Leveraging self-supervision for visual embodied navigation with neuralized potential fields

Une tâche fondamentale en robotique consiste à naviguer entre deux endroits. En particulier, la navigation dans le monde réel nécessite une planification à long terme à l'aide d'images RVB (RGB) en haute dimension, ce qui constitue un défi considérable pour les approches d'apprentissage de bout-en-bout. Les méthodes semi-paramétriques actuelles parviennent plutôt à atteindre des objectifs éloignés en combinant des modèles paramétriques avec une mémoire topologique de l'environnement, souvent représentée sous forme d'un graphe ayant pour nœuds des images précédemment vues. Cependant, l'utilisation de ces graphes implique généralement l'ajustement d'heuristiques d'élagage afin d'éviter les arêtes superflues, limiter la mémoire requise et permettre des recherches raisonnablement rapides dans le graphe. Dans cet ouvrage, nous montrons comment les approches de bout-en-bout basées sur l'apprentissage auto-supervisé peuvent exceller dans des tâches de navigation à long terme. Nous présentons initialement Duckie-Former (DF), une approche de bout-en-bout pour la navigation visuelle dans des environnements routiers. En utilisant un Vision Transformer (ViT) pré-entraîné avec une méthode auto-supervisée, nous nous inspirons des champs de potentiels afin de dériver une stratégie de navigation utilisant en entrée un masque de segmentation d'image de faible résolution. DF est évalué dans des tâches de navigation de suivi de voie et d'évitement d'obstacles. Nous présentons ensuite notre deuxième approche intitulée One-4-All (O4A). O4A utilise l'apprentissage auto-supervisé et l'apprentissage de variétés afin de créer un pipeline de navigation de bout-en-bout sans graphe permettant de spécifier l'objectif à l'aide d'une image. La navigation est réalisée en minimisant de manière vorace une fonction de potentiel définie de manière continue dans l'espace latent O4A. Les deux systèmes sont entraînés sans interagir avec le simulateur ou le robot sur des séquences d'exploration de données RVB et de contrôles non experts. Ils ne nécessitent aucune mesure de profondeur ou de pose. L'évaluation est effectuée dans des environnements simulés et réels en utilisant un robot à entraînement différentiel.A fundamental task in robotics is to navigate between two locations. Particularly, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based approaches. Current semi-parametric methods instead achieve long-horizon navigation by combining learned modules with a topological memory of the environment, often represented as a graph over previously collected images. However, using these graphs in practice typically involves tuning various pruning heuristics to prevent spurious edges, limit runtime memory usage, and allow reasonably fast graph queries. In this work, we show how end-to-end approaches trained through Self-Supervised Learning (SSL) can excel in long-horizon navigation tasks. We initially present Duckie-Former (DF), an end-to-end approach for visual servoing in road-like environments. Using a Vision Transformer (ViT) pretrained with a self-supervised method, we derive a potential-fields-like navigation strategy based on a coarse image segmentation model. DF is assessed in the navigation tasks of lane-following and obstacle avoidance. Subsequently, we introduce our second approach called One-4-All (O4A). O4A leverages SSL and manifold learning to create a graph-free, end-to-end navigation pipeline whose goal is specified as an image. Navigation is achieved by greedily minimizing a potential function defined continuously over the O4A latent space. O4A is evaluated in complex indoor environments. Both systems are trained offline on non-expert exploration sequences of RGB data and controls, and do not require any depth or pose measurements. Assessment is performed in simulated and real-world environments using a differential-drive robot

One-4-All: Neural Potential Fields for Embodied Navigation

A fundamental task in robotics is to navigate between two locations. In particular, real-world navigation can require long-horizon planning using high-dimensional RGB images, which poses a substantial challenge for end-to-end learning-based approaches. Current semi-parametric methods instead achieve long-horizon navigation by combining learned modules with a topological memory of the environment, often represented as a graph over previously collected images. However, using these graphs in practice requires tuning a number of pruning heuristics. These heuristics are necessary to avoid spurious edges, limit runtime memory usage and maintain reasonably fast graph queries in large environments. In this work, we present One-4-All (O4A), a method leveraging self-supervised and manifold learning to obtain a graph-free, end-to-end navigation pipeline in which the goal is specified as an image. Navigation is achieved by greedily minimizing a potential function defined continuously over image embeddings. Our system is trained offline on non-expert exploration sequences of RGB data and controls, and does not require any depth or pose measurements. We show that O4A can reach long-range goals in 8 simulated Gibson indoor environments and that resulting embeddings are topologically similar to ground truth maps, even if no pose is observed. We further demonstrate successful real-world navigation using a Jackal UGV platform.Comment: Sacha Morin and Miguel Saavedra-Ruiz contributed equally. Accepted to the IEEE/RSJ International Conference on Intelligent Robots (IROS 2023

