Low-cost modular devices for on-road vehicle detection and characterisation

[EN] Detecting and characterising vehicles is one of the purposes of embedded systems used in intelligent environments. An analysis of a vehicle¿s characteristics can reveal inappropriate or dangerous behaviour. This detection makes it possible to sanction or notify emergency services to take early and practical actions. Vehicle detection and characterisation systems employ complex sensors such as video cameras, especially in urban environments. These sensors provide high precision and performance, although the price and computational requirements are proportional to their accuracy. These sensors offer high accuracy, but the price and computational requirements are directly proportional to their performance. This article introduces a system based on modular devices that is economical and has a low computational cost. These devices use ultrasonic sensors to detect the speed and length of vehicles. The measurement accuracy is improved through the collaboration of the device modules. The experiments were performed using multiple modules oriented to different angles. This module is coupled with another specifically designed to detect distance using previous modules¿ speed and length data. The collaboration between different modules reduces the speed relative error ranges from 1 to 5%, depending on the angle configuration used in the modules.This work was by the Spanish Science and Innovation Ministry: CICYT project PRESECREL: "Models and platforms for predictable, secure and reliable industrial information technology systems" PID2021-124502OB-C41. Funding for open access charge: CRUE-Universitat Politecnica de Valencia.Poza-Lujan, J.; Uribe-Chavert, P.; Posadas-Yagüe, J. (2023). Low-cost modular devices for on-road vehicle detection and characterisation. Design Automation for Embedded Systems. 27(1-2):85-102. https://doi.org/10.1007/s10617-023-09270-y85102271-2Broy M, Cengarle MV, Geisberger E (2012) Cyber-physical systems: imminent challenges. In: Monterey workshop, pp 1–28. SpringerWolf W (2009) Cyber-physical systems. IEEE Ann Hist Comput 42(03):88–89Serpanos D (2018) The cyber-physical systems revolution. Computer 51(3):70–73Hichri Y, Dahi S, Fathallah H (2021) Candidate architectures for emerging IOV: a survey and comparative study. Des Autom Embed Syst 25(4):237–263Canas V, Garcia A, de Las-Morenas J, Blanco J (2019) Modular and reconfigurable platform as new philosophy for the development of updatable vehicular electronics. Rev Iberoam de Automática e Inform Industr 16(2):200–211Asselin-Miller N, Biedka M, Gibson G, Kirsch F, Hill N, White B, Uddin K (2016) Study on the deployment of c-its in Europe: final report. Rep for DG MOVE MOVE/C 3:2014–794Corli A, Malaguti L (2021) Wave fronts in traffic flows and crowds dynamics. In: Cicognani M, Del Santo D, Parmeggiani A, Reissig M (eds) Anomalies in partial differential equations. Springer, Cham, pp 167–189Maity S, Bhattacharyya A, Singh PK, Kumar M, Sarkar R (2022) Last decade in vehicle detection and classification: a comprehensive survey. Arch Comput Methods Eng 28:1–38Sun Z, Bebis G, Miller R (2004) On-road vehicle detection using optical sensors: a review. In: Proceedings. The 7th International IEEE Conference on Intelligent Transportation Systems (IEEE Cat. No. 04TH8749), pp 585–590. IEEELi W, Li H, Wu Q, Chen X, Ngan KN (2019) Simultaneously detecting and counting dense vehicles from drone images. IEEE Trans Industr Electron 66(12):9651–9662Messoussi O, Magalhães FGd, Lamarre F, Perreault F, Sogoba I, Bilodeau G-A, Nicolescu G (2021) Vehicle detection and tracking from surveillance cameras in Urban scenes. In: International symposium on visual computing, pp 191–202. SpringerLozano Dominguez JM, Mateo Sanguino TJ (2019) Review on v2x, i2x, and p2x communications and their applications: a comprehensive analysis over time. Sensors 19(12):2756Qian X, Hao L (2020) Performance analysis of cooperative sensing over time-correlated Rayleigh channels in vehicular environments. Electronics 9(6):1004Hidalgo C, Marcano M, Fernandez G, Perez J (2020) Cooperative maneuvers applied to automated vehicles in real and virtual environments. Rev Iberoam de Autom e Inform industr 17(1):56–65Scaglia G, Serrano ME, Albertos Pérez P (2020) Control de trayectorias basado en álgebra lineal. Rev Iberoam de Autom e Inform industr 