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Iberian robotics Conference (ROBOT)

作者： Eduardo Navas Kai Blanco Daniel Rodríguez-Nieto Roemi Fernández Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The automation of agricultural tasks, known as Agriculture 4.0 or Smart Agriculture, has garnered significant interest in the past decade. The use of drones and other mobile robots for tasks such as crop monitoring, harvesting, and pruning has advanced the automation of this sector, partly driven by a shortage of labor. However, certain tasks, such as pollination, still require effective automation solutions. Pollination, naturally performed by various animals such as insects, demands special attention due to a significant decline in pollinator insect populations. This decline has led to reduced crop yields, posing a major challenge to agricultural productivity. To address this issue, this paper proposes the development of a pollination tool using additive manufacturing technology and soft, flexible materials. This tool is specifically designed for integration into a robotic system capable of automatically pollinating various crops without damaging the flowers. The proposed solution aims to enhance pollination efficiency and support sustainable crop yields in the face of declining natural pollinators.

关键词： Smart agriculture automation Insects Pollination (plants) Three-dimensional printing Internet of Things Artificial intelligence Robots Crop yield Drones

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Low Energy Consumption Quadrupedal Locomotion with Quasi-resonant Compliant Backbone 1

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17th International Conference on Informatics in Control, automation and robotics, ICINCO 2020

作者： Parra Ricaurte, Edgar Andres Dominguez, S. Rossi, C. Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9783030924423

ISBN: (纸本)9783030924416

Thanks to their flexible trunk, many quadrupeds are capable of highly power efficient gaits. The backbone, tendons and musculature help their different gaits, especially running, by storing and releasing elastic energy. Additionally, they also help a smooth deceleration and a fast acceleration of the different parts of the body involved during running. In this work we present our studies aimed at modeling and reproducing such phenomena for efficient robot locomotion. In addition, we studied how to amplify such effect when the frequency of the backbone is brought close to the natural resonant frequency of the compliant structure. We demonstrate that a flexible artificial structure representing the backbone, muscle and tendons, driven to quasi-resonant oscillations is capable of dramatically reducing the energy required to maintain oscillations. At the same time, such oscillations increase their amplitude. Such effect will be used to design fast running and energy efficient quadruped robots. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Energy efficiency

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Soft Bellow-Based 3D Printed Robot for in-Pipe Inspection Applications

Soft Bellow-Based 3D Printed Robot for in-Pipe Inspection Ap...

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Iberian robotics Conference (ROBOT)

作者： Kai Blanco Eduardo Navas Daniel Rodríguez-Nieto Luis Emmi Roemi Fernández Centre for Automation and Robotics CSIC-UPM Arganda del Rey Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In-pipe inspection frequently involves toxic chemicals, fluids, and spaces that are inaccessible to human operators. To ensure the well-being of workers in this sector, various approaches have been explored, most notably the use of rigid robotics. These robots use rigid elements linked together, along with multiple actuators, to achieve movement. However, the main drawback of rigid robotics is their difficulty in adapting to changing, unstructured environments. However, in the past decade, the use of soft robots, which employ soft materials as the basis for their operation, has begun to be studied for these types of tasks. The use of these materials in the robot's actuators offers significant adaptability, enabling more efficient movement and performance in unstructured environments. Additionally, the soft actuators allow the robot to navigate irregular surfaces, overcome small obstacles, and change direction within pipes without the need for extra actuation systems. This article explores the use of soft robotics in pipe inspection tasks, showcasing their potential in such applications. The study highlights the benefits of using Finite Element Modeling (FEM) combined with hyperelastic models during the initial design and planning stages to predict and better plan the behavior of the soft robot prior to its manufacturing.

关键词： Actuators Bellows Navigation Toxic chemicals Soft robotics Inspection Three-dimensional printing Finite element analysis Planning Testing

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Extending the operational lifespan of key components in a cyberphysical system. A method and case study

Extending the operational lifespan of key components in a cy...

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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Fernando Castaño Yarens J. Cruz Rodolfo E. Haber Alberto Villalonga Centre for Automation and Robotics CSIC – UPM Arganda del Rey Spain Centre for Automation and Robotics CSIC – Universidad Politécnica de Madrid (UPM) Arganda del Rey Spain

ISBN: (数字)9798350364293

ISBN: (纸本)9798350364309

Nowadays extending the lifespan of key electronic components in cyber-physical systems is a must from the viewpoint of efficiency and sustainability. Up-to-date, there is a fresh push to use Artificial intelligence (AI) for estimating the remaining useful life (RUL) of electronic components. This paper proposes an automated framework for predicting RUL and classifying device failures. The framework includes a library of AI-based models to perform RUL estimation and to assess the actual condition of critical electronic components, without disconnecting them in a cyber-physical system. The best model is selected using the Q-learning method, which runs in parallel with the set of models. To evaluate the framework, a case study involving electrolytic capacitors of DC/DC power converters is presented. The results corroborate the suitability of the suggested approach in real-data sets and industrial test-bed.

