Improving Robot Perception Skills Using a Fast Image-Labelling Method with Minimal Human Intervention

[EN] Featured Application Natural interface to enhance human-robot interactions. The aim is to improve robot perception skills. Robot perception skills contribute to natural interfaces that enhance human-robot interactions. This can be notably improved by using convolutional neural networks. To train a convolutional neural network, the labelling process is the crucial first stage, in which image objects are marked with rectangles or masks. There are many image-labelling tools, but all require human interaction to achieve good results. Manual image labelling with rectangles or masks is labor-intensive and unappealing work, which can take months to complete, making the labelling task tedious and lengthy. This paper proposes a fast method to create labelled images with minimal human intervention, which is tested with a robot perception task. Images of objects taken with specific backgrounds are quickly and accurately labelled with rectangles or masks. In a second step, detected objects can be synthesized with different backgrounds to improve the training capabilities of the image set. Experimental results show the effectiveness of this method with an example of human-robot interaction using hand fingers. This labelling method generates a database to train convolutional networks to detect hand fingers easily with minimal labelling work. This labelling method can be applied to new image sets or used to add new samples to existing labelled image sets of any application. This proposed method improves the labelling process noticeably and reduces the time required to start the training process of a convolutional neural network model.The Universitat Politecnica de Valencia has financed the open access fees of this paper with the project number 20200676 (Microinspeccion de superficies).Ricolfe Viala, C.; Blanes Campos, C. (2022). Improving Robot Perception Skills Using a Fast Image-Labelling Method with Minimal Human Intervention. Applied Sciences. 12(3):1-14. https://doi.org/10.3390/app1203155711412

