Guidance of robot arms using depth data from RGB-D camera

Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision. This scheme uses only the visual information obtained from a camera to guide a robot from any robot pose to a desired one. However, IBVS requires the estimation of different parameters that cannot be obtained directly from the image. These parameters range from the intrinsic camera parameters (which can be obtained from a previous camera calibration), to the measured distance on the optical axis between the camera and visual features, it is the depth. This paper presents a comparative study of the performance of D-IBVS estimating the depth from three different ways using a low cost RGB-D sensor like Kinect. The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots. The experiments prove that the computation of the depth value for each visual feature improves the system performance.

Practical experiences on a real pumping system emulated by a hardware model and used as a remote laboratory

Paper submitted to ACE 2013, 10th IFAC Symposium on Advances in Control Education, University of Sheffield, UK, August 28-30, 2013.

Red de Seguimiento e indicadores en el Máster Universitario en Ingeniería de Telecomunicación

El profesorado de la red docente, que forma parte de la comisión académica del Máster, realizó durante el curso 2011/12 un proyecto para el estudio de los indicadores de calidad del Máster, en función de los indicadores de calidad de las Agencias acreditadoras y dependiendo de las tasas de éxito y eficacias durante el primer curso de implantación del Máster.

Coordinación y seguimiento de los tres primeros cursos del Grado en Ing. Sonido e Imagen en Telecomunicación

El reto de implantar los nuevos grados exige un continuado esfuerzo de coordinación de las asignaturas de cada curso y de los diferentes cursos entres sí. En este trabajo se presentan los resultados de los diferentes proyectos que se han realizado para coordinar las asignaturas de los tres primeros cursos del Grado en Ingeniería en Sonido e Imagen en Telecomunicación de la Escuela Politécnica Superior. Además se analiza la coordinación de los proyectos entre sí, analizando los cambios surgidos en las fichas de las asignaturas, evaluación, metodología, etc. También se presenta una puesta en común con los coordinadores de todos los cursos para realizar las recomendaciones de matriculación a los estudiantes que realizan su matrícula a tiempo parcial o no superan cada curso todos los créditos matriculados. Y por último, se estudia la continuidad con los contenidos de las asignaturas que comienzan su implantación en el siguiente curso y por otro lado la coordinación en la evaluación para eliminar las numerosas coincidencias de evaluaciones continuas, de diferentes actividades en cada semana.

Seguimiento de las materias de Física en las titulaciones de Grado y Máster orientados a las tecnologías

El presente trabajo es resultado de un proyecto correspondiente a ediciones anteriores del programa Redes, que permitió la creación de un repositorio virtual que albergue el material elaborado por los profesores de las asignaturas de Física en las titulaciones de Grado. Actualmente, y debido a la motivación de los participantes, se está trabajando en poner al día el material correspondiente a los Grados y ampliarlo a las asignaturas Máster orientados a las tecnologías que se imparten en la Escuela Politécnica Superior de la Universidad de Alicante. El material recopilado es accesible virtualmente por todo el profesorado del departamento implicado en las asignaturas de Física, por medio de un repositorio virtual. Por otro lado, terminada una primera parte del trabajo nos encontramos inmersos en una reflexión sobre las metodologías aplicadas a partir del diálogo y la discusión entre los docentes sobre la experiencia en el aula con los alumnos y con los materiales generados.

An accurate distance scale to the extremely massive cluster Stephenson 2

Discoveries during the last two years have revealed the existence of a vast region of star formation close to the base of the Scutum Arm, where at least five clusters of red supergiants have been found. In order to understand the nature of this region, we need to determine accurate distances to the clusters. We present here the first results of an ongoing program to derive fundamental parameters (such as age, distance, etc.) to the massive cluster Stephenson 2 studying for the first time its main sequence stars.