17(4):344–353Chen Z, Wu C, Huang Z, Lyu N, Hu Z, Zhong M, Cheng Y, Ran B (2017) Dangerous driving behavior detection using video-extracted vehicle trajectory histograms. J Intell Transport Syst 21(5):409–421Celik T, Kusetogullari H (2009) Solar-powered automated road surveillance system for speed violation detection. IEEE Trans Industr Electron 57(9):3216–3227de Oliveira M, Teixeira R, Sousa R, Tavares Gonçalves EJ, et al (2021) An agent-based simulation to explore communication in a system to control urban traffic with smart traffic lightsAdarsh S, Kaleemuddin SM, Bose D, Ramachandran K (2016) Performance comparison of infrared and ultrasonic sensors for obstacles of different materials in vehicle/robot navigation applications. IOP Conf Ser Mater Sci Eng 149:012141Appiah O, Quayson E, Opoku E (2020) Ultrasonic sensor based traffic information acquisition system; a cheaper alternative for its application in developing countries. Sci Afr 9:00487Matsuo T, Kaneko Y, Matano, M (1999) Introduction of intelligent vehicle detection sensors. In: Proceedings 199 IEEE/IEEJ/JSAI international conference on intelligent transportation systems (Cat. No. 99TH8383), pp 709–713. IEEEJo Y, Choi J, Jung I (2014) Traffic information acquisition system with ultrasonic sensors in wireless sensor networks. Int J Distrib Sens Netw 10(5):961073Li SE, Li G, Yu J, Liu C, Cheng B, Wang J, Li K (2018) Kalman filter-based tracking of moving objects using linear ultrasonic sensor array for road vehicles. Mech Syst Signal Process 98:173–189Jeon S, Kwon E, Jung I (2014) Traffic measurement on multiple drive lanes with wireless ultrasonic sensors. Sensors 14(12):22891–22906Stiawan R, Kusumadjati A, Aminah NS, Djamal M, Viridi S (2019) An ultrasonic sensor system for vehicle detection application. J Phys Conf Ser 1204:012017Marwedel P (2021) Embedded system design: embedded systems foundations of cyber-physical systems, and the internet of things. Springer, New YorkSwanson DC (2011) Signal Processing for intelligent sensor systems with MATLAB. CRC Press, Boca RatonBae I, Ji U (2019) Outlier detection and smoothing process for water level data measured by ultrasonic sensor in stream flows. Water 11(5):951Zhao H, Wang Z (2011) Motion measurement using inertial sensors, ultrasonic sensors, and magnetometers with extended Kalman filter for data fusion. IEEE Sens J 12(5):943–953Ting J-A, Theodorou E, Schaal S (2007) Learning an outlier-robust Kalman filter. Eur Conf Mach Learn 25:748–756Johnson NL (1961) A simple theoretical approach to cumulative sum control charts. J Am Stat Assoc 56(296):835–840Pierre R.Bertrand, Hadouni D (2015) Change point detection by filtered derivative with p-value : choice of the extra-parameters. Working paper or preprint. https://hal.science/hal-01240885Găşpăresc G, Gontean A (2014) Performance evaluation of ultrasonic sensors accuracy in distance measurement. In: 2014 11th International symposium on electronics and telecommunications (ISETC), pp 1–4. IEEETsitsiklis JN (1988) Decentralized detection by a large number of sensors. Math Control Signals Syst 1(2):167–182Koldobsky A (1998) Second derivative test for intersection bodies. Adv Math 136(1):15–25Lee M, Newman RE, Latchman HA, Katar S, Yonge L (2003) Homeplug 1.0 powerline communication lans-protocol description and performance results. Int J Commun Syst 16(5):447–473Poza-Lujan JL, Uribe-Chavert P, Sáenz-Peñafiel J-J, Posadas-Yagüe J-L (2021) Distributing and processing data from the edge. a case study with ultrasound sensor modules. Int Symp Distrib Comput Artif Intell 95:190–199Marko D, Hrubỳ D (2020) Distance measuring in vineyard row using ultrasonic and optical sensors. In: Proceeding of 22 Nd international conference of Young scientists. Praha: Česká Zemědělská univerzita, pp 194–204Semiconductors P (2000) The i2c-bus specification. Philips Semicond 9397(750):00954Huh J-H, Seo K (2017) An indoor location-based control system using Bluetooth beacons for IoT systems. Sensors 17(12):2917Gandhi MM, Solanki DS, Daptardar RS, Baloorkar NS (2020) Smart control of traffic light using artificial intelligence. In:2020 5th IEEE international conference on recent advances and innovations in engineering (ICRAIE), pp 1–6. IEEEUribe Chavert P, Gandhi MM (2022) Vehicle speed and length detector with ultrasound sensor and different angles. https://doi.org/10.5281/zenodo.7215268.‘github.com/puch18ou/

