Manuel Mucientes

Manuel Mucientes
University of Santiago de Compostela | USC · Centro Singular de Investigación en Tecnoloxías Intelixentes (CITIUS)

Phd

About

99
Publications
15,121
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
1,754
Citations
Citations since 2017
16 Research Items
1059 Citations
2017201820192020202120222023050100150
2017201820192020202120222023050100150
2017201820192020202120222023050100150
2017201820192020202120222023050100150

Publications

Publications (99)
Conference Paper
Full-text available
Several simplification techniques have been proposed in process mining to improve the interpretability of complex processes, such as the structural simplification of the model or the simplification of the log. However, obtaining a comprehensible model explaining the behaviour of unstructured large processes is still an open challenge. In this paper...
Article
Computer vision systems for traffic monitoring represent an essential tool for a broad range of traffic surveillance applications. Two of the most noteworthy challenges for these systems are the real-time operation with hundreds of vehicles and the total occlusions which hinder the tracking of the vehicles. In this paper, we present a traffic monit...
Chapter
Traffic surveillance through vision systems is a highly demanded task. To solve it, it is necessary to combine detection and tracking in a way that meets the requirements of operating in real time while being robust against occlusions. This paper proposes a traffic monitoring system that meets these requirements. It is formed by a deep learning-bas...
Chapter
Detection and tracking of multiple objects in real applications requires real-time performance, the management of tens of simultaneous objects, and handling frequent partial and total occlusions. Moreover, due to the software and hardware requirements of the different algorithms, this kind of systems require a distributed architecture to run in rea...
Conference Paper
Full-text available
En este artículo se presenta una aproximación basada en técnicas de conformidad de procesos para la resolución de consultas orientadas a definición de modelos de proceso y de condiciones temporales sobre actividades y sobre indicadores clave de negocio.
Preprint
We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the fidelity adapts to the complexity of the environment, improving the planning efficiency while maintaining the...
Article
Full-text available
Process mining represents a collection of data driven techniques that support the analysis, understanding and improvement of business processes. A core branch of process mining is conformance checking, i.e., assessing to what extent a business process model conforms to observed business process execution data. Alignments are the de facto standard i...
Conference Paper
In this work we present a state lattice based approach for motion planning in mobile robotics. Sensing and motion uncertainty are managed at planning time to obtain safe and optimal paths. To do this reliably, our approach estimates the probability of collision taking into account the robot shape and the uncertainty in heading. We also introduce a...
Article
Full-text available
Since buildings are one of the largest sources of energy consumption in most cities of the world, energy management is one of the major concerns in their design. To ameliorate this problem, buildings are becoming smarter by the incorporation of intelligent supervision and control systems. Data captured by the sensors can be interpreted and processe...
Article
Full-text available
Process mining has emerged as a way to analyze the behavior of an organization by extracting knowledge from event logs and by offering techniques to discover, monitor and enhance real processes. In the discovery of process models, retrieving a complex one, i.e., a hardly readable process model, can hinder the extraction of information. Even in well...
Article
We present a new approach to motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. Uncertainty is predicted at planning time and used to estimate the safety of the paths. Our approach takes into account the real shape of the robot, introducing a deterministic sampling based method t...
Article
This paper proposes a regression Genetic Fuzzy System (GFS, FRULER) for a problem of sea wave parameters estimation from neighbor buoys, with application on wave energy systems. FRULER is a recently proposed, three-staged algorithm that combines an instance selection method for regression, a multigranularity fuzzy discretization of the input variab...
Conference Paper
Full-text available
Process mining has focused, among others, on the discovery of frequent behavior with the aim to understand what is mainly happening in a process. Little work has been done involving uncommon behavior, and mostly centered on the detection of anomalies or deviations. But infrequent behavior can be also important for the management of a process, as it...
Article
Including duplicate tasks in the mining process is a challenge that hinders the process discovery, as it is also necessary to find out which events of the log belong to which transitions. To face this problem, we propose SLAD (Splitting Labels After Discovery), an algorithm that uses the local information of the log to enhance an already mined mode...
Article
In genetic fuzzy systems (GFS) the size of the problem has a huge influence in the performance of the obtained models, since i) the fuzzy rule bases learned suffer from exponential rule explosion when the number of variables increases, and ii) the convergence time increments with the number of examples. In this paper we present S-FRULER, a scalable...
Conference Paper
Full-text available
Process Mining is concerned with the analysis, understanding and improvement of business processes. One of the most important branches of process mining is conformance checking, i.e. assessing to what extent a business process model conforms to observed business process execution data. Alignments are the de facto standard instrument to compute conf...
Article
In this paper a novel approach to reuse units of learning (UoLs) —such as courses, seminars, workshops, and so on— is presented. Virtual learning environments (VLEs) do not usually provide the tools to export in a standardized format the designed UoLs, making thus more challenging their reuse in a different platform. Taking into account that many o...
