Capítols de llibre
http://hdl.handle.net/2117/2251
2016-08-30T15:12:19ZCoordinating model predictive control of transport and supply water systems
http://hdl.handle.net/2117/86014
Coordinating model predictive control of transport and supply water systems
Sun, Congcong; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela
This book aims at stimulating discussion between researchers working on state of the art approaches for operational control and design of transport of water on the one hand and researchers working on state of the art approaches for transport over water on the other hand. The main contribution of the book as a whole is to present novel perspectives ultimately leading to the management of an envisioned unified management framework taking the recent advances from both worlds as a baseline.
The book is intended to be a reference for control-oriented engineers who manage water systems with either or both purposes in mind (transport of water, transport of goods over water). It highlights the possible twofold nature of water projects, where water either acts as primary object of study or as a means. The book is dedicated to comparing and relating to one another different strategies for (operational) management and control of different but strongly related systems in the framework of the water. In that sense, the book presents different approaches treating both the transport of water and transport over water. It compares the different approaches within the same field, highlighting their distinguishing features and advantages according to selected qualitative indices, and demonstrates the interaction and cross-relations between both fields. It will also help to determine the gaps and common points for both fields towards the design of such a unifying framework, which is lacking in the literature. Additionally, the book looks at case studies where the design of modeling/control strategies of either transport of water or transport over water have been proposed, discussed or simulated.
2016-04-20T16:26:33ZSun, CongcongPuig Cayuela, VicençCembrano Gennari, GabrielaThis book aims at stimulating discussion between researchers working on state of the art approaches for operational control and design of transport of water on the one hand and researchers working on state of the art approaches for transport over water on the other hand. The main contribution of the book as a whole is to present novel perspectives ultimately leading to the management of an envisioned unified management framework taking the recent advances from both worlds as a baseline.
The book is intended to be a reference for control-oriented engineers who manage water systems with either or both purposes in mind (transport of water, transport of goods over water). It highlights the possible twofold nature of water projects, where water either acts as primary object of study or as a means. The book is dedicated to comparing and relating to one another different strategies for (operational) management and control of different but strongly related systems in the framework of the water. In that sense, the book presents different approaches treating both the transport of water and transport over water. It compares the different approaches within the same field, highlighting their distinguishing features and advantages according to selected qualitative indices, and demonstrates the interaction and cross-relations between both fields. It will also help to determine the gaps and common points for both fields towards the design of such a unifying framework, which is lacking in the literature. Additionally, the book looks at case studies where the design of modeling/control strategies of either transport of water or transport over water have been proposed, discussed or simulated.ToF cameras for eye-in-hand robotics
http://hdl.handle.net/2117/85448
ToF cameras for eye-in-hand robotics
Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
A Time-of-Flight (ToF) camera is a relatively new type of sensor that delivers 3-dimensional images at high frame rate, simultaneously providing intensity data and range information for every pixel. It has been used in a wide range of applications and here we will describe the lessons learned by using such cameras to perform robotic tasks, specifically in eye-in-hand configurations. In such configurations, the camera is attached to the end-effector of a robot manipulator, so that new images can be obtained by actively changing the point of view of the camera.
2016-04-08T17:29:19ZAlenyà Ribas, GuillemFoix Salmerón, SergiTorras, CarmeA Time-of-Flight (ToF) camera is a relatively new type of sensor that delivers 3-dimensional images at high frame rate, simultaneously providing intensity data and range information for every pixel. It has been used in a wide range of applications and here we will describe the lessons learned by using such cameras to perform robotic tasks, specifically in eye-in-hand configurations. In such configurations, the camera is attached to the end-effector of a robot manipulator, so that new images can be obtained by actively changing the point of view of the camera.Dense segmentation-aware descriptors
http://hdl.handle.net/2117/85171
Dense segmentation-aware descriptors
Trulls Fortuny, Eduard; Kokkinos, Iasonas; Sanfeliu Cortés, Alberto; Moreno-Noguer, Francesc
Dense descriptors are becoming increasingly popular in a host of tasks, such as dense image correspondence, bag-of-words image classification, and label transfer. However, the extraction of descriptors on generic image points, rather than selecting geometric features, requires rethinking how to achieve invariance to nuisance parameters. In this work we pursue invariance to occlusions and background changes by introducing segmentation information within dense feature construction. The core idea is to use the segmentation cues to downplay the features coming from image areas that are unlikely to belong to the same region as the feature point. We show how to integrate this idea with dense SIFT, as well as with the dense scale- and rotation-invariant descriptor (SID). We thereby deliver dense descriptors that are invariant to background changes, rotation, and/or scaling. We explore the merit of our technique in conjunction with large displacement motion estimation and wide-baseline stereo, and demonstrate that exploiting segmentation information yields clear improvements.
