Roberto Parra Sepúlveda

Roberto Parra Sepúlveda
University of Bío-Bío | UBB

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130
Publications
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Publications

Publications (130)
Article
Full-text available
La imposibilidad de poder predecir con exactitud los precios de los activos financieros sigue siendo un desafío para cualquier inversionista. Existiendo a su vez, distintos enfoques que intentan a los menos predecir la dirección que pueden presentar los precios de los activos, con el objetivo de anticiparse al comportamiento del mercado y poder obt...
Article
In this paper, a membrane evolutionary artificial potential field (memEAPF) approach for solving the mobile robot path planning problem is proposed, which combines membrane computing with a genetic algorithm (membrane-inspired evolutionary algorithm with one-level membrane structure) and the artificial potential field method to find the parameters...
Article
This paper introduces a novel methodology based on quantum signal processing (QSP) and cellular automata (CA) to detect microcalcifications in mammograms. The methodology includes algorithms to detect microcalcification in binary and grayscale images. Essentially, quantum algorithms are used to improve edge detection results and CA are used to enha...
Article
Full-text available
Population pharmacokinetic (PopPK) models allow researchers to predict and analyze drug behavior in a population of individuals and to quantify the different sources of variability among these individuals. In the development of PopPK models, the most frequently used method is the nonlinear mixed effect model (NLME). However, once the PopPK model ha...
Conference Paper
Nowadays, there is need to analyze data in such a way as to consider the interrelationships between variables that describe the behavior of such data. The analysis of multivariate data refers precisely to a wide variety of methods of description or inference for the analysis of these data so that the inter-relationships between the variables can be...
Conference Paper
The developing of techniques for image processing based on quantum-inspired algorithms is a recent subject of study with promising results. Quantum-inspired edge detecting algorithms are a novel approach to detect fine details, especially in medical images. Since quantum inspired algorithms based on quantum measurement are susceptible to some noise...
Conference Paper
Quantum computing is inspired in quantum mechanical phenomena and uses superposition and entanglement to process data at very high speeds outperforming conventional computers on some tasks. At present, the access for testing algorithms in commercial quantum computers is too expensive for most institutions; hence, it is very important to have altern...
Chapter
This work proposes a fuzzy approach for path following of a nonholonomic mobile robot, based on the information of a frontal camera. The proposed methodology is divided in three stages. The first stage gets the image of the frontal camera and processes the image to detect and isolate the desired path to follow and eliminate non-useful information....
Chapter
Path planning is a fundamental task in autonomous mobile robot navigation and one of the most computationally intensive tasks. In this work, a parallel version of the bacterial potential field (BPF) method for path planning in mobile robots is presented. The BPF is a hybrid algorithm, which makes use of a bacterial evolutionary algorithm (BEA) with...
Chapter
Population pharmacokinetics (PopPK) models are used to characterize the behavior of a drug in a particular population. Construction of PopPK models requires the estimation of optimal PopPK parameters, which is a challenging task due to the characteristics of the PopPK database. Several estimation algorithms have been proposed for estimating PopPK p...
Chapter
In the early diagnosis of breast cancer, computer-aided diagnosis (CAD) systems help in the detection of abnormal tissue. Microcalcifications can be an early indication of breast cancer. This work describes the implementation of a new method for the detection of microcalcifications in mammographies. The images were obtained from the mini-MIAS datab...
Conference Paper
Full-text available
A visual approach in environment recognition for robot navigation is proposed. This work includes a template matching filtering technique to detect obstacles and feasible paths using a single camera to sense a cluttered environment. In this problem statement, a robot can move from the start to the goal by choosing a single path between multiple pos...
Article
Full-text available
In this paper, an innovative method to find the workspace of a hexapod mobile robot is presented. Differently, to the current state of the art methods that allows to determine the working spaces for walking in straight line, the proposed method allows estimating the optimal set of configurations for walking in any viable direction. The method takes...
