Scalability of Cyber-Physical Systems with Real and Virtual Robots in ROS 2.

Nowadays, cyber-physical systems (CPSs) are composed of more and more agents and the demand for designers to develop ever larger multi-agent systems is a fact. When the number of agents increases, several challenges related to control or communication problems arise due to the lack of scalability of existing solutions. It is important to develop tools that allow control strategies evaluation of large-scale systems. In this paper, it is considered that a CPS is a heterogeneous robot multi-agent system that cooperatively performs a formation task through a wireless network. The goal of this research is to evaluate the system's performance when the number of agents increases. To this end, two different frameworks developed with the open-source tools Gazebo and Webots are used. These frameworks enable combining both real and virtual agents in a realistic scenario allowing scalability experiences. They also reduce the costs required when a significant number of robots operate in a real environment, as experiences can be conducted with a few real robots and a higher number of virtual robots by mimicking the real ones. Currently, the frameworks include several types of robots, such as the aerial robot Crazyflie 2.1 and differential mobile robots Khepera IV used in this work. To illustrate the usage and performance of the frameworks, an event-based control strategy for rigid formations varying the number of agents is analyzed. The agents should achieve a formation defined by a set of desired Euclidean distances to their neighbors. To compare the scalability of the system in the two different tools, the following metrics have been used: formation error, CPU usage percentage, and the ratio between the real time and the simulation time. The results show the feasibility of using Robot Operating System (ROS) 2 in distributed architectures for multi-agent systems in experiences with real and virtual robots regardless of the number of agents and their nature. However, the two tools under study present different behaviors when the number of virtual agents grows in some of the parameters, and such discrepancies are analyzed.

An Unsupervised Method for Artefact Removal in EEG Signals.

OBJECTIVE: The activity of the brain can be recorded by means of an electroencephalogram (EEG). An EEG is a multichannel signal related to brain activity. However, EEG presents a wide variety of undesired artefacts. Removal of these artefacts is often done using blind source separation methods (BSS) and mainly those based on Independent Component Analysis (ICA). ICA-based methods are well-accepted in the literature for filtering artefacts and have proved to be satisfactory in most scenarios of interest. Our goal is to develop a generic and unsupervised ICA-based algorithm for EEG artefacts removal. APPROACH: The proposed algorithm makes use of a new unsupervised artefact detection, ICA and a statistical criterion to automatically select the artefact related independent components (ICs) requiring no human intervention. The algorithm is evaluated using both simulated and real EEG data with artefacts (SEEG and AEEG). A comparison between the proposed unsupervised selection of ICs related to the artefact and other supervised selection is also presented. MAIN RESULTS: A new unsupervised ICA-based algorithm to filter artefacts, where ICs related to each artefact are automatically selected. It can be used in online applications, it preserves most of the original information among the artefacts and removes different types of artefacts. SIGNIFICANCE: ICA-based methods for filtering artefacts prevail in the literature. The work in this article is important insofar as it addresses the problem of automatic selection of ICs in ICA-based methods. The selection is unsupervised, avoiding the manual ICs selection or a learning process involved in other methods. Our method is a generic algorithm that allows removing EEG artefacts of various types and, unlike some ICA-based algorithms, it retains most of the original information among the artefacts. Within the algorithm, the artefact detection method implemented does not require human intervention either.

Machine Learning Weather Soft-Sensor for Advanced Control of Wastewater Treatment Plants.

Control of wastewater treatment plants (WWTPs) is challenging not only because of their high nonlinearity but also because of important external perturbations. One the most relevant of these perturbations is weather. In fact, different weather conditions imply different inflow rates and substance (e.g., N-ammonia, which is among the most important) concentrations. Therefore, weather has traditionally been an important signal that operators take into account to tune WWTP control systems. This signal cannot be directly measured with traditional physical sensors. Nevertheless, machine learning-based soft-sensors can be used to predict non-observable measures by means of available data. In this paper, we present novel research about a new soft-sensor that predicts the current weather signal. This weather prediction differs from traditional weather forecasting since this soft-sensor predicts the weather conditions as an operator does when controling the WWTP. This prediction uses a model based on past WWTP influent states measured by only a few physical and widely applied sensors. The results are encouraging, as we obtained a good accuracy level for a relevant and very useful signal when applied to advanced WWTP control systems.

New Control Paradigms for Resources Saving: An Approach for Mobile Robots Navigation.

In this work, an event-based control scheme is presented. The proposed system has been developed to solve control problems appearing in the field of Networked Control Systems (NCS). Several models and methodologies have been proposed to measure different resources consumptions. The use of bandwidth, computational load and energy resources have been investigated. This analysis shows how the parameters of the system impacts on the resources efficiency. Moreover, the proposed system has been compared with its equivalent discrete-time solution. In the experiments, an application of NCS for mobile robots navigation has been set up and its resource usage efficiency has been analysed.

Using Spherical-Harmonics Expansions for Optics Surface Reconstruction from Gradients.

In this paper, we propose a new algorithm to reconstruct optics surfaces (aka wavefronts) from gradients, defined on a circular domain, by means of the Spherical Harmonics. The experimental results indicate that this algorithm renders the same accuracy, compared to the reconstruction based on classical Zernike polynomials, using a smaller number of polynomial terms, which potentially speeds up the wavefront reconstruction. Additionally, we provide an open-source C++ library, released under the terms of the GNU General Public License version 2 (GPLv2), wherein several polynomial sets are coded. Therefore, this library constitutes a robust software alternative for wavefront reconstruction in a high energy laser field, optical surface reconstruction, and, more generally, in surface reconstruction from gradients. The library is a candidate for being integrated in control systems for optical devices, or similarly to be used in ad hoc simulations. Moreover, it has been developed with flexibility in mind, and, as such, the implementation includes the following features: (i) a mock-up generator of various incident wavefronts, intended to simulate the wavefronts commonly encountered in the field of high-energy lasers production; (ii) runtime selection of the library in charge of performing the algebraic computations; (iii) a profiling mechanism to measure and compare the performance of different steps of the algorithms and/or third-party linear algebra libraries. Finally, the library can be easily extended to include additional dependencies, such as porting the algebraic operations to specific architectures, in order to exploit hardware acceleration features.

