Trajectory prediction of moving objects by means of neural networks

Thesis (Master)--Izmir Institute of Technology, Computer Engineering, Izmir, 1997Includes bibliographical references (leaves: 103-105)Text in English; Abstract: Turkish and Englishviii, 105 leavesEstimating the three-dimensional motion of an object from a sequence of object positions and orientation is of significant importance in variety of applications in control and robotics. For instance, autonomous navigation, manipulation, servo, tracking, planning and surveillance needs prediction of motion parameters. Although "motion estimation" is an old problem (the formulations date back to the beginning of the century), only recently scientists have provided with the tools from nonlinear system estimation theory to solve this problem eural Networks are the ones which have recently been used in many nonlinear dynamic system parameter estimation context. The approximating ability of the neural network is used to identifY the relation between system variables and parameters of a dynamic system. The position, velocity and acceleration of the object are estimated by several neural networks using the II most recent measurements of the object coordinates as input to the system Several neural network topologies with different configurations are introduced and utilized in the solution of the problem. Training schemes for each configuration are given in detail. Simulation results for prediction of motion having different characteristics via different architectures with alternative configurations are presented comparatively

Development of new methodologies for the weight estimation of aircraft structures

The problem of weight estimation in the aerospace industry has been acquiring considerably greater importance in recent years, due to the numerous challenges frequently encountered in the preliminary phases of the design of a new aircraft. This is the stage where it is possible to make design changes without incurring into excessive cost penalties. On the other hand, the knowledge of the design, of the relationships existing between the different variables and their subsequent impact on the final weight of the structure is very limited. As a result, the designer is unable to understand the true effect that individual design decisions will produce on the weight of the structure. In addition to this, new aircraft concepts end up being too conservative, due to the high dependency of current weight estimation methods to historical data and off-the-shelf design solutions. This thesis aims at providing an alternative framework for the weight estimation of aircraft structures at preliminary design stages. By conducting a thorough assessment of current state-of-the-art approaches and tools used in the field, fuzzy logic is presented as an appropriate foundation on which to build an innovative approach to the problem. Different adaptive fuzzy approaches have been used in the development of a methodology which is able to combine an analytical base to the structural design of selected trailing edge components, with substantial knowledge acquisition capabilities for the computation of robust and reliable weight estimates. The final framework allows considerable flexibility in the level of detail of the estimate consistent with the granularity of the input data used. This, combined with an extensive uncertainty analysis through the use of Interval Type-2 fuzzy logic, will provide the designer with the capabilities to understand the impact of error propagation within the model and increase the confidence in the final estimat

6th International Conference on Mechanical Models in Structural Engineering

Producción CientíficaThis ebook contains the 37 full papers submitted to the 6th International Conference on Mechanical Models in Structural Engineering (CMMOST 2021) held in Valladolid on December 2021

Modelización multivariante de los distintos sustratos patológicos hepáticos con análisis multiparamétrico de resonancia magnética

[ES] Las enfermedades hepáticas crónicas (EPC) constituyen un problema mundial con una demanda creciente de atención médica. La actividad inflamatoria y la fibrosis derivada son características histopatológicas comunes y relevantes en la EPC. Tradicionalmente, la biopsia hepática se ha considerado el gold standard para su diagnóstico y la clasificación de su nivel gravedad. La evaluación histológica establecida se basa en sistemas de puntuación semicuantitativos basados ¿¿en criterios bien definidos, aunque interpretativos relacionados con la gravedad de la EPC subyacente. Esta evaluación categórica subjetiva se basa en cambios arquitectónicos y celulares, pero no en alteraciones patológicas continuas numéricas. Por lo tanto, los informes de biopsia estándar son propensos a una gran variabilidad, lo que limita una evaluación crítica de las características histológicas en el entorno de la investigación y reduce la reproducibilidad de los resultados. Por otra parte, la biopsia hepática tiene otras limitaciones bien conocidas, ya que la técnica es un procedimiento costoso e invasivo, no bien aceptado por los pacientes y que no se puede usar libremente para el seguimiento. Además, es propenso a errores de submuestreo y sufre de variabilidad interobservador en la puntuación patológica. Más recientemente, se ha propuesto el uso del análisis de imagen digital asistido por computadora (DIA) de las secciones histológicas obtenidas en diferentes etiologías de EPC para una cuantificación más precisa de algunas características histológicas como la esteatosis y la fibrosis.[EN] Chronic liver disease (CLD) is a global problem with a growing demand for medical care. Inflammatory activity and derived fibrosis are common and relevant histopathological features in CLD. Traditionally, liver biopsy has been considered the gold standard for its diagnosis and classification of its level of severity. The established histological evaluation is based on semi-quantitative scoring systems based on well-defined but interpretive criteria related to the severity of the underlying CLD. This subjective categorical evaluation is based on architectural and cellular changes, but not on numerical continuous pathological changes. Therefore, standard biopsy reports are prone to great variability, limiting critical evaluation of histological features in the research setting and reducing reproducibility of results. On the other hand, liver biopsy has other well-known limitations, since the technique is an expensive and invasive procedure, little accepted by patients and cannot be freely used for follow-up. Furthermore, it is prone to subsampling errors and suffers from interobserver variability in the pathological score. More recently, the use of computer-aided digital image analysis (DIA) of histological sections obtained in different EPC etiologies has been proposed for a more precise quantification of some histological characteristics such as steatosis and fibrosis.Lluzar Martí, J. (2020). Modelización multivariante de los distintos sustratos patológicos hepáticos con análisis multiparamétrico de resonancia magnética. Universitat Politècnica de València. http://hdl.handle.net/10251/158965TFG

