Knowledge integration within an applied mobile robot summer course

This paper presents the use of a mobile robot platform as an innovative educational tool in order to promote and integrate different curriculum knowledge. Hence, it is presented the acquired experience within a summer course named ldquoapplied mobile roboticsrdquo. The main aim of the course is to integrate different subjects as electronics, programming, architecture, perception systems, communications, control and trajectory planning by using the educational open mobile robot platform PRIM. The summer course is addressed to a wide range of student profiles. However, it is of special interests to the students of electrical and computer engineering around their final academic year. The summer course consists of the theoretical and laboratory sessions, related to the following topics: design & programming of electronic devices, modelling and control systems, trajectory planning and control, and computer vision systems. Therefore, the clues for achieving a renewed path of progress in robotics are the integration of several knowledgeable fields, such as computing, communications, and control sciences, in order to perform a higher level reasoning and use decision tools with strong theoretical base

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Estudio y diseño de filtros pasobanda y en banda dual basados en resonadores microstrip open-loop acoplados

El proyecto está dedicado al estudio y diseño de filtros paso-banda y en banda dual con tecnología microstrip mediante estructuras resonantes de tipo open-loop. Se ha llevado a cabo el diseño de un filtro paso-banda con respuesta Chebyshev, un filtro pasobanda con ceros de transmisión y un filtro de banda dual para WCDMA y WiFi, empleado el método de diseño para filtros basados en resonadores inter-acoplados. Se presentan los modelos eléctricos de los filtros de RF simulados junto con sus respectivos layouts y se comparan las respuestas obtenidas de los dispositivos con las respuestas ideales. En el proyecto se realiza un estudio del comportamiento de los diferentes tipos de acoplamiento entre resonadores open-loop en función de la geometría de la estructura. Las tendencias de comportamiento de los acoplamientos permiten el diseño y colocación de los resonadores para satisfacer las especificaciones del filtro.

Email system upgrade : project report

Final degree project report. It summarizes the email upgrade project that was held at CELLS by Sergio Vicente.

Mapeo con robot móvil: caracterización y modelado

El projecte tracta de la fabricació d’un robot mòbil que sigui capaç de realitzar el mapeig del seu entorn, evitant els obstacles que es pugui trobar al transcurs del seu recorregut. Per tal d’obtenir els resultats desitjats, s’ha realitzat la caracterització dels seus components emprant algorismes probabilístics ,amb els que s’ha pogut determinar la seva eficiència. Finalment s’han realitzat els algorismes corresponents per graficar el mapeig del recorregut del robot i del seu entorn, aconseguint el objectiu plantejat.

Mapeo con robot móvil: construcción y seguimiento

El projecte tracta de la fabricació d’un robot mòbil que sigui capaç de realitzar el mapeig d’una superfície, evitant els obstacles que es pugui trobar en el transcurs del seu recorregut. És un projecte complex, per aquest motiu la part de procés de dades s'ha fet en un projecte posterior. Aquesta memòria tracta del muntatge i calibració dels components, a més de la realització dels algorismes de control dels mateixos, per tal de realitzar el mapeig de la superfície, aconseguint així l’objectiu plantejat.

Desarrollo de un portal web para instituciones deportivas utilizando componentes Open Source

El proyecto puede dividirse en dos grandes partes, diseño de un portal deportivo y análisis de una herramienta Open Source para el desarrollo de portales web. El apartado de diseño cuenta con un club de atletismo que proporciona unos requerimientos y necesidades de cara a tener un problema real y no basado en especulaciones. Se ha diseñado tanto la base de datos como la estructura del portal y se tienen en cuenta las necesidades del cliente. La parte de análisis de una herramienta Open Source desglosa los módulos de esta, viendo que necesidades cubre cada uno y que pueden hacer, que tecnologías usan y que soluciones pueden dar al problema planteado.