Article
Full-text available
In this paper we present a hybrid approach for automatic composition of Web services that generates semantic input-output based compositions with optimal end-to-end QoS, minimizing the number of services of the resulting composition. The proposed approach has four main steps: 1) generation of the composition graph for a request; 2) computation of t...
Conference Paper
This live demo allows ICDSC participants to interact with a system to classify faces into two categories: faces with and without surgical masks. The system assigns a per-person ID through tracking in order to trigger only one alarm for a maskless face across several frames in a video. The tracking system also decreases the false positive rate. The...
Article
In regression problems, the use of TSK fuzzy systems is widely extended due to the precision of the obtained models. Moreover, the use of simple linear TSK models is a good choice in many real problems due to the easy understanding of the relationship between the output and input variables. In this paper we present FRULER, a new genetic fuzzy syste...
Conference Paper
Full-text available
In this paper we present a service which automatically generates textual short-term reports for the students' behavior in virtual learning environments. Through this approach, we show how textual reporting is a coherent way of providing information that can complement ---and even enhance--- visual statistics and help teachers to understand in a com...
Conference Paper
This paper introduces a system that detects the presence or absence of the mandatory medical mask in the operating room. The overall objective is to have as few false positive face detections as possible without losing mask detections in order to trigger alarms only for healthcare personnel who do not wear the surgical mask. The medical mask detect...
Article
Full-text available
Prediction of students' performance is one of the most explored issues in educational data mining. To predict if students will achieve the outcomes of the subject based on the previous results enables teachers to adapt the learning design of the subject to the teaching-learning process. However, this adaptation is even more relevant if we could pre...
Article
Process discovery techniques automatically extract the real workflow of a process by analyzing the events that are collected and stored in log files. Although in the last years several process discovery algorithms have been presented, none of them guarantees to find complete, precise and simple models for all the given logs. In this paper we addres...
Article
Full-text available
In this paper we present a theoretical analysis of graph-based service composition in terms of its dependency with service discovery. Driven by this analysis we define a composition framework by means of integration with fine-grained I/O service discovery that enables the generation of a graph-based composition which contains the set of services th...
Article
The automatic design of controllers for mobile robots usually requires two stages. In the first stage, sensorial data are preprocessed or transformed into high level and meaningful values of variables which are usually defined from expert knowledge. In the second stage, a machine learning technique is applied to obtain a controller that maps these...
Chapter
The application of fuzzy techniques in robotics has become widespread in the last years and in different fields of robotics, such as behavior design, coordination of behavior, perception, localization, etc. The significance of the contributions was high until the end of the 1990s, where the main aim in robotics was the implementation of basic behav...
Article
Including duplicate tasks in the mining process is a challenge that hinders the process discovery as algorithms need an extra effort to find out which events of the log belong to which transitions. To face this problem, we propose an approach that uses the local information of the log to enhance an already mined model by performing a local search o...
Article
Full-text available
SLAM (Simultaneous Localization and Mapping) under severe occlusions in crowded environments poses challenges both from the standpoint of the sensor and the SLAM algorithm. In several approaches, the sensor is a camera pointing to the ceiling to detect the lights. Nevertheless, in these conditions the density of landmarks is usually low, and the us...
Conference Paper
Full-text available
In self-regulated learning, evaluation is a complex task of the teaching process, but even more if students have social media that allow them to build their personal learning environment in different ways. In these kind of virtual environments a large amount of data that needs to be assessed by teachers is generated, and therefore they require tool...
Conference Paper
In this paper a novel approach to facilitate the reuse of units of learning (UoLs) is presented. Typically, e-learning platforms do not provide the means to retrieve designed UoLs in a standardized format to be reused in a different platform, but they have in common that the students and teachers interaction with the system is logged to files. Taki...
Conference Paper
Several process discovery algorithms have been presented in the last years. These approaches look for complete, precise and simple models. Nevertheless, none of the current proposals obtains a good integration between the three objectives and, therefore, the mined models have differences with the real models. In this paper we present a genetic algo...
Conference Paper
One of the most challenging issues in learning analytics is the development of techniques and tools that facilitate the evaluation of the learning activities carried out by learners. In this paper, we faced this issue through a process mining-based platform, called Soft Learn, that is able to discover complete, precise and simple learning paths fro...
Conference Paper
Full-text available
In this paper we present Hipster: a free, open source Java library for heuristic search algorithms. The motivation of developing Hipster is the lack of standard Java search libraries with an extensible, flexible, simple to use model. Moreover, most of the libraries for search algorithms rely on recursive implementations which do not offer fine-grai...
Article
Full-text available
This paper presents a learning analytics framework for 3D educational virtual worlds that focus on discovering learning flows and checking its conformance through process mining techniques. The core of this framework is an Opensim-based virtual world platform, known as OPENET4VE, that is compliant with the IMS Learning Design specification and that...