Automatic system for pavement crack detection and classification

Las carreteras son un tipo de elemento urbanístico utilizado por millones de personas a diario, y su estado en condiciones óptimas favorece la disminución de la tasa de accidentes de tráfico. El estado de la superficie del asfalto se ve alterado por un amplio abanico de defectos, y en concreto, las grietas cobran un interés especial debido a que su tratamiento en fases tempranas pueden suponer un ahorro en el coste de reparación y tratamiento del defecto en etapas posteriores, así como evitar la aparición de defectos derivados de ellas. Por este motivo, el mantenimiento de los pavimentos juega un papel fundamental tanto en la seguridad de los usuarios de este tipo de vías, como en términos económicos. Sin embargo, a pesar de la importancia que tiene, existen millones de kilómetros que necesitan ser inspeccionados, y esta labor se realiza en la mayoría de los casos de forma manual mediante la inspección visual supervisada por expertos, siendo una tarea ineficiente en el tiempo. Por ello, esta Tesis Doctoral presenta un sistema para la detección y clasificación automática de defectos de grietas en pavimentos. Para ello, se aplican métodos de procesamiento de imágenes a las capturas tomadas de la superficie de los asfaltos para la extracción de características y su posterior optimización y representación a un nuevo espacio de atributos interpretables por una persona. Posteriormente estas características son utilizadas por un ensemble de modelos compuesto por varios algoritmos de aprendizaje automático, para realizar la clasificación de las grietas en sus tipos más comunes: grietas de tipo malla o cocodrilo, grietas longitudinales y grietas transversales. De acuerdo con los experimentos realizados y los resultados obtenidos, el sistema tiene la capacidad de trabajar en sistemas computacionales de recursos limitados, siendo susceptible de emplearse con restricciones de tiempo real, además de proporcionar mejores resultados frente a las propuestas existentes en la literatura científica. Esto hace posible que el sistema se pueda colocar en diferentes vehículos no especializados para la recolección y clasificación de los defectos en el mismo lugar donde ocurren, aliviando así la tareas llevadas a cabo por los expertos.Roads are a type of urban element used by millions of people every day, and the optimal surface condition contributes to the reduction of the rate of traffic accidents. The condition of the asphalt surface is affected by a wide range of defects, and particularly, cracks have a special interest because their treatment in early stages represent savings in the repairing costs. As this prevents the appearance of defects derived from them rather than treating the defects in later stages. For this reason, pavement maintenance is fundamental in economic terms and the safety of the users. Millions of kilometers need to be examined, however, this work is mostly done manually through visual inspection supervised by experts, which is a time inefficient task. For this reason, this Doctoral Thesis presents a system for the automatic detection and classification of cracking defects in pavements. For this purpose, image processing methods are applied to asphalt surface images extracting features of the cracks, reducing the number of features, and representing the cracks in a new interpretable space of attributes. These new attributes are used by an ensemble model composed of different automatic learning algorithms classifying the cracks into their most common types: mesh or alligator cracks, longitudinal cracks, and transverse cracks. According to the experiment results, the proposed system can work in computer systems with limited resources and could be used with real-time constraints. Also, the proposed methodology provides more accurate results compared to the existing proposals in the scientific literature. These features enable the system to be placed in non-specialized vehicles collecting and classifying the defects, in the same place where they occur, and simplifying the tasks carried out by experts

