Positioning asynchronous architectures based on time measurements are reaching growing importance in Local Positioning Systems (LPS). These architectures have special relevance in precision applications and indoor/outdoor navigation of automatic vehicles such as Automatic Ground Vehicles (AGVs) and Unmanned Aerial Vehicles (UAVs). The positioning error of these systems is conditioned by the algorithms used in the position calculation, the quality of the time measurements, and the sensor deployment of the signal receivers. Once the algorithms have been defined and the method to compute the time measurements has been selected, the only design criteria of the LPS is the distribution of the sensors in the three-dimensional space. This problem has proved to be NP-hard, and therefore a heuristic solution to the problem is recommended. In this paper, a genetic algorithm with the flexibility to be adapted to different scenarios and ground modelings is proposed. This algorithm is used to determine the best node localization in order to reduce the Cramér-Rao Lower Bound (CRLB) with a heteroscedastic noise consideration in each sensor of an Asynchronous Time Difference of Arrival (A-TDOA) architecture. The methodology proposed allows for the optimization of the 3D sensor deployment of a passive A-TDOA architecture, including ground modeling flexibility and heteroscedastic noise consideration with sequential iterations, and reducing the spatial discretization to achieve better results. Results show that optimization with 15% of elitism and a Tournament 3 selection strategy offers the best maximization for the algorithm.

Time difference of arrival (TDOA) positioning methods have experienced growing importance over the last few years due to their multiple applications in local positioning systems (LPSs). While five sensors are needed to determine an unequivocal three-dimensional position, systems with four nodes present two different solutions that cannot be discarded according to mathematical standards. In this paper, a new methodology to solve the 3D TDOA problems in a sensor network with four beacons is proposed. A confidence interval, which is defined in this paper as a sphere, is defined to use positioning algorithms with four different nodes. It is proven that the separation between solutions in the four-beacon TDOA problem allows the transformation of the problem into an analogous one in which more receivers are implied due to the geometric properties of the intersection of hyperboloids. The achievement of the distance between solutions needs the application of genetic algorithms in order to find an optimized sensor distribution. Results show that positioning algorithms can be used 96.7% of the time with total security in cases where vehicles travel at less than 25 m/s.

Version control systems’ usage is a highly demanded skill in information and communication technology professionals. Thus, their usage should be encouraged by educational institutions. This work demonstrates that it is possible to assess if a student can pass a computer science-related subject by monitoring its interaction with a version control system. This paper proposes a methodology that compares the performance of several machine learning models so as to select the appropriate predicting model for the assessment of the students’ achievements. To fit predicting models, three subjects of the Degree in Computer Science at the University of León are considered to obtain the dataset: computer organization, computer programming, and operating systems extension. The common aspect of these subjects is their assignments, which are based on developing one or several programs with programming languages such as C or Java. To monitor the practical assignments and individual performance, a Git repository is employed allowing students to store source code, documentation, and supporting control versions. According to the presented experience, there is a huge correlation between the level of interaction for each student and the achieved grades.

The emergence of autonomous vehicles with high needs for accuracy in location has hardened the re-quirements of the positioning systems used for navigation. Local Positioning Systems (LPS) have shown an ex-cellent adaptation to these conditions, thanks to stability and reduction in the levels of positioning uncertainty. The accuracy achieved by methodologies based on temporal measurements depends mainly on the uncertainties in the measurements of these systems. In this aspect, the presence of noise and the existence of temporary insta-bilities in measurement clocks, depending on the distribution of sensors in the environment, acquire great rele-vance. In this article, we introduce for the first time in the authors’ best knowledge a Cramér-Rao Lower Bound (CRLB) model for the quantification of the global uncertainty in positioning systems caused by both noise and temporary instabilities in the measurement devices. Additionally, this technique is applied to the optimization of sensor distributions for Time of Arrival (TOA), Time Difference of Arrival (TDOA) and Asynchronous TDOA (A-TDOA) architectures using a Genetic Algorithm in a non-uniform 3D environment. Results show that A-TDOA methodology significantly overcomes synchronous architectures in terms of global accuracy and stability when noise and clock errors are considered in time measurements of LPS applications.

Livestock farming is assisted more and more by technological solutions, such as robots. One of the main problems for shepherds is the control and care of livestock in areas difficult to access where grazing animals are attacked by predators such as the Iberian wolf in the northwest of the Iberian Peninsula. In this paper, we propose a system to automatically generate benchmarks of animal images of different species from iNaturalist API, which is coupled with a vision-based module that allows us to automatically detect predators and distinguish them from other animals. We tested multiple existing object detection models to determine the best one in terms of efficiency and speed, as it is conceived for real-time environments. YOLOv5m achieves the best performance as it can process 64 FPS, achieving an mAP (with IoU of 50%) of 99.49% for a dataset where wolves (predator) or dogs (prey) have to be detected and distinguished. This result meets the requirements of pasture-based livestock farms.