Integrated Pre-Processing for Bayesian Nonlinear System Identification with Gaussian Processes

We introduce GP-FNARX: a new model for nonlinear system identification based on a nonlinear autoregressive exogenous model (NARX) with filtered regressors (F) where the nonlinear regression problem is tackled using sparse Gaussian processes (GP). We integrate data pre-processing with system identification into a fully automated procedure that goes from raw data to an identified model. Both pre-processing parameters and GP hyper-parameters are tuned by maximizing the marginal likelihood of the probabilistic model. We obtain a Bayesian model of the system's dynamics which is able to report its uncertainty in regions where the data is scarce. The automated approach, the modeling of uncertainty and its relatively low computational cost make of GP-FNARX a good candidate for applications in robotics and adaptive control.Comment: Proceedings of the 52th IEEE International Conference on Decision and Control (CDC), Firenze, Italy, December 201

Bayesian Time Series Learning with Gaussian Processes

The analysis of time series data is important in fields as disparate as the social sciences, biology, engineering or econometrics. In this dissertation, we present a number of algorithms designed to learn Bayesian nonparametric models of time series. The goal of these kinds of models is twofold. First, they aim at making predictions which quantify the uncertainty due to limitations in the quantity and the quality of the data. Second, they are flexible enough to model highly complex data whilst preventing overfitting when the data does not warrant complex models. We begin with a unifying literature review on time series models based on Gaussian processes. Then, we centre our attention on the Gaussian Process State-Space Model (GP-SSM): a Bayesian nonparametric generalisation of discrete-time nonlinear state-space models. We present a novel formulation of the GP-SSM that offers new insights into its properties. We then proceed to exploit those insights by developing new learning algorithms for the GP-SSM based on particle Markov chain Monte Carlo and variational inference. Finally, we present a filtered nonlinear auto-regressive model with a simple, robust and fast learning algorithm that makes it well suited to its application by non-experts on large datasets. Its main advantage is that it avoids the computationally expensive (and potentially difficult to tune) smoothing step that is a key part of learning nonlinear state-space models.EPSR

A wrench-sensitive touch pad based on a parallel structure

Trabajo presentado al ICRA 2008 celebrado en Pasadena (USA) del 19 al 23 de mayo.Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most designs, the legs are connected to the base and the platform through ball-and-socket joints. Although the dry friction in each of these joints can be individually neglected, the integrated effect of twelve such elements becomes noticeable. Second, dynamical measurements might not be very accurate because the natural resonance frequency of the used structures is quite low even for relatively small dimensions. This dynamical response can be obviously modified with a proper mechanical design, but this increases the complexity of the sensor. This paper discusses the design and implementation of a touch pad based on a 6-axis force sensor and shows how the above limitations degrade its behavior. Moreover, it is shown how using a tensegrity structure both problems could be alleviated because ball-and- socket joints can be substituted by point contacts and the resonance frequency of the structure can be controlled by adjusting the static tensions of the tendons.This work was supported by projects: 'Analysis and motion planning of complex robotic systems' (4802), 'Plataforma torsométrica basada en estructuras de tensigridad' (3707), 'Estació de muntatge universal' (I-00907). This work has been partially supported by the Spanish Ministry of Education and Science through the I+D project DPI2007-60858, by the XARTAP network of the Catalan Government, and by the Spanish I3 project with reference 2006-5-01-077.Peer Reviewe

Slope Instability along the northeastern Iberian and Balearic continental margins

This paper gathers the available information on submarine landslides identified in the northeastern Iberian continental margin and presents new data on both already known landslides and new, previously unknown ones. The 2,000 km2, 26 km3 resulting deposit of the BIG'95 debris flow in the Ebro margin; the 4 up to 16 km2, 0.4 km3 Eivissa slides in the Eivissa Channel; the 2 up to 65.6 km2, 1.46 km3 Barcelona slides in the shallow southern Catalan margin; and the western Gulf of Lions debris flow in the deep north Catalan margin are presented. This compilation is completed with several other previously undescribed small-scale mass-wasting deposits together with those observed in the Balearic Promontory. The amount and widespreading of submarine landslide deposits in the northern Iberian margins demonstrate that these margins are not an exception to the common occurence of these kind of structures worldwide, and gives an idea on this phenomena recurrence even in margins considered moderately quiet, in terms of seismicity

Sediment undulations on the Llobregat prodelta: Signs of early slope instability or sedimentary bedforms?

