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

WEPH. DISEÑO E IDENTIDAD

[EN] Departing from the idea behind this project, we are going to present the basement conditions for the creative proccess of a skate brand. In order to accomplish this, we will analyse several corporate identities, the characte - ristics of leadingbrands in themarket as well as the role performed amongst users. This benchmark of this study will be based on the skate and its back - groundas well as its development. Our main aim in this project is to create a new fashionable and urban ska - te brand using innovative principles in its creation and production proccess. In this project we are going to use a stand for the promotion of this new groundbreaking skate brand, “WEPH”, in which customers will discover a myriad of products that will highlitght the unconventional, counter cultural and daring nature of this new brand.[ES] Vamos a realizar un estudio sobre las condiciones para la creación de una marca de skate. Observaremos las identidades corporativas, las caracterís - ticas de diferentes marcas y su papel entre estas y los usuarios. Para poder adentrarnos más en el tema a tratar, investigaremos sobre el skate, su histo - ria, ya que sin unos referentes claramente marcados y una información bási - ca sobre el tema, no se puede abarcar bien un proyecto de esta envergadura. todo ello lo haremos con el fin de crear una marca de skate de carácter joven y urbano, a la vez que comprometida con el medio ambiente con el fin de eliminar prejuicios sobre este movimiento social. Las partes más importantes albergadas en la parte práctica de este trabajo son: el diseño de la marca, sus aplicaciones en diferentes productos, a la par que el medio de presentación y divulgación. Más concretamente la realización de un stand promotor de la nueva mar - ca de skate, Weph, en la que encontraremos todo tipo de artículos mostrán - donos su carácter rebelde, e innovadorBlanes Fernández, C. (2016). WEPH. DISEÑO E IDENTIDAD. http://hdl.handle.net/10251/74057.TFG

Reproductive Strategies Under Different Environmental Conditions: Total Output vs Investment per Egg in the Slipper Lobster Scyllarus Arctus

Financiado para publicación en acceso aberto: Universidade da Coruña/CISUG[Abstract] The slipper lobster Scyllarus arctus is an important fishery resource in Galicia (NW Iberian Peninsula), with a large reduction of its populations in recent decades in the North-east Atlantic and Mediterranean, but only limited information on its reproduction. This study provides an analysis of the reproductive potential of this scyllarid during two breeding cycles (2008 and 2009) in the NE Atlantic (43°20′N 8°50′W). We studied several reproductive traits (fecundity, brood weight, egg weight and volume) in broods with eggs both in an early and late embryonic stage, in relation to female size and temporal variations. Total output (fecundity and weight) and egg weight were closely linked to maternal size, and this relationship remained in broods with late-stage eggs. In relation to temporal variations, our data revealed an important seasonal variability in fecundity and egg weight, showing an inverse pattern in the reproductive strategy in the first two seasons of the reproductive period, with a maximum egg weight in winter (December–February) and a maximum number of eggs produced in spring (April–May). A predictive model for realized fecundity was developed: log (FE) = 0.064 + 2.907 log (length)−0.018 Month2 + 0.174 Month, which accounted for over 90% of variation in the total data.Xunta de Galicia; 07MMA009103PRThis study is part of the project ‘Study of the reproductive biology and larval development of the small European locust lobster Scyllarus arctus: basic knowledge for a Sustainable Fishery Management’ (07MMA009103PR) co-funded by the Xunta de Galicia and the European Regional Development Fund (ERDF

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

Video and Emotionality in the Social Network Sites during Elections : the general election campaign of April 2019 in Spain.

This is a study on videos generated or shared on Facebook, Twitter and Instagram by the main political parties' candidates during the general election campaign for the government of Spain in April 2019. Using a quantitative analysis and a statistical approach, the means of audiovisual persuasion used by the candidates are analysed, addressing their emotional nature. It is shown that the traditional political parties in their campaigns use audiovisual formats that are less emotional than those of the new emerging parties. Secondly, a clear difference can be seen among the leaders in their use of audiovisual formats to convey their messages