Conference Paper
Full-text available
Reliable motion planners have to take into account not only the kinematic constraints of the robot but, also, the uncertainty of both the motion and sensor models. In this way, it is possible to evaluate a motion plan based not just on the maximum likelihood path, but also in deviations from that path that have a non-negligible probability. As a re...
Conference Paper
The tradeoff between bias and variance is a well-known problem in machine learning, since algorithms are expected to achieve a reduced training error without going into overfitting. In Genetic Fuzzy Systems (GFSs), overfitting is usually avoided through the control of the number of rules and/or the number of labels. However, in many machine learnin...
Conference Paper
Full-text available
In this paper we describe a tabu search based approach to the scheduling problem in project management and its integration in the LibrePlan open source software tool. A description of the key elements of the algorithm is provided, together with the execution of three use cases with LibrePlan, that shows how feasible plannings are obtained, achievin...
Conference Paper
In this paper we describe a tabu search based approach to the scheduling problem in project management and its integration in the LibrePlan open source software tool. A description of the key elements of the algorithm is provided, together with the execution of three use cases with LibrePlan, that shows how feasible plannings are obtained, achievin...
Article
Full-text available
Environments with a low density of landmarks are difficult for vision-based Simultaneous Localization and Mapping (SLAM) algorithms. The use of omnidirectional cameras, which have a wide field of view, is specially interesting in these environments as several landmarks are usually detected in each image. A typical example of this kind of situation...
Conference Paper
The aim of this work is to present a dynamic QoS-aware semantic web service composition algorithm that finds the minimal solution graph that satisfies the composition request considering multiple QoS criteria and semantic input-output message structure matching restrictions. Our proposal starts computing an initial solution by selecting only those...
Conference Paper
Full-text available
Autonomous robots require robust and fast motion planning algorithms to operate in complex real environments. In the last years, motion planning in state lattices has emerged as a powerful paradigm to real time path planning taking into account the kinematic restrictions of the vehicle. The approach requires the definition of the state lattice and...
Article
The ability of web services to build and integrate loosely-coupled systems has attracted a great deal of attention from researchers in the field of the automatic web service composition. The combination of different web services to build complex systems can be carried out using different control structures to coordinate the execution flow and, ther...
Conference Paper
A correct reconstruction of medical im- ages in Positron Emission Tomography (PET) needs a precise estimation of the position of the incidence photons in the detector surface. The traditional method based on Anger algorithm calculates the po- sition as a polynomial of the intensities. However, it fails to track the true position near the edges of t...
Conference Paper
Full-text available
Multi-link wheeled robots provide interesting opportunities within many areas such as inspection and maintenance of pipes or vents. A key functionality in order to perform such operations, is that the robot can follow a predefined path fast and accurately. In this paper we present an algorithm to learn the path-following behavior for a set of motio...
Conference Paper
Full-text available
Service Oriented Architectures and web service technology are becoming popular in recent years. As more web services can be used over the Internet, the need to find efficient algorithms for web services composition that can deal with large amounts of services becomes important. These algorithms must deal with different issues like performance, sema...
Conference Paper
Full-text available
Learning controllers in mobile robotics usually requires expert knowledge to define the input variables. However, these definitions could be obtained within the algorithm that generates the controller. This cannot be done using conventional fuzzy propositions, as the expressiveness that is necessary to summarize tens or hundreds of input variables...
Article
Machine scheduling is a critical problem in industries where products are custom-designed. The wide range of products, the lack of previous experiences in manufacturing, and the several conflicting criteria used to evaluate the quality of the schedules define a huge search space. Furthermore, production complexity and human influence in each manufa...
Article
Full-text available
Web Services are interfaces that describe a collection of operations that are network-accessible through standardized web protocols. When a required operation is not found, several services can be compounded to get a composite service that performs the desired task. To find this composite service a search process in a, generally, huge search space...
Conference Paper
Full-text available
In this paper, we describe a framework for integrating workflow modelling techniques with a knowledge management approach that enables us to represent the problem-solving knowledge, the coordination of the method execution, and the agents that are involved in the workflow. The case of price estimation workflow in the manufactured furniture industry...
Article
The knowledge about the position and movement of people is of great importance in mobile robotics for implementing tasks such as navigation, mapping, localization, or human–robot interaction. This knowledge enhances the robustness, reliability and performance of the robot control architecture. In this paper, a pattern classifier system for the dete...
Article
Mobile robots operating in real and populated environments usually execute tasks that require accurate knowledge on their position. Monte Carlo Localization (MCL) algorithms have been successfully applied for laser range finders. However, vision-based approaches present several problems with occlusions, real-time operation, and environment modifica...