Garras con sensores táctiles intrínsecos para manipular alimentos con robots

[EN] The primary handling of food with robots calls for the development of new manipulation devices, especially when products are easily damaged and have a wide range of shapes and textures. These difficulties are even greater in the agricultural industry because the quality of the products is also checked during the manual handling process. This PhD dissertation provides solutions to these issues and helps to further introduce robotics into the handling of food. Several methods for handling food are included and analyzed, and specific solutions are proposed and then validated with prototypes. The research focuses on devices capable of adapting themselves to the shapes of the products without increasing the complexity of the mechanism. After analyzing several different solutions, the method chosen involves the use of under-actuated mechanisms, compliant mechanisms and fingers with pads filled with granular fluids. These fluids can behave as quasi-liquids or quasi-solids due to the jamming transition, which provides a soft initial grasp and can support high stresses during fast movements performed by the robot. The additive manufacturing process provides an opportunity to develop robot grippers that are lighter, simpler, more flexible and cheaper. By using this process elastic mechanisms are manufactured in a single part, which are equivalent to mechanisms with several rigid parts connected by joints. Laser sintering is employed to produce pneumatic actuators, with different types of motions, based on the elastic properties of the materials used in this manufacturing process. As a result, the systems can be simplified to achieve grippers, with several fingers, that are produced as a single part. In order to estimate the freshness and quality of agricultural products while they are being grasped, accelerometers are added to the fingers of several grippers. Accelerometers are economical and act as intrinsic tactile sensors. They can be easily embedded, thereby reducing the risk of getting damaged due to contact with the product, and allow each of the grasping phases to be identified. To achieve good performance of the accelerometers, a specific process is defined for the robot gripper, which touches the products a few times. In addition, several gripper prototypes are manufactured with diverse under-actuated mechanisms, jamming systems, and a new program that processes the signals from the accelerometers using different procedures in order to obtain parameters that can be used to estimate the quality of products. These parameters are correlated with data from destructive tests that are commonly used as a reference. The best performance of the accelerometers is achieved when the finger employs a granular fluid, a correlation coefficient of 0.937 being accomplished for the ripeness of mangoes and 0.872 for the firmness of eggplants.[ES] La manipulación primaria de alimentos con robots precisa del desarrollo de nuevos sistemas de manipulación especialmente cuando los productos son sensibles al daño y presentan una amplia variabilidad de formas y texturas. En el sector agroalimentario las dificultades son aún mayores ya que la manipulación manual sirve además para inspeccionar los productos durante el proceso. Está tesis aporta soluciones a estos problemas facilitando la incorporación de la robótica. En la tesis se recopilan y analizan diversas soluciones para poder manipular alimentos proponiendo soluciones concretas que luego son validadas con prototipos. La investigación se centra en aquellos sistemas que son capaces de auto adaptarse a las formas de los productos sin incrementar la complejidad del mecanismo. Tras analizar diversas técnicas se propone el uso de mecanismos infra-actuados, mecanismos flexibles y dedos con fluidos granulares que, al estar encerrados dentro de una membrana, se comportan como cuasi-líquidos o cuasi-sólidos gracias a la transición jamming, permitiendo un agarre inicial suave y la posibilidad de transmitir esfuerzos elevados durante los movimientos del robot. En la búsqueda de garras más ligeras, sencillas, flexibles y económicas se aprovecha la oportunidad que brinda la tecnología de fabricación aditiva de material. Gracias a este proceso se fabrican mecanismos flexibles realizados en una única pieza y que equivalen a mecanismos de garras realizados con varias piezas rígidas unidos por articulaciones. Mediante el sinterizado por láser, se fabrican actuadores neumáticos, con diversos tipos de movimiento, basados en la flexibilidad del material empleado en su fabricación. En conjunto se simplifican los sistemas llegando a realizar garras flexibles de varios dedos fabricadas en una única pieza. Para evaluar la calidad y frescura de los productos agroalimentarios durante el agarre se emplean acelerómetros localizados en los dedos de varias garras. Los acelerómetros son económicos y se comportan como sensores táctiles intrínsecos, están fuera del contacto directo con el producto evitando desgastes por contacto y permiten identificar las distintas fases de agarre. Para lograr esto se desarrolla un proceso específico del robot con la garra, que palpa varias veces el producto. Se fabrican diversos tipos de garra con distintas tecnologías de mecanismos infra-actuados y sistemas jamming y se programa un algoritmo original de procesado de señal que con diversas técnicas es capaz de extraer parámetros de los acelerómetros que sirven para evaluar la calidad de los productos. Estos parámetros son correlacionados con los datos de ensayos destructivos que son habitualmente empleados como referencia. Las mejores capacidades se consiguen empleando garras con jamming lográndose coeficientes de correlación de 0.937 en índices de madurez con mangos y 0.872 en firmeza de berenjenas.[CA] La manipulació primària d'aliments amb robots precisa del desenvolupament de nous sistemes de manipulació especialment quan els productes són sensibles al dany i presenten una àmplia variabilitat de formes i textures. En el sector agroalimentari les dificultats són encara més grans ja que la manipulació manual serveix a més per a inspeccionar els productes durant el procés. Aquesta tesi aporta solucions a aquests problemes facilitant la incorporació de la robòtica. En la tesi es recopilen i analitzen diverses solucions per a poder manipular aliments proposant solucions concretes que després són validades amb prototips. La investigació es centra en aquells sistemes que són capaços d'auto adaptar-se a la forma dels productes sense incrementar la complexitat del mecanisme. Després d'analitzar diverses tècniques es proposa l'ús de mecanismes infra-actuats, mecanismes flexibles i dits amb fluids granulars que, tancats dins d'una membrana, es comporten com quasi-líquids o quasi-sòlids gràcies a la transició jamming, permetent una prensió inicial suau i la possibilitat de transmetre esforços elevats durant els moviments del robot. En la recerca d'urpes més lleugeres, senzilles, flexibles i econòmiques s'aprofita l'oportunitat que brinda la tecnologia de fabricació additiva de material. Gràcies a aquest procés es fabriquen mecanismes flexibles realitzats en una única peça i que equivalen a mecanismes d'urpes realitzats amb diverses peces rígides unides per articulacions. Mitjançant el sinteritzat per làser, es fabriquen actuadors pneumàtics, amb diversos tipus de moviment, basats en la flexibilitat del material emprat en la seva fabricació. En conjunt es simplifiquen els sistemes arribant a realitzar urpes flexibles de diversos dits fabricades en una única peça. Per a avaluar la qualitat i frescor dels productes agroalimentaris durant la manipulació s'empren acceleròmetres localitzats en els dits de diverses urpes. Els acceleròmetres són econòmics i es comporten com a sensors tàctils intrínsecs, sense estar en contacte directe amb el producte evitant desgastos per aquest motiu, i permeten identificar les diferents fases d'prensió. Per aconseguir això es desenvolupa un procés específic del robot amb l'urpa, que palpa diverses vegades el producte. Es fabriquen diversos tipus d'urpa amb diferents tecnologies de mecanismes infra-actuats i sistemes jamming i es programa un algoritme original de processat de senyal que, amb diverses tècniques, és capaç d'extreure paràmetres dels acceleròmetres que serveixen per a avaluar la qualitat dels productes. Aquests paràmetres són correlacionats amb les dades d'assajos destructius que són habitualment emprats com a referència. Les millors capacitats s'aconsegueixen emprant urpes amb jamming assolint-se coeficients de correlació de 0,937 en índexs de maduresa amb mangos i 0,872 en fermesa d'albergínies.Blanes Campos, C. (2016). Garras con sensores táctiles intrínsecos para manipular alimentos con robots [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/68481TESI

