A Primer of Picture-Aided Navigation in Mobile Systems

The goal of this paper is to present a new concept regarding the way of explaining itineraries based on pictures in mobile systems. Instead of presenting a map, or a list of words, an original method is proposed based on a picture database and handheld devices. Knowing the exact position of the user, the system will sent him regularly pictures of the way where to go. This system is especially targeted not for drivers but for pedestrians essentially in tourist cities. In order to reach this objective, pictures were taken along each street both ways. Thus, a picture database was built for which the more common query is to compute the minimum path for going from one place to another. The result format is initially presented as a sequence of nodes and edges; then this sequence is transformed into a sequence of pictures. Those pictures are then sent to the user according to his position and his pace. In order to help the user, the pictures are decorated with arrows.This presentation is based on two prototypes made within a French-Argentinean collaboration.Trabajo publicado en Lecture Notes in Geoinformation and Cartography book seriesLaboratorio de Investigación y Formación en Informática Avanzad

Personalised trails and learner profiling within e-learning environments

This deliverable focuses on personalisation and personalised trails. We begin by introducing and defining the concepts of personalisation and personalised trails. Personalisation requires that a user profile be stored, and so we assess currently available standard profile schemas and discuss the requirements for a profile to support personalised learning. We then review techniques for providing personalisation and some systems that implement these techniques, and discuss some of the issues around evaluating personalisation systems. We look especially at the use of learning and cognitive styles to support personalised learning, and also consider personalisation in the field of mobile learning, which has a slightly different take on the subject, and in commercially available systems, where personalisation support is found to currently be only at quite a low level. We conclude with a summary of the lessons to be learned from our review of personalisation and personalised trails

Personalised trails and learner profiling in an e-learning environment

This deliverable focuses on personalisation and personalised trails. We begin by introducing and defining the concepts of personalisation and personalised trails. Personalisation requires that a user profile be stored, and so we assess currently available standard profile schemas and discuss the requirements for a profile to support personalised learning. We then review techniques for providing personalisation and some systems that implement these techniques, and discuss some of the issues around evaluating personalisation systems. We look especially at the use of learning and cognitive styles to support personalised learning, and also consider personalisation in the field of mobile learning, which has a slightly different take on the subject, and in commercially available systems, where personalisation support is found to currently be only at quite a low level. We conclude with a summary of the lessons to be learned from our review of personalisation and personalised trails

From Concept to Market: Surgical Robot Development

Surgical robotics and supporting technologies have really become a prime example of modern applied information technology infiltrating our everyday lives. The development of these systems spans across four decades, and only the last few years brought the market value and saw the rising customer base imagined already by the early developers. This chapter guides through the historical development of the most important systems, and provide references and lessons learnt for current engineers facing similar challenges. A special emphasis is put on system validation, assessment and clearance, as the most commonly cited barrier hindering the wider deployment of a system

Cooperative localisation in underwater robotic swarms for ocean bottom seismic imaging.

Spatial information must be collected alongside the data modality of interest in wide variety of sub-sea applications, such as deep sea exploration, environmental monitoring, geological and ecological research, and samples collection. Ocean-bottom seismic surveys are vital for oil and gas exploration, and for productivity enhancement of an existing production facility. Ocean-bottom seismic sensors are deployed on the seabed to acquire those surveys. Node deployment methods used in industry today are costly, time-consuming and unusable in deep oceans. This study proposes the autonomous deployment of ocean-bottom seismic nodes, implemented by a swarm of Autonomous Underwater Vehicles (AUVs). In autonomous deployment of ocean-bottom seismic nodes, a swarm of sensor-equipped AUVs are deployed to achieve ocean-bottom seismic imaging through collaboration and communication. However, the severely limited bandwidth of underwater acoustic communications and the high cost of maritime assets limit the number of AUVs that can be deployed for experiments. A holistic fuzzy-based localisation framework for large underwater robotic swarms (i.e. with hundreds of AUVs) to dynamically fuse multiple position estimates of an autonomous underwater vehicle is proposed. Simplicity, exibility and scalability are the main three advantages inherent in the proposed localisation framework, when compared to other traditional and commonly adopted underwater localisation methods, such as the Extended Kalman Filter. The proposed fuzzy-based localisation algorithm improves the entire swarm mean localisation error and standard deviation (by 16.53% and 35.17% respectively) at a swarm size of 150 AUVs when compared to the Extended Kalman Filter based localisation with round-robin scheduling. The proposed fuzzy based localisation method requires fuzzy rules and fuzzy set parameters tuning, if the deployment scenario is changed. Therefore a cooperative localisation scheme that relies on a scalar localisation confidence value is proposed. A swarm subset is navigationally aided by ultra-short baseline and a swarm subset (i.e. navigation beacons) is configured to broadcast navigation aids (i.e. range-only), once their confidence values are higher than a predetermined confidence threshold. The confidence value and navigation beacons subset size are two key parameters for the proposed algorithm, so that they are optimised using the evolutionary multi-objective optimisation algorithm NSGA-II to enhance its localisation performance. Confidence value-based localisation is proposed to control the cooperation dynamics among the swarm agents, in terms of aiding acoustic exteroceptive sensors. Given the error characteristics of a commercially available ultra-short baseline system and the covariance matrix of a trilaterated underwater vehicle position, dead reckoning navigation - aided by Extended Kalman Filter-based acoustic exteroceptive sensors - is performed and controlled by the vehicle's confidence value. The proposed confidence-based localisation algorithm has significantly improved the entire swarm mean localisation error when compared to the fuzzy-based and round-robin Extended Kalman Filter-based localisation methods (by 67.10% and 59.28% respectively, at a swarm size of 150 AUVs). The proposed fuzzy-based and confidence-based localisation algorithms for cooperative underwater robotic swarms are validated on a co-simulation platform. A physics-based co-simulation platform that considers an environment's hydrodynamics, industrial grade inertial measurement unit and underwater acoustic communications characteristics is implemented for validation and optimisation purposes