关键词： Support vector machines Q-learning Capacitors Cyber-physical systems Libraries Data models Integrated circuit modeling Sustainable development Long short term memory Standards

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Corridors-based navigation for automated vehicles convoy in off-road environments*

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IFAC-PapersOnLine 2022年第14期55卷 71-76页

作者： Jorge Godoy Antonio Artuñedo Miguel Beteta Jorge Villagra Centre for Automation and Robotics (CSIC-UPM). Madrid Spain

Most of the studies found in the literature for autonomous driving solutions applied to vehicles convoying are related to highway platooning applications. However, in recent years both the agriculture and military fields seem to have an increased interest in such solutions for off-road applications. This work presents a corridor-based strategy for motion planning of automated vehicles convoys in off-road environments. From the wake generated by the leading vehicle, the follower vehicle estimates the boundaries of a navigable corridor encompassing the leader's path. Using these boundaries and the outputs from the on-board navigation subsystem, the vehicle plans the most suitable trajectory to follow the leader while avoiding obstacles. In order to keep the vehicles within safety distance thresholds, an inter-distance model is applied to the speed profile generation. The proposed strategy has been implemented and validated with real vehicles, showing promising results in fully operational off-road environments.

关键词： Intelligent Transportation Systems Path planning Multi-Vehicle Systems Navigation Systems Trajectory Tracking Obstacle Detection Avoidance Platoons

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Automated Detection of Cetaceans in Their Natural Habitats via R-CNN and Computer Vision Techniques

Automated Detection of Cetaceans in Their Natural Habitats v...

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Iberian robotics Conference (ROBOT)

作者： Marta Román Ruiz Sergio Dominguez Claudio Rossi Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

Passive acoustic monitoring is essential for monitoring cetaceans in their natural habitats. In this paper, we consider the monitoring of Fin Whales (Balaenoptera physalus). The deployment of automated tools for this purpose is essential to efficiently handle and analyse the vast amounts of data generated by hundreds of hours of recordings, something humans cannot do. In this paper, we present two methods for automated detection systems based on a convolutional neural network (CNN) classifier and a circle detection technique. Both of them use a spectrogram of the recordings as input which converts sounds into images. The first method consists of a two-stage R-CNN classifier with 26 layers. The second method is an image-based technique that uses classical computer vision algorithms based on the morphology of pulses. Both approaches demonstrate good performance, with circle detection showing better results, even as it is a simpler method. The results obtained on a large dataset demonstrate that the proposed approach is highly effective in detecting and characterising animals in their habitats, thus offering valuable information to identify seasonal patterns.

关键词： Computer vision Visualization Animals Habitats Whales Acoustics Classification algorithms Recording Convolutional neural networks Monitoring

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A New Emotional Social Robotic Platform

A New Emotional Social Robotic Platform

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Iberian robotics Conference (ROBOT)

作者： Daniel Sotelo Javier Laserna Daniel Galan Fernando Matia Centre for Automation and Robotics (CAR) UPM-CSIC Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In this paper, we present the development of an advanced social robot designed to assist older adults and children with medical conditions, focusing primarily on its potential for social interaction in these contexts. While the robot incorporates some emotional recognition and expression capabilities, the core of our work centers on the design and construction of the robot, aiming to provide a flexible platform for social engagement. The robot architecture integrates both hardware and software components optimized for interaction in care settings. Key features include various sensors, such as cameras and microphones, that enable the robot to perceive its environment and respond in ways that enhance user comfort. The robot's design allows for future expansions in emotional recognition and empathetic interaction, although these aspects are currently in a conceptual stage. This paper details the robot's physical construction and its overall design, emphasizing its potential to support users in social environments through interaction and communication. We discuss the various components and functionalities that make the robot a promising tool for assisting elderly individuals and children with medical conditions. Future work will involve further development of its emotional capabilities and real-world testing to evaluate its overall effectiveness.

关键词： Pediatrics Emotion recognition Medical conditions Social robots Sensor phenomena and characterization Robot sensing systems Software Older adults Robots Testing

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Development of a Wire-Driven Compliant Joint Fin for a Bio-Inspired Underwater Robot

Development of a Wire-Driven Compliant Joint Fin for a Bio-I...

