El circuito eléctrico de corriente continua

Diapositivas del tema 1: El circuito eléctrico de corriente continua

Safe human-robot interaction based on dynamic sphere-swept line bounding volumes

This paper presents a geometric representation for human operators and robotic manipulators, which cooperate in the development of flexible tasks. The main goal of this representation is the implementation of real-time proximity queries, which are used by safety strategies for avoiding dangerous collisions between humans and robotic manipulators. This representation is composed of a set of bounding volumes based on swept-sphere line primitives, which encapsulate their links more precisely than previous sphere-based models. The radius of each bounding volume does not only represent the size of the encapsulated link, but it also includes an estimation of its motion. The radii of these dynamic bounding volumes are obtained from an algorithm which computes the linear velocity of each link. This algorithm has been implemented for the development of a safety strategy in a real human–robot interaction task.This work is funded by the Spanish Ministry of Education and the Spanish Ministry of Science and Innovation through the projects DPI2005-06222 and DPI2008-02647 and the grant AP2005-1458

Tecnologías en la inteligencia ambiental

En este artículo se presenta el término “Inteligencia Ambiental” (AmI) y se describen las distintas tecnologías que posibilitan su desarrollo: la computación ubicua, la comunicación ubicua y las interfaces inteligentes. Enumeraremos las distintas técnicas de localización que se usan en los entornos inteligentes para determinar la ubicación del usuario y poder ofrecerle así los servicios más adecuados. Para comprender mejor las posibilidades de la AmI, también mostraremos sus principales áreas de aplicación.Este trabajo ha sido financiado por el Ministerio de Educación y Ciencia (MEC) de España mediante el proyecto DPI2005-06222 “Diseño, Implementación y Experimentación de Escenarios de Manipulación Inteligentes para Aplicaciones de Ensamblado y Desensamblado Automático” y mediante la beca de postgrado FPU AP2005-1458

Targetless Camera-LiDAR Calibration in Unstructured Environments

The camera-Lidar sensor fusion plays an important role in autonomous navigation research. Nowadays, the automatic calibration of these sensors remains a significant challenge in mobile robotics. In this article, we present a novel calibration method that achieves an accurate six-degree-of-freedom (6-DOF) rigid-body transformation estimation (aka extrinsic parameters) between the camera and LiDAR sensors. This method consists of a novel co-registration approach that uses local edge features in arbitrary environments to get 3D-to-2D errors between the data of both, camera and LiDAR. Once we have 3D-to-2D errors, we estimate the relative transform, i.e., the extrinsic parameters, that minimizes these errors. In order to find the best transform solution, we use the perspective-three-point (P3P) algorithm. To refine the final calibration, we use a Kalman Filter, which gives the system high stability against noise disturbances. The presented method does not require, in any case, an artificial target, or a structured environment, and therefore, it is a target-less calibration. Furthermore, the method we present in this article does not require to achieve a dense point cloud, which holds the advantage of not needing a scan accumulation. To test our approach, we use the state-of-the-art Kitti dataset, taking the calibration provided by the dataset as the ground truth. In this way, we achieve accuracy results, and we demonstrate the robustness of the system against very noisy observations.This work was supported by the Regional Valencian Community Government and the European Regional Development Fund (ERDF) through the grants ACIF/2019/088 and AICO/2019/020

Web-based OERs in Computer Networks

Learning and teaching processes are continually changing. Therefore, design of learning technologies has gained interest in educators and educational institutions from secondary school to higher education. This paper describes the successfully use in education of social learning technologies and virtual laboratories designed by the authors, as well as videos developed by the students. These tools, combined with other open educational resources based on a blended-learning methodology, have been employed to teach the subject of Computer Networks. We have verified not only that the application of OERs into the learning process leads to a significantly improvement of the assessments, but also that the combination of several OERs enhances their effectiveness. These results are supported by, firstly, a study of both students’ opinion and students’ behaviour over five academic years, and, secondly, a correlation analysis between the use of OERs and the grades obtained by students