Event Management Proposal for Distribution Data Service Standard

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-00551-5_32This paper presents a proposal to extend the event management subsystem of the Distribution Data Service standard (DDS). The proposal allows user to optimize the use of DDS in networked control systems (NCS). DDS offers a simple event management system based on message filtering. The aim of the proposal is to improve the event management with three main elements: Events, Conditions and Actions. Actions are the new element proposed. Actions perform basic operations in the middleware, discharging the process load of control elements. The proposal is fully compatible with the standard and can be easily added to an existing system. Proposal has been tested in a distributed mobile robot navigation system with interesting results.The study described in this paper is a part of the coordinated project COBAMI: Mission-based Hierarchical Control. Education and Science Department, Spanish Government. CICYT: MICINN: DP1201 1-28507-C02-01/02.Poza-Lujan, J.; Posadas-Yagüe, J.; Simó Ten, JE. (2013). Event Management Proposal for Distribution Data Service Standard. En Distributed Computing and Artificial Intelligence. Springer. 259-266. https://doi.org/10.1007/978-3-319-00551-5_32S259266Sánchez, J., Guarnes, M.Á., Dormido, S.: On the Application of Different Event-Based Sampling Strategies to the Control of a Simple Industrial Process. Sensors 9, 6795–6818 (2009)Sandee, J.H., Heemels, W.P.M.H., van den Bosch, P.P.J.: Case Studies in Event-Driven Control. In: Bemporad, A., Bicchi, A., Buttazzo, G. (eds.) HSCC 2007. LNCS, vol. 4416, pp. 762–765. Springer, Heidelberg (2007)Hadim, S., Nader, M.: Middleware Challenges and Approaches for Wireless Sensor Networks. IEEE Distributed Systems Online 7(3) (2006)Pardo-Castellote, G.: OMG Data-Distribution Service: architectural overview. In: Proceedings of 23rd International Conference on Distributed Computing Systems Workshops, Providence, USA, vol. 19-22, pp. 200–206 (2003)Object Management Group. Data Distribution Service for Real-time Systems Version 1.2 (2007), http://www.omg.org/Dorf, R.C., Bishop, R.H.: Modern Control Systems, 11th edn. Prentice Hall (2008)Poza-Luján, J., Posadas-Yagüe, J., Simó-Ten, J.: Quality of Service and Quality of Control Based Protocol to Distribute Agents. In: DCAI, pp. 73–80 (2010)Waldbusser, S.: RFC 2819 - Remote Network Monitoring Management Information Base. Network Working Group. Lucent Technologies (2000)Poza-Luján, J., Posadas-Yagüe, J., Simó-Ten, J.: Relationship between Quality of Control and Quality of Service in Mobile Robot Navigation. In: DCAI, pp. 557–564 (2012)K-Team Corporation. Khepera III robot, http://www.k-team.comBraitenberg, V.: Vehicles: Experiments on Synthetic Psychology. MIT Press, Cambridge (1984)Poza-Luján, J.: Propuesta de arquitectura distribuida de control inteligente basada en políticas de calidad de servicio. Universitat Politècnica de València Press (2012

A survey on quality of service support on middelware-based distributed messaging systems used in multi agent systems

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-642-19934-9_10Messaging systems are widely used in distributed systems to hide the details of the communications mechanism to the multi agents systems. However, the Quality of Service is treated in different way depending on the messaging system used. This article presents a review and further analysis of the quality of service treatment in the mainly messaging systems used in distributed multi agent systems. The review covers the issues related to the purpose of the functions provided and the scope of the quality of service offered by every messaging system. We propose ontology for classifying and decide which parameters are relevant to the user. The results of the analysis and the ontology can be used to select the most suitable messaging system to distributed multi agent architecture and to establish the quality of service requirements in a distributed system.The study described in this article is a part of the coordinated project SIDIRELI: Distributed Systems with Limited Resources. Control Kernel and Coordination. Education and Science Department, Spanish Government and European FEDER found. CICYT: MICINN: DPI2008-06737-C02-01/02.Poza-Lujan, J.; Posadas-Yagüe, J.; Simó Ten, JE. (2011). A survey on quality of service support on middelware-based distributed messaging systems used in multi agent systems. En International Symposium on Distributed Computing and Artificial Intelligence. Springer. 77-84. https://doi.org/10.1007/978-3-642-19934-9_10S7784Gaddah, A., Kunz, T.: A survey of middleware paradigms for mobile computing. Technical Report SCE-03-16. Carleton University Systems and Computing Engineering (2003)Foundation for Intelligent Physical Agents, http://www.fipa.org/Java Message Service Specification, http://java.sun.com/products/jms/docs.htmlCommon Object Request Broker Architecture, http://www.corba.org/Data Distribution Service, http://portals.omg.org/dds/Java Agent DEvelopment Framework, http://jade.tilab.com/Agent Oriented Software Pty Ltd., JACK Intelligent Agents: User Guide (1999)Nwana, H., Ndumu, D., Lee, L., Collis, J.: ZEUS: A tool-kit for building distributed multi-agent systems. Applied Artifical Intelligence Journal 13(1), 129–186 (1999)Perdikeas, M.K., Chatzipapadopoulos, F.G., Venieris, I.S., Marino, G.: Mobile Agent Standards and Available Platforms. Computer Networks Journal, Special Issue on ’Mobile Agents in Intelligent Networks and Mobile Communication Systems’ 31(10) (1999)Perrone, P.J., Chaganti, K.: J2EE Developer’s Handbook. Sam’s Publishing, Indianapolis (2003)Apache ActiveMQ, http://activemq.apache.org/IBM WebSphere MQSeries, http://mqseries.net/Object Management Group, http://www.omg.org/RTI Data Distribution Service. RTI corp., http://www.rti.com/OpenSplice DDS. PrismTech Ltd., http://www.prismtech.comVogel, A., Kerherve, B., von Bochmann, G., Gecsei, J.: Distributed Multimedia and QoS: A Survey. IEEE Multimedia 2(2), 10–19 (1995)Crawley, E., Nair, R., Rajagopalan, B.: RFC 2386: A Framework for QoS-based Routing in the Internet. IETF Internet Draft, 1–37 (1998)Foundation for Intelligent Physical Agents. FIPA Quality of Service Ontology Specification. Doc: SC00094A (2002)Sun Microsystems, Inc. Java(TM) Message Service Specification Final Release 1.1 (2002)Object Management Group (OMG). The Common Object Request Broker Architecture and Specification. CORBA 2.4.2 (2001

A Reinvented Education in Business and Accounting using a GBL Approach for soft skills

[EN] The vulnerable, dynamic and digitalizing working environments of the 2020s obviously propose new types of `newcomer¿ skills. The character of these `soft skills¿ is inherent, whereby their learning forms a challenge for educators. Researchers around the world are on the same question: how to make the learning tools and rebuilt the classroom (virtual and face-to-face) in order to cope with this digital generation? This change needs to incorporate new Skills; these skills, called Core Skills, are changing the way to teach and to learn. Motivation is the essential key to have in mind. Creating mind-sets under a strong cognitive engagement is education for the future of professionals. Gamification, Game-Based Learning (GBL), Simulations, Virtual classrooms, digital platforms with contents and many other methods are in use all around the world to change, with motivation, the perspective of students towards their own learning path. The VUCA (volatility, uncertainty, complexity and ambiguity) world brought Higher Education Institutions the discussion of the future for an education of excellence. This article intends to present a case study as a solution to combine Simulation and GBL to promote the Core Skills that students and teachers need to achieve success on the process of teaching and learning. The solution is innovative due to the main scope: the perfect connection of humanity and empathy through the use of Simulation-GBL in higher educational institutions.Part of this work was supported by the Erasmus+ program of the European Commission under Grant 2017-1-ES01-KA203- 038589 in the frame of the project CoSki21- Core Skills for 21th-century professionals. The authors would like to thank the people who have collaborated with the research answering the questionnaires.Bastos, S.; Silva, M.; Poza-Lujan, J.; Schleutker, K. (2020). A Reinvented Education in Business and Accounting using a GBL Approach for soft skills. Academic Conferences International Limited Reading, UK. 55-66. https://doi.org/10.34190/GBL.20.047S556

Relationship between quality of control and quality of service in mobile robot navigation

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-642-28765-7_67This article presents the experimental work developed to test the viability and to measure the efficiency of an intelligent control distributed architecture. To do this, a simulated navigation scenario of Braitenberg vehicles has been developed. To test the efficiency, the architecture uses the performance as QoS parameter. The measuring of the quality of the navigation is done through the ITAE QoC parameter. Tested scenarios are: an environment without QoS and QoC man-aging, an environment with a relevant message filtering and an environment with a predictive filtering by the type of control. The results obtained show that some of the processing performed in the control nodes can be moved to the middleware to optimize the robot navigation.The work described in this article is a part of the coordinated project SIDIRELI: (Distributed Systems with Limited Resources) and COBAMI (Mission-Based Control) Education and Science Department, Spanish Government and European FEDER found. MICINN CICYT: SIDIRELI: DPI2008-06737-C02-01/02, COBAMI: DPI2011-28507-C02-02.Poza-Lujan, J.; Posadas-Yagüe, J.; Simó Ten, JE. (2012). Relationship between quality of control and quality of service in mobile robot navigation. En Distributed Computing and Artificial Intelligence: 9th International Conference. Springer. 557-564. https://doi.org/10.1007/978-3-642-28765-7_67S557564Vogel, A., Kerherve, B., von Bochmann, G., Gecsei, J.: Distributed Multimedia and QoS: A Survey. IEEE Multimedia 2(2), 10–19 (1995)Crawley, E., Nair, R., Rajagopalan, B.: RFC 2386: A Framework for QoS-based Routing in the Internet. IETF Internet Draft, 1–37 (1998)Bradner, S.: RFC 2026: The Internet Standards Process. IETF Internet Draft, sec.10 (1996)Object Management Group (OMG): Data Distribution Service for Real-Time Systems, v1.1. Document formal (April 12, 2005)Poza, J.L., Posadas, J.L., Simó, J.E.: QoS-based middleware architecture for distributed control systems. In: International Symposium on Distributed Computing and Artificial Intelligence. DCAI, Salamanca, Spain (2008)Poza, J.L., Posadas, J.L., Simó, J.E.: A Survey on Quality of Service Support on Middleware-Based Distributed Messaging Systems Used in Multi Agent Systems. In: 9th International Conference on Practical Applications of Agents and Multi-Agent Systems. DCAI, Salamanca, Spain (2011)Dorf, R.C., Bishop, R.H.: Modern Control Systems, 11th edn. Prentice Hall (2008)Soucek, S., Sauter, T.: Quality of Service Concerns in IPBased Control Systems. IEEE Transactions on Industrial Electronics 51(6) (December 2004)Poza, J.L., Posadas, J.L., Simó, J.E.: Multi-Agent Architecture with Support to Quality of Service and Quality of Control. In: 11th International Conference on Intelligent Data Engineering and Automated Learning, Paisley, UK (2010)Braitenberg, V.: Vehicles: Experiments on Synthetic Psychology. MIT Press, Cambridge (1984)Gabel, O., Litz, L.: QoS-adaptive Control in NCS with Variable Delays and Packet Losses – A Heuristic Approach. In: 43rd IEEE Conference on Decision and Control (2004)Poza, J.L., Posadas, J.L., Simó, J.E.: From the Queue to the Quality of Service Policy: A Middleware Implementation. In: Omatu, S., Rocha, M.P., Bravo, J., Fernández, F., Corchado, E., Bustillo, A., Corchado, J.M. (eds.) IWANN 2009, Part II. LNCS, vol. 5518, pp. 432–437. Springer, Heidelberg (2009

Mobile-Based Distributed System for Managing Abandoned or Lost Pets

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-00551-5_24This paper presents the work in progress of a mobile-based distributed system which aims to minimize the social impact of abandoned or lost animals. System is based on the use of smart mobile devices to provide message warnings of animals localized. Messages are stored in a database to be processed. In order to enter data such as photography, audio and artificial images, system uses different mobile device interfaces. Data processing consists mainly in matching localized animals with lost animals, assigning abandoned animals at shelters and generating notifications for animal shelters or authorities. Currently, the system is in the development phase. The technical challenges in which we are working are to optimize data and metadata matching, and the management of message warning.The study described in this paper is a part of the coordinated project COBAMI: Mission-based Hierarchical Control. Education and Science Department, Spanish Government. CICYT: MICINN: DP1201 1-28507-C02-01/02.Garrote-Hildebrand, D.; Poza-Lujan, J.; Posadas-Yagüe, J.; Simó Ten, JE. (2013). Mobile-Based Distributed System for Managing Abandoned or Lost Pets. En Distributed Computing and Artificial Intelligence. Springer. 197-200. https://doi.org/10.1007/978-3-319-00551-5_24S197200Lord, L.K., Wittum, T.E., Ferketich, A.K., Funk, J.A., Rajala-Schultz, P.J.: Search methods that people use to find owners of lost pets. Journal of the Veterinary Association 230(12), 1835–1840 (2007)Weiss, E., Slater, M., Lord, L.: Frequency of Lost Dogs and Cats in the United States and the Methods Used to Locate Them. Animals 2, 301–315 (2012)Laplante, P.A.: Exciting Real-Time Location Applications. IT Professional 13(2), 4–5 (2011), doi:10.1109/MITP.2011.22IFPUG (International Function Point Users Group). The IFPUG Guide to IT and Software Measurement. Auerbach Publications (2012)Yun, L., Peiji, S.: Applying RFID to the pet’s information management to realize collaboration. In: 7th Int. Conf. on Proc. Serv. Syst. Serv. Manage., Tokyo, Japan, pp. 1–6 (2010)Android SDK, http://developer.android.com/sdkClarck, J.E., Johnson, P.B.: Sencha Touch Mobile Javascript Framework. Packt Publishing (2012