One-Time URL: A Proximity Security Mechanism between Internet of Things and Mobile Devices.

The aim of this paper is to determine the physical proximity of connected things when they are accessed from a smartphone. Links between connected things and mobile communication devices are temporarily created by means of dynamic URLs (uniform resource locators) which may be easily discovered with pervasive short-range radio frequency technologies available on smartphones. In addition, a multi cross domain silent logging mechanism to allow people to interact with their surrounding connected things from their mobile communication devices is presented. The proposed mechanisms are based in web standards technologies, evolving our social network of Internet of Things towards the so-called Web of Things.

A Self-Provisioning Mechanism in OpenStack for IoT Devices.

The aim of this paper is to introduce a plug-and-play mechanism for an Internet of Things (IoT) device to instantiate a Software as a Service (SaaS) application in a private cloud, built up with OpenStack. The SaaS application is the digital avatar of a physical object connected to Internet. As a proof of concept, a Vending Machine is retrofitted and connected to Internet with and Arduino Open Hardware device. Once the self-configuration mechanism is completed, it is possible to order a product from a mobile communication device.

Laser Spot Detection Based on Reaction Diffusion.

Center-location of a laser spot is a problem of interest when the laser is used for processing and performing measurements. Measurement quality depends on correctly determining the location of the laser spot. Hence, improving and proposing algorithms for the correct location of the spots are fundamental issues in laser-based measurements. In this paper we introduce a Reaction Diffusion (RD) system as the main computational framework for robustly finding laser spot centers. The method presented is compared with a conventional approach for locating laser spots, and the experimental results indicate that RD-based computation generates reliable and precise solutions. These results confirm the flexibility of the new computational paradigm based on RD systems for addressing problems that can be reduced to a set of geometric operations.

Unsupervised Event Characterization and Detection in Multichannel Signals: An EEG application.

In this paper, we propose a new unsupervised method to automatically characterize and detect events in multichannel signals. This method is used to identify artifacts in electroencephalogram (EEG) recordings of brain activity. The proposed algorithm has been evaluated and compared with a supervised method. To this end an example of the performance of the algorithm to detect artifacts is shown. The results show that although both methods obtain similar classification, the proposed method allows detecting events without training data and can also be applied in signals whose events are unknown a priori. Furthermore, the proposed method provides an optimal window whereby an optimal detection and characterization of events is found. The detection of events can be applied in real-time.

Event-Based Control Strategy for Mobile Robots in Wireless Environments.

In this paper, a new event-based control strategy for mobile robots is presented. It has been designed to work in wireless environments where a centralized controller has to interchange information with the robots over an RF (radio frequency) interface. The event-based architectures have been developed for differential wheeled robots, although they can be applied to other kinds of robots in a simple way. The solution has been checked over classical navigation algorithms, like wall following and obstacle avoidance, using scenarios with a unique or multiple robots. A comparison between the proposed architectures and the classical discrete-time strategy is also carried out. The experimental results shows that the proposed solution has a higher efficiency in communication resource usage than the classical discrete-time strategy with the same accuracy.

Reaction diffusion Voronoi diagrams: from sensors data to computing.

In this paper, a new method to solve computational problems using reaction diffusion (RD) systems is presented. The novelty relies on the use of a model configuration that tailors its spatiotemporal dynamics to develop Voronoi diagrams (VD) as a part of the system's natural evolution. The proposed framework is deployed in a solution of related robotic problems, where the generalized VD are used to identify topological places in a grid map of the environment that is created from sensor measurements. The ability of the RD-based computation to integrate external information, like a grid map representing the environment in the model computational grid, permits a direct integration of sensor data into the model dynamics. The experimental results indicate that this method exhibits significantly less sensitivity to noisy data than the standard algorithms for determining VD in a grid. In addition, previous drawbacks of the computational algorithms based on RD models, like the generation of volatile solutions by means of excitable waves, are now overcome by final stable states.

An interactive tool for outdoor computer controlled cultivation of microalgae in a tubular photobioreactor system.

This paper describes an interactive virtual laboratory for experimenting with an outdoor tubular photobioreactor (henceforth PBR for short). This virtual laboratory it makes possible to: (a) accurately reproduce the structure of a real plant (the PBR designed and built by the Department of Chemical Engineering of the University of Almería, Spain); (b) simulate a generic tubular PBR by changing the PBR geometry; (c) simulate the effects of changing different operating parameters such as the conditions of the culture (pH, biomass concentration, dissolved O2, inyected CO2, etc.); (d) simulate the PBR in its environmental context; it is possible to change the geographic location of the system or the solar irradiation profile; (e) apply different control strategies to adjust different variables such as the CO2 injection, culture circulation rate or culture temperature in order to maximize the biomass production; (f) simulate the harvesting. In this way, users can learn in an intuitive way how productivity is affected by any change in the design. It facilitates the learning of how to manipulate essential variables for microalgae growth to design an optimal PBR. The simulator has been developed with Easy Java Simulations, a freeware open-source tool developed in Java, specifically designed for the creation of interactive dynamic simulations.