Distributed orientation agreement in a group of robots

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

Distributed Orientation Agreement in a Group of Robots

In this article, a method for the agreement of a set of robots on a common reference orientation based on a distributed consensus algorithm is described. It only needs that robots detect the relative positions of their neighbors and communicate with them. Two different consensus algorithms based on the exchange of information are proposed, tested and analyzed. Systematic experiments were carried out in simulation and with real robots in order to test the method. Experimental results show that the robots are able to agree on the reference orientation under certain conditions. Scalability with an increasing number of robots was tested successfully in simulation with up to 49 robots. Experiments with real robots succeeded proving that the proposed method works in reality.

Distributed bees algorithm for task allocation in swarm of robots

In this paper, we propose the distributed bees algorithm (DBA) for task allocation in a swarm of robots. In the proposed scenario, task allocation consists in assigning the robots to the found targets in a 2-D arena. The expected distribution is obtained from the targets' qualities that are represented as scalar values. Decision-making mechanism is distributed and robots autonomously choose their assignments taking into account targets' qualities and distances. We tested the scalability of the proposed DBA algorithm in terms of number of robots and number of targets. For that, the experiments were performed in the simulator for various sets of parameters, including number of robots, number of targets, and targets' utilities. Control parameters inherent to DBA were tuned to test how they affect the final robot distribution. The simulation results show that by increasing the robot swarm size, the distribution error decreased.

Improved ore processing assessed by digital image análisis of the ores: a key to the sustainable development of the Iberian Pyrite Belt

Mining in the Iberian Pyrite Belt (IPB), the biggest VMS metallogenetic province known in the world to date, has to face a deep crisis in spite of the huge reserves still known after ≈5 000 years of production. This is due to several factors, as the difficult processing of complex Cu-Pb-Zn-Ag- Au ores, the exhaustion of the oxidation zone orebodies (the richest for gold, in gossan), the scarce demand for sulphuric acid in the world market, and harder environmental regulations. Of these factors, only the first and the last mentioned can be addressed by local ore geologists. A reactivation of mining can therefore only be achieved by an improved and more efficient ore processing, under the constraint of strict environmental controls. Digital image analysis of the ores, coupled to reflected light microscopy, provides a quantified and reliable mineralogical and textural characterization of the ores. The automation of the procedure for the first time furnishes the process engineers with real-time information, to improve the process and to preclude or control pollution; it can be applied to metallurgical tailings as well. This is shown by some examples of the IPB.

Game Theory Models for Multi-Robot Patrolling of Infraestructures

Abstract This work is focused on the problem of performing multi‐robot patrolling for infrastructure security applications in order to protect a known environment at critical facilities. Thus, given a set of robots and a set of points of interest, the patrolling task consists of constantly visiting these points at irregular time intervals for security purposes. Current existing solutions for these types of applications are predictable and inflexible. Moreover, most of the previous centralized and deterministic solutions and only few efforts have been made to integrate dynamic methods. Therefore, the development of new dynamic and decentralized collaborative approaches in order to solve the aforementioned problem by implementing learning models from Game Theory. The model selected in this work that includes belief‐based and reinforcement models as special cases is called Experience‐Weighted Attraction. The problem has been defined using concepts of Graph Theory to represent the environment in order to work with such Game Theory techniques. Finally, the proposed methods have been evaluated experimentally by using a patrolling simulator. The results obtained have been compared with previous available

Functional modeling applied to HAZOP automation

In this paper we present a new tool to perform guided HAZOP analyses. This tool uses a functional model of the process that merges its functional and its structural information in a natural way. The functional modeling technique used is called D-higraphs. This tool solves some of the problems and drawbacks of other existing methodologies for the automation of HAZOPs. The applicability and easy understanding of the proposed methodology is shown in an industrial case.

Risk analysis for UAV safe operations: a rationalization for an agricultural environment

The road to the automation of the agricultural processes passes through the safe operation of the autonomous vehicles. This requirement is a fact in ground mobile units, but it still has not well defined for the aerial robots (UAVs) mainly because the normative and legislation are quite diffuse or even inexistent. Therefore, to define a common and global policy is the challenge to tackle. This characterization has to be addressed from the field experience. Accordingly, this paper presents the work done in this direction, based on the analysis of the most common sources of hazards when using UAV's for agricultural tasks. The work, based on the ISO 31000 normative, has been carried out by applying a three-step structure that integrates the identification, assessment and reduction procedures. The present paper exposes how this method has been applied to analyze previous accidents and malfunctions during UAV operations in order to obtain real failure causes. It has allowed highlighting common risks and hazardous sources and proposing specific guards and safety measures for the agricultural context.