Poster
Full-text available
In this work, a parallel implementation on GPU of the bacterial potential field (BPF) algorithm for robot path planning is presented. The BPF algorithm is employed to ensure a feasible, smooth, and safe path for robot navigation. The BPF algorithm employs concepts from the artificial potential field (APF) method, mathematical programming, and meta-...
Chapter
This work presents a high-performance implementation of a path planning algorithm based on parallel pseudo-bacterial potential field (parallel-PBPF) on a graphics processing unit (GPU) as an improvement to speed up the path planning computation in mobile robot navigation. Path planning is one of the most computationally intensive tasks in mobile ro...
Conference Paper
Full-text available
In this work, an extension of the parallel evolutionary artificial potential field (PEAPF) for on-line mobile robot path planning is presented. The PEAPF algorithm is based on the evolutionary artificial potential field (EAPF) method to derive optimal potential field functions using evolutionary computation. And, due to the parallel computation, th...
Conference Paper
Full-text available
In this work, an embedded implementation of a parallel path planning algorithm for mobile robots based on evolutionary artificial potential field (EAPF) is presented. The parallel-EAPF algorithm was designed to be executed on an embedded multi-core CPU (central processing unit) and on an embedded GPU (graphics processing unit); capabilities that ar...
Conference Paper
Full-text available
Computer vision is an important task in robotics applications. This work proposes an approach for autonomous mobile robot navigation using the integration of the template-matching filters for obstacle detection and the evolutionary artificial potential field method for path planning. The recognition system employs a digital camera to sense the envi...
Article
At present, no algorithm can solve Combinatorial Optimization Problems (COPs) in polynomial time. The Traveling Salesman Problem (TSP) is an NP-hard COP example widely used as a test problem since it is mathematically equivalent to others in diverse fields. State of the art algorithms provide low quality solutions for large instances at high comput...
Poster
Full-text available
Robotics is one of the most important technologies since it is a fundamental part in automation and manufacturing process. In particular, there is an increasing demand of autonomous mobile robots in various field of application. This work addresses the problem of autonomous navigation of a mobile robot, to take it from position A to position B with...
Article
To cope with drastically increasing user demands for spectrum resource, spectrum sharing is a strategy that greatly alleviates scarcity. However, without a proper spectrum sharing scheme, the use of concurrently shared channels between primary (or licensed) users and secondary (or unlicensed) users within one cell can lead to harmful interference,...
Conference Paper
Full-text available
In this paper, a comparative performance analysis for a parallel path planning algorithm for mobile robots based on evolutionary artificial potential field (EAPF) is shown. The algorithm was designed to be executed on a multi-core CPU and on a graphics processing unit (GPU). The path planning algorithm is based on the EAPF method and it is capable...
Article
Full-text available
This paper introduces the pseudo-bacterial potential field (PBPF) as a new path planning method for autonomous mobile robot navigation. The PBPF allows us to obtain an optimal and safe path, in contrast to the classical potential field approach which is not suitable for path planning because it lacks a means of obtaining the optimal proportional ga...
Chapter
Full-text available
This work presents the implementation of the Parallel Evolutionary Artificial Potential Field (PEAPF) on a Graphics Processing Unit (GPU) as an improvement to speed up the path planning computation in mobile robot navigation. Simulation results to validate the analysis and implementation are provided; they were specifically made to show the effecti...
Chapter
Nonlinear mixed effect model is the most used technique when developing a pharmacokinetic population model (PopPK), the characterization of a drug disposition into the body and taking decisions related to the dose adjustments. The covariate model is used to establish a relationship between the model parameters and the characteristics of the patient...
Chapter
The potential processing power of a quantum computer is quantum parallelism, but significant disadvantages of quantum simulators are processing speed and memory. In this work, we illustrate with a Quantum Genetic Algorithm (QGA) the advantages of using the software platform of Compute Unified Device Architecture (CUDA) from NVIDIA, in special, the...
