Rapid prototyping framework for visual control of autonomous micro aerial vehicles

Rapid prototyping environments can speed up the research of visual control algorithms. We have designed and implemented a software framework for fast prototyping of visual control algorithms for Micro Aerial Vehicles (MAV). We have applied a combination of a proxy-based network communication architecture and a custom Application Programming Interface. This allows multiple experimental configurations, like drone swarms or distributed processing of a drone’s video stream. Currently, the framework supports a low-cost MAV: the Parrot AR.Drone. Real tests have been performed on this platform and the results show comparatively low figures of the extra communication delay introduced by the framework, while adding new functionalities and flexibility to the selected drone. This implementation is open-source and can be downloaded from www.vision4uav.com/?q=VC4MAV-FW

Arquitectura de Control para la Conducción Autónoma de Vehículos en Entornos Urbanos y Autovías

Hoy en día, el desarrollo tecnológico en el campo de los sistemas inteligentes de transporte (ITS por sus siglas en inglés) ha permitido dotar a los vehículos con diversos sistemas de ayuda a la conducción (ADAS, del inglés advanced driver assistance system), mejorando la experiencia y seguridad de los pasajeros, en especial del conductor. La mayor parte de estos sistemas están pensados para advertir al conductor sobre ciertas situaciones de riesgo, como la salida involuntaria del carril o la proximidad de obstáculos en el camino. No obstante, también podemos encontrar sistemas que van un paso más allá y son capaces de cooperar con el conductor en el control del vehículo o incluso relegarlos de algunas tareas tediosas. Es en este último grupo donde se encuentran los sistemas de control electrónico de estabilidad (ESP - Electronic Stability Program), el antibloqueo de frenos (ABS - Anti-lock Braking System), el control de crucero (CC - Cruise Control) y los más recientes sistemas de aparcamiento asistido. Continuando con esta línea de desarrollo, el paso siguiente consiste en la supresión del conductor humano, desarrollando sistemas que sean capaces de conducir un vehículo de forma autónoma y con un rendimiento superior al del conductor. En este trabajo se presenta, en primer lugar, una arquitectura de control para la automatización de vehículos. Esta se compone de distintos componentes de hardware y software, agrupados de acuerdo a su función principal. El diseño de la arquitectura parte del trabajo previo desarrollado por el Programa AUTOPIA, aunque introduce notables aportaciones en cuanto a la eficiencia, robustez y escalabilidad del sistema. Ahondando un poco más en detalle, debemos resaltar el desarrollo de un algoritmo de localización basado en enjambres de partículas. Este está planteado como un método de filtrado y fusión de la información obtenida a partir de los distintos sensores embarcados en el vehículo, entre los que encontramos un receptor GPS (Global Positioning System), unidades de medición inercial (IMU – Inertial Measurement Unit) e información tomada directamente de los sensores embarcados por el fabricante, como la velocidad de las ruedas y posición del volante. Gracias a este método se ha conseguido resolver el problema de la localización, indispensable para el desarrollo de sistemas de conducción autónoma. Continuando con el trabajo de investigación, se ha estudiado la viabilidad de la aplicación de técnicas de aprendizaje y adaptación al diseño de controladores para el vehículo. Como punto de partida se emplea el método de Q-learning para la generación de un controlador borroso lateral sin ningún tipo de conocimiento previo. Posteriormente se presenta un método de ajuste on-line para la adaptación del control longitudinal ante perturbaciones impredecibles del entorno, como lo son los cambios en la inclinación del camino, fricción de las ruedas o peso de los ocupantes. Para finalizar, se presentan los resultados obtenidos durante un experimento de conducción autónoma en carreteras reales, el cual se llevó a cabo en el mes de Junio de 2012 desde la población de San Lorenzo de El Escorial hasta las instalaciones del Centro de Automática y Robótica (CAR) en Arganda del Rey. El principal objetivo tras esta demostración fue validar el funcionamiento, robustez y capacidad de la arquitectura propuesta para afrontar el problema de la conducción autónoma, bajo condiciones mucho más reales a las que se pueden alcanzar en las instalaciones de prueba. ABSTRACT Nowadays, the technological advances in the Intelligent Transportation Systems (ITS) field have led the development of several driving assistance systems (ADAS). These solutions are designed to improve the experience and security of all the passengers, especially the driver. For most of these systems, the main goal is to warn drivers about unexpected circumstances leading to risk situations such as involuntary lane departure or proximity to other vehicles. However, other ADAS go a step further, being able to cooperate with the driver in the control of the vehicle, or even overriding it on some tasks. Examples of this kind of systems are the anti-lock braking system (ABS), cruise control (CC) and the recently commercialised assisted parking systems. Within this research line, the next step is the development of systems able to replace the human drivers, improving the control and therefore, the safety and reliability of the vehicles. First of all, this dissertation presents a control architecture design for autonomous driving. It is made up of several hardware and software components, grouped according to their main function. The design of this architecture is based on the previous works carried out by the AUTOPIA Program, although notable improvements have been made regarding the efficiency, robustness and scalability of the system. It is also remarkable the work made on the development of a location algorithm for vehicles. The proposal is based on the emulation of the behaviour of biological swarms and its performance is similar to the well-known particle filters. The developed method combines information obtained from different sensors, including GPS, inertial measurement unit (IMU), and data from the original vehicle’s sensors on-board. Through this filtering algorithm the localization problem is properly managed, which is critical for the development of autonomous driving systems. The work deals also with the fuzzy control tuning system, a very time consuming task when done manually. An analysis of learning and adaptation techniques for the development of different controllers has been made. First, the Q-learning –a reinforcement learning method– has been applied to the generation of a lateral fuzzy controller from scratch. Subsequently, the development of an adaptation method for longitudinal control is presented. With this proposal, a final cruise control controller is able to deal with unpredictable environment disturbances, such as road slope, wheel’s friction or even occupants’ weight. As a testbed for the system, an autonomous driving experiment on real roads is presented. This experiment was carried out on June 2012, driving from San Lorenzo de El Escorial up to the Center for Automation and Robotics (CAR) facilities in Arganda del Rey. The main goal of the demonstration was validating the performance, robustness and viability of the proposed architecture to deal with the problem of autonomous driving under more demanding conditions than those achieved on closed test tracks.