2016-04-05T08:27:39ZTrulls Fortuny, EduardKokkinos, IasonasSanfeliu Cortés, AlbertoMoreno-Noguer, FrancescDense descriptors are becoming increasingly popular in a host of tasks, such as dense image correspondence, bag-of-words image classification, and label transfer. However, the extraction of descriptors on generic image points, rather than selecting geometric features, requires rethinking how to achieve invariance to nuisance parameters. In this work we pursue invariance to occlusions and background changes by introducing segmentation information within dense feature construction. The core idea is to use the segmentation cues to downplay the features coming from image areas that are unlikely to belong to the same region as the feature point. We show how to integrate this idea with dense SIFT, as well as with the dense scale- and rotation-invariant descriptor (SID). We thereby deliver dense descriptors that are invariant to background changes, rotation, and/or scaling. We explore the merit of our technique in conjunction with large displacement motion estimation and wide-baseline stereo, and demonstrate that exploiting segmentation information yields clear improvements.Effects of human-machine integration on the construction of identity
http://hdl.handle.net/2117/26380
Effects of human-machine integration on the construction of identity
Ballesté, Francesc; Torras, Carme
Recent developments in social robotics, intelligent prosthetics, brain-computer interfaces, and implants pose new questions as to the effects of technology on identity, society, and the future of humankind. The authors’ standpoint is that such effects cannot be studied separately from their social/cultural context, and thus, this chapter begins by reviewing the existing approaches to the social construction of reality, placing special emphasis on language and its limitations to describe the future. Then, it focuses on the body as the place where the human-machine integration occurs, and describes four levels at which the notion of cyborg has been analyzed in anthropological studies: symbolic, physical, as a permeable layer between nature and culture, and as an intermediate step towards a higher-order existence. The chapter ends up with a word of caution in relation to technological determinism stemming from STS (Science and Technology Studies), as well as the need to establish Relevant Social Groups (RSG) with well-founded criteria that join scientific and sociological academics under a multidisciplinary approach.
2015-02-16T19:20:22ZBallesté, FrancescTorras, CarmeRecent developments in social robotics, intelligent prosthetics, brain-computer interfaces, and implants pose new questions as to the effects of technology on identity, society, and the future of humankind. The authors’ standpoint is that such effects cannot be studied separately from their social/cultural context, and thus, this chapter begins by reviewing the existing approaches to the social construction of reality, placing special emphasis on language and its limitations to describe the future. Then, it focuses on the body as the place where the human-machine integration occurs, and describes four levels at which the notion of cyborg has been analyzed in anthropological studies: symbolic, physical, as a permeable layer between nature and culture, and as an intermediate step towards a higher-order existence. The chapter ends up with a word of caution in relation to technological determinism stemming from STS (Science and Technology Studies), as well as the need to establish Relevant Social Groups (RSG) with well-founded criteria that join scientific and sociological academics under a multidisciplinary approach.Robot interactive learning through human assistance
http://hdl.handle.net/2117/23219
Robot interactive learning through human assistance
Ferrer Mínguez, Gonzalo; Garrell Zulueta, Anais; Villamizar Vergel, Michael Alejandro; Huerta Casado, Iván; Sanfeliu Cortés, Alberto
2014-06-13T13:27:59ZFerrer Mínguez, GonzaloGarrell Zulueta, AnaisVillamizar Vergel, Michael AlejandroHuerta Casado, IvánSanfeliu Cortés, AlbertoLocal boosted features for pedestrian detection
http://hdl.handle.net/2117/9181
Local boosted features for pedestrian detection
Villamizar Vergel, Michael Alejandro; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan
The present paper addresses pedestrian detection using local boosted features that are learned from a small set of training images. Our contribution is to use two boosting steps. The first one learns discriminant local features corresponding to pedestrian parts and the second one selects and combines these boosted features into a robust class classifier. In contrast of other works, our features are based on local differences over Histograms of Oriented Gradients (HoGs). Experiments carried out to a public dataset of pedestrian images show good performance with high classification rates
2010-09-29T17:15:00ZVillamizar Vergel, Michael AlejandroSanfeliu Cortés, AlbertoAndrade-Cetto, JuanThe present paper addresses pedestrian detection using local boosted features that are learned from a small set of training images. Our contribution is to use two boosting steps. The first one learns discriminant local features corresponding to pedestrian parts and the second one selects and combines these boosted features into a robust class classifier. In contrast of other works, our features are based on local differences over Histograms of Oriented Gradients (HoGs). Experiments carried out to a public dataset of pedestrian images show good performance with high classification ratesA recursive embedding approach to median graph computation
http://hdl.handle.net/2117/7811
A recursive embedding approach to median graph computation
Ferrer Sumsi, Miquel; Valveny, Ernest; Bunke, Horst
The median graph has been shown to be a good choice to infer a representative of a set of graphs. It has been successfully applied to graph-based classification and clustering. Nevertheless, its computation is extremely complex. Several approaches have been presented up to now based on different strategies. In this paper we present a new approximate recursive algorithm for median graph computation based on graph embedding into vector spaces. Preliminary experiments on three databases show that this new approach is able to obtain better medians than the previous existing approaches.
