Computer Based Production of Saffron (Crocus Sativus L.): From Mechanical Design to Electronic Control

[EN] The article describes the design and implementation of a computer based industrial system for production of saffron. The proposal is based on an automated greenhouse with temperature, light and irrigation control together with harvesting and stigma separation devices. The harvesting device has been specifically developed using scalability properties and computer vision. The greenhouse is designed to increase the crop density if required generating a more sustainable and continuous production. The main advantages of the proposed method are as follows: the harvesting of the saffron flower and the procedure to get the stigmas are carried out in the same process; the greenhouse allows to significantly extend the flowering time of the saffron plant; and higher productivity per worker and per planting area is achieved. In order to show the feasibility and applicability of the proposed approach, real experimentation has been carried out for the extension of the flowering time and for the harvesting and stigma separation devices and successful results have been obtained.This work has been partially supported by the European Commission under Grant No. 683987. The authors thank Enrique Gil Botella for helping with the machine design and drawings and Angel Flores Pérez for helping to generate the program for the cutting system.Perez-Vidal, C.; Gracia Calandin, LI. (2020). Computer Based Production of Saffron (Crocus Sativus L.): From Mechanical Design to Electronic Control. Computers and Electronics in Agriculture. 169:1-11. https://doi.org/10.1016/j.compag.2019.105198S11116

Representation of Robots in Matlab

Electronic versíon of an article published as International Journal of Software Engineering and Knowledge Engineering, Volume 29, issue 1, 2019, pp. 23-42. 10.1142/S0218194019500025 © World Scientific Publishing Company[EN] This paper presents a new software tool, namely RoboClass, to include and manage realistic robots and elements of the environment in Matlab simulations. These elements are loaded from CAD models using an STL-file and can be as detailed as desired. All the steps involved in the process are explained in detail. Furthermore, two illustrative examples are considered to show the effectiveness and versatility of the proposed approach: the ABB-IRB120 industrial robot and the CSA research robot. The developed tool is especially useful both for robotics research and teaching.Sanchez, A.; Gracia Calandin, LI.; Morales, R.; Perez-Vidal, C. (2019). Representation of Robots in Matlab. International Journal of Software Engineering and Knowledge Engineering. 29(1):23-42. https://doi.org/10.1142/S0218194019500025S234229

Robust and Cooperative Image-Based Visual Servoing System Using a Redundant Architecture

The reliability and robustness of image-based visual servoing systems is still unsolved by the moment. In order to address this issue, a redundant and cooperative 2D visual servoing system based on the information provided by two cameras in eye-in-hand/eye-to-hand configurations is proposed. Its control law has been defined to assure that the whole system is stable if each subsystem is stable and to allow avoiding typical problems of image-based visual servoing systems like task singularities, features extraction errors, disappearance of image features, local minima, etc. Experimental results with an industrial robot manipulator based on Schunk modular motors to demonstrate the stability, performance and robustness of the proposed system are presented

Advanced mathematical methods for collaborative robotics

Gracia Calandin, LI.; Perez-Vidal, C.; Valls-Miro, J. (2018). Advanced mathematical methods for collaborative robotics. Mathematical Problems in Engineering. 2018. https://doi.org/10.1155/2018/1605817S201