Dynamic monitoring of Mallorca Cathedral

Monitoring is a fundamental key in the multi-disciplinary approach based on the scienti c method for the analysis of historical constructions. It is complementary to the historical research, the diagnosis and the structural analysis. More speci cally, the dynamic monitoring is the only way to get useful information (in terms of frequencies and modal shapes) on the global structural behavior of a building to validate a nite element model. According to the modern conservation criteria that require the minimum intervention as possible, dynamic monitoring is a valid instrument to detect the causes of structural problems before the planning of restoration works. In this work, data obtained from a dynamic identi cation campaign and from a new dynamic monitoring system installed in the Cathedral of Mallorca were post-processed and analyzed. This Cathedral is one of the most impressive masterpieces of the Gothic architecture. It has a lot of structural problems as the displacement of the piers, the out of plumb of the main façade and an extended crack pattern that can in uence the dynamic behavior. Natural frequencies and modal shapes were obtained by means of the power spectral density processed with the data obtained from an ambient vibration dynamic identi cation campaign characterized by 15 setups. Between the modes detected with a global and a setup by setup analysis, four of them were particularly clear. Subsequently the gradual change of the frequencies associated to these modes through the time was analyzed and correlated with the variation of the temperatures. A period of 3 months during the winter was initially considered and later other 2 weeks during a warmer period in May were chosen to see eventual di erences. The e ects on the Cathedral of two di erent earthquake detected by the monitoring system were also analyzed

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp

XVII Simposio CEA de Control Inteligente: Reunión anual del grupo de Control Inteligente del comité español de automática (CEA). Libro de Actas, León, 27-29 de junio de 2022

Al igual que en las ediciones anteriores, el XVII Simposio CEA de Control Inteligente ha tratado de mantener los objetivos propuestos por el Grupo Temático de CEA y desarrollar unas jornadas de convivencia en las que se han desarrollado actividades científicas de investigación, de formación de doctores, de relaciones con la industria y, por supuesto, actividades culturales y de relaciones sociales de todos los miembros que formamos esta comunidad científica. Este año, el lugar elegido para la celebración del Simposio ha sido la ciudad de León y le ha correspondido la organización del mismo al Grupo de Investigación SUPPRESS de la Universidad de León, dirigido por el profesor Manuel Domínguez. Con más de 90 asistentes en algunas de las actividades del Simposio, hemos conseguido batir récords de asistencia y generar un ambiente más que propicio para desarrollar distintas discusiones científicas de gran calado. Esto demuestra el interés que suscita nuestra disciplina en estos tiempos. Durante los últimos años el control inteligente está demostrando ser una herramienta esencial para contribuir a solucionar los grandes retos que se nos van a plantear en el futuro. Pero, hasta la fecha no habíamos experimentado, tan de primera mano, los efectos derivados del cambio climático, la falta de recursos energéticos y de materias primas, las pandemias, la falta de recursos hídricos, la ciberseguridad o los incendios. Por ello, más que nunca se antoja necesario reflexionar, reforzar nuestros vínculos o crear nuevas sinergias para contribuir y poner nuestro valioso conocimiento a disposición de nuestra sociedad. En este sentido nossentimos orgullosos de presentar las contribuciones tan valiosas que recoge este documento. Estas han superado todas nuestras expectativas, lo que da muestras del sentido de responsabilidad que tiene el Grupo Temático CEA de Control Inteligente con su tiemp

The Development of a Flexible Sensor for Continuum Soft-Bodied Robots

In this thesis, we investigate, develop, and verify an approach to sense over soft and flexible materials based on the use of a tomographic technique known as Electrical Impedance Tomography

High Voltage Insulating Materials-Current State and Prospects

Studies on new solutions in the field of high-voltage insulating materials are presented in this book. Most of these works concern liquid insulation, especially biodegradable ester fluids; however, in a few cases, gaseous and solid insulation are also considered. Both fundamental research as well as research related to industrial applications are described. In addition, experimental techniques aimed at possibly finding new ways of analysing the experimental data are proposed to test dielectrics