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

Systematic Competitiveness in Colombian Medical Tourism: An Examination

This chapter analyzes the role of the central government of Colombia in the strategy for the improvement of the medical tourism industry through a critical approach of the traditional model of competitiveness. Based on a mixed method, the feasibility of the associative systemic competitiveness model and its effectiveness on the quality of medical services offered to foreign patients is determined. Under the current competitiveness model, the central government implements a series of strategies based on executive orders in an isolated way. The proposal for the implementation of systemic competitiveness model improves the perception of quality of medical services by foreign patients. In order to implement the proposed model, it recommended the expansion of free taxation zones, the proliferation of medical service clusters, and the strengthening of strategic alliances with international operators

Active zone self-similarity of fractal sierpinski antenna verified using infra-red thermograms

The surface current distribution of a Sierpinski fractal antenna shows a self-similar behaviour determined by the self-similar properties of its geometry. The application of infra-red thermography to electromagnetic near field detection allows the experimental verification of the active region scaling of a fractal antenna operating at different bands.Peer ReviewedPostprint (published version

Diseño e implementación de un modulador y demodulador OOK para comunicación por luz visible (VLC) utilizando la tarjeta FPGA CYCLONE III de ALTERA.

La finalidad del presente trabajo es transmitir datos a través de luz visible por medio de un diodo emisor de luz blanca (Light Emitting Diode, LED), de baja potencia, empleando modulación por encendido y apagado (On - Off Keying, OOK) punto a punto, utilizando la tarjeta para arreglos de compuertas programables en campo (Field Programmable Gate Array, FPGA) Cyclone III de Altera; además, realizar la respectiva simulación en el software Matlab (Simulink). Se realizó el estado del arte de la comunicación por luz visible (Visible Light Communication, VLC), lo cual contribuyó en el desarrollo tanto del diseño como la implementación del proyecto. Finalmente, en los resultados experimentales obtenidos se analizó el desempeño de la comunicación óptica inalámbrica, tomando en cuenta parámetros como: tasa de bits, potencia, señal a ruido y tasa de bits erróneos (Bit Error Rate, BER), a través de curvas, con las cuales se puede comparar ventajas y limitaciones del tipo de modulación utilizada.The purpose of this work is to transmit data via visible light through a white light emitting diode (LED) and low power, using On - Off Keying (OOK) point to point, using the Altera Cyclone III FPGA board, also perform the respective simulation in Matlab software (Simulink). It was performed the state of the art of Visible Light Communication (VLC), which helped in the development of both the design and the implementation of the project. Finally, experimental results obtained are analyzed the performance of wireless optical communication, taking into account parameters such as bit rate, power, signal to noise ratio and Bit Error Rate (BER), through curves, with which you can compare advantages and limitations on the type of modulation used

Learning-based scheduling of flexible manufacturing systems using ensemble methods

Dispatching rules are commonly applied to schedule jobs in Flexible Manufacturing Systems (FMSs). However, the suitability of these rules relies heavily on the state of the system; hence, there is no single rule that always outperforms the others. In this scenario, machine learning techniques, such as support vector machines (SVMs), inductive learning-based decision trees (DTs), backpropagation neural networks (BPNs), and case based-reasoning (CBR), offer a powerful approach for dynamic scheduling, as they help managers identify the most appropriate rule in each moment. Nonetheless, different machine learning algorithms may provide different recommendations. In this research, we take the analysis one step further by employing ensemble methods, which are designed to select the most reliable recommendations over time. Specifically, we compare the behaviour of the bagging, boosting, and stacking methods. Building on the aforementioned machine learning algorithms, our results reveal that ensemble methods enhance the dynamic performance of the FMS. Through a simulation study, we show that this new approach results in an improvement of key performance metrics (namely, mean tardiness and mean flow time) over existing dispatching rules and the individual use of each machine learning algorithm

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

Challenges for the colombian central government in post-agreement financing

El presente artículo de investigación analiza las dificultades en el aumento de ingresos del gobierno central en un entorno de post-acuerdo. A través de un análisis de componentes principales y hechos estilizados se encuentra que no existen suficientes recursos monetarios disponibles para ejecutar el acuerdo de paz. Esto puede resultar en una implementación incompleta de los acuerdos que implique una revisión del gasto público en educación, sistema pensional, sistema sanitario, economía rural, servicio de deuda, infraestructuras de transporte y el fortalecimiento de la DIAN para incrementar y redistribuir la carga tributaria.This paper analyzes the difficulties in raising tax revenue for the central government in a post-agreement era. Through an analysis of main components and stylized facts it is found that there are not enough monetary resources available to implement the peace agreement. This may result inan incomplete implementation of the agreement and a revision of public spending in education, pension system, health system, rural economy, debt service, transport infrastructure and strengthening the DIAN to increase and redistribute the tax burden

Relación entre hábitos alimentarios y el perfil antropométrico de los estudiantes ingresantes a la Facultad de Medicina de una universidad pública, Lima, 2016

Determina la relación entre los hábitos alimentarios y perfil antropométrico de los estudiantes ingresantes a la Facultad de Medicina. Para este caso se cuenta con la participación de 157 estudiantes ingresantes. Entre los resultados figura que el 69%(n=108) de los estudiantes presentan hábitos alimentarios inadecuados. El 33 % (n=52) tienen IMC > 25, 52%(n=81) presentan una reserva de masa adiposa elevada, 31%(n=50) presentan obesidad abdominal con el indicador cintura/talla, solo un 9% y 12% presentan riesgo cardiovascular según perímetro de cuello y cintura respectivamente. Los estudiantes presentan dificultades para seguir una alimentación sana debido al consumo inadecuado de comidas principales, colaciones, frutas y verduras; y alto consumo de alimentos procesados. Se evidencia adecuado consumo de agua natural, pescados, huevos, fuentes de proteínas y menestras en la mayoría de estudiantes.Tesi