Diseño de dron submarino: diseño e implementación del sistema de comunicaciones y diseño del sistema de control

Esta memoria va a explicar el desarrollo de los sistemas de comunicaciones y de control de un ROUV-Vehículo Submarino Operado Remotamente- diseñado en el contexto de un proyecto denominado ’U-Water Explorer Dron’. Se realizará una introducción al estado del arte y a las herramientas hardware y software empleadas a lo largo del proyecto. Además, se contrastarán las diferentes opciones disponibles para el sistema de comunicaciones y el de control. Este trabajo justificará las decisiones tomadas durante el proceso de diseño, así como se realizará un análisis detallado del comportamiento de cada sistema.This memory will explain the development of the communication and control system of a ROUV- Remotely Operated Underwater Vehicle- designed in the context of a project called ’U-Water Explorer Dron’. An introduction to the state of art and to the hardware and software tools used thoughout the project will take place. Furthermore, different options for the communication system configuration and control strategies will be discused. This work will justify the decisions made in the design process, as well as a detailed explanation of the perfomance of each system

Perception-intention-action cycle as a human acceptable way for improving human-robot collaborative tasks

© ACM 2023. This is the author's version of the work. It is posted here for your personal use. Not for redistribution. The definitive Version of Record was published in HRI '23: Companion of the 2023 ACM/IEEE International Conference on Human-Robot Interaction, https://doi.org/10.1145/3568294.3580149.In Human-Robot Collaboration (HRC) tasks, the classical Perception-Action cycle can not fully explain the collaborative behaviour of the human-robot pair until it is extended to Perception-Intention-Action (PIA) cycle, giving to the human's intention a key role at the same level of the robot's perception and not as a subblock of this. Although part of the human's intention can be perceived or inferred by the other agent, this is prone to misunderstandings so the true intention has to be explicitly informed in some cases to fulfill the task. Here, we explore both types of intention and we combine them with the robot's perception through the concept of Situation Awareness (SA). We validate the PIA cycle and its acceptance by the user with a preliminary experiment in an object transportation task showing that its usage can increase trust in the robot.Peer ReviewedPostprint (author's final draft

IVO Robot: a new social robot for human-robot collaboration

© 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.We present a new social robot named IVO, a robot capable of collaborating with humans and solving different tasks. The robot is intended to cooperate and work with humans in a useful and socially acceptable manner to serve as a research platform for long-term Social Human-Robot Interaction. In this paper, we proceed to describe this new platform, its communication skills and the current capabilities the robot possesses, such as, handing over an object to or from a person or performing guiding tasks with a human through physical contact. We describe the social abilities of the IVO robot, furthermore, we present the experiments performed for each robot's capacity using its current version.Peer ReviewedPostprint (author's final draft

IVO Robot: A new social robot for Human-Robot collaboration

Trabajo presentado en la 17th ACM/IEEE International Conference on Human-Robot Interaction (HRI), celebrada en Sapporo (Japón), del 7 al 10 de marzo de 2022We present a new social robot named IVO, a robot capable of collaborating with humans and solving different tasks. The robot is intended to cooperate and work with humans in a useful and socially acceptable manner to serve as a research platform for long-term Social Human-Robot Interaction. In this paper, we proceed to describe this new platform, its communica- tion skills and the current capabilities the robot possesses, such as, handing over an object to or from a person or performing guiding tasks with a human through physical contact. We describe the social abilities of the IVO robot, furthermore, we present the experiments performed for each robot¿s capacity using its current version