Article
a b s t r a c t Service robots will play an increasing and more important role in the society in the next years. One of the main challenges is to endow robots with enough autonomy to operate on real environments. To reach that goal, the design of controllers to solve simple tasks must be automatized. Engineers look for learning algorithms that are...
Conference Paper
Full-text available
Web services are interfaces that describe a collection of operations that are network-accessible through standardized Web protocols. When a required operation is not found, several services can be compounded to get a composite service that performs the desired task. To find this composite service, a search process over a huge search space must be p...
Article
Fuzzy quantification supplies powerful tools for handling linguistic expressions. Nevertheless, its advantages are usually shown at the theoretical level without a proper empirical validation. In this work, we review the application of fuzzy quantification in two application domains. We provide empirical evidence on the adequacy of fuzzy quantifica...
Article
Full-text available
Accuracy in processing time estimation of different manufacturing operations is fundamental to get more competitive prices and higher profits in an industry. The manufacturing times of a machine depend on several input variables and, for each class or type of product, a regression function for that machine can be defined. Time estimations are used...
Article
A methodology for learning behaviors in mobile robotics has been developed. It consists of a technique to automatically generate input–output data plus a genetic fuzzy system that obtains cooperative weighted rules. The advantages of our methodology over other approaches are that the designer has to choose the values of only a few parameters, the o...
Conference Paper
Full-text available
In complex systems it often occurs that relevant information about the system state and behavior is provided by groups of low-level variables rather than single variables. This grouping into high-level variables introduces a hierachy in the knowledge that can only be captured by means of rules involving propositions with a representation capability...
Article
The localization of a mobile robot in a real environment is a complex task. In this paper, an algorithm that solves the global localization is presented. The proposal is based on a merit function that ranks different possible poses obtained from the acquired image, together with an iterative process for the minimization of that function using a par...
Article
Full-text available
The localization of a mobile robot in a real environment is a complex task. In this paper, an algorithm that solves the global localization is presented. The proposal is based on a merit function that ranks different possible poses obtained from the acquired image, together with an iterative process for the minimization of that function using a par...
Conference Paper
Full-text available
Machine scheduling is a critical problem in industries where products are custom-designed. The wide range of products, the lack of previous experiences in manufacturing, and the several conflicting criteria used to evaluate the quality of the schedules define a huge search space. Furthermore, production complexity and human influence in each manufa...
Conference Paper
Full-text available
Accuracy in processing time estimation of manufacturing operations is fundamental to achieve more competitive prices and higher profits in an industry. The manufacturing times of a machine depend on several input variables and, for each class or type of product, a regression function for that machine can be defined. Time estimations are used for im...
Article
Full-text available
This work presents a localization system for a robot guide on a crowded environment based on omnidirec-tional vision and a map of ceiling landmarks. The developed ap-proach uses a Monte Carlo particle filter to manage uncertainty, both on observations and control, in order to track the position of the robot. We describe how landmarks are detected o...
Article
Full-text available
This paper presents a methodology for the design of fuzzy controllers with good interpretability in mobile robotics. It is composed of a technique to automatically generate a training data set plus an efficient algorithm to learn fuzzy controllers. The proposed approach obtains a highly interpretable knowledge base in a very reduced time, and the d...
Conference Paper
Full-text available
Detection of people and other moving objects is fundamental for the development of tasks by an autonomous mobile robot, and principally for human-robot interaction. In this paper we present an evolutionary algorithm to learn a pattern classifier system based on the quantified fuzzy temporal rules (QFTRs) model, for the detection of moving objects u...
Article
The design of fuzzy controllers for the implementation of behaviors in mobile robotics is a complex and highly time-consuming task. The use of machine learning techniques, such as evolutionary algorithms or artificial neural networks for the learning of these controllers allows to automate the design process. In this paper, the automated design of...
Conference Paper
Full-text available
Mobile robots operating in populated environments typically can improve their service and navigation behavior when they know where people are in their vicinity and in which direction they are heading. In this paper we present an algorithm for tracking clusters of people using multiple hypothesis tracking (MHT). The motivation for our approach is th...
Conference Paper
Full-text available
This paper describes an adaptive evolutionary approach to the problem of the production planning task in the wood furniture industry. The objective is to schedule new incoming orders and to regenerate the scheduling for already existing orders when necessary. Complexity and uncertainty of this task promotes the use of an hybrid solution that combin...
Article
Full-text available
The design of fuzzy controllers for the implementation of behaviors in mobile robotics is a complex and highly time-consuming task. The use of machine learning techniques such as evolutionary algorithms or artificial neural networks for the learning of these controllers allows to automate the design process. In this paper, the automated design of a...
Conference Paper
Full-text available
A methodology for learning behaviors in mobile robotics has been developed. The algorithm is based on obtaining co-operative rules with weights, and uses a genetic algorithm to do the combinatorial search. The methodology has been em-ployed to learn the wall-following b