PDR with a foot-mounted IMU and ramp detection

The localization of persons in indoor environments is nowadays an open problem. There are partial solutions based on the deployment of a network of sensors (Local Positioning Systems or LPS). Other solutions only require the installation of an inertial sensor on the person’s body (Pedestrian Dead-Reckoning or PDR). PDR solutions integrate the signals coming from an Inertial Measurement Unit (IMU), which usually contains 3 accelerometers and 3 gyroscopes. The main problem of PDR is the accumulation of positioning errors due to the drift caused by the noise in the sensors. This paper presents a PDR solution that incorporates a drift correction method based on detecting the access ramps usually found in buildings. The ramp correction method is implemented over a PDR framework that uses an Inertial Navigation algorithm (INS) and an IMU attached to the person’s foot. Unlike other approaches that use external sensors to correct the drift error, we only use one IMU on the foot. To detect a ramp, the slope of the terrain on which the user is walking, and the change in height sensed when moving forward, are estimated from the IMU. After detection, the ramp is checked for association with one of the existing in a database. For each associated ramp, a position correction is fed into the Kalman Filter in order to refine the INS-PDR solution. Drift-free localization is achieved with positioning errors below 2 meters for 1,000-meter-long routes in a building with a few ramps.

Intelligent automatic overtaking system using vision for vehicle detection

There is clear evidence that investment in intelligent transportation system technologies brings major social and economic benefits. Technological advances in the area of automatic systems in particular are becoming vital for the reduction of road deaths. We here describe our approach to automation of one the riskiest autonomous manœuvres involving vehicles – overtaking. The approach is based on a stereo vision system responsible for detecting any preceding vehicle and triggering the autonomous overtaking manœuvre. To this end, a fuzzy-logic based controller was developed to emulate how humans overtake. Its input is information from the vision system and from a positioning-based system consisting of a differential global positioning system (DGPS) and an inertial measurement unit (IMU). Its output is the generation of action on the vehicle’s actuators, i.e., the steering wheel and throttle and brake pedals. The system has been incorporated into a commercial Citroën car and tested on the private driving circuit at the facilities of our research center, CAR, with different preceding vehicles – a motorbike, car, and truck – with encouraging results.

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

The main problem of pedestrian dead-reckoning (PDR) using only a body-attached inertial measurement unit is the accumulation of heading errors. The heading provided by magnetometers in indoor buildings is in general not reliable and therefore it is commonly not used. Recently, a new method was proposed called heuristic drift elimination (HDE) that minimises the heading error when navigating in buildings. It assumes that the majority of buildings have their corridors parallel to each other, or they intersect at right angles, and consequently most of the time the person walks along a straight path with a heading constrained to one of the four possible directions. In this article we study the performance of HDE-based methods in complex buildings, i.e. with pathways also oriented at 45°, long curved corridors, and wide areas where non-oriented motion is possible. We explain how the performance of the original HDE method can be deteriorated in complex buildings, and also, how severe errors can appear in the case of false matches with the building's dominant directions. Although magnetic compassing indoors has a chaotic behaviour, in this article we analyse large data-sets in order to study the potential use that magnetic compassing has to estimate the absolute yaw angle of a walking person. Apart from these analysis, this article also proposes an improved HDE method called Magnetically-aided Improved Heuristic Drift Elimination (MiHDE), that is implemented over a PDR framework that uses foot-mounted inertial navigation with an extended Kalman filter (EKF). The EKF is fed with the MiHDE-estimated orientation error, gyro bias corrections, as well as the confidence over that corrections. We experimentally evaluated the performance of the proposed MiHDE-based PDR method, comparing it with the original HDE implementation. Results show that both methods perform very well in ideal orthogonal narrow-corridor buildings, and MiHDE outperforms HDE for non-ideal trajectories (e.g. curved paths) and also makes it robust against potential false dominant direction matchings.