Article
Full-text available
The growing development of applications, utilization time, technologies, and data rates are increasing the demands for and value of the finite spectral resources. It creates an idea of spectrum scarcity; however, several studies concluded that the shortage of the spectrum is a spectrum access problem since certain bands are used sporadically while...
Presentation
Full-text available
This work addresses the problem of autonomous navigation of a mobile robot to take it from one position to another one without the assistance of a human operator, in particular, planning a reachable set of mobile robot configurations to accomplish its mission. Path planning of a mobile robot is to determine a collision-free path from a starting poi...
Article
Full-text available
For the signal classification of eye blinking andmuscular pain in the right arm caused by an externalagent, two models of artificial neural network architecturesare proposed, specifically, the perceptron multilayerand an adaptive neurofuzzy inference system. Bothmodels use supervised learning. The ocular and electroencephalographictime-series of 15...
Article
In this paper, optimal paths in environments with static and dynamic obstacles for a mobile robot (MR) are computed using a new method for path planning. The proposed method called Bacterial Potential Field (BPF) ensures a feasible, optimal and safe path. This novel proposal makes use of the Artificial Potential Field (APF) method with a Bacterial...
Article
In this paper, we introduce the concept of Parallel Evolutionary Artificial Potential Field (PEAPF) as a new method for path planning in mobile robot navigation. The main contribution of this proposal is that it makes possible controllability in complex real-world sceneries with dynamic obstacles if a reachable configuration set exists. The PEAPF o...
Chapter
Full-text available
This chapter presents the design of a system of fuzzy controllers for a differential mobile robot that was developed to navigate in outdoors environments over a predetermined route from point A to point B without human intervention. The mobile robot has the main features of geo-navigation to obtain its current position during the navigation, obstac...
Chapter
For the identification of muscular pain caused by a puncture in the right arm and eye blink, electroencephalographic (EEG) signals are analyzed in the frequency and temporal domain. EEG activity was recorded from 15 subjects in range of 23–25 years of age, while pain is induced and during blinking. On the other hand, EEG was converted from time to...
Article
The legged robots have emerged by the necessity of vehicles capable of travel and access safely on natural or unstructured terrains, in which vehicles with traditional travel systems (like the wheels) are unable to access, or if they achieve, they move on them with very low efficiency. However, despite the advantages of mobile robots with legs, the...
Poster
Full-text available
This work presents the implementation of parallel evaluation of coefficients for a navigation system providing a solution in the navigation area of autonomous mobile robots. The idea is make use of parallel computation as a tool to improve the performance and accelerate the evaluation of the coefficients in the system. - See more at: http://on-dema...
Article
During the last few years cellular networks bave increased the use of spectrum resources due to the success of mobile broadband services. Making new exclusive spectrurn available to meet traffic demand is challenging since spectrum resources are finite therefore costly. Cognitive radio (CR) technology along with spectrurn sharing strategies is prop...
Chapter
In this chapter, we present the main programming code to implement the Reduce-Optimize-Expand (ROE) methodology ; it is based on the concept of Artifi cial Immune Systems (AIS). This method allows reducing problem size of Combinatorial Optimization Problems (COP s); hence, the complexity of the problem is reduced. To explain the methodology, the cl...
Chapter
Full-text available
During the last few years cellular networks have increased the use of spectrum resources due to the success of mobile broadband services. Mobile devices generate more data than ever before, facing the way cellular networks are deployed today to meet the ever increasing traffic demand. Making new exclusive spectrum available to meet traffic demand i...
Chapter
In this chapter, we shall explore the fi eld of Artifi cial Immune Systems (AIS), a series of algorithms that are inspired by the workings of the human immune system and their extrapolation to the world of mathematics, computer science and engineering, from their conception to what the future holds. Our goal is to give readers a notion of the histo...
