Range-only SLAM schemes exploiting robot-sensor network cooperation

Simultaneous localization and mapping (SLAM) is a key problem in robotics. A robot with no previous knowledge of the environment builds a map of this environment and localizes itself in that map. Range-only SLAM is a particularization of the SLAM problem which only uses the information provided by range sensors. This PhD Thesis describes the design, integration, evaluation and validation of a set of schemes for accurate and e_cient range-only simultaneous localization and mapping exploiting the cooperation between robots and sensor networks. This PhD Thesis proposes a general architecture for range-only simultaneous localization and mapping (RO-SLAM) with cooperation between robots and sensor networks. The adopted architecture has two main characteristics. First, it exploits the sensing, computational and communication capabilities of sensor network nodes. Both, the robot and the beacons actively participate in the execution of the RO-SLAM _lter. Second, it integrates not only robot-beacon measurements but also range measurements between two di_erent beacons, the so-called inter-beacon measurements. Most reported RO-SLAM methods are executed in a centralized manner in the robot. In these methods all tasks in RO-SLAM are executed in the robot, including measurement gathering, integration of measurements in RO-SLAM and the Prediction stage. These fully centralized RO-SLAM methods require high computational burden in the robot and have very poor scalability. This PhD Thesis proposes three di_erent schemes that works under the aforementioned architecture. These schemes exploit the advantages of cooperation between robots and sensor networks and intend to minimize the drawbacks of this cooperation. The _rst scheme proposed in this PhD Thesis is a RO-SLAM scheme with dynamically con_gurable measurement gathering. Integrating inter-beacon measurements in RO-SLAM signi_cantly improves map estimation but involves high consumption of resources, such as the energy required to gather and transmit measurements, the bandwidth required by the measurement collection protocol and the computational burden necessary to integrate the larger number of measurements. The objective of this scheme is to reduce the increment in resource consumption resulting from the integration of inter-beacon measurements by adopting a centralized mechanism running in the robot that adapts measurement gathering. The second scheme of this PhD Thesis consists in a distributed RO-SLAM scheme based on the Sparse Extended Information Filter (SEIF). This scheme reduces the increment in resource consumption resulting from the integration of inter-beacon measurements by adopting a distributed SLAM _lter in which each beacon is responsible for gathering its measurements to the robot and to other beacons and computing the SLAM Update stage in order to integrate its measurements in SLAM. Moreover, it inherits the scalability of the SEIF. The third scheme of this PhD Thesis is a resource-constrained RO-SLAM scheme based on the distributed SEIF previously presented. This scheme includes the two mechanisms developed in the previous contributions {measurement gathering control and distribution of RO-SLAM Update stage between beacons{ in order to reduce the increment in resource consumption resulting from the integration of inter-beacon measurements. This scheme exploits robot-beacon cooperation to improve SLAM accuracy and e_ciency while meeting a given resource consumption bound. The resource consumption bound is expressed in terms of the maximum number of measurements that can be integrated in SLAM per iteration. The sensing channel capacity used, the beacon energy consumed or the computational capacity employed, among others, are proportional to the number of measurements that are gathered and integrated in SLAM. The performance of the proposed schemes have been analyzed and compared with each other and with existing works. The proposed schemes are validated in real experiments with aerial robots. This PhD Thesis proves that the cooperation between robots and sensor networks provides many advantages to solve the RO-SLAM problem. Resource consumption is an important constraint in sensor networks. The proposed architecture allows the exploitation of the cooperation advantages. On the other hand, the proposed schemes give solutions to the resource limitation without degrading performance

Autonomous Execution of Cinematographic Shots with Multiple Drones

This paper presents a system for the execution of autonomous cinematography missions with a team of drones. The system allows media directors to design missions involving different types of shots with one or multiple cameras, running sequentially or concurrently. We introduce the complete architecture, which includes components for mission design, planning and execution. Then, we focus on the components related to autonomous mission execution. First, we propose a novel parametric description for shots, considering different types of camera motion and tracked targets; and we use it to implement a set of canonical shots. Second, for multi-drone shot execution, we propose distributed schedulers that activate different shot controllers on board the drones. Moreover, an event-based mechanism is used to synchronize shot execution among the drones and to account for inaccuracies during shot planning. Finally, we showcase the system with field experiments filming sport activities, including a real regatta event. We report on system integration and lessons learnt during our experimental campaigns

