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arXiv 2020年

作者： Abadía, Ignacio Naveros, Francisco Garrido, Jesús A. Ros, Eduardo Luque, Niceto R. Research Centre for Information and Communication Technologies Dept. Computer Architecture and Technology U. Granada Granada18014 Spain

The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque driven control. The spiking cerebellar controller provides torque commands allowing for accurate and coordinated arm movements. To compute these output motor commands, the spiking cerebellar controller receives the robot’s sensorial signals, the robot’s goal behaviour, and an instructive signal. These input signals are translated into a set of evolving spiking patterns, representing univocally a specific system state at every point of time. Spike Timing-Dependent Plasticity (STDP) is then supported, allowing for building adaptive control. The spiking cerebellar controller continuously adapts the torque commands provided to the robot from experience as STDP is deployed. Adaptive torque commands, in turn, help the spiking cerebellar controller to cope with built-in elastic elements within the robot’s actuators mimicking human muscles (inherently elastic). We propose a natural integration of a bio-inspired control scheme, based on the cerebellum, with a compliant robot. We prove that our compliant approach outperforms the accuracy of the default factory-installed position control in a set of tasks used for addressing cerebellar motor behaviour: controlling six degrees of freedom (DoF) in (i) smooth movements, (ii) fast ballistic movements and (iii) unstructured scenario compliant movements. Copyright © 2020, The Authors. All rights reserved.

关键词： Brain

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Improving evolution of service configurations for moving target defense

Improving evolution of service configurations for moving tar...

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Congress on Evolutionary Computation

作者： Ernesto Serrano-Collado Mario García-Valdez Juan J. Merelo-Guervós University of Granada Granada Spain Instituto Tecnológico de Tijuana Dept. of Computer Architecture and Technology University of Granada Granada Spain

ISBN: (数字)9781728169293

ISBN: (纸本)9781728169309

The term moving target defense or MTD describes a series of techniques that change the configuration of an Internet-facing system; in general, the technique consists of changing the visible configuration to avoid offering a fixed target to service profiling techniques. Additionally, configurations need to be as secure as possible and, since change needs to be frequent, to generate also as many as possible. We previously introduced a proof of concept where we used a simplified evolutionary algorithm for generating these configurations. In this paper we improve this algorithm, trying to adapt it to the specific characteristics of the fitness landscape, and also looking at finding as many solutions as possible.

关键词： Servers Security Evolutionary computation Software Browsers Cloud computing Tools

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JKinect: A new Java Software for Designing and Assessing Gross Motor Activities in children with autism based on JFML

JKinect: A new Java Software for Designing and Assessing Gro...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Juan Carlos Gámez-Granados Francisco Javier Rodriguez-Lozano Giovanni Acampora Chang-Shing Lee Jose Manuel Soto-Hidalgo Dept. Electr. & Computer Engineering University of Córdoba Spain Dept. Physics Ettore Pancini University of Naples Federico II Italy Dept. Computer Science & Information Engineering National University of Tainan Taiwan Dept. Computer Architecture and Computer Technology University of Granada Spain

ISBN: (数字)9781728169323

ISBN: (纸本)9781728169330

Motor therapies can be considered as one of the social challenges that have a great impact in children with autism. Traditionally, exercises and activities as therapies have been used to mitigate and to rehabilitate problems related to gross motor skills. Nevertheless, from the perspective of children, these therapies are often repetitive, boring and they need an extra motivation aspect due to the target: children with autism. From the point of interaction with the target population, the use of technology is a key issue in these therapies. In this scenario, a new software named JKinect which is based on RGB-D sensors and computer based games. JKinect helps children with gross motor problems and presents great flexibility in the therapy design and game sharing among specialists. Additionally, a new module for linking JKinect with both fuzzy systems based on the IEEE std 1855-2016 and the JFML library to support experts' decision making in therapies on the basis of fuzzy rules is also included.

关键词： Medical treatment Libraries Games Autism XML Fuzzy logic IEEE Standards

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Auditory models comparison for horizontal localization of concurrent speakers in adverse acoustic scenarios 23

Auditory models comparison for horizontal localization of co...

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23rd International Congress on Acoustics: Integrating 4th EAA Euroregio, ICA 2019

作者： Barumerli, Roberto Almenari, Andrea Geronazzo, Michele Di Nunzio, Giorgio Maria Avanzini, Federico Dept. of Information Engineering University of Padova Italy Dept. of Architecture Design and Media Technology Aalborg University Denmark Dept. of Computer Science University of Milano Italy

ISBN: (纸本)9783939296157

This paper aims at comparing and reproducing the predictions of two public available computational auditory models for speaker localization in different simulated environments. The direction-of-arrival (DOA) of sound sources in the horizontal plane can be extracted by using binaural spatial cues from room and user acoustics. Since our predictions consider the specificity of both models at the level of peripheral processing, the proposed solution for DOA extraction also provides a common multi-conditional training for the Gaussian Mixture Model (GMM) approach. A set of acoustic simulations of adverse conditions (i.e. multi speakers or high reverberant scenarios) supports the evaluation phase on robustness of the synthetic auditory process. Our analysis reproduces two case studies from the scientific literature in order to investigate the reliability of localization predictions in the frontal horizontal plane. Finally, a newly defined acoustic scenario allows to identify differences between auditory models outcome in the entire horizontal plane. The results show a good agreement with previous literature and our machine learning approach emphasizes peculiarities of each approach for auditory peripheral processing. © 2019 Proceedings of the International Congress on Acoustics. All rights reserved.

