Cognitive risk perception system for obstacle avoidance in outdoor mUAV missions

La robótica ha evolucionado exponencialmente en las últimas décadas, permitiendo a los sistemas actuales realizar tareas sumamente complejas con gran precisión, fiabilidad y velocidad. Sin embargo, este desarrollo ha estado asociado a un mayor grado de especialización y particularización de las tecnologías implicadas, siendo estas muy eficientes en situaciones concretas y controladas, pero incapaces en entornos cambiantes, dinámicos y desestructurados. Por eso, el desarrollo de la robótica debe pasar por dotar a los sistemas de capacidad de adaptación a las circunstancias, de entendedimiento sobre los cambios observados y de flexibilidad a la hora de interactuar con el entorno. Estas son las caracteristicas propias de la interacción del ser humano con su entorno, las que le permiten sobrevivir y las que pueden proporcionar a un sistema inteligencia y capacidad suficientes para desenvolverse en un entorno real de forma autónoma e independiente. Esta adaptabilidad es especialmente importante en el manejo de riesgos e incetidumbres, puesto que es el mecanismo que permite contextualizar y evaluar las amenazas para proporcionar una respuesta adecuada. Así, por ejemplo, cuando una persona se mueve e interactua con su entorno, no evalúa los obstáculos en función de su posición, velocidad o dinámica (como hacen los sistemas robóticos tradicionales), sino mediante la estimación del riesgo potencial que estos elementos suponen para la persona. Esta evaluación se consigue combinando dos procesos psicofísicos del ser humano: por un lado, la percepción humana analiza los elementos relevantes del entorno, tratando de entender su naturaleza a partir de patrones de comportamiento, propiedades asociadas u otros rasgos distintivos. Por otro lado, como segundo nivel de evaluación, el entendimiento de esta naturaleza permite al ser humano conocer/estimar la relación de los elementos con él mismo, así como sus implicaciones en cuanto a nivel de riesgo se refiere. El establecimiento de estas relaciones semánticas -llamado cognición- es la única forma de definir el nivel de riesgo de manera absoluta y de generar una respuesta adecuada al mismo. No necesariamente proporcional, sino coherente con el riesgo al que se enfrenta. La investigación que presenta esta tesis describe el trabajo realizado para trasladar esta metodología de análisis y funcionamiento a la robótica. Este se ha centrado especialmente en la nevegación de los robots aéreos, diseñando e implementado procedimientos de inspiración humana para garantizar la seguridad de la misma. Para ello se han estudiado y evaluado los mecanismos de percepción, cognición y reacción humanas en relación al manejo de riesgos. También se ha analizado como los estímulos son capturados, procesados y transformados por condicionantes psicológicos, sociológicos y antropológicos de los seres humanos. Finalmente, también se ha analizado como estos factores motivan y descandenan las reacciones humanas frente a los peligros. Como resultado de este estudio, todos estos procesos, comportamientos y condicionantes de la conducta humana se han reproducido en un framework que se ha estructurado basadandose en factores análogos. Este emplea el conocimiento obtenido experimentalmente en forma de algoritmos, técnicas y estrategias, emulando el comportamiento humano en las mismas circunstancias. Diseñado, implementeado y validado tanto en simulación como con datos reales, este framework propone una manera innovadora -tanto en metodología como en procedimiento- de entender y reaccionar frente a las amenazas potenciales de una misión robótica. ABSTRACT Robotics has undergone a great revolution in the last decades. Nowadays this technology is able to perform really complex tasks with a high degree of accuracy and speed, however this is only true in precisely defined situations with fully controlled variables. Since the real world is dynamic, changing and unstructured, flexible and non context-dependent systems are required. The ability to understand situations, acknowledge changes and balance reactions is required by robots to successfully interact with their surroundings in a fully autonomous fashion. In fact, it is those very processes that define human interactions with the environment. Social relationships, driving or risk/incertitude management... in all these activities and systems, context understanding and adaptability are what allow human beings to survive: contrarily to the traditional robotics, people do not evaluate obstacles according to their position but according to the potential risk their presence imply. In this sense, human perception looks for information which goes beyond location, speed and dynamics (the usual data used in traditional obstacle avoidance systems). Specific features in the behaviour of a particular element allows the understanding of that element’s nature and therefore the comprehension of the risk posed by it. This process defines the second main difference between traditional obstacle avoidance systems and human behaviour: the ability to understand a situation/scenario allows to get to know the implications of the elements and their relationship with the observer. Establishing these semantic relationships -named cognition- is the only way to estimate the actual danger level of an element. Furthermore, only the application of this knowledge allows the generation of coherent, suitable and adjusted responses to deal with any risk faced. The research presented in this thesis summarizes the work done towards translating these human cognitive/reasoning procedures to the field of robotics. More specifically, the work done has been focused on employing human-based methodologies to enable aerial robots to navigate safely. To this effect, human perception, cognition and reaction processes concerning risk management have been experimentally studied; as well as the acquisition and processing of stimuli. How psychological, sociological and anthropological factors modify, balance and give shape to those stimuli has been researched. And finally, the way in which these factors motivate the human behaviour according to different mindsets and priorities has been established. This associative workflow has been reproduced by establishing an equivalent structure and defining similar factors and sources. Besides, all the knowledge obtained experimentally has been applied in the form of algorithms, techniques and strategies which emulate the analogous human behaviours. As a result, a framework capable of understanding and reacting in response to stimuli has been implemented and validated.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

