An experience on mechatronics teaching on undergraduate students by means of the Skybot platform: from classroom to robot competition

This paper analyzes the learning experiences and opinions from a group of undergraduate students in a course about Robotics. The contents of this course were taught as a set of seminars. In each seminar, the student learned interdisciplinary knowledge of computer science, control engineering, electronics and other fields related to Robotics. The aim of this course is that the students are able to design and implement their own and custom robotic solution for a series of tests planned by the teachers. These tests measure the behavior and mechatronic features of the students' robots. Finally, the students' robots are confronted with some competitions. In this paper, the low-cost robotic architecture used by the students, the contents of the course, the tests to compare the solutions of students and the opinion of them are amply discussed.

A viability analysis of a secure VoIP and instant messaging system on a Pocket PC platform

We propose a secure full-duplex VoIP and instant messaging system on a Pocket PC platform, allowing for session key transport using a public-key protocol and encrypted text or voice communication using a private-key algorithm. The full-duplex VoIP scheme presents good performance for long duration communication over LAN networks.

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.

An application of fuzzy logic for hardware/software partitioning in embedded systems

Hardware/Software partitioning (HSP) is a key task for embedded system co-design. The main goal of this task is to decide which components of an application are to be executed in a general purpose processor (software) and which ones, on a specific hardware, taking into account a set of restrictions expressed by metrics. In last years, several approaches have been proposed for solving the HSP problem, directed by metaheuristic algorithms. However, due to diversity of models and metrics used, the choice of the best suited algorithm is an open problem yet. This article presents the results of applying a fuzzy approach to the HSP problem. This approach is more flexible than many others due to the fact that it is possible to accept quite good solutions or to reject other ones which do not seem good. In this work we compare six metaheuristic algorithms: Random Search, Tabu Search, Simulated Annealing, Hill Climbing, Genetic Algorithm and Evolutionary Strategy. The presented model is aimed to simultaneously minimize the hardware area and the execution time. The obtained results show that Restart Hill Climbing is the best performing algorithm in most cases.

Algoritmos metaheurísticos en el problema del particionado hardware/software de sistemas embebidos

El particionado hardware/software es una tarea fundamental en el co-diseño de sistemas embebidos. En ella se decide, teniendo en cuenta las métricas de diseño, qué componentes se ejecutarán en un procesador de propósito general (software) y cuáles en un hardware específico. En los últimos años se han propuesto diversas soluciones al problema del particionado dirigidas por algoritmos metaheurísticos. Sin embargo, debido a la diversidad de modelos y métricas utilizadas, la elección del algoritmo más apropiado sigue siendo un problema abierto. En este trabajo se presenta una comparación de seis algoritmos metaheurísticos: Búsqueda aleatoria (Random search), Búsqueda tabú (Tabu search), Recocido simulado (Simulated annealing), Escalador de colinas estocástico (Stochastic hill climbing), Algoritmo genético (Genetic algorithm) y Estrategia evolutiva (Evolution strategy). El modelo utilizado en la comparación está dirigido a minimizar el área ocupada y el tiempo de ejecución, las restricciones del modelo son consideradas como penalizaciones para incluir en el espacio de búsqueda otras soluciones. Los resultados muestran que los algoritmos Escalador de colinas estocástico y Estrategia evolutiva son los que mejores resultados obtienen en general, seguidos por el Algoritmo genético.

Java software platform for the development of advanced robotic virtual laboratories

This article presents an interactive Java software platform which enables any user to easily create advanced virtual laboratories (VLs) for Robotics. This novel tool provides both support for developing applications with full 3D interactive graphical interface and a complete functional framework for modelling and simulation of arbitrary serial-link manipulators. In addition, its software architecture contains a high number of functionalities included as high-level tools, with the advantage of allowing any user to easily develop complex interactive robotic simulations with a minimum of programming. In order to show the features of the platform, the article describes, step-by-step, the implementation methodology of a complete VL for Robotics education using the presented approach. Finally, some educational results about the experience of implementing this approach are reported.

