The Shannon Entropy Trend of a Fish System Estimated by a Machine Vision Approach Seems to Reflect the Molar Se:Hg Ratio of Its Feed

The present study investigates the suitability of a machine vision-based method to detect deviations in the Shannon entropy (SE) of a European seabass (Dicentrarchus labrax) biological system fed with different selenium: mercury (Se:Hg) molar ratios. Four groups of fish were fed during 14 days with commercial feed (control) and with the same feed spiked with 0.5, 5 and 10 mg of MeHg per kg, giving Se: Hg molar ratios of 29.5 (control-C-1); 6.6, 0.8 and 0.4 (C-2, C-3 and C-4). The basal SE of C-1 and C-2 (Se:Hg > 1) tended to increase during the experimental period, while that of C-3 and C-4 (Se:Hg < 1) tended to decrease. In addition, the differences in the SE of the four systems in response to a stochastic event minus that of the respective basal states were less pronounced in the systems fed with Se: Hg molar ratios lower than one (C-3 and C-4). These results indicate that the SE may be a suitable indicator for the prediction of seafood safety and fish health (i.e., the Se: Hg molar ratio and not the Hg concentration alone) prior to the displaying of pathological symptoms. We hope that this work can serve as a first step for further investigations to confirm and validate the present results prior to their potential implementation in practical settings.We wish to thank Grupo Tinamenor (Cantabria, Spain) for providing the European seabass. Jose Antonio Carrero, of the Department of Analytical Chemistry of the University of the Basque Country, UPV-EHU, measured the concentrations of Hg and Se in the feeds by ICP-MS. The work was supported by grants from the Spanish MINECO (RTC-2014-2837-2-"SELATUN: Minimizacion de la problematica del mercurio del atun y valorizacion del atun como alimento saludable, Programa Retos-Colaboracion 2014" and CTM2012-40203-C02-01-"BMW: Biomarcadores estandar de base cientifica en mejillon para diagnosticar y monitorizar los efectos biologicos de la polucion en el Golfo de Bizkaia: implementacion de la DEME"), Euskampus Fundazioa-Campus of International Excellence (307615SAA2) and from the Basque Government Elkartek Grant KK-2016/00057-"MAROMEGA: Nuevas alternativas para la produccion de omega-3 a partir derecursos marinos". The funding sources had no involvement in the preparation of this manuscript. We would like to express our gratitude to the three anonymous reviewers for their useful comments in order to improve this manuscript

A Generic Multi-Layer Architecture Based on ROS-JADE Integration for Autonomous Transport Vehicles

The design and operation of manufacturing systems is evolving to adapt to different challenges. One of the most important is the reconfiguration of the manufacturing process in response to context changes (e.g., faulty equipment or urgent orders, among others). In this sense, the Autonomous Transport Vehicle (ATV) plays a key role in building more flexible and decentralized manufacturing systems. Nowadays, robotic frameworks (RFs) are used for developing robotic systems such as ATVs, but they focus on the control of the robotic system itself. However, social abilities are required for performing intelligent interaction (peer-to-peer negotiation and decision-making) among the different and heterogeneous Cyber Physical Production Systems (such as machines, transport systems and other equipment present in the factory) to achieve manufacturing reconfiguration. This work contributes a generic multi-layer architecture that integrates a RF with a Multi-Agent System (MAS) to provide social abilities to ATVs. This architecture has been implemented on ROS and JADE, the most widespread RF and MAS framework, respectively. We believe this to be the first work that addresses the intelligent interaction of transportation systems for flexible manufacturing environments in a holistic form.This work was financed by MINECO/FEDER, UE (grant number DPI2015-68602-R) and by UPV/EHU (grant number PPG17/56)

A proposal to introduce digitalization technologies within the automation learning process

Although the digital factory (DF) concept has raised high expectations since its inception, it is still missing industrial impact. One of the problems attributed to this issue is the lack of education curricula for enhancing the related digital competences of the future professionals. Higher education institutions, as major stakeholders in education, should introduce the new technologies for DF in practical courses. However, it is difficult to deal with the complexity of those technologies in a time-limited environment such us a bachelor or a master course. Instead of providing complete knowledge, this paper proposes to focus on the methodological aspects that allow students to acquire the skills needed to handle those technologies. Specifically, this paper illustrates this approach for teaching virtual commissioning (VC) within the automation learning process. The goal is to show the students how to use powerful industrial tools for performing VC through a set of methodological steps that help students manage the complexity of the VC process regardless of the specific tools used for it.This work was financed by Erasmus+, UE (grant number 2018-1-FR01-KA203-048175) and by GV/EJ (grant numbers IT1324-19 and KK-2019-00095

