Listar ISA - Artículos por fecha de publicación
Mostrando ítems 1-20 de 93
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Double reflection goniophotometer.
Muñoz-Martínez, Víctor Fernando
; Serón-Barba, Javier; Molina-Mesa, Ricardo; Gómez-de-Gabriel, Jesús Manuel; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José[et al.] (IOP Publishing, 2006)
A positioning system and photometer as a whole are termed ‘goniophotometer’, which is defined as a specialized instrument for measuring the angular variation of a given photometric level. This paper explains the design ... -
Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Martínez-Sánchez, María Alcázar; Mandow, Anthony (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 ... -
A tool for the educational study of manufacturing systems
Martínez-Sánchez, María Alcázar; Cañadas Castro, Mario (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 ... -
A Multi-Behaviour Algorithm for Auto- Guided Movements in Surgeon Assistance
Bauzano-Núñez, Enrique; Muñoz-Martínez, Víctor Fernando; García-Morales, Isabel (Levrotto&Bella, 2011)
This paper focuses on autonomous movements to aid the surgeon to perform certain tasks. Robotic assistants have solved the drawbacks of Minimally Invasive Surgery (MIS) and provide additional skills to the surgeons. However, ... -
The Multi-Chamber Electronic Nose--an improved olfaction sensor for mobile robotics
González-Jiménez, Antonio Javier; González-Monroy, Javier; Blanco-Claraco, José Luis (MDPI, 2011-06-07)
One of the major disadvantages of the use of Metal Oxide Semiconductor (MOS) technology as a transducer for electronic gas sensing devices (e-noses) is the long recovery period needed after each gas exposure. This severely ... -
Overcoming the slow recovery of MOX gas sensors through a system modeling approach
Metal Oxide Semiconductor (MOX) gas transducers are one of the preferable technologies to build electronic noses because of their high sensitivity and low price. In this paper we present an approach to overcome to a certain ... -
A minimally invasive surgery robotic assistant for HALS-SILS techniques
Bauzano-Núñez, Enrique; García-Morales, Isabel; Del Saz-Orozco, Pablo; Fraile-Marinero, Juan Carlos; Muñoz-Martínez, Víctor Fernando (Elsevier, 2013)
This paper is focused in the design and implementation of a robotic surgical motion controller. The proposed control scheme addresses the issues related to the application of a robot assistant in novel surgical scenario, ... -
Static Tip-Over Stability Analysis for a Robotic Vehicle With a Single-Axle Trailer on Slopes Based on Altered Supporting Polygons.
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Mandow, Anthony; Serón-Barba, Javier; García-Cerezo, Alfonso José (IEEE, 2013)
This paper analyzes the effect of towing a single-axle trailer on static tip-over stability for field mobile robots on slopes. For this purpose, this study defines altered supporting polygons (ASP) for both tractor and ... -
Automation of the Arm-Aided Climbing Maneuver for Tracked Mobile Manipulators
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Mandow, Anthony; Serón-Barba, Javier; García-Cerezo, Alfonso José (IEEE, 2013-04-02)
This paper analyzes the effect of towing a single-axle trailer on static tip-over stability for field mobile robots on slopes. For this purpose, this study defines altered supporting polygons (ASP) for both tractor and ... -
Probabilistic gas quantification with MOX sensors in open sampling systems - a Gaussian Process approach
González-Monroy, Javier; Lilienthal, Achim; Blanco-Claraco, José Luis; Gonzalez-Jimenez, Antonio Javier; Trincavelli, Marco (Elsevier, 2013-06-24)
Gas quantification based on the response of an array of metal oxide (MOX) gas sensors in an Open Sampling System is a complex problem due to the highly dynamic characteristic of turbulent airflow and the slow dynamics of ... -
Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems
Gómez-de-Gabriel, Jesús Manuel; Mandow, Anthony; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José (IEEE, 2015)
This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. ... -
Scene Object Recognition for Mobile Robots Through Semantic Knowledge and Probabilistic Graphical Models
Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier (Elsevier, 2015)
Scene object recognition is an essential requirement for intelligent mobile robots. In addition to geometric or appearance features, modern recogni- tion systems strive to incorporate contextual information, normally ... -
Exploiting semantic knowledge for robot object recognition
Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier (Elsevier, 2015)
This paper presents a novel approach that exploits semantic knowledge to enhance the object recognition capability of autonomous robots. Semantic knowledge is a rich source of information, naturally gathered from humans ... -
Odor recognition in robotics applications by discriminative time-series modeling
Schleif, Frank Michel; Hammer, Barbara; González-Monroy, Javier; Gonzalez-Jimenez, Antonio Javier; Blanco-Claraco, José Luis; Biehl, Michael; Petkov, Nicolai[et al.] (2015-01-08)
Odor classification by a robot equipped with an electronic nose (e-nose) is a challenging task for pattern recognition since volatiles have to be classified quickly and reliably even in the case of short measurement ... -
Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.
Martínez-Sánchez, María Alcázar; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús (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 ... -
Time-variant gas distribution mapping with obstacle information
González-Monroy, Javier; Blanco-Claraco, José Luis; Gonzalez-Jimenez, Antonio Javier (Springer, 2015-05-08)
This paper addresses the problem of estimating the spatial distribution of volatile substances using a mobile robot equipped with an electronic nose (e-nose). Our work contributes an effective solution to two important ... -
Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots
Mandow, Anthony; Cantador, Tomás J.; Reina-Terol, Antonio Jesús; Martínez, Jorge L.; Morales-Rodríguez, Jesús; García-Cerezo, Alfonso José[et al.] (2015-11-24)
The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To ... -
Collaborative Human- Robot System for HALS Suture Procedures
Bauzano-Núñez, Enrique; Estébanez-Campos, María Belén; García-Morales, Isabel; Muñoz-Martínez, Víctor Fernando (IEEE, 2016)
Over the last years, minimally invasive surgery (MIS) has continuously improved due to new techniques and technologies. One of these novel techniques is hand-assisted laparoscopic surgery (HALS), where the surgeon inserts ... -
Navigation Method for Teleoperated Single-Port Access Surgery With Soft Tissue Interaction Detection.
Pérez-del-Pulgar-Mancebo, Carlos Jesús; García-Morales, Isabel; Rivas-Blanco, Irene; Muñoz-Martínez, Víctor Fernando (IEEE, 2016-06-15)
In recent years, single-port access surgery has been on the cutting edge of robotic research. This technique entails the insertion of several instruments with articulated distal tips through a common multiport trocar. When ... -
A constant-time SLAM back-end in the continuum between global mapping and submapping: application to visual stereo SLAM
Moreno-Dueñas, Francisco Ángel; Blanco, Jose-Luis; González-Jiménez, Antonio Javier (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 ...