Programació del robot e-puck amb Microsoft Robotics Studio

Microsoft Robotics Studio (MRS) és un entorn per a crear aplicacions per a robots utilitzant una gran varietat de plataformes hardware. Conté un entorn de simulació en el que es pot modelar i simular el moviment del robot. Permet també programar el robot, i executar-lo en l’entorn simulat o bé en el real. MRS resol la comunicació entre elsdiferents processos asíncrons que solen estar presents en el software de control d’unrobot: processos per atendre sensors, actuadors, sistemes de control, comunicacions amb l’exterior,... MRS es pot utilitzar per modelar nous robots utilitzant components que ja estiguin disponibles en les seves llibreries, o també permet crear component nous. Per tal de conèixer en detall aquesta eina, seria interessant utilitzar-la per programa els robots e-pucks, uns robots mòbils autònoms de petites dimensions que disposen de dos motors i un complet conjunt de sensors. El que es vol és simular-los, realitzar un programa de control, realitzar la interfície amb el robot i comprovar el funcionament amb el robot real

Intelligent task-level grasp mapping for robot control

In the future, robots will enter our everyday lives to help us with various tasks.For a complete integration and cooperation with humans, these robots needto be able to acquire new skills. Sensor capabilities for navigation in real humanenvironments and intelligent interaction with humans are some of the keychallenges.Learning by demonstration systems focus on the problem of human robotinteraction, and let the human teach the robot by demonstrating the task usinghis own hands. In this thesis, we present a solution to a subproblem within thelearning by demonstration field, namely human-robot grasp mapping. Robotgrasping of objects in a home or office environment is challenging problem.Programming by demonstration systems, can give important skills for aidingthe robot in the grasping task.The thesis presents two techniques for human-robot grasp mapping, directrobot imitation from human demonstrator and intelligent grasp imitation. Inintelligent grasp mapping, the robot takes the size and shape of the object intoconsideration, while for direct mapping, only the pose of the human hand isavailable.These are evaluated in a simulated environment on several robot platforms.The results show that knowing the object shape and size for a grasping taskimproves the robot precision and performance

Systems medicine and integrated care to combat chronic noncommunicable diseases

We propose an innovative, integrated, cost-effective health system to combat major non-communicable diseases (NCDs), including cardiovascular, chronic respiratory, metabolic, rheumatologic and neurologic disorders and cancers, which together are the predominant health problem of the 21st century. This proposed holistic strategy involves comprehensive patient-centered integrated care and multi-scale, multi-modal and multi-level systems approaches to tackle NCDs as a common group of diseases. Rather than studying each disease individually, it will take into account their intertwined gene-environment, socio-economic interactions and co-morbidities that lead to individual-specific complex phenotypes. It will implement a road map for predictive, preventive, personalized and participatory (P4) medicine based on a robust and extensive knowledge management infrastructure that contains individual patient information. It will be supported by strategic partnerships involving all stakeholders, including general practitioners associated with patient-centered care. This systems medicine strategy, which will take a holistic approach to disease, is designed to allow the results to be used globally, taking into account the needs and specificities of local economies and health systems.

Sarjakytkentäisen taajuusmuuttajan ohjauksen toteutus FPGA-piireillä

Tässä diplomityössä tutustutaan sarjakytkentäisen taajuusmuuttajan rakenteeseen ja ohjaukseen. Työssä tarkastellaan myös hajautetun järjestelmän testaamista ja ohjelmointia. Työssä toteutettiin sarjakytkentäisen taajuusmuuttajan modulaattori hajautetusti FPGA-piireille. Lisäksi diplomityössä kehitettiin ja toteutettiin optinen JTAG-rajapinta hajautetun järjestelmän testaukseen ja ohjelmointiin. Laboratoriokoelaitteisto koostui yhdeksästä taajuusmuuttajan ohjauskortista, LUT Master -ohjausyksiköstä ja dSPACE-ohjausjärjestelmästä. Laboratoriomittaukset tehtiin Lappeenrannan teknillisen yliopiston Säätötekniikan laboratoriossa.

Systems Medicine and Integrated Care to Combat Chronic Noncommunicable Diseases.