Arquitectura de Control para la Conducción Autónoma de Vehículos en Entornos Urbanos y Autovías

Hoy en día, el desarrollo tecnológico en el campo de los sistemas inteligentes de transporte (ITS por sus siglas en inglés) ha permitido dotar a los vehículos con diversos sistemas de ayuda a la conducción (ADAS, del inglés advanced driver assistance system), mejorando la experiencia y seguridad de los pasajeros, en especial del conductor. La mayor parte de estos sistemas están pensados para advertir al conductor sobre ciertas situaciones de riesgo, como la salida involuntaria del carril o la proximidad de obstáculos en el camino. No obstante, también podemos encontrar sistemas que van un paso más allá y son capaces de cooperar con el conductor en el control del vehículo o incluso relegarlos de algunas tareas tediosas. Es en este último grupo donde se encuentran los sistemas de control electrónico de estabilidad (ESP - Electronic Stability Program), el antibloqueo de frenos (ABS - Anti-lock Braking System), el control de crucero (CC - Cruise Control) y los más recientes sistemas de aparcamiento asistido. Continuando con esta línea de desarrollo, el paso siguiente consiste en la supresión del conductor humano, desarrollando sistemas que sean capaces de conducir un vehículo de forma autónoma y con un rendimiento superior al del conductor. En este trabajo se presenta, en primer lugar, una arquitectura de control para la automatización de vehículos. Esta se compone de distintos componentes de hardware y software, agrupados de acuerdo a su función principal. El diseño de la arquitectura parte del trabajo previo desarrollado por el Programa AUTOPIA, aunque introduce notables aportaciones en cuanto a la eficiencia, robustez y escalabilidad del sistema. Ahondando un poco más en detalle, debemos resaltar el desarrollo de un algoritmo de localización basado en enjambres de partículas. Este está planteado como un método de filtrado y fusión de la información obtenida a partir de los distintos sensores embarcados en el vehículo, entre los que encontramos un receptor GPS (Global Positioning System), unidades de medición inercial (IMU – Inertial Measurement Unit) e información tomada directamente de los sensores embarcados por el fabricante, como la velocidad de las ruedas y posición del volante. Gracias a este método se ha conseguido resolver el problema de la localización, indispensable para el desarrollo de sistemas de conducción autónoma. Continuando con el trabajo de investigación, se ha estudiado la viabilidad de la aplicación de técnicas de aprendizaje y adaptación al diseño de controladores para el vehículo. Como punto de partida se emplea el método de Q-learning para la generación de un controlador borroso lateral sin ningún tipo de conocimiento previo. Posteriormente se presenta un método de ajuste on-line para la adaptación del control longitudinal ante perturbaciones impredecibles del entorno, como lo son los cambios en la inclinación del camino, fricción de las ruedas o peso de los ocupantes. Para finalizar, se presentan los resultados obtenidos durante un experimento de conducción autónoma en carreteras reales, el cual se llevó a cabo en el mes de Junio de 2012 desde la población de San Lorenzo de El Escorial hasta las instalaciones del Centro de Automática y Robótica (CAR) en Arganda del Rey. El principal objetivo tras esta demostración fue validar el funcionamiento, robustez y capacidad de la arquitectura propuesta para afrontar el problema de la conducción autónoma, bajo condiciones mucho más reales a las que se pueden alcanzar en las instalaciones de prueba. ABSTRACT Nowadays, the technological advances in the Intelligent Transportation Systems (ITS) field have led the development of several driving assistance systems (ADAS). These solutions are designed to improve the experience and security of all the passengers, especially the driver. For most of these systems, the main goal is to warn drivers about unexpected circumstances leading to risk situations such as involuntary lane departure or proximity to other vehicles. However, other ADAS go a step further, being able to cooperate with the driver in the control of the vehicle, or even overriding it on some tasks. Examples of this kind of systems are the anti-lock braking system (ABS), cruise control (CC) and the recently commercialised assisted parking systems. Within this research line, the next step is the development of systems able to replace the human drivers, improving the control and therefore, the safety and reliability of the vehicles. First of all, this dissertation presents a control architecture design for autonomous driving. It is made up of several hardware and software components, grouped according to their main function. The design of this architecture is based on the previous works carried out by the AUTOPIA Program, although notable improvements have been made regarding the efficiency, robustness and scalability of the system. It is also remarkable the work made on the development of a location algorithm for vehicles. The proposal is based on the emulation of the behaviour of biological swarms and its performance is similar to the well-known particle filters. The developed method combines information obtained from different sensors, including GPS, inertial measurement unit (IMU), and data from the original vehicle’s sensors on-board. Through this filtering algorithm the localization problem is properly managed, which is critical for the development of autonomous driving systems. The work deals also with the fuzzy control tuning system, a very time consuming task when done manually. An analysis of learning and adaptation techniques for the development of different controllers has been made. First, the Q-learning –a reinforcement learning method– has been applied to the generation of a lateral fuzzy controller from scratch. Subsequently, the development of an adaptation method for longitudinal control is presented. With this proposal, a final cruise control controller is able to deal with unpredictable environment disturbances, such as road slope, wheel’s friction or even occupants’ weight. As a testbed for the system, an autonomous driving experiment on real roads is presented. This experiment was carried out on June 2012, driving from San Lorenzo de El Escorial up to the Center for Automation and Robotics (CAR) facilities in Arganda del Rey. The main goal of the demonstration was validating the performance, robustness and viability of the proposed architecture to deal with the problem of autonomous driving under more demanding conditions than those achieved on closed test tracks.