Human-robot collaboration for surface treatment tasks

[EN] This paper presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, finishing, deburring, etc. The proposed scheme is based on task priority and non-conventional sliding mode control. Furthermore, the proposal includes two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The applicability and feasibility of the proposed collaborative solution for robotic surface treatment are substantiated by experimental results using a redundant 7R manipulator: the Sawyer collaborative robot.This work was supported in part by the Spanish Government under the project DPI-201787656-C2-1-R and the Generalitat Valenciana under Grant VALi+d.Gracia Calandin, LI.; Solanes Galbis, JE.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2019). Human-robot collaboration for surface treatment tasks. Interaction Studies. 20(1):148-184. https://doi.org/10.1075/is.18010.graS148184201Angel-Fernandez, J. M., & Bonarini, A. (2016). Robots Showing Emotions. Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 17(3), 408-437. doi:10.1075/is.17.3.06angArnal, L., Solanes, J. E., Molina, J., & Tornero, J. (2017). Detecting dings and dents on specular car body surfaces based on optical flow. Journal of Manufacturing Systems, 45, 306-321. doi:10.1016/j.jmsy.2017.07.006Chiaverini, S., Oriolo, G., & Walker, I. D. (2008). Kinematically Redundant Manipulators. Springer Handbook of Robotics, 245-268. doi:10.1007/978-3-540-30301-5_12Dimeas, F., & Aspragathos, N. (2016). Online Stability in Human-Robot Cooperation with Admittance Control. IEEE Transactions on Haptics, 9(2), 267-278. doi:10.1109/toh.2016.2518670Edwards, C., & Spurgeon, S. (1998). Sliding Mode Control. doi:10.1201/9781498701822Engeberg, E. D., Meek, S. G., & Minor, M. A. (2008). Hybrid Force–Velocity Sliding Mode Control of a Prosthetic Hand. IEEE Transactions on Biomedical Engineering, 55(5), 1572-1581. doi:10.1109/tbme.2007.914672Etzioni, A., & Etzioni, O. (2017). The ethics of robotic caregivers. Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 18(2), 174-190. doi:10.1075/is.18.2.02etzDe Graaf, M. M. A., Ben Allouch, S., & van Dijk, J. A. G. M. (2016). Long-term evaluation of a social robot in real homes. Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 17(3), 461-490. doi:10.1075/is.17.3.08degJlassi, S., Tliba, S., & Chitour, Y. (2014). An event-controlled online trajectory generator based on the human-robot interaction force processing. Industrial Robot: An International Journal, 41(1), 15-25. doi:10.1108/ir-01-2013-317Khan, A. M., Yun, D., Zuhaib, K. M., Iqbal, J., Yan, R.-J., Khan, F., & Han, C. (2017). Estimation of Desired Motion Intention and compliance control for upper limb assist exoskeleton. International Journal of Control, Automation and Systems, 15(2), 802-814. doi:10.1007/s12555-015-0151-7Levant, A. (2003). Higher-order sliding modes, differentiation and output-feedback control. International Journal of Control, 76(9-10), 924-941. doi:10.1080/0020717031000099029Levant, A. (2005). Quasi-continuous high-order sliding-mode controllers. IEEE Transactions on Automatic Control, 50(11), 1812-1816. doi:10.1109/tac.2005.858646Martínez, S. S., Ortega, J. G., García, J. G., García, A. S., & Estévez, E. E. (2013). An industrial vision system for surface quality inspection of transparent parts. The International Journal of Advanced Manufacturing Technology, 68(5-8), 1123-1136. doi:10.1007/s00170-013-4904-2Massoud, A. T., ElMaraghy, H. A., & Lahdhiri, T. (1999). Journal of Intelligent and Robotic Systems, 25(3), 227-254. doi:10.1023/a:1008099522350Mitra, A., & Behera, L. (2015). Development of a Fuzzy Sliding Mode Controller with adaptive tuning technique for a MRI guided robot in the human vasculature. 2015 IEEE 13th International Conference on Industrial Informatics (INDIN). doi:10.1109/indin.2015.7281763Molina, J., Solanes, J. E., Arnal, L., & Tornero, J. (2017). On the detection of defects on specular car body surfaces. Robotics and Computer-Integrated Manufacturing, 48, 263-278. doi:10.1016/j.rcim.2017.04.009Nakamura, Y., Hanafusa, H., & Yoshikawa, T. (1987). Task-Priority Based Redundancy Control of Robot Manipulators. The International Journal of Robotics Research, 6(2), 3-15. doi:10.1177/027836498700600201Ortaç, G., Bilgi, A. S., Taşdemir, K., & Kalkan, H. (2016). A hyperspectral imaging based control system for quality assessment of dried figs. Computers and Electronics in Agriculture, 130, 38-47. doi:10.1016/j.compag.2016.10.001Papadopoulos, F., Küster, D., Corrigan, L. J., Kappas, A., & Castellano, G. (2016). Do relative positions and proxemics affect the engagement in a Human-Robot collaborative scenario? Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 17(3), 321-347. doi:10.1075/is.17.3.01papRoswell, A., Xi, F. (Jeff), & Liu, G. (2006). Modelling and analysis of contact stress for automated polishing. International Journal of Machine Tools and Manufacture, 46(3-4), 424-435. doi:10.1016/j.ijmachtools.2005.05.006Sakaino, S., & Ohnishi, K. (2006). Sliding Mode Control Based on Position Control for Contact Motion Applied to Hopping Robot. 2006 IEEE International Conference on Industrial Technology. doi:10.1109/icit.2006.372347Shi, Y., Zheng, D., Hu, L., Wang, Y., & Wang, L. (2011). NC polishing of aspheric surfaces under control of constant pressure using a magnetorheological torque servo. The International Journal of Advanced Manufacturing Technology, 58(9-12), 1061-1073. doi:10.1007/s00170-011-3445-9Siciliano, B., Sciavicco, L., Villani, L., & Oriolo, G. (2009). Robotics. Advanced Textbooks in Control and Signal Processing. doi:10.1007/978-1-84628-642-1Tian, F., Li, Z., Lv, C., & Liu, G. (2016). Polishing pressure investigations of robot automatic polishing on curved surfaces. The International Journal of Advanced Manufacturing Technology, 87(1-4), 639-646. doi:10.1007/s00170-016-8527-2Tornero, J., Armesto, L., Mora, M. C., Monteś, N., Herráez, Á., & Asensio, J. (2012). Detección de Defectos en Carrocerías de Vehículos Basado en Visión Artificial: Diseño e Implantación. Revista Iberoamericana de Automática e Informática Industrial RIAI, 9(1), 93-104. doi:10.1016/j.riai.2011.11.010Utkin, V., Guldner, J., & Shi, J. (2017). Sliding Mode Control in Electro-Mechanical Systems. doi:10.1201/9781420065619Vlachos, E., Jochum, E., & Demers, L.-P. (2016). The Effects of Exposure to Different Social Robots on Attitudes toward Preferences. Interaction Studies / Social Behaviour and Communication in Biological and Artificial Systems, 17(3), 390-404. doi:10.1075/is.17.3.04vlaWu, Q., Wang, X., Du, F., & Zhu, Q. (2015). Fuzzy sliding mode control of an upper limb exoskeleton for robot-assisted rehabilitation. 2015 IEEE International Symposium on Medical Measurements and Applications (MeMeA) Proceedings. doi:10.1109/memea.2015.7145246Yun, D., Khan, A. M., Yan, R.-J., Ji, Y., Jang, H., Iqbal, J., … Han, C. (2016). Handling subject arm uncertainties for upper limb rehabilitation robot using robust sliding mode control. International Journal of Precision Engineering and Manufacturing, 17(3), 355-362. doi:10.1007/s12541-016-0044-6ZHOU, J., ZHOU, Z., & AI, Q. (2016). Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control. Mechanical Engineering and Control Systems. doi:10.1142/9789814740616_003