We propose an innovative, integrated, cost-effective health system to combat major non-communicable diseases (NCDs), including cardiovascular, chronic respiratory, metabolic, rheumatologic and neurologic disorders and cancers, which together are the predominant health problem of the 21st century. This proposed holistic strategy involves comprehensive patient-centered integrated care and multi-scale, multi-modal and multi-level systems approaches to tackle NCDs as a common group of diseases. Rather than studying each disease individually, it will take into account their intertwined gene-environment, socio-economic interactions and co-morbidities that lead to individual-specific complex phenotypes. It will implement a road map for predictive, preventive, personalized and participatory (P4) medicine based on a robust and extensive knowledge management infrastructure that contains individual patient information. It will be supported by strategic partnerships involving all stakeholders, including general practitioners associated with patient-centered care. This systems medicine strategy, which will take a holistic approach to disease, is designed to allow the results to be used globally, taking into account the needs and specificities of local economies and health systems.

Flocking behaviour: Agent-based simulation and hierarchical leadership.

We have studied how leaders emerge in a group as a consequence of interactions among its members. We propose that leaders can emerge as a consequence of a self-organized process based on local rules of dyadic interactions among individuals. Flocks are an example of self-organized behaviour in a group and properties similar to those observed in flocks might also explain some of the dynamics and organization of human groups. We developed an agent-based model that generated flocks in a virtual world and implemented it in a multi-agent simulation computer program that computed indices at each time step of the simulation to quantify the degree to which a group moved in a coordinated way (index of flocking behaviour) and the degree to which specific individuals led the group (index of hierarchical leadership). We ran several series of simulations in order to test our model and determine how these indices behaved under specific agent and world conditions. We identified the agent, world property, and model parameters that made stable, compact flocks emerge, and explored possible environmental properties that predicted the probability of becoming a leader.

Generació d’un entorn virtual de treball per un robot Stäubli TX60

L’objectiu del treball és emular virtualment l’entorn de treball del robot Stäubli Tx60 quehi ha al laboratori de robòtica de la UdG (dins les possibilitats que ofereix el software adquirit).Aquest laboratori intenta reproduir un entorn industrial de treball en el qual es realitzal’assemblatge d’un conjunt de manera cent per cent automatitzada.En una primera fase, s’ha dissenyat en tres dimensions tot l’entorn de treball que hi hadisponible al laboratori a través del software CAD SolidWorks. Cada un dels conjuntsque conformen l’estació de treball s’ha dissenyat de manera independent.Posteriorment s’introdueixen tots els elements dissenyats dins el software StäubliRobotics Suite 2013. Amb tot l’anterior, cal remarcar que l’objectiu principal del treball consta de duesetapes. Inicialment es dissenya el model 3D de l’entorn de treball a través del software SolidWorks i s’introdueix dins el software Stäubli Robotics Suite 2013. Enuna segona etapa, es realitza un manual d’ús del nou software de robòtica

Prototype of a web-based participative decision support platform in natural hazards and risk management

This paper presents the current state and development of a prototype web-GIS (Geographic Information System) decision support platform intended for application in natural hazards and risk management, mainly for floods and landslides. This web platform uses open-source geospatial software and technologies, particularly the Boundless (formerly OpenGeo) framework and its client side software development kit (SDK). The main purpose of the platform is to assist the experts and stakeholders in the decision-making process for evaluation and selection of different risk management strategies through an interactive participation approach, integrating web-GIS interface with decision support tool based on a compromise programming approach. The access rights and functionality of the platform are varied depending on the roles and responsibilities of stakeholders in managing the risk. The application of the prototype platform is demonstrated based on an example case study site: Malborghetto Valbruna municipality of North-Eastern Italy where flash floods and landslides are frequent with major events having occurred in 2003. The preliminary feedback collected from the stakeholders in the region is discussed to understand the perspectives of stakeholders on the proposed prototype platform.

