Dynamic semantic ontology generation: a proposal for social robots

[Abstract] During a human-robot interaction by dialogue/voice, the robot cannot extract semantic meaning from the words used, limiting the intervention itself. Semantic knowledge could be a solution by structuring information according to its meaning and its semantic associations. Applied to social robotics, it could lead to a natural and fluid human-robot interaction. Ontologies are useful representations of semantic knowledge, as they capture the relationships between objects and entities. This paper presents new ideas for ontology generation using already generated ontologies as feedback in an iterative way to do it dynamically. This paper also collects and describes the concepts applied in the proposed methodology and discusses the challenges to be overcome.Ministerio de Ciencia, Innovación y Universidades; RTI2018-096338-B-I0

Multicore and FPGA implementations of emotional-based agent architectures

The final publication is available at Springer via http://dx.doi.org/10.1007/s11227-014-1307-6.Control architectures based on Emotions are becoming promising solutions for the implementation of future robotic agents. The basic controllers of the architecture are the emotional processes that decide which behaviors of the robot must activate to fulfill the objectives. The number of emotional processes increases (hundreds of millions/s) with the complexity level of the application, reducing the processing capacity of the main processor to solve complex problems (millions of decisions in a given instant). However, the potential parallelism of the emotional processes permits their execution in parallel on FPGAs or Multicores, thus enabling slack computing in the main processor to tackle more complex dynamic problems. In this paper, an emotional architecture for mobile robotic agents is presented. The workload of the emotional processes is evaluated. Then, the main processor is extended with FPGA co-processors through Ethernet link. The FPGAs will be in charge of the execution of the emotional processes in parallel. Different Stratix FPGAs are compared to analyze their suitability to cope with the proposed mobile robotic agent applications. The applications are set up taking into account different environmental conditions, robot dynamics and emotional states. Moreover, the applications are run also on Multicore processors to compare their performance in relation to the FPGAs. Experimental results show that Stratix IV FPGA increases the performance in about one order of magnitude over the main processor and solves all the considered problems. Quad-Core increases the performance in 3.64 times, allowing to tackle about 89 % of the considered problems. Quad-Core has a lower cost than a Stratix IV, so more adequate solution but not for the most complex application. Stratix III could be applied to solve problems with around the double of the requirements that the main processor could support. Finally, a Dual-Core provides slightly better performance than stratix III and it is relatively cheaper.This work was supported in part under Spanish Grant PAID/2012/325 of "Programa de Apoyo a la Investigacion y Desarrollo. Proyectos multidisciplinares", Universitat Politecnica de Valencia, Spain.Domínguez Montagud, CP.; Hassan Mohamed, H.; Crespo, A.; Albaladejo Meroño, J. (2015). Multicore and FPGA implementations of emotional-based agent architectures. Journal of Supercomputing. 71(2):479-507. https://doi.org/10.1007/s11227-014-1307-6S479507712Malfaz M, Salichs MA (2010) Using MUDs as an experimental platform for testing a decision making system for self-motivated autonomous agents. Artif Intell Simul Behav J 2(1):21–44Damiano L, Cañamero L (2010) Constructing emotions. 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Very low frequency Syndromes

Dismorfología, Citogenética y Clínica: Resultados de estudios sobre los datos del ECEMCThe aim of this chapter is to summarize updated knowledge about the clinical characteristics, etiology, genetic and molecular aspects, as well as mechanisms involved in syndromes having very low frequency, in order to promote their better recognition. During the last five years, a total of 30 syndromes have been published in this chapter of the Boletín del ECEMC. This issue includes the following selected syndromes: Crouzon, Pfeiffer, Apert, Saethre-Chotzen, Carpenter and Muenke. All share craniosynostosis as the main clinical feature but also present with other birth defects, the most important being limb malformations, specially syndactyly and polydactyly. Over 100 syndromes with craniosynostosis have been described, usually involving multiple sutures, and several of them are associated with limb malformations. The clinical overlapping between those syndromes makes difficult to perform a neonatal diagnosis, based on their clinical findings. However, molecular genetic testing, specifically of the FRGR1-3 and TWIST1 genes, could help to establish the diagnosis of some of them. Early diagnosis is important for establishing the most suitable treatment for each patient, as well as to offer an accurate genetic counselling and the possibility of preimplantational and/or prenatal diagnosis.N

Robot self-preservation and adaptation to user preferences in game play : a preliminary study

It is expected that in a near future, personal robots will be endowed with enough autonomy to function and live in an individual's home. This is while commercial robots are designed with default configuration and factory settings which may often be different to an individual's operating preferences. This paper presents how reinforcement learning is applied and utilised towards personalisation of a robot's behaviour. Two-level reinforcement learning has been implemented: first level is in charge of energy autonomy, i.e. how to survive, and second level is involved in adapting robot's behaviour to user's preferences. In both levels Q-learning algorithm has been applied. First level actions have been learnt in a simulated environment and then the results have been transferred to the real robot. Second level has been fully implemented in the real robot and learnt by human-robot interaction. Finally, experiments showing the performance of the system are presente

Low cost Version of the Social Robot Mini

[Resumen] En este documento se describen las consideraciones tomadas en el proceso de construcción de una versióon de bajo coste del robot social Mini, desarrollado por el grupo de investigación Robotics-Lab para trabajar con personas mayores. En la versión de bajo coste del robot, se ha intentado en todo momento conservar las funcionalidades del original, e incluso aumentarlas en la medida de lo posible. Se explicaría de manera general que elementos Hardware debe incluir un robot de este tipo para su correcto funcionamiento. También se muestra el diseño del nuevo robot y finalmente se detalla cómo se ha logrado reducir el coste material del mismo por encima de un 80 %.[Abstract] This article covers the design and construction of Milow, a Low-Cost version of the social robot Mini, developed by the RoboticsLab group in order to interact with elderly people. The aim of Milow is not only keeping the same functionalities but also improving some of them reducing costs at the same time. The document mainly shows the Hardware components that should be included in such type of robot. In its conclusion, the article identifies a cost reducion over 80% regarding its physical componentsMinisterio de Economía y Competitividad; 2030-DIH-CMComunidad de Madrid; S2018/NMT-433