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Iberian robotics Conference (ROBOT)

作者： Eliseo De J. Cortés Torres Luis E. García Gonzalez Luis E. Villamizar Marin Cecilia E. García Cena Centre for Automation and Robotics (ETSIDI-UPM-CSIC) Universidad Politécnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In bio-inspired robotics, there is significant interest in using new materials with diverse mechanical properties to enhance the kinematic and dynamic performance of mechanisms, such as flexible and soft materials. These materials not only reduce friction forces but also enable the replication of natural animal behaviors, simplifying the mechanical design process. However, in hostile environments like underwater, soft and flexible materials have not been extensively tested under varying conditions of depth, temperature, and pressure. This article presents the mechanical design of a bio-inspired robotic fin. The mechanism consists on a cable-actuated flexible joint, integrated into a spatial parallel mechanism with 2 degrees of freedom (DoF), designed to replicate the natural movement of Mobula Alfredi, commonly known as the Reef Manta Ray. Finite element analysis and dynamic simulations are conducted to evaluate the materials and mechanism's behavior. Additionally, a prototype was developed using modern fabrication technologies and flexible materials. The results demonstrate that the proposed cable-driven flexible joint meets both the mechanical and kinematic requirements, even in calm underwater conditions.

关键词： Underwater cables Bio-inspired robotics Analytical models Power demand Correlation Software packages Biological system modeling Prototypes Kinematics Skin

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Uncertainty Estimation of Human-Exoskeleton Interaction Using a Robotic Dummy

Uncertainty Estimation of Human-Exoskeleton Interaction Usin...

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IEEE International Workshop on Medical Measurement and Applications (MEMEA)

作者： Stefano Massardi David Rodriguez-Cianca Diego Torricelli Matteo Lancini DIMI University of Brescia Brescia Italy BioRobotics Group Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain BioRobotics Group Centre for Automation and Robotics (CAR) CSIC-UPM Madrid Spain DSMC University of Brescia Brescia Italy

ISBN: (数字)9798350307993

ISBN: (纸本)9798350308006

Exoskeletons and exosuits have witnessed unprecedented growth in recent years, especially in the medical and industrial sectors. The study of human-exoskeleton interaction relies on the participation of potential exoskeleton users, which gives rise to safety concerns and substantial testing resources. Specifically, the study of physical human-exoskeleton interaction (pHEI) is based on several metrics that are typically challenging to assess in a systematic way. To address this, we present an instrumented setup composed of a mechatronic leg able to sense interaction forces, together with a vision system for measuring pHEI kinematic metrics. In this study, we started from a previously designed protocol to extract key metrics utilized in assessing pHEI, such as joint misalignments, relative motions and interaction forces. Subsequently, we carried out an uncertainty analysis on these chosen metrics of interest. To achieve this, a series of experiments were conducted to assess the influence of the measurement uncertainty on each metric through multiple test repetitions. Despite generally acceptable uncertainty values, angular misalignment metrics warrant further investigation since their associated uncertainty is close to the value of its standard deviation in the conditions tested. These findings emphasize the importance of conducting such an analysis, offering insights for the future measurement protocols verification and improvements.

关键词： Uncertainty Protocols Systematics Measurement uncertainty Exoskeletons Force Kinematics

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Dynamic Analysis Base on Lie Algebra of a 2-DOF Spatial Mechanism for a Bio-Inspired Manta Ray Robot

Dynamic Analysis Base on Lie Algebra of a 2-DOF Spatial Mech...

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Iberian robotics Conference (ROBOT)

作者： Luis E. García Gonzalez Eliseo de J. Cortés Torres Luis E. Villamizar Marin Cecilia E. García Cena Centre for Automation and Robotics (ETSIDI-UPM-CSIC) Universidad Polité cnica de Madrid Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

In the field of underwater robotics, the development of efficient and precise locomotion systems is crucial for enhancing the operational capabilities of robots in complex aquatic environments. This work presents the dynamic analysis of a spatial mechanism with two degrees of freedom (2 DOF) implemented in the locomotion system of a bio-inspired underwater robot. The dynamic analysis is conducted using Lie algebra and the results obtained are subsequently compared with those provided by the commercial software $\mathbf{I}\mathbf{n}\mathbf{v}\mathbf{e}\mathbf{n}\mathbf{t}\mathbf{o}\mathbf{r} ^{\mathbf{T}\mathbf{M}}$ . Then, by applying Lie algebra methodology a robust framework for modeling and understanding the complex dynamics of the system, enabling an accurate representation of its behavior is reported. The comparative analysis with $\mathbf{I}\mathbf{n}\mathbf{v}\mathbf{e}\mathbf{n}\mathbf{t}\mathbf{o}\mathbf{r} ^{\mathbf{T}\mathbf{M}}$ simulations validates the theoretical results, offering a comprehensive evaluation of the mechanism's performance. This study contributes to the development of more efficient and versatile underwater robots, with potential applications in marine exploration, rescue operations, and underwater maintenance tasks.

关键词： Meters Autonomous underwater vehicles Analytical models Algebra 2-DOF Kinematics Software Robustness Maintenance Robots

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