An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements

This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates. It also includes a supervision module that monitors the SLAM performance and dynamically selects the measurement gathering configuration balancing SLAM accuracy and resource consumption. The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34% and 14%, respectively) than traditional methods with a lower computational burden (16%) and similar beacon energy consumption.Unión Europea ICT-2011-288082CLEAR (DPI2011-28937-C02-01)Ministerio de Educación y Deporte

Use of a Visual Programming Language and Mobile Devices to Improves Students' Understanding of Process Control Systems

Nuestra principal contribución es la aplicación del lenguaje de programación visual (VPL, de sus siglas en inglés “Visual Programming Language”) y los dispositivos móviles (MD, de sus siglas en inglés “Mobile Devices”) para el aprendizaje de los sistemas de control, lo cual mejoró la comprensión de estudiantes regulares considerados dentro de un diseño cuasiexperimental. El empleo de un ambiente de enseñanza que emplea VPL y MD para abordar los sistemas de control de procesos fue la clave para resolver las dificultades de aprendizaje que tenían el estudiante con el método de enseñanza tradicional, y que perduraban a pesar de ya que se estaba considerando la alineación constructiva entre instrucción, aprendizaje y evaluación, actividades auténticas y un enfoque de aprendizaje basado en el diseño. Los elementos gráficos utilizados por VPL, tomados de una biblioteca hecha de bloques reutilizables, con diferentes formas y colores, facilitan la comprensión de los sistemas de control de procesos. También VPL muestra todo el sistema de control de procesos de un vistazo a través de los diferentes MD utilizados, que fueron computadoras portátiles, tabletas y teléfonos inteligentes. Ayudó que todos estos MD son bien conocidos y fáciles de usar para los estudiantes. La evaluación comparativa del rendimiento de aprendizaje de los estudiantes, con y sin el uso de VPL y MD, mostró la efectividad del rediseño en el modo de enseñanza. Se facilitó el aprendizaje de los sistemas de control de procesos, reduciendo las dificultades de la enseñanza tradicional y mejorando la comprensión de los estudiantes. Además, la autoeficacia de los estudiantes se vio afectada positivamente

Coarse-grain Load Distribution in Heterogeneous Computing

HPC heterogeneous clusters are composed by different type of machines (various types of component manufacturers, varying computational capacities), and different hardware accelerators. TThe most common type of data distributions is the equal division of the data across all the nodes. A more sophisticated policy of data distribution is needed to explode the computational capacity of the entire system

TuCCompi: a multi-layer model for distributed heterogeneous computing with tuning capabilities

Producción CientíficaDuring the last decade, parallel processing architectures have become a powerful tool to deal with massively-parallel problems that require High Performance Computing (HPC). The last trend of HPC is the use of heterogeneous environments, that combine different computational processing devices, such as CPU-cores and GPUs (Graphics Processing Units). Maximizing the performance of any GPU parallel implementation of an algorithm requires an in-depth knowledge about the GPU underlying architecture, becoming a tedious manual effort only suited for experienced programmers. In this paper, we present TuCCompi, a multi-layer abstract model that simplifies the programming on heterogeneous systems including hardware accelerators, by hiding the details of synchronization, deployment, and tuning. TuCCompi chooses optimal values for their configuration parameters using a kernel characterization provided by the programmer. This model is very useful to tackle problems characterized by independent, high computational-load independent tasks, such as embarrassingly-parallel problems. We have evaluated TuCCompi in different, real-world, heterogeneous environments using the All-Pair Shortest-Path problem as a case study.Ministerio de Economía y Competitividad and ERDF program of the European Union: CAPAP-H5 network (TIN2014-53522-REDT), MOGECOPP project (TIN2011-25639); Junta de Castilla y Leon (Spain): ATLAS project (VA172A12-2); and the COST Program Action IC1305: NESUS

Unmanned aerial vehicle abstraction layer: An abstraction layer to operate unmanned aerial vehicles

This article presents a software layer to abstract users of unmanned aerial vehicles from the specific hardware of the platform and the autopilot interfaces. The main objective of our unmanned aerial vehicle abstraction layer (UAL) is to simplify the development and testing of higher-level algorithms in aerial robotics by trying to standardize and simplify the interfaces with the unmanned aerial vehicles. Unmanned aerial vehicle abstraction layer supports operation with PX4 and DJI autopilots (among others), which are current leading manufacturers. Besides, unmanned aerial vehicle abstraction layer can work seamlessly with simulated or real platforms and it provides calls to issue standard commands such as taking off, landing or pose, and velocity controls. Even though unmanned aerial vehicle abstraction layer is under continuous development, a stable version is available for public use. We showcase the use of unmanned aerial vehicle abstraction layer with a set of applications coming from several European research projects, where different academic and industrial entities have adopted unmanned aerial vehicle abstraction layer as a common development framework