关键词： Auditory model Binaural processing Room acoustic simulation

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A Novel Method for Wind Power Plants’ Repowering Based on Multi-Criteria Decision-Making

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SSRN 2023年

作者： Gil García, Isabel C. Fernández-Guillamón, Ana García-Cascales, M. Socorro Molina-García, Ángel c/ Coruña km 38500 Collado Villalba Madrid28400 Spain Dept. of Applied Mechanics and Projects Engineering - E.T.S. de Ingenieros Industriales & Renewable Energy Research Institute Universidad de Castilla-La Mancha C/ De la Investigación S/N Albacete02006 Spain Department of Electronics Computer Architecture and Project Engineering Department of Automatics Electrical Engineering and Electronic Technology Universidad Politécnica de Cartagena Campus Muralla del Mar Murcia Cartagena30202 Spain

Due to the climate change, over the last decades there have been changes in the rhythm of nature. However, there is an increasing social consciousness regarding decarbonization, and governments include new policies and economic support measures for renewables. The participation of the onshore and offshore wind sectors play a central role in this scenario, expecting that more than 6000 GW will be globally installed in 2050. However, the useful life of many wind power plants is coming to their end, and thus, some countries will face in the coming years the decision of repowering, decommissioning, installing new turbines, or a combination of them. In general, such areas with the greatest wind potential are already occupied by relatively old wind turbines. Subsequently, a complex group of factors influences on the best solution decision-making: climatic, technological, environmental, social or economic. This paper proposes an optimized methodology based on multi-criteria decision-making to estimate the most appropriate solution for extending the useful-life of wind power plants. The methodology is divided into three stages: (i) data, (ii) alternatives and (iii) optimization. It was assessed with a Spanish onshore wind power plant connected to the grid. From the initial data, 11 alternatives were designed based on 10 selection factors. The results provide an optimal solution, combining both repowering and installation of new wind turbines. It would allow us to reduce the LCOE of the new wind plants installed in the European Union by more than 50%. © 2023, The Authors. All rights reserved.

关键词： Wind turbines

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On the evaluation of head-related transfer functions with probabilistic auditory models of human sound localization 23

On the evaluation of head-related transfer functions with pr...

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23rd International Congress on Acoustics: Integrating 4th EAA Euroregio, ICA 2019

作者： Geronazzo, Michele Barumerli, Roberto Avanzini, Federico Dept. of Architecture Design and Media Technology Aalborg University Denmark Dept. of Information Engineering University of Padova Italy Dept. of Computer Science University of Milano Italy

ISBN: (纸本)9783939296157

Understanding spatial hearing leads to implement efficient and effective auralization rendering algorithms with headphones. Two important aspects contribute to sound localization: (i) acoustic filtering of listener body, and (ii) non-acoustic factors introduced by auditory periphery. Accordingly, head-related transfer functions (HRTFs) describe users acoustics in terms of their spatial filtering. Binaural synthesis through generic HRTFs (commonly a dummy head) is the most simple solution for an auralization framework. In this scenario, a high variability in localization tasks between subjects yields to an unreliable rendering. Listener's acoustic and perceptual characterization require HRTF modeling and auditory models predictions in order to provide an effective auralization on individual basis. Systemic comparisons of HRTF approximations and different user profiles can help to predict listener's performances. We consider a case study on both vertical and horizontal localization with different HRTFs and two probabilistic auditory models. In our analysis, spatial audio rendering with non-individual HRTFs has a special attention for its commercial relevance compared to unpractical and questionable use of individual HRTFs. © 2019 Proceedings of the International Congress on Acoustics. All rights reserved.

关键词： Auditory model Head-related transfer function Localization Non-individual HRTF

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Dynamic Resilient Graph Games for State-Dependent Jamming Attacks Analysis on Multi-Agent Systems

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IFAC-PapersOnLine 2020年第2期53卷 3421-3426页

作者： Yurid Nugraha Ahmet Cetinkaya Tomohisa Hayakawa Hideaki Ishii Quanyan Zhu Dept. of Systems and Control Engineering Tokyo Institute of Technology Tokyo 152-8552 Japan Information Systems Architecture Science Research Division National Institute of Informatics Tokyo 101-8430 Japan Dept. of Computer Science Tokyo Insitute of Technology Yokohama 226-8502 Japan Dept. of Electrical and Computer Engineering New York University Brooklyn NY 11201 USA

A cybersecurity problem for a multi-agent consensus problem is investigated through a dynamic game formulation. Specifically, we consider a game repeatedly played between a jamming attacker and a defender. The attacker attempts to jam the links between a number of agents to delay their consensus. On the other hand, the defender tries to maintain the connection between agents by attempting to recover some of the jammed links with the goal of achieving faster consensus. In each game, the players decide which links to attack/recover and for how long to continue doing so based on a Lyapunov-like function representing the largest difference between the states of the agents. We analyze the subgame perfect equilibrium of the game and obtain an upper bound of the consensus time that is influenced by the strategies of the players. The results are illustrated with a numerical example.

