Slide-Down Prevention for Wheeled Mobile Robots on Slopes

Wheeled mobile robots on inclined terrain can slide down due to loss of traction and gravity. This type of instability, which is different from tip-over, can provoke uncontrolled motion or get the vehicle stuck. This paper proposes slide-down prevention by real-time computation of a straightforward stability margin for a given ground-wheel friction coefficient. This margin is applied to the case study of Lazaro, a hybrid skid-steer mobile robot with caster-leg mechanism that allows tests with four or five wheel contact points. Experimental results for both ADAMS simulations and the actual vehicle demonstrate the effectiveness of the proposed approach.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Construction and Calibration of a Low-Cost 3D Laser Scanner with 360◦ Field of View for Mobile Robots

Navigation of many mobile robots relies on environmental information obtained from three-dimensional (3D) laser scanners. This paper presents a new 360◦ field-of-view 3D laser scanner for mobile robots that avoids the high cost of commercial devices. The 3D scanner is based on spinning a Hokuyo UTM- 30LX-EX two-dimensional (2D) rangefinder around its optical center. The proposed design profits from lessons learned with the development of a previous 3D scanner with pitching motion. Intrinsic calibration of the new device has been performed to obtain both temporal and geometric parameters. The paper also shows the integration of the 3D device in the outdoor mobile robot Andabata.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

Sistemas de documentación y elaboración de textos científicos: Una asignatura para aprender a publicar en ingeniería

Hoy en día, la elaboración y presentación de informes de investigación resulta indispensable para muchos profesionales de la ingeniería. En este artículo se describe una asignatura de máster universitario cuyo principal objetivo es proporcionar los conocimientos necesarios para poder escribir y exponer resultados de investigación en ingeniería mecatrónica. De esta manera, se complementa la formación de los ingenieros para que puedan desenvolverse con éxito en el complejo mundo de la investigación.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Project-Based Learning of Scientific Writing and Communication Skills for Postgraduate Students

Mandow, A; Martínez, J. L.; García-Cerezo, A.; , "Project-Based Learning of Scientific Writing and Communication Skills for Postgraduate Students," IEEE Frontiers in Education Conference (FIE), pp.210-213, Oct. 2014 doi: 10.1109/FIE.2014.7044022This paper addresses education on scientific publication skills for post-graduate engineering students. In particular, a project-based learning strategy is proposed to lead students through the preparation a research paper. Expected learning outcomes are related to finding and evaluating the quality of references, editing and formatting text in \LaTeX, writing scientific papers with appropriate style and structure, peer reviewing, and making technical presentations. This approach has been developed to increase the internationalization and visibility of young researchers by improving the quality standards of their published works. The purpose of this innovative practice is that students confront the major challenges of the publication process in the classroom, which is in contrast with the traditional self-taught approach experienced by the authors and many senior researchers. The proposed strategy is being applied as a required course in the Master in Mechatronics Engineering of the University of Malaga. This paper offers preliminary results from this experience.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. This work has been partially supported by projects DPI 2011-22443 (Spanish CICYT) and PIE 13-155 (Universidad de Málaga, proyecto de innovación educativa `Aprendizaje basado en proyectos para mejorar la excelencia de publicaciones científicas y transferencia del conocimiento en ingeniería")

A mobile application to report and detect 3D body emotional poses

Most research into automatic emotion recognition is focused on facial expressions or physiological signals, while the exploitation of body postures has scarcely been explored, although they can be useful for emotion detection. This paper first explores a mechanism for self-reporting body postures with a novel easy-to-use mobile application called EmoPose. The app detects emotional states from self-reported poses, classifying them into the six basic emotions proposed by Ekman and a neutral state. The poses identified by Schindler et al. have been used as a reference and the nearest neighbor algorithm used for the classification of poses. Finally, the accuracy in detecting emotions has been assessed by means of poses reported by a sample of users

Effects of ADHD on writing composition product and process in school-age students

Objective: This study examined the relationship between ADHD and writing performance. Method: Students in Grades 3 to 7, 84 with ADHD and 135 age and gender-matched controls completed a writing task (including process logs), and measures of, working memory and attention. Results: Students with ADHD wrote texts of similar length but with poorer structure, coherence and ideation. 6.7% of the variance in writing quality was explained by whether or not the student had an ADHD diagnosis, after control for IQ and age-within-year, with students with ADHD producing text that was less coherent, well structured, and ideationally rich and to spend less time thinking about and reviewing their text. Half of the effect on text quality could be attributed to working memory and sustained attention effects. Conclusions: ADHD has some effect on writing performance which can, in part, be explained by working memory and attentional deficits

Showcasing a Barren Plateau Theory Beyond the Dynamical Lie Algebra

Barren plateaus have emerged as a pivotal challenge for variational quantum computing. Our understanding of this phenomenon underwent a transformative shift with the recent introduction of a Lie algebraic theory capable of explaining most sources of barren plateaus. However, this theory requires either initial states or observables that lie in the circuit's Lie algebra. Focusing on parametrized matchgate circuits, in this work we are able to go beyond this assumption and provide an exact formula for the loss function variance that is valid for arbitrary input states and measurements. Our results reveal that new phenomena emerge when the Lie algebra constraint is relaxed. For instance, we find that the variance does not necessarily vanish inversely with the Lie algebra's dimension. Instead, this measure of expressiveness is replaced by a generalized expressiveness quantity: The dimension of the Lie group modules. By characterizing the operators in these modules as products of Majorana operators, we can introduce a precise notion of generalized globality and show that measuring generalized-global operators leads to barren plateaus. Our work also provides operational meaning to the generalized entanglement as we connect it with known fermionic entanglement measures, and show that it satisfies a monogamy relation. Finally, while parameterized matchgate circuits are not efficiently simulable in general, our results suggest that the structure allowing for trainability may also lead to classical simulability.Comment: 5+26 pages, 2+1 figure