Temporal profiles of intra- and extracellular laccase isoenzymes from Pleurotus ostreatus produced in submerged and solid-state cultures

Laccases are enzymes that have a great potential for use in breaking down toxic compounds. Fungal laccases show high enzymatic activity, especially those produced by basidiomycetes. Depending on the culture conditions and the strain used, a variety of isoenzymes and/or enzymatic activities can be obtained. In this study, extracellular laccase enzymes produced by Pleurotus ostreatus was identified in a submerged culture (SmF), with and without copper sulphate as a chemical inducer, and in a solidstate culture (SSF), using wheat straw as natural inducer. This study was conducted to observe the expression of the enzymes produced under the culture conditions tested and their persistence during the culture, as well as the extracellular activity produced and the correspondence that the isoenzymes presented between the intracellular and extracellular media. A positive effect of the inducers on the specific laccase activity was observed either in SmF with copper sulphate or SSF (41.11 and 40.43 UI/mg protein, respectively), compared with that obtained in SmF without copper sulphate (2.87 UI/mg protein). This effect was different only at the time when the highest activity appeared (360 and 120 h, respectively), showing advantages in SSF. The same three isoenzymes were observed in the three kinds of cultures. The main differences among the laccase profiles reside in the time when they appeared in each culture and only an additional form of lower molecular weight was observed in SSF. The laccase enzymes in the intracellular extracts were equal to those in the extracellular ones. The laccase isoenzymes profiles suggest that the presence of inducers helps in maintaining the activity through the culture time.Keywords: Phenol oxidases, basidiomycete, enzymatic activity, copper, wheat straw, solid-state culture (SSF), submerged culture (SMF

Supporting efficient overlapping of host-device operations for heterogeneous programming with CtrlEvents

Producción CientíficaHeterogeneous systems with several kinds of devices, such as multi-core CPUs, GPUs, FPGAs, among others, are now commonplace. Exploiting all these devices with device-oriented programming models, such as CUDA or OpenCL, requires expertise and knowledge about the underlying hardware to tailor the application to each specific device, thus degrading performance portability. Higher-level proposals simplify the programming of these devices, but their current implementations do not have an efficient support to solve problems that include frequent bursts of computation and communication, or input/output operations. In this work we present CtrlEvents, a new heterogeneous runtime solution which automatically overlaps computation and communication whenever possible, simplifying and improving the efficiency of data-dependency analysis and the coordination of both device computations and host tasks that include generic I/O operations. Our solution outperforms other state-of-the-art implementations for most situations, presenting a good balance between portability, programmability and efficiency.Ministerio de Ciencia e Innovación - FEDER (TIN2017-88614-R)Junta de Castilla y León (VA226P20)Ministerio de Ciencia e Innovación - AEI and European Union NextGenerationEU/PRTR (TED2021–130367B–I00 and MCIN/AEI/10.13039/501100011033

New records of myxomycetes from high-elevation areas of Mexico and Guatemala

Surveys of four high-elevation study areas in central Mexico and northwestern Guatemala were carried out to obtain baseline information on the species of myxomycetes present. All study areas were sampled in 2006 and 2007. Both specimens that had fruited in the field and those obtained from moist chamber cultures in the laboratory were considered. The myxomycetes recorded included seven species that represented new records for Mexico and 35 species that were new for Guatemala. Five of these were new records for the Neotropics. A list of these species and information on the microhabitats in which they occurred is provided. This relatively limited study clearly demonstrates that high-elevation areas in the Neotropics are still undersampled for myxomycetes. For the majority of countries in the region, there are still information gaps relating to distribution patterns of myxomycetes. In the context of biodiversity conservation, it is important to continue studying groups of organisms such as myxomycetes in the rapidly changing Neotropical ecosystems.National Science Foundation/[DEB-0316284]/NSF/Estados UnidosUCR::Vicerrectoría de Docencia::Ciencias Básicas::Facultad de Ciencias::Escuela de Biologí