Infrared identification of 2XMM J191043.4+091629.4

Context. We report the infrared identification of the X-ray source 2XMM J191043.4+091629.4, which was detected by XMM-Newton/EPIC in the vicinity of the Galactic supernova remnant W49B. Aims. The aim of this work is to establish the nature of the X-ray source 2XMM J191043.4+091629.4 studying both the infrared photometry and spectroscopy of the companion. Methods. We analysed UKIDSS images around the best position of the X-ray source and obtained spectra of the best candidate using NICS in the Telescopio Nazionale Galileo (TNG) 3.5-m telescope. We present photometric and spectroscopic TNG analyses of the infrared counterpart of the X-ray source, identifying emission lines in the K-band. The H-band spectra does not present any significant feature. Results. We have shown that the Brackett γ H i at 2.165 μm, and He i at 2.184 μm and at 2.058 μm are significantly present in the infrared spectrum. The CO bands are also absent from our spectrum. Based on these results and the X-ray characteristics of the source, we conclude that the infrared counterpart is an early B-type supergiant star with an E(B − V) = 7.6 ± 0.3 at a distance of 16.0 ± 0.5 kpc. This would be, therefore, the first high-mass X-ray binary in the Outer Arm at galactic longitudes of between 30° and 60°.

Polarimetric SAR model for soil moisture estimation over vineyards at C-band

In this paper we propose a two-component polarimetric model for soil moisture estimation on vineyards suited for C-band radar data. According to a polarimetric analysis carried out here, this scenario is made up of one dominant direct return from the soil and a multiple scattering component accounting for disturbing and nonmodeled signal fluctuations from soil and short vegetation. We propose a combined X-Bragg/Fresnel approach to characterize the polarized direct response from soil. A validation of this polarimetric model has been performed in terms of its consistency with respect to the available data both from RADARSAT-2 and from indoor measurements. High inversion rates are reported for different phenological stages of vines, and the model gives a consistent interpretation of the data as long as the volume component power remains about or below 50% of the surface contribution power. However, the scarcity of soil moisture measurements in this study prevents the validation of the algorithm in terms of the accuracy of soil moisture retrieval and an extensive campaign is required to fully demonstrate the validity of the model. Different sources of mismatches between the model and the data have been also discussed and analyzed.

Numerical evaluation of the vibration reduction index for structural joints

The present paper addresses the analysis of structural vibration transmission in the presence of structural joints. The problem is tackled from a numerical point of view, analyzing some scenarios by using finite element models. The numerical results obtained making use of this process are then compared with those evaluated using the EN 12354 standard vibration reduction index concept. It is shown that, even for the simplest cases, the behavior of a structural joint is complex and evidences the frequency dependence. Comparison with results obtained by empirical formulas reveals that those of the standards cannot accurately reproduce the expected behavior, and thus indicate that alternative complementary calculation procedures are required. A simple methodology to estimate the difference between numerical and standard predictions is here proposed allowing the calculation of an adaptation term that makes both approaches converge. This term was found to be solution-dependent, and thus should be evaluated for each structure.

Efficient sampling of band-limited signals from sine wave crossings

This correspondence presents an efficient method for reconstructing a band-limited signal in the discrete domain from its crossings with a sine wave. The method makes it possible to design A/D converters that only deliver the crossing timings, which are then used to interpolate the input signal at arbitrary instants. Potentially, it may allow for reductions in power consumption and complexity in these converters. The reconstruction in the discrete domain is based on a recently-proposed modification of the Lagrange interpolator, which is readily implementable with linear complexity and efficiently, given that it re-uses known schemes for variable fractional-delay (VFD) filters. As a spin-off, the method allows one to perform spectral analysis from sine wave crossings with the complexity of the FFT. Finally, the results in the correspondence are validated in several numerical examples.

The young open cluster Berkeley 55

We present UBV photometry of the highly reddened and poorly studied open cluster Berkeley 55, revealing an important population of B-type stars and several evolved stars of high luminosity. Intermediate-resolution far-red spectra of several candidate members confirm the presence of one F-type supergiant and six late supergiants or bright giants. The brightest blue stars are mid-B giants. Spectroscopic and photometric analyses indicate an age 50 ± 10 Myr. The cluster is located at a distance d ≈ 4 kpc, consistent with other tracers of the Perseus Arm in this direction. Berkeley 55 is thus a moderately young open cluster with a sizable population of candidate red (super)giant members, which can provide valuable information about the evolution of intermediate-mass stars.

