Software de control desarrollado en ROS para teleoperar de manera eficiente el robot Kuka Lightweight mediante el háptico Phantom Omni

La teleoperación o telerobótica es un campo de la robótica que se basa en el control remoto de robots esclavo por parte de un usuario encargado de gobernar, mediante un dispositivo maestro, la fuerza y movimiento del robot. Sobre dicho usuario recaen también las tareas de percepción del entorno, planificación y manipulación compleja. Concretamente se pretende desarrollar el control software necesario para teleoperar un manipulador esclavo, Kuka Lightweigh mediante un dispositivo háptico Phamton Omni, que se comporta como maestro, sin que afecten las diferencias dinámicas y estructurales existentes entre ambos dispositivos, aportando información adicional al operador para facilitar la operación. La principal motivación de la evolución de esta tecnología se debe a la necesidad de realizar trabajos en entornos hostiles, de difícil acceso, o perjudiciales para la salud del usuario.

Enirio-Aralar mendietako abereen eta basoen ustiapena aro berrian zehar

[EUS]Enirio-Aralarreko mendietako basoek ez dute XVIII. mendera arte ustiapen gogorrik jasango. Ordura arte Batasunetako biztanleek behar zuten egurra soilik ateratzen zuten, ia ustiapen industrialik gabe. XVIII. mendean, beheko aldeko hariztiak agortu zirenean, Enirio-Aralarreko pagoak hasi ziren ustiatzen ikatza, itsasontziak edo arma-kajoiak egiteko. Aldi berean, ordura arte “tokian tokiko” abeltzaintza izan zena, erdi trashumantzia bihurtu zen: kostaldeko eta inguruko artaldeak Enirio-Aralar mendietan hasi ziren uda ematen. Aipatutako bi faktoreek –basoaren ustiapenak eta kanpoko artaldeen etorrerak–, batik bat XVIII. mendearen bukaeran eta XIX. mendearen hasieran, Enirio-Aralarreko basoaren atzerakada eragin zuten. XIX eta XX. mendeetan zehar deforestazioa areagotu egin zen, bertako mendiei gaur egun ezagutzen dugun itxura eman arte.

Analytical efficiency evaluation of a network mobility management protocol for Intelligent Transportation Systems

One of the major concerns in an Intelligent Transportation System (ITS) scenario, such as that which may be found on a long-distance train service, is the provision of efficient communication services, satisfying users' expectations, and fulfilling even highly demanding application requirements, such as safety-oriented services. In an ITS scenario, it is common to have a significant amount of onboard devices that comprise a cluster of nodes (a mobile network) that demand connectivity to the outside networks. This demand has to be satisfied without service disruption. Consequently, the mobility of the mobile network has to be managed. Due to the nature of mobile networks, efficient and lightweight protocols are desired in the ITS context to ensure adequate service performance. However, the security is also a key factor in this scenario. Since the management of the mobility is essential for providing communications, the protocol for managing this mobility has to be protected. Furthermore, there are safety-oriented services in this scenario, so user application data should also be protected. Nevertheless, providing security is expensive in terms of efficiency. Based on this considerations, we have developed a solution for managing the network mobility for ITS scenarios: the NeMHIP protocol. This approach provides a secure management of network mobility in an efficient manner. In this article, we present this protocol and the strategy developed to maintain its security and efficiency in satisfactory levels. We also present the developed analytical models to analyze quantitatively the efficiency of the protocol. More specifically, we have developed models for assessing it in terms of signaling cost, which demonstrates that NeMHIP generates up to 73.47% less signaling compared to other relevant approaches. Therefore, the results obtained demonstrate that NeMHIP is the most efficient and secure solution for providing communications in mobile network scenarios such as in an ITS context.