Study of tabular reinforcement learning for mobile robot wall-following

El objetivo de este proyecto consiste en la implementación de un algoritmo de aprendizaje por refuerzo para la resolución de un problema de seguimiento de paredes en un entorno, en un robot LEGO con pocos recursos hardware (un sensor de distancia lateral y un giroscopio). Se ha realizado un estudio teórico sobre el aprendizaje por refuerzo para dar un contexto al algoritmo usado, en concreto SARSA. Para ello, se han hecho varias versiones de este que cambian en las técnicas de exploración utilizadas y la variación de parámetros dentro del aprendizaje. Finalmente se muestran los resultados obtenidos y un análisis y comparación de las técnicas implementadas. Este análisis de datos proporcionará información para entender cómo se comportan este tipo de implementaciones y la capacidad de aprendizaje en este tipo de problema

Potential Toxic Elements Accumulation in Several Food Species Grown in Urban and Rural Gardens Subjected to Different Conditions

Urban agriculture increased in Seville (South Spain) in the last 20 years and play different roles in the urban context. Edible species can be contaminated by soil and airborne contamination leading to health risks. Samples of different crop and fruit species and their soils were collected in urban and rural gardens, including urban gardens from a mining area to investigate the potential contamination in food and soils. Results show that soils from mining gardens were the most contaminated. In the city, crops were generally not more contaminated those in the rural area. Most differences were observed between species, chard and lettuce were the species that reached the highest level of most elements’ accumulation and fruits always had lower metal accumulation than leafy vegetables. Arsenic, Cd, and Pb concentrations did not exceed the FAO/HWO and European legal maximum levels for vegetables studied, so their consumption would be safe for human health. The concentration of Cr, Cu, Mn, and Ni can be considered in the range cited in the bibliography. Special attention should be paid for leafy green vegetables (lettuce and chard) since high values of Ba and Zn were found, up to 42 and 123 mg kg−1, respectively, and the risk to human health associated with consuming these species should be studied

Quick Analysis of Organic Amendments via Portable X-ray Fluorescence Spectrometry

The determination of heavy metals in soils and organic amendments, such as compost, manure, biofertilizer, and sludge, generally involves the digestion of samples with aqua regia, and the determination of those in the solution using various techniques. Portable X-ray fluorescence (PXRF) has many advantages in relation to traditional analytical techniques. However, PXRF determines the total elemental content and, until now, its use for the analysis of organic amendments has been limited. The objective of this work is the calibration of a PXRF instrument to determine the aqua regia-soluble elemental contents directly in solid samples of organic amendments. Our proposal will avoid the digestion step and the use of other laboratory techniques. Using a training set of samples, calibration functions were obtained that allow the determination of the aqua regia-soluble contents from the PXRF readings of total contents. The calibration functions (obtained by multiple linear regression) allowed the quantitative determination of the aqua regia-soluble contents of Fe, K, P, S, Zn, Cu, Pb, Sr, Cr, and Mn, as well as the organic matter content and a semi-quantitative assessment of Al, Ca, V, Ba, Ni, and As contents. The readings of Si, Fe, Al, Ca, K, or S were used as correction factors, indicating that the calibrations functions found are truly based on the chemical composition of the sample matrix. This study will allow a fast, cheap, and reliable field analysis of organic amendments and of other biomass-based materials.Spanish Ministry of Science, Innovation and Universities, and the European Regional Development Fund, European Union, (AEI/FEDER, UE), grant number CGL2016-78937-R

Uso de compost en agricultura urbana: beneficios agronómicos y ambientales

Presentación de 54 diapositivas en el 5º Seminario sobre implementación, desarrollo y seguimiento de proyectos de compostaje doméstico y comunitario: El compostaje en el Mediterráneo 22 y 23 de octubre, Granada (2015 )Peer Reviewe

Empleo de biomarcadores para la reconstrucción paleoambiental de Cartagena (SE España) durante el holoceno

Mediante el análisis de los biomarcadores presentes en el registro sedimentario de la serie estratigráfica E1 de Cartagena se realizó la reconstrucción de las condiciones paeloambientales de la zona durante el Holoceno. Se seleccionaron 55 muestras, cada 10 cm a lo largo de toda la serie, que se emplearon para la extracción y análisis de biomarcadores. Para establecer el marco cronológico se dataron muestras mediante el método de racemización de aminoácidos, haciendo uso de los ostrácodos presentes en los sedimentos. Se identificaron y cuantificaron los n-alcanos y los ácidos n-alcanoicos del sedimento a lo largo del registro, pudiéndose establecer seis Unidades Geoquímicas que representan diferentes condiciones ambientales. The analysis of biomarkers present in the sedimentary record of the stratigraphic section, E1 in Cartagena, allowed the reconstruction of the paleoenvironmental conditions of this area during the Holocene. A total of 55 samples were selected (taken at 10 cm intervals), which were used for the extraction and analysis of biomarkers. To establish the chronological framework, ostracodes were selected for dating using the amino acid racemization method. The n-alkanes and n-alkanoic acids of the sediment were identified and quantified in E1 record, being possible to establish six paleoenvironmental Geochemical Units

