Evaluating a human-robot interface for exploration missions

The research reported in this paper concerns the design, implementation, and experimental evaluation of a Human-Robot Interface for stationary remote operators, implemented for a PC computer. The GUI design and functionality is described. An Autonomy Management Model has been implemented and explained. We have conducted user evaluation, making two set of experiments, that will be described and the resulting data analyzed. The conclusions give an insight on the most important usability concerns, regarding the operator situational awareness. The scalability of the interface is also experimentally studied

Computation of the optimal relative pose between overlapping grid maps through discrepancy minimization

Grid maps are a common environment representation in mobile robotics. Many Simultaneous Localization and Mapping (SLAM) solutions divide the global map into submaps, forming some kind of graph or tree to represent the structure of the environment, while the metric details are captured in the submaps. This work presents a novel algorithm that is able to compute a physically feasible relative pose between two overlapping grid maps. Our algorithm can be used for correspondence search (data association), but also for integrating negative information in a unified way. This paper proposes a discrepancy measure between two overlapping grid maps and its application in a quasi Newton optimization algorithm, with the hypothesis that minimizing such discrepancy could provide useful information for SLAM. Experimental evidence is provided showing the high potential of the algorithm

Fast processing of grid maps using graphical multiprocessors

Grid mapping is a very common technique used in mobile robotics to build a continuous 2D representation of the environment useful for navigation purposes. Although its computation is quite simple and fast, this algorithm uses the hypothesis of a known robot pose. In practice, this can require the re-computation of the map when the estimated robot poses change, as when a loop closure is detected. This paper presents a parallelization of a reference implementation of the grid mapping algorithm, which is suitable to be fully run on a graphics card showing huge processing speedups (up to 50×) while fully releasing the main processor, which can be very useful for many Simultaneous Localization and Mapping algorithms

Building maps of large environments using splines and geometric analysis

Recently, a novel solution to the Simultaneous Localization and Map building (SLAM) problem for complex indoor environments was presented, using a set of splines for describing the geometries detected by a laser range finder mounted on a mobile platform. In this paper, a method for exploiting the geometric information underlying in these maps in the data association process is described. The proposed approach uses graphs of relations between simple features extracted from the environment, and a bit encoded implementation for obtaining a maximum clique that relates observations with previously visited areas. This information is used to update the relative positions of a collage of submaps of limited size

Extraction of Geometrical Features in 3D Environments for Service Robotic Applications

Modeling environments with 3D feature based representations is a challenging issue in current mobile robotics. Fast and robust algorithms are required for applicability to navigation. We present an original and effective segmentation method that uses computer vision techniques and the residuals from plane fitting as measurements to generate a range image from 3D data acquired by a laser scanner. The extracted points of each region are converted into plane patches, spheres and cylinders by means of least-squares fitting

Robot Goes Back Home Despite All the People

We have developed a navigation system for a mobile robot that enables it to autonomously return to a start point after completing a route. It works efficiently even in complex, low structured and populated indoor environments. A point-based map of the environment is built as the robot explores new areas; it is employed for localization and obstacle avoidance. Points corresponding to dynamical objects are removed from the map so that they do not affect navigation in a wrong way. The algorithms and results we deem more relevant are explained in the paper

SITED: Un laboratorio interactivo y portable de electrónica digital

Esta comunicación presenta un dispositivo que, conectado a un ordenador a través de un puerto USB, convierte el conjunto en una plataforma interactiva para la realización de prácticas básicas de Electrónica Digital, que hemos dado en llamar SITED, acrónimo de Sistema Interactivo Tutor de Electrónica Digital. Este sistema es una evolución de otro diseño anterior, que se denominó ETED (Entrenador Tutor de Electrónica Digital), con el que se ha obtenido una mejora de las actividades prácticas que se desarrollan en el Laboratorio de la asignatura “Electrónica Digital

Learning of the Object Oriented Paradigm Through Interactive Video-Games Development

The Object Orientation Paradigm (OOP) is more than Object Oriented languages. Learning the syntax of a language as C++ or Java is a relatively easy task compared with the understanding of the principles of OO Modeling and Design (OOD), which require a high ability of abstract reasoning. Moreover, it is not enough to teach the artifacts of Computer Aided Software Engineering (CASE) as the Unified Modeling Language (UML) if those principles are not properly understood. We wanted to engage the students in a motivating framework, so both the principles of OOD are properly acquired and put in practice with CASE and programming tools

An improved bit parallel exact maximum clique algorithm

This paper describes new improvements for BB-MaxClique (San Segundo et al. in Comput Oper Resour 38(2):571–581, 2011 ), a leading maximum clique algorithm which uses bit strings to efficiently compute basic operations during search by bit masking. Improvements include a recently described recoloring strategy in Tomita et al. (Proceedings of the 4th International Workshop on Algorithms and Computation. Lecture Notes in Computer Science, vol 5942. Springer, Berlin, pp 191–203, 2010 ), which is now integrated in the bit string framework, as well as different optimization strategies for fast bit scanning. Reported results over DIMACS and random graphs show that the new variants improve over previous BB-MaxClique for a vast majority of cases. It is also established that recoloring is mainly useful for graphs with high densities

News and updates in the treatment of localized stage triple-negative breast cancer

Compared to other breast cancer subtypes, triple-negative breast cancer presents a worse prognosis and higher mortality. Even in localized stages, the risk of relapse is high, especially in patients with ≥ cT2 and/or ≥ cN1. We know that those patients who achieve a complete pathologic response after neoadjuvant treatment have better disease-free survival. Therefore, many research efforts have been made to try to optimize neoadjuvant chemo/immunotherapy to increase pathologic complete response rates. The available evidence related to that subject matter is summarized in this article. In the field of adjuvant therapy, the challenge of improving disease-free survival in those patients who do not achieve pathologic complete response after neoadjuvant therapy stands out. The second part of this article will deal with the challenges inherent to this issue