An ultra-low pressure pneumatic jamming impact device to non-destructively assess cherimoya firmness

[EN] The quality of cherimoya fruit is reduced by the rapid deterioration of firmness during ripening. Different methods have been developed for the measurement of firmness. The objective of this study was to use a developed impact prototype for the non-destructive assessment and prediction of cherimoya fruit firmness. The prototype has an ultra-low pressure pneumatic jamming rod used to copy the irregular fruit shape. A sample of 200 cherimoyas from Málaga (Spain) `Fino de Jete¿ were tested during 4 days. Every day all the fruits were non-destructively tested and a set of 15 were destructively tested. On the fourth day all the remaining fruits were also destructively tested. The prototype was capable of copying the irregularities of the fruit and non-destructively assessing the decrease in cherimoya firmness during ripening without causing damage. A high correlation was found between destructive firmness and non-destructive variables from the prototype. A PLS model was developed to relate destructive firmness from day 4 to non-destructive variables and diameter from day 3, with a R2 of 75.6 and a RMSECV of 0.9885. A calibration set confirmed the prediction with a R2 of 80.2 and a RMSEP of 0.0561. Firmness decay could be non-destructively predicted 24 h in advance using the variables extracted from the prototype device signal.Ortiz Sánchez, MC.; Blanes Campos, C.; Mellado, M. (2019). An ultra-low pressure pneumatic jamming impact device to non-destructively assess cherimoya firmness. Biosystems Engineering. 180:161-167. https://doi.org/10.1016/j.biosystemseng.2019.02.003S16116718