Vehículos-robot de guiado automático para almacenes y plantas de manufacturación

En este proyecto de final de carrera se realiza la gestión del tráfico de AGV y la simulación de su comportamiento al circular por una planta de estudio. Con la simulación se puede ver como varía el comportamiento de la planta al modificar el número de AGV y la velocidad a la que circulan. La planta objeto de estudio es un laboratorio de análisis clínico en el que se ha sustituido el sistema de transporte interno basado en cintas por uno con AGV, con lo que se ha podido comprobar que dicha sustitución es factible.

Sistema d'AGV (vehicles-robot de guiatge automàtic) per a magatzems i plantes de manufactura

Una de les solucions per a minimitzar els costos de producció o d'emmagatzematge és automatitzarne la logística interna. Per dissenyar les aplicacions corresponents és convenient poder validar-les amb un prototipatge. Això ha motivat la realització d'aquest projecte, on s'ha obtingut un prototip d'AGV (automated guided vehicle) que rep les ordres per Bluetooth i, mitjançant uns infrarojos per poder seguir unes línies al terra, és capaç d'anar des del punt inicial fins on se li ha encarregat i tornar al punt inicial. Aquest vehicle pot servir de base per a la implementació d'AGV orientats a aplicacions reals i, per tant, per a la construcció de sistemes més grans i que poden ser utilitzats en plantes de producció, laboratoris, magatzems, ports i d'altres aplicacions diverses.

International Standardisation and Local Participatory Dynamics : The INTERNORM Project

This paper presents a pilot project (INTERNORM) funded by the University of Lausanne (2010 - 2013) to support the involvement of civil society organisations (CSO) in international standard setting bodies such as the ISO. It analyses how a distinct participatory mechanism can influence the institutional environment of technical diplomacy in which standards are shaped. The project is an attempt to respond to the democratic deficit attested in the field of international standardisation, formally open to civil society participation, but still largely dominated by expert knowledge and market players. Many international standards have direct implications on society as a whole, but CSOs (consumers and environmental associations, trade unions) are largely under-represented in negotiation arenas. The paper draws upon international relations literature on new institutional forms in global governance and studies of participation in science and technology. It argues that there are significant limitations to the rise of civil society participation in such global governance mechanisms. The INTERNORM project has been designed as a platform of knowledge exchange between CSO and academic experts, with earmarked funding and official membership to a national standardisation body. But INTERNORM cannot substitute for a long- established lack of resources in time, money and expertise of CSOs. Despite high entry costs into technical diplomacy, participation thus appears as less a matter of upstream engagement, or of procedure only, than of dedicated means to shift the geometry of actors and the framing of socio-technical change.

The situation of open access institutional repositories in Spain: 2009 report

Introduction. The DRIVER I project drew up a detailed report of European repositories based on data gathered in a survey in which Spain's participation was very low. This created a highly distorted image of the implementation of repositories in Spain. This study aims to analyse the current state of Spanish open-access institutional repositories and to describe their characteristics. Method. The data were gathered through a Web survey. The questionnaire was based on that used by DRIVER I: coverage; technical infrastructure and technical issues; institutional policies; services created; and stimulators and inhibitors for establishing, filling and maintaining their digital institutional repositories. Analysis. Data were tabulated and analysed systematically according responses obtained from the questionnaire and grouped by coverage. Results. Responses were obtained from 38 of the 104 institutions contacted, which had 29 institutional repositories. This represents 78.3% of the Spanish repositories according to the BuscaRepositorios directory. Spanish repositories contained mainly full-text materials (journal articles and doctoral theses) together with metadata. The software most used was DSpace, followed by EPrints. The metadata standard most used was Dublin Core. Spanish repositories offered more usage statistics and fewer author-oriented services than the European average. The priorities for the future development of the repositories are the need for clear policies on access to scientific production based on public funding and the need for quality control indicators. Conclusions.This is the first detailed study of Spanish institutional repositories. The key stimulants for establishing, filling and maintaining were, in order of importance, the increase of visibility and citation, the interest of decision-makers, simplicity of use and search services. On the other hand the main inhibitors identified were the absence of policies, the lack of integration with other national and international systems and the lack of awareness efforts among academia.

A virtual exhibition of open source software for libraries

Frequently the choice of a library management program is conditioned by social, economic and/or political factors that result in the selection of a system that is not altogether suitable for the library’s needs, characteristics and functions. Open source software is quickly becoming a preferred solution, owing to the freedom to copy, modify and distribute it and the freedom from contracts, as well as for greater opportunities for interoperability with other applications. These new trends regarding open source software in libraries are also reflected in LIS studies, as evidenced by the different courses addressing automated programs, repositorymanagement, including the Linux/GNU operating system, among others. The combination of the needs of the centres and the new trends for open source software is the focus of a virtual laboratory for the use of open source software for library applications. It was the result of a project, whose aim was to make a useful contribution to the library community, that was carried out by a group of professors of the School of Library and Information Science of the University of Barcelona, together with a group of students, members of a Working Group on Open Source Software for Information Professionals, of the Professional Library Association of Catalonia.

Development of a Model for the Ice Scraping Process Iowa Department of Transportation Project HR 361 Final Report, October 1996

A laboratory study has been conducted with two aims in mind. The first goal was to develop a description of how a cutting edge scrapes ice from the road surface. The second goal was to investigate the extent, if any, to which serrated blades were better than un-serrated or "classical" blades at ice removal. The tests were conducted in the Ice Research Laboratory at the Iowa Institute of Hydraulic Research of the University of Iowa. A specialized testing machine, with a hydraulic ram capable of attaining scraping velocities of up to 30 m.p.h. was used in the testing. In order to determine the ice scraping process, the effects of scraping velocity, ice thickness, and blade geometry on the ice scraping forces were determined. Higher ice thickness lead to greater ice chipping (as opposed to pulverization at lower thicknesses) and thus lower loads. S~milabr ehavior was observed at higher velocities. The study of blade geometry included the effect of rake angle, clearance angle, and flat width. The latter were found to be particularly important in developing a clear picture of the scraping process. As clearance angle decreases and flat width increases, the scraping loads show a marked increase, due to the need to re-compress pulverized ice fragments. The effect of serrations was to decrease the scraping forces. However, for the coarsest serrated blades (with the widest teeth and gaps) the quantity of ice removed was significantly less than for a classical blade. Finer serrations appear to be able to match the ice removal of classical blades at lower scraping loads. Thus, one of the recommendations of this study is to examine the use of serrated blades in the field. Preliminary work (by Nixon and Potter, 1996) suggests such work will be fruitful. A second and perhaps more challenging result of the study is that chipping of ice is more preferable to pulverization of the ice. How such chipping can be forced to occur is at present an open question.

Explaining Open Courseware Europe

Since two years ago, five European universities are working together with Creative Commons and the Open Courseware Consortium in an EU funded project aimed at supporting student virtual mobility on the basis of OCW. During those two years, there have been several workshops dedicated to different topics and some documents have been produced, among them about the use of CC licenses. The final goal of the project is to establish an European branch of the OCW Consortium as the existing ones in other regions. More information about the project: http://opencourseware.eu/

The Brazilian electronic theses and dissertations digital library: providing open access for scholarly information

This paper describes a project led by the Instituto Brasileiro de Informações em Ciência e Tecnologia (Ibict), a government institution, to build a national digital library for electronic theses and dissertations - Bibliteca Digital de Teses e Dissertações (BDTD). The project has been a collaborative effort among Ibict, universities and other research centers in Brazil. The developers adopted a system architecture based on the Open Archives Initiative (OAI) in which universities and research centers act as data providers and Ibict as a service provider. A Brazilian metadata standard for electronic theses and dissertations was developed for the digital library. A toolkit including open source package was also developed by Ibict to be distributed to potential data providers. BDTD has been integrated with the international initiative: the Networked Digital Library of Thesis and Dissertation (NDLTD). Discussions in the paper address various issues related to project design, development and management as well as the role played by Ibict. Conclusions highlight some important lessons learned to date and challenges for the future in expanding the BDTD project.