Eduardo Zalama - Academia.edu (original) (raw)

Papers by Eduardo Zalama

Sensors

Nowadays, one of the most important objectives in health research is the improvement of the livin... more Nowadays, one of the most important objectives in health research is the improvement of the living conditions and well-being of the elderly, especially those who live alone. These people may experience undesired or dangerous situations in their daily life at home due to physical, sensorial or cognitive limitations, such as forgetting their medication or wrong eating habits. This work focuses on the development of a database in a home, through non-intrusive technology, where several users are residing by combining: a set of non-intrusive sensors which captures events that occur in the house, a positioning system through triangulation using beacons and a system for monitoring the user’s state through activity wristbands. Two months of uninterrupted measurements were obtained on the daily habits of 2 people who live with a pet and receive sporadic visits, in which 18 different types of activities were labelled. In order to validate the data, a system for the real-time recognition of th...

Multimedia Tools and Applications, 2021

Gaze control represents an important issue in the interaction between a robot and humans. Specifi... more Gaze control represents an important issue in the interaction between a robot and humans. Specifically, deciding who to pay attention to in a multi-party conversation is one way to improve the naturalness of a robot in human-robot interaction. This control can be carried out by means of two different models that receive the stimuli produced by the participants in an interaction, either an on-center off-surround competitive network or a recurrent neural network. A system based on a competitive neural network is able to decide who to look at with a smooth transition in the focus of attention when significant changes in stimuli occur. An important aspect in this process is the configuration of the different parameters of such neural network. The weights of the different stimuli have to be computed to achieve human-like behavior. This article explains how these weights can be obtained by solving an optimization problem. In addition, a new model using a recurrent neural network with LSTM...

Simulation Modelling Practice and Theory, 2022

Remote Sensing, 2021

As the basis for analysis and management of heritage assets, 3D laser scanning and photogrammetri... more As the basis for analysis and management of heritage assets, 3D laser scanning and photogrammetric 3D reconstruction have been probed as adequate techniques for point cloud data acquisition. The European Directive 2014/24/EU imposes BIM Level 2 for government centrally procured projects as a collaborative process of producing federated discipline-specific models. Although BIM software resources are intensified and increasingly growing, distinct specifications for heritage (H-BIM) are essential to driving particular processes and tools to efficiency shifting from point clouds to meaningful information ready to be exchanged using non-proprietary formats, such as Industry Foundation Classes (IFC). This paper details a procedure for processing enriched 3D point clouds into the REVIT software package due to its worldwide popularity and how closely it integrates with the BIM concept. The procedure will be additionally supported by a tailored plug-in to make high-quality 3D digital survey ...

Robotics and Autonomous Systems, 2021

Abstract This work presents a novel software architecture to autonomously identify and evaluate t... more Abstract This work presents a novel software architecture to autonomously identify and evaluate the gymnastic activity that people are carrying out. It is composed of three different interconnected layers. The first corresponds to a Multilayer Perceptron (MLP) trained from a set of angular magnitudes derived from the information provided by the OpenPose library. This library works frame by frame, so some postures may be incorrectly detected due to eventual occlusions. The MLP layer makes it possible to accurately identify the posture a person is performing. A second layer, based on a Hidden Markov Model (HMM) and the Viterbi algorithm, filters the incorrect spurious postures. Thus, the accuracy of the algorithm is improved, leading to a precise sequence of postures. A third layer identifies the current exercise and evaluates whether the person is doing it at a correct speed. This layer uses an innovative Modified Levenshtein Distance (MLD), which considers not only the number of operations to transform a given sequence, but also the nature of the elements participating in the comparison. The system works in real time with little delay, thus recognizing sequences of arbitrary length and providing continuous feedback on the exercises being performed. An experiment carried out consisted in reproducing the output of the second layer on an autonomous Pepper robot that can be used in environments where physical exercise is performed, such as a residence for the elderly or others. It has reproduced different exercises previously executed by an instructor so that people can copy the robot. The article analyzes the current situation of the automated gymnastic activities recognition, presents the architecture, the different experiments carried out and the results obtained. The integration of the three components (MLP, HMM and MLD) results in a robust system that has allowed us to improve the results of previous works.

The complexity of robot software systems calls for the use of some well-conceived architecture to... more The complexity of robot software systems calls for the use of some well-conceived architecture together with programming tools that support the architecture. These sets of tools are usually named robot programming frameworks. One common feature of robot architectures is the modular decomposition of systems into simpler and largely independent components. These components implement primitive actions and report events about their state. These modules are usually connected with different inter-process communication mechanisms. There are two basic communication approaches: client/server and publish/subscribe. The robot programming framework proposed here includes a tool (RoboGraph) to program and coordinate the activity (tasks) of these middleware modules. This tool is easily extensible to any architecture that uses a publish/subscribe communication approach. Project developers use the same task programming IDE (RoboGraph) in two different levels. The first one is to program tasks that ...

Healthcare, 2021

This article shows our work for developing an elder care platform for social interaction and phys... more This article shows our work for developing an elder care platform for social interaction and physical and cognitive stimulation using the Pepper robot and Android OS as clients, based on the knowledge acquired on our long-term social robotics research experience. The first results of the user’s acceptance of the solution are presented in this article. The platform is able to provide different services to the user, such as information, news, games, exercises or music. The games, which have a bi-modal way of interacting (speech and a touch screen interface), have been designed for cognitive stimulation based on the items of the mini-mental state examination. The results of the user’s performance are stored in a cloud database and can be reviewed by therapists through a web interface that also allows them to establish customized therapy plans for each user. The platform has been tested and validated, first using adult people and then deployed to an elder care facility where the robot h...

Applied Sciences, 2020

Ancient Egyptians had a complex religion, which was active for longer than the time that has pass... more Ancient Egyptians had a complex religion, which was active for longer than the time that has passed since Cleopatra until our days. One amazing belief was to be buried with funerary statuettes to help the deceased carry out his/her tasks in the underworld. These funerary statuettes, mainly known as shabtis, were produced in different materials and were usually inscribed in hieroglyphs with formulas including the name of the deceased. Shabtis are important archaeological objects which can help to identify the owners, their jobs, ranks or their families. They are also used for tomb dating because, depending on different elements: color, formula, tools, wig, hand positions, etc., it is possible to associate them to a concrete type or period of time. Shabtis are spread all over the world, in excavations, museums or private collections, and many of them have not been studied and identified because this process requires a deep study and reading of the hieroglyphs. Our system is able to so...

Frontiers in Neurorobotics, 2020

Proceedings -- The 27th International Symposium on Automation and Robotics in Construction, Jun 20, 2010

Sensors, 2019

This work presents an integrated Indoor Positioning System which makes use of WiFi signals and RG... more This work presents an integrated Indoor Positioning System which makes use of WiFi signals and RGB cameras, such as surveillance cameras, to track and identify people navigating in complex indoor environments. Previous works have often been based on WiFi, but accuracy is limited. Other works use computer vision, but the problem of identifying concrete persons relies on such techniques as face recognition, which are not useful if there are many unknown people, or where the robustness decreases when individuals are seen from different points of view. The solution presented in this paper is based on an accurate combination of smartphones along with RGB cameras, such as those used in surveillance infrastructures. WiFi signals from smartphones allow the persons present in the environment to be identified uniquely, while the data coming from the cameras allow the precision of location to be improved. The system is nonintrusive, and biometric data about subjects is not required. In this pa...

Robotics, 2019

In this paper, the development of an assistance system for the elderly that combines robots with ... more In this paper, the development of an assistance system for the elderly that combines robots with a network of sensors and actuators is described. The architecture was developed with the aim of interaction. With this reason, the system incorporates particular solutions that are adaptable to the needs of the user, such as a pyramid interaction system, a telepresence robot, a biometric bracelet, and others. In the software, the system is composed of two servers: local and web. The local server is in charge of different modules that interact with direct users and their needs. The web server provides different facilities to external users to access the system remotely. A use case is analyzed where the proposed system is validated.

ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2019

Multimodal Technologies and Interaction, 2018

IFAC Proceedings Volumes, 1998

International Journal of Architectural Heritage, 2017

Sensors (Basel, Switzerland), Jan 20, 2017

In this article, a system for the detection of cracks in concrete tunnel surfaces, based on image... more In this article, a system for the detection of cracks in concrete tunnel surfaces, based on image sensors, is presented. Both data acquisition and processing are covered. Linear cameras and proper lighting are used for data acquisition. The required resolution of the camera sensors and the number of cameras is discussed in terms of the crack size and the tunnel type. Data processing is done by applying a new method called Gabor filter invariant to rotation, allowing the detection of cracks in any direction. The parameter values of this filter are set by using a modified genetic algorithm based on the Differential Evolution optimization method. The detection of the pixels belonging to cracks is obtained to a balanced accuracy of 95.27%, thus improving the results of previous approaches.

Digital Heritage. Progress in Cultural Heritage: Documentation, Preservation, and Protection, 2016

The digital documentation of cultural heritage (CH) often requires interpretation and classificat... more The digital documentation of cultural heritage (CH) often requires interpretation and classification of a huge amount of images. The INCEPTION European project focuses on the development of tools and methodologies for obtaining 3D models of cultural heritage assets, enriched by semantic information and integration of both parts on a new H-BIM (Heritage - Building Information Modeling) platform. In this sense, the availability of automated techniques that allow the interpretation of photos and the search using semantic terms would greatly facilitate the work to develop the project. In this article the use of deep learning techniques, specifically the convolutional neural networks (CNNs) for analyzing images of cultural heritage is assessed. It is considered that the application of these techniques can make a significant contribution to the objectives sought in the INCEPTION project and, more generally, the digital documentation of cultural heritage.