KANT: A tool for Grounding and Knowledge Management

The intelligent robotics community usually organizes knowledge into symbolic and sub-symbolic levels. These two levels establish the set of symbols and rules for manipulating knowledge based on their (symbol system - dictionary). Thus, the correspondences -- Grounding or knowledge representation -- require specific software techniques for anchoring continuous and discrete state variables between these two levels. This paper presents the design and evaluation of an Open Source tool called KANT(Knowledge mAnagemeNT) to let different components of the system architecture controlling the robot query, save, edit, and delete the data from the Knowledge Base without having to worry about the type and the implementation of the source data. Using KANT, components managing subsymbolic information can smoothly interact with symbolic components. Besides, implementation mechanisms used in KANT, such as the use of in-memory and non-SQL databases, improve the performance of the knowledge management systems in ROS middleware, as shown by the evaluations presented in this work

YASMIN: Yet Another State MachINe library for ROS 2

State machines are a common mechanism for defining behaviors in robots, defining them based on identifiable stages. There are several libraries available for easing the implementation of state machines in ROS 1, as SMACH or SMACC, but there are fewer alternatives for ROS 2. YASMIN is yet another library specifically designed for ROS 2 for easing the design of robotic behaviors using state machines. It is available in C++ and Python, provides some default states to speed up the development, and a web viewer for monitoring the execution of the system and helping in the debugging.Comment: 4 pages, 2 figures, ROSCon FR 202

Towards explainability in robotics: A performance analysis of a cloud accountability system

[EN] Understanding why a robot's behaviour was triggered is a growing concern to get human-acceptable social robots. Every action, expected and unexpected, should be able to be explained and audited. The formal model proposed here deals with different information levels, from low-level data, such as sensors' data logging; to high-level data that provide an explanation of the robot's behaviour. This study examines the impact on the robot system of a custom log engine based on a custom ROS logging node and investigates pros and cons when used together with a NoSQL database locally and in a cloud environment. Results allow to characterize these alternatives and explore the best strategy for offering a fully log-based accountability engine that maximizes the mapping between robot behaviour and robot logs.SIInstituto Nacional de CiberseguridadMinisterio de Ciencia e Innovació

Use of Tablet Pcs in Higher Education: A new Strategy for Training Engineers in European Bachelors and Masters Programmes

The use of technology in classrooms in Spanish universities has been following an upward path, and in many cases technological devices are substituting other materials that until now have been used, such as books, notebooks and so on. Step by step in higher education, more of these latest generationdevices are being used, and are providing significant improvements in training. Nowadays, there are Spanish universities that use tablets, a device with multiple applications for teaching as well as for students to study differently. They are definitely a notable innovation that will gradually become incorporated into university life. Tablet PCs make teaching more dynamic and available to students through the use of up to date digital materials, something which is key in training engineers. This paper presents their different functions employed in three Spanish universities to support teachingin engineering degrees and masters using the tablet PC, and their impact on the training process. Possible uses in specific programs like the Erasmus Masters Programmes are also assessed. The main objective of using tabletsis to improve the academic performance of students through the use of technology.This work has been developed in the framework of the RECLAND Project. It has been funded by the European Union under Lifelong Learning Programme, Erasmus Programme: Erasmus Multilateral Projects, 526746-LLP-1-2012-1-ES-ERASMUS-EMCR, MSc Programme in Climate Change and Restoration of Degraded Land

Excess of naturally occurring fluoride in groundwater discharge in Macaronesia: Brava Island, Cape Verde

A high concentration of fluoride in groundwater poses a risk to human health. One of the best-known problems related to excess fluoride in drinking water is dental fluorosis. The characteristic composition of volcanic rocks in oceanic islands tends to present high concentrations of fluoride in groundwater discharge in springs. This study investigates fluoride content in two springs (Encontro and Ferreiros) on the island of Brava (Cape Verde), with the objective of monitoring the operational control production and distribution of drinking water. Using a spectrophotometric method, the level of fluoride found in the water discharged from the Encontro spring was found to be in the range of 4.8 to 6.5 mg/L, whereas at the Ferreiros spring, it was 5.8 to 6.2 mg/L. These results are far above the threshold limit established in the decree No. 5 of 2017 of the Cape Verdean legislation, whose legal threshold value for fluoride is 1.5 mg/L, the same value established by the World Health Organization (WHO). Due to geological conditions and consequences for the health of the population, the water is not adequate for consumption without proper treatment.info:eu-repo/semantics/publishedVersio

