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6. Soccer team based on agent-oriented programming

Author

Rosa, J.Ll., de la, Oller, A., Vehi, J., and Puyol, J.

Subjects
Robotics -- Technology application, Computers
Abstract

The analysis, design and implementation of a soccer team of micro-robots is explained. A project shows how develop a multi-agent co-operative system by means of Matlab/Simulink, a widely known computer aided control system design framework. agent oriented paradigms filters the interactions between multiple agents in terms of changing their mental states by communication between agents. Such implementations are usually done by means of object-oriented paradigms. The obtained real implementation is an integrated system that covers several programming paradigms. more...

Published
1997

13. Studies about the atomic capabilities concept for linear control systems in physical multi-agent environments

Author

Christian G. Quintero M., La Rosa, J. Ll, and Vehi, J.

Subjects
Intelligent agents (Computer software), Robot kinematics, Automatic control, Computer science, business.industry, Multi-agent system, Testbed, Linear system, Intelligent decision support system, Mobile robot, Agents intel·ligents (Programari), Human–computer interaction, Decisió, Presa de -- Informàtica, Multiagent systems, Control system, Sistemes multiagent, Robots mòbils -- Sistemes de control, Artificial intelligence, Decision making -- Data processing, business, Mobile robots -- Control systems
Abstract

This paper shows the impact of the atomic capabilities concept to include control-oriented knowledge of linear control systems in the decisions making structure of physical agents. These agents operate in a real environment managing physical objects (e.g. their physical bodies) in coordinated tasks. This approach is presented using an introspective reasoning approach and control theory based on the specific tasks of passing a ball and executing the offside manoeuvre between physical agents in the robotic soccer testbed. Experimental results and conclusions are presented, emphasising the advantages of our approach that improve the multi-agent performance in cooperative systems. more...

Published
2005

14. Predictive motion control of a mirosot mobile robot

Author

Jian Wan, Quintero, C. G., Luo, N., and Vehi, J.

Subjects
Computer Science::Robotics, Control predictiu, Control intel·ligent, Robots mòbils -- Sistemes de control, Predictive control, Intelligent control systems, Mobile robots -- Control systems
Abstract

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model more...

Published
2004

15. Insulin dosage optimization based on prediction of postprandial glucose excursions under uncertain parameters and food intake

Author

Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica, García Jaramillo, Maira Alejandra, Calm, R., Bondía Company, Jorge, Tarin, C., Vehi, J., Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica, García Jaramillo, Maira Alejandra, Calm, R., Bondía Company, Jorge, Tarin, C., and Vehi, J. more...

Abstract

Considering the difficulty in selecting correct insulin doses and the problem of hyper- and hypoglycemia episodes in type 1 diabetes, dosage-aid systems are very useful for these patients. A model-based approach to this problem must unavoidably consider uncertainty sources such as large intra-patient variability and food intake. In the present study, postprandial glucose is predicted considering this uncertain information using modal interval analysis. This approach calculates a safer prediction of possible hyper- and hypoglycemia episodes induced by insulin therapy for an individual patient's parameters and integrates this information into a dosage-aid system. Predictions of a patient's postprandial glucose at 5-h intervals are used to predict the risk for a given therapy. Then the insulin dose and injection-to-meal time with the lowest risk are calculated. The method has been validated for three different scenarios corresponding to preprandial glucose values of 100, 180 and 250 mg/dl. more...

Published
2012

16. Multivariate statistics process control for dimensionality reduction in structural assessment

Author

UCL - FSA/ELEC - Département d'électricité, Mujica, L. E., Vehi, J., Ruiz, M., Verleysen, Michel, Staszewski, W., Worden, K., UCL - FSA/ELEC - Département d'électricité, Mujica, L. E., Vehi, J., Ruiz, M., Verleysen, Michel, Staszewski, W., and Worden, K. more...

Abstract

This paper presents advantages of using techniques like principal component analysis (PCA), partial least square (PLS) and some extensions called multiway PCA (MPCA) and multiway PLS (MPLS) for reducing dimensionality in damage identification problem, in particular, detecting and locating impacts in a part of a commercial aircraft wing flap. It is shown that applying MPCA and MPLS is convenient in systems which many sensors are monitoring the structures, because the reciprocal relation between signals is considered. The methodology used for detecting and locating the impact uses the philosophy of case-based reasoning, where single PCA and PLS are used also for organizing previous knowledge in memory. Sixteen approaches combining those techniques have been performed. Results from all of them are presented, compared and discussed. (c) 2007 Elsevier Ltd. All rights reserved. more...

Published
2008

41. Health Monitoring System (HMS) for structural assessment

Author

Matos, J. C., Garcia, O., Henriques, A. A., Joan Casas, Vehi, J., and Universidade do Minho

Subjects
perturbation method, 020101 civil engineering, 02 engineering and technology, structural assessment, 0201 civil engineering, Computer Science Applications, 020303 mechanical engineering & transports, Health Monitoring System (HMS), 0203 mechanical engineering, Control and Systems Engineering, Modal Interval Analysis (MIA), Electrical and Electronic Engineering, uncertainty
Abstract

As in any engineering application, the problem of structural assessment should face the diferente uncertainties present in real world. The main source of uncertainty in Health Monitoring System (HMS) applications are those related to the sensor accuracy, the theoretical models and the variability in structural parameters and applied loads. In present work, two methodologies have been developed to deal with these uncertainties in order to adopt reliable decisions related to the presence of damage. A simple example, a steel beam analysis, is considered in order to establish a liable comparison between them. Also, such methodologies are used with a developed structural assessment algorithm that consists in a direct and consistent comparison between sensor data and numerical model results, both affected by uncertainty. Such algorithm is applied to a simple concrete laboratory beam, tested till rupture, to show it feasibility and operational process. From these applications several conclusions are derived with a high value, regarding the final objective of the work, which is the implementation of this algorithm within a HMS, developed and applied into a prototype structure. more...