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This work presents the development of a navigation algorithm based on fuzzy logic for the displacement of a mobile robot. The goal is to develop an autonomous navigation for an assistance mobility device for elderly people. The robot, which is the base of the robotic device, must be able to autonomously navigate in an unstructured environment, guiding the user to a target, avoiding possible obstacles...
There are many Evolutionary Algorithms which main features are: population, evolutionary operations (crossover, mate, mutation and others). Most of them are based on randomness and follow a criteria using fitness like selector. The proposal uses probability density function according to best of initial population to sample new population and save better individuals iteratively. Then using centroid...
The choice of a good clustering algorithm is vital in many tasks to optimize results. Nowadays, the most used algorithms use only one strategy to find and form the clusters of data, which can limit the effectiveness of the process. This paper presents a new approximation to clustering, called Essence-Based Clustering, that combines multiple strategies in a series of steps, allowing two levels of configuration...
The problem of concurrent design of a mechanism can be defined as finding optimal structural parameters and control parameters for a given objective function during the same optimization process. In this paper, a general concurrent optimization methodology for kinematically complex mechanisms is tested using a Delta manipulator. This methodology intends to optimize any structure and control design,...
In this paper, it is proposed a neural network based on by AutoAssociative Pyramidal Neural Network and their architecture, which uses concepts of receptive fields and autoassociative memory. These concepts are widely used in models of artificial neural networks and were incorporated into model proposed in this work. Furthermore, the proposed neural network also uses the concept of sharing weights...
Human detection in digital videos is challenging since the human appearance may widely vary. Several algorithms to detect humans in digital images have been recently developed, such as the Aggregated Chanel Features (ACF). Most of them are based on features related to the shape. These algorithms give the best results regarding accuracy but generate many false alarms. In this paper, we propose to use...
From a mathematical model given by the integral Im,n=∫Pm(x)G(x)Jn(x)dx where Pm(x) a polynomial function, G(x) a Gaussian function, and Jn(x) is the integer-order Bessel function, we have performed simulations to evaluate the possible scenario of outbreak of Zika virus (ZIKV) in a big city. Our study is motivated from the outbreaks in Brazil (2007). We have assumed a list of probabilities which are...
Phonetic deviations (dyslalia) are frequent speech disorders that lead most patients to speech therapy clinics. Nowadays one can find software able to support the treatment of phonetic deviations with several different approaches. However, none of the most used alternatives are easily accessible, are low cost and/or are directed towards individualization for an individual patient care. In this research...
In this work we explore the behaviour of steady state trajectories through covariance matrix (Grammian or inverse Dirichlet matrix) obtained in a set of networks to analyze how those more correlated agents could show some cues about the environment and how this information could improve the fitness in an evolving environment.
The atrial fibrillation (AF) is the most common arrhythmia, which generates the highest costs on clinical systems. Theory of the rotor is one of the most recent approaches to explain the mechanisms that maintain AF. The most promising treatment is the ablation, whose success depends on rotor tip location. In a previous research, the approximate entropy (ApEn) calculated on simulated electrograms from...
Honduran coffee is one of the best coffees worldwide. Its cultivation and subsequent quality control require the use of expert cuppers. In this work a fuzzy logic type-2 expert system is used as a tool to obtain the quality level of a Honduran cup of coffee based on subjective criteria used by cuppers. A case is shown to prove the effectiveness of the expert system. The system was tested in more than...
Gray-Box Models which combine a phenomenological model with a black box tool are useful for determining the values of not well known parameters of the model. In this work an indirect strategy for training these gray box models using least-square support vector machine and genetic algorithms is presented. The gray box model was tested in a Continuous Stirred Tank Reactor process with good results (Index...
This paper aims to evaluate and compare different spatial filtering methods on EEG data in order to improve the classification of Motor Imagery electrical brain information. Multiple spatial filtering methods, such as Laplacian filter, Common Average Reference method, Weighted Average Filter, Spatial Smoothing Filter, Common Spatial Patterns method and the Non-Homogeneous filter, have been analyzed...
Emotional processing of ex-combatants is affected by chronic exposure to violent events. For a successful reintegration into society, it is necessary to discriminate their brain responses from civilian people, as a first stage to develop treatment strategies. This paper presents a comparative analysis between a Multilayer Perceptron Neural Network and a Fuzzy C-Means classifier to differentiate ex-combatant...
Several studies have been developed over the years in the areas of Text Mining, Social Network Analysis and Detection of Communities. In this paper, we present a new technique for community detection in social networking using the conversation of users in a social network. We showed that the proposal performed very well for a specific theme for defining a community and performed well for joint themes...
This paper presents the development of a hybrid control for an Atlas humanoid robot moving forward in a static locomotion regime. The experiments are carried out in the Gazebo simulation environment. The developed system consists of the modeling of the mechanics of the robot, including the dynamic equations that allow controlling the joints by computed-torque control. Locomotion is planned by agents...
The Haitian Republic currently does not have a suitable telecommunication network to support the novel information technologies in all the principal cities of the country. Therefore, it is a real concern to design an appropriate telecommunication infrastructure to cover all the national territory aiming to support the offer of these services in the country. The optical networks of Digicel and Natcom...
Unorganized neural networks — or unorganized machines - are recent developed architectures in the field of computational intelligence, in which the supervised tuning of the free parameters is restricted to the weights of the output layer, by means of a linear least square solution. The remaining weights are randomly generated and stand untrained which become the adjustment process simple and fast...
This paper presents the general architecture of an adaptive recommender system of learning objects, whose recommendations combine three distinct aspects: contents, collaboration and knowledge. The recommender system is implemented like a semantic web service, designed with the framework FODAS-WS, which allows the specification of computational systems using ontologies, using the ODA (Ontology Driven...
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