Business Process Configuration According to Data Dependency Specification

Configuration techniques have been used in several fields, such as the design of business process models. Sometimes these models depend on the data dependencies, being easier to describe what has to be done instead of how. Configuration models enable to use a declarative representation of business processes, deciding the most appropriate work-flow in each case. Unfortunately, data dependencies among the activities and how they can affect the correct execution of the process, has been overlooked in the declarative specifications and configurable systems found in the literature. In order to find the best process configuration for optimizing the execution time of processes according to data dependencies, we propose the use of Constraint Programming paradigm with the aim of obtaining an adaptable imperative model in function of the data dependencies of the activities described declarative.Ministerio de Ciencia y Tecnología TIN2015-63502-C3-2-RFondo Europeo de Desarrollo Regiona

Using Distributed CSPs to Model Business Processes Agreement in Software Multiprocess

A business process consists of a set of activities which are performed in a coordination way to obtain an objective. Sometimes the definition of this objective using only a classic business processes management is not possible. When the choreography of the processes cannot be defined with a combination of tasks using sequences, conditions, ’xor’, ’or’ and ’split’ control flow patterns, another representation and solution are necessary to be used. This problem makes difficult the decision making in software management projects. In this paper a way to describe a process agreement is described where the execution and the number of tasks execution order of the Web Services cannot be defined. As a case study, the resource distribution in a multiproject development environment is used. In this case, the processes have to achieve an agreement in function of the business rules that relate the processes. In order to achieve this objective, the Distributed Constraint Satisfaction Problems are used to model and solve this type of problemsJunta de Andalucía P08-TIC-04095Ministerio de Ciencia y Tecnología TIN2009-1371

Multi-criteria decision analysis for non-conformance diagnosis: A priority-based strategy combining data and business rules

Business process analytics and verification have become a major challenge for companies, especially when process data is stored across different systems. It is important to ensure Business Process Compliance in both data-flow perspectives and business rules that govern the organisation. In the verification of data-flow accuracy, the conformance of data to business rules is a key element, since essential to fulfil policies and statements that govern corporate behaviour. The inclusion of business rules in an existing and already deployed process, which therefore already counts on stored data, requires the checking of business rules against data to guarantee compliance. If inconsistency is detected then the source of the problem should be determined, by discerning whether it is due to an erroneous rule or to erroneous data. To automate this, a diagnosis methodology following the incorporation of business rules is proposed, which simultaneously combines business rules and data produced during the execution of the company processes. Due to the high number of possible explanations of faults (data and/or business rules), the likelihood of faults has been included to propose an ordered list. In order to reduce these possibilities, we rely on the ranking calculated by means of an AHP (Analytic Hierarchy Process) and incorporate the experience described by users and/or experts. The methodology proposed is based on the Constraint Programming paradigm which is evaluated using a real example. .Ministerio de Ciencia y Tecnología RTI2018–094283-B-C3

Determination of an optimal test points allocation for business process analysis

The management and automation of business processes have become an essential task within IT organizations. Diagnosis enables fault isolation in a business process. The diagnosis process uses a set of test points (observations) and a model in order to explain a wrong behavior. In this work, a series of algorithms to allocate test points are presented. The key idea is to improve the diagnosability, improving the computational complexity for isolating faults in a system. The methodology is based on constraint programming.Junta de Andalucía P08-TIC-04095Ministerio de Ciencia y Tecnología TIN2009-1371

Uso de compost de residuos urbanos en reforestacion

4 páginas.-- 4 tablas.-- 4 referencias.-- Comunicación presentada en el III Congreso Iberoamericano de Quimica y Fisica Ambiental, Tlaxcala, (México) 6-10 Octubre de 2003Nuestra sociedad genera actualmente una gran cantidad y variedad de residuos de diversos orígenes, algunos de ellos con una producción ascendente, y cuya acumulación puede crear diversos problemas ambientales. En Andalucía, la cantidad de Residuos Sólidos Urbanos (RSU) producidos en 1998 fue de 3.147.394 Tm, la de biosólidos de Estaciones Depuradoras de Aguas Residuales (EDAR) fue en 1995 de 105.000 toneladas de materia fresca. Por el momento, el destino de la mayor parte de estos residuos ha sido la incineración y los vertederos. Diversas normas legislativas, tanto a nivel de la Unión Europea (Directiva 1999/31/CE) como de España (Plan Nacional de Residuos Urbanos, Plan Nacional de Lodos de Depuradora) establecen estrategias para reducir los residuos biodegradables destinados a vertederos: a partir del año 2006, el 50% de la fracción orgánica de los RSU y el 20 % de los biosólidos deben ser tratados mediante compostaje.Este trabajo ha sido realizado en el marco del proyecto LIFE00ENV/E/000543 "Procesos de co-compostaje y aplicación de sus productos en paisajismo, reforestación, cultivos forestales y agrícolas en Andalucía".Peer reviewe