See-and-avoid quadcopter using fuzzy control optimized by cross-entropy

In this work we present an optimized fuzzy visual servoing system for obstacle avoidance using an unmanned aerial vehicle. The cross-entropy theory is used to optimise the gains of our controllers. The optimization process was made using the ROS-Gazebo 3D simulation with purposeful extensions developed for our experiments. Visual servoing is achieved through an image processing front-end that uses the Camshift algorithm to detect and track objects in the scene. Experimental flight trials using a small quadrotor were performed to validate the parameters estimated from simulation. The integration of crossentropy methods is a straightforward way to estimate optimal gains achieving excellent results when tested in real flights.

Quadcopter see and avoid using a fuzzy controller

Unmanned Aerial Vehicles (UAVs) industry is a fast growing sector. Nowadays, the market offers numerous possibilities for off-the-shelf UAVs such as quadrotors or fixed-wings. Until UAVs demonstrate advance capabilities such as autonomous collision avoidance they will be segregated and restricted to flight in controlled environments. This work presents a visual fuzzy servoing system for obstacle avoidance using UAVs. To accomplish this task we used the visual information from the front camera. Images are processed off-board and the result send to the Fuzzy Logic controller which then send commands to modify the orientation of the aircraft. Results from flight test are presented with a commercial off-the-shelf platform.

A vision based aerial rbot solution for the IARC 2014 by the Technical University of Madrid

The IARC competitions aim at making the state of the art in UAV progress. The 2014 challenge deals mainly with GPS/Laser denied navigation, Robot-Robot interaction and Obstacle avoidance in the setting of a ground robot herding problem. We present in this paper a drone which will take part in this competition. The platform and hardware it is composed of and the software we designed are introduced. This software has three main components: the visual information acquisition, the mapping algorithm and the Aritificial Intelligence mission planner. A statement of the safety measures integrated in the drone and of our efforts to ensure field testing in conditions as close as possible to the challenge?s is also included.

Calculation Methodology and Fabrication Procedures for Particle Accelerator Strip-Line Kickers: Application to the CTF3 Combiner Ring Extraction Kicker and TL2 Tail Clippers