Localization of serum resistance-associated protein in Trypanosoma brucei rhodesiense and transgenic Trypanosoma brucei brucei.

African trypanosomes infect a broad range of mammals, but humans and some higher primates are protected by serum trypanosome lytic factors that contain apolipoprotein L1 (ApoL1). In the human-infective subspecies of Trypanosoma brucei, Trypanosoma brucei rhodesiense, a gene product derived from the variant surface glycoprotein gene family member, serum resistance-associated protein (SRA protein), protects against ApoL1-mediated lysis. Protection against trypanosome lytic factor requires the direct interaction between SRA protein and ApoL1 within the endocytic apparatus of the trypanosome, but some uncertainty remains as to the precise mechanism and location of this interaction. In order to provide more insight into the mechanism of SRA-mediated resistance to trypanosome lytic factor, we assessed the localization of SRA in T. b. rhodesiense EATRO3 using a novel monoclonal antibody raised against SRA together with a set of well-characterized endosomal markers. By three-dimensional deconvolved immunofluorescence single-cell analysis, combined with double-labelling immunoelectron microscopy, we found that ≈ 50% of SRA protein localized to the lysosome, with the remaining population being distributed through the endocytic pathway, but apparently absent from the flagellar pocket membrane. These data suggest that the SRA/trypanolytic factor interaction is intracellular, with the concentration within the endosomes potentially crucial for ensuring a high efficiency.MN is funded by grants from the Spanish Ministerio de Ciencia e Innovación, (SAF2012-40029), Junta de Andalucia (CTS-5841) and VI PN de I+D+I 2008–2011, Instituto de Salud Carlos III – Subdirección General de Redes y Centros de Investigación Cooperativa (RICET) RD12/0018/0001 and RD12/0018/0015. J-MB is supported by a Miguel Servet Fellowship (CP09/00300) and funded by ‘Fondo de Investigación Sanitaria’ PI10/01128. JR and MC were funded by a Wellcome Trust Project Grant 093008/Z/10/Z. Work in the Dundee laboratory was funded by the Wellcome Trust (program grant 093008/Z/10/Z) and the Medical Research Council.This is the final version of the article. It first appeared from Wiley via http://dx.doi.org/10.1111/cmi.1245