Gregarious behavior in desert locusts is evoked by touching their back legs

Desert locusts in the solitarious phase were repeatedly touched on various body regions to identify the site of mechanosensory input that elicits the transition to gregarious phase behavior. The phase state of individual insects was measured after a 4-h period of localized mechanical stimulation, by using a behavioral assay based on multiple logistic regression analysis. A significant switch from solitarious to gregarious behavior occurred when the outer face of a hind femur had been stimulated, but mechanical stimulation of 10 other body regions did not result in significant behavioral change. We conclude that a primary cause of the switch in behavior that seeds the formation of locust swarms is individuals regularly touching others on the hind legs within populations that have become concentrated by the environment.

Sequence specificity of triplex DNA formation: Analysis by a combinatorial approach, restriction endonuclease protection selection and amplification.

We have devised a combinatorial method, restriction endonuclease protection selection and amplification (REPSA), to identify consensus ligand binding sequences in DNA. In this technique, cleavage by a type IIS restriction endonuclease (an enzyme that cleaves DNA at a site distal from its recognition sequence) is prevented by a bound ligand while unbound DNA is cleaved. Since the selection step of REPSA is performed in solution under mild conditions, this approach is amenable to the investigation of ligand-DNA complexes that are either insufficiently stable or not readily separable by other methods. Here we report the use of REPSA to identify the consensus duplex DNA sequence recognized by a G/T-rich oligodeoxyribonucleotide under conditions favoring purine-motif triple-helix formation. Analysis of 47 sequences indicated that recognition between 13 bases on the oligonucleotide 3' end and the duplex DNA was sufficient for triplex formation and indicated the possible existence of a new base triplet, G.AT. This information should help identify appropriate target sequences for purine-motif triplex formation and demonstrates the power of REPSA for investigating ligand-DNA interactions.

Arquitetura computacional para redes orgânicas e heterogêneas: plano de controle do sistema operacional swarm.