Metodología para ejecución y control de calidad para ortofotos, mediante combinación de sensor digital con LIDAR en zonas rurales

La utilización de una cámara fotogramétrica digital redunda en el aumento demostrable de calidad radiométrica debido a la mejor relación señal/ruido y a los 12 bits de resolución radiométrica por cada pixel de la imagen. Simultáneamente se consigue un notable ahorro de tiempo y coste gracias a la eliminación de las fases de revelado y escaneado de la película y al aumento de las horas de vuelo por día. De otra parte, el sistema láser aerotransportado (LIDAR - Light Detection and Ranging) es un sistema con un elevado rendimiento y rentabilidad para la captura de datos de elevaciones para generar un modelo digital del terreno (MDT) y también de los objetos sobre el terreno, permitiendo así alcanzar alta precisión y densidad de información. Tanto el sistema LIDAR como el sistema de cámara fotogramétrica digital se combinan con otras técnicas bien conocidas: el sistema de posicionamiento global (GPS - Global Positioning System) y la orientación de la unidad de medida inercial (IMU - Inertial Measure Units), que permiten reducir o eliminar el apoyo de campo y realizar la orientación directa de los sensores utilizando datos de efemérides precisas de los satélites. Combinando estas tecnologías, se va a proponer y poner en práctica una metodología para generación automática de ortofotos en países de América del Sur. Analizando la precisión de dichas ortofotos comparándolas con fuente de mayor exactitud y con las especificaciones técnicas del Plan Nacional de Ortofotografía Aérea (PNOA) se determinará la viabilidad de que dicha metodología se pueda aplicar a zonas rurales. ABSTRACT Using a digital photogrammetric camera results in a demonstrable increase of the radiometric quality due to a better improved signal/noise ratio and the radiometric resolution of 12 bits per pixel of the image. Simultaneously a significant saving of time and money is achieved thanks to the elimination of the developing and film scanning stages, as well as to the increase of flying hours per day. On the other hand, airborne laser system Light Detection and Ranging (LIDAR) is a system with high performance and yield for the acquisition of elevation data in order to generate a digital terrain model (DTM), as well as objects on the ground which allows to achieve high accuracy and data density. Both the LIDAR and the digital photogrammetric camera system are combined with other well known techniques: global positioning system (GPS) and inertial measurement unit (IMU) orientation, which are currently in a mature evolutionary stage, which allow to reduce and/or remove field support and perform a direct guidance of sensors using specific historic data from the satellites. By combining these technologies, a methodology for automatic generation of orthophotos in South American countries will be proposed and implemented. Analyzing the accuracy of these orthophotos comparing them with more accurate sources and technical specifications of the National Aerial Orthophoto (PNOA), the viability of whether this methodology should be applied to rural areas, will be determined.

