Antonio Benitez | Universidad Iberoamericana Puebla (original) (raw)

Papers by Antonio Benitez

Universidad Tecnológica de la Mixteca eBooks, Feb 1, 2018

Computación y Sistemas, 2017

Path planning concerns about finding a route for an agent, such that this agent move along the ro... more Path planning concerns about finding a route for an agent, such that this agent move along the route from an initial to a final goal. Some additional constraints may also have to be satisfied for the agent, such as avoiding obstacles or collisions. Path planning has been recently studied in the context of linear temporal logic with great success. Expressive constraint specifications involving temporal ordering can be succinctly expressed by logic formulas, whereas environments are abstracted as transition systems. The plan is obtained by counterexample generation in a model checking tool: finding a path, if any, such that a given formula (constraints) satisfies a given model (agent environment). Due to the expressive power of linear temporal logic, only linear planning has mostly been considered so far, that is, plans corresponding to tasks to be performed in a linear successive order. In this work, we study branching shaped (tree) plans in the context of the µ-calculus, an expressive modal logic which subsumes many program logics such as LTL, PDL and CTL. Branching plans can be succinctly expressed by logic formulas so that a team of mobile devices can concurrently satisfy the plan. In the current work, we provide a plan generator based on a model checking algorithm for the µ-calculus. We show the algorithm is sound and complete, that is, for any environment, there a satisfying plan for a given set of constraints, if and only if, the plan generator succeeds.

Ciencias De La Ingenieria Y Tecnologia Handbook T Vii Congreso Interdisciplinario De Cuerpos Academicos 2014 Isbn 978 607 8324 24 8 Pags 67 77, 2014

El presente trabajo describe la obtención del modelo cinemático directo e inverso para un robot m... more El presente trabajo describe la obtención del modelo cinemático directo e inverso para un robot manipulador de 5 grados de libertad llamado ROMMEL (Robot manipulador con movimiento en línea). El objetivo es encontrar la posición del efector final, a través de sus coordenadas articulares del mismo. Con el fin de entender el comportamiento del manipulador se desarrolla un prototipo a través de una herramienta gráfica.

Signal Processing, Pattern Recognition and Applications / 779: Computer Graphics and Imaging, 2012

ABSTRACT This paper presents experimental results of a method for image-based classification of d... more ABSTRACT This paper presents experimental results of a method for image-based classification of diabetic retinopathy. In our study we categorize the disease into two classes: diabetic retinopathy non-proliferative and diabetic retinopathy proliferative. The method reduces the dimensionality of the images and finds features using the statistical method of principal component analysis (PCA). Then, it classifies the images using decision trees, the naive Bayes classifier, neural networks, k-nearest neighbors and support vector machines. Preliminary results show that the naive Bayes classifier obtains the best results with 73.4% of accuracy, and 68.4% for F-measure, using a data set of 151 images and testing with different resolutions.

2012 12th International Conference on Intelligent Systems Design and Applications (ISDA), 2012

ABSTRACT In this paper we present experimental results of an automated method for image-based cla... more ABSTRACT In this paper we present experimental results of an automated method for image-based classification of diabetic retinopathy. The method is divided into three stages: image processing, feature extraction and image classification. In the first stage we have used two image processing techniques in order to enhance their features. Then, the second stage reduces the dimensionality of the images and finds features using the statistical method of principal component analysis. Finally, in the third stage the images are classified using machine learning algorithms, particularly, the naive Bayes classifier, neural networks, k-nearest neighbors and support vector machines. In our experimental study we classify two types of retinopathy: non-proliferative and proliferative. Preliminary results show that k-nearest neighbors obtained the best result with 68.7% using f-measure as metric, for a data set of 151 images with different resolutions.

KSII Transactions on Internet and Information Systems, 2012

The preservation of temporal dependencies among a group of processes that exchange continuous med... more The preservation of temporal dependencies among a group of processes that exchange continuous media at runtime is a key issue for emerging mobile distributed systems (MDS), such as monitoring of biosignals and interactive multiuser games. Although several works are oriented to satisfy temporal dependencies, most of them are not suitable for MDSs. In general, an MDS is characterized by the absence of global references (e.g. shared memory and wall clock), host mobility, limited processing and storage capabilities in mobile hosts, and limited bandwidth on wireless communication channels. This paper proposes an asymmetric synchronization protocol to be used at runtime in an MDS without using a common reference. One main aspect of our synchronization protocol is that it translates temporal constraints to causal dependencies of the continuous media data as seen by the mobile hosts. We simulate the protocol by considering a cellular network environment and by using MPEG-4 encoders. The simulation results show that our protocol is effective in reducing the synchronization error. In addition, the protocol is efficient in terms of processing and storage costs at the mobile devices, as well as in the overhead attached per message across the wired and wireless channels.

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers, 2011

Robots with articulated morphology has acquired ma jor importance because of representing la basi... more Robots with articulated morphology has acquired ma jor importance because of representing la basic applica tion to scale to highly articulated chains. Hence, this paper is focus to present how manipulate kinematic chains with six degrees of freedom, in particular wcry the model associ ated to PUMA 560 robot. Techniques to compute forward and irwerse kinematic are described. Besides, a platform to simulate on three dimension space is presented as a impor tant tool to verifY the movements programmed on the robot. Interesting results from irwerse kinematic applications are shown.

18th International Conference on Electronics, Communications and Computers (conielecomp 2008), 2008

This paper describes the implementation of an localiza-tion control for LEGO MindStorms RCX archi... more This paper describes the implementation of an localiza-tion control for LEGO MindStorms RCX architecture. Tak-ing advantage of this control, we describe: why a differen-tial architecture was selected to design a vehicle, and how a navigation algorithm was implemented to find a ...

