A pan-tilt camera Fuzzy vision controller on an unmanned aerial vehicle

is paper presents an implementation of two Fuzzy Logic controllers working in parallel for a pan-tilt camera platform on an UAV. This implementation uses a basic Lucas-Kanade tracker algorithm, which sends information about the error between the center of the object to track and the center of the image, to the Fuzzy controller. This information is enough for the controller, to follow the object moving a two axis servo-platform, besides the UAV vibrations and movements. The two Fuzzy controllers of each axis, work with a rules-base of 49 rules, two inputs and one output with a more significant sector defined to improve the behavior of those

Biopolítica, vida cotidiana e interculturalidad: la clase de inglés como un espacio emancipatorio que da solución al conflicto intercultural bilingüe en un colegio público de Bogotá

Based on the objective of evidencing the teaching of English as a tool that allows providing a solution to the intercultural bilingual conflict by recognizing the individual and collective local identity of 20 students of a public school in Bogota in 2019, seven sessions are conducted with a case study methodology using a descriptive participatory approach and ethnographic tools which are analyzed under two theoretical categories. The results expose an intercultural bilingual conflict between English-local languages (Spanish-Tikuna), in which the teaching of English has the potential to provide a solution to environmental conflicts and foster other representations of the world. The analysis through the categories of biopolitics and daily life evidenced behavioral micro-revolutions that are born from the interaction of worldviews that generate an intercultural society that revalues the local over the global. It is concluded that, in the context of the research, the English class is an intercultural scenario by nature, which, with teachers who promote the acquisition of intercultural communicative competence, forges interdisciplinarity, generating glocalization through education and curriculum.Con el objetivo de evidenciar la enseñanza del inglés como una herramienta que permite dar solución al conflicto intercultural bilingüe, al reconocer la identidad individual y colectiva local de 20 estudiantes de un colegio público de Bogotá durante el año 2019, se realizaron siete sesiones con una metodología de estudio de caso de enfoque participativo y de tipo descriptivo con herramientas etnográficas analizadas bajo dos categorías teóricas. Los resultados exponen un conflicto intercultural bilingüe entre inglés-lenguas locales (español-Tikuna), en el que la enseñanza del primero tiene el potencial para dar solución a conflictos ambientales y fomentar otras representaciones del mundo. El análisis a través de las categorías de biopolítica y vida cotidiana evidenció microrevoluciones de conducta que nacen de la interacción de cosmovisiones para generar una sociedad intercultural que revaloriza lo local sobre lo global. Se concluye que, en el contexto de la investigación, la clase de inglés es un escenario intercultural por naturaleza en el que los docentes promueven la adquisición de una competencia comunicativa intercultural y se forjan tejidos interdisciplinares que generan glocalización a través de la educación y el currículo

CONSUMER TESTING OF COMMERCIAL MEDIUM GRAIN RICE VARIETIES

CONSUMER TESTING OF COMMERCIAL MEDIUM GRAIN RICE VARIETIE

Reflexiones sobre la libertad de testar y la stedh de 13 de julio de 2004

The ECHR Judgment of 13 July 2004 –dictated in a litigation that has his origin in a demand presented against the Principality of Andorra– eludes to approach of direct form the hypothetical conflict between freedom of testamentary disposition and beginning of equality, with the consequence that there re-elaborates the will of the testator in the light of the European Agreement of Human rights, which supposes an assault to the essence itself of the testate succession. Though with character of obiter dicta he understands that any juridical relation of private Law will have to be interpreted of conformity with the Agreement, affirmation that questions the own private autonomy. Though in Spain, since in other many members states of the Council of Europe, the judgments of the European Court of Human rights are not directly executive, yes it is true that in the light of the article 10.2 of the Spanish Constitution both the beginning of equality and other fundamental rights and freedoms will have to be interpreted of conformity with the international agreements ratified by Spain. Therefore, this one is precisely the route that he leads to the efficiency of the jurisprudence of the European Court of Human Rights, creating, in the case that occupies us, a situation worrying. La STEDH de 13 de julio de 2004 –dictada en un litigio que tiene su origen en una demanda presentada contra el Principado de Andorra– elude abordar de forma directa el hipotético conflicto entre libertad de testar y principio de igualdad y,en cambio, reelabora la voluntad del testador a la luz del Convenio Europeo de Derechos Humanos, lo cual supone un ataque a la esencia misma de la sucesión testada. Aunque con carácter de obiter dicta entiende que cualquier relación jurídica de Derecho privado deberá ser interpretada de conformidad con el Convenio, afirmación que cuestiona la propia autonomía privada. Si bien en España, como en otros muchos Estados miembros del Consejo de Europa, las sentencias del Tribunal Europeo de Derechos Humanos no son directamente ejecutivas, sí es cierto que a la luz del artículo 10.2 de la Constitución Española tanto el principio de igualdad como los demás derechos fundamentales y libertades deberán ser interpretados de conformidad con los acuerdos internacionales ratificados por España, siendo ésta precisamente la vía que conduce a la efectividad de la jurisprudencia del Tribunal Europeo de Derechos Humanos, creando, en el caso que nos ocupa, una situación, cuanto menos, preocupante.The ECHR Judgment of 13 July 2004 –dictated in a litigation that has his origin in a demand presented against the Principality of Andorra– eludes to approach of direct form the hypothetical conflict between freedom of testamentary disposition and beginning of equality, with the consequence that there re-elaborates the will of the testator in the light of the European Agreement of Human rights, which supposes an assault to the essence itself of the testate succession. Though with character of obiter dicta he understands that any juridical relation of private Law will have to be interpreted of conformity with the Agreement, affirmation that questions the own private autonomy. Though in Spain, since in other many members states of the Council of Europe, the judgments of the European Court of Human rights are not directly executive, yes it is true that in the light of the article 10.2 of the Spanish Constitution both the beginning of equality and other fundamental rights and freedoms will have to be interpreted of conformity with the international agreements ratified by Spain. Therefore, this one is precisely the route that he leads to the efficiency of the jurisprudence of the European Court of Human Rights, creating, in the case that occupies us, a situation worrying

