Creació d’un model de simulació pels propulsors del robot submarí Girona 500 mitjançant CFD

S’arriba a un acord entre el grup de recerca GREFEMA i ViCOROB per estudiar els propulsors de palesutilitzats fins a l’actualitat en el robot submarí Girona 500, de forma que el model creatserveixi d’eina per apoder estudiar qualsevol tipus de propulsor que es vulgui fer servir.Es crearà un model de simulació amb CFD d’ANSYS per tal de poder recrear qualsevol situació ambqualsevol model de propulsor que es vulgui emprar, estalviant en costos de compra o fabricació, a mésd’evitar un muntatge experimental que pot no ser del tot fiable.A partir de geometries de propulsors de pales comercials existents es realitzarà una simulació amb elprograma de dinàmica de fluids computacional (CFD) d’ANSYS.La informació proporcionada per l’eina de simulació es compararan amb els resultats obtinguts de formaempírica a les instal•lacions del Parc Científic i Tecnològic de la Universitat de Girona i amb el model teòric.D’aquesta forma, es comprovarà la bondat de la simulació i es validarà el model numèric utilitzat

Hand detection in cluttered scene images using Fourier-Mellin invariant features

This paper proposes an automatic hand detection system that combines the Fourier-Mellin Transform along with other computer vision techniques to achieve hand detection in cluttered scene color images. The proposed system uses the Fourier-Mellin Transform as an invariant feature extractor to perform RST invariant hand detection. In a first stage of the system a simple non-adaptive skin color-based image segmentation and an interest point detector based on corners are used in order to identify regions of interest that contains possible matches. A sliding window algorithm is then used to scan the image at different scales performing the FMT calculations only in the previously detected regions of interest and comparing the extracted FM descriptor of the windows with a hand descriptors database obtained from a train image set. The results of the performed experiments suggest the use of Fourier-Mellin invariant features as a promising approach for automatic hand detection.

Hand detection in cluttered scene images using Fourier-Mellin invariant features

This paper proposes an automatic hand detection system that combines the Fourier-Mellin Transform along with other computer vision techniques to achieve hand detection in cluttered scene color images. The proposed system uses the Fourier-Mellin Transform as an invariant feature extractor to perform RST invariant hand detection. In a first stage of the system a simple non-adaptive skin color-based image segmentation and an interest point detector based on corners are used in order to identify regions of interest that contains possible matches. A sliding window algorithm is then used to scan the image at different scales performing the FMT calculations only in the previously detected regions of interest and comparing the extracted FM descriptor of the windows with a hand descriptors database obtained from a train image set. The results of the performed experiments suggest the use of Fourier-Mellin invariant features as a promising approach for automatic hand detection.

A Threat to a Virtual Hand Elicits Motor Cortex Activation

We report an experiment where participants observed an attack on their virtual body as experienced in an immersive virtual reality (IVR) system. Participants sat by a table with their right hand resting upon it. In IVR, they saw a virtual table that was registered with the real one, and they had a virtual body that substituted their real body seen from a first person perspective. The virtual right hand was collocated with their real right hand. Event-related brain potentials were recorded in two conditions, one where the participant"s virtual hand was attacked with a knife and a control condition where the knife only struck the virtual table. Significantly greater P450 potentials were obtained in the attack condition confirming our expectations that participants had a strong illusion of the virtual hand being their own, which was also strongly supported by questionnaire responses. Higher levels of subjective virtual hand ownership correlated with larger P450 amplitudes. Mu-rhythm event-related desynchronization in the motor cortex and readiness potential (C3C4) negativity were clearly observed when the virtual hand was threatened as would be expected, if the real hand was threatened and the participant tried to avoid harm. Our results support the idea that event-related potentials may provide a promising non-subjective measure of virtual embodiment. They also support previous experiments on pain observation and are placed into context of similar experiments and studies of body perception and body ownership within cognitive neuroscience.

Is my hand connected to my body? The impact of body continuity and arm alignment on the virtual hand illusion

When a rubber hand is placed on a table top in a plausible position as if part of a person"s body, and is stroked synchronously with the person"s corresponding hidden real hand, an illusion of ownership over the rubber hand can occur (Botvinick and Cohen 1998). A similar result has been found with respect to a virtual hand portrayed in a virtual environment, a virtual hand illusion (Slater et al. 2008). The conditions under which these illusions occur have been the subject of considerable study. Here we exploited the flexibility of virtual reality to examine four contributory factors: visuo-tactile synchrony while stroking the virtual and the real arms, body continuity, alignment between the real and virtual arms, and the distance between them. We carried out three experiments on a total of 32 participants where these factors were varied. The results show that the subjective illusion of ownership over the virtual arm and the time to evoke this illusion are highly dependent on synchronous visuo-tactile stimulation and on connectivity of the virtual arm with the rest of the virtual body. The alignment between the real and virtual arms and the distance between these were less important. It was found that proprioceptive drift was not a sensitive measure of the illusion, but was only related to the distance between the real and virtual arms.

Versatile iPad forensic acquisition using the Apple Camera Connection Kit

Peer reviewed

JXTA-Overlay P2P Platform and Its Application for Robot Control

The design of an efficient collaborative multirobot framework that ensures the autonomy and the individualrequirements of the involved robots is a very challenging task. This requires designing an efficient platform for inter-robot communication. P2P is a good approach to achieve this goal. P2P aims at making the communication ubiquitous thereby crossing the communication boundary and has many attractive features to use it as a platform for collaborative multi-robot environments. In this work, we present the JXTA Overlay P2P system and its application for robot control. Since JXTAOverlay is able to overcome Firewalls, Routers and NATs, it is possible to control end-devices in a WAN without changing the network security policy. We used JXTA-Overlay for the control of robot motors. We evaluated the proposed system by many experiments and have shown that the proposed system has a good performance and can be used successfully for the control of robot.

Project SKY-EYE: applying UAVs to forest fire fighter support and monitoring

Peer reviewed

Touching the void: exploring virtual objects through a vibrotactile glove

This paper describes a simple low-cost approach toadding an element of haptic interaction within a virtualenvironment. Using off-the-shelf hardware and software wedescribe a simple setup that can be used to explore physically virtual objects in space. This setup comprises of a prototype glove with a number of vibrating actuators to provide the haptic feedback, a Kinect camera for the tracking of the user's hand and a virtual reality development environment. As proof of concept and to test the efficiency of the system as well as its potential applications, we developed a simple application where we created 4 different shapes within a virtual environment in order to try toexplore them and guess their shape through touch alone.

Ambient intelligence application based on environmental measurements performed with an assistant mobile robot

This paper proposes the use of an autonomous assistant mobile robot in order to monitor the environmental conditions of a large indoor area and develop an ambient intelligence application. The mobile robot uses single high performance embedded sensors in order to collect and geo-reference environmental information such as ambient temperature, air velocity and orientation and gas concentration. The data collected with the assistant mobile robot is analyzed in order to detect unusual measurements or discrepancies and develop focused corrective ambient actions. This paper shows an example of the measurements performed in a research facility which have enabled the detection and location of an uncomfortable temperature profile inside an office of the research facility. The ambient intelligent application has been developed by performing some localized ambient measurements that have been analyzed in order to propose some ambient actuations to correct the uncomfortable temperature profile.

Diseño de un robot móvil para aplicaciones docentes

El presente proyecto trata de diseñar, fabricar y construir un robot móvil para fines educativos que deberá incorporar distintos sensores y actuadores para facilitar su utilización docente y la interacción con el entorno. Además crea un diseño con unas relaciones geométricas basadas en el número áureo.

