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In this paper, an impedance control scheme for aerial robotic manipulators is proposed, with the aim of reducing the end-effector interaction forces with the environment. The proposed control has a multi-level architecture, in detail the outer loop is composed by a trajectory generator and an impedance filter that modifies the trajectory to achieve a complaint behaviour in the end-effector space;...
Load Patterns (LPs) clustering has a broad range of applications, such as tariff formulation, power system planning, load forecasting, and so on. In this paper, we develop a multi-objective version of Differential Evolution (DE) using a Pareto Tournament (PT) selection to solve the LP clustering problem. Our automatic DE LP clustering (ADE-LPC) algorithm provides an entire Pareto front, and by incorporating...
Energy demand is increasing ubiquitously, and as cities grow larger they become more industrialized and more connected. Therefore new energy solutions that take advantage of today's smart cities capabilities (like intelligent infrastructure, sensors, actuators and citizen engagement) should be deployed. This work studies some aspects of the energy markets as part of the solution to the efficient procurement...
In this work a new optical fiber pH sensor based on the deposition of poly(acrylic acid) (PAA) using the electrospinning technique is presented. The optical fiber structure consists of a 4 cm segment of hollow core fiber (50/150μm) spliced between two standard multimode fibers onto which the nanoweb is deposited. The sensitive layer is a membrane composed by PAA nanofibers deposited onto the surface...
Text information processing depends critically on the proper representation of documents. Traditional models, like the vector space model, have significant limitations because they do not consider semantic relations amongst terms. Global Association Distance Model (GADM) is an alternative that includes this consideration for document representation, assuming basically that two documents should be...
We report first-principles calculations for Fe Al where and for Fe Al Zn for . We investigate the correlation of the magnetic and vibrational behavior with the density of states at the Fermi level. For Fe Al the magnitude of the magnetic moment correlates with the number of Fe in the chains. However we also find an intrinsic...
Hybrid models combine different technologies to obtain a product that shares their advantages and minimizes their deficiencies. The solutions given by a case-based system (CBS) rely on similar past experiences, which are commonly described in terms of both symbolic and continuous attributes. The nearest neighbor (NN) principle commonly followed to develop CBS for classification task proceeds from...
Demand of future wireless communication services will require an always-on connection according to the quality of service QoS and provider service. This QoS involve multiple wireless standards that require intelligent and dynamic portable device. Wireless modems are key part of mobile devices in adequate transmissions according to QoS. In order to adapt different wireless standard, future radios will...
It is well known that the discrete Short Time Fourier Transform (STFT) can be considered from the perspective of a Discrete Fourier Transform (DFT) taken over short time sections of the signal (the window is fixed) or from the perspective of a filtering operation at a given frequency (the frequency is fixed). We have proposed a mixed approach where the spectrum of each finite short time section of...
One of the major problem in face authentication systems is to deal with variations in illumination. In a realistic scenario, it is very likely that the lighting conditions of the probe image does not correspond to those of the gallery image, hence there is a need to handle such variations. In this work, we present a new preprocessing algorithm based on local binary patterns (LBP): a texture representation...
Developing new techniques for human-computer interaction is very challenging. Vision-based techniques have the advantage of being unobtrusive and hands are a natural device that can be used for more intuitive interfaces. But in order to use hands for interaction, it is necessary to be able to recognize them in images. In this paper, we propose to apply to the hand posture classification and recognition...
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