An evaluation of plume tracking as a strategy for gas source localization in turbulent wind flows

Gas source localization is likely the most direct application of a mobile robot endowed with gas sensing capabilities. Multiple algorithms have been proposed to locate the gas source within a known environment, ranging from bio-inspired to probabilistic ones. However, their application to real-world conditions still remains a major issue due to the great difficulties those scenarios bring, among others, the common presence of obstacles which hamper the movement of the robot and notably ncrease the complexity of the gas dispersion. In this work, we consider a plume tracking algorithm based on the well-known silkworm moth strategy and analyze its performance when facing different realistic environments characterized by the presence of obstacles and turbulent wind flows. We rely on computational fluid dynamics and the open source gas dispersion simulator GADEN to generate realistic gas distributions in scenarios where the presence of obstacles breaks down the ideal downwind plume. We first propose some modifications to the original silkworm moth algorithm in order to deal with the presence of obstacles in the environment (avoiding collisions) and then analyze its performance within four challenging environments.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Proyecto de excelencia de la Junata de Andalucia TEP2012-53

Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project

Proyecto de Excelencia Junta de Andalucía TEP2012-530Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to successfully accomplish high-level robot activities, such as task planning or execution in human environments. This paper describes the developments carried out in the scope of the IRO project, which aims at making progress in this direction by investigating mechanisms that exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems like object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decisionmaking processes. The results of the IRO project have improved the robot capabilities in terms of efciency, autonomy and usefulness.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tec

A Method for Patching Interleaving-Replay Attacks in Faulty Security Protocols

AbstractThe verification of security protocols has attracted a lot of interest in the formal methods community, yielding two main verification approaches: i) state exploration, e.g. FDR [Gavin Lowe. Breaking and fixing the needham-schroeder public-key protocol using FDR. In TACAs'96: Proceedings of the Second International Workshop on Tools and Algorithms for Construction and Analysis of Systems, pages 147–166, London, UK, 1996. Springer-Verlag] and OFMC [A.D. Basin, S. Mödersheim, and L. Viganò. An on-the-fly model-checker for security protocol analysis. In D. Gollmann and E. Snekkenes, editors, ESORICS'03: 8th European Symposium on Research in Computer Security, number 2808 in Lecture Notes in Computer Science, pages 253–270, Gjøvik, Norway, 2003. Springer-Verlag]; and ii) theorem proving, e.g. the Isabelle inductive method [Lawrence C. Paulson. The inductive approach to verifying cryptographic protocols. Journal in Computer Security, 6(1-2):85–128, 1998] and Coral [G. Steel, A. Bundy, and M. Maidl. Attacking the asokan-ginzboorg protocol for key distribution in an ad-hoc bluetooth network using coral. In H. König, M. Heiner, and A. Wolisz, editors, IFIP TC6 /WG 6.1: Proceedings of 23rd IFIP International Conference on Formal Techniques for Networked and Distributed Systems, volume 2767, pages 1–10, Berlin, Germany, 2003. FORTE 2003 (work in progress papers)]. Complementing formal methods, Abadi and Needham's principles aim to guide the design of security protocols in order to make them simple and, hopefully, correct [M. Abadi and R. Needham. Prudent engineering practice for cryptographic protocols. IEEE Transactions on Software Engineering, 22(1):6–15, 1996]. We are interested in a problem related to verification but far less explored: the correction of faulty security protocols. Experience has shown that the analysis of counterexamples or failed proof attempts often holds the key to the completion of proofs and for the correction of a faulty model. In this paper, we introduce a method for patching faulty security protocols that are susceptible to an interleaving-replay attack. Our method makes use of Abadi and Needham's principles for the prudent engineering practice for cryptographic protocols in order to guide the location of the fault in a protocol as well as the proposition of candidate patches. We have run a test on our method with encouraging results. The test set includes 21 faulty security protocols borrowed from the Clark-Jacob library [J. Clark and J. Jacob. A survey of authentication protocol literature: Version 1.0. Technical report, Department of Computer Science, University of York, November 1997. A complete specification of the Clark-Jacob library in CAPSL is available at http://www.cs.sri.com/millen/capsl/]

