TLFeBOOK ARTIFICIAL INTELLIGENCE RESEARCH AND DEVELOPMENT Frontiers in Artificial Intelligence and Applications FAIA covers all aspects of theoretical and applied artificial intelligence research in the form of monographs, doctoral dissertations, textbooks, handbooks and proceedings volumes. The FAIA series contains several sub-series, including “Information Modelling and Knowledge Bases” and “Knowledge-Based Intelligent Engineering Systems”. It also includes the biannual ECAI, the European Conference on Artificial Intelligence, proceedings volumes, and other ECCAI – the European Coordinating Committee on Artificial Intelligence – sponsored publications. An editorial panel of internationally well-known scholars is appointed to provide a high quality selection. Series Editors: J. Breuker, R. Dieng, N. Guarino, J.N. Kok, J. Liu, R. López de Mántaras, R. Mizoguchi, M. Musen and N. Zhong Volume 131 Recently published in this series Vol. 130. K. Zieliński and T. Szmuc (Eds.), Software Engineering: Evolution and Emerging Technologies Vol. 129. H. Fujita and M. Mejri (Eds.), New Trends in Software Methodologies, Tools and Techniques Vol. 128. J. Zhou et al. (Eds.), Applied Public Key Infrastructure Vol. 127. P. Ritrovato et al. (Eds.), Towards the Learning Grid Vol. 126. J. Cruz, Constraint Reasoning for Differential Models Vol. 125. C K. Looi et al. (Eds.), Artificial Intelligence in Education Vol. 124. T. Washio et al. (Eds.), Advances in Mining Graphs, Trees and Sequences Vol. 123. P. Buitelaar et al. (Eds.), Ontology Learning from Text: Methods, Evaluation and Applications Vol. 122. C. Mancini, Cinematic Hypertext –Investigating a New Paradigm Vol. 121. Y. Kiyoki et al. (Eds.), Information Modelling and Knowledge Bases XVI Vol. 120. T.F. Gordon (Ed.), Legal Knowledge and Information Systems – JURIX 2004: The Seventeenth Annual Conference Vol. 119. S. Nascimento, Fuzzy Clustering via Proportional Membership Model Vol. 118. J. Barzdins and A. Caplinskas (Eds.), Databases and Information Systems – Selected Papers from the Sixth International Baltic Conference DB&IS’2004 Vol. 117. L. Castillo et al. (Eds.), Planning, Scheduling and Constraint Satisfaction: From Theory to Practice Vol. 116. O. Corcho, A Layered Declarative Approach to Ontology Translation with Knowledge Preservation ISSN 0922-6389 Artificial Intelligence Research and Development Edited by Beatriz López Institute of Informatics and Applications, University of Girona, Spain Joaquim Meléndez Institute of Informatics and Applications, University of Girona, Spain Petia Radeva Computer Vision Center & Department of Computer Science, Universitat Autònoma de Barcelona, Bellaterra, Barcelona, Spain and Jordi Vitrià Computer Vision Center & Department of Computer Science, Universitat Autònoma de Barcelona, Bellaterra, Barcelona, Spain Amsterdam • Berlin • Oxford • Tokyo • Washington, DC © 2005 The authors. All rights reserved. No part of this book may be reproduced, stored in a retrieval system, or transmitted, in any form or by any means, without prior written permission from the publisher. ISBN 1-58603-560-6 Library of Congress Control Number: 2005932065 Publisher IOS Press Nieuwe Hemweg 6B 1013 BG Amsterdam Netherlands fax: +31 20 687 0019 e-mail: order@iospress.nl Distributor in the UK and Ireland Distributor in the USA and Canada IOS Press/Lavis Marketing IOS Press, Inc. 73 Lime Walk 4502 Rachael Manor Drive Headington Fairfax, VA 22032 Oxford OX3 7AD USA England fax: +1 703 323 3668 fax: +44 1865 750079 e-mail: iosbooks@iospress.com LEGAL NOTICE The publisher is not responsible for the use which might be made of the following information. PRINTED IN THE NETHERLANDS Artificial Intelligence Research and Development v B. López et al. (Eds.) IOS Press, 2005 © 2005 The authors. All rights reserved. Preface Artificial Intelligence (AI) has been from its beginning the wave of evolution in computer science. It is in good health and a proof of it is the fact that many companies qualify its novelties as ‘smart’ or ‘intelligent’ independently of the features included in them; the term ‘society of knowledge’ has been imposed to draw society