Reconocimiento de gestos basado en acelerómetros

En los últimos años, ha crecido de forma significativa el interés por la utilización de dispositivos capaces de reconocer gestos humanos. En este trabajo, se pretenden reconocer gestos manuales colocando sensores en la mano de una persona. El reconocimiento de gestos manuales puede ser implementado para diversos usos y bajo diversas plataformas: juegos (Wii), control de brazos robóticos, etc. Como primer paso, se realizará un estudio de las actuales técnicas de reconocimiento de gestos que utilizan acelerómetros como sensor de medida. En un segundo paso, se estudiará como los acelerómetros pueden utilizarse para intentar reconocer los gestos que puedan realizar una persona (mover el brazo hacia un lado, girar la mano, dibujar un cuadrado, etc.) y los problemas que de su utilización puedan derivarse. Se ha utilizado una IMU (Inertial Measurement Unit) como sensor de medida. Está compuesta por tres acelerómetros y tres giróscopos (MTi-300 de Xsens). Con las medidas que proporcionan estos sensores se realiza el cálculo de la posición y orientación de la mano, representando esta última en función de los ángulos de Euler. Un aspecto importante a destacar será el efecto de la gravedad en las medidas de las aceleraciones. A través de diversos cálculos y mediante la ayuda de los giróscopos se podrá corregir dicho efecto. Por último, se desarrollará un sistema que identifique la posición y orientación de la mano como gestos reconocidos utilizando lógica difusa. Tanto para la adquisición de las muestras, como para los cálculos de posicionamiento, se ha desarrollado un código con el programa Matlab. También, con este mismo software, se ha implementado un sistema de lógica difusa con la que se realizará el reconocimiento de los gestos, utilizando la herramienta FIS Editor. Las pruebas realizadas han consistido en la ejecución de nueve gestos por diferentes personas teniendo una tasa de reconocimiento comprendida entre el 90 % y 100 % dependiendo del gesto a identificar. ABSTRACT In recent years, it has grown significantly interest in the use of devices capable of recognizing human gestures. In this work, we aim to recognize hand gestures placing sensors on the hand of a person. The recognition of hand gestures can be implemented for different applications on different platforms: games (Wii), control of robotic arms ... As a first step, a study of current gesture recognition techniques that use accelerometers and sensor measurement is performed. In a second step, we study how accelerometers can be used to try to recognize the gestures that can make a person (moving the arm to the side, rotate the hand, draw a square, etc...) And the problems of its use can be derived. We used an IMU (Inertial Measurement Unit) as a measuring sensor. It comprises three accelerometers and three gyroscopes (Xsens MTI-300). The measures provided by these sensors to calculate the position and orientation of the hand are made, with the latter depending on the Euler angles. An important aspect to note is the effect of gravity on the measurements of the accelerations. Through various calculations and with the help of the gyroscopes can correct this effect. Finally, a system that identifies the position and orientation of the hand as recognized gestures developed using fuzzy logic. Both the acquisition of samples to calculate position, a code was developed with Matlab program. Also, with the same software, has implemented a fuzzy logic system to be held with the recognition of gestures using the FIS Editor. Tests have involved the execution of nine gestures by different people having a recognition rate between 90% and 100% depending on the gesture to identify.

