Extending the Limits of the Random Exploration Graph for Efficient Autonomous Exploration in Unknown Environments

The autonomous construction of environment maps using mobile robots is a fundamental problem of robotics; this is because virtually all tasks performed by robots need a representation of the working environment to operate. Although many works have addressed this problem known as SLAM, it still remains open; since most of the solutions do not consider a planner that allows the robot to explore autonomously the working environment or the works that consider it, they have developed slow algorithms that do not guarantee a total coverage of the environment or an optimal development of the exploration, which may result in maps of poor quality or definitely not usable given this lack of information. Thus, this work presents a new exploration method based on the random exploration graph (REG), which, unlike its predecessor, defines a systematic analysis of the next positions to be explored eliminating randomness in decision-making and thus minimizing the amount of movements that the robot must make to reach them and the time required to achieve total coverage of the environment. Additionally, a series of tests carried out on the proposed method are presented, and the results obtained in classical variables such as time and distance allow to validate the efficiency of our approach

New Applications of 3D SLAM on Risk Management Using Unmanned Aerial Vehicles in the Construction Industry

Risk Management is an integral part of the Corporate Governance of the Companies, whose objective is to estimate the risks related to each line of business and to make appropriate decisions regarding the adoption of preventive measures. The construction industry, due to its peculiar characteristics about occupational risks, is a sector that must pay particular attention to this issue. Unmanned aerial robots are part of a generation of new technologies, which are emerging in the attempt to develop robust and efficient algorithms capable of obtaining 3D models of structures under construction, to support the assessment of the situation in case of an eventuality, before the direct human intervention. This article proposes to develop a risk management strategy for the construction industry based on obtaining 3D models of work environments using drones, which will allow safe evaluation of risks present in construction zones

Estudio De La Brecha Empresario-Investigador: La Percepción Del Empresario

Competitiveness and productivity are crucial for the development of a country. A more competitive economy can grow faster over time. Technological innovation is the strongest pillar that guarantees long term competitiveness and quality of life for both developed and emerging countries. The University-Enterprise relationship (RUE) is a resource that is used to build a strong pillar of innovation. Therefore, it is important that a good relationship should be established between the main participants, the entrepreneur and the researcher (E-I). However, current literature has largely ignored the problem of the personnel involved. In contributing to the knowledge of this subject, we examined the gap that exists between the entrepreneur and the researcher (ERG), the importance of empathy in the E-I collaboration, and the factors that impact this collaboration the most from the entrepreneur stand point. The study was exploratory and transversal and data was gathered through interviews and questionnaires. The sample consisted of expert entrepreneurs with experience in innovation projects carried out in collaboration with researchers. The results show that 70% of the interviewed entrepreneurs recognize the existence of ERG. 87.5% of the entrepreneurs surveyed see empathy as a very significant factor for the E-I relationship, and there were 32 factors that are most influential on this collaboration

Estudio De La Brecha Empresario-Investigador. La Percepción Del Investigador

Technological innovation drives competitiveness and productivity of nations. The university-enterprise relationship (RUE) is determinant for the generation of an efficient innovation. The entrepreneur-researcher binomial (E-R) is the core process research and development (R & D) and technology transfer and knowledge (TTK). Despite efforts to improve RUE, little has been done to strengthen the relationship between E-R. This study confirms the existence of a gap between entrepreneur and researcher (ERG), it allows us to understand the importance of empathy in collaboration and identify factors affecting the relationship. The data were obtained by the exploratory and transversal approach, through interviews and questionnaires Likert. The sample consisted of expert researchers who have participated in joint innovation projects with entrepreneurs. The results indicate that 75% of researchers surveyed perceive the existence of an ERG under collaborative R & D and TTK. 78% of scientists see empathy as a significant variable for joint projects. The study revealed that only 16% of the factors affecting RUE influence the relationship of the binomial E-I significantly

Evaluador inteligente de daño fenológico en la planta de trigo

El cambio climático en el planeta ha afectado la producción mundial de trigo y los pronósticos aseguran que estos cambios y efectos serán mayores conforme pase el tiempo. Considerando la importancia de este cereal como alimento de la dieta básica de los seres humanos, se propone una nueva forma de evaluación del cultivo que permita pronosticar el daño probable por etapa fenológica por medio de una red neuronal artificial entrenada con datos históricos del comportamiento climático global e impacto fenológico. Un sistema de resultados interpreta la salida y constituye la interfaz de usuario. La propuesta fue validada y mostró su capacidad de generalización alcanzando alta precisión de 84%, por lo que se considera adecuada.Climate Change on the planet has affected the world wheat production and forecasts ensure that these changes and effects will be greater over time. Considering the importance of this cereal as a basic diet of human beings, this work proposes a new form of crop evaluation that allows to forecast probable damage by phenological stage, through an Artificial Neural Network trained with historical data of global climatic behavior and phenological impact. A results system interprets the output and constitutes the user interface. The proposal was validated, showed its generalization capacity and reached high precision of 84%, so it is considered adequate