nearer to the future and a symbol of breakthrough. From this perspective, AI has reached its maturity and it has exploded into an endless set of sub-areas, getting in touch with all other disciplines to assist situation as- sessment, analysis and interpretation of music, management of environmental and biologi- cal systems, planning trains, routing of communication networks, assisting medical diagno- sis or powering auctions. The wide variety of Artificial Intelligence application areas has meant that AI research- ers often become scattered in different micro specialized conferences. There are few occa- sions where the AI research community joins together, while computer scientists and engi- neers can find a lot of interesting ideas from the cross fertilization of results coming from all of these application areas. The Catalan Association for Artificial Intelligence (ACIA 1 ) is aware of the benefit of this contact and with this aim it organizes an annual conference to promote synergies in the research community of its influence. This book provides a repre- sentative selection of papers resulting from this activity. The advances made by ACIA peo- ple and its influence area have been gathered in this single volume as an update of previous volumes published in 2003 and 2004 (corresponding to series numbers 100 and 113). The book is organized according to the different sessions in which the papers were pre- sented at the Eighth Catalan Conference on Artificial Intelligence, held in Alguer (Italy) on October 26–28 th , 2005. Namely: Neural Networks, Computer Vision, Applications, Ma- chine Learning, Reasoning, Planning and Robotics, and Multi-Agent Systems. Papers have been selected after a double blind review process in which distinguished AI researchers from all over Europe participated. Among the 77 papers received, 26 were selected as oral presentations and 25 as posters. The quality of the papers was high on average, and the se- lection between an oral or a poster session was based on the degree of discussion that a pa- per could generate more than on its quality. All of the papers collected in this volume would be of interest to any computer scientist or engineer interested in AI. We would like to express our sincere gratitude to all the authors and members of the scientific and organizing committees that have made this conference a success. Our special thanks also to the plenary speakers for their effort in preparing the lectures. Alghero, October 2005 Beatriz López (University of Girona) Joaquim Meléndez (University of Girona) Petia Radeva (Computer Vision Center, UAB) Jordi Vitrià (Computer Vision Center, UAB) 1 ACIA, the Catalan Association for Artificial Intelligence, is member of the European Coordinating Committee for Artificial Intelligence (ECCAI). http://www.acia.org. This page intentionally left blank vii Conference Organization CCIA 2005 was organized by the University of Girona, the Computer Vision Center, the Universitat Autònoma de Barcelona and the Associació Catalana d’Intelligència Artificial. General Chairs Beatriz López, University of Girona Joaquim Meléndez, University of Girona Petia Radeva, Computer Vision Center Jordi Vitrià, Computer Vision Center Scientific Committee Isabel Aguiló, Universitat de les Illes Balears Josep Aguilar, Centre National de la Recherche Scientifique Cecilio Angulo, Technical University of Catalonia Rene Bañares-Alcántara, University of Oxford Ester Bernardó, Ramon Llull University Vicent Botti, Technical University of Valencia Jaume Casasnovas, Universitat de les Illes Balears Jesus Cerquides, University of Barcelona M. Teresa Escrig, Universitat Jaume I Francesc Ferri, University of Valencia Rafael García, University of Girona Josep M. Garrell, Ramon Llull University Héctor Geffner, Pompeu Fabra University Elisabet Golobardes, Ramon Llull University Antoni Grau, Technical University of Catalonia M. Angeles Lopez, Universitat Jaume I Beatriz López, University of Girona Maite López, University of Barcelona Joan Martí, University of Girona Enric Martí, Computer Vision Center Joaquím Melendez University of Girona José del R. Millán, IDIAP Research Institute Margaret Miró, Universitat de les Illes Balears Antonio Moreno, Rovira i Virgili University Eva Onaindia, Technical University of Valencia Miquel Angel Piera, Universitat Atònoma de Barcelona Filiberto Pla, Universitat Jaume I Enric Plaza, Artificial Intelligence Research Institute Monique Polit, University of Perpignan Josep Puyol-Gruart, Artificial Intelligence Research Institute Petia Radeva, Computer Vision Center Ignasi R.Roda, University of Girona Josep Lluís de la Rosa, University of Girona Xari Rovira, Ramon Llull University viii Mónica Sànchez, Technical University of Catalonia Miquel Sànchez-Marrè, Technical University of Catalonia Mássimo Tistarelli, Università degli Studi di Sassari Ricardo Toledo, Computer Vision Center Miguel Toro, University of Sevilla Vicenc Torra, Artificial Intelligence Research Institute Enric Trillas, Technical University of Madrid Magda Valls, University of Lleida Llorenç Valverde, Universitat de les Illes Balears Jordi Vitrià, Computer Vision Center Additional referees Arantza Aldea (Oxford Brooks University), Yolanda Bolea, (Technical University of Catalunya), Mercedes E. Narciso Farias (Universitat Atònoma de Barcelona), Lluis Godo (Artificial Intelligence Research Institute), Luis González Abril (University of Sevilla), Felip Mañà (University of Lleida), Robert Martí (University of Girona), Pablo Noriega (Artificial Intelligence Research Institute), Raquel Ros (Artificial Intelligence Research Institute), Francisco Ruiz Vegas (Technical University of Catalunya), Aïda Valls (Rovira i Virgili University), Pere Vila (University of Girona). Organizing Committee Esteve del Acebo, ARLab, University of Girona. Marc Carreras, VICOROB, University of Girona. Joan Colomer, eXiT, University of Girona. Xavier Cufí, VICOROB, University of Girona. Joan Martí, VICOROB, University of Girona. Josep Lluís Marzo, BCDS, University of Girona. Ignasi Rodríguez-Roda, LEQUIA, University of Girona. Josep Lluís de la Rosa, ARLab, University of Girona. Massimo Tistarelli, Università degli Studi di Sassari. Josep Vehí, MICE, University of Girona. Web manager and Secretariat Xavier Ortega, Montse Vila, Maria Brugué Sponsoring Institutions Ciutat de l'Alguer, assessorat de cultura ix Contents Preface v Beatriz López, Joaquim Meléndez, Petia Radeva and Jordi Vitrià Conference Organization vii Invited Talks On the Design of Bio-Inspired Multi-Agent Systems for Coordination and Control 3 Paul Valckenaers Mássimo Tistarelli Talk 5 Mássimo Tistarelli 1. Neural Networks Direct Policy Search Reinforcement Learning for Robot Control 9 Andres El-Fakdi, Marc Carreras and Narcís Palomeras A Hopfield Network for the Portfolio Selection Problem 17 Alberto Fernández and Sergio Gómez Neural Networks for Estimating the Efficiency of a WWTP Biologic Treatment 25 Frédérik Thiery, Stéphane Grieu, Adama Traore, Maxime Estaben and Monique Polit Learning Human-Level AI Abilities to Drive Racing Cars 33 Francisco Gallego, Faraón Llorens, Mar Pujol and Ramón Rizo Feature Selection and Outliers Detection with Genetic Algorithms and Neural Networks 41 Agusti Solanas, Enrique Romero, Sergio Gómez, Josep M. Sopena, Rene Alquézar and Josep Domingo-Ferrer 2. Computer Vision Multispectral Image Segmentation for Fruit Quality Estimation 51 Adolfo Martínez-Usó, Filiberto Pla and Pedro García-Sevilla Detecting Mammographic Abnormalities from Image Registration Results 59 Robert Martí, David Raba, Caroline Rubin and Reyer Zwiggelaar On the Usefulness of Supervised Learning for Vessel Border Detection in IntraVascular Imaging 67 Aura Hernàndez, Debora Gil and Petia Radeva [...]