A review of mobile robots: Concepts, methods, theoretical framework, and applications

[EN] Humanoid robots, unmanned rovers, entertainment pets, drones, and so on are great examples of mobile robots. They can be distinguished from other robots by their ability to move autonomously, with enough intelligence to react and make decisions based on the perception they receive from the environment. Mobile robots must have some source of input data, some way of decoding that input, and a way of taking actions (including its own motion) to respond to a changing world. The need to sense and adapt to an unknown environment requires a powerful cognition system. Nowadays, there are mobile robots that can walk, run, jump, and so on like their biological counterparts. Several fields of robotics have arisen, such as wheeled mobile robots, legged robots, flying robots, robot vision, artificial intelligence, and so on, which involve different technological areas such as mechanics, electronics, and computer science. In this article, the world of mobile robots is explored including the new trends. These new trends are led by artificial intelligence, autonomous driving, network communication, cooperative work, nanorobotics, friendly human-robot interfaces, safe human-robot interaction, and emotion expression and perception. Furthermore, these news trends are applied to different fields such as medicine, health care, sports, ergonomics, industry, distribution of goods, and service robotics. These tendencies will keep going their evolution in the coming years.The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Spanish Ministry of Economy and Competitiveness, which has funded the DPI2013-44227-R project.Rubio Montoya, FJ.; Valero Chuliá, FJ.; Llopis Albert, C. (2019). A review of mobile robots: Concepts, methods, theoretical framework, and applications. 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Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control

[EN] New upper limb prostheses controllers are continuously being proposed in the literature. However, most of the prostheses commonly used in the real world are based on very old basic controllers. One reason to explain this reluctance to change is the lack of robustness. Traditional controllers have been validated by many users and years, so the introduction of a new controller paradigm requires a lot of strong evidence of a robust behavior. In this work, we approach the robustness against donning/doffing and arm position for recently proposed linear filter adaptive controllers based on myoelectric signals. The adaptive approach allows to introduce some feedback in a natural way in real time in the human-machine collaboration, so it is not so sensitive to input signals changes due to donning/doffing and arm movements. The average completion rate and path efficiency obtained for eight able-bodied subjects donning/doffing five times in four days is 95.83% and 84.19%, respectively, and for four participants using different arm positions is 93.84% and 88.77%, with no statistically significant difference in the results obtained for the different conditions. All these characteristics make the adaptive linear regression a potential candidate for future real world prostheses controllers.This work is partially supported by Ministerio de Educacion, Cultura y Deporte (Spain) under grant FPU15/02870. The authors would like to thank Lucas Parra for the Myo device and Janne M. Hahne for discussions about the subject of the paper.Igual, C.; Camacho-García, A.; Bernabeu Soler, EJ.; Igual García, J. (2020). Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control. Applied Sciences. 10(8):1-19. https://doi.org/10.3390/app10082892S119108Esquenazi, A. (2004). 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Embedded System for Prosthetic Control Using Implanted Neuromuscular Interfaces Accessed Via an Osseointegrated Implant. IEEE Transactions on Biomedical Circuits and Systems, 11(4), 867-877. doi:10.1109/tbcas.2017.2694710Igual, C., Igual, J., Hahne, J. M., & Parra, L. C. (2019). Adaptive Auto-Regressive Proportional Myoelectric Control. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 27(2), 314-322. doi:10.1109/tnsre.2019.2894464Huang, Y., Englehart, K. B., Hudgins, B., & Chan, A. D. C. (2005). A Gaussian Mixture Model Based Classification Scheme for Myoelectric Control of Powered Upper Limb Prostheses. IEEE Transactions on Biomedical Engineering, 52(11), 1801-1811. doi:10.1109/tbme.2005.856295Hahne, J. M., Dahne, S., Hwang, H.-J., Muller, K.-R., & Parra, L. C. (2015). Concurrent Adaptation of Human and Machine Improves Simultaneous and Proportional Myoelectric Control. 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Real-time agreement and fulfilment of SLAs in Cloud Computing environments