Astrophysical parameters of LS 2883 and implications for the PSR B1259-63 gamma-ray binary

Only a few binary systems with compact objects display TeV emission. The physical properties of the companion stars represent basic input for understanding the physical mechanisms behind the particle acceleration, emission, and absorption processes in these so-called gamma-ray binaries. Here we present high-resolution and high signal-to-noise optical spectra of LS 2883, the Be star forming a gamma-ray binary with the young non-accreting pulsar PSR B1259-63, showing it to rotate faster and be significantly earlier and more luminous than previously thought. Analysis of the interstellar lines suggests that the system is located at the same distance as (and thus is likely a member of) Cen OB1. Taking the distance to the association, d = 2.3 kpc, and a color excess of E(B – V) = 0.85 for LS 2883 results in MV ≈ –4.4. Because of fast rotation, LS 2883 is oblate (R eq sime 9.7 R ☉ and R pole sime 8.1 R ☉) and presents a temperature gradient (T eq≈ 27,500 K, log g eq = 3.7; T pole≈ 34,000 K, log g pole = 4.1). If the star did not rotate, it would have parameters corresponding to a late O-type star. We estimate its luminosity at log(L */L ☉) sime 4.79 and its mass at M * ≈ 30 M ☉. The mass function then implies an inclination of the binary system i orb ≈ 23°, slightly smaller than previous estimates. We discuss the implications of these new astrophysical parameters of LS 2883 for the production of high-energy and very high-energy gamma rays in the PSR B1259-63/LS 2883 gamma-ray binary system. In particular, the stellar properties are very important for prediction of the line-like bulk Comptonization component from the unshocked ultrarelativistic pulsar wind.

A massive association around the obscured open cluster RSGC3

Context. Four clusters of red supergiants have been discovered in a region of the Milky Way close to base of the Scutum-Crux Arm and the tip of the Long Bar. Population synthesis models indicate that they must be very massive to harbour so many supergiants. If the clusters are physically connected, this Scutum Complex would be the largest and most massive star-forming region ever identified in the Milky Way. Aims. The spatial extent of one of these clusters, RSGC3, has not been investigated. In this paper we explore the possibility that a population of red supergiants could be located in its vicinity. Methods. We utilised 2MASS JHKS photometry to identify candidate obscured luminous red stars in the vicinity of RSGC3. We observed a sample of candidates with the TWIN spectrograph on the 3.5-m telescope at Calar Alto, obtaining intermediate-resolution spectroscopy in the 8000−9000 Å range. We re-evaluated a number of classification criteria proposed in the literature for this spectral range and found that we could use our spectra to derive spectral types and luminosity classes. Results. We measured the radial velocity of five members of RSGC3, finding velocities similar to the average for members of Stephenson 2. Among the candidates observed outside the cluster, our spectra revealed eight M-type supergiants at distances <18′ from the centre of RSGC3, distributed in two clumps. The southern clump is most likely another cluster of red supergiants, with reddening and age identical to RSGC3. From 2MASS photometry, we identified four likely supergiant members of the cluster in addition to the five spectroscopically observed. The northern clump may be a small cluster with similar parameters. Photometric analysis of the area around RSGC3 suggests the presence of a large (>30) population of red supergiants with similar colours. Conclusions. Our data suggest that the massive cluster RSGC3 is surrounded by an extended association, which may be very massive ( ≳ 105 M⊙). We also show that supergiants in the Scutum Complex may be characterised via a combination of 2MASS photometry and intermediate-to-high-resolution spectroscopy in the Z band.

