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

Proposal of a parallel architecture for a motion detection algorithm

This paper proposes a parallel architecture for estimation of the motion of an underwater robot. 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. In a motion estimation algorithm, correspondences between two images have to be solved at the low level. In the underwater imaging, normalised correlation can be a solution in the presence of non-uniform illumination. Due to its regular processing scheme, parallel implementation of the correspondence problem can be an adequate approach to reduce the computation time. Taking into consideration the complexity of the normalised correlation criteria, a new approach using parallel organisation of every processor from the architecture is proposed

A Camera-Projector System for Robot Positioning by Visual Servoing

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of nontextured objets or objets for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance

Overview of coded light projection techniques for automatic 3D profiling

Obtaining automatic 3D profile of objects is one of the most important issues in computer vision. With this information, a large number of applications become feasible: from visual inspection of industrial parts to 3D reconstruction of the environment for mobile robots. In order to achieve 3D data, range finders can be used. Coded structured light approach is one of the most widely used techniques to retrieve 3D information of an unknown surface. An overview of the existing techniques as well as a new classification of patterns for structured light sensors is presented. This kind of systems belong to the group of active triangulation method, which are based on projecting a light pattern and imaging the illuminated scene from one or more points of view. Since the patterns are coded, correspondences between points of the image(s) and points of the projected pattern can be easily found. Once correspondences are found, a classical triangulation strategy between camera(s) and projector device leads to the reconstruction of the surface. Advantages and constraints of the different patterns are discussed

Millora experimental de les lleis de control predictiu aplicades sobre la plataforma PRIM I, per el seguiment de trajectòries

Aquest projecte s’aplica sobre el robot PRIM (Plataforma Robotitzada d’Informació Multimèdia), un robot autònom no humanoide creat el 2004 per Ateneu Informàtic (AI) que permet realitzar trajectòries 2D gràcies a un sistema de tracció format per dues rodes motrius propulsades independentment. La plataforma PRIM és controlada a partir del control predictiu, aquest control es va implementar en un projecte anterior, creat per l’Alexandre Blasco Gutierrez i titulat “Implementació de tècniques MPC (Model Predictiu Control) sobre la plataforma PRIM I”. El que es pretén en aquest projecte és millorar els resultats obtinguts en el passat projecte reformulant la llei de control i analitzar les discrepàncies obtingudes en les metodologies que s’utilitzen per minimitzar la funció de costos a partir de simulacions de trajectòries

Disseny d’un comportament en ROS per a mantenir la posició d’un vehicle autònom submarí a partir de referències visuals

En el Centre d'Investigació en Robòtica Submarina (CIRS) de la Universitat de Gironaes disposa de diferents robots submarins els quals utilitzen una arquitectura software anomenada Component Oriented Layered-based Architecture for Autonomy ( COLA2 ), la qual ha estat desenvolupada per estudiants i professors del mateix centre. Per tal de fer aquesta arquitectura més accessible per a professors i estudiant d’altres centres la COLA2 s’està adaptant al Robot Operative System (ROS) que és un framework genèricper al desenvolupament d’aplicacions amb robots. Aquest projecte pretén dissenyar un comportament per al robot Girona500 que estigui desenvolupat dins la versió ROS de l’arquitectura COLA2. El comportament haurà de fer mantenir una determinada posició al robot amb informació visual de la càmera del robot i amb dades de navegació. La tasca de mantenir la posició es de vital importància per a poder realitzar intervencions submarines que requereixen de precisió i, precisament, el medi on es treballa no ajuda

Desarrollo de un aplicativo mobile multiplataforma

En esta memoria se recoge toda la documentación que se genera en las etapas de desarrollo de un proyecto software: recogida inicial de requerimientos, análisis, diseño, implementación y validación. El software a desarrollar es un aplicativo mobile multiplataforma usando un framework de desarrollo ágil. El objetivo de dicha aplicación es crear una red para compartir información entre usuarios sobre el precio y la localización de los mejores souvenirs en cualquier parte del mundo.

Organisation des secours extrahospitaliers lors du sommet 2003 du G8: nouveau concept de poste médical mobile (PMM) [Prehospital medical care organization during the 2003 G8 summit: a new concept of Mobile Medical Squadrons (MMS)].

OBJECTIVE: The occurrence of the 2003 G8 summit in Evian and the threat of major civil riots or even terrorist attacks in the Swiss neighbourhood forced us to imagine a new system of rescue and medical care in case of numerous victims. Previous occurrences of the G8 in Europe or America have demonstrated the need of flexible and mobile structures, able to respond quickly to crowd movements, unlike the usual static structure of rescue systems designed for major accidents. METHODS: We developed a new concept of Mobile Medical Squadrons (MMS) consisting of several vehicles and medical care and rescue human resources. In our concept, each MMS consisted of 3 emergency doctors, 5 paramedics and 9 first-aid workers. They were designed to handle 15 patients, with a large autonomy in terms of rescue, medical care, evacuation and medical authority. The equipment included medical, resuscitation, simple decontamination, evacuation and communication materials. RESULTS: The MMS were dispatched four times during the G8 summit following civil riots. They took care of 12 injured patients. CONCLUSION: The concept of MMS as a reinforcement of the existing rescue and health care resources appears as a new flexible, a modular and useful concept for the medical management of collective prehospital emergency situations. Its use is suggested instead of the traditional static concept of rescue systems designed for major accidents.

Control d'un robot de 3 graus de llibertat

Partint d'una estructura robòtica de 3 graus de llibertat, s'ha de fer el disseny deles unitats de potència i control , muntatge, conexionat, programació i posta enmarxa per poder generar trajectòries des d'un PC.Per aconseguir l'objectiu s'han realitzat les següents fites:a) Ajust i modificacions mecàniques de la estructura robòticaSubstitució de xavetes i canvi de pinyons.b) Implementar, modificar i ajustar elements elèctrics del robot.Substitució de motor elèctric espatllat, realitzar un nou cablejat cap a lanova unitat de control i substitució d'un sensor de posició.c) Disseny i muntatge de la unitat de potènciaSelecció de la targeta MD03 per controlar l'alimentació, velocitat i sentitde gir del motors, que controlen els 3 graus de llibertat. Mecanització enuna caixa incloent: fusibles, amperímetres i connectors. Cablejat elèctric iposta en funcionament.d) Disseny, muntatge elèctric i programació de la unitat de control.Selecció del PLC S7300Escollir el tipus de comunicacions que es realitzaran tant amb la unitat depotència com amb el PC.Disseny plànols elèctrics mitjançant el programa EPLAN.Mecanització, cablejat i posta en marxa del disseny elèctric.El disseny del software es realitzarà mitjançant l'eina de programacióSTEP7 de SiemensProgramació del PLC per poder treballar diferents tipus de moviments itrajectòriese) Disseny i programació de la interfície d'usuari des d'un PCProgramació d'una interfície gràfica mitjançant WinCC Flexible per tal quel'usuari només introduint dades pugui fer que el robot es mogui demanera manual o semiautomàtica . També s'ha programat per tal quegeneri trajectòries en mode automàtic.S'ha programat una illa de pick and place a mode d'exemplificació.

Transcriptome analysis of the mobile genome ICEclc in Pseudomonas knackmussii B13.

Background: Integrative and conjugative elements (ICE) form a diverse group of DNA elements that are integrated in the chromosome of the bacterial host, but can occasionally excise and horizontally transfer to a new host cell. ICE come in different families, typically with a conserved core for functions controlling the element's behavior and a variable region providing auxiliary functions to the host. The ICEclc element of Pseudomonas knackmussii strain B13 is representative for a large family of chromosomal islands detected by genome sequencing approaches. It provides the host with the capacity to degrade chloroaromatics and 2-aminophenol. Results: Here we study the transcriptional organization of the ICEclc core region. By northern hybridizations, reverse-transcriptase polymerase chain reaction (RT-PCR) and Rapid Amplification of cDNA Ends (5'-RACE) fifteen transcripts were mapped in the core region. The occurrence and location of those transcripts were further confirmed by hybridizing labeled cDNA to a semi-tiling micro-array probing both strands of the ICEclc core region. Dot blot and semi-tiling array hybridizations demonstrated most of the core transcripts to be upregulated during stationary phase on 3-chlorobenzoate, but not on succinate or glucose. Conclusions: The transcription analysis of the ICEclc core region provides detailed insights in the mode of regulatory organization and will help to further understand the complex mode of behavior of this class of mobile elements. We conclude that ICEclc core transcription is concerted at a global level, more reminiscent of a phage program than of plasmid conjugation.

Route optimization and customization using real geographical data in Android mobile devices

Nowadays, there are several services and applications that allow users to locate and move to different tourist areas using a mobile device. These systems can be used either by internet or downloading an application in concrete places like a visitors centre. Although such applications are able to facilitate the location and the search for points of interest, in most cases, these services and applications do not meet the needs of each user. This paper aims to provide a solution by studying the main projects, services and applications, their routing algorithms and their treatment of the real geographical data in Android mobile devices, focusing on the data acquisition and treatment to improve the routing searches in off-line environments.

Preventive medicine for epidemic outbreaks and risky behavior through mobile devices and ubiquitous computing

In this work, we have developed the first free software for mobile devices with the Android operating system that can preventively mitigate the number of contagions of sexually transmitted infections (STI), associated with risk behavior. This software runs in two modes. The normal mode allows the user to see the alerts and nearby health centers. The second mode enables the service to work in the background. This software reports the health risks, as well as the location of different test centers.

M.A.M. (Mobile Applications Management)

L'objectiu fonamental d'aquest treball és implementar un sistema de base de dades per donar resposta a la necessitat dels desenvolupadors d'aplicacions mòbils a nivell mundial per unificar i millorar l'experiència dels seus usuaris a l'hora de descarregar les seves aplicacions.