Many projects concerning the protection, conservation, restoration, and dissemination of cultural heritage are being carried out around the world due to its growing interest as a driving force of socio-economic development. The existence of reliable, digital three-dimensional (3D) models that allow for the planning and management of these projects in a remote and decentralized way is currently a growing necessity. There are many software tools to perform the modeling and complete three-dimensional documentation of the intervened monuments. However, the Architecture, Engineering and Construction (AEC) sector has adopted the Building Information Modeling (BIM) standard over the last few decades due to the progress that has been made in its qualities and capabilities. The complex modeling of cultural heritage through commercial BIM software leads to the consideration of the concept of Heritage BIM (H-BIM), which pursues the modeling of architectural elements, according to artistic, historical, and constructive typologies. In addition, H-BIM is considered to be an emerging technology that enables us to understand, document, advertize, and virtually reconstruct the built heritage. This article is a review of the existing literature on H-BIM and its effective implementation in the cultural heritage sector, exploring the effectiveness and the usefulness of the different methodologies that were developed to model families of elements of interest.

Pavement management systems require detailed information of the current state of the roads to take appropriate actions to optimize expenditure on maintenance and rehabilitation. In particular, the presence of cracks is a cardinal aspect to be considered. This article presents a solution based on an instrumented vehicle equipped with an imaging system, two Inertial Profilers, a Differential Global Positioning System, and a webcam. Information about the state of the road is acquired at normal road speed. A method based on the use of Gabor filters is used to detect the longitudinal and transverse cracks. The methodologies used to create Gabor filter banks and the use of the filtered images as descriptors for subsequent classifiers are discussed in detail. Three different methodologies for setting the threshold of the classifiers are also evaluated. Finally, an AdaBoost algorithm is used for selecting and combining the classifiers, thus improving the results provided by a single classifier. A large database has been acquired and used to train and test the proposed system and methods, and suitable results have been obtained in comparison with other reference works.

The classification of the images taken during the measurement of an architectural asset is an essential task within the digital documentation of cultural heritage. A large number of images are usually handled, so their classification is a tedious task (and therefore prone to errors) and habitually consumes a lot of time. The availability of automatic techniques to facilitate these sorting tasks would improve an important part of the digital documentation process. In addition, a correct classification of the available images allows better management and more efficient searches through specific terms, thus helping in the tasks of studying and interpreting the heritage asset in question. The main objective of this article is the application of techniques based on deep learning for the classification of images of architectural heritage, specifically through the use of convolutional neural networks. For this, the utility of training these networks from scratch or only fine tuning pre-trained networks is evaluated. All this has been applied to classifying elements of interest in images of buildings with architectural heritage value. As no datasets of this type, suitable for network training, have been located, a new dataset has been created and made available to the public. Promising results have been obtained in terms of accuracy and it is considered that the application of these techniques can contribute significantly to the digital documentation of architectural heritage.

Producción CientíficaThe long term evaluation of the Sacarino robot is presented in this paper. This study aimed to improve the robot`s capabilities as a bellboy in a hotel; walking alongside the guests, providing information about the city and the hotel and providing hotel-related services. The paper establishes a three-stage assessment methodology based on the continuous measurement of a set of metrics regard- ing navigation and interaction with guests. Sacarino has been automatically collecting information in a real hotel environment for long periods of time. The acquired information has been analyzed and used to improve the robot's opera- tion in the hotel through successive re nements. Some interesting considerations and useful hints for the researchers of service robots have been extracted from the analysis of the results.Junta de Castilla y León (Programa de apoyo a proyectos de investigación-Ref. VA036U14)Junta de Castilla y León (programa de apoyo a proyectos de investigación - Ref. VA013A12-2)Ministerio de Economía, Industria y Competitividad (Grant DPI2014-56500-R

Producción CientíficaThis paper provides the results of various trial experiments in a hotel environment carried out using Sacarino, an interactive bellboy robot. We analysed which aspects of the robot design and behaviour are relevant in terms of user engagement and comfort when interacting with our social robot. The experiments carried out focused on the influence over proxemics, duration and effectiveness of the interaction taking into account three dichotomous factors related with the robot design and behaviour: robot embodiment (with/without robotic body), status of the robot (awake/asleep) and who starts communication (robot/user). Results show that users tend to maintain a personal distance when interacting with an embodied robot and that embodiment engages users in maintaining longer interactions. On the other hand, including a greeting model in a robot is useful in terms of engaging users to maintain longer interactions, and that an active-looking robot is more attractive to the participants, producing longer interactions than in the case of a passive-looking robot.Junta de Castilla y León (Programa de apoyo a proyectos de investigación-Ref. VA036U14)Junta de Castilla y León (Programa de apoyo a proyectos de investigación-Ref. VA013A12-2)Ministerio de Economía, Industria y Competitividad (Grant DPI2014-56500-R

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.