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Multi-robot task allocation is one of the main problems to address in order to design a multi-robot system, very especially when robots form coalitions that must carry out tasks before a deadline. A lot of factors affect the performance of these systems and among them, this paper is focused on the physical interference effect, produced when two or more robots want to access the same point simultaneously. To our best knowledge, this paper presents the first formal description of multi-robot task allocation that includes a model of interference. Thanks to this description, the complexity of the allocation problem is analyzed. Moreover, the main contribution of this paper is to provide the conditions under which the optimal solution of the aforementioned allocation problem can be obtained solving an integer linear problem. The optimal results are compared to previous allocation algorithms already proposed by the first two authors of this paper and with a new method proposed in this paper. The results obtained show how the new task allocation algorithms reach up more than an 80% of the median of the optimal solution, outperforming previous auction algorithms with a huge reduction of the execution time., This work has been partially supported by project DPI2014-57746-C03-2-R and FEDER funds.

Dengue and influenza-like illness (ILI) are two of the leading causes of viral infection in the world and it is estimated that more than half the world’s population is at risk for developing these infections. It is therefore important to develop accurate methods for forecasting dengue and ILI incidences. Since data from multiple sources (such as dengue and ILI case counts, electronic health records and frequency of multiple internet search terms from Google Trends) can improve forecasts, standard time series analysis methods are inadequate to estimate all the parameter values from the limited amount of data available if we use multiple sources. In this paper, we use a computationally efficient implementation of the known variable selection method that we call the Autoregressive Likelihood Ratio (ARLR) method. This method combines sparse representation of time series data, electronic health records data (for ILI) and Google Trends data to forecast dengue and ILI incidences. This sparse representation method uses an algorithm that maximizes an appropriate likelihood ratio at every step. Using numerical experiments, we demonstrate that our method recovers the underlying sparse model much more accurately than the lasso method. We apply our method to dengue case count data from five countries/states: Brazil, Mexico, Singapore, Taiwan, and Thailand and to ILI case count data from the United States. Numerical experiments show that our method outperforms existing time series forecasting methods in forecasting the dengue and ILI case counts. In particular, our method gives a 18 percent forecast error reduction over a leading method that also uses data from multiple sources. It also performs better than other methods in predicting the peak value of the case count and the peak time., Author summary Dengue and influenza-like illness (ILI) are leading causes of viral infection in the world and hence it is important to develop accurate methods for forecasting their incidence. We use Autoregressive Likelihood Ratio method, which is a computationally efficient implementation of the variable selection method, in order to obtain a sparse (non-lasso) representation of time series, Google Trends and electronic health records (for ILI) data. This method is used to forecast dengue incidence in five countries/states and ILI incidence in USA. We show that this method outperforms existing time series methods in forecasting these diseases. The method is general and can also be used to forecast other diseases.

We generalize the notion of lambda-superstrings, presented in a previous paper, to the notion of weighted lambda-superstrings. This generalization entails an important improvement in the applications to vaccine designs, as it allows epitopes to be weighted by their immunogenicities. Motivated by these potential applications of constructing short weighted lambda-superstrings to vaccine design, we approach this problem in two ways. First, we formalize the problem as a combinatorial optimization problem (in fact, as two polynomially equivalent problems) and develop an integer programming (IP) formulation for solving it optimally. Second, we describe a model that also takes into account good pairwise alignments of the obtained superstring with the input strings, and present a genetic algorithm that solves the problem approximately. We apply both algorithms to a set of 169 strings corresponding to the Nef protein taken from patiens infected with HIV-1. In the IP-based algorithm, we take the epitopes and the estimation of the immunogenicities from databases of experimental epitopes. In the genetic algorithm we take as candidate epitopes all 9-mers present in the 169 strings and estimate their immunogenicities using a public bioinformatics tool. Finally, we used several bioinformatic tools to evaluate the properties of the candidates generated by our method, which indicated that we can score high immunogenic lambda-superstrings that at the same time present similar conformations to the Nef virus proteins. This research was supported in part by the Basque Government, grants IT753-13 and IT974-16 and by the UPV/EHU and Basque Center of Applied Mathematics, grant US18/21. This research was also in part by the Slovenian Research Agency (I0-0035, research program P1-0285, and research projects N1-0032, J1-7051, and J1-9110). The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.