Teachers: mutation or extinction

[EN] The university professor is obliged to move towards a techno-digital profile in which he integrates his current competences with the digital ones. Those who do not adapt to this will be functional illiterates and will be vulnerable to extinction. Digital skills will be essential for future teaching because our young people are already digital.[ES] El docente universitario está obligado a mutarse hacia un perfil tecno-digital en el que integre sus competencias con las digitales. Los que no se adapten serán analfabetos funcionales y tenderán a la extinción. Las aptitudes digitales serán imprescindibles para la docencia futura porque nuestros jóvenes ya son digitales.Cabrera, M.; Poza-Lujan, J.; Lloret Romero, MN. (2019). Docentes: mutación o extinción. Telos: cuadernos de comunicación, tecnología y sociedad. 12(112):75-79. http://hdl.handle.net/10251/160429S75791211

A Game-Theory method to design job rotation schedules to prevent musculoskeletal disorders Based on workers preferences and competencies

[EN] Job rotation is an organizational strategy based on the systematic exchange of workers between jobs in a planned manner according to specific criteria. This study presents the GS-Rot method, a method based on Game Theory, in order to design job rotation schedules by considering not only workers' job preferences, but also the competencies required for different jobs. With this approach, we promote workers' active participation in the design of the rotation plan. It also let us deal with restrictions in assigning workers to job positions according to their disabilities (temporal or permanent). The GS-Rot method has been implemented online and applied to a case in a work environment characterized by the presence of a high repetition of movements, which is a significant risk factor associated with work-related musculoskeletal disorders (WMSDs). A total of 17 workstations and 17 workers were involved in the rotation, four of them with physical/psychological limitations. Feasible job rotation schedules were obtained in a short time (average time 27.4 milliseconds). The results indicate that in the rotations driven by preference priorities, almost all the workers (94.11%) were assigned to one of their top five preferences. Likewise, 48.52% of job positions were assigned to workers in their top five of their competence lists. When jobs were assigned according to competence, 58.82% of workers got an assignment among their top five competence lists. Furthermore, 55.87% of the workers achieved jobs in their top five preferences. In both rotation scenarios, the workers varied performed jobs, and fatigue accumulation was balanced among them. The GS-Rot method achieved feasible and uniform solutions regarding the workers' exposure to job repetitiveness.This research was funded by the Erasmus+ program of the European Commission under Grant 2017-1-ES01-KA203-038589 in the frame of the project CoSki21-Core Skills for 21th-century professionals.Asensio-Cuesta, S.; Garcia-Gomez, JM.; Poza-Lujan, J.; Conejero, JA. (2019). A Game-Theory method to design job rotation schedules to prevent musculoskeletal disorders Based on workers preferences and competencies. International Journal of Environmental research and Public Health. 