20 research outputs found
Desarrollo de un servicio middleware de ontologías cooperativas aplicado a sistemas embebidos de transportes inteligentes
No full textLas primeras soluciones de comunicación entre ordenadores se basaban en un modelo denominado centralizado en la que un único equipo con una o múltiples CPUs (Central Processing Unit) procesaba todas las solicitudes entre aplicaciones. No obstante, la nec
Reactive evolutionary path planning for autonomous surface vehicles in lake environments.
No full textAutonomous Surface Vehicles (ASVs) have found a lot of promising applications in aquatic environments, i.e., sea, lakes, rivers, etc. They can be used for applications of paramount importance, such as environmental monitoring of water resources, and for bathymetry to study the characteristics of the basing of a lake/sea or for surveillance in patrol missions, among
others. These vehicles can be built with smaller dimensions when compared to regular ships since they do not need an on-board crew for operation. However, they do require at least a telemetry control as well as certain intelligence for making decisions and responding to changing scenarios.
Water resources are very important in Paraguay since they provide fresh water for its inhabitants and they are crucial for the main economic activities such as agriculture and cattle raising. Furthermore, they are natural borders with the surrounding countries, and consequently the main transportation route for importing/exporting products. In fact, Paraguay is the third
country in the world with the largest fleet of barges after USA and China. Thus, maintaining and monitoring the environmental conditions of these resources is key in the development of the country. This work is focused on the maintenance and monitoring of the greatest lake of the country called Ypacarai Lake. In recent years, the quality of its water has been seriously
degraded due to the pollution caused by the low control of the dumping of waste thrown into the Lake. Since it is also a national icon, the government of Paraguay has put a lot of effort in recovering water quality of the Lake. As a result, it is monitored periodically but using manual procedures. Therefore, the primary objective of this work is to develop these monitoring tasks autonomously by means of an ASV with a suitable path planning strategy. Path planning is an active research area in robotics. A particular case is the Coverage Path Planning (CPP) problem, where an algorithm should find a path that achieves the best coverage of the target region to be monitored. This work mainly studies the global CPP, which returns a suitable path
considering the initial conditions of the environment where the vehicle moves.
The first contribution of this thesis is the modeling of the CPP using
Hamiltonian Circuits (HCs) and Eulerian Circuits (ECs). Therefore, a graph adapted to the Ypacarai Lake is created by using a network of wireless beacons located at the shore of the lake, so that they can be used as data exchange points between a control center and the ASV, and also as waypoints. Regarding the proposed modeling, HCs and ECs are paths that begin and end at the same point. Therefore, the ASV travels across a given graph that is defined by a set of wireless beacons. The main difference between HC and EC is that a HC is a tour that visits each vertex only once
while EC visits each edge only once. Finding optimal HCs or ECs that minimize the total distance traveled by the ASV are very complex problems known as NP-complete. To solve such problems, a meta-heuristic algorithm
can be a suitable approach since they provide quasi-optimal solutions in a reasonable time. In this work, a GA (Genetic Algorithm) approach is proposed and tested. First, an evaluation of the performance of the algorithm with different values of its hyper-parameters has been carried out. Second, the proposed approach has been compared to other approaches such as
randomized and greedy algorithms. Third, a thorough comparison between the performance of HC and EC based approaches is presented. The simulation results show that EC-based approach outperforms the HC-based approach almost 2% which in terms of the Lake size is about 1.4 km2 or 140 ha (hectares). Therefore, it has been demonstrated that the modeling of
the problem as an Eulerian graph provides better results. Furthermore, it has been investigated the relationship between the number of beacons to be visited and the distance traveled by the ASV in the EC-based approach. Findings indicate that there is a quasi-lineal relationship between the number of beacons and the distance traveled. The second contribution of this work is the development of an on-line learning strategy using the same model but considering dynamic contamination events in the Lake. Dynamic events mean the appearance and evolution of an algae bloom, which is a strong indicator of the degradation of the lake. The strategy is divided into two-phases, the initial exploration phase to discover the presence of the algae bloom and next the intensification phase to focus on the region where the contamination event is detected. This intensification effect is achieved by
modifying the beacon-based graph, reducing the number of vertices and selecting those that are closer to the region of interest. The simulation results reveal that the proposed strategy detects two events and monitors them, keeping a high level of coverage while minimizing the distance traveled by the ASV. The proposed scheme is a reactive path planning that adapts to the
environmental conditions. This scheme makes decisions in an autonomous way and it switches from the exploratory phase to the intensification phase depending on the external conditions, leading to a variable granularity in the monitoring task. Therefore, there is a balance between coverage and the energy consumed by the ASV. The main benefits obtained from the second
contribution includes a better monitoring in the quality of water and control of waste dumping, and the possibility to predict the appearance of algae-bloom from the collected environmental data
Detección de la demanda de pasajeros en buses a través de visión, redes neuronales convolucionales y geolocalización.
No full textEl objetivo general del proyecto es desarrollar y aplicar una herramienta de análisis del flujo de pasajeros en autobuses a través del procesamiento e interpretación de imágenes.CONACYT - Consejo Nacional de Ciencias y TecnologíaPROCIENCI
Inteligencia artificial al servicio de la salud pública: caso de estudio detección temprana de focos larvarios de mosquitos.
