Gas Source Localization Strategies for Teleoperated Mobile Robots. An Experimental Analysis

Gas source localization (GSL) is one of the most important and direct applications of a gas sensitive mobile robot, and consists in searching for one or multiple volatile emission sources with a mobile robot that has improved sensing capabilities (i.e. olfaction, wind flow, etc.). This work adresses GSL by employing a teleoperated mobile robot, and focuses on which search strategy is the most suitable for this teleoperated approach. Four different search strategies, namely chemotaxis, anemotaxis, gas-mapping, and visual-aided search, are analyzed and evaluated according to a set of proposed indicators (e.g. accuracy, efficiency, success rate, etc.) to determine the most suitable one for a human-teleoperated mobile robot. Experimental validation is carried out employing a large dataset composed of over 150 trials where volunteer operators had to locate a gas-leak in a virtual environment under various and realistic environmental conditions (i.e. different wind flow patterns and gas source locations). We report different findings, from which we highlight that, against intuition, visual-aided search is not always the best strategy, but depends on the environmental conditions and the operator’s ability to understand how gas distributes.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

El acceso a la información de los refugiados en entornos digitales y presenciales: resultados a partir de grupos focales

In today’s migration processes, Information Communication Technologies (ICT) are increasingly important for refugee experiences and mobilities (Gillespie, Osseiran and Cheesman, 2016). In this light, there is a call by institutions such as the United Nations High Commissioner for Refugees (2016a; 2020a) and researchers in the field of refugee integration (AbuJarour et al, 2019) for initiatives employing ICT to cater for refugees’ need for information and communication. This article discusses some information seeking practices of asylum seekers and refugees, in online and offline environments. The data was gathered by means of nine focus group discussions with refugee communities in Greece, Italy, and Spain, involving a total of 41 participants of 13 different nationalities. Issues relating to the languages and the accessibility of the information that is available to them are discussed. The results of this research will inform the subsequent phases of REBUILD, a project funded by European Commission whose aim is the creation of a user-centred ICT-tool to promote refugee and migrant integration in Europe.En los procesos migratorios actuales, las TIC son cada vez más importantes para las experiencias y movilidades de los refugiados (Gillespie, Osseiran y Cheesman, 2016). En este sentido, instituciones como el Alto Comisionado de las Naciones Unidas para los Refugiados (2016a; 2020a) e investigadores en el campo de la integración de los refugiados (AbuJarouret al., 2019) llaman al diseño de iniciativas que empleen las TIC para atender las necesidades de información y comunicación. Este artículo analiza el acceso a la información de los refugiados en entornos online y offline. Los datos se recopilaron mediante nueve grupos de discusión con comunidades de refugiados en Grecia, Italia y España, en los que participaron un total de 41 participantes de 13 nacionalidades diferentes. Se abordan temas relacionados con los idiomas y la accesibilidad de la información de la que disponen. Los resultados de esta investigación orientaránlas siguientes fases de REBUILD, un proyecto financiado por la Comisión Europea cuyo objetivo es la creación de una herramienta TIC para promover la integración de refugiados y migrantes en Europa

Manipulation of Polymorphic Objects Using Two Robotic Arms through CNN Networks

This article presents an interaction system for two 5 DOF (Degrees of Freedom) manipulators with 3-finger grippers, which will be used to grab and displace up to 10 polymorphic objects shaped as pentominoes, inside a VRML (Virtual Reality Modeling Language) environment, by performing element detection and classification using an R-CNN (Region Proposal Convolutional Neural Network), and point detection and gripping orientation using a DAG-CNN (Directed Acyclic Graph-Convolutional Neural Network). It was analyzed the feasibility or not of a grasp is determined depending on how the geometry of an element fits the free space between the gripper fingers. A database was created to be used as training data with each of the grasp positions for the polyshapes, so the network training can be focused on finding the desired grasp positions, enabling any other grasp found to be considered a feasible grasp, and eliminating the need to find additional better grasp points, changing the shape, inclination and angle of rotation. Under varying test conditions, the test successfully achieved gripping of each object with one manipulator and passing it to the second manipulator as part of the grouping process, in the opposite end of the work area, using an R-CNN and a DAG-CNN, with an accuracy of 95.5% and 98.8%, respectively, and performing a geometric analysis of the objects to determine the displacement and rotation required by the gripper for each individual grip

Integrating Olfaction in a Robotic Telepresence Loop

In this work we propose enhancing a typical robotic telepresence architecture by considering olfactory and wind flow information in addition to the common audio and video channels. The objective is to expand the range of applications where robotics telepresence can be applied, including those related to the detection of volatile chemical substances (e.g. land-mine detection, explosive deactivation, operations in noxious environments, etc.). Concretely, we analyze how the sense of smell can be integrated in the telepresence loop, covering the digitization of the gases and wind flow present in the remote environment, the transmission through the communication network, and their display at the user location. Experiments under different environmental conditions are presented to validate the proposed telepresence system when localizing a gas emission leak at the remote environment.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

