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A visual tool for monitoring and detecting anomalies in robot performance
No full textIn robotic systems, both software and hardware components are equally important. However, scant attention has been devoted until now in order to detect anomalies/failures affecting the software component of robots while many proposals exist aimed at detecting physical anomalies. To bridge this gap, the present paper focuses on the study of anomalies affecting the software performance of a robot by using a novel visualization tool. Unsupervised visualization methods from the machine learning field are applied in order to upgrade the recently proposed Hybrid Unsupervised Exploratory Plots (HUEPs). Furthermore, Curvilinear Component Analysis and t-distributed stochastic neighbor embedding are added to the original HUEPs formulation and comprehensively compared. Furthermore, all the different combinations of HUEPs are validated in a real-life scenario. Thanks to this intelligent visualization of robot status, interesting conclusions can be obtained to improve anomaly detection in robot performance.Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature
Experimental verification of a beam element for thin-walled beams with torsion, distortion, and shear lag
No full textBeam-type elements based on the theories of Euler–Bernoulli, Timoshenko, and Vlasov are widely used in civil engineering. However, shell and solid finite elements are often used when the effects on normal stresses of either shear deformation or distortion are considered important. Numerically validated in an earlier study with finite element models for shell-type structures, the same one-dimensional finite element model is further developed in this study with a low number of degrees of freedom per node that includes all the structural mechanisms without using 3D finite element models. Laboratory testing of an instrumented steel box girder is conducted, to improve validation of the goodness of fit of the finite element model with real structural behavior.This work was supported by the Junta de Castilla y León (Spain), provided through research project BU062G19
Intermunicipal Cooperation
No full textCooperation and intermunicipalism are two essential concepts in the study of the current
reality of local governments in Spain. Taking into account the complex territorial organization of the
state and analyzing the current political-administrative framework, it is increasingly necessary to find
mechanisms for intergovernmental and administrative relations that allow us to respond to the needs
of citizens with greater dynamism. The traditional "subjective" analysis, in which each municipality
represents a unit that manages the common good in a grouped manner, has been left behind and new
"functional" formulas are imposed, in which these municipalities no longer work in isolation, but in
relation to others based on criteria of necessity and opportunity. Moreover, this intermunicipal
cooperation can take place in a variety of forms, types and legal regulations. The chapter analyzes its
viability in light of the major systemic challenges that occur at this level of government, such as the
hyperfragmentation and dispersion of local government, the chronic insufficiency of local entities to
ensure the provision of their public services after multiple legal reforms, and the social commitments
that are established in a context of multilevel governance. It lists some of the political challenges posed
by inter-municipal cooperation formulas such as the opacity of their structures, the dilution of political
responsibility for the management of public services or the lack of direct democratic legitimacy, among
others. The chapter ends with some recommendations on how these relations can be addressed from
our institutional framework, with special reference to the geographical and demographic problems
derived from the configuration of the Spanish local structure
Martín de Vos, los Sadeler, Federico Zuccaro, Cornelis Cort, los Wierix y Michelangelo Marinelli en el retablo mayor de Extramiana
Get PDFEl derecho de acceso a los elementos esenciales para impugnar la detención en el marco del derecho a la defensa
Get PDFTrabajo presentado en: VIII Jornadas de Doctorandos de la Universidad de Burgos, realizado en los días 25 y 26 de abril de 2022, organizado por la Universidad de BurgosTodo el ejercicio normativo tanto nacional como europeo, desde los
artículos 17 y 24 de la Constitución, hasta la Directiva 2012/13/UE del
Parlamento Europeo y del Consejo, de 22 de mayo, relativa al derecho a la
información en los procesos penales, pasando por la Circular 3/2018, de 1
de junio de la Fiscalía General del Estado, respecto del derecho de defensa,
y los artículos 118, 505.3 y 520.2.d) de la Ley de Enjuiciamiento Criminal,
plantean la necesidad de afrontar como parte esencial del derecho de defensa
y del derecho a un proceso equitativo, referido a las personas privadas de
libertad, el derecho de acceso al expediente para poder impugnar la legalidad
de la detención
Simultaneous class-modelling in chemometrics: A generalization of Partial Least Squares class modelling for more than two classes by using error correcting output code matrices
Get PDFThe paper presents a new methodology within the framework of the so-called compliant class-models, PLS2-CM,
designed with the purpose of improving the performance of class-modelling in a setting with more than two
classes. The improvement in the class-models is achieved through the use of multi-response PLS models with the
classes encoded via Error-Correcting Output Codes (ECOC), instead of the traditional class indicator variables
used in chemometrics.
The proposed PLS2-CM entails a decomposition of a class-modelling problem into a series of binary learners,
based on a family of code matrices with different code length, which are evaluated to obtain simultaneous
compliant class-models with the best performance.
The methodology develops both a new encoding system, based on multi-criteria optimization to search for
optimal coding matrices, and a new decoding system, based on probability thresholds to assign objects to classmodels. The whole procedure implies that the characteristics of the dataset at hand affect the final selection of the
coding matrix and therefore of built class-models, thus giving rise to a data-driven strategy.
The application of PLS2-CM to a variety of cases (controlled data, experimental data and repository datasets)
results in an enhanced class-modelling performance by means of the suggested procedure, as measured by the
DMCEN (Diagonal Modified Confusion Entropy) index and by sensitivity-specificity matrices. The predictive
ability of the compliant class-models has been evaluated.This work is part of the project with reference BU052P20 financed by Junta de Castilla y Leon, Conserjería de Educacion with the aid of European Regional Development Funds