A Cloud Computing system must readjust its resources by taking into account the demand for its services. This raises the need for designing protocols that provide the individual components of the Cloud architecture with the ability to self-adapt and to reach agreements in order to deal with changes in the services demand. Furthermore, if the Cloud provider has signed a Service Level Agreement (SLA) with the clients of the services that it offers, the appropriate agreement mechanism has to ensure the provision of the service contracted within a specified time. This paper introduces real-time mechanisms for the agreement and fulfilment of SLAs in Cloud Computing environments. On the one hand, it presents a negotiation protocol inspired by the standard WSAgreement used in web services to manage the interactions between the client and the Cloud provider to agree the terms of the SLA of a service. On the other hand, it proposes the application of a real-time argumentation framework for redistributing resources and ensuring the fulfilment of these SLAs during peaks in the service demand.This work is supported by the Spanish government Grants CONSOLIDER-INGENIO 2010 CSD2007-00022, TIN2011-27652-C03-01, TIN2012-36586-C03-01 and TIN2012-36586-C03-03.De La Prieta, F.; Heras Barberá, SM.; Palanca Cámara, J.; Rodríguez, S.; Bajo, J.; Julian Inglada, VJ. (2014). Real-time agreement and fulfilment of SLAs in Cloud Computing environments. 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Agent Recommendation for Agent-Based Urban-Transportation Systems. IEEE Intelligent Systems, 26(6), 77-81. doi:10.1109/mis.2011.94[15]Y.Y. Cheng, M. Low, S. Zhou, W. Cai and C.S. Choo, Evolving agent-based simulations in the clouds, in: 3rd International Workshop on Advanced Computational Intelligence (IWACI), 2010, pp. 244–249.[16]F. Dignum and H. Weigand, Communication and Deontic Logic, in: Information Systems – Correctness and Reusability. Selected Papers from the IS-CORE Workshop, R. Wieringa and R. Feenstra, eds, World Scientific Publishing Co., 1995, pp. 242–260.Erdogmus, H. (2009). Cloud Computing: Does Nirvana Hide behind the Nebula? IEEE Software, 26(2), 4-6. doi:10.1109/ms.2009.31[19]J.O. Fitó, I. Goiri and J. Guitart, SLA-driven elastic cloud hosting provider, in: 18th Euromicro International Conference on Parallel, Distributed and Network-Based Processing (PDP), IEEE Computer Society, 2010, pp. 111–118.Fuentes-Fernández, R., Hassan, S., Pavón, J., Galán, J. M., & López-Paredes, A. (2012). Metamodels for role-driven agent-based modelling. Computational and Mathematical Organization Theory, 18(1), 91-112. doi:10.1007/s10588-012-9110-5Heras, S., Botti, V., & Julián, V. (2009). Challenges for a CBR framework for argumentation in open MAS. The Knowledge Engineering Review, 24(4), 327-352. doi:10.1017/s0269888909990178Heras, S., Jordán, J., Botti, V., & Julián, V. (2013). Argue to agree: A case-based argumentation approach. International Journal of Approximate Reasoning, 54(1), 82-108. doi:10.1016/j.ijar.2012.06.005[24]M. Jensen, J. Schwenk, N. Gruschka and L. Iacono, On technical security issues in cloud computing, in: IEEE International Conference on Cloud Computing, IEEE Press, 2009, pp. 109–116.Kakas, A., Maudet, N., & Moraitis, P. (2005). Modular Representation of Agent Interaction Rules through Argumentation. 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Recent advances on recursive filtering and sliding mode design for networked nonlinear stochastic systems: A survey

Copyright © 2013 Jun Hu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.Some recent advances on the recursive filtering and sliding mode design problems for nonlinear stochastic systems with network-induced phenomena are surveyed. The network-induced phenomena under consideration mainly include missing measurements, fading measurements, signal quantization, probabilistic sensor delays, sensor saturations, randomly occurring nonlinearities, and randomly occurring uncertainties. With respect to these network-induced phenomena, the developments on filtering and sliding mode design problems are systematically reviewed. In particular, concerning the network-induced phenomena, some recent results on the recursive filtering for time-varying nonlinear stochastic systems and sliding mode design for time-invariant nonlinear stochastic systems are given, respectively. Finally, conclusions are proposed and some potential future research works are pointed out.This work was supported in part by the National Natural Science Foundation of China under Grant nos. 61134009, 61329301, 61333012, 61374127 and 11301118, the Engineering and Physical Sciences Research Council (EPSRC) of the UK under Grant no. GR/S27658/01, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Fuzzy-logic-based control, filtering, and fault detection for networked systems: A Survey

This paper is concerned with the overview of the recent progress in fuzzy-logic-based filtering, control, and fault detection problems. First, the network technologies are introduced, the networked control systems are categorized from the aspects of fieldbuses and industrial Ethernets, the necessity of utilizing the fuzzy logic is justified, and the network-induced phenomena are discussed. Then, the fuzzy logic control strategies are reviewed in great detail. Special attention is given to the thorough examination on the latest results for fuzzy PID control, fuzzy adaptive control, and fuzzy tracking control problems. Furthermore, recent advances on the fuzzy-logic-based filtering and fault detection problems are reviewed. Finally, conclusions are given and some possible future research directions are pointed out, for example, topics on two-dimensional networked systems, wireless networked control systems, Quality-of-Service (QoS) of networked systems, and fuzzy access control in open networked systems.This work was supported in part by the National Natural Science Foundation of China under Grants 61329301, 61374039, 61473163, and 61374127, the Hujiang Foundation of China under Grants C14002 andD15009, the Engineering and Physical Sciences Research Council (EPSRC) of the UK, the Royal Society of the UK, and the Alexander von Humboldt Foundation of Germany