Using Large Language Models for Interpreting Autonomous Robots Behaviors

The deployment of autonomous robots in various domains has raised significant concerns about their trustworthiness and accountability. This study explores the potential of Large Language Models (LLMs) in analyzing ROS 2 logs generated by autonomous robots and proposes a framework for log analysis that categorizes log files into different aspects. The study evaluates the performance of three different language models in answering questions related to StartUp, Warning, and PDDL logs. The results suggest that GPT 4, a transformer-based model, outperforms other models, however, their verbosity is not enough to answer why or how questions for all kinds of actors involved in the interaction

Optimization and efficiency in engineering designs using spreadsheets

En las titulaciones técnicas, como los grados y máster en ingeniería, las asignaturas más complejas suelen contener cálculos y diseños que consumen mucho tiempo en las sesiones dedicadas a la resolución de problemas. En particular nos referimos a las asignaturas de construcción, ingeniería hidrológica y geotecnia, donde los temarios son extensos y los recursos dedicados a los cálculos en las clases magistrales no permiten profundizar en conceptos que son fundamentales para el ejercicio profesional. Las hojas de cálculo se vienen utilizando en aplicaciones comunes o cálculos simples, pero tienen un potencial enorme para aplicaciones en ingeniería, en particular para las asignaturas anteriormente indicadas. El proyecto se orienta en dos vías; la primera, es facilitar a los alumnos hojas de cálculo diseñadas para las diferentes partes de la asignatura o cálculos complejos, por otro lado, existe el problema inverso, realizar un cálculo ingenieril y automatizarlo o simplificarlo mediante el diseño, por parte del alumno o grupo de alumnos, de una hoja de cálculo, mejorando la competencia de capacidad de simplificación de problemas y el trabajo en grupo. Las aplicaciones realizadas se pueden utilizar en el ejercicio profesional y se mejoran año tras año con los diferente diseños aportados. La experiencia se llevó a cabo en las siguientes titulaciones: Grado en Ingeniería Agrícola y del Medio Rural (Universidad de La Laguna), Grado en Ingeniería Civil (Universidad de Alicante) y el Máster Universitario en Ingeniería de Caminos Canales y Puertos (Universidad de Alicante). Este proyecto de innovación forma parte del marco colaborativo dentro del programa de grupos de innovación docente consolidados de la Universidad de La Laguna, en particular el grupo de innovación docente IMAGINA, con profesorado de la ULL y de la Universidad de Alicante.Technical studies, such as degrees and master’s degrees in engineering, complicated subjects often contain many mathematical calculations and time-consuming calculation development in engineering problem-solving sessions. In particular we refer to the subjects of construction, hydrological engineering and geotechnics, where the subjects are extensive and resources dedicated to the calculations in the master classes do not allow deepening in concepts that are fundamental for the professional exercise. Spreadsheets are being used in common applications or simple calculations, but it has enormous potential for engineering applications, in particular for the above-mentioned subjects. The innovation project is oriented in two ways; The first is to provide students spreadsheets designed for different subject modules or complex calculations, on the other hand, there is the reverse problem, perform an engineering calculation or an automate calculations by a spreadsheets made by the student or group of students, improving competences of problems simplification and team work. Applications can be used in professional practice; they are improved year by year along the different designs provided. The experience was carried out in the following university studies: Degree in Agricultural and Rural Engineering (Universidad de La Laguna), Degree in Civil Engineering (Universidad de Alicante) and Master in Civil Engineering (Universidad de Alicante). This innovation project were part of the collaborative framework within the consolidated teaching innovation groups program of the Universidad de La Laguna (ULL), in particular the teaching innovation group IMAGINA, ULL and the Universidad de Alicante

Optimización y eficiencia en los cálculos de ingeniería mediante hojas de cálculo

