Augmented state Kalman filtering for AUV navigation

Addresses the problem of estimating the motion of an autonomous underwater vehicle (AUV), while it constructs a visual map ("mosaic" image) of the ocean floor. The vehicle is equipped with a down-looking camera which is used to compute its motion with respect to the seafloor. As the mosaic increases in size, a systematic bias is introduced in the alignment of the images which form the mosaic. Therefore, this accumulative error produces a drift in the estimation of the position of the vehicle. When the arbitrary trajectory of the AUV crosses over itself, it is possible to reduce this propagation of image alignment errors within the mosaic. A Kalman filter with augmented state is proposed to optimally estimate both the visual map and the vehicle position

Ampliació i millora d'un vehicle teledirigit

En el projecte Ampliació i millora d’un vehicle teledirigit s’ha dut a terme l’ampliació d’un prototip de vehicle ràdio controlat fent servir dues plaques Arduino Duemilanove. Una es situa en el comandament i l’altra en el vehicle i controlen el comportament dels dos dispositius. Es transmet la informació necessària entre elles a través de dos mòduls XBee que posteriorment se’ls hi incorpora. Les plaques fetes servir en el prototip inicial eren unes SARD-13192 de Freescale i el primer que es fa en aquest sentit és una revisió del codi font utilitzat i l’adaptació a les plaques Arduino. Un acceleròmetre ADXL335 que s’incorpora a una de les plaques permet que el prototip es pugui controlar segons la posició del comandament. A més, un cop finalitzat el nou prototip és capaç de desplaçar-se endavant i endarrere, girar aturat i en moviment, i a diferents velocitats que es representen en tot moment en uns LEDs. També guarda l’últim circuit efectuat que es pot reproduir a voluntat de l’usuari, i emmagatzema les dades del recorregut de tota una sessió per exportar a l’ordinador. Per últim s’han dut a terme les proves necessàries per constatar que totes les millores s’han implementat amb èxit.

An approach to vision-based station keeping for an unmanned underwater vehicle

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented

Positioning an underwater vehicle through image mosaicking

Mosaics have been commonly used as visual maps for undersea exploration and navigation. The position and orientation of an underwater vehicle can be calculated by integrating the apparent motion of the images which form the mosaic. A feature-based mosaicking method is proposed in this paper. The creation of the mosaic is accomplished in four stages: feature selection and matching, detection of points describing the dominant motion, homography computation and mosaic construction. In this work we demonstrate that the use of color and textures as discriminative properties of the image can improve, to a large extent, the accuracy of the constructed mosaic. The system is able to provide 3D metric information concerning the vehicle motion using the knowledge of the intrinsic parameters of the camera while integrating the measurements of an ultrasonic sensor. The experimental results of real images have been tested on the GARBI underwater vehicle

L’art com a vehicle : la dimensió sagrada de les arts performatives.

Jerzy Grotowski, director de teatre i recercador que va transformar profundament l’escena teatral de la segona meitat del segle vint, l’any 1970 va anunciar que no dirigiria més produccions teatrals. Apocalypsis Cum Figuris, una de les grans produccions escèniques del segle XX, marcaria un punt de transició en la trajectòria de l’investigador polonès obrint nous horitzons de vida creativa. Impulsat per una gran inquietud interior que trobaria la seva culminació en l’allunyament dels límits estrictament teatrals, Grotowski inicia el passatge de l’àmbit de l’Art com a representació, teatre en un sentit clàssic del terme, al domini de l’Art com a vehicle, en el que el mestre polonès recupera un aspecte antic i oblidat de l’art, que el situaria al nivell d’un coneixement superior, esdevenint un vehicle espiritual.

Productive efficiency and regulatory reform: The case of vehicle inspection services

Measuring productive efficiency provides information on the likely effects of regulatory reform. We present a Data Envelopment Analysis (DEA) of a sample of 38 vehicle inspection units under a concession regime, between the years 2000 and 2004. The differences in efficiency scores show the potential technical efficiency benefit of introducing some form of incentive regulation or of progressing towards liberalization. We also compute scale efficiency scores, showing that only units in territories with very low population density operate at a sub-optimal scale. Among those that operate at an optimal scale, there are significant differences in size; the largest ones operate in territories with the highest population density. This suggests that the introduction of new units in the most densely populated territories (a likely effect of some form of liberalization) would not be detrimental in terms of scale efficiency. We also find that inspection units belonging to a large, diversified firm show higher technical efficiency, reflecting economies of scale or scope at the firm level. Finally, we show that between 2002 and 2004, a period of high regulatory uncertainty in the sample’s region, technical change was almost zero. Regulatory reform should take due account of scale and diversification effects, while at the same time avoiding regulatory uncertainty.

