URBANO: A Tour-Guide Robot Learning to Make Better Speeches

—Thanks to the numerous attempts that are being made to develop autonomous robots, increasingly intelligent and cognitive skills are allowed. This paper proposes an automatic presentation generator for a robot guide, which is considered one more cognitive skill. The presentations are made up of groups of paragraphs. The selection of the best paragraphs is based on a semantic understanding of the characteristics of the paragraphs, on the restrictions defined for the presentation and by the quality criteria appropriate for a public presentation. This work is part of the ROBONAUTA project of the Intelligent Control Research Group at the Universidad Politécnica de Madrid to create "awareness" in a robot guide. The software developed in the project has been verified on the tour-guide robot Urbano. The most important aspect of this proposal is that the design uses learning as the means to optimize the quality of the presentations. To achieve this goal, the system has to perform the optimized decision making, in different phases. The modeling of the quality index of the presentation is made using fuzzy logic and it represents the beliefs of the robot about what is good, bad, or indifferent about a presentation. This fuzzy system is used to select the most appropriate group of paragraphs for a presentation. The beliefs of the robot continue to evolving in order to coincide with the opinions of the public. It uses a genetic algorithm for the evolution of the rules. With this tool, the tour guide-robot shows the presentation, which satisfies the objectives and restrictions, and automatically it identifies the best paragraphs in order to find the most suitable set of contents for every public profil

Proximal business intelligence on the semantic web

This is the post-print version of this article. The official version can be accessed from the link below - Copyright @ 2010 Springer.Ubiquitous information systems (UBIS) extend current Information System thinking to explicitly differentiate technology between devices and software components with relation to people and process. Adapting business data and management information to support specific user actions in context is an ongoing topic of research. Approaches typically focus on providing mechanisms to improve specific information access and transcoding but not on how the information can be accessed in a mobile, dynamic and ad-hoc manner. Although web ontology has been used to facilitate the loading of data warehouses, less research has been carried out on ontology based mobile reporting. This paper explores how business data can be modeled and accessed using the web ontology language and then re-used to provide the invisibility of pervasive access; uncovering more effective architectural models for adaptive information system strategies of this type. This exploratory work is guided in part by a vision of business intelligence that is highly distributed, mobile and fluid, adapting to sensory understanding of the underlying environment in which it operates. A proof-of concept mobile and ambient data access architecture is developed in order to further test the viability of such an approach. The paper concludes with an ontology engineering framework for systems of this type – named UBIS-ONTO

Thirty Years of Machine Learning: The Road to Pareto-Optimal Wireless Networks

Future wireless networks have a substantial potential in terms of supporting a broad range of complex compelling applications both in military and civilian fields, where the users are able to enjoy high-rate, low-latency, low-cost and reliable information services. Achieving this ambitious goal requires new radio techniques for adaptive learning and intelligent decision making because of the complex heterogeneous nature of the network structures and wireless services. Machine learning (ML) algorithms have great success in supporting big data analytics, efficient parameter estimation and interactive decision making. Hence, in this article, we review the thirty-year history of ML by elaborating on supervised learning, unsupervised learning, reinforcement learning and deep learning. Furthermore, we investigate their employment in the compelling applications of wireless networks, including heterogeneous networks (HetNets), cognitive radios (CR), Internet of things (IoT), machine to machine networks (M2M), and so on. This article aims for assisting the readers in clarifying the motivation and methodology of the various ML algorithms, so as to invoke them for hitherto unexplored services as well as scenarios of future wireless networks.Comment: 46 pages, 22 fig

The simplicity project: easing the burden of using complex and heterogeneous ICT devices and services

As of today, to exploit the variety of different "services", users need to configure each of their devices by using different procedures and need to explicitly select among heterogeneous access technologies and protocols. In addition to that, users are authenticated and charged by different means. The lack of implicit human computer interaction, context-awareness and standardisation places an enormous burden of complexity on the shoulders of the final users. The IST-Simplicity project aims at leveraging such problems by: i) automatically creating and customizing a user communication space; ii) adapting services to user terminal characteristics and to users preferences; iii) orchestrating network capabilities. The aim of this paper is to present the technical framework of the IST-Simplicity project. This paper is a thorough analysis and qualitative evaluation of the different technologies, standards and works presented in the literature related to the Simplicity system to be developed

Cable-Driven Actuation for Highly Dynamic Robotic Systems

This paper presents design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is designed to be as light-weight as possible and to additionally serve as the primary cooling element, thus significantly increasing the power density and efficiency of the overall system. The total weight of active elements on the leg, i.e. the stators and the rotors, contribute more than 60% of the total leg weight, which is an order of magnitude higher than most existing robots. The resulting robotic leg has low inertia, high torque transparency, low manufacturing cost, no backlash, and a low number of parts. Capler-Leg system itself, serves as an experimental setup for evaluating the proposed cable- pulley design in terms of robustness and efficiency. A continuous jump experiment shows a remarkable 96.5 % recuperation rate, measured at the battery output. This means that almost all the mechanical energy output used during push-off returned back to the battery during touch-down

Integrity protection for code-on-demand mobile agents in e-commerce

The mobile agent paradigm has been proposed as a promising solution to facilitate distributed computing over open and heterogeneous networks. Mobility, autonomy, and intelligence are identified as key features of mobile agent systems and enabling characteristics for the next-generation smart electronic commerce on the Internet. However, security-related issues, especially integrity protection in mobile agent technology, still hinder the widespread use of software agents: from the agent’s perspective, mobile agent integrity should be protected against attacks from malicious hosts and other agents. In this paper, we present Code-on-Demand(CoD) mobile agents and a corresponding agent integrity protection scheme. Compared to the traditional assumption that mobile agents consist of invariant code parts, we propose the use of dynamically upgradeable agent code, in which new agent function modules can be added and redundant ones can be deleted at runtime. This approach will reduce the weight of agent programs, equip mobile agents with more flexibility, enhance code privacy and help the recoverability of agents after attack. In order to meet the security challenges for agent integrity protection, we propose agent code change authorization protocols and a double integrity verification scheme. Finally, we discuss the Java implementation of CoD mobile agents and integrity protection