- ItemOpen AccessNon-Contact and Non-Intrusive Add-on IoT Device for Wireless Remote Elevator Control(MDPI, 2023) Rubies, Elena; Bitriá, Ricard; Clotet Bellmunt, Eduard; Palacín Roca, JordiThis work proposes an Internet-of-Things (IoT) device for remote elevator control. The new contribution of this proposal to the state-of-the-art is that it can convert a manually operated elevator into a remote controlled elevator without requiring any intrusive manipulation or wiring connection in the elevator. This IoT device has been designed as an add-on non-contact tool which is placed over the original elevator button panel, using servomotors to press the original buttons. This design allows its fast deployment as a remote control tool that increases elevator accessibility through the use of messages, a webpage or a QR code. Some application examples of this proposal are non-contact use of elevators in pandemic conditions, and the unsupervised use of elevators by autonomous cleaning or delivery mobile robots. The experimental evaluation of the IoT device in real operational conditions has validated its non-contact control features.
- ItemOpen AccessEvaluation of the color-based image segmentation capabilities of a compact mobile robot agent based on Google Android Smartphone(Springer International Publishing Switzerland, 2013) Martínez Lacasa, Daniel; Moreno Blanc, Javier; Font Calafell, Davinia; Tresánchez Ribes, Marcel; Pallejà Cabrè, Tomàs; Teixidó Cairol, Mercè; Palacín Roca, JordiThis paper presents the evaluation of the image segmentation capabilities of a mobile robot agent based on a Google Android Smartphone. The mobile agent was designed to operate autonomously in an environment inspired in a soccer game. The pixel-based color image segmentation capabilities was performed by testing different two-dimensional look up tables created from two-dimensional color histograms of the objects appearing in the scenario. The best segmentation alternative was obtained when using of a two-dimensional look up table based on the H (hue) and V (value) color image description. The final conclusion is that a Google Android Smartphone has enough potential to define an autonomous mobile robot agent and play a game that requires color-based image segmentation capabilities.
- ItemOpen AccessA mobile robot agent for gas leak source detection(Springer International Publishing Switzerland, 2014) Martínez Lacasa, Daniel; Pallejà Cabrè, Tomàs; Moreno Blanc, Javier; Tresánchez Ribes, Marcel; Teixidó Cairol, Mercè; Font Calafell, Davinia; Pardo, Antonio; Marco, Santiago; Palacín Roca, JordiThis paper presents an autonomous agent for gas leak source detec-tion. The main objective of the robot is to estimate the localization of the gas leak source in an indoor environment without any human intervention. The agent implements an SLAM procedure to scan and map the indoor area. The mobile robot samples gas concentrations with a gas and a wind sensor in order to estimate the source of the gas leak. The mobile robot agent will use the in-formation obtained from the onboard sensors in order to define an efficient scanning path. This paper describes the measurement results obtained in a long corridor with a gas leak source placed close to a wall.
- ItemOpen AccessAutomatic supervision of temperature, humidity, and luminance with an Assistant Personal Robot(Hindawi, 2017-10-26) Palacín Roca, Jordi; Clotet Bellmunt, Eduard; Martínez Lacasa, Daniel; Moreno Blanc, Javier; Tresánchez Ribes, MarcelSmart environments and Ambient Intelligence (AmI) technologies are defining the future society where energy optimization and intelligent management are essential for a sustainable advance. Mobile robotics is also making an important contribution to this advance with the integration of sensors and intelligent processing algorithms. This paper presents the application of an Assistant Personal Robot (APR) as an autonomous agent for temperature, humidity, and luminance supervision in human-frequented areas. The robot multiagent capabilities allow gathering sensor information while exploring or performing specific tasks and then verifying human comfortability levels. The proposed methodology creates information maps with the distribution of temperature, humidity, and luminance and interprets such information in terms of comfort and warns about corrective actuations if required.
- ItemOpen AccessChemical source localization fusing concentration information in the presence of chemical background noise(MDPI, 2017) Pomareda, Víctor; Magrans, Rudys; Jiménez Soto, Juan M.; Martínez Lacasa, Daniel; Tresánchez Ribes, Marcel; Burgués, Javier; Palacín Roca, Jordi; Marco, SantiagoWe present the estimation of a likelihood map for the location of the source of a chemical plume dispersed under atmospheric turbulence under uniform wind conditions. The main contribution of this work is to extend previous proposals based on Bayesian inference with binary detections to the use of concentration information while at the same time being robust against the presence of background chemical noise. For that, the algorithm builds a background model with robust statistics measurements to assess the posterior probability that a given chemical concentration reading comes from the background or from a source emitting at a distance with a specific release rate. In addition, our algorithm allows multiple mobile gas sensors to be used. Ten realistic simulations and ten real data experiments are used for evaluation purposes. For the simulations, we have supposed that sensors are mounted on cars which do not have among its main tasks navigating toward the source. To collect the real dataset, a special arena with induced wind is built, and an autonomous vehicle equipped with several sensors, including a photo ionization detector (PID) for sensing chemical concentration, is used. Simulation results show that our algorithm, provides a better estimation of the source location even for a low background level that benefits the performance of binary version. The improvement is clear for the synthetic data while for real data the estimation is only slightly better, probably because our exploration arena is not able to provide uniform wind conditions. Finally, an estimation of the computational cost of the algorithmic proposal is presented.