Human and Object Recognition with a High-resolution tactile sensor

This paper 1 describes the use of two artificial intelligence methods for object recognition via pressure images from a high-resolution tactile sensor. Both meth- ods follow the same procedure of feature extraction and posterior classification based on a supervised Supported Vector Machine (SVM). The two approaches differ on how features are extracted: while the first one uses the Speeded-Up Robust Features (SURF) descriptor, the other one employs a pre-trained Deep Convolutional Neural Network (DCNN). Besides, this work shows its applica- tion to object recognition for rescue robotics, by distinguishing between differ- ent body parts and inert objects. The performance analysis of the proposed methods is carried out with an experiment with 5-class non-human and 3-class human classification, providing a comparison in terms of accuracy and compu-tational load. Finally, it is discussed how feature-extraction based on SURF can be obtained up to five times faster compared to DCNN. On the other hand, the accuracy achieved using DCNN-based feature extraction can be 11.67% superior to SURF.Proyecto DPI2015-65186-R European Commission under grant agreement BES-2016-078237. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Transfer learning or design a custom CNN for tactile object recognition

International Workshop on Robotac: New Progress in Tactile Perception and Learning in RoboticsNovel tactile sensors allow treating pressure lectures as standard images due to its highresolution. Therefore, computer vision algorithms such as Convolutional Neural Networks (CNNs) can be used to identify objects in contact. In this work, a high-resolution tactile sensor has been attached to a robotic end-effector to identify objects in contact. Moreover, two CNNs-based approaches have been tested in an experiment of classification of pressure images. These methods include a transfer learning approach using a pre-trained CNN on an RGB images dataset and a custom-made CNN trained from scratch with tactile information. A comparative study of performance between them has been carried out.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Spanish project DPI2015-65186-R, the European Commission under grant agreement BES-2016-078237, the educational project PIE-118 of the University of Malag

Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

This document is a self-archiving copy of the accepted version of the paper. Please find the final published version in IEEEXplore: http://dx.doi.org/10.1109/TE.2014.2358551This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.This work was supported in part by the Spanish CICYT under Project DPI2011-22443

Methods for autonomous wristband placement with a search-and-rescue aerial manipulator

A new robotic system for Search And Rescue (SAR) operations based on the automatic wristband placement on the victims’ arm, which may provide identification, beaconing and remote sensor readings for continuous health monitoring. This paper focuses on the development of the automatic target localization and the device placement using an unmanned aerial manipulator. The automatic wrist detection and localization system uses an RGB-D camera and a convolutional neural network based on the region faster method (Faster R-CNN). A lightweight parallel delta manipulator with a large workspace has been built, and a new design of a wristband in the form of a passive detachable gripper, is presented, which under contact, automatically attaches to the human, while disengages from the manipulator. A new trajectory planning method has been used to minimize the torques caused by the external forces during contact, which cause attitude perturbations. Experiments have been done to evaluate the machine learning method for detection and location, and for the assessment of the performance of the trajectory planning method. The results show how the VGG-16 neural network provides a detection accuracy of 67.99%. Moreover, simulation experiments have been done to show that the new trajectories minimize the perturbations to the aerial platform.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Clasificación de información táctil para la detección de personas

Este artículo presenta el diseño de un efector final táctil y la aplicación de técnicas de inteligencia artificial para la detección de personas mediante un brazo manipulador ligero de 6 grados de libertad. Este efector está compuesto por un sensor táctil de alta resolución que permite obtener imágenes de presión. El sistema extrae información háptica en situaciones de catástrofe en las que, generalmente, existe baja visibilidad, con el propósito de evaluar el estado de las víctimas en función de la urgencia de atención (triaje). Se han implementado dos métodos de inteligencia artificial para clasificar imágenes obtenidas por el sensor táctil, distinguiendo los contactos con personas de objetos inertes en escenarios de desastre. Cada método dispone de un extractor de características de imágenes de presión y un clasificador, obtenido por aprendizaje supervisado. Para validar los métodos se han realizado experimentos de clasificación en clases Humano y No humano. Finalmente, se ha realizado una comparación de ambos métodos en términos de porcentaje de acierto y tiempo empleado para la clasificación, en base a los resultados de los experimentos.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

On Nikodym and Rainwater sets for ba (R) and a Problem of M. Valdivia

[EN] If R is a ring of subsets of a set Omega and ba (R) is the Banach space of bounded finitely additive measures defined on R equipped with the supremum norm, a subfamily Delta of R is called a Nikodym set for ba (R) if each set {mu(a) : alpha is an element of A} in ba (R) which is pointwise bounded on Delta is norm-bounded in ba (R). If the whole ring R is a Nikodym set, R is said to have property (N), which means that R satisfies the Nikodym-Grothendieck boundedness theorem. In this paper we find a class of rings with property (N) that fail Grothendieck's property (G) and prove that a ring R has property (G) if and only if the set of the evaluations on the sets of R is a so-called Rainwater set for ba(R). Recalling that R is called a (wN)-ring if each increasing web in R contains a strand consisting of Nikodym sets, we also give a partial solution to a question raised by Valdivia by providing a class of rings without property (G) for which the relation (N) double left right arrow (wN) holds.The first and the third authors are supported by Grant PGC2018-094431-B-I00 of the Ministry of Science, Innovation and Universities of Spain.Ferrando, JC.; López Alfonso, S.; López Pellicer, M. (2019). On Nikodym and Rainwater sets for ba (R) and a Problem of M. Valdivia. Filomat. 33(8):2409-2416. https://doi.org/10.2298/FIL1908409FS2409241633

Autoestima como variable psicosocial predictora de la actividad física en personas mayores

Suplemento de artículos seleccionados con revisión del Congreso Andaluz de Psicología de la Actividad Física y el Deporte (13 : 2011 : Sevilla). Editores : José Carlos Caracuel ; Rocío Bohórquez.The purpose of this study was to investigate the relationship between self-esteem expressed by people over 65 years of age and taking part in physical activity. Self-concept and self-esteem are psychologically fundamental components of quality of life in adulthood and well-being. Selfesteem has been proposed as an area of intervention to improve the quality of life in the senior population. The sample was composed of more than 184 people, 92 of whom took part in physical activity on a regular basis and another 92, who developed sedentary lifestyles. The results of the Rosenberg Self-Esteem Questionnaire applied to the sample showed different levels of self-esteem between seniors who are physically active and those who are not, with self-esteem being significantly higher in active seniors. Studies with similar objectives demonstrate and support the verification of the hypothesis that establishes a positive relationship between self-esteem and participation in physical activity

Métodos de enriquecimiento de glicoproteínas bacterianas para su posterior análisis y caracterización mediante espectrometría de masas

Comunicaciones a congreso

Microbiología y cultura científica para discapacitados intelectuales

Trabajo presntado al XXIII Congreso Nacional de Microbiología celbrado en Salamanca del 11 al 14 de julio de 2011 y que recibe el Premio del Grupo Especializado de Docencia y Difusión de la Microbiología de la Sociedad Española de Microbiología (SEM) al mejor poster presentado.Los firmantes del presente trabajo financian su investigación científica con los proyectos ALIBIRD-CM-P2009/AGR-1469 (Comunidad de Madrid) AGL2009-07894 y CSD2007-00063FUN-C-FOOD (CONSOLIDER INGENIO 2010) del MINCINN.Peer Reviewe