Bridging food security gaps in the European High North through the Internet of Food

Food processing, storage, and distribution are at the centre of environmental damage. Food security gaps include failure to track the geographical origin of foods, food waste, food safety and the quality of food products. To achieve sustainability, changes are required in food supply chains and the entire food system. Consumers need information to make informed choices about what to eat. They need to know where food came from, the conditions under which it grew, and the food’s nutritional profile. The food industry has been slow to take advantage of the internet. However, with increasing interests in redistributed manufacturing, circumpolar regions such as the European High North will need to digitise. The Internet of Food (IoF) is an emerging trend. It will make food traceable, transparent, and trustworthy and empower consumers with more personalised food that caters precisely to individual food, diet, and health choices. It is therefore important to build an information infrastructure around the IoF. This chapter examines how food security gaps can be bridged by collating data that will help to leapfrog local foods into the digital era.Peer reviewe

Ontology-Driven Guidelines for Architecting Digital Twins in Factory Automation Applications

The rapid emerging technologies in various fields permitted the creation of simulation tools. These tools are designed to replicate physical systems in order to provide faster, cheaper and more detailed illustrative analysis of the physical system. In this regard, the concept of digital twins has been introduced to generally define these simulation tools. In fact, and according to the creator of the digital twin term Micheal Grieves, a digital twin is defined as a physical system, a digital replica of the physical system and information flow between the former parts. This definition is simple and generic for describing digital twins and yet, holistic. This broad definition creates a challenge for developers who target the development of such applications. Therefore, this paper presents a paradigm for architecting digital twins for manufacturing processes. The approach is inspired by the definitions of the ISA95 standard and the onion concept of computer applications to create multi-layer and multi-level concepts. Furthermore, and to satisfy the different required features by industries, the approach considers a multi-perspective concept that allows the separation of the digital twin views based on functionality. This paradigm aims at providing a modular, scalable, reusable, interoperable and composable approach for developing digital twins. Then, an implementation of the approach has been introduced using an ontology-based system and the IEC61499 standard. This implementation has been demonstrated on a discrete manufacturing assembly line.publishedVersionPeer reviewe

An Open and Reconfigurable User Interface to Manage Complex ROS-Based Robotic Systems

The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build modular and large robotic applications. However, ROS presents a steep learning curve and lacks the intuitive usability of vendor-specific robotic Graphical User Interfaces (GUIs). Moreover, its modular and distributed nature complicates the control and monitoring of extensive systems, even for advanced users. To address these challenges, this paper introduces a novel, highly adaptable and reconfigurable web-based GUI for intuitively controlling, monitoring, and configuring complex ROS-based robotic systems. The GUI leverages ROSBridge and roslibjs to ensure seamless communication with ROS systems via topics and services. Special attention has been paid to enable the easy reconfiguration of the GUI and to minimize the modifications required to integrate it with new robotic systems. Thus, it has been designed as a versatile platform, which allows for the selective incorporation of modular features to accommodate diverse robotic systems and applications. A predefined template has been defined to ensure the compatibility of the developed features with the GUI platform. Additionally, an initial set of commonly used features in robotic applications is presented. To demonstrate its reconfigurability, the GUI was customized and tested for four industrial use cases, receiving positive feedback. The project’s repository has been made publicly available to support the robotics community and lower the entry barrier for ROS in industrial applications.Peer reviewe

Methodology to obtain the security controls in multi-cloud applications

What controls should be used to ensure adequate security level during operation is a non-trivial subject in complex software systems and applications. The problem becomes even more challenging when the application uses multiple cloud services which security measures are beyond the control of the application provider. In this paper, a methodology that enables the identification of the best security controls for multicloud applications which components are deployed in heterogeneous cloud providers is presented. The methodology is based on application decomposition and modelling of threats over the components, followed by the analysis of the risks together with the capture of cloud business and security requirements. The methodology has been applied in the MUSA EU H2020 project use cases as the first step for building up the multi-cloud applications’ security-aware Service Level Agreements (SLA). The identified security controls will be included in the applications’ SLAs for their monitoring and fulfilment assurance at operation.European Commission's H202

A method for understanding and digitizing manipulation activities using programming by demonstration in robotic applications