COMUNICACIÓN INTERCULTURAL Y NORMALIZACIÓN LINGÜÍSTICA DEL ÑUHÚ: LA SEÑALIZACIÓN MULTILINGÜE DE LA UNIVERSIDAD VERACRUZANA

In 2011 a Project was made by the Universidad Veracruzana Intercultural to implement a multilingual signage into the work and common area of the student body. In this seat of this university in Huasteca, the Ñuhu language was judged a national language that the Project must include by founding a Standard Terminology Committee. The mission of this Committee was generating a standard terminology for marking the university area. In 2013 the impact and the effect of this action of linguistic integration, actualization, and planning was evaluated. The results of this were very interesting since neological and adopting processes were detected in the use of a language for university among the ñuhu-speakers.En 2011 se hizo un proyecto para elaborar una señalización multilingüe de los espacios de uso de la comunidad estudiantil de la Universidad Veracruzana Intercultural. En su sede de la Huasteca la lengua ñuhú (otomí) fue considerada como parte de las lenguas terminología normalizada que permitiera rotular los espacios universitarios. En 2013 se evalúo el impacto y alcance de esta acción de integración, actualización y normalización lingüística, arrojando resultados interesantes sobre los procesos de neología y apropiación en el uso de un lenguaje universitario entre los ñuhuhablantes

Diseño y desarrollo de aplicativo web para manejo y control de información en bases de datos

Este trabajo de grado dentro de su marco teórico desarrolla la propuesta investigativa listando los algoritmos protocolos, recomendaciones técnicas, contiene descripción de los lenguajes de programación, imágenes ilustrativas del proceso de implementación (ver anexos); contiene glosario.El presente trabajo presenta una iniciativa en el aspecto de divulgación de información de los grupos de investigación en Propiedades Magnéticas y Magneto Ópticas de Nuevos Materiales (GIMM) y el Grupo de Electrofisiología (GEF), que hacen parte de la Universidad Tecnológica de Pereira (UTP) y el entorno para la realización de la primera conferencia iberoamericana de termografía infrarroja y sus amplias aplicaciones, desarrollado por el grupo GEF. Lo cual, propone como fin, un entorno manejable por parte de los directivos y el desarrollo de una interfaz de fácil manejo para los usuarios, aplicando una comunicación con las bases de datos creadas y que permitan realizar acciones CRUD (Create, Read, Update and Delete) cuando sea necesario. Se parte desde la creación de tres micrositios base correspondientes a los grupos de investigación y el I IbercTherm, destinando las secciones o ramificaciones adecuadas para las asignaciones de las bases de datos y manejo de información por parte de los administrativos.This paper presents an initiative in the aspect of information disclosure of the research groups on Magnetic and Magneto-Optic Properties of New Materials (GIMM) and the Electrophysiology Group (GEF), which are part of the Technological University of Pereira (UTP) and the environment for carrying out the first Ibero-American conference on infrared thermography and its extensive applications, developed by the GEF group. Which, proposes as an end, an environment manageable by managers and the development of an easy-to-use interface for users, applying a communication with the databases created and that perform CRUD actions (Create, Read, Update and Delete) when necessary necessary. It starts from the creation of three base microsites corresponding to the research groups and the I IbercTherm, allocating the sections or branches suitable for database assignments and information management by part of the administrative.PregradoIngeniero(a) Físico(a)CONTENIDO ÍNDICE DE FIGURAS 5 ÍNDICE DE TABLAS 8 GLOSARIO DE TÉRMINOS 9 CAPÍTULO 1. 12 INTRODUCCIÓN 12 1.1. Planteamiento y justificación de la pregunta de investigación ............................13 1.2. Objetivos ......................................................................................................................14 1.2.1. Objetivo General...................................................................................................14 1.2.2. Objetivos específicos ..........................................................................................14 CAPÍTULO 2. 15 MARCO TEÓRICO 15 2.1. Sistemas informáticos................................................................................................15 2.2. Algoritmos ...................................................................................................................15 2.3. Consideraciones técnicas .........................................................................................15 2.3.1. Protocolo WWW y HTTP......................................................................................16 2.3.2. Certificado SSL.....................................................................................................16 2.3.3. Protocolo SSH ......................................................................................................16 2.4. Lenguajes de programación......................................................................................18 2.4.1. HTML......................................................................................................................18 2.4.2. CSS ........................................................................................................................21 2.4.3. Ruby.......................................................................................................................22 2.4.4. Ruby on Rails........................................................................................................22 2.4.5. JavaScript .............................................................................................................22 2.5. Framework ...................................................................................................................23 2.5.1. Arquitectura ..........................................................................................................23 2.6. Base de datos..............................................................................................................25 2.6.1. PostgreSQL...........................................................................................................25 2.7. Hosting.........................................................................................................................25 2.8. Estado del arte ............................................................................................................26 CAPÍTULO 3. 28 MÉTODOS Y PREPARACIONES 28 3.1. Análisis.........................................................................................................................28 3.1.1. Consideraciones de diseño ................................................................................28 3.1.2. Requerimientos funcionales...............................................................................33 3.2. Configuración del servidor........................................................................................35 3.2.1. Instalación de Ruby.................................................................................................35 3.3. Configuración del servidor web................................................................................36 3.4. Creación de la base de datos en PostgreSQL.........................................................38 3.5. Desplegar código........................................................................................................39 3.6. Últimas configuraciones ............................................................................................41 3.7. Certificación.................................................................................................................42 CAPÍTULO 4. 44 RESULTADOS 44 4.1. Estructura ....................................................................................................................44 4.2. Diseño...........................................................................................................................46 4.2.1. Diseño control de bases de datos......................................................................47 4.3. Repositorio ..................................................................................................................48 4.4. Servidor y dominio......................................................................................................49 4.5. Certificación y pruebas ..............................................................................................50 4.6. Evidencia del diseño final..........................................................................................52 CAPÍTULO 5 64 CONCLUSIONES Y RECOMENDACIONES 64 5.1. Conclusiones...............................................................................................................64 5.2. Recomendaciones ......................................................................................................65 REFERENCIAS 67 ANEXOS 72 ● Anexo 1. Repositorio Github.....................................................................................72 ● Anexo 2. Configuración DNS y otros comandos del servidor. .............................8

