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American Control Conference (ACC)

作者： Alexandre Anahory Simoes Leonardo Colombo School of Science and Technology IE University Spain Centre for Automation and Robotics (CSIC-UPM) Centre for Automation and Robotics (CSICUPM) Madrid Spain

In this paper we address the problem of identifying contracting systems among dynamical systems appearing in mechanics. First, we introduce a sufficient condition to identify contracting systems in a general Riemannian manifold. Then, we apply this technique to establish that a particular type of dissipative forced mechanical system is contracting, while stating immediate consequences of this fact for its stability. Finally, we use the previous results to study the stability of particular types of Contact and Nonholonomic systems.

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Flocking Behavior for Dynamic and Complex Swarm Structures

Flocking Behavior for Dynamic and Complex Swarm Structures

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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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An approach to the automation of blueberry harvesting using soft robotics 43

An approach to the automation of blueberry harvesting using ...

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43. Jahrestagung der Gesellschaft fur Informatik in der Land-, Forst- und Ernahrungswirtschaft - Resiliente Agri-Food-Systeme: Herausforderungen und Losungsansatze, GIL 2023 - 43rd Annual Conference of the Society for Informatics in Agriculture, Forestry, and Food Industry - Resilient Agri-Food Systems: Challenges and Solutions, GIL 2023

作者： Navas, Eduardo Dworak, Volker Weltzien, Cornelia Fernández, Roemi Zeini, Mostafa Shokrian Käthner, Jana Shamshiri, Redmond Technik im Pflanzenbau Max-Eyth-Allee 100 Potsdam14469 Germany Centre for Automation and Robotics UPM-CSIC Carretera CAMPO-REAL Km 0.2 Arganda del Rey Madrid28500 Spain

ISBN: (纸本)9783885797241

Soft grippers are used to produce a significant advance in the manipulation of delicate objects. A field of application that is presented in this paper is the automation of the selective harvesting of high-value crops. This study addresses a first approach to the design of a soft gripper and its adaptation to a robotic system for blueberry harvesting. The experimental results are carried out to demonstrate the feasibility and effectiveness of the proposed prototype. © 2023 Gesellschaft fur Informatik (GI). All rights reserved.

关键词： Harvesting

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Improvement for Fuel Cell Power Systems by Short Circuit Energy Recovering*

Improvement for Fuel Cell Power Systems by Short Circuit Ene...

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International Conference on Control, Decision and Information Technologies (CoDIT)

作者： J. Carrascal García R. Del Toro Matamoros L. González Rodríguez R. Haber Guerra The Centre for Automation and Robotics Polytechnic University of Madrid - Spanish Council for Scientific Research (CAR UPM-CSIC) Madrid Spain

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

In this work a design solution is proposed for energy efficiency improvement of fuel cell power systems, in which the short circuit activation technique is employed as a routine procedure during its operation. The energy produced by the fuel cell stack during the small short circuit interval, not supplied to the load, is stored in a capacitive device and a control system guarantees to recover it for being supplied to the balance of plant (BOP) components. The short circuit activation method is experimentally analyzed in a commercial 1 kW fuel cell stack, observing a power enhancement of 7.44 % at lower energy range and short operation time. Based on the experimental analysis a system has been designed in order to additionally guarantee the power continuity for the load. It is composed of four units: the voltage stabilization unit, the active short circuit unit, the energy recovery unit and a control unit for power management. The capacitances for temporary energy storage devices are calculated and they serve for two purposes: holding the voltage of the load and storing the energy of the short circuit. The recovered energy is thus used to maintain the charge of the battery, which store energy from the fuel cell that is supplied to the BOP. The control unit guarantees the complete discharge of the recovering storage element per short circuit cycle. The proposed system is numerically validated for a 1 kW fuel cell power system and for different short circuit voltages values. The proportion of recovered energy is evidencable higher as lower is the operating power and as higher is the short-circuit voltage, reaching a 4.50 %.

关键词： Power system management Fuel cells Power system stability Supercapacitors Energy efficiency Discharges (electric) Batteries Voltage control Information technology Switching circuits

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Enhancing Quality Inspection in Zero-Defect Manufacturing Through Robotic-Machine Collaboration

Enhancing Quality Inspection in Zero-Defect Manufacturing Th...

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Iberian robotics Conference (ROBOT)

作者： Alberto Villalonga Yarens J. Cruz Diego Alfaro Rodolfo E. Haber José L. Martínez-Lastra Fernando Castaño Centre for Automation and Robotics CSIC - Universidad Politécnica de Madrid Arganda del Rey Spain Centre for Automation and Robotics CSIC - UPM Arganda del Rey Spain Faculty of Engineering and Natural Sciences Tampere University Tampere Finland

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The modern industrial sector is placing a growing emphasis on sustainability and efficiency. The concept of Industry 5.0 builds upon Industry 4.0, aiming to combine human skills with advanced technologies to create flexible and responsive manufacturing systems. This paper discusses Zero Defect Manufacturing (ZDM), which emphasizes the production of flawless components from the beginning. The paper introduces a pilot line for ZDM, which includes a collaborative robotic quality inspection system that integrates artificial vision and AI decision-making. The system consists of a manipulator robot, an industrial camera, an AI IoT node utilizing a segmentation algorithm for quality control based on YOLO V10, a human operator, and an Autonomous Mobile Robot (AMR) to ensure the safety of the human operator. All these components are interconnected using MQTT and ROS2. The results of the pilot line demonstrate significant improvements in quality control, reduced waste, and enhanced operational efficiency, all of which are in line with the principles of Industry 5.0.