EFFECTS OF FOREIGN DIRECT INVESTMENT ON WAGES IN THE MANUFACTURING SECTOR, 2002-2008

The purpose of the present thesis is to analyze the effects of FDI on wages in the manufacturing sector from 2002-2008 in 33 different countries. The introductory chapter will review existing literature, distinguishing between neoclassical, political economy and sociology approaches. A second part will estimate the effects of FDI on wages using the panel ordinary least squares (OLS) fixed effects method. Variables included to explain effects on wages, comprise: employment, inward FDI flows and stock, domestic capital, education and trade openness. Two sources are used to obtain international manufacturing wages’ data: International Labour Organization (ILO, 2012) and the United Nations Industrial Development Organization (UNIDO, 2012). The main contribution of this master thesis is its estimation of the effects of FDI on wages in the manufacturing sector for both developing and developed countries, with the use of actual FDI data in the manufacturing sector. As a result, this master thesis will enable the reader to understand the effects of FDI on workers' wages in the manufacturing sector

Planetary landing: modelling and control of the propulsion descent

In the propulsive phase, after parachute release, of planetary landing like Mars or Moon, horizontal motion is obtained by tilting the axial thrust, so that it aligns either to the negative velocity vector (gravity turn) or to the requested acceleration vector. The latter strategy is assumed here, as it allows pinpoint landing. As such, tilt angles (pitch and yaw) become proportional to the horizontal acceleration. Instead of designing a hierarchical guidance and control in which horizontal acceleration becomes the attitude control target, a unique control system can be designed based on the fourth order dynamics from angular acceleration to position. The paper shows that the combined dynamics can be (quasi) input-state linearized except the nonlinear factor of the tilt angles (the axial thrust imposed by vertical braking). The paper shows that control design around the reference trajectory (tilt and position) given by the guidance can exploit the quasi linearization, but tracking error stability must be proved in presence of a not stabilizable external disturbance. The paper is restricted to closed-loop control strategies, and their effectiveness is proved through Monte Carlo simulations

Analytic model for the surface potential and drain current in negative capacitance field-effect transistors

In 2008, Salahuddin and Datta proposed that a ferroelectric material operating in the negative capacitance region could act as a step-up converter of the surface potential in a MOS structure, opening a new route for the realization of transistors with steeper subthreshold characteristics (S<60 mV/decade). In this letter, a comprehensive physics-based surface potential and drain current model for the negative capacitance field-effect transistor is reported. The model is aimed to evaluate the potentiality of such transistors for low-power switching applications. Moreover it provides a model core for memories devices relying on the hysteretic behavior of the ferroelectric gate insulator.Comment: 9 pages, 6 figure

Seguridad en un data center en la nube a nivel de infraestructura

Las organizaciones requieren acompañamiento por parte de profesionales y consultores que les permita determinar cómo implementar la seguridad que un data center en la nube, Teniendo en cuenta que los ataque de robo de información hoy en día se presentan constantemente, y que la información allí guardada es de suma importancia para la persona o empresa que está utilizando el data center en la nube, se desea realizar un documento base. El documento base contará con los conocimientos básicos que ayudará a las organizaciones que administran estos data center en la nube a proteger lo anteriormente mencionado mediante tecnologías libres, esto brindará un bajo manejo en los presupuestos a la hora de proteger la información, ya que este procedimiento puede demandar altos costos para la empresa u organización. También será elaborada pensando en las empresas u organizaciones que no cuenta con ningún conocimiento ni experiencias en base a la seguridad que debe contener un data center en la nube, informando no solo de los riesgos que se presentan en los data center en la nube, sino también cómo prevenirlos y cómo implementar estas tecnologías libres

Environmental Problem-Solving: An Application Of Institutional Theory And Systems Thinking To The Alexander Skutch Biological Corridor

This research utilizes Soft System Methodologies (SSM) in the application of an institutional theory framework to explore the link between worldviews, institutions, and environmental problem-solving (EPS). Using the institutionally-complex context of the Alexander Skutch Biological Corridor (ASBC) in Costa Rica, I employ an SSM intervention and a grounded theory inductive approach to investigate how organizations construct multiple problem-solving modes. The work demonstrates the effects of incompatible logics on shared environmental transformation projects that are dependent on the interaction of various agents. Idiosyncratic issues, emergent conditions, pre-existing conditions, aggravating organizational responses and mitigating organizational responses are introduced as theoretical constructs that help explain the evolution of institutional complexity within ASBC, and its impacts on EPS. The findings suggest that institutional complexity has impaired the problem-solving capacity by reducing coordination and polarizing issues. The result is a situation that leads to simplistic EPS that is not aligned with viable and effective solutions to the problems that motivated the creation of the corridor