Human-robot interaction for telemanipulation in large workspaces

Independientemente de la existencia de técnicas altamente sofisticadas y capacidades de cómputo cada vez más elevadas, los problemas asociados a los robots que interactúan con entornos no estructurados siguen siendo un desafío abierto en robótica. A pesar de los grandes avances de los sistemas robóticos autónomos, hay algunas situaciones en las que una persona en el bucle sigue siendo necesaria. Ejemplos de esto son, tareas en entornos de fusión nuclear, misiones espaciales, operaciones submarinas y cirugía robótica. Esta necesidad se debe a que las tecnologías actuales no pueden realizar de forma fiable y autónoma cualquier tipo de tarea. Esta tesis presenta métodos para la teleoperación de robots abarcando distintos niveles de abstracción que van desde el control supervisado, en el que un operador da instrucciones de alto nivel en la forma de acciones, hasta el control bilateral, donde los comandos toman la forma de señales de control de bajo nivel. En primer lugar, se presenta un enfoque para llevar a cabo la teleoperación supervisada de robots humanoides. El objetivo es controlar robots terrestres capaces de ejecutar tareas complejas en entornos de búsqueda y rescate utilizando enlaces de comunicación limitados. Esta propuesta incorpora comportamientos autónomos que el operador puede utilizar para realizar tareas de navegación y manipulación mientras se permite cubrir grandes áreas de entornos remotos diseñados para el acceso de personas. Los resultados experimentales demuestran la eficacia de los métodos propuestos. En segundo lugar, se investiga el uso de dispositivos rentables para telemanipulación guiada. Se presenta una aplicación que involucra un robot humanoide bimanual y un traje de captura de movimiento basado en sensores inerciales. En esta aplicación, se estudian las capacidades de adaptación introducidas por el factor humano y cómo estas pueden compensar la falta de sistemas robóticos de alta precisión. Este trabajo es el resultado de una colaboración entre investigadores del Biorobotics Laboratory de la Universidad de Harvard y el Centro de Automática y Robótica UPM-CSIC. En tercer lugar, se presenta un nuevo controlador háptico que combina velocidad y posición. Este controlador bilateral híbrido hace frente a los problemas relacionados con la teleoperación de un robot esclavo con un gran espacio de trabajo usando un dispositivo háptico pequeño como maestro. Se pueden cubrir amplias áreas de trabajo al cambiar automáticamente entre los modos de control de velocidad y posición. Este controlador háptico es ideal para sistemas maestro-esclavo con cinemáticas diferentes, donde los comandos se transmiten en el espacio de la tarea del entorno remoto. El método es validado para realizar telemanipulación hábil de objetos con un robot industrial. Por último, se introducen dos contribuciones en el campo de la manipulación robótica. Por un lado, se presenta un nuevo algoritmo de cinemática inversa, llamado método iterativo de desacoplamiento cinemático. Este método se ha desarrollado para resolver el problema cinemático inverso de un tipo de robot de seis grados de libertad donde una solución cerrada no está disponible. La eficacia del método se compara con métodos numéricos convencionales. Además, se ha diseñado una taxonomía robusta de agarres que permite controlar diferentes manos robóticas utilizando una correspondencia, basada en gestos, entre los espacios de trabajo de la mano humana y de la mano robótica. El gesto de la mano humana se identifica mediante la lectura de los movimientos relativos del índice, el pulgar y el dedo medio del usuario durante las primeras etapas del agarre. ABSTRACT Regardless of the availability of highly sophisticated techniques and ever increasing computing capabilities, the problems associated with robots interacting with unstructured environments remains an open challenge. Despite great advances in autonomous robotics, there are some situations where a humanin- the-loop is still required, such as, nuclear, space, subsea and robotic surgery operations. This is because the current technologies cannot reliably perform all kinds of task autonomously. This thesis presents methods for robot teleoperation strategies at different levels of abstraction ranging from supervisory control, where the operator gives high-level task actions, to bilateral teleoperation, where the commands take the form of low-level control inputs. These strategies contribute to improve the current human-robot interfaces specially in the case of slave robots deployed at large workspaces. First, an approach to perform supervisory teleoperation of humanoid robots is presented. The goal is to control ground robots capable of executing complex tasks in disaster relief environments under constrained communication links. This proposal incorporates autonomous behaviors that the operator can use to perform navigation and manipulation tasks which allow covering large human engineered areas of the remote environment. The experimental results demonstrate the efficiency of the proposed methods. Second, the use of cost-effective devices for guided telemanipulation is investigated. A case study involving a bimanual humanoid robot and an Inertial Measurement Unit (IMU) Motion Capture (MoCap) suit is introduced. Herein, it is corroborated how the adaptation capabilities offered by the human-in-the-loop factor can compensate for the lack of high-precision robotic systems. This work is the result of collaboration between researchers from the Harvard Biorobotics Laboratory and the Centre for Automation and Robotics UPM-CSIC. Thirdly, a new haptic rate-position controller is presented. This hybrid bilateral controller copes with the problems related to the teleoperation of a slave robot with large workspace using a small haptic device as master. Large workspaces can be covered by automatically switching between rate and position control modes. This haptic controller is ideal to couple kinematic dissimilar master-slave systems where the commands are transmitted in the task space of the remote environment. The method is validated to perform dexterous telemanipulation of objects with a robotic manipulator. Finally, two contributions for robotic manipulation are introduced. First, a new algorithm, the Iterative Kinematic Decoupling method, is presented. It is a numeric method developed to solve the Inverse Kinematics (IK) problem of a type of six-DoF robotic arms where a close-form solution is not available. The effectiveness of this IK method is compared against conventional numerical methods. Second, a robust grasp mapping has been conceived. It allows to control a wide range of different robotic hands using a gesture based correspondence between the human hand space and the robotic hand space. The human hand gesture is identified by reading the relative movements of the index, thumb and middle fingers of the user during the early stages of grasping.

Modeling and Simulation of Upper Brachial Plexus Injury

This article presents the first musculoskeletal model and simulation of upper plexus brachial injury. From this model is possible to analyse forces and movement ranges in order to develop a robotic exoskeleton to improve rehabilitation. The software that currently exists for musculoskeletal modeling is varied and most have advanced features for proper analysis and study of motion simulations. Whilst more powerful computer packages are usually expensive, there are other free and open source packages available which offer different tools to perform animations and simulations and which obtain forces and moments of inertia. Among them, Musculoskeletal Modeling Software was selected to construct a model of the upper limb, which has 7 degrees of freedom and 10 muscles. These muscles are important for two of the movements simulated in this article that are part of the post-surgery rehabilitation protocol. We performed different movement animations which are made using the inertial measurement unit to capture real data from movements made by a human being. We also performed the simulation of forces produced in elbow flexion-extension and arm abduction-adduction of a healthy subject and one with upper brachial plexus injury in a postoperative state to compare the force that is capable of being produced in both cases.