Tactile Sensing with Accelerometers in Prehensile Grippers for Robots

This is the author’s version of a work that was accepted for publication in Mechatronics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Mechatronics, Vol. 33, (2016)] DOI 10.1016/j.mechatronics.2015.11.007.Several pneumatic grippers with accelerometers attached to their fingers have been developed and tested. The first gripper is able to classify the hardness of different cylinders, estimate the pneumatic pressure, monitor the position and speed of the gripper fingers, and study the phases of the action of grasping and the influence of the relative position between the gripper and the cylinders. The other grippers manipulate and assess the firmness of eggplants and mangoes. To achieve a gentle manipulation, the grippers employ fingers with several degrees of freedom in different configurations and have a membrane filled with a fluid that allows their hardness to be controlled by means of the jamming transition of the granular fluid inside it. To assess the firmness of eggplants and mangoes and avoid the influence of the relative position between product and gripper, the firmness is estimated while the products are being held by the fingers. Better performance of the accelerometers is achieved when the finger employs the granular fluid. The article presents methods for designing grippers capable of assessing the firmness of irregular products with accelerometers. At the same time, it also studies the possibilities that accelerometers, attached to different pneumatic robot gripper fingers, offer as tactile sensors. (C) 2015 Elsevier Ltd. All rights reserved.This research is supported by the MANI-DACSA project (Grant number RTA2012-00062-C04-02), which is partially funded by the Spanish Government (Ministerio de Economia y Competitividad.).Blanes Campos, C.; Mellado Arteche, M.; Beltrán Beltrán, P. (2016). Tactile Sensing with Accelerometers in Prehensile Grippers for Robots. Mechatronics. 33:1-12. https://doi.org/10.1016/j.mechatronics.2015.11.007S1123

Identifying the Sweet Spot of Padel Rackets with a Robot

[EN] Although the vibration of rackets and the location of the sweet spot for players when hitting the ball is crucial, manufacturers do not specify this behavior precisely. This article analyses padel rackets, provides a solution to determine the sweet spot position (SSP), quantifies its behavior, and determines the level of vibration transmitted along the racket handle. The proposed methods serve to locate the SSP without quantifying it. This article demonstrates the development of equipment capable of analyzing the vibration behavior of padel rackets. To do so, it employs a robot that moves along the surface of the padel racket, striking it along its central line. Accelerometers are placed on a movable cradle where rackets are positioned and adjusted. A method for analyzing accelerometer signals to quantify vibration severity is proposed. The SSP and vibration behavior along the central line are determined and quantified. As a result of the study, 225 padel rackets are analyzed and compared. SSP is independent of the padel racket shape, balance, weight, moment of inertia, and padel racket shape (tear, diamond, or round) and is not located at the same position as the center of percussion.This research was partially funded by Sport Thinkers SL, Ontinyent, Spain.Blanes Campos, C.; Correcher Salvador, A.; Martínez-Turégano, J.; Ricolfe Viala, C. (2023). Identifying the Sweet Spot of Padel Rackets with a Robot. Sensors. 23(24):1-15. https://doi.org/10.3390/s23249908115232

Operation of DR-HVdc-Connected Grid-Forming Wind Turbine Converters Using Robust Loop-Shaping Controllers

[EN] Off-shore wind power plants can be connected to the on-shore grid using diode rectifier HVdc links. As diode rectifiers are passive converters, off-shore WPPs require grid-forming capability. This paper shows how to improve the WTG dynamic response and the voltage and current harmonic rejection by using H-infinity -based controllers. The paper explains how to synthesise three different H-infinity voltage controllers: the first is a single-loop H-infinity controller, the second is a cascaded H(infinity )controller and the third is a proportional-resonant controller that is optimised using H-infinity synthesis. The three H-infinity -based controllers improve the performance and the robustness obtained with a benchmark case PR controller tuned using the root locus technique. All the controllers are designed in continuous time and implemented in discrete time, applying bilinear discretisation with a sampling rate of 0.25 ms. Detailed PSCAD simulations validate the improvement of the performance and robustness, as well as an improvement in the harmonic rejection. The single H(infinity )controller shows the best combined characteristics of all tried controllers, at the expense of losing the separation between voltage and current control loops.Authors would like to acknowledge the support of the Spanish Research Agency through grant PID2020-112943RB-I00 funded by MCIN/AEI/10.13039/501100011033 and grant PDC2021-121077-I00 funded by MCIN/AEI/10.13039/501100011033 and by the European Union NextGenerationEU/PRTR.Martínez-Turégano, J.; Sala, A.; Blasco-Gimenez, R.; Blanes Campos, C. (2024). Operation of DR-HVdc-Connected Grid-Forming Wind Turbine Converters Using Robust Loop-Shaping Controllers. Applied Sciences. 14(2). https://doi.org/10.3390/app1402088114

Intrinsic tactile sensor for characterizing the hardness of objects with robots programmed in force control mode

[Resumen] La caracterización de superficies es un problema abordado desde diferentes áreas de la ingeniería, como la mecánica, la óptica o la electrónica, entre otras. En este estudio, se presenta un método basado en el uso de un robot en modo control de fuerza para caracterizar de la firmeza de la superficie de un balón según su presión interna. Los parámetros de la respuesta subamortiguada el régimen transitorio cuando el robot está programado para encontrar un valor de fuerza permiten identificar la firmeza de la superficie de contacto que en este caso está relacionado con la presión interna del balón contra el que contacta. Los ensayos han sido realizados empleando siempre el mismo ajuste del sistema de control de fuerza del robot logrando para las distintas presiones analizadas una respuesta subamortiguada de segundo orden. Los resultados obtenidos demuestran las posibilidades y precisión del método propuesto para la caracterización de superficies de firmeza variable. Este enfoque tiene aplicaciones potenciales en la industria, como la evaluación de la firmeza de objetos a manipular o la de productos hortofrutícolas.[Abstract] Surface characterization is a problem in different engineering fields, such as mechanics, optics, and electronics. This study presents a method based on using a force-controlled robot to characterize the firmness of a surface, specifically a ball, based on its internal pressure. The parameters of the underdamped response in the transient response, when the robot is programmed to find a force value, allow for identifying the contact surface firmness, which is related to the internal pressure of the ball it contacts. The experiments were conducted using the same force control system setting for all different ball pressures, resulting in a second-order underdamped response. The obtained results demonstrate the possibilities and accuracy of the proposed method for characterizing surfaces with varying firmness. This approach has potential applications in various industries, such as evaluating the firmness of objects to be manipulated or horticultural products.Generalitat Valenciana; INVEST/2022/16

Non-Destructive Assessment of Mango Firmness and Ripeness Using a Robotic Gripper

