Enrique Dorronzoro

A Method of EOG Signal Processing to Detect the Direction of Eye Movements

In this paper, a signal processing algorithm to detect eye movements is developed. The algorithm works with two kinds of inputs: derivative and amplitude level of electrooculographic signal. Derivative is used to detect signal edges and the amplitude level is used to filter noise. Depending of movement direction, different kinds of events are generated. Events are associated with a movement and its route. A hit rate equal to 94% is reached. This algorithm has been used to implement an application that allows computer control using ocular movement.

IEC-60870-5 application layer over TCP/IP for an open and flexible remote unit

This paper presents the development and test of the standard IEC-60870-5 application layer protocol over TCP/IP for a Remote Terminal Unit (RTU) based on open hardware and software. The RTU hardware is an embedded system, a SoC-type design using FPGA that has been programmed with the open core LEO/ with Linux operating system running over it, so both the and IOS are open source. For prototyping the GR-XC3S-hardware 1500 board has been used. There is no open source code available for the IEC standard protocols, so application layer protocol over TCP/IP has to be implemented. All the software design has been made in a PC platform using standard development tools. The source code generated for the protocol has been compiled with the standard Linux gcc compiler in LEON. Several tests have been made to prove that the RTU works correctly.

Choosing the right protocol stack for an open and flexible remote unit

This paper presents some works made in the development of communications software for an embedded open core system. By using a Linux-based processor implemented on a FPGA, we are developing the appropriate software in order to implement a remote unit to be used in a telecontrol network. We present an analysis of the physical devices needed and a performance report of them. After that, we analyze the requirements of the telecontrol network and the possibility of re-using already implemented protocols in Linux instead of using standard telecontrol protocols.

Indoor Position System Based on a Zigbee Network

TAIS group has developed an indoor position system prototype based on a fingerprint positioning algorithm. The prototype uses IEEE 802.15.4 mote and BitCloud Stack, a full-featured ZigBee Compliant, second generation embedded software stack from Atmel. The design requirements of the prototype were only to determine the actual position in a room of a user in a building, so the prototype accuracy is room accuracy. TAIS group decided to compete in the second edition of EvAAL Competition. This paper presents all the step made to adapt the prototype to the EvAAL environment, the found drawbacks and the obtained results. One of the most important drawback was that the Smart House Living Lab of the Polytechnic University of Madrid has only two rooms, the required accuracy was meters (error less than or equal to 0,5 meters the higher score, higher than 4 meters no score) and the room accuracy was substituted by areas of interest so the behavior of our prototype was going to work was an incognita.

Implementing IEC 60870-5 data link layer for an open and flexible remote unit

This paper presents an open source implementation for a data-link layer protocol specified in IEC 60870, protocol specification for telecontrol networks. It has been tested over LEON an embedded system with a Linux based operating system. Protocol engineering methods have been used in order to implement the protocol. The standard is in natural language so a formal language is needed to describe its behavior. A prototype has also been created to simulate the protocol behavior. The protocol has been tested on a real environment, using PCs and LEON as primary and secondary stations, and different physical layers, serial cable, radio frequency and GSM.

Design and Implementation of a Prototype with a Standardized Interface for Transducers in Ambient Assisted Living

Solutions in the field of Ambient Assisted Living (AAL) do not generally use standards to implement a communication interface between sensors and actuators. This makes these applications isolated solutions because it is so difficult to integrate them into new or existing systems. The objective of this research was to design and implement a prototype with a standardized interface for sensors and actuators to facilitate the integration of different solutions in the field of AAL. Our work is based on the roadmap defined by AALIANCE, using motes with TinyOS telosb, 6LoWPAN, sensors, and the IEEE 21451 standard protocol. This prototype allows one to upgrade sensors to a smart status for easy integration with new applications and already existing ones. The prototype has been evaluated for autonomy and performance. As a use case, the prototype has been tested in a serious game previously designed for people with mobility problems, and its advantages and disadvantages have been analysed.

