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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Carmen Pita-Romero Pedro Arias-Perez Miguel Fernandez-Cortizas Rafael Perez-Segui Pascual Campoy Computer Vision and Aerial Robotics group (CVAR) Centre for Automation and Robotics (CAR) Universidad Politécnica de Madrid (UPM-CSIC) Madrid Spain

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

Maintaining the formation of complex structures with multiple UAVs and achieving complex trajectories remains a major challenge. This work presents an algorithm for implementing the flocking behavior of UAVs based on the concept of Virtual Centroid to easily develop a structure for the flock. The approach builds on the classical virtual-based behavior, providing a theoretical framework for incorporating enhancements to dynamically control both the number of agents and the formation of the structure. Simulation tests and real-world experiments were conducted, demonstrating its simplicity even with complex formations and complex trajectories.

关键词： Heuristic algorithms Trajectory Aircraft

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Activity recognition in patients with tremor: Integrating time–length windows for enhanced detection

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Computers in Biology and Medicine 2025年 193卷 110305-110305页

作者： Ruiz-Vitte, Ainhoa Comesaña, Alberto Muñoz-Arcentales, Andres Larraga-García, Blanca Alonso, Alvaro Rocon, Eduardo Gutiérrez, Álvaro ETSI Telecomunicación Universidad Politécnica de Madrid Madrid Spain Centre for Automation and Robotics CSIC-UPM Madrid28500 Spain

Pathological tremor significantly impairs daily activities and quality of life, particularly in conditions such as essential tremor and Parkinson's disease. The assessment and evaluation of tremor, along with its evolution with medication dosages, pose a challenging problem. Current clinical evaluation methods are constrained by patient performance, variability, and evaluator's subjectivity. Introducing continuous monitoring in everyday life settings could offer insights by linking tremor occurrences with specific activities. However, existing studies on classifying activities of daily living either exclude tremor patients or rely on fixed-size windows for performance modelling. These approaches often adopt window sizes based on past successful cases without clear consensus on optimal sizing. This study proposes a novel method using a single smartwatch to classify ADLs. By processing time series data with various windowing techniques and applying machine learning models (Support Vector Machines, Random Forest, and Extreme Gradient Boosting), we aim to improve tremor monitoring. This approach offers a more comprehensive and objective evaluation, potentially enhancing treatment strategies. Evaluation metrics including accuracy, precision, recall and F1-score statistics are used to assess the identification abilities of the proposed models. Our results demonstrate significant improvements in activity recognition, highlighting the effectiveness of integrated time–length windows for feature extraction and ADL classification. © 2025 The Authors

关键词： Neurodegenerative diseases

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Using Process Mining to Model Multi-UAV Missions through the Experience (vol 32, pg 40, 2017)

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IEEE INTELLIGENT SYSTEMS 2017年第5期32卷 4-4页

作者： Roldan, Juan Jesus del Cerro, Jaime Barrientos, Antonio Centre for Automation and Robotics (UPM-CSIC) Centre for Automation and Robotics (UPM-CSIC) Centre for Automation and Robotics (UPM-CSIC)

The interest in civilian missions with multiple unmanned aerial vehicles (UAVs) has increased significantly in recent years, but these missions pose multiple challenges related to operator workload and situational awareness. Human-machine interfaces must consider these challenges and control the amount of information flowing to operators. The authors propose a procedure for automatically modeling multi-UAV missions that uses process mining to discover Petri nets through event logs. Specifically, it applies several discovery algorithms, generates and evaluates models, and determines the best among the four.

关键词： Hidden Markov models Analytical models Adaptation models Computational modeling Petri nets Robot kinematics

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An Aerial/Ground Robot Team for Autonomous Firefighting in Urban GNSS-Denied Scenarios

Field Robotics

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Field robotics 2025年 2卷 241-273页

作者： Simón Martínez-Rozas Rafael Rey David Alejo Domingo Acedo José Antonio Cobano Alejandro Rodríguez-Ramos Pascual Campoy Luis Merino Fernando Caballero Service Robotics Laboratory Universidad Pablo de Olavide Crta. Utrera km. 1 41013 Sevilla Spain Computer Vision and Aerial Robotics Group Centre for Automation and Robotics (C.A.R.) Universidad Politécnica de Madrid (UPM-CSIC) Calle Jose Gutierrez Abascal 2 28006 Madrid Spain