Computational Swarms (enxames computacionais), consistindo da integração de sensores e atuadores inteligentes no nosso mundo conectado, possibilitam uma extensão da info-esfera no mundo físico. Nós chamamos esta info-esfera extendida, cíber-física, de Swarm. Este trabalho propõe uma visão de Swarm onde dispositivos computacionais cooperam dinâmica e oportunisticamente, gerando redes orgânicas e heterogêneas. A tese apresenta uma arquitetura computacional do Plano de Controle do Sistema Operacional do Swarm, que é uma camada de software distribuída embarcada em todos os dispositivos que fazem parte do Swarm, responsável por gerenciar recursos, definindo atores, como descrever e utilizar serviços e recursos (como divulgá-los e descobrí-los, como realizar transações, adaptações de conteúdos e cooperação multiagentes). O projeto da arquitetura foi iniciado com uma revisão da caracterização do conceito de Swarm, revisitando a definição de termos e estabelecendo uma terminologia para ser utilizada. Requisitos e desafios foram identificados e uma visão operacional foi proposta. Esta visão operacional foi exercitada com casos de uso e os elementos arquiteturais foram extraídos dela e organizados em uma arquitetura. A arquitetura foi testada com os casos de uso, gerando revisões do sistema. Cada um dos elementos arquiteturais requereram revisões do estado da arte. Uma prova de conceito do Plano de Controle foi implementada e uma demonstração foi proposta e implementada. A demonstração selecionada foi o Smart Jukebox, que exercita os aspectos distribuídos e a dinamicidade do sistema proposto. Este trabalho apresenta a visão do Swarm computacional e apresenta uma plataforma aplicável na prática. A evolução desta arquitetura pode ser a base de uma rede global, heterogênea e orgânica de redes de dispositivos computacionais alavancando a integração de sistemas cíber-físicos na núvem permitindo a cooperação de sistemas escaláveis e flexíveis, interoperando para alcançar objetivos comuns.

Monitoring an earthfill dam using differential SAR interferometry: La Pedrera dam, Alicante, Spain

Surface displacement at the dykes of La Pedrera reservoir (SE Spain) has been measured by satellite differential Synthetic Aperture Radar (SAR) interferometry. At the main dyke, a displacement of about 13 cm along the satellite line of sight has been estimated between August 1995 and May 2010, from a dataset composed by ERS-1, ERS-2 and Envisat-ASAR images. Two independent short-term processing tasks were also carried out with ERS-2/Envisat-ASAR (from June 2008 to May 2010) and TerraSAR-X (from August 2008 to June 2010) images which have shown similar spatial and temporal displacement patterns. The joint analysis of historical instrument surveys and DInSAR-derived data has allowed the identification of a long-term deformation process which is reflected at the dam's surface and is also clearly recognizable in the inspection gallery. The plausible causes of the displacements measured by DInSAR are also discussed in the paper. Finally, DInSAR data have been used to compute the long-term settlement of La Pedrera dam, showing a good agreement with external studies. Consequently, this work demonstrates the integration of DInSAR with in-situ techniques which helps provide a complete spatial vision of the displacements in the dam thereby helping to differentiate the causal mechanisms.

Pliocene-Pleistocene stack of globally distributed benthic stable oxygen isotope records

We present a 5.3-Myr stack (the ''LR04'' stack) of benthic d18O records from 57 globally distributed sites aligned by an automated graphic correlation algorithm. This is the first benthic delta18O stack composed of more than three records to extend beyond 850 ka, and we use its improved signal quality to identify 24 new marine isotope stages in the early Pliocene. We also present a new LR04 age model for the Pliocene-Pleistocene derived from tuning the delta18O stack to a simple ice model based on 21 June insolation at 65 N. Stacked sedimentation rates provide additional age model constraints to prevent overtuning. Despite a conservative tuning strategy, the LR04 benthic stack exhibits significant coherency with insolation in the obliquity band throughout the entire 5.3 Myr and in the precession band for more than half of the record. The LR04 stack contains significantly more variance in benthic delta18O than previously published stacks of the late Pleistocene as the result of higher resolution records, a better alignment technique, and a greater percentage of records from the Atlantic. Finally, the relative phases of the stack's 41- and 23-kyr components suggest that the precession component of delta18O from 2.7-1.6 Ma is primarily a deep-water temperature signal and that the phase of d18O precession response changed suddenly at 1.6 Ma.

Geological map of Potter Peninsula (King George Island, South Shetland Islands, Antarctic Peninsula)