A VLT/FLAMES survey for massive binaries in Westerlund 1. III. The WC9d binary W239 and implications for massive stellar evolution

Context. There is growing evidence that a treatment of binarity amongst OB stars is essential for a full theory of stellar evolution. However the binary properties of massive stars – frequency, mass ratio & orbital separation – are still poorly constrained. Aims. In order to address this shortcoming we have undertaken a multiepoch spectroscopic study of the stellar population of the young massive cluster Westerlund 1. In this paper we present an investigation into the nature of the dusty Wolf-Rayet star and candidate binary W239. Methods. To accomplish this we have utilised our spectroscopic data in conjunction with multi-year optical and near-IR photometric observations in order to search for binary signatures. Comparison of these data to synthetic non-LTE model atmosphere spectra were used to derive the fundamental properties of the WC9 primary. Results. We found W239 to have an orbital period of only ~5.05 days, making it one of the most compact WC binaries yet identified. Analysis of the long term near-IR lightcurve reveals a significant flare between 2004-6. We interpret this as evidence for a third massive stellar component in the system in a long period (>6 yr), eccentric orbit, with dust production occuring at periastron leading to the flare. The presence of a near-IR excess characteristic of hot (~1300 K) dust at every epoch is consistent with the expectation that the subset of persistent dust forming WC stars are short (<1 yr) period binaries, although confirmation will require further observations. Non-LTE model atmosphere analysis of the spectrum reveals the physical properties of the WC9 component to be fully consistent with other Galactic examples. Conclusions. The simultaneous presence of both short period Wolf-Rayet binaries and cool hypergiants within Wd 1 provides compelling evidence for a bifurcation in the post-Main Sequence evolution of massive stars due to binarity. Short period O+OB binaries will evolve directly to the Wolf-Rayet phase, either due to an episode of binary mediated mass loss – likely via case A mass transfer or a contact configuration – or via chemically homogenous evolution. Conversely, long period binaries and single stars will instead undergo a red loop across the HR diagram via a cool hypergiant phase. Future analysis of the full spectroscopic dataset for Wd 1 will constrain the proportion of massive stars experiencing each pathway; hence quantifying the importance of binarity in massive stellar evolution up to and beyond supernova and the resultant production of relativistic remnants.

An obscured cluster associated with the H II region RCW173

Context. The discovery of several clusters of red supergiants towards l = 24°−30° has triggered interest in this area of the Galactic plane, where lines of sight are very complex and previous explorations of the stellar content were very preliminary. Aims. We attempt to characterise the stellar population associated with the H ii region RCW 173 (=Sh2-60), located at, as previous studies have suggested that this population could be beyond the Sagittarius arm. Methods. We obtained UBV photometry of a stellar field to the south of the brightest part of RCW 173, as well as spectroscopy of about twenty stars in the area. We combined our new data with archival 2MASS near-infrared photometry and Spitzer/GLIMPSE imaging and photometry, to achieve a more accurate characterisation of the stellar sources and the associated cloud. Results. We find a significant population of early-type stars located at d = 3.0 kpc, in good agreement with the “near” dynamical distance to the H ii region. This population should be located at the near intersection of the Scutum-Crux arm. A luminous O7 II star is likely to be the main source of ionisation. Many stars are concentrated around the bright nebulosity, where GLIMPSE images in the mid infrared show the presence of a bubble of excited material surrounding a cavity that coincides spatially with a number of B0-1 V stars. We interpret this as an emerging cluster, perhaps triggered by the nearby O7 II star. We also find a number of B-type giants. Some of them are located at approximately the same distance, and may be part of an older population in the same area, characterised by much lower reddening. A few have shorter distance moduli and are likely to be located in the Sagittarius arm. Conclusions. The line of sight in this direction is very complex. Optically visible tracers delineate two spiral arms, but seem to be absent beyond d ≈ 3 kpc. Several H ii regions in this area suggest that the Scutum-Crux arm contains thick clouds actively forming stars. All these populations are projected on top of the major stellar complex signposted by the clusters of red supergiants.