关键词： YOLO Service robots Quality control Inspection Safety Mobile robots Fifth Industrial Revolution Sustainable development Robots Autonomous robots

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Hamel Equations and Quasivelocities for Nonholonomic Systems with Inequality Constraints

Hamel Equations and Quasivelocities for Nonholonomic Systems...

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IEEE Conference on Decision and Control

作者： Alexandre Anahory Simoes Leonardo Colombo School of Science and Technology IE University Spain Centre for Automation and Robotics (CSIC-UPM) Madrid Spain

In this paper we derive Hamel equations for the motion of nonholonomic systems subject to inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall and the Chaplygin sleigh with ...

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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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Real-Time Beach Monitoring: Addressing Beach Safety with UAVs and Computer Vision

Real-Time Beach Monitoring: Addressing Beach Safety with UAV...

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Iberian robotics Conference (ROBOT)

作者： Rodrigo Da-Silva-Gomez Alejandro Rodriguez-Ramos David Perez-Saura Guillermo GP-Lenza Fernando Palacios-Lopez Salvador Dominguez Ana Redondo-Rodriguez Daniel Sanz-Merodio Helder Rodriguez Pascual Campoy Miguel López Computer Vision and Aerial Robotics (CVAR) Centre for Automation and Robotics (CAR) UPM-CSIC ARQUIMEA Research Center (ARC) Universidad Politécnica de Madrid Spain

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

This study employs computer vision techniques to address beach safety concerns, with a focus on camera-equipped UAVs. The UAVs provide five channels of information that require preprocessing and image alignment to remove noise. The main challenges addressed are the identification of dangerous areas and people detection. For segmentation tasks, several lightweight models were evaluated, with YOLOv8-seg demonstrating superior efficiency and computational lightness across diverse conditions. In people detection, YOLOv8 also shows suitable results, identifying beach users, bathers, swimmers, and surfers. These solutions enable the use of UAVs for beach monitoring, providing a foundation for applications that evaluate danger for individuals on the beach. The results demonstrate the models' effectiveness and their capability to be deployed in real-time on board the UAVs.

关键词： Computer vision Image segmentation Computational modeling Noise Real-time systems Safety Computational efficiency Monitoring

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Integrating occlusion awareness in urban motion prediction for enhanced autonomous vehicle navigation

Integrating occlusion awareness in urban motion prediction f...

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IEEE Symposium on Intelligent Vehicle

作者： Vinicius Trentin Juan Medina-Lee Antonio Artuñedo Jorge Villagra Centre for Automation and Robotics (CSIC-UPM) Arganda Del Rey Spain Computer Science and Engineering Department University of Puerto Rico Mayagüez USA

ISBN: (数字)9798350348811

ISBN: (纸本)9798350348828

Motion prediction is a key factor towards the full deployment of autonomous vehicles. It is fundamental in order to ensure safety while navigating through highly interactive and complex scenarios. Lack of visibility due to an obstructed view or sensor range poses a great safety issue for autonomous vehicles. The inclusion of occlusion in interaction-aware approaches is not very well explored in the literature. In this work, the MultIAMP framework, which produces multimodal probabilistic outputs from the integration of a Dynamic Bayesian Network and Markov chains, is extended to tackle occlusions. The framework is evaluated with a state-of-the-art motion planner in two realistic use cases.

关键词： Navigation Dynamics Probabilistic logic Safety Bayes methods Vehicle dynamics Autonomous vehicles

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The Role of Strapping Forces on Human Exoskeleton Interaction Pressure - A Pilot Study

The Role of Strapping Forces on Human Exoskeleton Interactio...

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Iberian robotics Conference (ROBOT)

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

ISBN: (数字)9798350376364

ISBN: (纸本)9798350376371

The study of physical human-exoskeleton interaction (pHEI) has been largely unexplored due to rapid technological advancements in the field and the challenges in quantifying these interactions. Accurately measuring and assessing interaction pressure poses significant technical challenges, including reliably estimating contact area and pressure distribution during motion, as well as interpreting these pressure values in terms of user safety. This study aims to address these challenges by investigating the effects of different strapping forces and joint misalignments on interaction pressure and contact area during exoskeleton use. Various tests under different misalignment and strapping force levels were conducted on an instrumented dummy limb to ensure consistent testing conditions. Results indicate that strapping forces and misalignments significantly impact pressure peaks and contact area, underscoring the difficulty in generalizing safety thresholds. This research bridges gaps in pHEI pressure measurements and supports the development of safer exoskeleton technologies. It also focuses on the crucial aspect of safely attaching exoskeletons to the human body, emphasizing the importance of controlling initial attachment conditions.

关键词： Limbs Instruments Exoskeletons Force Safety Pressure measurement Reliability Motion measurement Robots Testing

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