Distributes award protocol: A cooperation and communication method for robots.

In this Master’s Thesis a new Distributed Award Protocol (DAP) for robot communication and cooperation is presented. Task assignment (contract awarding) is done dynamically with contracts assigned to robots based upon the best bid received. Instead of having a manager and a contractor it is proposed a fully distributed bidding/awarding mechanism without a distinguished master. The best bidding robots are awarded with contract for execution. The contractors make decisions locally. This brings the following benefits: no communication bottleneck, low computational power requirement, increased robustness. DAP can handle multitasking. Tasks can be injected into system during the execution of already allocated tasks. As tasks have priorities, in the next cycle after taking into account actual bid parameters of all robots, tasks can be re-allocated. The aim is to minimize a global cost function which is a compromise between cost of task execution and cost of resources usage. Information about tasks and bid values is spread among robots with the use of a Round Robin Route, which is a novel solution proposed in this work. This method allows also identifying failed robots. Such failed robot is eliminated from the list of awarded robots and its replacement is found so the task is still executed by a team. If the failure of a robot was temporary (e.g. communication noise) and the robot can recover, it can again participate in the next bidding/awarding process. Using a bidding/awarding mechanism allows robots to dynamically relocate among tasks. This is also contributes to system robustness. DAP was evaluated through multiple experiments done in the multi-robot simulation system. Various scenarios were tested to check the idea of the main algorithm. Different failures of robots (communication failures, partial hardware malfunctions) were simulated and observations were made regarding how DAP recovers from them. Also the DAP flexibility to environment changes was watched. The experiments in the simulated environment confirmed the above features of DAP.

Model Based On-Line Energy Prediction System for Semi-Autonomous Mobile Robots

Maximizing energy autonomy is a consistent challenge when deploying mobile robots in ionizing radiation or other hazardous environments. Having a reliable robot system is essential for successful execution of missions and to avoid manual recovery of the robots in environments that are harmful to human beings. For deployment of robots missions at short notice, the ability to know beforehand the energy required for performing the task is essential. This paper presents a on-line method for predicting energy requirements based on the pre-determined power models for a mobile robot. A small mobile robot, Khepera III is used for the experimental study and the results are promising with high prediction accuracy. The applications of the energy prediction models in energy optimization and simulations are also discussed along with examples of significant energy savings.

Auto-Emergencia de Comunicación Sintáctica en Entornos Estáticos y Dinámicos para Grupos de Robots mediante Evolución Gramatical y Aprendizaje por Refuerzo

