SUMMARYOften inspection and maintenance work involve a large number of highly dangerous manual operations, especially within industrial fields such as shipbuilding and construction. This paper deals with the autonomous climbing robot which uses the "caterpillar" concept to climb in complex 3D metallic-based structures. During its motion the robot generates in real-time the path and grasp planning in order to ensure stable self-support to avoid the environment obstacles, and to optimise the robot consumption during the inspection. The control and monitoring of the robot is achieved through an advanced Graphical User Interface to allow an effective and user friendly operation of the robot. The experiments confirm its advantages in executing the inspection operations.

Abstract-This paper presents a new sensor based global Path Planner which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. In the second step Fast Marching Method is applied to the Voronoi extracted areas in order to obtain the shortest path. In this way the trajectory obtained is the shortest between the safe possible ones. This two step method combines an extremely fast global planner operating on a simple sensor based environment modeling, while it operates at the sensor frequency. The main characteristics are speed and reliability, because the map dimensions are reduced to a unidimensional map and this map represents the safest areas in the environment for moving the robot.

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The robotics laboratory of the Universidad Carlos III of Madrid has developed the ROMA climbing robots, which are able to travel along 3D complex environments to carry out inspection tasks. The ROMA robots family is able to self‐support its locomotion system and moves in a similar way to a caterpillar. During this motion the robots generate in real‐time an optimal path and grasp planning in order to ensure a stable self‐support and avoid obstacles in the environment. In order to move the robots in a teleoperated or automatic way a man‐machine interface has been developed. The robots were developed primarily for use during the inspection of complex metallic structures. There are a large number of operations to be performed on metallic structures such as those encountered in bridges, oil rigs and building skeletons which represent a danger for human operators. Nevertheless, they are not limited to these structures due to fact that they are equipped with the necessary tools for new environments like concrete.

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This paper presents non-contact vital sign monitoring in neonates, based on image processing, where a standard color camera captures the plethysmographic signal and the heart and breathing rates are processed and estimated online. It is important that the measurements are taken in a non-invasive manner, which is imperceptible to the patient. Currently, many methods have been proposed for non-contact measurement. However, to the best of the authors’ knowledge, it has not been possible to identify methods with low computational costs and a high tolerance to artifacts. With the aim of improving contactless measurement results, the proposed method based on the computer vision technique is enhanced to overcome the mentioned drawbacks. The camera is attached to an incubator in the Neonatal Intensive Care Unit and a single area in the neonate’s diaphragm is monitored. Several factors are considered in the stages of image acquisition, as well as in the plethysmographic signal formation, pre-filtering and filtering. The pre-filter step uses numerical analysis techniques to reduce the signal offset. The proposed method decouples the breath rate from the frequency of sinus arrhythmia. This separation makes it possible to analyze independently any cardiac and respiratory dysrhythmias. Nine newborns were monitored with our proposed method. A Bland-Altman analysis of the data shows a close correlation of the heart rates measured with the two approaches (correlation coefficient of 0.94 for heart rate (HR) and 0.86 for breath rate (BR)) with an uncertainty of 4.2 bpm for HR and 4.9 for BR (k = 1). The comparison of our method and another non-contact method considered as a standard independent component analysis (ICA) showed lower central processing unit (CPU) usage for our method (75% less CPU usage).

Although academic and industry experts are now advocating for going from large-centralized Cloud Computing infrastructures to smaller ones massively distributed at the edge of the network, management systems to operate and use such infrastructures are still missing. In this paper, we focus on the monitoring service which is a key element to any management system in charge of operating a distributed infrastructure. Several solutions have been proposed in the past for cluster, grid and cloud systems. However, none is well appropriate to the Fog/Edge context. Our goal in this study, is to pave the way towards a holistic monitoring service for a Fog/Edge infrastructure hosting next generation digital services. The contributions of our work are: (i) the problem statement, (ii) a classification and a qualitative analysis of major existing solutions, and (iii) a preliminary discussion on the impact of the deployment strategy of functions composing the monitoring service.