This paper presents a framework for urban firefighting with a heterogeneous aerial/ground robot team. The system was developed to address Challenge 3 of the MBZIRC'20. The challenge required autonomously detecting, locating, and extinguishing fires on multiple interior floors and on exterior facade and ground surfaces. Our multi-robot system consists of a robot team of up to three Unmanned Aerial Vehicles (UAV) and one Unmanned Ground Vehicle (UGV). We describe the main hardware and software components for UAV and UGV platforms and present the system's main algorithmic components: a 3D LIDAR-based Mapping and Localization module able to work in GPS-denied scenarios, a Global Planner and a fast local re-planning system for robot navigation, Infrared-Based Perception and robot actuation control for fire extinguishing, and Mission Executive and coordination module based on Behavior Trees. Finally we describe our results from the competition, where the system worked fully autonomously and scored in all the trials performed. The presented system ended in 7 th place (out of 20 teams) in Challenge 3 and 5 th place (out of 17 teams) in the Grand Challenge's Challenge 3 portion.

关键词： Robots Robot kinematics Buildings Robot sensing systems Navigation Autonomous aerial vehicles Sensors Hardware Global Positioning System Autonomous robots

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Design and Robust Performance Evaluation of a Fractional Order PID Controller Applied to a DC Motor

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IEEE/CAA Journal of Automatica Sinica 2017年第2期4卷 304-314页

作者： J.Viola L.Angel J.M.Sebastian Universidad Pontificia Bolivariana Universidad Politecnica de Madrid Centre for Automation and Robotics (CAR) UPM-CSIC

This paper proposes a methodology for the quantitative robustness evaluation of PID controllers employed in a DC motor. The robustness analysis is performed employing a 2~3 factorial experimental design for a fractional order proportional integral and derivative controller(FOPID), integer order proportional integral and derivative controller(IOPID)and the Skogestad internal model control controller(SIMC). The factors assumed in experiment are the presence of random noise,external disturbances in the system input and variable load. As output variables, the experimental design employs the system step response and the controller action. Practical implementation of FOPID and IOPID controllers uses the MATLAB stateflow toolbox and a NI data acquisition system. Results of the robustness analysis show that the FOPID controller has a better performance and robust stability against the experiment factors.

关键词： Factorial experimental design fractional-order PID controller robustness analysis SIMC PID controller

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Artificial Cognitive Architecture with Self-Learning and Self-Optimization Capabilities 1st ed. 2019

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丛书名： Springer Theses

2019年

作者： Gerardo Beruvides

ISBN: (数字)9783030039493

ISBN: (纸本)9783030039486

This book introduces three key issues: (i) development of a gradient-free method to enable multi-objective self-optimization; (ii) development of a reinforcement learning strategy to carry out self-learning and finally, (iii) experimental evaluation and validation in two micromachining processes (i.e., micro-milling and micro-drilling). The computational architecture (modular, network and reconfigurable for real-time monitoring and control) takes into account the analysis of different types of sensors, processing strategies and methodologies for extracting behavior patterns from representative process' signals. The reconfiguration capability and portability of this architecture are supported by two major levels: the cognitive level (core) and the executive level (direct data exchange with the process). At the same time, the architecture includes different operating modes that interact with the process to be monitored and/or controlled. The cognitive level includes three fundamental modes such as modeling, optimization and learning, which are necessary for decision-making (in the form of control signals) and for the real-time experimental characterization of complex processes. In the specific case of the micromachining processes, a series of models based on linear regression, nonlinear regression and artificial intelligence techniques were obtained. On the other hand, the executive level has a constant interaction with the process to be monitored and/or controlled. This level receives the configuration and parameterization from the cognitive level to perform the desired monitoring and control tasks.

关键词： Artificial intelligence. Cognitive science. Machine learning. Mathematical optimization. Micromachining.