... This page intentionally left blank 1 Neural Networks This page intentionally left blank Artificial Intelligence Research and Development B Lúpez et al (Eds.) IOS Press, 2005 â 2005 The authors All rights reserved 9 Direct Policy Search Reinforcement Learning for Robot Control Andres El-Fakdi 1 , Marc Carreras and Narcớs Palomeras University of Girona, Spain Abstract In this paper, we present Policy... Scores to Expressive Music Performances Pere Ferrera and Josep Puyol-Gruart Knowledge Production and Integration for Diagnosis, Treatment and Prognosis in Medicine John A Bohada and David Riaủo 141 149 Application of Clustering Techniques in a Network Security Testing System Guiomar Corral, Elisabet Golobardes, Oriol Andreu, Isard Serra, Elisabet Maluquer and ngel Martớnez 157 Llaỹt: Fuzzy Logic Based Selective... Mansilla and Jose Antonio Morỏn Moreno 189 Evaluation of Knowledge Bases by Means of Multi-Dimensional OWA Operators Isabel Aguilú, Javier Martớn, Gaspar Mayor and Jaume Suủer 197 Automatic Discovery of Synonyms and Lexicalizations from the Web David Sỏnchez and Antonio Moreno 205 4 Machine Learning Imbalanced Training Set Reduction and Feature Selection Through Genetic Optimization R Barandela, J.K... Simple View Definition Language for the Collaborative Development of Ontologies E Jimenez, R Berlanga, I Sanz, M.J Aramburu and R Danger 429 Author Index 437 This page intentionally left blank ,QYLWHG 7DONV This page intentionally left blank Artificial Intelligence Research and Development B Lúpez et al (Eds.) IOS Press, 2005 â 2005 The authors All rights reserved 3 2Q WKH 'HVLJQ RI %LRLQVSLUHG 0XOWLDJHQW... Susana lvarez, Xavier Otazu and Maria Vanrell 75 Staff and Graphical Primitive Segmentation in Old Handwritten Music Scores Alicia Fornộs, Josep Lladús and Gemma Sỏnchez 83 Real-Time Face Tracking for Context-Aware Computing Bogdan Raducanu and Jordi Vitri 91 Experimental Study of the Usefulness of External Face Features for Face Classification gata Lapedriza, David Masip and Jordi Vitri 99 Angle Images... Rovira, Múnica Sỏnchez and Francesc Prats 273 Supervised Fuzzy Control of Dissolved Oxygen in a SBR Pilot Plant M.F Teran, J Colomer, J Melộndez and J Colprim 281 On the Consistency of a Fuzzy C-Means Algorithm for Multisets Vicenỗ Torra and Sadaaki Miyamoto 289 xii 6 Planning and Robotics A CBR System for Autonomous Robot Navigation Raquel Ros, Ramon Lúpez de Mntaras, Carles Sierra and Josep Lluớs Arcos... Teresa Escrig Monferrer and Juan Carlos Peris Broch 299 307 An Anytime Approach for On-Line Planning Oscar Sapena and Eva Onaindớa 323 Bug-Based T 2: A New Globally Convergent Approach to Reactive Navigation Javier Antich and Alberto Ortiz 331 A Heuristic Technique for the Capacity Assessment of Periodic Trains M Abril, M.A Salido, F Barber, L Ingolotti, A Lova and P Tormos 339 Development of a Webots... Substitutable Goods Andrea Giovannucci, Juan A Rodrớguez-Aguilar and Jesỳs Cerquides 381 The Agent Reputation and Trust (ART) Testbed Architecture Karen K Fullam, Tomas B Klos, Guillaume Muller, Jordi Sabater-Mir, Zvi Topol, K Suzanne Barber, Jeffrey Rosenschein and Laurent Vercouter 389 Towards an Organizational MAS Methodology Estefania Argente, Vicente Julian, Soledad Valero and Vicente Botti 397... Carreras, Sandra Pujadas and Petia Radeva 107 Classifying Natural Objects on Outdoor Scenes Anna Bosch, Xavier Muủoz, Joan Martớ and Arnau Oliver 115 Mass Segmentation Using a Pattern Matching Approach with a Mutual Information Based Metric Arnau Oliver, Jordi Freixenet, Joan Martớ and Marta Peracaula 123 Feature Selection with Non-Parametric Mutual Information for Adaboost Learning Xavier Barú and Jordi... FRRUGLQDWLRQ ERDUG DQG ZDV WKH FRRUGLQDWRU RI WKH ,06 :RUNLQJ *URXS DQG WKH (8(VSULW /75 SURMHFW 0$6&$'$ RQ PXOWLDJHQW PDQXIDFWXULQJ FRQWURO This page intentionally left blank Artificial Intelligence Research and Development B Lúpez et al (Eds.) IOS Press, 2005 â 2005 The authors All rights reserved 5 0iVVLPR 7LVWDUHOOL 7DON 0iVVLPR 7LVWDUHOOL &RPSXWHU 9LVLRQ /DERUDWRU\ 8QLYHUVLWj GHJOL 6WXGL . TLFeBOOK ARTIFICIAL INTELLIGENCE RESEARCH AND DEVELOPMENT Frontiers in Artificial Intelligence and Applications FAIA covers all aspects of theoretical and applied artificial intelligence research. PRINTED IN THE NETHERLANDS Artificial Intelligence Research and Development v B. López et al. (Eds.) IOS Press, 2005 © 2005 The authors. All rights reserved. Preface Artificial Intelligence (AI). with Knowledge Preservation ISSN 0922-6389 Artificial Intelligence Research and Development Edited by Beatriz López Institute of Informatics and Applications, University of Girona, Spain