A particle accelerator is any device that, using electromagnetic fields, is able to communicate energy to charged particles (typically electrons or ionized atoms), accelerating and/or energizing them up to the required level for its purpose. The applications of particle accelerators are countless, beginning in a common TV CRT, passing through medical X-ray devices, and ending in large ion colliders utilized to find the smallest details of the matter. Among the other engineering applications, the ion implantation devices to obtain better semiconductors and materials of amazing properties are included. Materials supporting irradiation for future nuclear fusion plants are also benefited from particle accelerators. There are many devices in a particle accelerator required for its correct operation. The most important are the particle sources, the guiding, focalizing and correcting magnets, the radiofrequency accelerating cavities, the fast deflection devices, the beam diagnostic mechanisms and the particle detectors. Most of the fast particle deflection devices have been built historically by using copper coils and ferrite cores which could effectuate a relatively fast magnetic deflection, but needed large voltages and currents to counteract the high coil inductance in a response in the microseconds range. Various beam stability considerations and the new range of energies and sizes of present time accelerators and their rings require new devices featuring an improved wakefield behaviour and faster response (in the nanoseconds range). This can only be achieved by an electromagnetic deflection device based on a transmission line. The electromagnetic deflection device (strip-line kicker) produces a transverse displacement on the particle beam travelling close to the speed of light, in order to extract the particles to another experiment or to inject them into a different accelerator. The deflection is carried out by the means of two short, opposite phase pulses. The diversion of the particles is exerted by the integrated Lorentz force of the electromagnetic field travelling along the kicker. This Thesis deals with a detailed calculation, manufacturing and test methodology for strip-line kicker devices. The methodology is then applied to two real cases which are fully designed, built, tested and finally installed in the CTF3 accelerator facility at CERN (Geneva). Analytical and numerical calculations, both in 2D and 3D, are detailed starting from the basic specifications in order to obtain a conceptual design. Time domain and frequency domain calculations are developed in the process using different FDM and FEM codes. The following concepts among others are analyzed: scattering parameters, resonating high order modes, the wakefields, etc. Several contributions are presented in the calculation process dealing specifically with strip-line kicker devices fed by electromagnetic pulses. Materials and components typically used for the fabrication of these devices are analyzed in the manufacturing section. Mechanical supports and connexions of electrodes are also detailed, presenting some interesting contributions on these concepts. The electromagnetic and vacuum tests are then analyzed. These tests are required to ensure that the manufactured devices fulfil the specifications. Finally, and only from the analytical point of view, the strip-line kickers are studied together with a pulsed power supply based on solid state power switches (MOSFETs). The solid state technology applied to pulsed power supplies is introduced and several circuit topologies are modelled and simulated to obtain fast and good flat-top pulses.

Obtaining carbonation depth of concrete used two different procedures standard EHE-08

In the Standard EHE 08, for the first time, durability acquires the status of Limit State. Article 8 provides that the term Durability limit state, produced by physical and chemical actions, different loads and actions of structural analysis, which can degrade the concrete and reinforcement to unacceptable limits. The verification of this limit state can be done through a procedure set out in the provisions of the Standard. This procedure is based on the use of tables that, depending on the aggressiveness of the environment in which the structure is the concrete strength and the life of the project, setting the quality of the concrete cover (minimum thickness and maximum water cement ratio of concrete used) and the maximum crack width. This procedure, simple in its application, provides highly secure solutions. In addition, on Annex 9, the Standard EHE 08 offers models for testing the durability limit state in cases of corrosion of reinforcement due to carbonation of concrete or entry of chloride ions. The results obtained with these models are tighter than those obtained with the procedure of the articles. In this paper we use both methods in the study of reinforced concrete structures with potential problems of corrosion of reinforcement due to carbonation of concrete. Later checking the results obtained by both procedures. Results demonstrate that the use of the models listed in Annex 9 of Standard EHE 08 offer cheaper solutions than those obtained using the procedure of the articles

Monitoring maximum peak power density values as a more reliable marker for measurement procedures to elucidate RF EMF health effects: Leganes project

Considering the measurement procedures recommended by the ICNIRP, this communication is a proposal for a measurement procedure based in the maximum peak values of equivalent plane wave power density. This procedure has been included in a project being developed in Leganés, Spain. The project plans to deploy a real time monitoring system for RF to provide the city with a useful tool to adapt the environmental EM conditions to the new regulations approved. A first stage consisting of 105 measurement points has been finished and all the values are under the threshold of the regulation.

Microarray analysis of autoimmune diseases by machine learning procedures

—Microarray-based global gene expression profiling, with the use of sophisticated statistical algorithms is providing new insights into the pathogenesis of autoimmune diseases. We have applied a novel statistical technique for gene selection based on machine learning approaches to analyze microarray expression data gathered from patients with systemic lupus erythematosus (SLE) and primary antiphospholipid syndrome (PAPS), two autoimmune diseases of unknown genetic origin that share many common features. The methodology included a combination of three data discretization policies, a consensus gene selection method, and a multivariate correlation measurement. A set of 150 genes was found to discriminate SLE and PAPS patients from healthy individuals. Statistical validations demonstrate the relevance of this gene set from an univariate and multivariate perspective. Moreover, functional characterization of these genes identified an interferon-regulated gene signature, consistent with previous reports. It also revealed the existence of other regulatory pathways, including those regulated by PTEN, TNF, and BCL-2, which are altered in SLE and PAPS. Remarkably, a significant number of these genes carry E2F binding motifs in their promoters, projecting a role for E2F in the regulation of autoimmunity.