A field of sediment undulations has been mapped by means of high resolution multibeam bathymetry and seismic reflection profiles in the Llobregat River prodelta, off the city of Barcelona, Catalonia, Spain. Similar features had previously been recognized in other prodelta environments and interpreted either as downslope sediment deformation or sedimentary structures induced by bottom currents or hyperpycnal flows. Since the study area is undergoing significant offshore development, proper interpretation of such sediment undulations is needed for a correct risk assessment. The occurrence of the sediment undulations is restricted to the prodelta front on slope gradients between 3 and 0.2º. The undulations have developed at the edge and atop an area of gas bearing sediments within the Late-Holocene high-stand mud wedge. An evaluation is made of the characteristics of the sediment undulations in order to determine the most likely process for the origin of these structures. Amongst these characteristics are the continuity of the reflections and lack of diffractions in between different undulations, their size distribution (large to small) both from shallow to deep and with depth in section, the asymmetry (decreasing from proximal to distal), the crest to trough vertical distance on the landward side of the undulations (up to 0.5 m), and the lack of features that could indicate a progressive movement such as growth structures and drag folds. These characteristics indicate that the sediment undulations on the Llobregat River prodelta do not result from sediment deformation, but rather from the interaction of bottom currents generated by hyperpycnal flows from the Llobregat River with regional sea water circulation. Their identification as sediment waves implies that such features do not pose a major hazard for urther offshore development

Jardins per a la salut

Facultat de Farmàcia, Universitat de Barcelona. Ensenyament: Grau de Farmàcia. Assignatura: Botànica farmacèutica. Curs: 2014-2015. Coordinadors: Joan Simon, Cèsar Blanché i Maria Bosch.Els materials que aquí es presenten són el recull de les fitxes botàniques de 128 espècies presents en el Jardí Ferran Soldevila de l’Edifici Històric de la UB. Els treballs han estat realitzats manera individual per part dels estudiants dels grups M-3 i T-1 de l’assignatura Botànica Farmacèutica durant els mesos de febrer a maig del curs 2014-15 com a resultat final del Projecte d’Innovació Docent «Jardins per a la salut: aprenentatge servei a Botànica farmacèutica» (codi 2014PID-UB/054). Tots els treballs s’han dut a terme a través de la plataforma de GoogleDocs i han estat tutoritzats pels professors de l’assignatura. L’objectiu principal de l’activitat ha estat fomentar l’aprenentatge autònom i col·laboratiu en Botànica farmacèutica. També s’ha pretès motivar els estudiants a través del retorn de part del seu esforç a la societat a través d’una experiència d’Aprenentatge-Servei, deixant disponible finalment el treball dels estudiants per a poder ser consultable a través d’una Web pública amb la possibilitat de poder-ho fer in-situ en el propi jardí mitjançant codis QR amb un smartphone

Design, implementation, and performance analysis of a Stewart platform-based force sensor

International Research/Expert Conference: Trends in the Development of Machinery and Associated Technology (TMT), 2006, LLoret de Mar (España)Many robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most spplications but, when accuracy is a must, two main limitations arise. First, in most designs, the legs are connected to base and platform through ball-and-socket joint and the integrated effect of such elements becomes noticeable. Second, dynamical measurements might not be very accurate because the natural resonance frecuency of the used structures is quite low even for relatively small dimensions. This paper discusses the developament of a force sensor based on an in-parallel structure and shows how the above limitations degrade its behaviour. Moreover, it shows how, using a tensegrity stucture, both problems could be alleviated because ball-and-socket joints can be replaced by point contacts and the resonance frequency can be controlled by adjusting the tensions of the tendons.This work was supported by the project 'Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria' (J-00930).Peer Reviewe

CONFIDENTIAL. Limited circulation. For review only. A Wrench-Sensitive Touch Pad Based on a Parallel Structure

Abstract — Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most designs, the legs are connected to the base and the platform through balland-socket joints. Although the dry friction in each of these joints can be individually neglected, the integrated effect of twelve such elements becomes noticeable. Second, dynamical measurements might not be very accurate because the natural resonance frequency of the used structures is quite low even for relatively small dimensions. This dynamical response can be obviously modified with a proper mechanical design, but this increases the complexity of the sensor. This paper discusses the design and implementation of a touch pad based on a 6axis force sensor and shows how the above limitations degrade its behavior. Moreover, it is shown how using a tensegrity structure both problems could be alleviated because ball-andsocket joints can be substituted by point contacts and the resonance frequency of the structure can be controlled by adjusting the static tensions of the tendons. Index Terms — touch pad, force sensor, wrench sensor. I