关键词： Multi-agent systems Consensus problem Game theory Cybersecurity

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A Preliminary Approach to Allocate Categories of Buildings into Lands based on Generative Design

A Preliminary Approach to Allocate Categories of Buildings i...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Ignacio Pérez-Martínez María Martínez-Rojas J. M. Soto-Hidalgo Dept. of Electr. and Computer Engineering University of Córdoba Spain Dept. of Economics University of Málaga Spain Dept. Comput. Architecture & Comput. Technology University of Granada Spain

ISBN: (数字)9781728169323

ISBN: (纸本)9781728169330

In comparison to some other economic sectors, the productivity of workers in the construction has not increased much over the last 20 years. There are many approaches to tackle this problem, and one of them is to rethink the design process and introduce automation. In this paper, we propose a workflow that allocates houses on a plot of land. This workflow starts with GIS data and urban planning requirements and ends with a BIM model on that property. A genetic algorithm tackles the design process of allocation of houses by iterating and optimizing a parametric model. In the end, a designer chooses the final solution between the generated range. The degree of automation achieved by the algorithm will be tested by comparing the results of the algorithm with human-made designs.

关键词： Buildings Optimization Manuals Productivity Automation Urban planning Resource management

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Optimization of Massive Connections in 5G Networks for IoT 6

Optimization of Massive Connections in 5G Networks for IoT

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6th International Conference on Internet of Things: Systems, Management and Security, IOTSMS 2019

作者： Cano, Pablo H. Zapata Ramirez-Arroyo, Alejandro Valero, Francisco Luna Valenzuela-Valdes, Antonio Castillo-Valdivieso, Pedro A. Valdes, Juan Fco. Valenzuela Universidad de Málaga Dept. Lenguajes y Ciencias de la Computación Spain Universidad de Granada-CITIC Dept. of Signal Theory Spain Dept. of Architecture and Computer Technology Universidad de Granada-CITIC Spain

ISBN: (纸本)9781728129495

The expected traffic demands for the coming years requires a major technology development. Indeed, from 2017 to 2022, the global annual traffic growth is estimated to reach 220%. This annual growth leads in turn to an increase in the number of users connected to IP networks, going from 2.4 to 3.6 devices connected per person. Currently, 4G networks are capable of handling this load, but the irruption of the 5G breakthroughs, expected to be at full operation by 2020, is visible. However, 5G technologies may come along with a considerable power consumption if they are not devised properly. As a consequence, a key issue in the developing of these networks is to make them energetically sustainable. In this work, a preliminary study of the optimization of various aspects of the 5G system is presented. It addresses the configuration of the different basic parameters of the system and optimizes the power transmitted by the base stations to obtain simultaneous improvements in system capacity and its power consumption for a massive connections scenario. To the best of our knowledge, this is the very first time this type of 5G scenario is optimized with these two performance criteria. © 2019 IEEE.

关键词： 5G mobile communication systems

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An ARQ-Based Cooperative Relaying Scheme for 5G IoT Slice

An ARQ-Based Cooperative Relaying Scheme for 5G IoT Slice

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2019 IEEE Global Conference on Internet of Things, GCIoT 2019

作者： Otaru, Musa Ajiya, Mohammed Adinoyi, Abdulkareem Aljlayl, Mohammed Yanikomeroglu, Halim Telecommunications Services Nigerian Communications Satellite Ltd Abuja Nigeria Bayero University Department of Electrical Engineering Kano Nigeria Technology Enterprise Architecture Saudi Telecommunications Company Saudi Arabia Carleton University Dept. of Systems and Computer Engineering Ottawa Canada

ISBN: (纸本)9781728148731

We introduce a new twist to the classical automatic repeat request (ARQ)-based cooperative relaying scheme. Here, we target a 5G slice for offering internet-of-things (IoT)-inspired services. In this 5G application segment (e.g., utility or smart metering), utility sensors or devices are expected to last for decades and, operate on tight power budgets, and the system can tolerate periodic stops to check the fidelity of previous transmissions. For this scenario, we employ a service provider-deployed relay that alleviates the IoT devices of their communication burdens. The source transmits for a certain time window or period without requiring acknowledgments (ACK) from the destination. At the end of this window, the destination sends an ACK. If negative, the relay is expected to assist. Thus, the relay transmits only intermittently, in either one transmission time slot or a few time slots, using a suitably chosen higherorder modulation constellation. If no error occurs, the source continues its transmission. The numerical results show that with just a few antennas at the relay, the new scheme provides both a reduction in the number of ARQ transmissions and a superior probability of bit error compared with a reference scheme. We adopt the two-parameter Weibull fading model to evaluate the performance of the proposed scheme. © 2019 IEEE.

关键词： Internet of things

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