The final publication is available at link.springer.com[EN] The objective of the study was to evaluate the use of a robot gripper in the assessment of mango (cv. BOsteen^) firmness as well as to establish relationships between the nondestructive robot gripper measurements with embedded accelerometers in the fingers and the ripeness of mango fruit. Intact mango fruit was handled and manipulated by the robot gripper, and the major physicochemical properties related with their ripening index were analyzed. Partial least square regression models (PLS) were developed to explain these properties according to the variables extracted from the accelerometer signals. Correlation coefficients of 0.925, 0.892, 0.893, and 0.937 with a root-mean-square error of prediction of 2.524 N/ mm, 1.579 °Brix, 3.187, and 0.517, were obtained for the prediction of fruit mechanical firmness, total soluble solids, flesh luminosity, and ripening index, respectively. This research showed that it is possible to assess mango firmness and ripeness during handling with a robot gripper.The authors thanks MANI-DACSA projects (ref. RTA2012-00062-C04-02 and RTA2012-00062-C04-03), Spanish Government (Ministerio de Economia y Competitividad), AICO/2015/122 project, Conselleria de Educacion, Cultura y Deporte, Generalitat Valenciana and PAID-05-11-2745 project, Vicerectorat d'Investigacio, Universitat Politecnica de Valencia. Victoria Cortes thanks Spanish Ministerio de Educacion, Cultura y Deporte for a FPU grant (FPU13/04202).Blanes Campos, C.; Cortés López, V.; Ortiz Sánchez, MC.; Mellado Arteche, M.; Talens Oliag, P. (2015). Non-Destructive Assessment of Mango Firmness and Ripeness Using a Robotic Gripper. Food and Bioprocess Technology. 8(9):1914-1924. https://doi.org/10.1007/s11947-015-1548-21914192489Abdi, H. (2010). Partial least squares regression and projection on latent structure regression (PLS regression). Wiley Interdisciplinary Reviews: Computational Statistics, 2(1), 97–106.Bandyopadhyaya I., Babu D., Bhattacharjee S., & Roychowdhury J. (2014). Vegetable grading using tactile sensing and machine learning. In: Anonymous (ed) Advanced Computing, Networking and Informatics-Volume 1. Smart Innovation, Systems and Technologies. Springer 27, 77-85. doi: 10.1007/978-3-319-07353-8_10 .Blanes, C., Mellado, M., Ortiz, C., & Valera, A. (2011). Technologies for robot grippers in pick and place operations for fresh fruits and vegetables. Spanish Journal of Agricultural Research, 9(4), 1130–1141. doi: 10.5424/sjar/20110904-501-10 .Blanes, C., Ortiz, C., Talens, P. & Mellado, M. (2014). Mango postharvest handling and firmness assessment with a robotic gripper. In Proceedings International Conference of Agricultural Engineer, Zurich, Switzerland.Blanes, C., Ortiz, C., Mellado, M., & Beltrán, P. (2015). Assessment of eggplant firmness with accelerometers on a pneumatic robot gripper. Computers and Electronics in Agriculture, 113, 44–50. doi: 10.1016/j.compag.2015.01.013 .Bouzayen M., Latché A., Nath P., & Pech J. (2010). Mechanism of fruit ripening. In Anonymous Plant Developmental Biology-Biotechnological Perspectives. (pp. 319–339). Springer. (ISBN 978-3-642-02300-2)Brecht J., Sargent S., Kader A., Mitcham E., Maul F., Brecht P., & Menocal O. (2010). Mango Postharvest Best Management Practices Manual. Gainesville: Univ.of Fla.Horticultural Sciences Department, 78. Available at web page accessed 19 Jan 2015 http://edis.ifas.ufl.edu/pdffiles/HS/HS118500.pdfBrown, E., Rodenberg, N., Amend, J., Mozeika, A., Steltz, E., Zakin, M. R., Lipson, H., & Jaeger, H. M. (2010). From the cover: universal robotic gripper based on the jamming of granular material. Proceedings of the National Academy of Sciences of the United States of America, 107(44), 18809–18814. doi: 10.1073/pnas.1003250107 .Dobraszczyk B.J., Vincent J.F. (1999). Measurement of mechanical properties of food materials in relation to texture: the materials approach. Food Texture: Measurement and Perception, 99-151.Esquerre, C., Gowen, A. A., O’Donnell, C. P., & Downey, G. (2009). Initial studies on the quantitation of bruise damage and freshness in mushrooms using visible-near-infrared spectroscopy. Journal of Agricultural and Food Chemistry, 57(5), 1903–1907. doi: 10.1021/jf803090c .FAOSTAT (2014). ProdSTAT. Food and Agriculture Organization of the United Nations. Available at web page accessed 19 Jan 2015 http://faostat.fao.org/site/339/default.aspx (Retrieved 10.03.14)Girao, P. S., Ramos, P. M. P., Postolache, O., & Dias, J. M. (2013). Tactile sensors for robotic applications. Measurement, 46(3), 1257–1271. doi: 10.1016/j.measurement.2012.11.015 .Gouado, I., Schweigert, F. J., Ejoh, R. A., Tchouanguep, M. F., & Camp, J. V. (2007). Systemic levels of carotenoids from mangoes and papaya consumed in three forms (juice, fresh and dry slice). European Journal of Clinical Nutrition, 61(10), 1180–1188. doi: 10.1038/sj.ejcn.1602841 .Hahn, F. (2004). Mango firmness sorter. Biosystems Engineering, 89(3), 309–319. doi: 10.1016/j.biosystemseng.2004.07.005 .http://www.lacquey.nl , available at web page accessed 19 Jan 2015.Jaeger, H. (2014). Celebrating Soft Matter’s 10th Anniversary: toward jamming by design. Soft Matter, 11(1), 12–27. doi: 10.1039/c4sm01923g .Jha, S. K., Sethi, S., Srivastav, M., Dubey, A. K., Sharma, R. R., Samuel, D. V. K., & Singh, A. K. (2010). Firmness characteristics of mango hybrids under ambient storage. Journal of Food Engineering, 97(2), 208–212. doi: 10.1016/j.jfoodeng.2009.10.011 .Lucena, Eliseu Marlônio Pereira de, Assis J.S.d., Alves R.E., Silva, Víctor César Macêdo da, & Enéias, Filho J. (2007). Alterações físicas e químicas durante o desenvolvimento de mangas ‘Tommy Atkins’ no vale de São Francisco, Petrolina-PE. Revista Brasileira de Fruticultura, 29, 96-101.Meijneke, C., Kragten, G., & Wisse, M. (2011). Design and performance assessment of an under actuated hand for industrial applications. Mechanical Science, 2, 9–15. doi: 10.5194/ms-2-9-2011 .Naghdy, F., & Esmaili, M. (1996). Soft fruit grading using a robotics gripper. International Journal of Robotics and Automation, 11, 93–101.Padda, M., Padda, M. S., Garcia, R., Slaughter, D., & Mitcham, E. (2011). Methods to analyze physico-chemical changes during mango ripening: a multivariate approach. Postharvest Biology and Technology, 62(3), 267–274. doi: 10.1016/j.postharvbio.2011.06.002 .Peacock, B., Murray, C., Kosiyachinda, S., Kosittrakul, M., & Tansiriyakul, S. (1986). Influence of harvest maturity of mangoes on storage potential and ripe fruit quality. Asean Food Jorunal, 2, 99–101.Rungpichayapichet P., Rungpichayapichet B., Mahayothee P., Khuwijitjaru M., Nagle J., & Müller. (2015). Non-destructive determination of ß-carotene content in mango by near-infrared spectroscopy compared with colorimetric measurements. Journal of Food Composition and Analysis, 38, 32-41. (doi: 10.1016/j.jfca.2014.10.013 )Saranwong, S., Sornsrivichai, J., & Kawano, S. (2004). Prediction of ripe-stage eating quality of mango fruit from its harvest quality measured nondestructively by near infrared spectroscopy. Postharvest Biology and Technology, 31(2), 137–145. doi: 10.1016/j.postharvbio.2003.08.007 .Singh, Z., Singh, R. K., Sane, V. A., & Nath, P. (2013). Mango—postharvest biology and biotechnology. Critical Reviews in Plant Sciences, 32(4), 217–236. doi: 10.1080/07352689.2012.743399 .Talens, P., Mora, L., Morsy, N., Barbin, D. F., ElMasry, G., & Sun, D. (2013). Prediction of water and protein contents and quality classification of Spanish cooked ham using NIR hyperspectral imaging. Journal of Food Engineering, 117(3), 272–280. doi: 10.1016/j.jfoodeng.2013.03.014 .Velez-Rivera, N., Blasco, J., Chanona-Perez, J., Calderon-Dominguez, G., de Jesus Perea-Flores, M., Arzate-Vazquez, I., Cubero, S., & Farrera-Rebollo, R. (2014). Computer vision system applied to classification of “Manila” mangoes during ripening process. Food and Bioprocess Technology, 7(4), 1183–1194. doi: 10.1007/s11947-013-1142-4 .Vilela, C., Cordeiro, N., Silvestre, A. J. D., Oliveira, L., & Camacho, J. (2013). The ripe pulp of Mangifera indica L.: a rich source of phytosterols and other lipophilic phytochemicals. Food Research International, 54(2), 1535–1540. doi: 10.1016/j.foodres.2013.09.017 .Wilson, M. (2010). Developments in robot applications for food manufacturing. Industrial Robot, 37(6), 498–502. doi: 10.1108/01439911011081632 .Yashoda, H. M., Prabha, T. N., & Tharanathan, R. N. (2007). Mango ripening—role of carbohydrases in tissue softening. Food Chemistry, 102(3), 691–698. doi: 10.1016/j.foodchem.2006.06.001 .Zaharah, S. S., Singh, Z., Symons, G. M., & Reid, J. B. (2012). Role of brassinosteroids, ethylene, abscisic acid, and indole-3-acetic acid in mango fruit ripening. Journal of Plant Growth Regulation, 31(3), 363–372. doi: 10.1007/s00344-011-9245-5

