Ingeniería de Sistemas y Automática - (ISA)
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Safe Manipulation of Humans in Robot-driven Physical Human-Robot Interaction.
(UMA Editorial, 2024)Due to the emergence of collaborative robots, humans and robots have been working in close proximity, and in some tasks, even sharing a common goal. Under these circumstances, physical contact between human and robot has ... -
Field report on experimental comparison of a WiFi mesh network against commercial 5G in an underground disaster environment.
(IEEE, 2023-11)Mobile robots in disaster scenarios such as tunnels, mines, or collapsed structures face communication challenges for reliable video streaming to remote control centers. Commercial fifth-generation (5G) networks provide ... -
Localización basada en apariencia visual.
(UMA Editorial, 2024)Tecnologías emergentes como la robótica, los vehículos autónomos o la realidad aumentada exigen métodos fiables y eficaces de Localización Visual (VL). Esta tarea se ha abordado principalmente comparando las observaciones ... -
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 ... -
System Dynamics Modelling in Systems Biology and Applications in Pharmacology
(2018)Mathematical modelling of complex biological systems is one of the key issues in System Biology and several computational methods based on computer simulation have been applied up to now to determine the behaviour of ... -
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 ... -
Automatic Generation of Labeled 3D Point Clouds of Natural Environments with Gazebo.
(IEEE, 2019-05-27)Progress in applying supervised learning for nat- ural scene classification is impeded by the lack of appropriate datasets for training. This paper describes the automatic generation of synthetic three-dimensional (3D) ...