A Vision-based Quadrotor Multi-robot Solution for the Indoor Autonomy Challenge of the 2013 International Micro Air Vehicle Competition

This paper presents a completely autonomous solution to participate in the Indoor Challenge of the 2013 International Micro Air Vehicle Competition (IMAV 2013). Our proposal is a multi-robot system with no centralized coordination whose robotic agents share their position estimates. The capability of each agent to navigate avoiding collisions is a consequence of the resulting emergent behavior. Each agent consists of a ground station running an instance of the proposed architecture that communicates over WiFi with an AR Drone 2.0 quadrotor. Visual markers are employed to sense and map obstacles and to improve the pose estimation based on Inertial Measurement Unit (IMU) and ground optical flow data. Based on our architecture, each robotic agent can navigate avoiding obstacles and other members of the multi-robot system. The solution is demonstrated and the achieved navigation performance is evaluated by means of experimental flights. This work also analyzes the capabilities of the presented solution in simulated flights of the IMAV 2013 Indoor Challenge. The performance of the CVG UPM team was awarded with the First Prize in the Indoor Autonomy Challenge of the IMAV 2013 competition.

Indicadores de sostenibilidad de la gestión integral de las aguas de lluvia en los entornos urbanos : aplicación a la ciudad de Zaragoza

En un contexto de rápido crecimiento de la población urbana y de cambio climático global, la consecución de un modelo de desarrollo sostenible pasa inevitablemente por construir ciudades más sostenibles. Basado en una intensiva impermeabilización de los suelos, el modelo actual de desarrollo urbano modifica profundamente el ciclo natural del agua en las ciudades. La drástica reducción de la capacidad de infiltración del terreno hace que gran parte de la precipitación se transforme en escorrentía superficial, que se concentra rápidamente originando grandes caudales punta. Además, el lavado de las superficies urbanas aporta altas cargas de contaminación a la escorrentía que producen importantes impactos en los medios receptores. Esta realidad motiva la realización de la presente tesis doctoral cuyo objetivo general es contribuir a la consecución de ciudades sostenibles a través de la gestión integral de las aguas de lluvia en los entornos urbanos. Con el objetivo prioritario de minimizar los riesgos de inundación, el enfoque convencional del drenaje urbano desarrolló las primeras soluciones en relación a los caudales punta, centralizando su gestión en el sistema de saneamiento e incorporando la escorrentía al mismo tan rápido como fuera posible. Pero en episodios de lluvias intensas la sobrecarga tanto hidráulica como de contaminación del sistema provoca un incremento de la vulnerabilidad de la población a las inundaciones, una falta de garantía de salud pública y graves impactos sobre los medios receptores. La aprobación en 1987 del CleanWaterAct en Estados Unidos, en el que se reconoció por primera vez el problema de la contaminación aportada por la escorrentía urbana, fue el punto de partida de un nuevo enfoque que promueve un conjunto de técnicas de drenaje que integran aspectos como cantidad de agua, calidad de agua y servicio a la sociedad. Estas técnicas, conocidas como Sistemas de Drenaje Sostenible (SUDS), son consideradas como las técnicas más apropiadas para gestionar los riesgos resultantes de la escorrentía urbana así como para contribuir a la mejora medioambiental de la cuenca y de los ecosistemas receptores. La experiencia internacional apunta a que la efectiva incorporación de los SUDS como sistemas habituales en el desarrollo urbano debe basarse en tres elementos clave: El desarrollo de un marco normativo, la aplicación de instrumentos económicos y la participación ciudadana activa en el proceso. Además se identifica como una de las líneas estratégicas para avanzar en la resolución de la problemática el desarrollo y aplicación de metodologías que apoyen el proceso de toma de decisiones basadas en indicadores cuantificables. Convergiendo con esta línea estratégica la presente tesis doctoral define unos indicadores de sostenibilidad focalizados en una temática no desarrollada hasta el momento, la gestión integral de las aguas de lluvia. Para ello, se aplica el marco analítico Presión-Estado–Respuesta bajo un enfoque que rebasa el sistema de saneamiento, enmarcando la gestión de las aguas de lluvia en las múltiples y complejas interrelaciones del sistema urbano. Así se determinan indicadores de presión, de estado y de respuesta para cada elemento del sistema urbano (Medio Receptor – Cuenca Urbana – Sistema de Saneamiento), definiendo para cada indicador el objetivo específico, la unidad de medición, la tendencia deseada de evolución y la periodicidad de seguimiento recomendada. La validez de la metodología propuesta se comprueba en el estudio de caso de la ciudad de Zaragoza. La determinación de los indicadores permite realizar un diagnóstico y definir unas líneas estratégicas de actuación que contemplan mejoras no sólo en el sistema de saneamiento y drenaje urbano, sino también en el marco normativo, urbanístico, económico, social y ambiental. Finalmente, se concluye que