Probabilistic Integrated Exploration for Mobile Robots in Complex Environments

L'un des défis fondamentaux de la robotique d'aujourd'hui est d'obtenir des cartes robustes en utilisant des mécanismes efficaces pour l'exploration et la modélisation des environnements toujours plus complexes. Ce problème est connu comme celui de la planification, de la localisation et de la cartographie simultanée (SPLAM).Dans cette thèse nous avons développé des outils pour obtenir une stratégie de SPLAM. D'abord, l'exploration est faite par le graphe d'exploration aléatoire (REG) basé sur la création d'une structure de graphe et sur un contrôle de frontières. Ensuite, le problème de localisation et de cartographie simultanée (SLAM) est résolu avec une stratégie topologique basée sur des B-Splines. Pour valider notre stratégie, nous avons créé une autre approche de SPLAM basée sur des outils connus comme le Filtre de Kalman étendu pour le SLAM et sur l'arbre aléatoire (SRT) pour l'exploration. Ces résultats sont comparés avec les résultats de notre stratégie.One of the fundamental challenges of today's robotics is to obtain robust maps using efficient mechanisms for exploring and modeling increasingly complex environments. This is known as simultaneous planning, localization and mapping (SPLAM) problem.Considering this problem, in this thesis we have developed some tools to obtain a SPLAM strategy. First, the exploration is made by the Random Exploration Graph approach (REG) which is based on the creation of a graph structure and on a frontier control. Next, the simultaneous localization and mapping (SLAM) problem is solved using a B-Spline based topologic strategy. To validate our strategy, we have created another SPLAM approach based on well known tools as the Extended Kalman Filter for SLAM and on the Sensor based Random tree (SRT) for the exploration problem. Its results are confronted with the results obtained by our strategy

Análisis para la definición de una estrategia y un modelo de gestión del conocimiento en empresas tecnológicas

The definition of a strategy for technology management and research training within companies is a priority to innovate. Mexico has the third world in exports of services with 4.9 billion dollars, It is the sixth-best world and second destination in Latin America of location global services including outsourcing information technology services, embedded software and development of hardware; in the state of Jalisco companies that are integrated into the "High technology ecosystem" have managed to develop marketable products. However, these developments are not reflected in the indicators that measure the scientific production: patenting and publications, essential components for increasing national competitiveness and social improvement. This paper presents an analysis of these companies to allow a subsequent definition of a strategy and knowledge management modelLa definici6n de una estrategia de gesti6n tecnológica y la formación de investigadores dentro de empresas es prioritaria para innovar. México ocupa el tercer lugar mundial en exportaciones de servicios con un monto de 4.9 mil millones de Mares, es el sexto mejor destino mundial y segundo en Latinoamérica en localización de servicios globales que incluyen tercerización de servicios de tecnologías de la información, software embebido y desarrollo de hardware. En el estado de Jalisco, existen empresas tecnológicas integradas al "Ecosistema de alta tecnología" que han logrado desarrollar productos comercializables. Sin embargo, estos avances no se ven reflejados en los indicadores que miden la producción científica como el registro de patentes y las publicaciones, componentes indispensables para el incremento de la competitividad nacional y la mejora social. En este documento se presenta un análisis de estas empresas que permita la posterior definición de un modelo de gestión del conocimiento

Prospectiva de gestión de riesgos industriales en México con el uso de drones

La elaboración de escenarios futuros representa un ejercicio enriquecedor y, sin duda, es una actividad necesaria para la planeación a largo plazo. Su propósito es establecer una situación problemática, por ejemplo, la identificación de peligros dentro del proceso de gestión de riesgos en seguridad industrial en México, y la manera como se pueden obtener beneficios al adoptar la tecnología de drones y evitar accidentes con la identificación y eliminación de sus causas. La presente investigación se hizo de acuerdo a Cisco y GBN, mediante preguntas realizadas a expertos y personal de las empresas sobre el tema y otros afines; asimismo, se desarrollaron cuatro historias futuras acerca del tema de estudios: el escenario inseguro, el escenario corrupto, los escenarios drásticos y los escenarios de resurrección