En las titulaciones técnicas, como los grados y máster en ingeniería, las asignaturas más complejas suelen contener cálculos y diseños que consumen mucho tiempo en las sesiones dedicadas a la resolución de problemas. En particular nos referimos a las asignaturas de construcción, ingeniería hidrológica y geotecnia, donde los temarios son extensos y los recursos dedicados a los cálculos en las clases magistrales no permiten profundizar en conceptos que son fundamentales para el ejercicio profesional. Las hojas de cálculo se vienen utilizando en aplicaciones comunes o cálculos simples, pero tienen un potencial enorme para aplicaciones en ingeniería, en particular para las asignaturas anteriormente indicadas. El proyecto se orienta en dos vías; la primera, es facilitar a los alumnos hojas de cálculo diseñadas para las diferentes partes de la asignatura o cálculos complejos, por otro lado, existe el problema inverso, realizar un cálculo ingenieril y automatizarlo o simplificarlo mediante el diseño, por parte del alumno o grupo de alumnos, de una hoja de cálculo, mejorando la competencia de capacidad de simplificación de problemas y el trabajo en grupo. Las aplicaciones realizadas se pueden utilizar en el ejercicio profesional y se mejoran año tras año con los diferente diseños aportados. La experiencia se llevó a cabo en las siguientes titulaciones: Grado en Ingeniería Agrícola y del Medio Rural (Universidad de La Laguna), Grado en Ingeniería Civil (Universidad de Alicante) y el Máster Universitario en Ingeniería de Caminos Canales y Puertos (Universidad de Alicante). Este proyecto de innovación forma parte del marco colaborativo dentro del programa de grupos de inno- vación docente consolidados de la Universidad de La Laguna, en particular el grupo de innovación docente IMAGINA, con profesorado de la ULL y de la Universidad de Alicante.Technical studies, such as degrees and master’s degrees in engineering, complicated subjects often contain many mathematical calculations and time-consuming calculation development in engineering problem-solving sessions. In particular we refer to the sub- jects of construction, hydrological engineering and geotechnics, where the subjects are extensive and resources dedicated to the calculations in the master classes do not allow deepening in concepts that are fundamental for the professional exercise. Spreadsheets are being used in common applications or simple calculations, but it has enormous po- tential for engineering applications, in particular for the above-mentioned subjects. The innovation project is oriented in two ways; The first is to provide students spreadsheets designed for different subject modules or complex calculations, on the other hand, there is the reverse problem, perform an engineering calculation or an automate calculations by a spreadsheets made by the student or group of students, improving competences of problems simplification and team work. Applications can be used in professional practice; they are improved year by year along the different designs provided. The experience was carried out in the following university studies: Degree in Agricultural and Rural Enginee- ring (Universidad de La Laguna), Degree in Civil Engineering (Universidad de Alicante) and Master in Civil Engineering (Universidad de Alicante). This innovation project were part of the collaborative framework within the consolidated teaching innovation groups program of the Universidad de La Laguna (ULL), in particular the teaching innovation group IMAGINA, ULL and the Universidad de Alicante

One-year cardiovascular outcomes after coronavirus disease 2019: The cardiovascular COVID-19 registry

Background: The long-term cardiovascular (CV) outcomes of COVID-19 have not been fully explored. Methods: This was an international, multicenter, retrospective cohort study conducted between February and December 2020. Consecutive patients ?18 years who underwent a real-time reverse transcriptase-polymerase chain reaction (RT-PCR) for SARS-CoV2 were included. Patients were classified into two cohorts depending on the nasopharyngeal swab result and clinical status: confirmed COVID-19 (positive RT-PCR) and control (without suggestive symptoms and negative RT-PCR). Data were obtained from electronic records, and clinical follow-up was performed at 1-year. The primary outcome was CV death at 1-year. Secondary outcomes included arterial thrombotic events (ATE), venous thromboembolism (VTE), and serious cardiac arrhythmias. An independent clinical event committee adjudicated events. A Cox proportional hazards model adjusted for all baseline characteristics was used for comparing outcomes between groups. A prespecified landmark analysis was performed to assess events during the post-acute phase (31-365 days). Results: A total of 4,427 patients were included: 3,578 (80.8%) in the COVID-19 and 849 (19.2%) control cohorts. At one year, there were no significant differences in the primary endpoint of CV death between the COVID-19 and control cohorts (1.4% vs. 0.8%; HRadj 1.28 [0.56-2.91]; p = 0.555), but there was a higher risk of all-cause death (17.8% vs. 4.0%; HRadj 2.82 [1.99-4.0]; p = 0.001). COVID-19 cohort had higher rates of ATE (2.5% vs. 0.8%, HRadj 2.26 [1.02-4.99]; p = 0.044), VTE (3.7% vs. 0.4%, HRadj 9.33 [2.93-29.70]; p = 0.001), and serious cardiac arrhythmias (2.5% vs. 0.6%, HRadj 3.37 [1.35-8.46]; p = 0.010). During the post-acute phase, there were no significant differences in CV death (0.6% vs. 0.7%; HRadj 0.67 [0.25-1.80]; p = 0.425), but there was a higher risk of deep vein thrombosis (0.6% vs. 0.0%; p = 0.028). Re-hospitalization rate was lower in the COVID-19 cohort compared to the control cohort (13.9% vs. 20.6%; p = 0.001). Conclusions: At 1-year, patients with COVID-19 experienced an increased risk of all-cause death and adverse CV events, including ATE, VTE, and serious cardiac arrhythmias, but not CV death