Robot Localization and Map Building, 2010

2014 International Conference on Electronics, Communications and Computers (CONIELECOMP), 2014

Due to the nice balance between the expressive power and the computational cost of associated alg... more Due to the nice balance between the expressive power and the computational cost of associated algorithms, propositional temporal logic (PTL) has recently been used with great success as a specification language for robot motion planning, which is the problem of finding a collision-free route from an initial to a final configuration in a given environment. Elaborated specifications involving temporal ordering such as sequencing or coverage can be succinctly expressed by PTL formulae. The generation of plans satisfying PTL formulae are then reduced to the model checking problem, which concerns the satisfaction of PTL formulae with respect to a given model (in this case the environment). However, in case there is not a plan satisfying the given specification in the current environment, one may also be interested in finding a plan satisfying such specification in some other environment. In the present work, this problem is studied in the context of PTL specifications enriched with past operators. These constructs are used to express backward navigation in the environment. Other interesting reasoning problems such as the equivalence or subsumption of specifications are also studied.

Lecture Notes in Computer Science, 2010

In this paper we present an experimental study of the performance of six machine learning algorit... more In this paper we present an experimental study of the performance of six machine learning algorithms applied to morphological galaxy classification. We also address the learning approach from imbalanced data sets, inherent to many real-world applications, such as astronomical data analysis problems. We used two over-sampling techniques: SMOTE and Resampling, and we vary the amount of generated instances for classification. Our experimental results show that the learning method Random Forest with Resampling obtain the best results for three, five and seven galaxy types, with a F-measure about .99 for all cases.

CONIELECOMP 2012, 22nd International Conference on Electrical Communications and Computers, 2012

In this paper It is introduced an automated control system for the sterilization process of biolo... more In this paper It is introduced an automated control system for the sterilization process of biological material. The proposed system is composed of four modules: flame detection, pressure sensor, Gas Control Module and CPU Module. This System is based on Arduino Board. Arduino is an Open Hardware platform that allows a fast prototype development, Arduino microcontroller is programmed on C++.

Lecture Notes in Computer Science, 2014

The voting algorithms model (AlVot) allows building supervised classification methods based in pa... more The voting algorithms model (AlVot) allows building supervised classification methods based in partial analogies. These algorithms use a collection of features subsets as support to classify a new object, which is called support set system. Each support set consists of selected features that are intended to discriminate the class of each object in the learning matrix. In this paper, a new model called AlVot By Class (AlVot BC) is proposed. It is aimed to build a support set system by class, so that each class-specific support set provides evidence of the membership of an object to the class represented by that support set. The classification performance of the proposed algorithm is evaluated on seven databases from the UCI Machine Learning Repository. The results show a clear improvement over its analogous algorithm based on AlVot.

Engineering Letters, 2007

DOAJ is hosted by Lund University, Sweden DOAJ acknowledges support from INASP DOAJ acknowledges ... more DOAJ is hosted by Lund University, Sweden DOAJ acknowledges support from INASP DOAJ acknowledges support from the National Library of Sweden DOAJ acknowledges support from Swedish Library Association Sponsor of Long Term Archiving

Aslib Proceedings, 2012

PurposeThis paper seeks to focus on the problems of integrating information from open, distribute... more PurposeThis paper seeks to focus on the problems of integrating information from open, distributed scholarly collections, and on the opportunities these collections represent for research communities in developing countries. The paper aims to introduce OntOAIr, a semi‐automatic method for constructing lightweight ontologies of documents in repositories such as those provided by the Open Archives Initiative (OAI).Design/methodology/approachOntOAIr uses simplified document representations, a clustering algorithm, and ontological engineering techniques.FindingsThe paper presents experimental results of the potential positive impact of ontologies and specifically of OntOAIr on the use of collections provided by OAI.Research limitations/implicationsBy applying OntOAIr, scholars who frequently spend many hours organizing OAI information spaces will obtain support that will allow them to speed up the entire research cycle and, expectedly, participate more fully in global research communiti...

Thesaurus have been widely used to provide structured vocabularies to describe books, however, th... more Thesaurus have been widely used to provide structured vocabularies to describe books, however, they only provide part of the required knowledge for semantic web contexts. This paper proposes the use of ontologies and standard metadata to model semantic descriptions of image collections that refers to book covers. Ontologies represent keyword-based organizations. The classes and the hierarchical relationships of the ontology allow users to query images by topic with common search engines. The greenBookC collection is used as a test bed. This collection is published and maintained in Greenstone, a suite of software for digital libraries.

The construction of a digital collection from the beginning implies technical decisions such as c... more The construction of a digital collection from the beginning implies technical decisions such as choosing format and design of documents, the selection of search and browsing mechanisms to access data and metadata, and the use of an architecture which support collaborative work of authors. This paper describes CORTUPP, a digital collection of technical reports. CORTUPP uses REC, an external service to support collaborative labeling and ranking of documents.

wseas.us

Abstract:-This paper presents a new strategy for computing useful configurations; using a probabi... more Abstract:-This paper presents a new strategy for computing useful configurations; using a probabilistic roadmap method for free flying objects in a known indoor environment. We introduce two geometric features based on straightness and volume characteristics, which ...

Procedia Engineering, 2011

Robotic application becomes important inside the automation task. Hence, this paper presents the ... more Robotic application becomes important inside the automation task. Hence, this paper presents the implementation of a graphic environment to simulate reactive behavior for mobile robots. Architecture and initial functionalities are described in order to show the importance of developing tools capable to simulate operations for mobile robots. Motor traction and sensor reactive behavior are implemented on real robotic platform. On the other hand, simulation for these functionalities is developed on virtual environment. Interesting results are presented on both, simulation and real platform.