This paper reports on the design of an open source-based control platform for the underwater remotely operated vehicle (ROV) Visor3. The vehicle’s original closed source-based control platform is first described. Due to the limitations of the previous infrastructure, modularity and flexibility are identified as the main guidelines for the proposed design. This new design includes hardware, firmware, software, and control architectures. Open-source hardware and software platforms are used for the development of the new system’s architecture, with support from the literature and the extensive experience acquired with the development of robotic exploration systems. This modular approach results in several frameworks that facilitate the functional expansion of the whole solution, the simplification of fault diagnosis and repair processes, and the reduction of development time, to mention a few.

This paper addresses the development of a modular software architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. First, systems engineering and the Vee model are presented with the objective of defining the interactions of the stakeholders with the software architecture development team and establishing the baselines that must be met in each development phase. In the development stage, the definition of the architecture and its connection with the hardware is presented, taking into account the use of the actor model, which represents the high-level software architecture used to solve concurrency problems. Subsequently, the structure of the classes is defined both at high and low levels in the instruments using the object-oriented programming paradigm. Finally, unit tests are developed for each component in the software architecture, quality assessment tests are implemented for system functions fulfillment, and a field sea trial for testing different modules of the vehicle is described. This approach is well suited for the development of complex systems such as marine vehicles and those systems which require scalability and modularity to add functionalities.

This paper addresses the development of a modular hardware architecture for the design/construction/operation of a remotely operated vehicle (ROV), based on systems engineering. The Vee model is first presented as a sequential process that emphasizes the validation processes with stakeholders and verification plans in the development and production stages of the ROV’s life cycle. The conceptual design process starts with the mapping of user requirements to engineering specifications, using the House of Quality (HoQ), a quality function deployment tool that allows executing a functional-division-based hardware design process that facilitates the integration of components and subsystems, as desired for modular architectures. Then, the functional division and hardware architectures are described, and their connection is made through the proposed system architecture that sets the foundation for the definition of a physical architecture, as it involves flows that connect abstract functions with a real context. Development and production stages are exemplified through the design, construction, and integration of some hardware components needed for the remotely operated vehicle Pionero500, and the operational stage briefly describes the first sea trials conducted for the ROV. Systems engineering has shown to be a very useful tool for the development of marine vehicles and marine engineering projects that require modular architectures.

During the launch stage of a remotely operated vehicle, the operator must run tests at the beginning of the mission. Most of the surface stations for the operation of underwater vehicles consist of a cabin or a heavy case. Either option restricts the operator movement and limits the line of sight between the pilot and the vehicle. Furthermore, this kind of systems require a high level of expertise among pilots. To address this problem, this work presents the development of a user friendly and intuitive graphical interface. This work addresses the development of an Android mobile application running on a gaming tablet for the command of the underwater remotely operated vehicle Visor3. This document describes the mobile device's selection process, the system architecture, the design procedure and its implementation. Later, the graphical user interface elements are explained. Robustness and usability testing have been conducted to prove the user interface while operating the ROV Visor3.

Exposome studies are advancing in high-income countries to understand how multiple environmental exposures impact health. However, there is a significant research gap in low- and middle-income and tropical countries. We aimed to describe the spatiotemporal variation of the external exposome, its correlation structure between and within exposure groups, and its dimensionality. A one-year follow-up cohort study of 506 children under 5 in two cities in Colombia was conducted to evaluate asthma, acute respiratory infections, and DNA damage. We examined 48 environmental exposures during pregnancy and 168 during childhood in eight exposure groups, including atmospheric pollutants, natural spaces, meteorology, built environment, traffic, indoor exposure, and socioeconomic capital. The exposome was estimated using geographic information systems, remote sensing, spatiotemporal modeling, and questionnaires. The median age of children at study entry was 3.7 years (interquartile range: 2.9-4.3). Air pollution and natural spaces exposure decreased from pregnancy to childhood, while socioeconomic capital increased. The highest median correlations within exposure groups were observed in meteorology (r = 0.85), traffic (r = 0.83), and atmospheric pollutants (r = 0.64). Important correlations between variables from different exposure groups were found, such as atmospheric pollutants and meteorology (r = 0.76), natural spaces (r = -0.34), and the built environment (r = 0.53). Twenty principal components explained 70%, and 57 explained 95% of the total variance in the childhood exposome. Our findings show that there is an important spatiotemporal variation in the exposome of children under 5. This is the first characterization of the external exposome in urban areas of Latin America and highlights its complexity, but also the need to better characterize and understand the exposome in order to optimize its analysis and applications in local interventions aimed at improving the health conditions and well-being of the child population and contributing to environmental health decision-making.

This document describes a distance measurement system for underwater applications with computer vision and an Artificial Neural Network (ANN). The developed system is installed in the observation class remotely operated vehicle (ROV) Visor3, to be used in experimental testing. An integrated camera with two laser pointers are used to obtain input data to a Multi-Layer Perceptron (MLP) ANN, trained with a resilient backpropagation algorithm (RPROP). The solution described in this paper is an alternative to other methods found in the literature. Experimental results are presented.