Development of Robust Behaviour Recognition for an at-Home Biomonitoring Robot with Assistance of Subject Localization and Enhanced Visual Tracking

Our research is focused on the development of an at-home health care biomonitoring mobile robot for the people in demand. Main task of the robot is to detect and track a designated subject while recognizing his/her activity for analysis and to provide warning in an emergency. In order to push forward the system towards its real application, in this study, we tested the robustness of the robot system with several major environment changes, control parameter changes, and subject variation. First, an improved color tracker was analyzed to find out the limitations and constraints of the robot visual tracking considering the suitable illumination values and tracking distance intervals. Then, regarding subject safety and continuous robot based subject tracking, various control parameters were tested on different layouts in a room. Finally, the main objective of the system is to find out walking activities for different patterns for further analysis. Therefore, we proposed a fast, simple, and person specific new activity recognition model by making full use of localization information, which is robust to partial occlusion. The proposed activity recognition algorithm was tested on different walking patterns with different subjects, and the results showed high recognition accuracy.

Spatial Visual Attention for Novelty Detection: A Space-based Saliency Model in 3D Using Spatial Memory

Saliency maps as visual attention computational models can reveal novel regions within a scene (as in the human visual system), which can decrease the amount of data to be processed in task specific computer vision applications. Most of the saliency computation models do not take advantage of prior spatial memory by giving priority to spatial or object based features to obtain bottom-up or top-down saliency maps. In our previous experiments, we demonstrated that spatial memory regardless of object features can aid detection and tracking tasks with a mobile robot by using a 2D global environment memory of the robot and local Kinect data in 2D to compute the space-based saliency map. However, in complex scenes where 2D space-based saliency is not enough (i.e., subject lying on the bed), 3D scene analysis is necessary to extract novelty within the scene by using spatial memory. Therefore, in this work, to improve the detection of novelty in a known environment, we proposed a space-based spatial saliency with 3D local information by improving 2D space base saliency with height as prior information about the specific locations. Moreover, the algorithm can also be integrated with other bottom-up or top-down saliency computational models to improve the detection results. Experimental results demonstrate that high accuracy for novelty detection can be obtained, and computational time can be reduced for existing state of the art detection and tracking models with the proposed algorithm.

Open and Flexible Embedded System Applied to Positioning and Telecontrol

This paper presents the development and testing of an open and flexible embedded system applied to positioning and telecontrol (OFESAPO) for outdoor applications. The system is composed of a control center (CC) and a set of remote terminal units (RTUs); the International Electrotechnical Commission (IEC) 60870-5 series has been chosen for communication among them. This is a standard protocol of real-time telecontrol applications. The CC is a personal computer, and the RTUs are based on open hardware and software. The RTU hardware is an embedded system, i.e., a system-on-chip-type design using field-programmable gate array that has been programmed with the open-core LEON running Linux operating system. For prototyping, the GR-XC3S-1500 board has been used. As there is no open source code available for the IEC standard protocols, an open source code has also been implemented. Hence, both the hardware and the software are open source in OFESAPO. Several tests have been made to show the systems limitations and the suitability for real-time applications. A prototype has also been tested in a real environment, where the real position of two moving RTUs was shown by a CC using Google Map.

IEC−60870−5 application layer for an open and flexible remote unit

This paper presents the development and test of the standard IEC-60870-5 application layer protocol for a Remote Terminal Unit (RTU) based on open hardware and software. The RTU hardware is an embedded system, a SoC-type design using FPGA that has been programmed with the open core LEON with Linux operating system running over it, so both the hardware and IOS are open source. For prototyping the GR-XC3S-1500 board has been used. There is no open source code available for the IEC standard protocols, so application layer protocol has to be implemented. All the software design has been made in a PC platform using standard development tools. The source code generated for the protocol has been compiled with the standard Linux gcc compiler in LEON. Several tests have been made to prove the right behavior of the protocol as well as its performance over different transmission mediums.