Vigilance behavior of Pyrenean chamois (Rupicapra pyrenaica pyrenaica): Effect of sex and position in the herd

The Pyrenean chamois (Rupicapra pyrenaica pyrenaica) is a mountain-dwelling ungulate with an extensive presence in open areas. Optimal group size results from the trade off between advantages (a reduction in the risk of predation) and disadvantages (competition between members of the herd) of group living. In addition, advantages and disadvantages of group living may vary depending on the position of each individual within the herd. Our objective was to study the effect of central vs. peripheral position in the herd on feeding and vigilance behavior in male and female Pyrenean chamois and to ascertain if a group size effect existed. We used focal animal sampling and recorded social interactions when a focal animal was involved. With males, vigilance rate was higher in the central part of the group than at the periphery, probably due to a higher density of animals in the central part of the herd and a higher probability of being disturbed by conspecifics. With females, vigilance rate did not differ according to position in the herd. Females spent more time feeding than males, and males showed a higher frequency of the vigilance behavior than females. We did not observe a clear relationship between group size and vigilance behavior. The differences in vigilance behavior might be due to social interactions.

Implementació de les físiques d'un vehicle en un videojoc 3D

En la carrera del mundo de los videojuegos por alcanzar insospechables cotas de realismo con las que seguir sorprendiendo y enganchando al público, los motores de física se han convertido en la herramienta de presente y futuro. Atraídos por el auge de esta nueva tecnología, hemos lidiado con los motores referencia hoy día en el mercado, seleccionando luego uno de ellos e implementando un humilde videojuego de carreras como muestra de su potencial y de los conocimientos adquiridos.

Transmisión de datos PDA - servidor web

En aquest projecte es visualitza la trajectòria d'un vehicle (aeri o terrestre) en una pàgina web. Per això es disposa d'una PDA (Personal Digital Assistant), en la qual es té informació actualitzada de la posició i de la velocitat d’aquest vehicle. Aquestes dades són obtingudes d'un sistema que combina la navegació inercial i el GPS (Global Position System), els quals estimen de manera precisa la trajectòria del vehicle. A fi d'oferir una visualització en temps real, versàtil, accessible i amigable a l'usuari de la trajectòria del vehicle, s'ha desenvolupat un sistema de visualització on-line que proporciona un millor rendiment en comparació amb la qual es venia fent en la PDA. Per a dur-lo a terme s'implementa una interfície d'usuari en la PDA que ens permet transmetre aquesta informació via WIFI a la pàgina web, d'igual forma al servidor web es crea una interfície que interpreta i gestiona aquestes dades per a posteriorment ser graficats a Google Maps.

Justifying Institutional Investment in OER Development : OERs as Marketing Vehicle

The higher education sector has become increasingly competitive and prospective students are adopting a consumerist approach to institution and programme choice. In response, higher education marketing has become more complex, market-oriented and business-like. Financial sustainability of open education resource (OER) projects is a widespread concern. This paper explores the extent to which a classical product placement framework can be applied to OERs to justify institutional funding in OER projects as a marketing investment. It is argued that OERs designed on this premise can increase cognitive, affective and conative brand outcomes while providing the traditional educational and societal benefits associated with OERs. A series of propositions are presented that may form the basis of a future research agenda.

Vision-based localization of an underwater robot in a structured environment

This paper presents a vision-based localization approach for an underwater robot in a structured environment. The system is based on a coded pattern placed on the bottom of a water tank and an onboard down looking camera. Main features are, absolute and map-based localization, landmark detection and tracking, and real-time computation (12.5 Hz). The proposed system provides three-dimensional position and orientation of the vehicle along with its velocity. Accuracy of the drift-free estimates is very high, allowing them to be used as feedback measures of a velocity-based low-level controller. The paper details the localization algorithm, by showing some graphical results, and the accuracy of the system

Autonomous underwater vehicle control using reinforcement learning policy search methods

Autonomous underwater vehicles (AUV) represent a challenging control problem with complex, noisy, dynamics. Nowadays, not only the continuous scientific advances in underwater robotics but the increasing number of subsea missions and its complexity ask for an automatization of submarine processes. This paper proposes a high-level control system for solving the action selection problem of an autonomous robot. The system is characterized by the use of reinforcement learning direct policy search methods (RLDPS) for learning the internal state/action mapping of some behaviors. We demonstrate its feasibility with simulated experiments using the model of our underwater robot URIS in a target following task

Perspectives of auto-correcting lens distortions in mosaic-based underwater navigation

When unmanned underwater vehicles (UUVs) perform missions near the ocean floor, optical sensors can be used to improve local navigation. Video mosaics allow to efficiently process the images acquired by the vehicle, and also to obtain position estimates. We discuss in this paper the role of lens distortions in this context, proving that degenerate mosaics have their origin not only in the selected motion model or in registration errors, but also in the cumulative effect of radial distortion residuals. Additionally, we present results on the accuracy of different feature-based approaches for self-correction of lens distortions that may guide the choice of appropriate techniques for correcting distortions

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory