Model-Based Environmental Visual Perception for Humanoid Robots

The visual perception of a robot should answer two fundamental questions: What? and Where? In order to properly and efficiently reply to these questions, it is essential to establish a bidirectional coupling between the external stimuli and the internal representations. This coupling links the physical world with the inner abstraction models by sensor transformation, recognition, matching and optimization algorithms. The objective of this PhD is to establish this sensor-model coupling

A systematic methodology to analyse the performance and design configurations of business interoperability in cooperative industrial networks

This thesis proposes a methodology for modelling business interoperability in a context of cooperative industrial networks. The purpose is to develop a methodology that enables the design of cooperative industrial network platforms that are able to deliver business interoperability and the analysis of its impact on the performance of these platforms. To achieve the proposed objective, two modelling tools have been employed: the Axiomatic Design Theory for the design of interoperable platforms; and Agent-Based Simulation for the analysis of the impact of business interoperability. The sequence of the application of the two modelling tools depends on the scenario under analysis, i.e. whether the cooperative industrial network platform exists or not. If the cooperative industrial network platform does not exist, the methodology suggests first the application of the Axiomatic Design Theory to design different configurations of interoperable cooperative industrial network platforms, and then the use of Agent-Based Simulation to analyse or predict the business interoperability and operational performance of the designed configurations. Otherwise, one should start by analysing the performance of the existing platform and based on the achieved results, decide whether it is necessary to redesign it or not. If the redesign is needed, simulation is once again used to predict the performance of the redesigned platform. To explain how those two modelling tools can be applied in practice, a theoretical modelling framework, a theoretical Axiomatic Design model and a theoretical Agent-Based Simulation model are proposed. To demonstrate the applicability of the proposed methodology and/or to validate the proposed theoretical models, a case study regarding a Portuguese Reverse Logistics cooperative network (Valorpneu network) and a case study regarding a Portuguese construction project (Dam Baixo Sabor network) are presented. The findings of the application of the proposed methodology to these two case studies suggest that indeed the Axiomatic Design Theory can effectively contribute in the design of interoperable cooperative industrial network platforms and that Agent-Based Simulation provides an effective set of tools for analysing the impact of business interoperability on the performance of those platforms. However, these conclusions cannot be generalised as only two case studies have been carried out. In terms of relevance to theory, this is the first time that the network effect is addressed in the analysis of the impact of business interoperability on the performance of networked companies and also the first time that a holistic approach is proposed to design interoperable cooperative industrial network platforms. Regarding the practical implications, the proposed methodology is intended to provide industrial managers a management tool that can guide them easily, and in practical and systematic way, in the design of configurations of interoperable cooperative industrial network platforms and/or in the analysis of the impact of business interoperability on the performance of their companies and the networks where their companies operate

Advances in knowledge discovery and data mining Part II

19th Pacific-Asia Conference, PAKDD 2015, Ho Chi Minh City, Vietnam, May 19-22, 2015, Proceedings, Part II</p

Proceedings of the ECCOMAS Thematic Conference on Multibody Dynamics 2015

This volume contains the full papers accepted for presentation at the ECCOMAS Thematic Conference on Multibody Dynamics 2015 held in the Barcelona School of Industrial Engineering, Universitat Politècnica de Catalunya, on June 29 - July 2, 2015. The ECCOMAS Thematic Conference on Multibody Dynamics is an international meeting held once every two years in a European country. Continuing the very successful series of past conferences that have been organized in Lisbon (2003), Madrid (2005), Milan (2007), Warsaw (2009), Brussels (2011) and Zagreb (2013); this edition will once again serve as a meeting point for the international researchers, scientists and experts from academia, research laboratories and industry working in the area of multibody dynamics. Applications are related to many fields of contemporary engineering, such as vehicle and railway systems, aeronautical and space vehicles, robotic manipulators, mechatronic and autonomous systems, smart structures, biomechanical systems and nanotechnologies. The topics of the conference include, but are not restricted to: ● Formulations and Numerical Methods ● Efficient Methods and Real-Time Applications ● Flexible Multibody Dynamics ● Contact Dynamics and Constraints ● Multiphysics and Coupled Problems ● Control and Optimization ● Software Development and Computer Technology ● Aerospace and Maritime Applications ● Biomechanics ● Railroad Vehicle Dynamics ● Road Vehicle Dynamics ● Robotics ● Benchmark ProblemsPostprint (published version

Proceedings of the 7th Sound and Music Computing Conference

Proceedings of the SMC2010 - 7th Sound and Music Computing Conference, July 21st - July 24th 2010