Model-based objects recognition in man-made environments

We describe a model-based objects recognition system which is part of an image interpretation system intended to assist autonomous vehicles navigation. The system is intended to operate in man-made environments. Behavior-based navigation of autonomous vehicles involves the recognition of navigable areas and the potential obstacles. The recognition system integrates color, shape and texture information together with the location of the vanishing point. The recognition process starts from some prior scene knowledge, that is, a generic model of the expected scene and the potential objects. The recognition system constitutes an approach where different low-level vision techniques extract a multitude of image descriptors which are then analyzed using a rule-based reasoning system to interpret the image content. This system has been implemented using CEES, the C++ embedded expert system shell developed in the Systems Engineering and Automatic Control Laboratory (University of Girona) as a specific rule-based problem solving tool. It has been especially conceived for supporting cooperative expert systems, and uses the object oriented programming paradigm

Development of a measuring-control system for energy monitoring in low power

In this thesis a control system for an intelligent low voltage energy grid is presented, focusing on the control system created by using a multi-agent approach which makes it versatile and easy to expand according to the future needs. The control system is capable of forecasting the future energy consumption and decisions making on its own without human interaction when countering problems. The control system is a part of the St. Petersburg State Polytechnic University’s smart grid project that aims to create a smart grid for the university’s own use. The concept of the smart grid is interesting also for the consumers as it brings new possibilities to control own energy consumption and to save money. Smart grids makes it possible to monitor the energy consumption in real-time and to change own habits to save money. The intelligent grid also brings possibilities to integrate the renewable energy sources to the global or the local energy production much better than the current systems. Consumers can also sell their extra power to the global grid if they want.

Some Studies and New Results on Multi Microprocessor Applications

One of the fastest expanding areas of computer exploitation is in embedded systems, whose prime function is not that of computing, but which nevertheless require information processing in order to carry out their prime function. Advances in hardware technology have made multi microprocessor systems a viable alternative to uniprocessor systems in many embedded application areas. This thesis reports the results of investigations carried out on multi microprocessors oriented towards embedded applications, with a view to enhancing throughput and reliability. An ideal controller for multiprocessor operation is developed which would smoothen sharing of routines and enable more powerful and efficient code I data interchange. Results of performance evaluation are appended.A typical application scenario is presented, which calls for classifying tasks based on characteristic features that were identified. The different classes are introduced along with a partitioned storage scheme. Theoretical analysis is also given. A review of schemes available for reducing disc access time is carried out and a new scheme presented. This is found to speed up data base transactions in embedded systems. The significance of software maintenance and adaptation in such applications is highlighted. A novel scheme of prov1d1ng a maintenance folio to system firmware is presented, alongwith experimental results. Processing reliability can be enhanced if facility exists to check if a particular instruction in a stream is appropriate. Likelihood of occurrence of a particular instruction would be more prudent if number of instructions in the set is less. A new organisation is derived to form the basement for further work. Some early results that would help steer the course of the work are presented.

RNS based programmable multi-mode decimation filter for WCDMA and WiMAX

The recent trends envisage multi-standard architectures as a promising solution for the future wireless transceivers to attain higher system capacities and data rates. The computationally intensive decimation filter plays an important role in channel selection for multi-mode systems. An efficient reconfigurable implementation is a key to achieve low power consumption. To this end, this paper presents a dual-mode Residue Number System (RNS) based decimation filter which can be programmed for WCDMA and 802.16e standards. Decimation is done using multistage, multirate finite impulse response (FIR) filters. These FIR filters implemented in RNS domain offers high speed because of its carry free operation on smaller residues in parallel channels. Also, the FIR filters exhibit programmability to a selected standard by reconfiguring the hardware architecture. The total area is increased only by 24% to include WiMAX compared to a single mode WCDMA transceiver. In each mode, the unused parts of the overall architecture is powered down and bypassed to attain power saving. The performance of the proposed decimation filter in terms of critical path delay and area are tabulated.

A model of Distributed Ayurvedic Diagnosis and Therapy System for Hridroga Using Agents

Diagnosis of Hridroga (cardiac disorders) in Ayurveda requires the combination of many different types of data, including personal details, patient symptoms, patient histories, general examination results, Ashtavidha pareeksha results etc. Computer-assisted decision support systems must be able to combine these data types into a seamless system. Intelligent agents, an approach that has been used chiefly in business applications, is used in medical diagnosis in this case. This paper is about a multi-agent system named “Distributed Ayurvedic Diagnosis and Therapy System for Hridroga using Agents” (DADTSHUA). It describes the architecture of the DADTSHUA model .This system is using mobile agents and ontology for passing data through the network. Due to this, transport delay can be minimized. It is a system which will be very helpful for the beginning physicians to eliminate his ambiguity in diagnosis and therapy. The system is implemented using Java Agent DEvelopment framework (JADE), which is a java-complaint mobile agent platform from TILab.