Generación de vídeos para TikTok como herramienta de evaluación de prácticas de automática. Primeros resultados

[ES] Este artículo presenta los primeros resultados de un proyecto de innovación educativa en la UPV que aplica una metodología de evaluación de prácticas mediante la generación de vídeos para la red social TikTok. El objetivo principal del proyecto es mejorar la motivación de los alumnos por las prácticas de la asignatura y su evaluación. Para ello se ha diseñado una metodología mediante la cual los alumnos deben generar una serie de vídeos como evidencias de evaluación de las actividades prácticas. Estos vídeos se comparten en TikTok y parte de la calificación se obtiene del éxito del vídeo en la red. La actividad resulta motivadora y los alumnos la valoran de manera muy positiva.[EN] This paper presents the first results of an educational innovation project at the UPV that applies a practice evaluation methodology by generating videos for the TikTok social network. The project's main objective is to improve the student's motivation for the practices of the subject and its evaluation. To this end, a methodology has been designed through which students must generate videos as evidence for assessing practical activities. These videos are shared on TikTok, and part of the rating is obtained from the video's success on the network. The activity is motivating, and the students value it very positively.Correcher Salvador, A.; Blanes Campos, C.; Cordero París, FM.; Ivorra Martínez, E.; Martínez Turégano, J.; Ricolfe Viala, C. (2023). Generación de vídeos para TikTok como herramienta de evaluación de prácticas de automática. Primeros resultados. Editorial Universitat Politècnica de València. 357-366. https://doi.org/10.4995/INRED2023.2023.1654635736

Integration of simultaneous tactile sensing and visible and near-infrared reflectance spectroscopy in a robot gripper for mango quality assessment

[EN] Development of non-destructive tools for determining mango ripeness would improve the quality of industrial production of the postharvest processes. This study addresses the creation of a new sensor that combines the capability of obtaining mechanical and optical properties of the fruit simultaneously. It has been integrated into a robot gripper that can handle the fruit obtaining non-destructive measurements of firmness, incorporating two spectrometer probes to simultaneously obtain reflectance properties in the visible and near-infrared, and two accelerometers attached to the rear side of two fingers. Partial least square regression was applied to different combinations of the spectral data obtained from the different sensors to determine the combination that provides the best results. Best prediction of ripening index was achieved using both spectral measurements and two finger accelerometer signals, with R2 P ¿ 0:832 and RMSEP of 0.520. These results demonstrate that simultaneous measurement and analysis of the data fusion set improve the robot gripper features, allowing assessment of the quality of the mangoes during pick and place operations.This work has been partially funded by the Instituto Nacional de Investigacion y Tecnologia Agraria y Alimentaria de Espana (INIA) and FEDER through research projects RTA2012-00062-C04-01, RTA2012-00062-C04-02, RTA2012-00062-C04-03, and by the Conselleria d' Educacio, Investigacio, Cultura i Esport, Generalitat Valenciana, through the project AICO/2015/122. V. Cortes thanks the Spanish MEC for the FPU grant (FPU13/04202).Cortes-Lopez, V.; Blanes Campos, C.; Blasco Ivars, J.; Ortiz Sánchez, MC.; Aleixos Borrás, MN.; Mellado Arteche, M.; Cubero García, S.... (2017). Integration of simultaneous tactile sensing and visible and near-infrared reflectance spectroscopy in a robot gripper for mango quality assessment. Biosystems Engineering. 162:112-123. doi:10.1016/j.biosystemseng.2017.08.005S11212316