Monocular visual autonomous landing system for quadcopter drones using software in the loop

Autonomous landing is a capability that is essential to achieve the full potential of multirotor drones in many social and industrial applications. The implementation and testing of this capability on physical platforms is risky and resource-intensive; hence, in order to ensure both a sound design process and a safe deployment, simulations are required before implementing a physical prototype. This article presents the development of a monocular visual system, using a software-in-the-loop methodology that autonomously and efficiently lands a quadcopter drone on a predefined landing pad, thus reducing the risks of the physical testing stage. In addition to ensuring that the autonomous landing system as a whole fulfils the design requirements using a Gazebo-based simulation, our approach provides a tool for safe parameter tuning and design testing prior to physical implementation. Finally, the proposed monocular vision-only approach to landing pad tracking made it possible to effectively implement the system in an F450 quadcopter drone with the standard computational capabilities of an Odroid XU4 embedded processor

Factorial Equivalence of the Social Skills Scale in the Lambayeque University Context According to Sex

This study aimed to show whether the theoretical model of the social skills construct, proposed by Gismero (2000), is invariant in male and female samples of Peruvian university students from Lambayeque. In order to meet the proposed objective, a non-experimental, cross-sectional, comparative psychometric design by hierarchical confirmatory procedures was chosen. Two samples of university students were used, one of 1,084 female students and the other of 1,043 male students. Both groups were applied the self-report of social skills (EHS). With the data obtained, a confirmatory factor analysis of the first-order factor structure of the social skills construct was performed in each group, based on the polychoric correlation matrix. The invariance of the scale according to sex was evaluated on the basis of the second-order factor structure, by means of multigroup confirmatory factor analysis of nested models. No significant differences in the fit to the data were found between the two-factor second-order factor structure and the alternative one-factor model. Consecutive tests of configurational invariance, disturbance, and first- and second-order metrics gave evidence, respectively, that the model structure, second-order factor errors, and first- and second-order loadings are equivalent in the two study samples. With the data from the study, it is concluded that the structure of the EHS scale is invariant to the sex variable in the Lambayeque context

Job satisfaction of public workers in Northern Peru during the COVID-19 pandemic

Objective: The objective of the study was to determine the job satisfaction of public workers in the provincial municipalities of the Tumbes region (Peru).Method:The method used was a descriptive, non-experimental cross-sectional design. The sample consisted of 319 male and female workers from the 3 provincial municipalities. A sociodemographic questionnaire and the Job Satisfaction Questionnaire were used as data collection instruments. Results: The results showed that only 10% of the participants had high job satisfaction. Within the dimensions, the majority showed low satisfaction (67%) with the remuneration received. No significant differences were found between men and women with respect to job satisfaction, and those with permanent employment status had lower levels than those who work on a temporary basis. Conclusions: It is concluded that most of the personnel working in the provincial municipalities of the Tumbes region have low levels ofjob satisfaction, so it is important to develop programs aimed at strengthening the bond and favorable attitude of workers with the institution where they work