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Detection of Endangered Deer Species Using UAV Imagery: A Comparative Study between Efficient Deep Learning Approaches

Detection of Endangered Deer Species Using UAV Imagery: A Co...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Agustin Roca Gastón Castro Gabriel Torre Leonardo J. Colombo Ignacio Mas Javier Pereira Juan I. Giribet Artificial Intelligence and Robotics Laboratory (LINAR) Universidad de San Andrés Victoria Provincia de Buenos Aires Argentina Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET) Argentina Centre for Automation and Robotics (CSIC-UPM) Ctra. M300 Campo Real Km 0200 Arganda del Rey Madrid Spain Museo Argentino Bernardino Rivadavia Capital Federal Argentina

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This study compares the performance of state-of-the-art neural networks including variants of the YOLOv11 and RT-DETR models for detecting marsh deer in UAV imagery, in scenarios where specimens occupy a very small portion of the image and are occluded by vegetation. We extend previous analysis adding precise segmentation masks for our datasets enabling a fine-grained training of a YOLO model with a segmentation head included. Experimental results show the effectiveness of incorporating the segmentation head achieving superior detection performance. This work contributes valuable insights for improving UAV-based wildlife monitoring and conservation strategies through scalable and accurate AI-driven detection systems.

关键词： YOLO Deep learning Training Image segmentation Head Wildlife Neural networks Vegetation mapping Autonomous aerial vehicles Monitoring

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Reducing thermal energy demand in residential buildings under Spanish climatic conditions: Qualitative control strategies for massive shutter positioning

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建筑模拟（英文版） 2017年第5期10卷 643-661页

作者： Juan Pablo San Martin Maria C. Garcia-Alegre Domingo Guinea Centre for Automation and Robotics Spanish National Research Council (CARCSIC-UPM) Arganda del Rey Madrid 28500 Spain

The effects of dynamic controls on external massive shutter positioning are studied as refurbishment measure to reduce energy demand in residential buildings. This kind of shading device can not only regulate solar radiation, but it also provides additional thermal insulation that reduces heat conduction when closed. Based on their capability for controlling both processes, a comparison of different qualitative shutter positioning control strategies are proposed to minimize thermal energy demand. To this aim, a simulation model based on the constructive characteristics of an experimental building has been developed with TRNSYS. The results show that when more input variables are considered greater thermal demand reduction is achieved. However, the most relevant input variables for reducing thermal demand are solar radiation and real demand of the building. A large reduction in thermal energy demand is also displayed in the comparison between massive shutters, and non-massive blinds, increasing from 23% to 35%. Surprisingly, this improvement can be achieved using simple radiation-based control strategies, whereas the inclusion of heat conduction as control variable only improves the results by 0.2%. Therefore, there is no need to increase the complexity of the shading control of the massive shutters to take advantage of their insulation properties. The thermal energy reduction is comparable to the effect of refurbishment of an ordinary double-glazed window (U=2.46 W/(K·m2)) with high-efficiency triple-xenon glazing (U=0.59 W/(K·m2)).

关键词： shading dynamic control strategies shutters thermal resistance building refurbishment

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Evolutionary learning of basic functionalities for snake-like robots 1

Evolutionary learning of basic functionalities for snake-lik...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Suarez, Damaso Perez-Moneo Rossi, Claudio Centre for Automation and Robotics UPM-CSIC Madrid Spain

ISBN: (纸本)9783319034126

The objective of the work presented in this paper is to investigate the optimal learning strategy for snake-like modular robots using a (1+1) Evolutionary *** take into account three different but correlated tasks: efficient locomotion, reaching a given point and obstacle avoidance. Starting from earlier results on locomotion, we have performed three different sets of experiments. In the first, the snake must learn to go to a goal point, and we investigate how employing different fitness functions affect the learning of this task. In the second experiment the snake must learn how to avoid obstacles. In this experiment we test two possible behaviors, called mixed and switched strategies. Finally, in the third set of experiments, we introduce the concept of incremental learning and compare it with the "all-at-once" learning schemes of the first two experiments. The results of the simulations indicates that the modular robots are able to learn both tasks with the (1+1) Evolutionary Strategy adopted, and that the fitness function that explicitly rewards each of the tasks perform better that the fitness function that takes into account the locomotion task only implicitly, rewarding only the reaching of the target point. We also demonstrate that the obstacles avoidance configuration with only one behaviour (mixed) is better than the configuration with two behaviours (switched) and that incremental learning provide a faster evolution towards good controllers. © Springer International Publishing Switzerland 2014.

关键词： Modular robots

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Climbing and Walking Robots 2005

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2005年

作者： Manuel Armada Pablo González de Santos

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