Social media in cardiology: Reasons to learn how to use it

Social media has changed the way we learn, educate, and interact with our peers. The dynamic nature of social media and their immediate availability through our portable devices (smartphones, tablets, smartwatches, etc.) is quickly transforming the way we participate in society. The scope of these digital tools is broad as they deal with many different aspects: Teaching and learning, case discussion, congresses coverage, peer to peer interaction, research are examples worth mentioning. The scientific societies considered more innovative, are promoting these tools between their members. These new concepts need to be known by the cardiologists to stay updated, as countless information is moving rapidly through these channels. We summarize the main reasons why learning how to use these tools to be part of the conversation is essential for the cardiologist in training or fully stablished

Blood parameters as biomarkers in a Salmonella spp. disease model of weaning piglets

peer-reviewedBackground The weaning pig is used as an experimental model to assess the impact of diet on intestinal health. Blood parameters (BP) are considered a useful tool in humans, but there is very scarce information of such indicators in the weaning pig. The objective of the present study is to evaluate the use of different BP as indicators in an experimental model of salmonellosis. Methodology Seventy-two 28-day-old piglets were divided into four groups in a 2x2 factorial arrangement, with animals receiving or not a probiotic combination based on B. infantis IM1® and B. lactis BPL6 (109 colony forming units (cfu)/d) and orally challenged or not a week later with Salmonella Typhimurium (5x108 cfu). Blood samples of one animal per pen (N = 24) were taken four days post-inoculation for the evaluation of different BP using an I-stat® System and of plasmatic concentrations of zinc, iron and copper. Principal findings Results reported marginal deficiencies of zinc in piglets at weaning. Moreover, plasmatic zinc, copper and iron presented good correlations with weight gain (r 0.57, r -0.67, r 0.54 respectively; P < 0.01). Blood electrolytes (Na+, Cl- and K+) decreased (P < 0.01) only when the performance of the animals was seriously compromised and clinical symptoms were more apparent. Acid-base balance parameters such as HCO3-, TCO2 and BEecf significantly correlated with weight gain, but only in the challenged animals (r -0.54, r -0.55, and r -0.51, respectively; P < 0.05), suggesting metabolic acidosis depending on Salmonella infection. Glucose was affected by the challenge (P = 0.040), while Htc and Hgb increased with the challenge and decreased with the probiotic (P < 0.05). Furthermore, correlations of Glu, Htc and Hgb with weight gain were observed (P < 0.05). Overall, BP could be regarded as simple, useful indexes to assess performance and health of weaning piglets

Composition of Constraint, Hypothesis and Error Models to improve interaction in Human-Machine Interfaces

We use Weighted Finite-State Transducers (WFSTs) to represent the different sources of information available: the initial hypotheses, the possible errors, the constraints imposed by the task (interaction language) and the user input. The fusion of these models to find the most probable output string can be performed efficiently by using carefully selected transducer operations. The proposed system initially suggests an output based on the set of hypotheses, possible errors and Constraint Models. Then, if human intervention is needed, a multimodal approach, where the user input is combined with the aforementioned models, is applied to produce, with a minimum user effort, the desired output. This approach offers the practical advantages of a de-coupled model (e.g. input-system + parameterized rules + post-processor), keeping at the same time the error-recovery power of an integrated approach, where all the steps of the process are performed in the same formal machine (as in a typical HMM in speech recognition) to avoid that an error at a given step remains unrecoverable in the subsequent steps. After a presentation of the theoretical basis of the proposed multi-source information system, its application to two real world problems, as an example of the possibilities of this architecture, is addressed. The experimental results obtained demonstrate that a significant user effort can be saved when using the proposed procedure. A simple demonstration, to better understand and evaluate the proposed system, is available on the web https://demos.iti.upv.es/hi/. (C) 2015 Elsevier B.V. All rights reserved.Navarro Cerdan, JR.; Llobet Azpitarte, R.; Arlandis, J.; Perez-Cortes, J. (2016). Composition of Constraint, Hypothesis and Error Models to improve interaction in Human-Machine Interfaces. Information Fusion. 29:1-13. doi:10.1016/j.inffus.2015.09.001S1132