Listar Ingeniería de Sistemas y Automática - (ISA) por título
Mostrando ítems 1-20 de 217
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3D Segmentation Method for Natural Environments based on a Geometric-Featured Voxel Map
(2015-03-26)This work proposes a new segmentation algorithm for three-dimensional dense point clouds and has been specially designed for natural environments where the ground is unstructured and may include big slopes, non-flat areas ... -
A Configurable Smart E-Nose for Spatio-Temporal Olfactory Analysis
(2014-11-12)This paper describes a novel electronic nose (enose) aimed at applications that require knowing not only the gas composition and concentration, but also its temporal and spatial evolution. This is done by capturing ... -
A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM
(Sage Publications, 2016-07-11)This work addresses the development and application of a novel approach, called sparser relative bundle adjustment (SRBA), which exploits the inherent flexibility of the relative bundle adjustment (RBA) framework to devise ... -
A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces.
(2023)This work deals with the problem of detecting and localizing methane emission sources in open spaces with a mobile robot equipped with a remote gas detector (TDLAS). To reduce the long inspection time of traditional ... -
A multi-hierarchical symbolic model of the environment for improving mobile robot operation
(Servicio de Publicaciones y Divulgación Científica, 2015)El trabajo desarrollado en esta tesis se centra en el estudio y aplicación de estructuras multijerárquicas, que representan el entorno de un robot móvil, con el objetivo de mejorar su capacidad de realizar tareas complejas ... -
A multidimensional Bayesian architecture for real-time anomaly detection and recovery in mobile robot sensory systems
(Elsevier, 2023)For mobile robots to operate in an autonomous and safe manner they must be able to adequately perceive their environment despite challenging or unpredictable conditions in their sensory apparatus. Usually, this is addressed ... -
A predictive model for the maintenance of industrial machinery in the context of industry 4.0
(Elsevier, 2020-01)The Industry 4.0 paradigm is being increasingly adopted in the production, distribution and commercialization chains worldwide. The integration of the cutting-edge techniques behind it entails a deep and complex revolution ... -
A Primal-Dual Framework for Real-Time Dense RGB-D Scene Flow
(IEEE, 2015-05)This paper presents the first method to compute dense scene flow in real-time for RGB-D cameras. It is based on a variational formulation where brightness constancy and geometric consistency are imposed. Accounting for ... -
A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture
(MDPI, 2021)This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every ... -
A Robotic Experiment Toward Understanding Human Gas-Source Localization Strategies
(2017-06-15)This paper describes an experiment for gas-source localization with a human-teleoperated mobile robot devised to gather data on how humans search for odor-sources. To that end, more than 150 repetitions of the search ... -
A semantic-based gas source localization with a mobile robot combining vision and chemical sensing.
(MDPI, 2018-11-28)This paper addresses the localization of a gas emission source within a real-world human environment with a mobile robot. Our approach is based on an efficient and coherent system that fuses different sensor modalities ... -
A Tighter Relaxation for the Relative Pose Problem Between Cameras
(Springer, 2022-04-06)This paper tackles the resolution of the Relative Pose problem with optimality guarantees by stating it as an optimization problem over the set of essential matrices that minimizes the squared epipolar error. We relax this ... -
A tool for the educational study of manufacturing systems
(Wiley, 2010)In this article, a new application for teaching manufacturing systems is presented. A manufacturing system can be considered as a discrete-event system constructed from devices that have a finite speed of operation. This ... -
Accurate Stereo Visual Odometry with Gamma Distributions
(IEEE, 2017)Point-based stereo visual odometry systems typically estimate the camera motion by minimizing a cost function of the projection residuals between consecutive frames. Under some mild assumptions, such minimization is ... -
Advances in Gas Sensing and Mapping for Mobile Robotics
(Servicio de Publicaciones y Divulgación Científica, 2013)Esta tesis aborda el problema de la detección, cuantificación y mapeo de sustancias olorosas empleando un robot móvil equipado con una nariz electrónica. En robótica móvil se emplean los sistemas de muestreo abierto (Open ... -
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems.
(IEEE, 2021-06-22)The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement each other well. However, in order to perform this fusion, the biases ... -
An assisted navigation method for telepresence robots
(2016)Telepresence robots have emerged as a new means of interaction in remote environments. However, the use of such robots is still limited due to safety and usability issues when operating in human-like environments. This ... -
Análisis de técnicas de aumento de datos y entrenamiento en YOLOv3 para detección de objetos en imágenes RGB y TIR del UMA-SAR Dataset
(Universidade da Coruña, Servizo de Publicacións. Comité Español de Automática., 2021-09)El uso de imágenes de los espectros visible (RGB) e infrarrojo térmico (TIR) para la detección de objetos puede resultar crucial en aplicaciones donde las condiciones de visibilidad están limitadas, como la robótica ... -
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
(IEEE, 2023)The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain with constant local coordinates, which allows to establish an equivalence ... -
Analyzing interference between RGB-D cameras for human motion tracking
(2018-01-23)Multi-camera RGB-D systems are becoming popular as sensor setups in Computer Vision applications but they are prone to cause interference between them, compromising their accuracy. This paper extends previous works on the ...