Robots are flexible machines, where the flexibility is achieved, mainly, by the re-programming of the robotic system. To fully exploit the potential of robotic systems, an easy, fast, and intuitive programming methodology is desired. By applying such methodology, robots will be open to a wider audience of potential users (i.e. SMEs, etc.) since the need for a robotic expert in charge of programming the robot will not be needed anymore. This paper presents a Programming by Demonstration approach dealing with high-level tasks taking advantage of the ROS standard. The system identifies the different processes associated to a single-arm human manipulation activity and generates an action plan for future interpretation by the robot. The system is composed of five modules, all of them containerized and interconnected by ROS. Three of these modules are in charge of processing the manipulation data gathered by the sensors system, and converting it from the lowest level to the highest manipulation processes. In order to do this transformation, a module is used to train the system. This module generates, for each operation, an Optimized Multiorder Multivariate Markov Model, that later will be used for the operations recognition and process segmentation. Finally, the fifth module is used to interface and calibrate the system. The system was implemented and tested using a dataglove and a hand position tracker to capture the operator’s data during the manipulation. Four users and five different object types were used to train and test the system both for operations recognition and process segmentation and classification, including also the detection of the locations where the operations are performed.Peer reviewe

Extending the motion planning framework—MoveIt with advanced manipulation functions for industrial applications

MoveIt is the primary software library for motion planning and mobile manipulation in ROS, and it incorporates the latest advances in motion planning, control and perception. However, it is still quite recent, and some important functions to build more advanced manipulation applications, required to robotize many manufacturing processes, have not been developed yet. MoveIt is an open source software, and it relies on the contributions from its community to keep improving and adding new features. Therefore, in this paper, its current state is analyzed to find out which are its main necessities and provide a solution to them. In particular, three gaps of MoveIt are addressed: the automatic tool changing at runtime, the generation of trajectories with full control over the end effector path and speed, and the generation of dual-arm trajectories using different synchronization policies. These functions have been tested with a Motoman SDA10F dual-arm robot, demonstrating their validity in different scenarios. All the developed solutions are generic and robot-agnostic, and they are openly available to be used to extend the capabilities of MoveIt.publishedVersionPeer reviewe

Multimodal Interface for Human–Robot Collaboration

Human–robot collaboration (HRC) is one of the key aspects of Industry 4.0 (I4.0) and requires intuitive modalities for humans to communicate seamlessly with robots, such as speech, touch, or bodily gestures. However, utilizing these modalities is usually not enough to ensure a good user experience and a consideration of the human factors. Therefore, this paper presents a software component, Multi-Modal Offline and Online Programming (M2O2P), which considers such characteristics and establishes a communication channel with a robot with predefined yet configurable hand gestures. The solution was evaluated within a smart factory use case in the Smart Human Oriented Platform for Connected Factories (SHOP4CF) EU project. The evaluation focused on the effects of the gesture personalization on the perceived workload of the users using NASA-TLX and the usability of the component. The results of the study showed that the personalization of the gestures reduced the physical and mental workload and was preferred by the participants, while overall the workload of the tasks did not significantly differ. Furthermore, the high system usability scale (SUS) score of the application, with a mean of 79.25, indicates the overall usability of the component. Additionally, the gesture recognition accuracy of M2O2P was measured as 99.05%, which is similar to the results of state-of-the-art applications.publishedVersionPeer reviewe

Density functional theory based screening of ternary alkali-transition metal borohydrides: A computational material design project

The dissociation of molecules, even the most simple hydrogen molecule, cannot be described accurately within density functional theory because none of the currently available functionals accounts for strong on-site correlation. This problem led to a discussion of properties that the local Kohn-Sham potential has to satisfy in order to correctly describe strongly correlated systems. We derive an analytic expression for the nontrivial form of the Kohn-Sham potential in between the two fragments for the dissociation of a single bond. We show that the numerical calculations for a one-dimensional two-electron model system indeed approach and reach this limit. It is shown that the functional form of the potential is universal, i.e., independent of the details of the two fragments.We acknowledge funding by the Spanish MEC (Grant No. FIS2007-65702-C02-01), “Grupos Consolidados UPV/EHU del Gobierno Vasco” (Grant No. IT-319-07), and the European Community through e-I3 ETSF project (Grant Agreement No. 211956).Peer reviewe