Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

Unlocking Geographical Information from Academia: an Open Source WebGIS Solution

Los Centros de Investigación de Geografía son por lo general productores de un gran volumen de Información Geográfica (IG), los cuales generan tanto proyectos financiados como iniciativas de investigación individuales. El Centro de Estudos de Geografia e Planeamento Regional (e-GEO) ha estado involucrado en varios proyectos a escala local, regional, nacional e internacional. Recientemente, dos cuestiones fueron objeto de debate. Una de ellas fue el hecho de que la información espacial obtenida a partir del desarrollo de tales proyectos de investigación no ha tenido la visibilidad que se esperaba. En la mayoría de las veces, la IG de estos proyectos no estaba en el formato adecuado para que los investigadores -o incluso el público en general o grupos de interés- pudieran pesquisar fácilmente. La segunda cuestión era sobre cómo hacer que estos resultados pudieran ser accesibles al alcance de todos, en todos los lugares, fácilmente y con los mínimos costes para el Centro, teniendo en cuenta el actual contexto económico portugués y los intereses de e-GEO. Estas dos cuestiones se resuelven con una sola respuesta: la puesta en marcha de un WebGIS en una plataforma Open Source. En este trabajo se ilustra la producción de un instrumento para la difusión de las indicaciones geográficas en el World Wide Web, utilizando únicamente software libre y freeware. Esta herramienta permite a todos los investigadores del Centro publicar su IG, la cual aparece como plenamente accesible a cualquier usuario final. Potencialmente, el hecho de permitir que este tipo de información sea plenamente accesible debería generar un gran impacto, acortando las distancias entre el trabajo realizado por los académicos y el usuario final. Creemos que es una óptima manera para que el público pueda acceder e interpretar la información espacial. En conclusión, esta plataforma debería servir para cerrar la brecha entre productores y usuarios de la información geográfica, permitiendo la interacción entre todas las partes así como la carga de nuevos datos dado un conjunto de normas destinadas a control de calidad

PRIM an Open Mobile Robot Platform. Motivation, Present and Future Trends

This paper is focused on the robot mobile platform PRIM (platform robot information multimedia). This robot has been made in order to cover two main needs of our group, on one hand the need for a full open mobile robotic platform that is very useful in fulfilling the teaching and research activity of our school community, and on the other hand with the idea of introducing an ethical product which would be useful as mobile multimedia information point as a service tool. This paper introduces exactly how the system is made up and explains just what the philosophy is behind this work. The navigation strategies and sensor fusion, where machine vision system is the most important one, are oriented towards goal achievement and are the key to the behaviour of the robot

Adaptive business intelligence for an open negotiation environment

Engineering of negotiation model allows to develop effective heuristic for business intelligence. Digital ecosystems demand open negotiation models. To define in advance effective heuristics is not compliant with the requirement of openness. The new challenge is to develop business intelligence in advance exploiting an adaptive approach. The idea is to learn business strategy once new negotiation model rise in the e-market arena. In this paper we present how recommendation technology may be deployed in an open negotiation environment where the interaction protocol models are not known in advance. The solution we propose is delivered as part of the ONE Platform, open source software that implements a fully distributed open environment for business negotiation

Supporting an open learning network

Stephen Downes, investigador del Canada's National Research Council, presenta su visión personal sobre la educación y los recursos libres. Los temas principales de su presentación son: Free and Open Source Software, Open Knowledge, Education and Technology

VLSI architecture for an Underwater Robot Vision System

It is well known that image processing requires a huge amount of computation, mainly at low level processing where the algorithms are dealing with a great number of data-pixel. One of the solutions to estimate motions involves detection of the correspondences between two images. For normalised correlation criteria, previous experiments shown that the result is not altered in presence of nonuniform illumination. Usually, hardware for motion estimation has been limited to simple correlation criteria. The main goal of this paper is to propose a VLSI architecture for motion estimation using a matching criteria more complex than Sum of Absolute Differences (SAD) criteria. Today hardware devices provide many facilities for the integration of more and more complex designs as well as the possibility to easily communicate with general purpose processors

Dynamic bandwidth management as part of an integrated network management system based on distributed agents

