Cost and energy efficient reconfigurable embedded platform using Spartan-6 FPGAs

Modern FPGAs with run-time reconfiguration allow the implementation of complex systems offering both the flexibility of software-based solutions combined with the performance of hardware. This combination of characteristics, together with the development of new specific methodologies, make feasible to reach new points of the system design space, and make embedded systems built on these platforms acquire more and more importance. However, the practical exploitation of this technique in fields that traditionally have relied on resource restricted embedded systems, is mainly limited by strict power consumption requirements, the cost and the high dependence of DPR techniques with the specific features of the device technology underneath. In this work, we tackle the previously reported problems, designing a reconfigurable platform based on the low-cost and low-power consuming Spartan-6 FPGA family. The full process to develop the platform will be detailed in the paper from scratch. In addition, the implementation of the reconfiguration mechanism, including two profiles, is reported. The first profile is a low-area and low-speed reconfiguration engine based mainly on software functions running on the embedded processor, while the other one is a hardware version of the same engine, implemented in the FPGA logic. This reconfiguration hardware block has been originally designed to the Virtex-5 family, and its porting process will be also described in this work, facing the interoperability problem among different families.

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms

This paper describes the design and evaluation of a new platform created in order to improve the learning experience of bilateral control algorithms in teleoperation. This experimental platform, developed at Universidad Politécnica de Madrid, is used by the students of the Master on Automation and Robotics in the practices of the subject called “Telerobotics and Teleoperation”. The main objective is to easily implement different control architectures in the developed platform and evaluate them under different conditions to better understand the main advantages and drawbacks of each control scheme. So, the student’s tasks are focused on adjusting the control parameters of the predefined controllers and designing new ones to analyze the changes in the behavior of the whole system. A description of the subject, main topics and the platform constructed are detailed in the paper. Furthermore, the methodology followed in the practices and the bilateral control algorithms are presented. Finally, the results obtained in the experiments with students are also shown.

Desing and development of a robotic platform for the evaluation of search algorithms

Plant diseases represent a major economic and environmental problem in agriculture and forestry. Upon infection, a plant develops symptoms that affect different parts of the plant causing a significant agronomic impact. As many such diseases spread in time over the whole crop, a system for early disease detection can aid to mitigate the losses produced by the plant diseases and can further prevent their spread [1]. In recent years, several mathematical algorithms of search have been proposed [2,3] that could be used as a non-invasive, fast, reliable and cost-effective methods to localize in space infectious focus by detecting changes in the profile of volatile organic compounds. Tracking scents and locating odor sources is a major challenge in robotics, on one hand because odour plumes consists of non-uniform intermittent odour patches dispersed by the wind and on the other hand because of the lack of precise and reliable odour sensors. Notwithstanding, we have develop a simple robotic platform to study the robustness and effectiveness of different search algorithms [4], with respect to specific problems to be found in their further application in agriculture, namely errors committed in the motion and sensing and to the existence of spatial constraints due to land topology or the presence of obstacles.

The late Miocene macroflora of the La Cerdaña Basin, Eastern Pirenees, Spain. Towards a Synthesis

The fossil plant-bearing beds of the Tortonian (late Miocene) intramontane basin of La Cerdanya (Eastern Pyrenees, Catalonia, Spain) have been investigated for more than a century, and 165 species from 12 outcrops have been described in previous publications. The sediments with rich plant fossil assemblages, which correspond to lacustrine diatomitic deposits, contain large numbers of plant remains, mainly leaf compressions and impressions. These assemblages are well preserved, a consequence of the rapid accumulation of plant remains in the sediments of the basin's ancient lake, and the often close proximity of its shores to wetland and upland vegetation. This paper provides a comprehensive taxonomic and nomenclatural review of the historic and new collections of late Miocene macroflora for the La Cerdanya Basin. Examination of the newer materials allowed emendments to be made to the diagnoses ofAbies saportana, Acer pyrenakum,Alnus occidentalis, Quercus hispanka and Tilia vidali provided by REROLLE for the basin at the end of the 19th century. In addition, 24 species of vascular plants are identified for the basin for the first time, including one horsetail, three conifers, 19 arboreal or bushy dicotyledonous angiosperms, and one monocotyledonous angiosperm. Indeed, this is the first time that Cedrela helkonia (UNGER) KNOBLOCH, Decodon sp„ Hedera cf multinervis KOLAKOVSKII, Mahonia cf pseudosimplex KVACEK & WALTHER, Smilax cf. aspera L. vm.fossilis and Ulmus cf. plurinervia UNGER have been recorded anywhere in the Iberian Peninsula. The La Cerdanya Basin plant assemblages of the late Miocene mainly consisted of conifers and deciduous broadleaved taxa of Arctotertiary origin; evergreen Palaeotropical elements were less well represented. This flora is similar to those recorded at coeval sites in northern Greece, northern Italy and central and eastern France. Within the Iberian Peninsula, the late Miocene macroflora reported for the nearby Seu d'Urgell Basin is the most similar.