Modelización de contactos termoelastohidrodinámicos

La mejora en la eficiencia energética y la reducción de la tasa de fallos en los contactos lubricados son aspectos que resultan de gran interés en numerosos sectores de la industria, y plantean en estos momentos nuevas dificultades operativas y retos para un futuro próximo. Los avances tecnológicos han incrementado las exigencias técnicas que se requieren a los aceites para cumplir su función al extender sus variables operativas a un mayor espectro de aplicaciones, tanto de condiciones de funcionamiento como a la gran variedad de nuevos materiales constitutivos de los engranajes en los que se tiene que utilizar. Por ello, actualmente se está incentivado el desarrollo de nuevos procedimientos que permitan comprender el comportamiento de este tipo de contactos lubricados, con el fin de lograr mejoras técnicas en su diseño y la correcta selección del aceite. En esta Tesis Doctoral se presenta una metodología de cálculo numérico que permite simular el comportamiento de contactos elastohidrodinámicos (EHD) puntuales, como puede ser el caso de un rodamiento. La resolución de este problema presenta diversas complejidades matemáticas y exige el desarrollo de un elaborado procedimiento de cálculo basado en técnicas multinivel. Para hacer del procedimiento una herramienta válida en un gran número de condiciones de funcionamiento y tipos de lubricantes, se ha tenido en cuenta en el cálculo la posible aparición de comportamientos no-Newtonianos del lubricante y fenómenos de generación y disipación de calor, provocados por el movimiento relativo del fluido y las superficies en contacto. Para la validación del procedimiento, se han contrastado los resultados numéricos obtenidos con nuestro método, con los resultados numéricos y experimentales publicados por otros autores y con valores experimentales propios medidos en un equipo de ensayo de contacto puntual tipo MTM. El desarrollo de este programa ha dotado a la División de Ingeniería de Máquinas de una herramienta que ha permitido, y sobre todo va permitir, evaluar la importancia de cada uno de los parámetros reológicos en los diferentes problemas que va a tener que abordar, evaluación que hasta el momento se realizaba con métodos aproximados que describen la fenomenología con mucha menos precisión. A la hora de emplear nuestro procedimiento numérico para simular situaciones reales, nos hemos encontrado con el obstáculo de que es muy complicado encontrar, en la bibliografía y bases de datos, los parámetros que caracterizan el comportamiento reológico del lubricante en las condiciones de presión, temperatura y grado de cizallamiento habituales en las que se trabaja en este tipo de contactos, y las pocas medidas que existen para estas condiciones de funcionamiento son poco fiables. Por ello como complemento al objetivo principal de esta Tesis hemos desarrollado una metodología para caracterizar los lubricantes en estas condiciones extremas. Dicha metodología está basada en la buena descripción que hace nuestro programa del coeficiente de fricción, lo que nos ha permitido obtener los parámetros reológicos del III lubricante a partir de las medidas experimentales del coeficiente de fricción generado en un equipo MTM lubricado con el lubricante que se desea caracterizar. Madrid, Octubre de 2012 IV Improving energy efficiency and reducing the failure rate in lubricated contacts are issues that are of great interest in many sectors of industry, and right now posed operational difficulties and new challenges for the near future. Technological advances have increased the technical demands required to oils to fulfil its role by extending its operational variables to a wider range of applications, both operating conditions and to the wide variety of new materials which constitute the gear in which must be used. For this reason, has being encouraged currently to develop new procedures to understand the behaviour of this type of lubricated contacts, in order to achieve improvements in design techniques and the correct oil selection. In this Thesis we present a numerical methodology to simulate the puntual elastohydrodynamic contact behaviour (EHD), such as a roller bearing. The resolution of this problem presents various mathematical complexities and requires the development of an elaborate calculation procedure based on multilevel techniques. To make the procedure a valid tool in a wide range of operating conditions and types of lubricants, has been taken into account in calculating the possible occurrence of non-Newtonian behaviour of the lubricant and phenomena of generation and dissipation of heat, caused by the fluid relative motion and contacting surfaces. For the validation of the method, we have compared the numerical results obtained with our method with numerical and experimental results published by other authors also with own experimental values measured on point-contact test equipment MTM. The development of this program has provided the Machines Engineering Division of a tool that has allowed, and especially will allow to evaluate the importance of each of the rheological parameters on the various problems that will have to be addressed, evaluation performed hitherto described methods that phenomenology approximated with much less accuracy. When using our numerical procedure to simulate real situations we have encountered the obstacle that is very difficult to find, in the literature and database, parameters characterizing the rheological behaviour of the lubricant in the usual conditions of pressure, temperature and shear rate in which you work in this type of contact, and the few measures that exist for these operating conditions are unreliable. Thus in addition to the main objective of this thesis, we have developed a methodology to characterize the lubricants in these extreme conditions. This methodology is based on the good description, which makes our program, of the coefficient of friction, that allowed us to obtain the lubricant rheological parameters from experimental measurements of the friction coefficient generated on lubricated MTM equipment with the lubricant to be characterized.

Conditional parallelization of nonStrict independence. Procedures and assessmen

This paper presents a conditional parallelization process for and-parallelism based on the notion of non-strict independence, a more relaxed notion than the traditional of strict independence. By using this notion, a parallelism annotator can extract more parallelism from programs. On the other hand, the intrinsic complexity of non-strict independence poses new challenges to this task. We report here on the implementation we have accomplished of an annotator for non-strict independence, capable of producing both static and dynamic execution graphs. This implementation, along with the also implemented independence checker and their integration in our system, have resulted what is, to the best of our knowledge, the first parallelizing compiler based on nonstrict independence which produces dynamic execution graphs. The paper also presents a preliminary assessment of the implemented tools, comparing them with the existing ones for strict independence, which shows encouraging results.

A comparison between PML, infinite elements and an iterative BEM as mesh truncation methods for HP self-adaptive procedures in electromagnetics

Finite element hp-adaptivity is a technology that allows for very accurate numerical solutions. When applied to open region problems such as radar cross section prediction or antenna analysis, a mesh truncation method needs to be used. This paper compares the following mesh truncation methods in the context of hp-adaptive methods: Infinite Elements, Perfectly Matched Layers and an iterative boundary element based methodology. These methods have been selected because they are exact at the continuous level (a desirable feature required by the extreme accuracy delivered by the hp-adaptive strategy) and they are easy to integrate with the logic of hp-adaptivity. The comparison is mainly based on the number of degrees of freedom needed for each method to achieve a given level of accuracy. Computational times are also included. Two-dimensional examples are used, but the conclusions directly extrapolated to the three dimensional case.

Woolliness assessment in peaches. Comparison between human and instrumental procedures and results

Woolliness, a negative attribute of sensory texture, is characterised by the lack of juiciness without variation of the tissue water content an incapacity of ripening although there is external ripe appearance. In this study, peaches cv Springcrest (early and soft flesh peaches) and Miraflores (late and hard flesh peaches) corresponding to three different maturity stages at harvest, stored 0, 1, 2, 3 and 4 weeks at 1 and 5°C have been tested by instrumental and sensory means. A Instrumental classification of woolliness has been compared to the sensory assessment. For Springcrest peaches the sensory results match with those found for the instrumental procedure. In this case , Woolliness appears after 2 weeks of storage at 5°C, changing abruptly from crispy to woolly. Miraflores peaches did not develop woolliness during storage. After comparing with sensory results, it is shown that a common instrumental scale may be appropriate to classify for woolliness all peach varieties.

AUTOFLY-Aid: Flight Deck Automation Support with Dynamic 4D Trajectory Management for Responsive and Adaptive Airborne Collision Avoidance

AUTOFLY-Aid Project aims to develop and demonstrate novel automation support algorithms and tools to the flight crew for flight critical collision avoidance using “dynamic 4D trajectory management”. The automation support system is envisioned to improve the primary shortcomings of TCAS, and to aid the pilot through add-on avionics/head-up displays and reality augmentation devices in dynamically evolving collision avoidance scenarios. The main theoretical innovative and novel concepts to be developed by AUTOFLY-Aid project are a) design and development of the mathematical models of the full composite airspace picture from the flight deck’s perspective, as seen/measured/informed by the aircraft flying in SESAR 2020, b) design and development of a dynamic trajectory planning algorithm that can generate at real-time (on the order of seconds) flyable (i.e. dynamically and performance-wise feasible) alternative trajectories across the evolving stochastic composite airspace picture (which includes new conflicts, blunder risks, terrain and weather limitations) and c) development and testing of the Collision Avoidance Automation Support System on a Boeing 737 NG FNPT II Flight Simulator with synthetic vision and reality augmentation while providing the flight crew with quantified and visual understanding of collision risks in terms of time and directions and countermeasures.

Traffic jam driving with NMV avoidance

n recent years, the development of advanced driver assistance systems (ADAS) – mainly based on lidar and cameras – has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators – brake and throttle pedals – were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.