2010-06-23T10:24:44ZFerrer Sumsi, MiquelValveny, ErnestBunke, HorstThe median graph has been shown to be a good choice to infer a representative of a set of graphs. It has been successfully applied to graph-based classification and clustering. Nevertheless, its computation is extremely complex. Several approaches have been presented up to now based on different strategies. In this paper we present a new approximate recursive algorithm for median graph computation based on graph embedding into vector spaces. Preliminary experiments on three databases show that this new approach is able to obtain better medians than the previous existing approaches.Graph-based k-means clustering: A comparison of the set versus the generalized median graph
http://hdl.handle.net/2117/7485
Graph-based k-means clustering: A comparison of the set versus the generalized median graph
Ferrer Sumsi, Miquel; Valveny, Ernest; Serratosa Casanelles, Francesc; Bardaji Goikoetxea, Itziar; Bunke, Horst
In this paper we propose the application of the generalized median graph in a graph-based k-means clustering algorithm. In the graph-based k-means algorithm, the centers of the clusters have been traditionally represented using the set median graph. We propose an approximate method for the generalized median graph computation that allows to use it to represent the centers of the clusters. Experiments on three databases show that using the generalized median graph as the clusters representative yields better results than the set median graph.
2010-06-02T12:49:21ZFerrer Sumsi, MiquelValveny, ErnestSerratosa Casanelles, FrancescBardaji Goikoetxea, ItziarBunke, HorstIn this paper we propose the application of the generalized median graph in a graph-based k-means clustering algorithm. In the graph-based k-means algorithm, the centers of the clusters have been traditionally represented using the set median graph. We propose an approximate method for the generalized median graph computation that allows to use it to represent the centers of the clusters. Experiments on three databases show that using the generalized median graph as the clusters representative yields better results than the set median graph.3D object reconstruction from Swissranger sensor data using a spring-mass model
http://hdl.handle.net/2117/7110
3D object reconstruction from Swissranger sensor data using a spring-mass model
Dellen, Babette; Alenyà Ribas, Guillem; Foix Salmerón, Sergi; Torras, Carme
We register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with other types of sensors, such as laser scanners, a lower resolution and are afflicted with larger uncertainties.
To reduce noise and remove outliers in the data, we treat the point cloud as a system of interacting masses connected via elastic forces. We investigate two models, one with and one without a surface-topology preserving interaction strength. The algorithm is applied to synthetic and real Swissranger sensor data, demonstrating
the feasibility of the approach. This method represents a preliminary step before fitting higher-level surface descriptors to the data, which will be required to define object-action complexes (OACS) for robot
applications.
2010-05-03T15:54:40ZDellen, BabetteAlenyà Ribas, GuillemFoix Salmerón, SergiTorras, CarmeWe register close-range depth images of objects using a Swissranger sensor and apply a spring-mass model for 3D object reconstruction. The Swissranger sensor delivers depth images in real time which have, compared with other types of sensors, such as laser scanners, a lower resolution and are afflicted with larger uncertainties.
To reduce noise and remove outliers in the data, we treat the point cloud as a system of interacting masses connected via elastic forces. We investigate two models, one with and one without a surface-topology preserving interaction strength. The algorithm is applied to synthetic and real Swissranger sensor data, demonstrating
the feasibility of the approach. This method represents a preliminary step before fitting higher-level surface descriptors to the data, which will be required to define object-action complexes (OACS) for robot
applications.Simulating dynamical systems for early vision
http://hdl.handle.net/2117/7108
Simulating dynamical systems for early vision
Dellen, Babette; Wörgötter, Florentin
We propose a novel algorithm for stereo matching using a dynamical systems approach. The stereo correspondence problem is first formulated as an energy minimization problem. From the energy function, we derive a system of differential equations describing the corresponding dynamical system of interacting elements, which
we solve using numerical integration. Optimization is introduced by means of a damping term and a noise term, an idea similar to simulated annealing. The algorithm is tested on the Middlebury stereo benchmark.
2010-05-03T15:27:24ZDellen, BabetteWörgötter, FlorentinWe propose a novel algorithm for stereo matching using a dynamical systems approach. The stereo correspondence problem is first formulated as an energy minimization problem. From the energy function, we derive a system of differential equations describing the corresponding dynamical system of interacting elements, which
we solve using numerical integration. Optimization is introduced by means of a damping term and a noise term, an idea similar to simulated annealing. The algorithm is tested on the Middlebury stereo benchmark.