA
    Presentation's date: 2010-06-24
    Presentation of work at congresses

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    In this paper we introduce the use of interval variables in classification problems of time series signals. By introducing the concept of interval kernel as a similarity measure among intervals, modifications for some well-known feature selection methods are developed in order to apply these methods to select the most relevant interval variables. A comparison against standard point attributes feature selection (Relief and FSDD) is made for purposes of validation .

  • Pet robots with social skills for satisfactory interaction with hospitalized children

     Diaz Boladeras, Marta; Sàez Pons, Joan; Pardo Ayala, Diego Esteban; Angulo Bahón, Cecilio
    Workshop on Learning for Human-Robot Interaction Modeling in Robotics: Science and Systems (RSS)
    Presentation's date: 2010-06-27
    Presentation of work at congresses

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    Análisis para la creación de un observatorio tecnológico  Open access

     Díez Manjarrés, Anna; Angulo Bahón, Cecilio
    Jornadas de ARCA
    Presentation's date: 2010-06-23
    Presentation of work at congresses

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    Este trabajo detalla el analisis y desarrollo de un Observatorio Tecnológico, de la Robótica Social y de Servicios, a través de una plataforma web como instrumento de vigilancia tecnológica. Todas las fuentes de información relevantes dispersas, así como los próximos eventos del sector, oferta y demanda, artículos relacionados, etc. son recopilados, analizados, categorizados y mostrados de una forma inteligente, práctica y ordenada. información que será clave a la hora de poder tomar decisiones estratégicas para la correcta evolución tecnológica del sector o empresa. Así, se recoge toda aquella información que será clave a la hora de poder tomar decisiones estratégicas para la correcta evolución tecnológica del sector o empresa. Este Observatorio debería convertirse, a través un plan de difusión apropiado, en un punto central de reunión de profesionales del sector y además ofrecer a sus usuarios la posibilidad de innovar y desarrollar líneas estratégicas.