Partición hardware software de un codificador JPEG utilizando escalador de colinas estocástico

La partición hardware/software es una etapa clave dentro del proceso de co-diseño de los sistemas embebidos. En esta etapa se decide qué componentes serán implementados como co-procesadores de hardware y qué componentes serán implementados en un procesador de propósito general. La decisión es tomada a partir de la exploración del espacio de diseño, evaluando un conjunto de posibles soluciones para establecer cuál de estas es la que mejor balance logra entre todas las métricas de diseño. Para explorar el espacio de soluciones, la mayoría de las propuestas, utilizan algoritmos metaheurísticos; destacándose los Algoritmos Genéticos, Recocido Simulado. Esta decisión, en muchos casos, no es tomada a partir de análisis comparativos que involucren a varios algoritmos sobre un mismo problema. En este trabajo se presenta la aplicación de los algoritmos: Escalador de Colinas Estocástico y Escalador de Colinas Estocástico con Reinicio, para resolver el problema de la partición hardware/software. Para validar el empleo de estos algoritmos se presenta la aplicación de este algoritmo sobre un caso de estudio, en particular la partición hardware/software de un codificador JPEG. En todos los experimentos es posible apreciar que ambos algoritmos alcanzan soluciones comparables con las obtenidas por los algoritmos utilizados con más frecuencia.

Integrated taphonomy in an open-marine platform: The Lower Cretaceous of Sierra Helada (Betic Cordillera, SE Spain)

A detailed taphonomic analysis was carried out on the lower Albian deposits of the Sierra Helada section (Alicante, Betic Cordillera, southeastern Spain). Ten taphonomic characters were studied and ten skeletal concentrations were defined on the basis of taphonomic features and the dominant taxa. Cluster analysis was performed on the dataset represented by the abundance of the taphonomic characters in each skeletal concentration. This enabled the definition of four different taphonomic categories: 1) skeletal concentrations characterized by the presence of fossils preserved in life position, 2) skeletal concentrations showing very little physical reworking, 3) skeletal concentrations related to high-energy background conditions, and 4) skeletal concentrations produced by medium- to high-energy events. Four taphofacies were defined on the basis of the main sedimentological features and the most representative skeletal concentrations. Taphofacies A represents the low energy outer platform, rich in skeletal concentrations with echinoids in life position and only slightly reworked. The second taphofacies (taphofacies B) is very rich in reworked echinoid tests and calcarenitic beds and records the transition to shallower areas, while taphofacies C shows abundant thick-bedded calcarenites and skeletal concentrations produced by sediment transport and rapid deposition. Finally, cross-bedded grainstone beds, which are rich in fine-grained fragmented, locally reoriented bioclasts (taphofacies D), record the existence of shifting sandy dunes in the shallow inner part of the platform.

Evaluating Taphonomic Bias in a Storm-Disturbed Carbonate Platform: Effects of Compositional and Environmental Factors in Lower Jurassic Brachiopod Accumulations (Eastern Subbetic Basin, Spain)

In order to evaluate taxonomic and environmental control on the preservation pattern of brachiopod accumulations, sedimentologic and taphonomic data have been integrated with those inferred from the structure of brachiopod accumulations from the easternmost Lower Jurassic Subbetic deposits in Spain. Two brachiopod communities (Praesphaeroidothyris and Securina communities) were distinguished showing a mainly free-lying way of life in soft-bottom habitats. Three taphofacies are discriminated based on proportion of disarticulation, fragmentation, packing, and shell filling. Taphofacies 1 is represented by thinly fragmented, dispersed brachiopod shells in wackestone beds. Taphofacies 2 is spatially restricted to small lenses where shells are poorly fragmented, rarely disarticulated, usually void filled, and highly packed. Taphofacies 3 is represented by mud or cement filled, loosely packed, articulated brachiopods forming large pocket-like structures. Temporal and spatial averaging were minimally involved in taphofacies 2 and 3. It is interpreted that patchy preservation implies preservation of primary original patchiness of brachiopod communities on the seafloor. The origin of shell-rich taphofacies (2 and 3) is related to rapid burial due to episodic storm activity, while shell-poor taphofacies 1 records background conditions. The nature and comparative diversity of these taphofacies underscores the importance of rapid burial for shell beds preservation. Differences in preservation between taphofacies 2 and 3 are mainly related to environmental criteria, most importantly storm energy and water depth. In contrast, the taxonomic-specific pattern of the communities is a subordinate element of control, controlling only minor within-taphofacies differences in preservation.

A Hardware-Software Approach for On-Line Soft Error Mitigation in Interrupt-Driven Applications

Integrity assurance of configuration data has a significant impact on microcontroller-based systems reliability. This is especially true when running applications driven by events which behavior is tightly coupled to this kind of data. This work proposes a new hybrid technique that combines hardware and software resources for detecting and recovering soft-errors in system configuration data. Our approach is based on the utilization of a common built-in microcontroller resource (timer) that works jointly with a software-based technique, which is responsible to periodically refresh the configuration data. The experiments demonstrate that non-destructive single event effects can be effectively mitigated with reduced overheads. Results show an important increase in fault coverage for SEUs and SETs, about one order of magnitude.