Agent Based Evacuation Simulation Using Leader-Follower Model

Agent based simulation is a widely developing area in artificial intelligence.The simulation studies are extensively used in different areas of disaster management. This work deals with the study of an agent based evacuation simulation which is being done to handle the various evacuation behaviors.Various emergent behaviors of agents are addressed here. Dynamic grouping behaviors of agents are studied. Collision detection and obstacle avoidances are also incorporated in this approach.Evacuation is studied with single exits and multiple exits and efficiency is measured in terms of evacuation rate, collision rate etc.Net logo is the tool used which helps in the efficient modeling of scenarios in evacuation

Hydrogeology and hydrochemistry of the aquifer systems of Kuttanad area, Kerala: Their role in understanding the evolution of groundwaters

This is an attempt to understand the important factors that control the occurrence, development and hydrochemical evolution of groundwater resources in sedimentary multi aquifer systems. The primary objective of this work is an integrated study of the hydrogeology and hydrochemistry with a view to elucidate the hydrochemical evolution of groundwater resources in the aquifer systems. The study is taken up in a typical coastal sedimentary aquifer system evolved under fluvio-marine environment in the coastal area of Kerala, known as the Kuttanad. The present study has been carried out to understand the aquifer systems, their inter relationships and evolution in the Kuttanad area of Kerala. The multi aquifer systems in the Kuttanad basin were formed from the sediments deposited under fluvio-marine and fluvial depositional environments and the marine transgressions and regressions in the geological past and palaeo climatic conditions influenced the hydrochemical environment in these aquifers. The evolution of groundwater and the hydrochemical processes involved in the formation of the present day water quality are elucidated from hydrochemical studies and the information derived from the aquifer geometry and hydraulic properties. Kuttanad area comprises of three types of aquifer systems namely phreatic aquifer underlain by Recent confined aquifer followed by Tertiary confined aquifers. These systems were formed by the deposition of sediments under fluvio-marine and fluvial environment. The study of the hydrochemical and hydraulic properties of the three aquifer systems proved that these three systems are separate entities. The phreatic aquifers in the area have low hydraulic gradients and high rejected recharge. The Recent confined aquifer has very poor hydraulic characteristics and recharge to this aquifer is very low. The Tertiary aquifer system is the most potential fresh water aquifer system in the area and the groundwater flow in the aquifer is converging towards the central part of the study area (Alleppey town) due to large scale pumping of water for water supply from this aquifer system. Mixing of waters and anthropogenic interferences are the dominant processes modifying the hydrochemistry in phreatic aquifers. Whereas, leaching of salts and cation exchange are the dominant processes modifying the hydrochemistry of groundwater in the confined aquifer system of Recent alluvium. Two significant chemical reactions modifying the hydrochemistry in the Recent aquifers are oxidation of iron in ferruginous clays which contributes hydrogen ions and the decomposition of organic matter in the aquifer system which consumes hydrogen ions. The hydrochemical environment is entirely different in the Tertiary aquifers as the groundwater in this aquifer system are palaeo waters evolved during various marine transgressions and regressions and these waters are being modified by processes of leaching of salts, cation exchange and chemical reactions under strong reducing environment. It is proved that the salinity observed in the groundwaters of Tertiary aquifers are not due to seawater mixing or intrusion, but due to dissolution of salts from the clay formations and ion exchange processes. Fluoride contamination in this aquifer system lacks a regional pattern and is more or less site specific in natureThe lowering of piezometric heads in the Tertiary aquifer system has developed as consequence of large scale pumping over a long period. Hence, puping from this aquifer system is to be regulated as a groundwater management strategy. Pumping from the Tertiary aquifers with high capacity pumps leads to well failures and mixing of saline water from the brackish zones. Such mixing zones are noticed from the hydrochemical studies. This is the major aquifer contamination in the Tertiary aquifer system which requires immediate attention. Usage of pumps above 10 HP capacities in wells taping Tertiary aquifers should be discouraged for sustainable development of these aquifers. The recharge areas need to be identified precisely for recharging the aquifer systems throughartificial means.