la integración de la gestión de las aguas de lluvia en las políticas de ordenación del territorio, el desarrollo de mecanismos de coordinación institucional, la mejora del marco normativo y la aplicación de instrumentos económicos son elementos clave para la gestión integral de las aguas de lluvia y el consecuente desarrollo de ciudades más sostenibles en España. In a context of rapid urbanization and global climate change, coping with sustainable development challenges requires the development of sustainable cities. Based on an intensive soil permeability reduction, the current development model deeply modifies the natural water cycle in the urban environment. Reduction of soil infiltration capacity turns most of the rainwater into surface runoff, rapidly leading to heavy peak flows which are highly contaminated due to the flushing of the urban surface. This is the central motivation for this thesis, which aspires to contribute to the attainment of more sustainable cities through an integrated management of rainwater in urban environments. With the main objective of minimizing floods, the conventional approach of drainage systems focused on peak flows, centralizing their management on the sewage system and incorporating flows as fast as possible. But during heavy rains the hydraulic and contamination overcharge of the sewage system leads to an increase in the vulnerability of the population, in regards to floods and lack of public health, as well as to severe impacts in receiving waters. In 1987, the United States’Clean Water Act Declaration, which firstly recognized the problem of runoff contamination, was the starting point of a new approach that promotes a set of techniques known as Sustainable Drainage Systems (SUDS)that integrates issues such as quantity of water, quality of water and service to society. SUDS are considered the most suitable set of techniques to manage the risks resulting from urban runoff, as well as to contribute to the environmental enhancement of urban basins and of the aquatic ecosystems. International experience points out that the effective adoption of SUDS as usual systems in urban development must be based on three key elements: The enhancement of the legal frame, the application of economic tools and the active public participation throughout the process. Additionally, one of the strategic actions to advance in the resolution of the problem is the development and application of methodologies based in measurable indicators that support the decision making process. In that line, this thesis defines a set of sustainability indicators focused in integrated management of rainwater. To that end, the present document applies the analytical frame Pressure – State – Response under an approach that goes beyond the sewage system and considers the multiple and complex interrelations within urban systems. Thus, for the three basic elements that interact in the issue (Receiving Water Bodies – Urban Basin – Sewage System) a set of Pressure – State – Response indicators are proposed, and the specific aim, the measurement unit, the desired evolution trend and the regularity of monitoring are defined for each of the indicators. The application of the proposed indicators to the case study of the city of Zaragoza acknowledged their suitability for the definition of lines of action that encompass not only the enhancement of the performance of sewage and drainage systems during rain events, but also the legal, urban, economic, social and environmental framework. Finally, this thesis concludes that the inclusion of urban rainwater management issues in the definition of regional planning policies, the development of mechanisms to attain an effective institutional coordination, the enhancement of the legal framework and the application of economic tools are key elements in order to achieve an integrated rainwater management and the subsequent sustainability of urban development in Spain.

Wireless measurement system for structural health monitoring with high time synchronization accuracy

Structural health monitoring (SHM) systems have excellent potential to improve the regular operation and maintenance of structures. Wireless networks (WNs) have been used to avoid the high cost of traditional generic wired systems. The most important limitation of SHM wireless systems is time-synchronization accuracy, scalability, and reliability. A complete wireless system for structural identification under environmental load is designed, implemented, deployed, and tested on three different real bridges. Our contribution ranges from the hardware to the graphical front end. System goal is to avoid the main limitations of WNs for SHM particularly in regard to reliability, scalability, and synchronization. We reduce spatial jitter to 125 ns, far below the 120 μs required for high-precision acquisition systems and much better than the 10-μs current solutions, without adding complexity. The system is scalable to a large number of nodes to allow for dense sensor coverage of real-world structures, only limited by a compromise between measurement length and mandatory time to obtain the final result. The system addresses a myriad of problems encountered in a real deployment under difficult conditions, rather than a simulation or laboratory test bed.