Intelligent Control Strategies for an Autonomous Underwater Vehicle

The dynamic characteristics of autonomous underwater vehicles (AUVs) present a control problem that classical methods cannot often accommodate easily. Fundamentally, AUV dynamics are highly non-linear, and the relative similarity between the linear and angular velocities about each degree of freedom means that control schemes employed within other flight vehicles are not always applicable. In such instances, intelligent control strategies offer a more sophisticated approach to the design of the control algorithm. Neurofuzzy control is one such technique, which fuses the beneficial properties of neural networks and fuzzy logic in a hybrid control architecture. Such an approach is highly suited to development of an autopilot for an AUV. Specifically, the adaptive network-based fuzzy inference system (ANFIS) is discussed in Chapter 4 as an effective new approach for neurally tuning course-changing fuzzy autopilots. However, the limitation of this technique is that it cannot be used for developing multivariable fuzzy structures. Consequently, the co-active ANFIS (CANFIS) architecture is developed and employed as a novel multi variable AUV autopilot within Chapter 5, whereby simultaneous control of the AUV yaw and roll channels is achieved. Moreover, this structure is flexible in that it is extended in Chapter 6 to perform on-line control of the AUV leading to a novel autopilot design that can accommodate changing vehicle pay loads and environmental disturbances. Whilst the typical ANFIS and CANFIS structures prove effective for AUV control system design, the well known properties of radial basis function networks (RBFN) offer a more flexible controller architecture. Chapter 7 presents a new approach to fuzzy modelling and employs both ANFIS and CANFIS structures with non-linear consequent functions of composite Gaussian form. This merger of CANFIS and a RBFN lends itself naturally to tuning with an extended form of the hybrid learning rule, and provides a very effective approach to intelligent controller development.The Sea Systems and Platform Integration Sector, Defence Evaluation and Research Agency, Winfrit

Automated Improvement of Software Design by Search-Based Refactoring

Le coût de maintenance du logiciel est estimé à plus de 70% du coût total du système, en raison de nombreux facteurs, y compris les besoins des nouveaux utilisateurs, l’adoption de nouvelles technologies et la qualité des systèmes logiciels. De ces facteurs, la qualité est celle que nous pouvons contrôler et continuellement améliorer pour empêcher la dégradation de la performance et la réduction de l’efficacité (par exemple, la dégradation de la conception du logiciel). De plus, pour rester compétitive, l’industrie du logiciel a raccourci ses cycles de lancement afin de fournir de nouveaux produits et fonctionnalités plus rapidement, ce qui entraîne une pression accrue sur les équipes de développeurs et une accélération de l’évolution de la conception du système. Une façon d’empêcher la dégradation du logiciel est l’identification et la correction des anti-patrons qui sont des indicateurs de mauvaise qualité de conception. Pour améliorer la qualité de la conception et supprimer les anti-patrons, les développeurs effectuent de petites transformations préservant le comportement (c.-à-d., refactoring). Le refactoring manuel est coûteux, car il nécessite (1) d’identifier les entités de code qui doivent être refactorisées ; (2) générer des opérations de refactoring pour les classes identifiées à l’étape précédente ; (3) trouver le bon ordre d’application des refactorings générés, pour maximiser le bénéfice pour la qualité du code et minimiser les conflits. Ainsi, les chercheurs et les praticiens ont formulé le refactoring comme un problème d’optimisation et utilisent des techniques basées sur la recherche pour proposer des approches (semi) automatisées pour le résoudre. Dans cette thèse, je propose plusieurs méthodes pour résoudre les principaux problèmes des outils existants, afin d’aider les développeurs dans leurs activités de maintenance et d’assurance qualité. Ma thèse est qu’il est possible d’améliorer le refactoring automatisé en considérant de nouvelles dimensions : (1) le contexte de tâche du développeur pour prioriser le refactoring des classes pertinentes ; (2) l’effort du test pour réduire le coût des tests après le refactoring ; (3) l’identification de conflit entre opérations de refactoring afin de réduire le coût de refactoring ; et (4) l’efficacité énergétique pour améliorer la consommation d’énergie des applications mobiles après refactoring.----------ABSTRACT: Software maintenance cost is estimated to be more than 70% of the total cost of system, because of many factors, including new user’s requirements, the adoption of new technologies and the quality of software systems. From these factors, quality is the one that we can control and continually improved to prevent degradation of performance and reduction of effectiveness (a.k.a. design decay). Moreover, to stay competitive, the software industry has shortened its release cycles to deliver new products and features faster, which results in more pressure on developer teams and the acceleration of system’s design evolution. One way to prevent design decay is the identification and correction of anti-patterns which are indicators of poor design quality. To improve design quality and remove anti-patterns, developers perform small behavior-preserving transformations (a.k.a. refactoring). Manual refactoring is expensive, as it requires to (1) identify the code entities that need to be refactored; (2) generate refactoring operations for classes identified in the previous step; (3) find the correct order of application of the refactorings generated, to maximize the quality effect and to minimize conflicts. Hence, researchers and practitioners have formulated refactoring as an optimization problem and use search-based techniques to propose (semi)automated approaches to solve it. In this dissertation, we propose several approaches to tackle some of the major issues in existing refactoring tools, to assist developers in their maintenance and quality assurance activities