16(23):1-16. https://doi.org/10.3390/ijerph16234666S1161623Aptel, M., Cail, F., Gerling, A., & Louis, O. (2008). Proposal of parameters to implement a workstation rotation system to protect against MSDs. International Journal of Industrial Ergonomics, 38(11-12), 900-909. doi:10.1016/j.ergon.2008.02.006Jeon, I. S., Jeong, B. Y., & Jeong, J. H. (2016). Preferred 11 different job rotation types in automotive company and their effects on productivity, quality and musculoskeletal disorders: comparison between subjective and actual scores by workers’ age. Ergonomics, 59(10), 1318-1326. doi:10.1080/00140139.2016.1140816Botti, L., Mora, C., & Calzavara, M. (2017). Design of job rotation schedules managing the exposure to age-related risk factors. IFAC-PapersOnLine, 50(1), 13993-13997. doi:10.1016/j.ifacol.2017.08.2420Sixth European Working Conditions Survey-6th EWCS-Spainhttps://www.eurofound.europa.eu/surveys/european-working-conditions-surveys/sixth-european-working-conditions-survey-2015/ewcs-2015-methodologyAsensio-Cuesta, S., Diego-Mas, J. A., Canós-Darós, L., & Andrés-Romano, C. (2011). A genetic algorithm for the design of job rotation schedules considering ergonomic and competence criteria. The International Journal of Advanced Manufacturing Technology, 60(9-12), 1161-1174. doi:10.1007/s00170-011-3672-0Yoon, S.-Y., Ko, J., & Jung, M.-C. (2016). A model for developing job rotation schedules that eliminate sequential high workloads and minimize between-worker variability in cumulative daily workloads: Application to automotive assembly lines. Applied Ergonomics, 55, 8-15. doi:10.1016/j.apergo.2016.01.011Otto, A., & Scholl, A. (2012). Reducing ergonomic risks by job rotation scheduling. OR Spectrum, 35(3), 711-733. doi:10.1007/s00291-012-0291-6Carnahan, B. J., Redfern, M. S., & Norman, B. (2000). Designing safe job rotation schedules using optimization and heuristic search. Ergonomics, 43(4), 543-560. doi:10.1080/001401300184404Song, J., Lee, C., Lee, W., Bahn, S., Jung, C., & Yun, M. H. (2016). Development of a job rotation scheduling algorithm for minimizing accumulated work load per body parts. Work, 53(3), 511-521. doi:10.3233/wor-152232Boenzi, F., Digiesi, S., Facchini, F., & Mummolo, G. (2016). Ergonomic improvement through job rotations in repetitive manual tasks in case of limited specialization and differentiated ergonomic requirements. IFAC-PapersOnLine, 49(12), 1667-1672. doi:10.1016/j.ifacol.2016.07.820Sana, S. S., Ospina-Mateus, H., Arrieta, F. G., & Chedid, J. A. (2018). Application of genetic algorithm to job scheduling under ergonomic constraints in manufacturing industry. Journal of Ambient Intelligence and Humanized Computing, 10(5), 2063-2090. doi:10.1007/s12652-018-0814-3Burgess-Limerick, R. (2018). Participatory ergonomics: Evidence and implementation lessons. Applied Ergonomics, 68, 289-293. doi:10.1016/j.apergo.2017.12.009Bhuiyan, B. A. (2018). An Overview of Game Theory and Some Applications. Philosophy and Progress, 111-128. doi:10.3329/pp.v59i1-2.36683Gale, D., & Shapley, L. S. (1962). College Admissions and the Stability of Marriage. The American Mathematical Monthly, 69(1), 9-15. doi:10.1080/00029890.1962.11989827Roth, A. E. (2008). What Have We Learned from Market Design? The Economic Journal, 118(527), 285-310. doi:10.1111/j.1468-0297.2007.02121.xRoth, A. E., & Sotomayor, M. (1992). Chapter 16 Two-sided matching. Handbook of Game Theory with Economic Applications, 485-541. doi:10.1016/s1574-0005(05)80019-0Renna, P. (2017). Decision-making method of reconfigurable manufacturing systems’ reconfiguration by a Gale-Shapley model. Journal of Manufacturing Systems, 45, 149-158. doi:10.1016/j.jmsy.2017.09.005Butkovič, P., & Lewis, S. (2007). On the job rotation problem. Discrete Optimization, 4(2), 163-174. doi:10.1016/j.disopt.2006.11.00

Integration of Mobile Robot Navigation on a Control Kernel Middleware based system