A brain-computer interface (BCI), based on motor imagery EEG, uses information extracted from the electroencephalography signals generated by a person who intends to perform any action. One of the most important issues of current research is how to detect automatically whether the user intends to send some message to a certain device. This study presents a proposal, based on a hierarchical structured system, for recognising intentional and non-intentional mental tasks on a BCI system by applying machine learning techniques to the EEG signals. First-level clustering is performed to distinguish between intentional control (IC) and non-intentional control (NC) state patterns. Then, the patterns recognised as IC are passed on to a second stage where supervised learning techniques are used to classify them. In BCI applications, it is critical to correctly classify NC states with a low false positive rate (FPR) to avoid undesirable effects. According to the literature, we selected a maximum FPR of 10%. Under these conditions, our proposal achieved an average test accuracy of 66.6%, with an 8.2% FPR, for the BCI competition IIIa dataset. The main contribution of this paper is the hierarchical approach, based on machine learning paradigms, which performs intentional and non-intentional discrimination and, depending on the case, classifies the intended command selected by the user. This work was partially supported by the ERDF/Spanish Ministry of Science, Innovation and Universities - National Research Agency/PhysComp project, TIN2017-85409-P and by the Department of Education, Universities and Research of the Basque Government (ADIAN research group, grant IT980-16).

Needles are commonly used in the clinic for percutaneous procedures. The outcome of such procedures heavily depends on accurate placement of the needle. There are two main challenges to achieve high accuracy: First, aligning the needle with the targeted lesion, and second, compensating for the deflection of the needle in the tissue. In order to address these challenges, scientists have developed several robotic setups for needle steering. However, the subject is still under research and reliable implementations which can be used in clinical practice are not yet available. In this paper, we have taken some steps in order to bring needle steering closer to practice. A new hybrid control algorithm is developed, which enables us to control a flexible needle by combing base-manipulation and beveled-tip steering methods. A pre-operative path planner is developed which considers the clinical requirements. The proposed method is tested in the lung of a fresh-frozen human cadaver. The work-flow of the experiments are similar to the current clinical practice. Three experimental cases are used to evaluate the proposed steering algorithm. Experimental Case I shows that using the proposed steering algorithm controllability of the needle is increased. In Case II and Case III, the needle is steered in a gelatin phantom and a human cadaver, respectively. The targeting accuracy of 1.35 +/- 0.49mm in gelatin phantom and 1.97 +/- 0.89mm in cadave is achieved. A feasibility study is performed, in which a fine needle aspiration (FNA) needle is steered in the lungs of a human cadaver under computed tomography guidance. The targeting error for the feasibility study is 2.89 +/- 0.22mm. The results suggest that such a robotic system can be beneficial for clinical use and the patient receives less x-ray radiation.

Music genre classification is a challenging research concept, for which open questions remain regarding classification approach, music piece representation, distances between/within genres, and so on. In this paper an investigation on the classification of generated music pieces is performed, based on the idea that grouping close related known pieces in different sets -or clusters- and then generating in an automatic way a new song which is somehow "inspired" in each set, the new song would be more likely to be classified as belonging to the set which inspired it, based on the same distance used to separate the clusters. Different music pieces representations and distances among pieces are used; obtained results are promising, and indicate the appropriateness of the used approach even in a such a subjective area as music genre classification is. This work was supported by IT900-16 Research Team from the Basque Government.

This paper proposes a new method for blind inversion of a monotonic nonlinear map applied to a sum of random variables. Such kinds of mixtures of random variables are found in source separation and Wiener system inversion problems, for example. The importance of our proposed method is based on the fact that it permits to decouple the estimation of the nonlinear part (nonlinear compensation) from the estimation of the linear one (source separation matrix or deconvolution filter), which can be solved by applying any convenient linear algorithm. Our new nonlinear compensation algorithm, the MaxEnt algorithm, generalizes the idea of Gaussianization of the observation by maximizing its entropy instead. We developed two versions of our algorithm based either in a polynomial or a neural network parameterization of the nonlinear function. We provide a sufficient condition on the nonlinear function and the probability distribution that gives a guarantee for the MaxEnt method to succeed compensating the distortion. Through an extensive set of simulations, MaxEnt is compared with existing algorithms for blind approximation of nonlinear maps. Experiments show that MaxEnt is able to successfully compensate monotonic distortions outperforming other methods in terms of the obtained Signal to Noise Ratio in many important cases, for example when the number of variables in a mixture is small. Besides its ability for compensating nonlinearities, MaxEnt is very robust, i.e. showing small variability in the results. This work has been partly funded by the University of Vic - Central University of Catalonia under the grant R0947 to JSC and grants from ANPCyT - PICT 2012 -1519 and CONICET - PIP 114-201101-00021, Argentina, to CFC. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript. This work has been partly funded by the University of Vic - Central University of Catalonia under the grant R0947 and grants from ANPCyT - PICT 2012-1519 and CONICET - PIP 114-201101-00021, Argentina. The authors would like to acknowledge Prof. Christian Jutten (GIPSA Lab, Grenoble, France) for his discussions and guidance across this research work. The authors thank reviewers for providing deep and useful comments on the first version of the manuscript.

Multi-Agent Reinforcement Learning (MARL) algorithms face two main difficulties: the curse of dimensionality, and environment non-stationarity due to the independent learning processes carried out by the agents concurrently. In this paper we formalize and prove the convergence of a Distributed Round Robin Q-learning (D-RR-QL) algorithm for cooperative systems. The computational complexity of this algorithm increases linearly with the number of agents. Moreover, it eliminates environment non sta tionarity by carrying a round-robin scheduling of the action selection and execution. That this learning scheme allows the implementation of Modular State-Action Vetoes (MSAV) in cooperative multi-agent systems, which speeds up learning convergence in over-constrained systems by vetoing state-action pairs which lead to undesired termination states (UTS) in the relevant state-action subspace. Each agent's local state-action value function learning is an independent process, including the MSAV policies. Coordination of locally optimal policies to obtain the global optimal joint policy is achieved by a greedy selection procedure using message passing. We show that D-RR-QL improves over state-of-the-art approaches, such as Distributed Q-Learning, Team Q-Learning and Coordinated Reinforcement Learning in a paradigmatic Linked Multi-Component Robotic System (L-MCRS) control problem: the hose transportation task. L-MCRS are over-constrained systems with many UTS induced by the interaction of the passive linking element and the active mobile robots. This research has been partially funded by EU through SandS project, grant agreement no 317947. This research has been partially funded by grant TIN2011-23823 of the Ministerio de Ciencia e Innovacion of the Spanish Government (MINECO), with FEDER funds. The GIC has been supported by grant IT874-13 as university research group category AMG was supported by EC under FP7, Coordination and Support Action, Grant Agreement Number 316097, ENGINE European Research Centre of Network Intelligence for Innovation Enhancement. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript. Editorial

Study of emotions in human-computer interaction is a growing research area. This paper shows an attempt to select the most significant features for emotion recognition in spoken Basque and Spanish Languages using different methods for feature selection. RekEmozio database was used as the experimental data set. Several Machine Learning paradigms were used for the emotion classification task. Experiments were executed in three phases, using different sets of features as classification variables in each phase. Moreover, feature subset selection was applied at each phase in order to seek for the most relevant feature subset. The three phases approach was selected to check the validity of the proposed approach. Achieved results show that an instance-based learning algorithm using feature subset selection techniques based on evolutionary algorithms is the best Machine Learning paradigm in automatic emotion recognition, with all different feature sets, obtaining a mean of 80,05% emotion recognition rate in Basque and a 74,82% in Spanish. In order to check the goodness of the proposed process, a greedy searching approach (FSS-Forward) has been applied and a comparison between them is provided. Based on achieved results, a set of most relevant non-speaker dependent features is proposed for both languages and new perspectives are suggested. This work has been done within the Basque Government Research Team grant under project TIN2010-15549 of the Spanish Ministry and the University of the Basque Country UPV/EHU, under grant UFI11/45 (BAILab). The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript.

WOS:000338512200037 PubMed ID: 24972050 This paper presents responses of an edge circular cantilever beam under the effect of an impact force. The beam is excited by a transverse triangular force impulse modulated by a harmonic motion. The Kelvin-Voigt model for the material of the beam is used. The cracked beam is modelled as an assembly of two sub-beams connected through a massless elastic rotational spring. The considered problem is investigated within the Bernoulli-Euler beam theory by using energy based finite element method. The system of equations of motion is derived by using Lagrange's equations. The obtained system of linear differential equations is reduced to a linear algebraic equation system and solved in the time domain by using Newmark average acceleration method. In the study, the effects of the location of crack, the depth of the crack, on the characteristics of the reflected waves are investigated in detail. Also, the positions of the cracks are calculated by using reflected waves.

In many fields of research, so-called ‘multiblock’ data are collected, i.e., data containing multivariate observations that are nested within higher-level research units (e.g., inhabitants of different countries). Each higher-level unit (e.g., country) then corresponds to a ‘data block’. For such data, it may be interesting to investigate the extent to which the correlation structure of the variables differs between the data blocks. More specifically, when capturing the correlation structure by means of component analysis, one may want to explore which components are common across all data blocks and which components differ across the data blocks. This paper presents a common and cluster-specific simultaneous component method which clusters the data blocks according to their correlation structure and allows for common and cluster-specific components. Model estimation and model selection procedures are described and simulation results validate their performance. Also, the method is applied to data from cross-cultural values research to illustrate its empirical value. ispartof: PLoS One vol:8 issue:5 pages:1-14 ispartof: location:United States status: published