We present here a new geological map of Potter Peninsula (King George Island, South Shetland Islands). Like on adjacent Barton Peninsula, the morphology on Potter Peninsula is predominantly characterized by a glacial landscape with abrasion platforms offshore, in parts steep cliffs along the coast, and a rather smooth, hilly countryside in the interior. Potter Peninsula forms part of the downthrown Warszawa Block. The volcanic sequence cropping out here belongs to the King George Island Supergroup, with an observed local minimum thickness of approx. 90 m (Kraus 2005). The most prominent morphological feature is Three Brothers Hill (196 m), a well known andesitic plug showing conspicuous columnar jointing. It marks the final stage of activity of a Paleogene volcano, whose eruption products (lava flows and pyroclastic rocks), together with hypabyssal intrusions related to the volcanism, make up most of the lithology observed on Potter Peninsula (Kraus 2005). The Three Brothers Hill volcanic complex is eroded down to its deepest levels. Thus, the stratigraphically deepest units from the initial phase of volcanic activity are cropping out in some parts (Kraus & del Valle, in Wienke et al. 2008). The lithology on Potter Peninsula comprises lava flows (~50%), pyroclastic rocks (ash-fallout, pyroclastic flow deposits, volcanic breccia and agglomerates, ~30%) and hypabyssal intrusions (dykes, sills and small subvolcanic intrusive bodies, ~20%). 40Ar/39Ar datings carried out on magmatic dykes from Potter Peninsula indicate a short, but intense intrusive event during the Lutetian (Kraus et al. 2007).

SHRIMP U-Pb dating of high-grade migmatites and related magmatites from Northwestern Oates Land, East Antarctica

High- to very-high-grade migmatitic basement rocks of the Wilson Hills area in northwestern Oates Land (Antarctica) form part of a low-pressure high-temperature belt located at the western inboard side of the Ross-orogenic Wilson Terrane. Zircon, and in part monazite, from four very-high grade migmatites (migmatitic gneisses to diatexites) and zircon from two undeformed granitic dykes from a central granulite-facies zone of the basement complex were dated by the SHRIMP U-Pb method in order to constrain the timing of metamorphic and related igneous processes and to identify possible age inheritance. Monazite from two migmatites yielded within error identical ages of 499 +/- 10 Ma and 493 +/- 9 Ma. Coexisting zircon gave ages of 500 +/- 4 Ma and 484 +/- 5 Ma for a metatexite (two age populations) and 475 +/- 4 Ma for a diatexite. Zircon populations from a migmatitic gneiss and a posttectonic granitic dyke yielded well-defined ages of 488 +/- 6 Ma and 482 +/- 4 Ma, respectively. There is only minor evidence of age inheritance in zircons of these four samples. Zircon from two other samples (metatexite, posttectonic granitic dyke) gave scattered 206Pb-238U ages. While there is a component similar in age and in low Th/U ratio to those of the other samples, inherited components with ages up to c. 3 Ga predominate. In the metatexite, a major detrital contribution from 545 - 680 Ma old source rocks can be identified. The new age data support the model that granulite- to high-amphibolite-facies metamorphism and related igneous processes in basement rocks of northwestern Oates Land were confined to a relatively short period of time of Late Cambrian to early Ordovican age. An age of approximately 500 Ma is estimated for the Ross-orogenic granulite-facies metamorphism from consistent ages of monazite from two migmatites and of the older zircon age population in one metatexite. The variably younger zircon ages are interpreted to reflect mineral formation in the course of the post-granulite-facies metamorphic evolution, which led to a widespread high-amphibolite-facies retrogression and in part late-stage formation of ms+bi assemblages in the basement rocks and which lasted until about 465 Ma. The presence of inherited zircon components of latest Neoproterozoic to Cambrian age indicates that the high- to very-grade migmatitic basement in northwestern Oates Land originated from clastic series of Cambrian age and, therefore, may well represent the deeper-crustal equivalent of lower-grade metasedimentary series of the Wilson Terrane.

Carbon dioxide assimilation rate, gas and ion composition in samples, and bacterial production of organic matter within and above the Broken Spur and TAG hydrothermal fields, Mid-Atlantic Ridge

Rate of CO2 assimilation was determined above the Broken Spur and TAG active hydrothermal fields for three main ecosystems: (1) hydrothermal vents; (2) 300 m near-bottom layer of plume water; and (3) bottom sediments. In water samples from warm (40-45°C) vents assimilation rates were maximal and reached 2.82-3.76 µg C/l/day. In plume waters CO2 assimilation rates ranged from 0.38 to 0.65 µg C/l/day. In bottom sediments CO2 assimilation rates varied from 0.8 to 28.0 µg C/l/day, rising up to 56 mg C/kg/day near shrimp swarms. In the most active plume zone of the long-living TAG field bacterial production of organic matter (OM) from carbonic is up to 170 mg C/m**2/day); production of autotrophic process of bacterial chemosynthesis reaches about 90% (156 mg C/m**2/day). Thus, chemosynthetic production of OM in September-October is almost equal to that of photosynthetic production in the oceanic region. Bacterial production of OM above the Broken Spur hydrothermal field is one order lower and reaches only 20 mg C/m**2/day.