La idea de dotar a un grupo de robots o agentes artificiales de un lenguaje ha sido objeto de intenso estudio en las ultimas décadas. Como no podía ser de otra forma los primeros intentos se enfocaron hacia el estudio de la emergencia de vocabularios compartidos convencionalmente por el grupo de robots. Las ventajas que puede ofrecer un léxico común son evidentes, como también lo es que un lenguaje con una estructura más compleja, en la que se pudieran combinar palabras, sería todavía más beneficioso. Surgen así algunas propuestas enfocadas hacia la emergencia de un lenguaje consensuado que muestre una estructura sintáctica similar al lenguaje humano, entre las que se encuentra este trabajo. Tomar el lenguaje humano como modelo supone adoptar algunas de las hipótesis y teorías que disciplinas como la filosofía, la psicología o la lingüística entre otras se han encargado de proponer. Según estas aproximaciones teóricas el lenguaje presenta una doble dimension formal y funcional. En base a su dimensión formal parece claro que el lenguaje sigue unas reglas, por lo que el uso de una gramática se ha considerado esencial para su representación, pero también porque las gramáticas son un dispositivo muy sencillo y potente que permite generar fácilmente estructuras simbólicas. En cuanto a la dimension funcional se ha tenido en cuenta la teoría quizá más influyente de los últimos tiempos, que no es otra que la Teoría de los Actos del Habla. Esta teoría se basa en la idea de Wittgenstein por la que el significado reside en el uso del lenguaje, hasta el punto de que éste se entiende como una manera de actuar y de comportarse, en definitiva como una forma de vida. Teniendo presentes estas premisas en esta tesis se pretende experimentar con modelos computacionales que permitan a un grupo de robots alcanzar un lenguaje común de manera autónoma, simplemente mediante interacciones individuales entre los robots, en forma de juegos de lenguaje. Para ello se proponen tres modelos distintos de lenguaje: • Un modelo basado en gramáticas probabilísticas y aprendizaje por refuerzo en el que las interacciones y el uso del lenguaje son claves para su emergencia y que emplea una gramática generativa estática y diseñada de antemano. Este modelo se aplica a dos grupos distintos: uno formado exclusivamente por robots y otro que combina robots y un humano, de manera que en este segundo caso se plantea un aprendizaje supervisado por humanos. • Un modelo basado en evolución gramatical que permite estudiar no solo el consenso sintáctico, sino también cuestiones relativas a la génesis del lenguaje y que emplea una gramática universal a partir de la cual los robots pueden evolucionar por sí mismos la gramática más apropiada según la situación lingüística que traten en cada momento. • Un modelo basado en evolución gramatical y aprendizaje por refuerzo que toma aspectos de los anteriores y amplia las posibilidades de los robots al permitir desarrollar un lenguaje que se adapta a situaciones lingüísticas dinámicas que pueden cambiar en el tiempo y también posibilita la imposición de restricciones de orden muy frecuentes en las estructuras sintácticas complejas. Todos los modelos implican un planteamiento descentralizado y auto-organizado, de manera que ninguno de los robots es el dueño del lenguaje y todos deben cooperar y colaborar de forma coordinada para lograr el consenso sintáctico. En cada caso se plantean experimentos que tienen como objetivo validar los modelos propuestos, tanto en lo relativo al éxito en la emergencia del lenguaje como en lo relacionado con cuestiones paralelas de importancia, como la interacción hombre-máquina o la propia génesis del lenguaje. ABSTRACT The idea of giving a language to a group of robots or artificial agents has been the subject of intense study in recent decades. The first attempts have focused on the development and emergence of a conventionally shared vocabulary. The advantages that can provide a common vocabulary are evident and therefore a more complex language that combines words would be even more beneficial. Thus some proposals are put forward towards the emergence of a consensual language with a sintactical structure in similar terms to the human language. This work follows this trend. Taking the human language as a model means taking some of the assumptions and theories that disciplines such as philosophy, psychology or linguistics among others have provided. According to these theoretical positions language has a double formal and functional dimension. Based on its formal dimension it seems clear that language follows rules, so that the use of a grammar has been considered essential for representation, but also because grammars are a very simple and powerful device that easily generates these symbolic structures. As for the functional dimension perhaps the most influential theory of recent times, the Theory of Speech Acts has been taken into account. This theory is based on the Wittgenstein’s idea about that the meaning lies in the use of language, to the extent that it is understood as a way of acting and behaving. Having into account these issues this work implements some computational models in order to test if they allow a group of robots to reach in an autonomous way a shared language by means of individual interaction among them, that is by means of language games. Specifically, three different models of language for robots are proposed: • A reinforcement learning based model in which interactions and language use are key to its emergence. This model uses a static probabilistic generative grammar which is designed beforehand. The model is applied to two different groups: one formed exclusively by robots and other combining robots and a human. Therefore, in the second case the learning process is supervised by the human. • A model based on grammatical evolution that allows us to study not only the syntactic consensus, but also the very genesis of language. This model uses a universal grammar that allows robots to evolve for themselves the most appropriate grammar according to the current linguistic situation they deal with. • A model based on grammatical evolution and reinforcement learning that takes aspects of the previous models and increases their possibilities. This model allows robots to develop a language in order to adapt to dynamic language situations that can change over time and also allows the imposition of syntactical order restrictions which are very common in complex syntactic structures. All models involve a decentralized and self-organized approach so that none of the robots is the language’s owner and everyone must cooperate and work together in a coordinated manner to achieve syntactic consensus. In each case experiments are presented in order to validate the proposed models, both in terms of success about the emergence of language and it relates to the study of important parallel issues, such as human-computer interaction or the very genesis of language.

Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la actividad de patrullar un entorno determinado para monitorear cualquier actividad o sensar algunas variables ambientales. En esta actividad, un grupo de robots debe visitar un conjunto de puntos de interés definidos en un entorno en intervalos de tiempo irregulares con propósitos de seguridad. Los modelos de partullaje multi-robot son utilizados para resolver este problema. Hasta el momento existen trabajos que resuelven este problema utilizando diversos principios matemáticos. Los modelos de patrullaje multi-robot desarrollados en esos trabajos representan un gran avance en este campo de investigación. Sin embargo, los modelos con los mejores resultados no son viables para aplicaciones de seguridad debido a su naturaleza centralizada y determinista. Esta tesis presenta cinco modelos de patrullaje multi-robot distribuidos e impredecibles basados en modelos matemáticos de aprendizaje de Teoría de Juegos. El objetivo del desarrollo de estos modelos está en resolver los inconvenientes presentes en trabajos preliminares. Con esta finalidad, el problema de patrullaje multi-robot se formuló utilizando conceptos de Teoría de Grafos, en la cual se definieron varios juegos en cada vértice de un grafo. Los modelos de patrullaje multi-robot desarrollados en este trabajo de investigación se han validado y comparado con los mejores modelos disponibles en la literatura. Para llevar a cabo tanto la validación como la comparación se ha utilizado un simulador de patrullaje y un grupo de robots reales. Los resultados experimentales muestran que los modelos de patrullaje desarrollados en este trabajo de investigación trabajan mejor que modelos de trabajos previos en el 80% de 150 casos de estudio. Además de esto, estos modelos cuentan con varias características importantes tales como distribución, robustez, escalabilidad y dinamismo. Los avances logrados con este trabajo de investigación dan evidencia del potencial de Teoría de Juegos para desarrollar modelos de patrullaje útiles para proteger infraestructuras. ABSTRACT Game theory principle allows to developing stochastic multi-robot patrolling models to protect critical infrastructures. Critical infrastructures protection is a great concern for countries around the world, mainly due to terrorist attacks in the last decade. In this document, the term infrastructures includes airports, nuclear power plants, and many other facilities. The patrolling problem is defined as the activity of traversing a given environment to monitoring any activity or sensing some environmental variables If this activity were performed by a fleet of robots, they would have to visit some places of interest of an environment at irregular intervals of time for security purposes. This problem is solved using multi-robot patrolling models. To date, literature works have been solved this problem applying various mathematical principles.The multi-robot patrolling models developed in those works represent great advances in this field. However, the models that obtain the best results are unfeasible for security applications due to their centralized and predictable nature. This thesis presents five distributed and unpredictable multi-robot patrolling models based on mathematical learning models derived from Game Theory. These multi-robot patrolling models aim at overcoming the disadvantages of previous work. To this end, the multi-robot patrolling problem was formulated using concepts of Graph Theory to represent the environment. Several normal-form games were defined at each vertex of a graph in this formulation. The multi-robot patrolling models developed in this research work have been validated and compared with best ranked multi-robot patrolling models in the literature. Both validation and comparison were preformed by using both a patrolling simulator and real robots. Experimental results show that the multirobot patrolling models developed in this research work improve previous ones in as many as 80% of 150 cases of study. Moreover, these multi-robot patrolling models rely on several features to highlight in security applications such as distribution, robustness, scalability, and dynamism. The achievements obtained in this research work validate the potential of Game Theory to develop patrolling models to protect infrastructures.

Semantic Annotation of RESTful and WFS OGC services

Actualmente, la Web provee un inmenso conjunto de servicios (WS-*, RESTful, OGC WFS), los cuales están normalmente expuestos a través de diferentes estándares que permiten localizar e invocar a estos servicios. Estos servicios están, generalmente, descritos utilizando información textual, sin una descripción formal, es decir, la descripción de los servicios es únicamente sintáctica. Para facilitar el uso y entendimiento de estos servicios, es necesario anotarlos de manera formal a través de la descripción de los metadatos. El objetivo de esta tesis es proponer un enfoque para la anotación semántica de servicios Web en el dominio geoespacial. Este enfoque permite automatizar algunas de las etapas del proceso de anotación, mediante el uso combinado de recursos ontológicos y servicios externos. Este proceso ha sido evaluado satisfactoriamente con un conjunto de servicios en el dominio geoespacial. La contribución principal de este trabajo es la automatización parcial del proceso de anotación semántica de los servicios RESTful y WFS, lo cual mejora el estado del arte en esta área. Una lista detallada de las contribuciones son: • Un modelo para representar servicios Web desde el punto de vista sintáctico y semántico, teniendo en cuenta el esquema y las instancias. • Un método para anotar servicios Web utilizando ontologías y recursos externos. • Un sistema que implementa el proceso de anotación propuesto. • Un banco de pruebas para la anotación semántica de servicios RESTful y OGC WFS. Abstract The Web contains an immense collection of Web services (WS-*, RESTful, OGC WFS), normally exposed through standards that tell us how to locate and invocate them. These services are usually described using mostly textual information and without proper formal descriptions, that is, existing service descriptions mostly stay on a syntactic level. If we want to make such services potentially easier to understand and use, we may want to annotate them formally, by means of descriptive metadata. The objective of this thesis is to propose an approach for the semantic annotation of services in the geospatial domain. Our approach automates some stages of the annotation process, by using a combination of thirdparty resources and services. It has been successfully evaluated with a set of geospatial services. The main contribution of this work is the partial automation of the process of RESTful and WFS semantic annotation services, what improves the current state of the art in this area. The more detailed list of contributions are: • A model for representing Web services. • A method for annotating Web services using ontological and external resources. • A system that implements the proposed annotation process. • A gold standard for the semantic annotation of RESTful and OGC WFS services, and algorithms for evaluating the annotations.

The development of a wind tunnel DAQ system by using Labview tools

This paper presents the experimental three-year learning activity developed by a group of teachers in a wind tunnel facility. The authors, leading a team of students, carried out a project consisting of the design, assembly and testing of a wind tunnel. The project included all stages of the process from its initial specifications to its final quality flow assessments, going through the calculation of each element, and the building of the whole wind tunnel. The group of (final year) students was responsible for the whole wind tunnel project as a part of their bachelor degree project. The paper focuses on the development of wind tunnel data acquisition software. This automatic tool is essential to improve the automation of the data acquisition of the wind tunnel facility systems, in particular for a 6DOF multi-axis force/torque sensor. This work can be considered as a typical example of real engineering practice: a set of specifications that has to be modified due to the constraints imposed throughout the project, in order to obtain the final result

Evolution and implementation of CDIO initiatives at ETSII-UPM

The School of Industrial Engineering at Universidad Politécnica de Madrid (ETSII-UPM) has been promoting student-centred teaching-learning activities, according to the aims of the Bologna Declaration, well before the official establishment of the European Area of Higher Education. Such student-centred teaching-learning experiences led us to the conviction that project based learning is rewarding, both for students and academics, and should be additionally promoted in our new engineering programmes, adapted to the Grade-Master structure. The level of commitment of our teachers with these activities is noteworthy, as the teaching innovation experiences carried out in the last ten years have led to the foundation of 17 Teaching Innovation Groups at ETSII-UPM, hence leading the ranking of teaching innovation among all UPM centres. Among interesting CDIO activities our students have taken part in especially complex projects, including the Formula Student, linked to the complete development of a competition car, and the Cybertech competition, aimed at the design, construction and operation of robots for different purposes. Additional project-based learning teamwork activities have been linked to toy design, to the development of medical devices, to the implementation of virtual laboratories, to the design of complete industrial installations and factories, among other activities detailed in present study. The implementation of Bologna process will culminate at ETSII-UPM with the beginning of the Master’s Degree in Industrial Engineering, in academic year 2014-15. The program has been successfully approved by the Spanish Agency for Accreditation (ANECA), with the inclusion of a set of subjects based upon the CDIO methodology denominated generally “INGENIA”, linked to the Spanish “ingeniar” (to provide ingenious solutions), also related etymologically in Spanish with “ingeniero”, engineer. INGENIA students will live through the complete development process of a complex product or system and there will be different kind of projects covering most of the engineering majors at ETSII-UPM.

Determination of the influence of specific building regulations in smart buildings

The automation of domestic services began to be implemented in buildings since the late nineteenth century, and today we are used to terms like ‘intelligent buildings’, ‘digital home’ or ‘domotic buildings’. These concepts tell us about constructions which integrate new technologies in order to improve comfort, optimize energy consumption or enhance the security of users. In conjunction, building regulations have been updated to suit the needs of society and to regulate these new facilities in such structures. However, we are not always sure about how far, from the quantitative or qualitative point of view, legislation should regulate certain aspects of the building activity. Consequently, content analysis is adopted in this research to determine the influence of building regulations in the implementation of new technologies in the construction process. This study includes the analysis of different European regulations, the collection and documentation of such guidelines that have been established and a study of the impact that all of these have had in the way we start thinking an architectural project. The achievements of the research could be explained in terms of the regulatory requirements that must be taken into account in order to achieve a successful implementation of a home automation system, and the key finding has been the confirmation of how the design of smart buildings may be promoted through specific regulatory requirements while other factors, such as the global economic situation, do not seem to affect directly the rate of penetration of home automation in construction.