Browsing by Keyword "ROS"
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Item Analysing encryption mechanisms and functional safety in a ROS-based architecture(2020-02-01) Larrucea, Xabier; González-Nalda, Pablo; Etxeberria-Agiriano, Ismael; Otero, Mari Carmen; Tecnalia Research & InnovationRobot Operating System (ROS) is a middleware for connecting different components of robots. However, its use is becoming more popular in other domains such as in the automotive sector where initial prototypes have been customized and deployed in cars for demonstrating different functional purposes. Nevertheless, ROS has not been yet tested enough to be used in secure and safety environments. For example, in order to strengthen our ROS architecture, we have encrypted the messages within it. Therefore, this paper analyses the impact of Advanced Encryption Standard (AES) encryption mechanism and the functional safety of our prototype. In this sense, we are considering encrypting messages and we assess the timing constraints, as suggested by the ISO 26262, required for assuring a secure communication between components.Item Analyzing a ROS based architecture for its cross reuse in ISO26262 settings(Springer Verlag, 2018) Larrucea, Xabier; González-Nalda, Pablo; Etxeberria-Agiriano, Ismael; Otero, Mari Carmen; Calvo, Isidro; Golfarelli, Matteo; Bellatreche, Ladjel; Jean, Stéphane; Nakamatsu, Kazumi; Ordonez, Carlos; Mery, Dominique; Benslimane, Djamal; Abdelwahed, El Hassan; Tecnalia Research & InnovationThe automotive industry is applying the latest technological advances in order to provide safety and security to drivers and pedestrians. In this sense, Robot Operating System (ROS) is used as a middleware to be adapted and deployed in cars. However, ROS has not been tested enough to be used in safety environments. Therefore, this paper reports an analysis of a ROS based architecture running in a prototype. We define a safety case based on the ISO 26262 Safety Element out of Context (SEooC) for its cross reuse, and we generate the required evidences related to the identified characteristics and thresholds. Goal Structuring Notation (GSN) is the notation used for the safety case definition and to argue conformance with respect to ISO 26262.Item Robotizing the Sterility Testing Process: Scientific Challenges for Bringing Agile Robots into the Laboratory(Springer Science and Business Media Deutschland GmbH, 2023) Remazeilles, Anthony; Rasines, Irati; Fernandez, Asier; Neumann, Maike; Beetz, Michael; Grossard, Mathieu; Hellingman, Clive; Coulon, Carl Helmut; Cichon, Torben; Gosselin, Florian; Vincze, Markus; Tardioli, Danilo; Matellán, Vicente; Heredia, Guillermo; Silva, Manuel F.; Marques, Lino; Robótica MédicaThis article provides a detailed description of the membrane-based sterility testing process, the use case selected in the Horizon Europe project TraceBot for demonstrating the benefit of agile robotics in a laboratory setting and its interest for the pharmaceutical industry. Based on videos of human operators performing manually the sterility testing process, we detail its different steps, starting from a human perspective, with a more robotic approach in mind, and highlight the major atomic functionalities a robot should have for executing the process at hand. Together with the analysis of the process flow of actions, we also list all elements/objects involved, and analyse the technical and scientific challenges in this process and its application environment as well as in general pharmaceutical processes. Finally, with the objective to engage the community in collaborating and taking advantage of our use case study, the complete process flow description is made available on a website, together with associated data like the object’s meshes and a generic robotic setting in ROS environment.Item Towards a flexible production system Environment Server implementation(Institute of Electrical and Electronics Engineers Inc., 2015-10-30) Puerto, Mildred J.; Salle, Damien; Outon, Jose Luis; Herrero, Hector; Lizuain, Zigor; Grana, Manuel; Corchado, Emilio; Fraile-Ardanuy, Jesus; Quintian, Hector; Kakarountas, Athanasios; Haase, Jan; Debono, Carl James; FACTORY; ROBOTICA_FLEX; Tecnalia Research & InnovationFlexible production systems represents the future of manufacturing processes in Europe. Small batches of products and adaptation of the line to variants or new products is in the European view of the 2020 manufacturing. This new paradigm requires a novel approach where many advances in the theory have been made and laboratory prototype implementations have shown the potential of this approach. However, industrial implementations have not been yet achieved. More pragmatic approaches suitable for system integrators are still needed. This paper introduces a proposal of such as approach with a mobile robot using the information contained in an Environment Server.Item UVA irradiation influence on the acute toxicity of nanosized TiO2 to Daphnia magna(TANGER Ltd., 2010) Amiano, Irene; Olabarrieta, Josune; Vitorica, Joana; Benguria, Pablo; Zorita, Saioa; DF_Bioeficacia; MATERIALES PARA CONDICIONES EXTREMAS; ADAPTACIÓN AL CAMBIO CLIMÁTICOThe incorporation of engineered nanoparticles in commercial products is progressively increasing and so is the potential for release of these novel materials into the environment. In fact, some recent studies demonstrate the release of nanomaterials, in particular nano-TiO2, from different ENP containing products such as sun-screens, paints, coatings etc. This implies that nanomaterials will reach the aquatic environment and that they could constitute a risk to aquatic organisms and humans. Common knowledge concerning photoactive nano-TiO2 effects on freshwater organisms is largely limited to acute toxicity tests without taking into consideration the solar UVA irradiation. Our approach based on the combination of a standardized ecotoxicology method (OECD test 202) with expected solar UVA contribution will allow more realistic understanding of the toxicity of nTiO2 to Daphnia magna. To reproduce the natural conditions of solar radiation, UVA-365 was monitored for 20 days during summer. The mean UVA intensity (0.56 mW/cm2) was chosen to reproduce the approximate radiation that the daphnids would be exposed to in a summer day. The results clearly demonstrate the higher toxicity of TiO2 nanoparticles to Daphnia magna when they are exposed to UV-light, therefore this factor should not be neglected when studying the ecotoxicity of photocatalytic nanomaterials. While TiO2 NPs can be classified as "harmful" to daphnids under darkness conditions (EC50 in the range 10-100 mg/L), when exposed to UVA they can be classified as "toxic" (EC50 in the range 1-10 mg/L). Water matrix was also taken into account, and thus, ecotoxicology tests were carried out in two different water matrices: river natural water and ISO test water.Item UVA irradiation influence on the acute toxicity of nanosized TIO2 to daphnia magna(TANGER Ltd., 2012) Amiano, Irene; Olabarrieta, Josune; Vitorica, Joana; Benguria, Pablo; Zorita, Saioa; DF_Bioeficacia; MATERIALES PARA CONDICIONES EXTREMAS; ADAPTACIÓN AL CAMBIO CLIMÁTICOThe incorporation of engineered nanoparticles in commercial products is progressively increasing and so is the potential for release of these novel materials into the environment. In fact, some recent studies demonstrate the release of nanomaterials, in particular nano-TiO2, from different ENP containing products such as sun-screens, paints, coatings etc. This implies that nanomaterials will reach the aquatic environment and that they could constitute a risk to aquatic organisms and humans. Common knowledge concerning photoactive nano-TiO2 effects on freshwater organisms is largely limited to acute toxicity tests without taking into consideration the solar UVA irradiation. Our approach based on the combination of a standardized ecotoxicology method (OECD test 202) with expected solar UVA contribution will allow more realistic understanding of the toxicity of nTiO2 to Daphnia magna. To reproduce the natural conditions of solar radiation, UVA-365 was monitored for 20 days during summer. The mean UVA intensity (0.56 mW/cm2) was chosen to reproduce the approximate radiation that the daphnids would be exposed to in a summer day. The results clearly demonstrate the higher toxicity of TiO2 nanoparticles to Daphnia magna when they are exposed to UV-light, therefore this factor should not be neglected when studying the ecotoxicity of photocatalytic nanomaterials. While TiO2 NPs can be classified as "harmful" to daphnids under darkness conditions (EC50 in the range 10-100 mg/L), when exposed to UVA they can be classified as "toxic" (EC50 in the range 1-10 mg/L). Water matrix was also taken into account, and thus, ecotoxicology tests were carried out in two different water matrices: river natural water and ISO test water.