Finding immunological differences to help diagnosis and early treatment of Kawasaki Disease and MIS-C (Multisystem Inflammatory Syndrome in Children)

Resumen del trabajo presentado en el 43 Congreso De La Sociedad Española de Inmunología, celebrado en León (España) del 22 al 24 de septiembre de 2022.The recent COVID-19 pandemic was first thought to spare children from health deprivation caused by infection with SARS-CoV-2. However, soon a new syndrome resembling Kawasaki Disease (KD) was reported: Multisystem Inflammatory Syndrome in Children (MIS-C). The aim of this study is to provide new biomarkers for both diseases in order to facilitate diagnosis and reduce the time-lapse until treatment is provided – which will reduce the risk of developing severe cardiovascular complications. An extensive immune system characterization by flow cytometry and serum protein characterization by a multiplex technology (Olink) was performed from fresh blood samples of patients with acute MIS-C (n=19) and KD (n=10). For protein characterization we also analysed recovery samples for these groups (n=19 and n=8, respectively). Besides the already described lymphopenia in MIS-C, we found additional significant immune differences in both groups. Although lymphocyte numbers (cells/ml) were lower in MIS-C, percentages of activated T-CD4+ and T-CD8+ cells were higher compared to KD. Moreover, when comparing activated T cells in MIS-C and KD individually, regulatory T cells (Treg) showed the highest levels. These data suggest a stronger response of T cells in MIS-C, and higher Treg activity in both groups, which could reflect the response to the excessive inflammation. Ratios previously described in other inflammatory conditions were evaluated: MIS-C showed higher neutrophil/lymphocyte and Th17/Treg ratios than KD, suggesting higher inflammatory conditions in this group. In addition, monocyte and dendritic cells (DCs) numbers were decreased in MIS-C relative to KD. Parallel to these inflammatory cellular profiles, we identified increased levels of inflammatory cytokines in plasma of patients during the acute phase of the disease compared to recovery samples. Moreover, IL-6, which is one of the main cytokines involved in cytokine storm in adult COVID-19, was higher in MIS-C suggesting, again, stronger inflammatory conditions in this pathology compared to KD

Cambios en la microbiota intestinal y el metaboloma fecal en función del daño de la mucosa intestinal

Resumen del trabajo presentado a la 16ª Reunión de la Red Española de Bacterias Lácticas (RedBAL), celebrada en Madrid los días 11 y 12 de mayo de 2023.RTI2018-098288-B-I00, MCIN/AEI/10.13039/501100011033/FEDER, “Una manera de hacer Europa”; AYUD/2021/50981, Principado de Asturias; S.R.-S., contrato predoctoral Severo Ochoa (2021- BP20-012), Principado de Asturias; S.A., contrato postdoctoral del ISPA; N.S., contrato RYC2021-033521-I, MCIN/AEI/ 10.13039/501100011033 y European Union NextGenerationEU/PRTR.N

Industrial, Collaborative and Mobile Robotics in Latin America: Review of Mechatronic Technologies for Advanced Automation

Mechatronics and Robotics (MaR) have recently gained importance in product development and manufacturing settings and applications. Therefore, the Center for Space Emerging Technologies (C-SET) has managed an international multi-disciplinary study to present, historically, the first Latin American general review of industrial, collaborative, and mobile robotics, with the support of North American and European researchers and institutions. The methodology is developed by considering literature extracted from Scopus, Web of Science, and Aerospace Research Central and adding reports written by companies and government organizations. This describes the state-of-the-art of MaR until the year 2023 in the 3 Sub-Regions: North America, Central America, and South America, having achieved important results related to the academy, industry, government, and entrepreneurship; thus, the statistics shown in this manuscript are unique. Also, this article explores the potential for further work and advantages described by robotic companies such as ABB, KUKA, and Mecademic and the use of the Robot Operating System (ROS) in order to promote research, development, and innovation. In addition, the integration with industry 4.0 and digital manufacturing, architecture and construction, aerospace, smart agriculture, artificial intelligence, and computational social science (human-robot interaction) is analyzed to show the promising features of these growing tech areas, considering the improvements to increase production, manufacturing, and education in the Region. Finally, regarding the information presented, Latin America is considered an important location for investments to increase production and product development, taking into account the further proposal for the creation of the LATAM Consortium for Advanced Robotics and Mechatronics, which could support and work on roboethics and education/R+D+I law and regulations in the Region. Doi: 10.28991/ESJ-2023-07-04-025 Full Text: PD