Simulation Tool and Case Study for Planning Wireless Sensor Network

In this paper, a simulation tool for assisting the deployment of wireless sensor network is introduced and simulation results are verified under a specific indoor environment. The simulation tool supports two modes: deterministic mode and stochastic mode. The deterministic mode is environment dependent in which the information of environment should be provided beforehand. Ray tracing method and deterministic propagation model are employed in order to increase the accuracy of the estimated coverage, connectivity and routing; the stochastic mode is useful for large scale random deployment without previous knowledge on geographic information. Dynamic Source Routing protocol (DSR) and Ad hoc On-Demand Distance Vector Routing protocol (AODV) are implemented in order to calculate the topology of WSN. Hence this tool gives direct view on the performance of WSN and assists users in finding the potential problems of wireless sensor network before real deployment. At the end, a case study is realized in Centro de Electronica Industrial (CEI), the simulation results on coverage, connectivity and routing are verified by the measurement.

Multi-agent location system in wireless networks

In this paper we propose a flexible Multi-Agent Architecture together with a methodology for indoor location which allows us to locate any mobile station (MS) such as a Laptop, Smartphone, Tablet or a robotic system in an indoor environment using wireless technology. Our technology is complementary to the GPS location finder as it allows us to locate a mobile system in a specific room on a specific floor using the Wi-Fi networks. The idea is that any MS will have an agent known at a Fuzzy Location Software Agent (FLSA) with a minimum capacity processing at its disposal which collects the power received at different Access Points distributed around the floor and establish its location on a plan of the floor of the building. In order to do so it will have to communicate with the Fuzzy Location Manager Software Agent (FLMSA). The FLMSAs are local agents that form part of the management infrastructure of the Wi-Fi network of the Organization. The FLMSA implements a location estimation methodology divided into three phases (measurement, calibration and estimation) for locating mobile stations (MS). Our solution is a fingerprint-based positioning system that overcomes the problem of the relative effect of doors and walls on signal strength and is independent of the network device manufacturer. In the measurement phase, our system collects received signal strength indicator (RSSI) measurements from multiple access points. In the calibration phase, our system uses these measurements in a normalization process to create a radio map, a database of RSS patterns. Unlike traditional radio map-based methods, our methodology normalizes RSS measurements collected at different locations on a floor. In the third phase, we use Fuzzy Controllers to locate an MS on the plan of the floor of a building. Experimental results demonstrate the accuracy of the proposed method. From these results it is clear that the system is highly likely to be able to locate an MS in a room or adjacent room.

Adaptive cross-device videoconferencing solution for wireless networks based on QoS monitoring

The increase in CPU power and screen quality of todays smartphones as well as the availability of high bandwidth wireless networks has enabled high quality mobile videoconfer- encing never seen before. However, adapting to the variety of devices and network conditions that come as a result is still not a trivial issue. In this paper, we present a multiple participant videoconferencing service that adapts to different kind of devices and access networks while providing an stable communication. By combining network quality detection and the use of a multipoint control unit for video mixing and transcoding, desktop, tablet and mobile clients can participate seamlessly. We also describe the cost in terms of bandwidth and CPU usage of this approach in a variety of scenarios.

The counteractive effect of the sensor housing on the unit sensitivity across a series of dynamic temperature profiles.

The advantages of wireless sensing implemented on the cold chain of fresh products are well known. These sensor systems consist of a combination of delicate internal electronic circuitry enclosed in a special housing unit. Manufacturers however are presented with the challenge that the housing required to withstand the harsh environment in which the sensors are being used all too often take from the functionality of the sensor. Therefore the target of this study is to determine the dynamic behavior and the counteractive effects of the sensor housing on temperature recording accuracy in the wireless nodes of Wireless Sensor Network (WSN) and Radio Frequency Identification (RFID) semi-passive tags. Two kind of semi-passive Turbo Tags were used (T700 and T702-B), which consisted of sensors with and without a cover, and two kind of WSN nodes, IRIS (sensors Intersema and Sensirion soldered in the motherboard) and NLAZA (Sensirion in a cable and soldered to the motherboard). To recreate the temperature profiles the devices were rotated between a cold room(5 ºC) through a ambient room(23 ºC) to a heated environment (35ºC) and vice versa. Analysis revealed the differences between housing and no housing are 308.22s to 21.99s respectively in the step from 5 to 35 ºC. As is demonstrated in these experiments the influence of the housing significantly hinders sensor accuracy.