CoolBOT: a component-oriented programming framework for robotics

[EN] Programming software for controlling robotic systems in order to built working systems that perform adequately according to their design requirements remains being a task that requires an important development effort. Currently, there are no clear programming paradigms for programming robotic systems, and the programming techniques which are of common use today are not adequate to deal with the complexity associated with these systems. The work presented in this document describes a programming tool, concretely a framework, that must be considered as a first step to devise a tool for dealing with the complexity present in robotics systems. In this framework the software that controls a system is viewed as a dynamic network of units of execution inter-connected by means of data paths. Each one of these units of execution, called a component, is a port automaton which provides a given functionality, hidden behind an external interface specifying clearly which data it needs and which data it produces. Components, once defined and built, may be instantiated, integrated and used as many times as needed in other systems. The framework provides the infrastructure necessary to support this concept for components and the inter communication between them by means of data paths (port connections) which can be established and de-established dynamically. Moreover, and considering that the more robust components that conform a system are, the more robust the system is, the framework provides the necessary infrastructure to control and monitor the components than integrate a system at any given instant of time.

Transformaciones basadas en el algoritmo Local Binary Pattern de imágenes capturadas con la Kinect para clasificación facial

Máster Universitario en Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería (SIANI)

A Virtual Programming Lab for Moodle with automatic assessment and anti-plagiarism features

[EN] This paper describes VPL, a Virtual Programming Lab module for Moodle, developed at the University of Las Palmas of Gran Canaria (ULPGC) and released for free uses under GNU/GPL license. For the students, it is a simple development environment with auto evaluation capabilities. For the instructors, it is a students' work management system, with features to facilitate the preparation of assignments, manage the submissions, check for plagiarism, and do assessments with the aid of powerful and flexible assessment tools based on program testing, all of that being independent of the programming language used for the assignments and taken into account critical security issues.

Liquid-liquid equilibria in binary solutions formed by [Pyridinium-Derived][F4B] ionic liquids and alkanols:new experimental data and validation of a multiparametric model for correlating LLE data

[EN]Experimental solubility data are presented for a set of binary systems composed of ionic liquids (IL) derived from pyridium, with the tetrafluoroborate anion, and normal alcohols ranging from ethanol to decanol, in the temperature interval of 275 420 K, at atmospheric pressure. For each case, the miscibility curve and the upper critical solubility temperature (UCST) values are presented. The effects of the ILs on the behavior of solutions with alkanols are analyzed, paying special attention to the pyridine derivatives, and considering a series of structural characteristics of the compounds involved.

Correlation and prediction of mixing thermodynamic properties of ester-containing systems Ester+alkane and ester+ester binary systems and the ternary dodecane+ethyl pentonoate+ethyl ethanoate

[EN]Excess thermodynamic properties VE m and HE m, have been measured for the ternary mixture dodecane + ethyl pentanoate + ethyl ethanoate and for the corresponding binaries dodecane + ethyl pentanoate, dodecane + ethyl ethanoate, ethyl pentanoate + ethyl ethanoate at 298.15 K. All mixtures show endothermic and expansive effects. Experimental results are correlated with a suitable equation whose final form for the excess ternary quantity ME contains the particular contributions of the three binaries (i–j) and a last term corresponding to the ternary, all of them obtained considering fourth-order interactions.

Measurements and correlations of the isobaric vapor-liquid equilibria of binary mixtures and excess properties for mixtures containing and alkyl (Methyl, Ethyl) butanoate with an alkane (Heptane, Nonane) at 101.32 kPa.

[EN]In this work, the measurements of the isobaric vapor−liquid equilibrium (VLE) data at 101.32 kPa and the excess molar volumes (vE), obtained at 10 K intervals of temperature in the range (288.15 to 328.15) K, for four binary systems comprised of methyl or ethyl butanoate with two alkanes (heptane and nonane) are presented.

Multiproperty modeling for a set of binary systems. Evaluation of a model to correlate simultaneously several mixing properties of methyl ethanoate+alkanes and new experimental data

[EN] This work makes a theoretical–experimental contribution to the study of ester and alkane solutions. Experimental data of isobaric vapor–liquid equilibria (VLE) are presented at 101.3 kPa for binary systems of methyl ethanoate with six alkanes (from C5 to C10), and of volumes and mixing enthalpies, vE and hE.

Binary liquid-liquid equilibria for systems of mono or disubstituted haloakanes (Cl,Br) and pyiridinium based ionic liquids. Advances in the experimentation and interpretation of results

[EN]This work presents the measurements made to define the temperature−composition curves for a set of binary systems composed of several pyridinium-based ionic liquids (ILs) [bpy][BF4] and [bYmpy][BF4] (Y = 2,3,4) with mono- and dihaloalkanes (Cl and Br) in the temperature interval [280−473] K and at atmospheric pressure. With the exception of the short chain dichloroalkanes (1,1- and 1,2-), all the compounds present some degree of immiscibility with the ionic liquids selected.

Exploring the use of local binary patterns as focus measure

[EN]In this work local binary patterns based focus measures are presented. Local binary patterns (LBP) have been introduced in computer vision tasks like texture classification or face recognition. In applications where recognition is based on LBP, a computational saving can be achieved with the use of LBP in the focus measures. The behavior of the proposed measures is studied to test if they fulfill the properties of the focus measures and then a comparison with some well know focus measures is carried out in different scenarios.