Diseño de una mini-cámara motorizada para el seguimiento de objetos

Comunicación presentada en las XXIX Jornadas de Automática, Tarragona, 3-5 Septiembre 2008.En este artículo se presenta un mini-sistema de visión basado en una cámara CMOS inalámbrica motorizada que permite realizar el seguimiento de objetivos móviles. Este sistema emplea características de color e histogramas para detectar el objeto presente en la imagen con un bajo coste computacional. La novedad de este trabajo reside en la flexibilidad del sistema diseñado para ser incorporado en aplicaciones que empleen mini-robots donde se requieren especificaciones de bajo peso y pequeñas dimensiones, sin mermar la libertad de movimientos de los robots en sistemas de sensorizado.Este trabajo ha sido financiado por el Ministerio de Educación y Ciencia (MEC) mediante la beca FPU AP2005-1458 y el proyecto DPI2005-06222

MOGEDA : Modelo Genérico de Desensamblado Automático

El desensamblado de productos es la clave del proceso de reciclado. En este artículo se plantea el modelado del proceso de desensamblado automático de productos. Se estudian, tanto los requerimientos necesarios para poder abordar el proceso de forma automática, como las herramientas necesarias para poderlo llevar a cabo: base de conocimiento basada en modelos y técnicas de reconocimiento y localización tridimensional de objetos mediante visión artificial.Tanto los trabajos realizados como los futuros están enmarcados en el proyecto de la CICYT “Sistema Robotizado de Desensamblado Automático basado en Modelos y Visión Artificial” (TAP1999-0436)

Safe cooperation between human operators and visually controlled industrial manipulators

Industrial tasks can be improved substantially by making humans and robots collaborate in the same workspace. The main goal of this chapter is the development of a human-robot interaction system which enables this collaboration and guarantees the safety of the human operator. This system is composed of two subsystems: the human tracking system and the robot control system. The human tracking system deals with the precise real-time localization of the human operator in the industrial environment. It is composed of two systems: an inertial motion capture system and an Ultra-WideBand localization system. The robot control system is based on visual servoing. A safety behaviour which stops the normal path tracking of the robot is performed when the robot and the human are too close. This safety behaviour has been implemented through a multi-threaded software architecture in order to share information between both systems. Thereby, the localization measurements obtained by the human tracking system are processed by the robot control system to compute the minimum human-robot distance and determine if the safety behaviour must be activated.Spanish Ministry of Science and Innovation and the Spanish Ministry of Education through the projects DPI2005-06222 and DPI2008-02647 and the grant AP2005-1458

Virtual remote laboratory for teaching of computer vision and robotics in the University of Alicante

Comunicación presentada en IBCE'04, Second IFAC Workshop on Internet Based Control Education, 5-7 septiembre 2004, Grenoble, FranciaIn this article, we describe the virtual and remote laboratory for computer vision and robotics education at the University of Alicante (Spain). Its aims are to provide access for all the students to the available robotic and computer vision equipments, generally limited, due to its high cost

Geo-Localization Based on Dynamically Weighted Factor-Graph

Feature-based geo-localization relies on associating features extracted from aerial imagery with those detected by the vehicle's sensors. This requires that the type of landmarks must be observable from both sources. This lack of variety of feature types generates poor representations that lead to outliers and deviations produced by ambiguities and lack of detections, respectively. To mitigate these drawbacks, in this letter, we present a dynamically weighted factor graph model for the vehicle's trajectory estimation. The weight adjustment in this implementation depends on information quantification in the detections performed using a LiDAR sensor. Also, a prior (GNSS-based) error estimation is included in the model. Then, when the representation becomes ambiguous or sparse, the weights are dynamically adjusted to rely on the corrected prior trajectory, mitigating outliers and deviations in this way. We compare our method against state-of-the-art geo-localization ones in a challenging and ambiguous environment, where we also cause detection losses. We demonstrate mitigation of the mentioned drawbacks where the other methods fail.This work was supported in part by Regional Valencian Community Government and the European Union under Project PROMETEO/2021/075 and in part by Spanish Government under Grant PRE2019-088069, Grant PRE2022-101680, and Project PID2021-122685OB-I00