This document presents an assisted operation system of a robotic arm for positioning near an explosive device selected by the user through the visualization of the cameras on the screen. Two non-converging cameras mounted on the robotic arm in camera-in-hand configuration provide the three-dimensional (3D) coordinates of the object being tracked, using a 3D reconstruction technique with the help of the continuously adaptive mean shift (CAMSHIFT) algorithm for object tracking and feature matching. The inverse kinematics of the robot is implemented to locate the end effector close to the explosive so that the operator can perform the operation of grabbing the grenade more easily. Inverse kinematics is implemented in its geometric form, thus reducing the computational load. Tests conducted with various explosive devices verified the effectiveness of the system in locating the robotic arm in the desired position.

Non-invasive glucose monitoring of patients with type 2 diabetes is one of the most attractive goals for the treatment of this disease. In the present work a prototype of monitoring is proposed using a tetrapolar arrangement based on a SoC (System on a Chip), AFE4300 of Texas Instrument, taking measurements of the finger of the test subjects using the fingertip with both the proposed prototype and with a commercial Accuckeck3200 glucometer. The bioimpedance difference of blood volume decreased. This was supported by in vivo experiments. We therefore suggest that the proposed approach has potentials in practical applications.

A global human–robot interface that meets the needs of Technical Explosive Ordnance Disposal Specialists (TEDAX) for the manipulation of a robotic arm is of utmost importance to make the task of handling explosives safer, more intuitive and also provide high usability and efficiency. This paper aims to evaluate the performance of a multimodal system for a robotic arm that is based on Natural User Interface (NUI) and Graphical User Interface (GUI). The mentioned interfaces are compared to determine the best configuration for the control of the robotic arm in Explosive Ordnance Disposal (EOD) applications and to improve the user experience of TEDAX agents. Tests were conducted with the support of police agents Explosive Ordnance Disposal Unit-Arequipa (UDEX-AQP), who evaluated the developed interfaces to find a more intuitive system that generates the least stress load to the operator, resulting that our proposed multimodal interface presents better results compared to traditional interfaces. The evaluation of the laboratory experiences was based on measuring the workload and usability of each interface evaluated.

Wireless sensor networks (WSN) for its low cost, easy deployment and affordable services are being used in different applications such as environmental monitoring, health, safety, among others. Recently, it has increased its use in localization and tracking problems. In a WSN, sensor node is associated with a coordinator node to form a Personal Area Network (PAN). In localization and tracking problems when sensor nodes are mobile there are problems when moving from one PAN to another, as they must execute a handover mechanism which is complicated by the limited computing capabilities that they have. In this paper, a WSN architecture for locating and tracking that eliminates the need for handover when a sensor node moves through the WSN is proposed. The proposed architecture considers two PAN conformations, one that is responsible for communicating the sensor nodes with nodes access point (AP) and the other forming a backbone network between the AP and the coordinator node. The results obtained after developing experiments in a real environment support the operation and benefits of the proposed architecture.