Roberto Moreno-Díaz

Computer Aided Systems Theory - EUROCAST 2003

In this article results of earlier publications on the subject are summarized with some extensions and notational improvements. In the introduction a heuristic outline of human knowledge, its aquisition and its processing is given to motivate the following mathematical representation. The basic mathematical concepts are hierarchies of generalized relations and operations on these, corresponding to knowledge and knowledge processing. Included are objects with space and time parameterization, valuations of objects by partial ordered values, neighborhood and similarity relations, i.e. topologies, and variable objects.

The fuzzy paradigm for knowledge representation in cerebral dynamics

Abstract The fuzzy paradigm is suggested to be more successful than its competitors in representing our present-day knowledge of the neural functions. A neurophysiological basis for this proposal comes from the neuronic level (fluctuations of excitability, unknow neural codes,…) and, mainly, from the striking findings of Lashley, Luria and Gonzalo concerning the high residual function of the cortical tissue after traumatic and surgical lesions. A conceptual model based on modular co-operation and functional multiplicity of the same anatomical areas along with the gradual distribution of cortical functions is presented. Some suggestions for experimentally obtaining sensorial functions memberships, μ k ( x ) , are also included. Finally, we propose a set of fuzzy theoretical constructs (quantity of function, Mk(R); modal weight, Fk; lesion, ƒ(x, L) ; residual function, Rk(L); excitability, E(x,t); permeability, αij) that enables us to bring neurophysiological data and fuzzy models into closer agreement. Digital simulation of the membership construction process as well as of these fuzzy constructs for different cortical lesions are also included.

Computer Aided Systems Theory - EUROCAST’99

The field of robotics is one of the most innovative in the last decade. Conventional industrial robots from the late 70 ́s are now only a tool on the production level. One of the oldest dreams of the robotic community – intelligent, mobile and humanoid robots – starts to become a reality because of the rapid development of “external” sensors. External sensors (e.g. visual, auditive, force-torque) offer intelligent robots the possibility to see, hear, speak, feel, smell like humans. Compared with conventional, unintelligent, industrial robots, intelligent robots can fulfill new, innovative tasks in new application areas.

Computer Aided Systems Theory - EUROCAST 2013

Starting with the well-known Towers of Hanoi, we create a new sequence of puzzles which can essentially be solved in the same way. Since graphs and puzzles are intimately connected, we define a sequence of graphs, the iterated complete graphs, for our puzzles. To create puzzles for all these graphs, we need to generalize another puzzle, Spin-Out, and cross the generalized Towers puzzles with the the generalized Spin-Out puzzles. We show how to solve these combined puzzles. We also show how to compute distances between puzzle configurations. We show that our graphs have Hamiltonian paths and perfect one-error-correcting codes. (Properties that are NP-complete for general graphs.) We also discuss computational complexity and show that many properties of our graphs and puzzles can be calculated by finite state machines.

A Computational Model for Visual Size, Location and Movement

The ability to detect object size, location and movement is essential for a visual system in either a biological or man made environment. In this paper we present a model for estimating these parameters by using a set of randomly distributed receptive fields on a retina. This approach differs from more conventional ones in which the receptive fields are arranged in a geometric pattern.

Rod outer segments are designed for optimum photon detection

The proposal that rod outer segment length is optimal with respect to photon absorption and noise control is extended and tested in a number of species. We find good agreement with our optimality criterion in duplex retinae where rods act as detectors of one or a few photons, but not in all rod retinae nor in those which are exposed to significant photic environmental noise.

Systems methods in visual modelling

Models of visual processing in living systems can be successfully developed for the front end sensorial part, which in vertebrates correspond to the retina. The appropriate modelling tools are the tools of classical systems theory. In this line, we present first analytical models for the frogs retina and for higher vertebrate retinae, leading to the generalized structure of receptive fields processing for modelling linear and non-linear behaviour. Next, transformations on input data receptive fields are presented, including the novel concept of micro-structures of retinal receptive fields in form of Newton Filters, the concepts of transformation on input and output spaces and the concepts of transformation on receptive fields by means of partitions.

On Parallel Channel Modeling of Retinal Processes

Based on previous work on parallel processing for visual motion detection and analysis ([1], [2], [3]) in which interesting relationships among number and random distribution of cells, overlapping degree and receptive field size with fault tolerance, accuracy of computations and performance cost were shown in practice, we now focus our attention on modeling a two parallel channel visual peripheral system consisting of three layers of neuron-like cells that account for motion and shape information of perceived objects. A tetra-processor UltraSparc SUN computer is used for simulation and video-outputs in false color show the two-channel activity of the system. A train of input images presenting a moving target is analyzed by the neuron-like processing layers and the results presented as a video movie showing a colour coded version of neural activity.

Fractional growth process with two kinds of jumps

While traditional glider path planning relies on constant model forecasts with only a limited range, a new approach to glider operation is based on automated topographical understanding incorporating feature detection and tracking techniques. Encapsulating the key elements of ocean structure dynamics and focusing on their behaviour an alternative prediction data model can be developed. This feature-based characterization is then used to improve upon the glider path planning. Additionally a structural comparison of ROMs and global models is conducted as well as a forecast assessment within the model. This approach is applied to the case of mesoscale eddies that form around the canary islands and spin off describing various trajectories depending on origin, type and time of the year.

A Social Robot in a Tourist Environment

In this paper, we have focused on applying robotics as a social element and an intermediary in tourism. To that end, a system has been developed that will benefit the tourist experience. To do this, every room of the hotel would have a low-cost social robot, a Karotz. This robot interacts orally with the tourist to provide him or her with news about the hotel and the best tourism activities for the user. The components of the robot were used during the development to make communication flows natural. This has enabled us to create a social robot that covers a need faced by the tourist industry. The developed prototype shows that this is a plausible field of application for social robotics.