Chapter
Full-text available
This chapter presents the implementation of a high-performance navigation system providing an alternative solution in the navigation area of mobile robots. -- See more at: http://www.crcpress.com/product/isbn/9781466586017
Chapter
Full-text available
In this chapter, the novel microprocessor architectures for general purpose computers are explored. The aim is to emphasize their main characteristics that allow achieving high-performance computations. -- See more at: http://www.crcpress.com/product/isbn/9781466586017
Article
This paper presents the navigation software called Ant Colony Test Center designed to teach the different stages involved in mobile robotics. The navigation problem consists of the four subproblems: world perception, path planning, path generation, and path tracking. This software based on ant colonies has two operational modes: virtual and on-line...
Chapter
NSGA-II is one of the most popular algorithms for solving Multiobjective Optimization Problems. It has been used to solve different real-world optimization problems. However, NSGA-II has been criticized for its high computational cost and bad performance on applications with more than two objective functions. In this paper, we propose a high perfor...
Chapter
In this paper, the methodology for the design of fuzzy controllers for softcore processors, such as the Xilinx Microblaze embedded in the VIRTEX5 FPGA, is proposed to regulate the angular position of the axes of an experimental platform. The platform uses servomotors to control the rotational movements of the X-Y-Z axes, this with respect to the ea...
Chapter
We used the clonal selection algorithm (CSA) to generate optimal or nearly optimal solutions for solving combinatorial optimization problems, the algorithm was applied to generate quality G-Code sequences for a CNC Mill machine tool problem. We validated the software using the Traveler Salesman Problem (TSP) and demonstrated that the algorithm can...
Article
We present a novel approach for reducing the computational time of Combinatorial Optimization Problems (COPs). The approach is inspired by the use of Artificial Vaccines, a concept that is classified as being part of a set of algorithms called Artificial Immune Systems (AIS). Artificial Vaccines are able to reduce the computational time and quality...
Article
A general method to reduce computing time for large combinatorial optimization problems by the use of a novel proposal is presented. It is based on reducing the problem complexity by the systematic application of vaccines, it is inspired in the concept of immunization derived from Artificial Immune Systems. The method can be applied practically to...
Article
Full-text available
In this paper, an efficient methodology to generate optimal and/or quasi-optimal sequences of G commands to minimize the manufacturing time is presented. Our solution starts from original G-codes provided by application CAD/CAM software. Here, first we tackled the problem of reducing the time of the travel path for drilling of an industrial robotic...
Article
Full-text available
This paper presents a novel method to achieve stereoscopic vision for mobile robot (MR) navigation with the advantage of not needing camera calibration for depth (distance) estimation measurements. It uses the concept of the adaptive candidate matching window for stereoscopic correspondence for block matching, resulting in improvements in efficienc...
Article
Full-text available
This paper presents a methodology to integrate a fuzzy coprocessor described in VHDL (VHSIC Hardware Description Language) to a soft processor embedded into an FPGA, which increases the throughput of the whole system, since the controller uses parallelism at the circuitry level for high-speed-demanding applications, the rest of the application can...
Article
Full-text available
Following the path toward 4 G set by its wireless siblings LTE and WiMax, IEEE 802.11 technology, universally known as WiFi, is evolving to become a high data rate QoS-enabled mobile platform. The IEEE 802.11n standard yields data rates up to 450 Mbp s and the 802.11e standard ensures proficient QoS for real-time applications. Still in need of bett...
Article
The main goal of this paper is to show that interval type-2 fuzzy inference systems (IT2 FIS) can be used in applications that require high speed processing. This is an important issue since the use of IT2 FIS still being controversial for several reasons, one of the most important is related to the resulting shocking increase in computational comp...
Article
Full-text available
This paper presents a methodology that reduces computing time of combinatorial optimization problems that can be applied to any population based algorithm such as: genetic algorithms, artificial immune systems, ant colony optimization, etc. To demonstrate the usefulness of the proposed methodology an Artificial Immune System was used since we used...