Summarization of Spanish Talk Shows with Siamese Hierarchical Attention Networks

[EN] In this paper, we present an approach to Spanish talk shows summarization. Our approach is based on the use of Siamese Neural Networks on the transcription of the show audios. Specifically, we propose to use Hierarchical Attention Networks to select the most relevant sentences for each speaker about a given topic in the show, in order to summarize his opinion about the topic. We train these networks in a siamese way to determine whether a summary is appropriate or not. Previous evaluation of this approach on summarization task of English newspapers achieved performances similar to other state-of-the-art systems. In the absence of enough transcribed or recognized speech data to train our system for talk show summarization in Spanish, we acquire a large corpus of document-summary pairs from Spanish newspapers and we use it to train our system. We choose this newspapers domain due to its high similarity with the topics addressed in talk shows. A preliminary evaluation of our summarization system on Spanish TV programs shows the adequacy of the proposal.This work has been partially supported by the Spanish MINECO and FEDER founds under project AMIC (TIN2017-85854-C4-2-R). Work of Jose-Angel Gonzalez is financed by Universitat Politecnica de Valencia under grant PAID-01-17.González-Barba, JÁ.; Hurtado Oliver, LF.; Segarra Soriano, E.; García-Granada, F.; Sanchís Arnal, E. (2019). Summarization of Spanish Talk Shows with Siamese Hierarchical Attention Networks. Applied Sciences. 9(18):1-13. https://doi.org/10.3390/app9183836S113918Carbonell, J., & Goldstein, J. (1998). The use of MMR, diversity-based reranking for reordering documents and producing summaries. Proceedings of the 21st annual international ACM SIGIR conference on Research and development in information retrieval - SIGIR ’98. doi:10.1145/290941.291025Erkan, G., & Radev, D. R. (2004). LexRank: Graph-based Lexical Centrality as Salience in Text Summarization. Journal of Artificial Intelligence Research, 22, 457-479. doi:10.1613/jair.1523Lloret, E., & Palomar, M. (2011). Text summarisation in progress: a literature review. Artificial Intelligence Review, 37(1), 1-41. doi:10.1007/s10462-011-9216-zSee, A., Liu, P. J., & Manning, C. D. (2017). Get To The Point: Summarization with Pointer-Generator Networks. Proceedings of the 55th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers). doi:10.18653/v1/p17-1099Narayan, S., Cohen, S. B., & Lapata, M. (2018). Ranking Sentences for Extractive Summarization with Reinforcement Learning. Proceedings of the 2018 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies, Volume 1 (Long Papers). doi:10.18653/v1/n18-1158González, J.-Á., Segarra, E., García-Granada, F., Sanchis, E., & Hurtado, L.-F. (2019). Siamese hierarchical attention networks for extractive summarization. Journal of Intelligent & Fuzzy Systems, 36(5), 4599-4607. doi:10.3233/jifs-179011Furui, S., Kikuchi, T., Shinnaka, Y., & Hori, C. (2004). Speech-to-Text and Speech-to-Speech Summarization of Spontaneous Speech. IEEE Transactions on Speech and Audio Processing, 12(4), 401-408. doi:10.1109/tsa.2004.828699Shih-Hung Liu, Kuan-Yu Chen, Chen, B., Hsin-Min Wang, Hsu-Chun Yen, & Wen-Lian Hsu. (2015). Combining Relevance Language Modeling and Clarity Measure for Extractive Speech Summarization. IEEE/ACM Transactions on Audio, Speech, and Language Processing, 23(6), 957-969. doi:10.1109/taslp.2015.2414820Yang, Z., Yang, D., Dyer, C., He, X., Smola, A., & Hovy, E. (2016). Hierarchical Attention Networks for Document Classification. Proceedings of the 2016 Conference of the North American Chapter of the Association for Computational Linguistics: Human Language Technologies. doi:10.18653/v1/n16-1174Conneau, A., Kiela, D., Schwenk, H., Barrault, L., & Bordes, A. (2017). Supervised Learning of Universal Sentence Representations from Natural Language Inference Data. Proceedings of the 2017 Conference on Empirical Methods in Natural Language Processing. doi:10.18653/v1/d17-1070Deerwester, S., Dumais, S. T., Furnas, G. W., Landauer, T. K., & Harshman, R. (1990). Indexing by latent semantic analysis. Journal of the American Society for Information Science, 41(6), 391-407. doi:10.1002/(sici)1097-4571(199009)41:63.0.co;2-

Variance-constrained multiobjective control and filtering for nonlinear stochastic systems: A survey

The multiobjective control and filtering problems for nonlinear stochastic systems with variance constraints are surveyed. First, the concepts of nonlinear stochastic systems are recalled along with the introduction of some recent advances. Then, the covariance control theory, which serves as a practical method for multi-objective control design as well as a foundation for linear system theory, is reviewed comprehensively. The multiple design requirements frequently applied in engineering practice for the use of evaluating system performances are introduced, including robustness, reliability, and dissipativity. Several design techniques suitable for the multi-objective variance-constrained control and filtering problems for nonlinear stochastic systems are discussed. In particular, as a special case for the multi-objective design problems, the mixed H 2 / H ∞ control and filtering problems are reviewed in great detail. Subsequently, some latest results on the variance-constrained multi-objective control and filtering problems for the nonlinear stochastic systems are summarized. Finally, conclusions are drawn, and several possible future research directions are pointed out