The final publication is available at Springer via http://dx.doi.org/10.1007/978-3-319-07593-8_55This paper introduces how a mobile robot can perform navigation tasks by taking the advantages of implementing a control kernel middleware (CKM) based system. Smart resources are also included into the topology of the system for improving the distribution of computational load of the needed tasks. The CKM and the smart resources are both highly recon gurable, even on execution time, and they also implement.lt detection mechanisms and QoS policies. By combining of these capabilities, the system can be dinamically adapted to the requirements of its tasks. Furthermore, this solution is suitable for most type of robots, including those which are provided of a low computational power because of the distribution of load, the bene ts of exploiting the smart resources capabilities, and the dynamic performance of the system.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness under the CICYT project Mission Based Control (COBAMI): DPI2011-28507-002-02.Munera Sánchez, E.; Muñoz Alcobendas, M.; Posadas-Yagüe, J.; Poza-Lujan, J.; Blanes Noguera, F. (2014). Integration of Mobile Robot Navigation on a Control Kernel Middleware based system. En Distributed Computing and Artificial Intelligence, 11th International Conference. Springer Advances in Intelligent Systems and Computing Volume 290. 477-484. https://doi.org/10.1007/978-3-319-07593-8_55S477484Rock (Robot Constrution Toolkit), http://www.rock-robotics.org/Albertos, P., Crespo, A., Simó, J.: Control kernel: A key concept in embedded control systems. In: 4th IFAC Symposium on Mechatronic Systems (2006)Bruyninckx, H., Soetens, P., Koninckx, B.: The Real-Time Motion Control Core of the Orocos Project. In: IEEE International Conference on Robotics and Automation, pp. 2766–2771 (2003)De Souza, G.N., Kak, A.C.: Vision for mobile robot navigation: A survey. IEEE Transactions on Pattern Analysis and Machine Intelligence 24(2), 237–267 (2002)Fitzpatrick, P., Metta, G., Natale, L.: Towards long-lived robot genes. Robotics and Autonomous Systems (2008)Mohamed, N., Al-Jaroodi, J., Jawhar, I.: Middleware for robotics: A survey. In: 2008 IEEE Conference on Robotics, Automation and Mechatronics, pp. 736–742. IEEE (2008)Montemerlo, M., Roy, N., Thrun, S.: Perspectives on standardization in mobile robot programming: The carnegie mellon navigation (carmen) toolkit. In: Proceedings of 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), vol. 3, pp. 2436–2441. IEEE (2003)Muñoz, M., Munera, E., Blanes, J.F., Simo, J.E., Benet, G.: Event driven middleware for distributed system control. XXXIV Jornadas de Automatica, 8 (2013)Muñoz, M., Munera, E., Blanes, J.F., Simó, J.E.: A hierarchical hybrid architecture for mission-oriented robot control. In: Armada, M.A., Sanfeliu, A., Ferre, M. (eds.) First Iberian Robotics Conference of ROBOT 2013. AISC, vol. 252, pp. 363–380. Springer, Heidelberg (2014)Sánchez, E.M., Alcobendas, M.M., Noguera, J.F.B., Gilabert, G.B., Ten, J.E.S.: A reliability-based particle filter for humanoid robot self-localization in RoboCup Standard Platform League. Sensors (Basel, Switzerland) 13(11), 14954–14983 (2013)Poza-Luján, J.-L., Posadas-Yagüe, J.-L., Simó-Ten, J.-E.: Relationship between Quality of Control and Quality of Service in Mobile Robot Navigation. In: Omatu, S., De Paz Santana, J.F., González, S.R., Molina, J.M., Bernardos, A.M., Rodríguez, J.M.C. (eds.) Distributed Computing and Artificial Intelligence. AISC, vol. 151, pp. 557–564. Springer, Heidelberg (2012)Proetzsch, M., Luksch, T., Berns, K.: Development of complex robotic systems using the behavior-based control architecture iB2C. Robotics and Autonomous Systems 58(1), 46–67 (2010)Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: An open-source robot operating system. In: ICRA Workshop on Open Source Software, vol. 3 (2009)Roy, N., Burgard, W., Fox, D., Thrun, S.: Coastal navigation-mobile robot navigation with uncertainty in dynamic environments. In: Proceedings of the 1999 IEEE International Conference on Robotics and Automation, vol. 1, pp. 35–40. IEEE (1999)Nicolau, V., Muñoz, M., Simó, J.: KertrolBot Platform: SiDiReLi: Distributed System with Limited Resources. Technical report, Institute of Control Systems and Industrial Computing - Polytechnic University of Valencia, Valencia, Spain (2011

Optimizations on semantic environment management: an application for humanoid robot home assistance

© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This article introduces some optimization mechanisms focused on environment management, object recognition, and environment interaction. Although the generality of the presented system, this work will be focused on its application on home assistance humanoid robots. For this purpose, a generic environment formalization procedure for semantic scenery description is introduced. As the main contribution of this work, some techniques for a more efficient use of the environment knowledge are proposed. That way, the application of an areabased discrimination mechanism will avoid to process large amounts of data, useless in the current context, improving the object recognition, and characterizing the available interactions in the current area. Finally, the formalized description, and the optimization procedure, will be tested and verified on a specific home scenario using a humanoid robotThis work has been supported by the Spanish Science and Innovation Ministry MICINN under the CICYT project COBAMI: DPI2011-28507-C02-01/02. The responsibility for the content remains with the authors.Munera Sánchez, E.; Posadas-Yagüe, J.; Poza-Lujan, J.; Blanes Noguera, F.; Simó Ten, JE. (2014). Optimizations on semantic environment management: an application for humanoid robot home assistance. En 2014 IEEE-RAS International Conference on Humanoid Robots. IEEE. 720-725. doi:10.1109/HUMANOIDS.2014.7041442S72072