ISA - Artículos
Envíos recientes
-
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 ... -
Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
(Springer, 2009)Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique ... -
Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.
(2015-01-22)Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a ... -
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 ... -
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 ... -
Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots
(IEEE, 2021-04)Gas source localization (GSL) by an olfactory robot is a research field with a great potential for applications but also with numerous unsolved challenges, particularly when the search must take place in realistic, indoor ... -
Robust Planar Odometry Based on Symmetric Range Flow and Multiscan Alignment.
(IEEE, 2018-08-05)This paper presents a dense method for estimating planar motion with a laser scanner. Starting from a symmetric representation of geometric consistency between scans, we derive a precise range flow constraint and express ... -
Ship-course modeling and control using the SIMSCAPE physical modeling environment.
(SAGE, 2020-12-15)Simulation is an important tool for evaluating the design of a ship-course control system. The object-oriented modeling supports the physical modeling of a multi-domain dynamical system by using a hierarchical acausal ... -
Automatic Waypoint generation to improve robot navigation through narrow spaces
(MDPI, 2019-12)In domestic robotics, passing through narrow areas becomes critical for safe and effective robot navigation. Due to factors like sensor noise or miscalibration, even if the free space is sufficient for the robot to pass ... -
PL-SLAM: a stereo SLAM system through the combination of points and line segments
(IEEE, 2019-04)Traditional approaches to stereo visual simultaneous localization and mapping (SLAM) rely on point features to estimate the camera trajectory and build a map of the environment. In low-textured environments, though, it is ... -
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 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 ... -
Artificial neural networks for adaptive control of profiled haemodialysis in patients with renal insufficiency
(Elsevier, 2023-06-12)Background and objective: Currently, haemodialysis treatment is performed using an open-loop control approach, with initial settings of parameters such as ultrafiltration rate and dialyser composition being adapted to ... -
Control and soft sensing strategies for a wastewater treatment plant using a neuro-genetic approach.
(Elsevier, 2020-10-28)During the last years, machine learning-based control and optimization systems are playing an important role in the operation of wastewater treatment plants in terms of reduced operational costs and improved effluent ... -
Physical modelling and computer simulation of the cardiorespiratory system based on the use of a combined electrical analogy
(Taylor & Francis, 2021)Modelling the human cardiorespiratory system using computer simulation tools can serve to help physicians to comprehend the causes and development of cardiorespiratory diseases. The objective of this paper is to develop ... -
Bridge Crane Monitoring using a 3D LiDAR and Deep Learning.
(IEEE, 2023-01-11)The use of overhead cranes in warehouses and factories has advantages for handling and transporting bulky and/or heavy loads. But it also involves risks such as collisions with other fixed or mobile elements in the ... -
Automatically annotated dataset of a ground mobile robot in natural environments via Gazebo simulations
(MDPI, 2022)This paper presents a new synthetic dataset obtained from Gazebo simulations of an Unmanned Ground Vehicle (UGV) moving on different natural environments. To this end, a Husky mobile robot equipped with a tridimensional ... -
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 ... -
Supervised learning of natural-terrain traversability with synthetic 3D laser scans
(MDPI, 2020)Autonomous navigation of ground vehicles on natural environments requires looking for traversable terrain continuously. This paper develops traversability classifiers for the three-dimensional (3D) point clouds acquired ... -
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 ...