We present a system for dynamic network resource configuration in environments with bandwidth reservation and path restoration mechanisms. Our focus is on the dynamic bandwidth management results, although the main goal of the system is the integration of the different mechanisms that manage the reserved paths (bandwidth, restoration, and spare capacity planning). The objective is to avoid conflicts between these mechanisms. The system is able to dynamically manage a logical network such as a virtual path network in ATM or a label switch path network in MPLS. This system has been designed to be modular in the sense that in can be activated or deactivated, and it can be applied only in a sub-network. The system design and implementation is based on a multi-agent system (MAS). We also included details of its architecture and implementation

Development of an air-scour control system for membrane bioreactors

The thesis involves the development and implementation of a new and robust control system based on permeability trends but at the same time capable of reducing aeration proportionally to permeate flux. Permeability was made a key parameter for directly comparing temporary changes in membrane performance. Transmembrane pressure and flux were gathered every 10 seconds and permeability values were automatically calculated; different mathematical algorithms were applied for the signal filtering of on-line data. Short term and long term permeability trends were compared once a day, and a control action was applied proportionally to the short term/long term permeability ratio without exceeding the aeration flow recommended by the membrane suppliers.

Development, implementation and evaluation of an activated sludge supervisory system for the Granollers WWTP

La present tesi pretén recollir l'experiència viscuda en desenvolupar un sistema supervisor intel·ligent per a la millora de la gestió de plantes depuradores d'aigües residuals., implementar-lo en planta real (EDAR Granollers) i avaluar-ne el funcionament dia a dia amb situacions típiques de la planta. Aquest sistema supervisor combina i integra eines de control clàssic de les plantes depuradores (controlador automàtic del nivell d'oxigen dissolt al reactor biològic, ús de models descriptius del procés...) amb l'aplicació d'eines del camp de la intel·ligència artificial (sistemes basats en el coneixement, concretament sistemes experts i sistemes basats en casos, i xarxes neuronals). Aquest document s'estructura en 9 capítols diferents. Hi ha una primera part introductòria on es fa una revisió de l'estat actual del control de les EDARs i s'explica el perquè de la complexitat de la gestió d'aquests processos (capítol 1). Aquest capítol introductori juntament amb el capítol 2, on es pretén explicar els antecedents d'aquesta tesi, serveixen per establir els objectius d'aquest treball (capítol 3). A continuació, el capítol 4 descriu les peculiaritats i especificitats de la planta que s'ha escollit per implementar el sistema supervisor. Els capítols 5 i 6 del present document exposen el treball fet per a desenvolupar el sistema basat en regles o sistema expert (capítol 6) i el sistema basat en casos (capítol 7). El capítol 8 descriu la integració d'aquestes dues eines de raonament en una arquitectura multi nivell distribuïda. Finalment, hi ha una darrer capítol que correspon a la avaluació (verificació i validació), en primer lloc, de cadascuna de les eines per separat i, posteriorment, del sistema global en front de situacions reals que es donin a la depuradora

EDSS-maintenance prototype: an environmental decision support system to assess the definition of operation and maintenance protocols for horizontal subsurface constructed wetlands

Els Sistemes d'Aiguamolls Construïts (SAC) de Flux Subsuperficial Horitzontal (FSH) és una tecnologia apropiada pel sanejament d'aigües residuals procedents de nuclis de població petits. No obstant els SAC de FSH són considerats una tecnologia natural, l'operació i manteniment d'aquestes depuradores és crucial per a garantir el seu correcte funcionament. Aquestes necessitats d'operació i manteniment varien entre depuradores segons (1) les característiques de la comunitat, (2) la configuració de la depuradora i el disseny del SAC de FSH i (3) les característiques del medi receptor. En aquest sentit, en aquesta tesi es presenta el desenvolupament d'un Sistema d'Ajuda a la Decisió (SAD) per a la definició de protocols d'operació i manteniment per a SAC de FSH tenint en compte els factors que causen variabilitat entre aquest tipus de depuradores (1, 2 i 3).

Transition between metadata models: approach based on the use open source software

This article shows the work developed for adapting metadata conform to the official Colombian metadata standard NTC 4611 to the international standard ISO 19115. CatMDedit, an open source metadata editor, is used in this task. CatMDedit is able of import variants of CSDGM such as NTC 4611 and export to the stable version of ISO 19139 (the XML implementation model of ISO 19115)