Computational intelligence in decision and control

This paper presents an improvement for the software implementation (MOFS) of a user adaptive fuzzy control system for autonomous navigation of mobile robots in unknown environments. This improvement consists of a priority areas definition where the environment is measured by a PLS laser sensor, in order to get a reduction in the number of fuzzy rules and also in the computational cost, and hence obtaining improvements in the trajectory. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, odometry sensors are used to localize the robots and the goal positions. The system is able to drive the robots to their goal position avoiding static and dynamic obstacles, without using any pre-built map. This approach improves the way to measure the danger of the obstacles, the way to follow the walls of corridors and the detection of doors. These improvements reduce the zigzag eject of the previous system by making the trajectories significantly straighter and hence reducing the time to reach the goal position

Non-symmetric membership function for Fuzzy-based visual servoing onboard a UAV

This paper presents the definition of non-symmetric membership function for Fuzzy controllers applied to a pan & tilt vision platform onboard an Unmanned Aerial Vehicle. This improvement allows the controllers to have a more adaptive behavior to the non-linearities presented in an UAV. This implementation allows the UAV to follow objects in the environment by using Lucas-Kanade visual tracker, in spite of the aircraft vibrations, the movements of the objects and the aircraft. update has been tested in real flights with an unmanned helicopter of the Computer Vision Group at the UPM, with very successful results, attaining a considerable reduction of the error during the tracking tests

Fuzzy Controller for UAV-Landing Task Using 3D-Position Visual Estimation

This paper presents a Fuzzy Control application for a landing task of an Unmanned Aerial Vehicle, using the 3D-position estimation based on visual tracking of piecewise planar objects. This application allows the UAV to land on scenarios in which it is only possible to use visual information to obtain the position of the vehicle. The use of the homography permits a realtime estimation of the UAV's pose with respect to a helipad using a monocular camera. Fuzzy Logic allows the definition of a model-free control system of the UAV. The Fuzzy controller analyzes the visual information to generate altitude commands for the UAV to develop the landing task

3D pose estimation based on planar object tracking for UAVs control

This article presents a real time Unmanned Aerial Vehicles UAVs 3D pose estimation method using planar object tracking, in order to be used on the control system of a UAV. The method explodes the rich information obtained by a projective transformation of planar objects on a calibrated camera. The algorithm obtains the metric and projective components of a reference object (landmark or helipad) with respect to the UAV camera coordinate system, using a robust real time object tracking based on homographies. The algorithm is validated on real flights that compare the estimated data against that obtained by the inertial measurement unit IMU, showing that the proposed method robustly estimates the helicopter's 3D position with respect to a reference landmark, with a high quality on the position and orientation estimation when the aircraft is flying at low altitudes, a situation in which the GPS information is often inaccurate. The obtained results indicate that the proposed algorithm is suitable for complex control tasks, such as autonomous landing, accurate low altitude positioning and dropping of payloads

Visual servoing using fuzzy controllers on an unmanned aerial vehicles

This paper presents an implementa- tion of three Fuzzy Logic controllers working in parallel onboard a UAV, two for a pan-tilt camera platform and the third for control the yaw of the helicopter. This implementation uses a Lucas-Kanade tracker algo- rithm with a pyramidal optical ow implementation, which gives infor- mation to follow statics and moving objects, besides the UAV vibrations and movements. The platform con- troller is helped by the heading con- troller, in order to make smooth the big movements to the platform, re- ducing the risk of lost the warp selec- tion of the object to track. Also, the heading control remove the physic limit of the platform at the yaw axis. Some laboratory and UAV tests are presented in order to show the di er- ent behaviors and the good response of the presented controllers

3D Object following based on visual information for Unmanned Aerial Vehicles

This article presents a novel system and a control strategy for visual following of a 3D moving object by an Unmanned Aerial Vehicle UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigatio