Herramienta para el Aprendizaje del Lenguaje Dactilológico Mediante Visión Artificial

Aguilar, I.; Reina, A. J.; Mandow, A., "Herramienta para el Aprendizaje del Lenguaje Dactilológico Mediante Visión Artificial," Actas de las XXXVI Jornadas de Automática, pp.127-133, Bilbao, SpainEl artículo aborda el uso de técnicas de visión artificial como herramienta didáctica para el aprendizaje de la lengua de signos para sordos. En particular, se propone una solución para el reconocimiento del alfabeto dactilológico con una cámara 2D. Con este fin, se presenta un conjunto características visuales que permiten la clasificación de los signos obtenidos mediante un árbol de decisión. Este sistema de reconocimiento se ha integrado en una herramienta interactiva de aprendizaje que permite el dictado mediante gestos a la vez que puntúa, a modo de juego, la correcta realización de los signos. El artículo presenta resultados experimentales preliminares tanto del reconocimiento de signos como de su aplicación educativa.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

Asistencia a la resolución de puzles mediante visión por computador para niños con discapacidad intelectual

En este artículo se presenta una metodología de trabajo en una de las áreas más importantes para el desarrollo de niños con discapacidad intelectual: el aprendizaje. Para ello, en este trabajo se emplea un rompecabezas sencillo compuesto por piezas que conforman una imagen en color, el cual se resuelve previamente mediante un sistema de visión por computador para que, posteriormente, el niño en cuestión sea capaz de resolverlo a través de una interfaz diseñada junto al programa. Esta interfaz le irá guiando en el transcurso del montaje y le recompensar á por cada logro obtenido, consiguiendo así motivar al niño y mejorar su desarrollo intelectual. Se ha optado por emplear una enseñanza que combina lo didáctico con lo divertido, haciendo uso de herramientas de procesamiento de imágenes.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Collapsible Cubes: Removing Overhangs from 3D Point Clouds to Build Local Navigable Elevation Maps

Elevation maps offer a compact 2 1/2 dimensional model of terrain surface for navigation in field mobile robotics. However, building these maps from 3D raw point clouds con- taining overhangs, such as tree canopy or tunnels, can produce useless results. This paper proposes a simple processing of a ground-based point cloud that identifies and removes overhang points that do not constitute an obstacle for navigation while keeping vertical structures such as walls or tree trunks. The procedure uses efficient data structures to collapse unsupported 3D cubes down to the ground. This method has been successfully applied to 3D laser scans taken from a mobile robot in outdoor environments in order to build local elevation maps for navigation. Computation times show an improvement with respect to a previous point-based solution to this problem.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Improving 3D Scan Matching Time of the Coarse Binary Cubes Method with Fast Spatial Subsampling

Morales, J.; Martinez, J.L.; Mandow, A.; Reina, A.J.; Seron, J.; Garcia-Cerezo, A., "Improving 3D scan matching time of the coarse binary cubes method with fast spatial subsampling," 39th Annual Conference of the IEEE Industrial Electronics Society, pp. 4168-4173, 2013 doi:10.1109/IECON.2013.6699804Exploiting the huge amount of real time range data provided by new multi-beam three-dimensional (3D) laser scanners is challenging for vehicle and mobile robot applications. The Coarse Binary Cube (CBC) method was proposed to achieve fast and accurate scene registration by maximizing the number of coincident cubes between a pair of scans. The aim of this paper is speeding up CBC with a fast spatial subsampling strategy for raw point clouds that employs the same type of efficient data structures as CBC. Experimental results have been obtained with the Velodyne HDL-32E sensor mounted on the Quadriga mobile robot on irregular terrain. The influence of the subsampling rate has been analyzed. Preliminary results show a relevant gain in computation time without losing matching accuracy.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Teleoperación de Instrumentos Quirúrgicos Articulados

En este trabajo se describe la plataforma CISOBOT, desarrollada por la Universidad de Málaga para intervenciones de cirugía mínimamente invasiva, así como su ampliación a través del diseño mecatrónico de un instrumento motorizado que permite mover el extremo de este. El objetivo de esta plataforma es el estudio de nuevos algoritmos de control que permitan la teleoperación bilateral y el empleo de guiado hápticoUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

K-Promoted Ni-Based Catalysts for Gas-Phase CO2 Conversion: Catalysts Design and Process Modelling Validation

The exponential growth of greenhouse gas emissions and their associated climate change problems have motivated the development of strategies to reduce CO2 levels via CO2 capture and conversion. Reverse water gas shift (RWGS) reaction has been targeted as a promising pathway to convert CO2 into syngas which is the primary reactive in several reactions to obtain high-value chemicals. Among the different catalysts reported for RWGS, the nickel-based catalyst has been proposed as an alternative to the expensive noble metal catalyst. However, Ni-based catalysts tend to be less active in RWGS reaction conditions due to preference to CO2 methanation reaction and to the sintering and coke formation. Due to this, the aim of this work is to study the effect of the potassium (K) in Ni/CeO2 catalyst seeking the optimal catalyst for low-temperature RWGS reaction. We synthesised Ni-based catalyst with different amounts of K:Ni ratio (0.5:10, 1: 10, and 2:10) and fully characterised using different physicochemical techniques where was observed the modification on the surface characteristics as a function of the amount of K. Furthermore, it was observed an improvement in the CO selectivity at a lower temperature as a result of the K-Ni-support interactions but also a decrease on the CO2 conversion. The 1K catalyst presented the best compromise between CO2 conversion, suppression of CO2 methanation and enhancing CO selectivity. Finally, the experimental results were contrasted with the trends obtained from the thermodynamics process modelling observing that the result follows in good agreement with the modelling trends giving evidence of the promising behaviour of the designed catalysts in CO2 highscale units.Ministerio de Ciencia e Innovación PID2019-108502RJ-I00 IJC2019-040560-IMinisterio de Ciencia e Innovación RYC2018-024387-

Una experiencia práctica reutilizando aspectos

Este art´ıculo cuenta nuestra experiencia obtenida tras haber realizado un proyecto utilizando la tecnolog´ıa de aspectos AspectJ, y plantearsenos el hecho de reutilizar los aspectos definidos en el mismo con un nuevo proyecto a desarrollar. En definitiva, comprobar de forma pr´actica el grado de reutilizaci´on que tienen los aspectos en distintas aplicaciones

Influence of the Washing Process and the Time of Fruit Harvesting throughout the Day on Quality and Chemosensory Profile of Organic Extra Virgin Olive Oils

In recent years, there has been a growing demand for organic extra virgin olive oils (OEVOOs) as quality products with greater added value. The aim of the present work was to determine whether the washing process and time of harvesting (morning or afternoon) plays an important role in the quality of Picual OEVOOs by studying quality parameters (degree of acidity, peroxide value, K232, K270, oxidative stability), and volatile and sensory profiles. Olive fruits were harvested at three maturity stages and within each phase at two times of the day (morning and afternoon). Then, samples were divided into two blocks (washed and unwashed). Volatile profile was obtained by headspace solid-phase microextraction (HS-SPME) coupled to gas chromatography-mass spectrometry (GC-MS). Regarding the physicochemical quality parameters, sensory and volatile profiles, there were no differences between the oils produced under the two treatments applied (washed/non-washed). However, the time of harvesting (morning or afternoon) did influence the volatile and sensory profile, with higher values in the oils obtained from fruits harvested in the morning, being statistically significant for the families of aldehydes, hydrocarbures and lactones. Besides, the olives harvested during the mornings gave rise to oils with higher values in the green and apple fruit attributes.Junta de Andalucía US-138083

La interacción de procesos hidrológicos, químicos y microbiológicos en la formación de películas flotantes ricas en hierro en ambientes acuáticos de pH circumneutro

17 páginas.-- 3 figuras.-- 4 tablas.-- 53 referencias.-- Postprint (Versión editorial)[EN]: The direct contribution of microbial activity to the formation of iron-oxide minerals is difficult to prove in wetlands due to the high reactivity of solid iron phases with different compounds and the variety of redox processes that may occur at each oxic-anoxic boundary. Here, we propose an explanation for the formation of iron-oxide films in wetlands and groundwater seepage areas fed by sandy aquifers based on the interaction of hydrological, chemical and microbiological processes under circumneutral conditions. The presence of a floating iron-oxide film was found to create a boundary at the air-water interface that maintains a suboxic and slightly acidic environment below the film compared with the environments obtained in other free-film wetland areas. The water trapped below this film had an average pH of 6.1, was particularly poor in O2, HCO–3, Na+, Ca2+, Mg2+, K+, and Tot-S, and has high concentrations of Tot-P, Tot-Fe, NH+4 and Zn. The formation of a floating iron-oxide film was reproduced under anaerobic conditions after progressive enrichment through the incubation of natural sediment samples in the laboratory. Heterotrophic bacteria belonging to the genus Enterobacter were the dominant bacteria in the enrichments that resulted in the formation of a floating iron-oxide film. The X-ray diffraction patterns showed that the presence of two-line ferrihydrite was common to the iron-oxide films collected in both the natural environment and the laboratory cultures, whereas other iron-oxides (goethite and low-crystalline lepidocrocite) were observed only in the natural environment. This study highlights the role of ubiquitous bacteria, which are generally considered unimportant participants in iron-transformation processes in the environment, and the contribution of both biological and non-biological processes to iron oxidation in natural systems under circumneutral conditions.[ES]: En los humedales, es difícil probar que la actividad microbiana sea la responsable de la formación de óxido de hierro mineral debido, tanto a la gran reactividad del hierro en fase sólida con diferentes sustancias, como a la variedad de procesos redox que pueden ocurrir en cada interfase óxica-anóxica. El presente trabajo propone una explicación, basada en la interacción de procesos hidrológicos, químicos y microbiológicos en condiciones circumneutras, para explicar la formación de un film de óxido de hierro en humedales y manaderos donde aflora agua subterránea proveniente de acuíferos de arenas silíceas. Además, la presencia de un film de óxido de hierro que flota sobre la interfase agua-aire genera condiciones subóxicas y ligeramente ácidas en el agua que queda atrapada debajo, y que son muy distintas a otras zonas libres de film en el mismo humedal. Este agua atrapada bajo el film se caracterizó por presentar un pH medio de 6.1, una menor concentración de O2, HCO–3, Na+, Ca2+, Mg2+, K+, y S total, pero una mayor riqueza en P total, Fe total, NH+4 y Zn. La formación de un film flotante de óxido de hierro se reprodujo en el laboratorio, en condiciones anaeróbicas, tras el enriquecimiento progresivo de las muestras del sedimento natural que habían sido incubadas. En dichos enriquecimientos, donde se produjeron films flotantes de óxido de hierro, la bacteria dominante perteneció al género Enterobacter. Mediante difracción por rayos X, se encontró ferrihidrita con estructura en doble cadena, tanto en el film de muestras naturales como de cultivos de laboratorio. Además se encontraron otros tipos de óxidos minerales (goetita y lepidocrocita de pobre cristalización) sólo en las muestras naturales de film. El presente estudio muestra la relevancia de bacterias ubicuas, hasta ahora consideradas sin importancia en procesos naturales de transformación del hierro, y la participación tanto de procesos bióticos como abióticos en la oxidación del hierro en sistemas naturales sometidos a condiciones circumneutras.We are grateful to Han Golterman for his support and suggestions. We thank Lotte Fleskens and Christien van der Zwart for collaborating with the sediment collection and P-fractionation at the laboratory. This study was partially supported by the Spanish Ministry of Education and Science (CGL2004-03927-C02-01/BOS)Peer reviewe