GadenTools: a toolkit for testing and simulating robotic olfaction tasks with Jupyter Notebook support

This work presents GadenTools, a toolkit designed to ease the development and integration of mobile robotic olfaction applications by enabling a convenient and user-friendly access to Gaden’s realistic gas dispersion simulations. It is based on an easy-to-use Python API, and includes an extensive tutorial developed with Jupyter Notebook and Google Colab technologies. A detailed set of examples illustrates aspects ranging from basic access to sensory data or the generation of ground truth images, to the more advanced implementation of plume tracking algorithms, all in an online web-editor with no installation requirements. All the resources, including the source code, are made available in an online open repository.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Proof Plans for the Correction of False Conjectures

Theorem proving is the systematic derivation of a mathcmaticM proof from a set of axioms by the use of rules of inference. We ~re interested in a related but far less explored problem: the analysis and correction of false conjectures, especiMly where that correction involves finding a collection of antecedents that, together with a set of axioms, transform non-theorems into theorems. Most failed search trees are huge, and special care is to be taken in order to tackle the combinatorial explosion phenoraenom Fortunately, the planning search space generated by proof plans, see [1], are moderately small. We have explored the possibility of using this technique in the implementation of an abduction mechanism to correct non-theorems

Proof Plans for the Correction of False Conjectures

Theorem proving is the systematic derivation of a mathematical proof from a set of axioms by the use of rules of inference. We are interested in a related but far less explored problem: the analysis and correction of false conjectures, especially where that correction involves finding a collection of antecedents that, together with a set of axioms, transform non-theorems into theorems. Most failed search trees are huge, and special care is to be taken in order to tackle the combinatorial explosion phenomenon. Fortunately, the planning search space generated by proof plans, see [1], are moderately small. We have explored the possibility of using this technique in the implementation of an abduction mechanism to correct non-theorems

High-capacity 5G fronthaul networks based on optical space division multiplexing

\u3cp\u3eThe introduction of 5G mobile networks, bringing multi-Gbit/s user data rates and reduced latency, opens new opportunities for media generation, transport and distribution, as well as for new immersive media applications. The expected use of millimeter-wave carriers and the strong network densification resulting from a much reduced cell size--which enable the expected performance of 5G--pose major challenges to the fronthaul network. Space division multiplexing (SDM) in the optical domain has been suggested for ultra-high capacity fronthaul networks that naturally support different classes of fronthaul traffic and further enable the use of analog radio-over-fiber and advanced technologies, such as optical beamforming. This paper discusses the introduction of SDM with multi-core fibers in the fronthaul network as suggested by the blueSPACE project, regarding both digitized and analog radio-over-fiber fronthaul transport as well as the introduction of optical beamforming for high-capacity millimeter-wave radio access. Analog and digitized radio-over-fiber are discussed in a scenario featuring parallel fronthaul for different radio access technologies, showcasing their differences and potential when combined with SDM.\u3c/p\u3

Exploiting Spatio-Temporal Coherence for Video Object Detection in Robotics

This paper proposes a method to enhance video object detection for indoor environments in robotics. Concretely, it exploits knowledge about the camera motion between frames to propagate previously detected objects to successive frames. The proposal is rooted in the concepts of planar homography to propose regions of interest where to find objects, and recursive Bayesian filtering to integrate observations over time. The proposal is evaluated on six virtual, indoor environments, accounting for the detection of nine object classes over a total of ∼ 7k frames. Results show that our proposal improves the recall and the F1-score by a factor of 1.41 and 1.27, respectively, as well as it achieves a significant reduction of the object categorization entropy (58.8%) when compared to a two-stage video object detection method used as baseline, at the cost of small time overheads (120 ms) and precision loss (0.92).</p