Article
Full-text available
Data transmission systems based on the IEEE 802.11 standard, universally known as WiFi wireless communications, is strengthening its already dominant position as the powerhorse of wireless Internet in homes and public hot spots due to the new IEEE 802.11n standard, capable of delivering up to 450 Mbps. 802.11 standard was initially designed without...
Article
Full-text available
In this paper, we present an efficient solution to determine the best sequence of G commands of a set of holes for a printed circuit board in order to find the hole-cutting sequence that shortens the cutting tool travel path. A Parallel proposal of Ant Colony Optimization was used to find an optimal travel path, then the new G-codes sequence is use...
Article
Full-text available
A method for designing optimal interval type-2 fuzzy logic controllers using evolutionary algorithms is presented in this paper. Interval type-2 fuzzy controllers can outperform conventional type-1 fuzzy controllers when the problem has a high degree of uncertainty. However, designing interval type-2 fuzzy controllers is more difficult because ther...
Article
Full-text available
The design, and software development for coding a high-speed defuzzification stage for a type-2 fuzzy inference system (FIS) based on the average method of two type-1 FIS, and functionality tests are described in this paper. The proposed method is highly efficient in processing time as its development uses parallelism at data level and pipelining,...
Chapter
This paper describes the design of a locomotion controller to regulate the pose of a nonholonomic mobile robot with frontal differential driving wheels, and a swivel castor wheel in rear. Differently to common proposals base on dynamic models, this controller uses the kinematics model and the mobile robot architecture to generate the adequate linea...
Chapter
In this paper, an intelligent method for image contrast enhancement in real time digital video applications is proposed. This new technique is based on the generation of adaptive transfer functions by using Neural Network. The method is designed in order to be implemented in digital television systems, based on Thin Film Transistor Liquid Cristal D...
Chapter
This paper describes a method for obstacle detection, map building and map reconfiguration for autonomous mobile robotic application, this proposal is based on a stereoscopic vision system and epipolar geometry to achieve obstacle detection, map building and map reconfiguration is presented. A tridimensional projection of every scene in front of th...
Chapter
Full-text available
There are many research works that have shown the advantages of type-2 fuzzy inference systems (T2-FIS) handling uncertainty with respect to type-1 fuzzy inference systems (T1-FIS); however, the use of a T2-FIS is still being controversial for several reasons, one of the most important is related to the resulting shocking increase in computational...
Chapter
Full-text available
In this work was shown the design of an stereoscopic vision module for a wheeled mobile robot, suitable to be implemented into an FPGA. The main purpose of the onboard system of the MR is to provide the necessary elements for perception, obstacles detection, map building and map reconfiguration in a tough environment where there are no landmarks or...
Chapter
Full-text available
This work deals with the embedding architecture into an FPGA of a fuzzy locomotion controller for pose regulation of a differential nonholonomic mobile robot. It is presented an standardized design based on the actual and target pose, it does not need any dynamic model to work, the design provides the estimate angular speeds, then using the kinemat...
Chapter
This paper describes the design and implementation of the fuzzification stage for type-1 and type-2 fuzzy inference systems (FIS). A versatile method to calculate the membership values was used, it handles real numbers using decimal floating point binary encoding to calculate the slopes of triangular and trapezoidal membership functions. The design...
Chapter
Full-text available
In this paper an improved high performance type-1 inference engine (IE) is proposed that can be applied with no modifications to the implementation of a type-2 FIS using the average method. The performance of the type-2 FIS will not be diminish for the use of this stage since it is achieved in parallel. The proposals are focused to be implemented i...
Chapter
Full-text available
This paper is focused on the study, analysis and development of code for the defuzzification stage of type-2 fuzzy systems, through the average of two type-1 fuzzy systems. This proposal is based on the average method for systems where the type-2 membership functions of the inputs and output, have no uncertainty in the mean or center. The codificat...