Listar ISA - Artículos por título
Mostrando ítems 1-20 de 93
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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 ... -
A Gesture Recognition Algorithm for Hand-Assisted Laparoscopic Surgery
López Casado, Carmen; Bauzano-Núñez, Enrique; Rivas-Blanco, Irene; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Muñoz-Martínez, Víctor Fernando (MDPI, 2019)
Minimally invasive surgery (MIS) techniques are growing in quantity and complexity to cover a wider range of interventions. More specifically, hand-assisted laparoscopic surgery (HALS) involves the use of one surgeon’s ... -
A Gesture Recognition Algorithm for Hand-Assisted Laparoscopic Surgery.
López-Casado, Carmen; Bauzano-Núñez, Enrique; Rivas-Blanco, Irene; Pérez-del-Pulgar-Mancebo, Carlos Jesús; Muñoz-Martínez, Víctor Fernando (MDPI, 2019-11-26)
Minimally invasive surgery (MIS) techniques are growing in quantity and complexity to cover a wider range of interventions. More specifically, hand-assisted laparoscopic surgery (HALS) involves the use of one surgeon’s ... -
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, ... -
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, ... -
A multidimensional Bayesian architecture for real-time anomaly detection and recovery in mobile robot sensory systems
Castellano Quero, Manuel; Castillo-López, Manuel; Fernández-Madrigal, Juan Antonio; Arévalo-Espejo, Vicente Manuel; Voos, Holger; García-Cerezo, Alfonso José[et al.] (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
Ruiz-Sarmiento, José Raúl; González-Monroy, Javier; Moreno-Dueñas, Francisco Ángel; Galindo-Andrades, Cipriano; Bonelo, Jose-Maria; González-Jiménez, Antonio Javier[et al.] (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 redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture
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 semantic-based gas source localization with a mobile robot combining vision and chemical sensing.
González-Monroy, Javier; Ruiz-Sarmiento, José Raúl; Moreno-Dueñas, Francisco Ángel; Meléndez-Fernández, Francisco; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier[et al.] (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 survey on learning approaches for Undirected Graphical Models. Application to scene object recognition
Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier (Elsevier, 2017)
Probabilistic Graphical Models (PGMs) in general, and Undirected Graphical Models (UGMs) in particular, become suitable frameworks to capture and conveniently model the uncertainty inherent in a variety of problems. When ... -
A Tighter Relaxation for the Relative Pose Problem Between Cameras
García-Salguero, Mercedes; Briales Garcia, Jesus; González-Jiménez, Antonio Javier (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
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 ... -
An Analytical Solution to the IMU Initialization Problem for Visual-Inertial Systems.
Zúñiga-Noël, David; Moreno-Dueñas, Francisco Ángel; González-Jiménez, Antonio Javier (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 ... -
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; García-Caicedo, Jesús Marcey; García-Cerezo, Alfonso José (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 ... -
Artificial neural networks for adaptive control of profiled haemodialysis in patients with renal insufficiency
Fernández-de-Cañete-Rodríguez, Francisco Javier; Román, Marta; De Santiago, Rafael (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 ... -
Automatic Multi-Sensor Extrinsic Calibration For Mobile Robots.
Zúñiga-Noël, David; Ruiz-Sarmiento, José Raúl; Gómez-Ojeda, Rubén; González-Jiménez, Antonio Javier (IEEE, 2019-06-12)
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method ... -
Automatic Waypoint generation to improve robot navigation through narrow spaces
Moreno-Dueñas, Francisco Ángel; González-Monroy, Javier; Ruiz-Sarmiento, José Raúl; Galindo-Andrades, Cipriano; González-Jiménez, Antonio Javier (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 ... -
Automatically annotated dataset of a ground mobile robot in natural environments via Gazebo simulations
Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José (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 ... -
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 ... -
Big Data-driven MLOps workflow for annual high-resolution land cover classification models
Burgueño Romero, Antonio Manuel; Barba-González, Cristóbal; Aldana-Montes, José Francisco (Elsevier, 2024-08)
Developing an annual and global high-resolution land cover map is one of the most ambitious tasks in remote sensing, with increasing importance due to the continual rise in validated data and satellite imagery. The success ...