OpenFog-Compliant Application-Aware Platform: A Kubernetes Extension

Distributed computing paradigms have evolved towards low latency and highly virtualized environments. Fog Computing, as its latest iteration, enables the usage of Cloud-like services closer to the generators and consumers of data. The processing in this layer is performed by Fog Applications, which are decomposed into smaller components following the microservice paradigm and encapsulated into containers. Current state-of-the-art container orchestrators can manage hundreds of simultaneous containers. However, Kubernetes, being the de facto standard, does not consider the application itself as a top-level entity, which limits its orchestration capabilities. This raises the need to rearchitect Kubernetes to benefit from application-awareness, which refers to an orchestration method optimized for managing the applications and the set of components that comprise them. Thus, this paper proposes an application-aware and OpenFog-compliant architecture that manages applications as first-level entities during their lifecycle. Furthermore, the proposed architecture allows the definition of organizational structures to group subordinated applications based on user-defined hierarchies. This logical structuring makes it possible to outline how orchestration should be shaped to reflect the operating model of a system or an organization. The proposed architecture is implemented as a Kubernetes extension and provided as an operator.This research was funded by the project PES18/48 funded by the University of the Basque Country (UPV/EHU) and by the PhD fellowship granted under the frame of the PIF 2022 call funded by the University of the Basque Country (UPV/EHU), grant number PIF22/188

A Generic ROS-Based Control Architecture for Pest Inspection and Treatment in Greenhouses Using a Mobile Manipulator

To meet the demands of a rising population greenhouses must face the challenge of producing more in a more efficient and sustainable way. Innovative mobile robotic solutions with flexible navigation and manipulation strategies can help monitor the field in real-time. Guided by Integrated Pest Management strategies, robots can perform early pest detection and selective treatment tasks autonomously. However, combining the different robotic skills is an error prone work that requires experience in many robotic fields, usually deriving on ad-hoc solutions that are not reusable in other contexts. This work presents Robotframework, a generic ROS-based architecture which can easily integrate different navigation, manipulation, perception, and high-decision modules leading to a faster and simplified development of new robotic applications. The architecture includes generic real-time data collection tools, diagnosis and error handling modules, and user-friendly interfaces. To demonstrate the benefits of combining and easily integrating different robotic skills using the architecture, two flexible manipulation strategies have been developed to enhance the pest detection in its early state and to perform targeted spraying in simulated and field commercial greenhouses. Besides, an additional use-case has been included to demonstrate the applicability of the architecture in other industrial contexts.This work was supported in part by the GreenPatrol European Project through the European GNSS Agency by the European Union's (EU) Horizon 2020 Research and Innovation Program under Grant 776324 [11]. Documen

A Customizable Architecture for Application-Centric Management of Context-Aware Applications

[EN] Context-aware applications present common requirements (e.g., heterogeneity, scalability, adaptability, availability) in a variety of domains (e.g., healthcare, natural disaster prevention, smart factories). Besides, they do also present domain specific requirements, among which the application concept itself is included. Therefore, a platform in charge of managing their execution must be generic enough to cover common requirements, but it must also be adaptable enough to consider the domain aspects to meet the demands at application-level. Several approaches in the literature tackle some of these demands, but not all of them, and without considering the applications concept and the customization demands in different domains. This work proposes a generic and customizable management architecture that covers both types of requirements based on multi-agent technology and model-driven development. Multi-agent technology is used to enable the distributed intelligence needed to address many common requirements, whereas model-driven development allows to address domain specific particularities. On top of that, a customization methodology to develop specific platforms from this generic architecture is also presented. This methodology is assessed by means of a case study in the domain of eHealthCare. Finally, the performance of MAS-RECON is compared with the most popular tool for the orchestration of containerized applications.This work was supported in part by the Ministerio de Ciencia, Innovacion y Universidades (MCIU)/Agencia Estatal de Investigacion (AEI)/Fondo Europeo de Desarrollo Regional (FEDER), Union Europea (UE), under Grant RTI2018-096116-B-I00; and in part by the Gobierno Vasco (GV)/Eusko Jaurlaritza (EJ) under Grant IT1324-19

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