No full textLas enfermedades transmitidas por mosquitos se consideran emergentes y en constante aumento debido al crecimiento de la población y cambio climático. Con el fin de monitorear la ocurrencia de brotes de larvas de mosquitos, una identificación de larvas. Se ha desarrollado un sistema basado en la detección y clasificación de objetos mediante visión artificial y aprendizaje automático desarrollado y evaluado. Para ello, se utilizaron 45 imágenes de muestra de un recipiente con agua que contenía
Se han recolectado mosquitos en estado larval y pupal. El detector basado en la umbralización adaptativa y la detección de contornos pudo encontrar todos los objetos relevantes en las imágenes de muestra. Para identificar cada objeto encontrado por el detector como larva o no, un clasificador basado en HOG y SVM, y otro basado en CNN han sido entrenados y evaluados, obteniendo valores F1 de 0.951 y 0.991 respectivamente.Consejo Nacional de Ciencia y TecnologíaPROCIENCI
Analysis of embedded CORBA middleware performance on urban distributed transportation equipments
No full textThe increasing number of ITS (Intelligent Transportation Systems) equipment spread across cities offers tre-
mendous possibilities in the development of distributed smart environments. A middleware layer located be-
tween the operating system and the
fi
nal application can be used for the communication among the
equipment to spontaneously act and cooperate among themselves. However, this middleware layer has
also a computational cost that should be quanti
fi
ed as it can affect the main application. This paper de
fi
nes
a methodology for such quanti
fi
cation using as case example a modern ITS equipment related to vehicle
tracking using arti
fi
cial vision. Experimental results illustrate the proposed methodology.Ministerio de Educación y Ciencia DPI2007-60128Consejería de Innovación, Ciencia y Empresa P07-TIC-0262
Diseño e implementación de un mecanismo de inyección de nutrientes aplicado a un invernadero hidropónico.
No full textLas condiciones climáticas severas, las deficiencias nutricionales del suelo, la escasez de agua y la contaminación por tecnologías químicas como pesticidas son algunas de las causas que propiciaron el nacimiento de la técnica de cultivo conocida como hidroponía, que se basa en el cultivo sin suelo, llevando un control exhaustivo de los nutrientes y el agua que consumen las plantas. Este trabajo consiste en el diseño de un sistema de inyección de solución nutritiva, que proporcionar a al tanque alimentador del cultivo, de forma automática, de los nutrientes necesarios para la alimentación balanceada de las plantas. El desarrollo comprende el estudio de las soluciones nutritivas, el estado del arte de la inyección automatizada de nutrientes en cultivos, el desarrollo del hardware, de los algoritmos para controlar la inyección y de la Interfaz Gráfica y el proceso de verificación. Este ultimo proceso se llevó a cabo con tanques en condiciones de laboratorio y en condiciones de ´ Invernadero, demostrándose el funcionamiento correcto del dispositivo en estas condiciones y la correcta implementación de las funciones deseadas.Consejo Nacional de Ciencia y TecnologíaPROCIENCI
Identificación y georreferenciación cooperativa de focos larvarios utilizando Vehículos Aéreos no Tripulados
No full textPresentación realizada en el marco del Proyecto PINV18-596: Identificación y Georreferenciación Cooperativa de Focos Larvarios utilizando Vehículos Aéreos no TripuladosCONACYT - Consejo Nacional de Ciencias y TecnologíaPROCIENCI
Evolutionary computation for solving path planning of an autonomous surface vehicle using eulerian graphs
No full textAn evolutionary-based path planning is designed for an Autonomous Surface Vehicle (ASV) used in environmental monitoring tasks. The main objective is that the ASV covers the maximum area of a mass of water like the Ypacarai Lake while taking water samples for sensing pollution conditions.Consejo Nacional de Ciencia y TecnologíaPROCIENCI
An Autonomous Surface Vehicle for Water Quality Measurements in a Lake Using MQTT protocol
No full textMany rivers cross Paraguay and two hydroelectrics dams required the monitoring of these resources Rivers are important for international trade (hydroways) Dams are indispensable for energy generation at hydroelectric plants 4 Contribution: Implementation of an ASV with an onboard sensor unit that submerges for taking water quality measurements and can be remotely operate it using MQTT.CONACYT - Consejo Nacional de Ciencias y TecnologíaPROCIENCI
Finite-state model-based predictive control with increased prediction horizon for a 7-level cascade H-bridge multilevel STATCOM
No full textThis paper presents a finite-state model-based predictive control technique applied to the three-wire cascade H-bridge multilevel converters for static synchronous compensators. The focus of this paper is to examine the impacts of increasing the prediction horizon on the control performance in terms of reactive power compensation. The proposed approach predicts the future behavior of the control actions considering all possible switching states considering a second step of prediction horizon in order to selects the optimal switching vector by using an optimization process considering a defined cost function. The effectiveness of the proposed control approach is analyzed through simulations.Consejo Nacional de Ciencia y Tecnologí