Análisis de la arquitectura de webs mediante tests de estrés de navegación, de usabilidad y eye tracking

Evaluar una arquitectura de la información en un sitio web ya desplegado no resulta una tarea sencilla. La mayoría de las técnicas se centran en examinar la usabilidad del sistema que, aunque afecta a la arquitectura de la información, no es el único factor que influye en ella. La principal técnica que se utiliza es el test de estrés de navegación. Se muestra un aporte metodológico para hacer dicha técnica más informativa, llevándola más allá de la simple anotación en papel por parte del usuario de respuestas a las preguntas de navegación planteadas. Se propone la combinación de ésta con otras técnicas de evaluación de la usabilidad: la técnica de pensar en voz alta o thinking aloud y un cuestionario de usabilidad. Se ha utilizado un sistema de seguimiento de la mirada o eye tracking para complementar la información obtenida mediante las técnicas aplicadas. El enfoque metodológico planteado se ha puesto a prueba analizando una serie de sitios web de bibliotecas de universidades públicas españolas. Se muestra en los resultados la validez del enfoque empleado, así como el valor que dicho enfoque y el uso del eye tracking aportan al análisis de la arquitectura de la información respecto al test de estrés de navegación tradicional.

An embedded real-time red peach detection system based on an OV7670 camera, ARM Cortex-M4 processor and 3D Look-Up Tables

This work proposes the development of an embedded real-time fruit detection system for future automatic fruit harvesting. The proposed embedded system is based on an ARM Cortex-M4 (STM32F407VGT6) processor and an Omnivision OV7670 color camera. The future goal of this embedded vision system will be to control a robotized arm to automatically select and pick some fruit directly from the tree. The complete embedded system has been designed to be placed directly in the gripper tool of the future robotized harvesting arm. The embedded system will be able to perform real-time fruit detection and tracking by using a three-dimensional look-up-table (LUT) defined in the RGB color space and optimized for fruit picking. Additionally, two different methodologies for creating optimized 3D LUTs based on existing linear color models and fruit histograms were implemented in this work and compared for the case of red peaches. The resulting system is able to acquire general and zoomed orchard images and to update the relative tracking information of a red peach in the tree ten times per second.

Relació entre la lateralitat i els aprenentatges escolars

Hi ha molts autors que relacionen els problemes d’aprenentatge d’un nen amb la seva lateralitat, i que atribueixen a la lateralitat contrariada, creuada o no definida els problemes en l’adquisició, entre altres, d’habilitats lectoescriptores. En aquest treball hem passat un test de lateralitat a 170 nens d’entre 6 i 7 anys (primer i segon de primària) amb proves de membre superior, membre inferior i ull, igual com de discriminació de dreta-esquerra i d’orientació espacial. Alhora, els professors tutors han valorat diversos ítems de l’aprenentatge escolar dels nens, amb qüestions sobre la seva comprensió lectora, el seu raonament matemàtic i la seva atenció a classe, entre d’altres. Segons els nostres resultats, els nens amb lateralitat homogènia destra són els que obtenen millors valoracions a tots els ítems d’aprenentatge respecte als homogenis esquerrans, els creuats i els no confirmats; els pocs casos que tenim d’homogenis esquerrans (un 3 % de la mostra) són els que tenen pitjors valoracions. A més a més, els nens que discriminen entre dreta i esquerra també tenen millors aprenentatges que no pas els que no ho fan; també s’orienten bé en l’espai en relació als que s’orienten malament.

Relación entre la lateralidad y los aprendizajes escolares

Muchos son los autores que relacionan los problemas de aprendizaje de un niño con su lateralidad, achacando a la lateralidad contrariada, cruzada o no definida los problemas en la adquisición, entre otras, de habilidades lecto-escritoras. En el presente trabajo hemos pasado un test de lateralidad a 170 niños de entre 6 y 7 años (primero y segundo de primaria) con pruebas de miembro superior, miembro inferior y ojo, así como de discriminación de derecha-izquierda y de orientación espacial. A su vez, los profesores tutores han valorado varios ítems del aprendizaje escolar de los niños, con cuestiones sobre su comprensión lectora, su razonamiento matemático y su atención en clase, entre otras. Según nuestros resultados, los niños con lateralidad homogénea diestra son los que obtienen mejores valoraciones en todos los ítems de aprendizaje con respecto a los homogéneos zurdos, los cruzados y los no confirmados, siendo los pocos casos que tenemos de homogéneos zurdos (un 3% de la muestra) los que tienen peores valoraciones. Además, los niños que discriminan entre derecha e izquierda también tienen mejor sus aprendizajes con respecto a los que no lo hacen, así como los que se orientan bien en el espacio con respecto a los que se orientan mal.