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2016 International Conference on Unmanned Aircraft Systems, ICUAS 2016

作者： Sanchez-Lopez, Jose Luis Fernandez, Ramon A. Suarez Bavle, Hriday Sampedro, Carlos Molina, Martin Pestana, Jesus Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC UPM Spain Department of Artificial Intelligence Technical University of Madrid UPM Spain

ISBN: (纸本)9781467393331

To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack's system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack's open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS;a collection of ready-to-use and flight proven modular components that can be reused by the users and developers;and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission. © 2016 IEEE.

关键词： Open source software

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Evolution of cognitive rehabilitation after stroke from traditional techniques to smart and personalized home-based information and communication technology systems: Literature review

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JMIR Rehabilitation and Assistive Technologies 2018年第3期20卷 e4-e4页

作者： Cogollor, José M Rojo-Lacal, Javier Hermsdörfer, Joachim Ferre, Manuel Teresa Arredondo Waldmeyer, Maria Giachritsis, Christos Armstrong, Alan Manuel Breñosa Martinez, Jose Anabelle Bautista Loza, Doris María Sebastián, José Life Supporting Technologies Universidad Politécnica de Madrid Madrid Spain Institute of Movement Science Department of Sport and Health Science Technische Universität München Munich Germany BMT Group Ltd London United Kingdom Centre for Automation and Robotics UPM-CSIC Universidad Politécnica de Madrid José Gutiérrez Abascal 2 Madrid 28006 Spain

Background: Neurological patients after stroke usually present cognitive deficits that cause dependencies in their daily living. These deficits mainly affect the performance of some of their daily activities. For that reason, stroke patients need long-term processes for their cognitive rehabilitation. Considering that classical techniques are focused on acting as guides and are dependent on help from therapists, significant efforts are being made to improve current methodologies and to use eHealth and Web-based architectures to implement information and communication technology (ICT) systems that achieve reliable, personalized, and home-based platforms to increase efficiency and level of attractiveness for patients and carers. Objective: The goal of this work was to provide an overview of the practices implemented for the assessment of stroke patients and cognitive rehabilitation. This study puts together traditional methods and the most recent personalized platforms based on ICT technologies and Internet of Things. Methods: A literature review has been distributed to a multidisciplinary team of researchers from engineering, psychology, and sport science fields. The systematic review has been focused on published scientific research, other European projects, and the most current innovative large-scale initiatives in the area. A total of 3469 results were retrieved from Web of Science, 284 studies from Journal of Medical Internet Research, and 15 European research projects from Community Research and Development Information Service from the last 15 years were reviewed for classification and selection regarding their relevance. Results: A total of 7 relevant studies on the screening of stroke patients have been presented with 6 additional methods for the analysis of kinematics and 9 studies on the execution of goal-oriented activities. Meanwhile, the classical methods to provide cognitive rehabilitation have been classified in the 5 main techniques implemented. Finall

关键词： Activities of daily living Cognition Delivery of health care EHealth Rehabilitation Stroke

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Bio-inspired Artificial Muscle Based on Chemical Sensors

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Procedia Technology 2017年 27卷 161-162页

作者： Andrea Ravalli Claudio Rossi Giovanna Marrazza Department of Chemistry “Ugo Schiff” Universiy of Florence Via della Lastruccia 3 Sesto Fiorentino (FI) 50019 Italy Centre for Automation and Robotics UPM-CSIC University of Madrid José Gutiérrez Abascal 2 28006 Madrid

In this work, we have investigated the modeling, design and fabrication of bio-inspired artificial muscle unit capable of contracting according to the directives sent in form of chemical messengers. This new technology has the potential to revolutionize current robotics, because it could permit a paradigm shift in robots: from electro-mechanical devices to electro-chemical devices. The bio-inspired artificial muscle will be based on basic contractile units coupled to electrochemical sensors, with the purpose of allowing adaptive and flexible control similar to that in animal locomotion. An artificial nerve termination, able to modify the chemical characteristics of the inner environment, will generate directives in form of chemical messengers. Electro-chemical sensors have been used in order to detect the presence of the chemical messengers and transform them into electronic signals to be used in conventional control electronics. This study has been focused on the development and optimization of sensing materials for inorganic ions such as hydrogen ions. Among various conducting polymers studied, polyaniline (PANI) has attracted much attention due to its unique and controllable chemical and electrical properties. PANI layer has been electrochemically deposited on the gold arrays surface by cyclic voltammetry. Preliminary experiments on PANI-modified sensors in order to obtain the better sensitivity as chemical sensing used in artificial muscle unit have been carried out. To allow diffusion of chemical messages, the system has been immersed in wet environment. Using this approach, we study the effective possibility to control, assessing the performance in terms of accuracy of the control of the contraction, the impact of the delay due to the transmission time of the chemicals, precision and stability of control.

关键词： sensor bio-inspired polyaniline robotic

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AEROSTACK: An architecture and open-source software framework for aerial robotics

AEROSTACK: An architecture and open-source software framewor...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Jose Luis Sanchez-Lopez Ramón A. Suárez Fernández Hriday Bavle Carlos Sampedro Martin Molina Jesus Pestana Pascual Campoy Consejo Superior de Investigaciones Cientificas Madrid Madrid ES Computer Vision Group Centre for Automation and Robotics CSIC - UPM Madrid Madrid ES Computer Vision Group Centre for Automation and Robotics CSIC - UPM Spain Technical University of Madrid (UPM) Spain Computer Vision Group CSIC-UPM Spain

ISBN: (纸本)9781467393355

To simplify the usage of the Unmanned Aerial Systems (UAS), extending their use to a great number of applications, fully autonomous operation is needed. There are many open-source architecture frameworks for UAS that claim the autonomous operation of UAS, but they still have two main open issues: (1) level of autonomy, being in most of the cases limited and (2) versatility, being most of them designed specifically for some applications or aerial platforms. As a response to these needs and issues, this paper presents Aerostack, a system architecture and open-source multi-purpose software framework for autonomous multi-UAS operation. To provide higher degrees of autonomy, Aerostack's system architecture integrates state of the art concepts of intelligent, cognitive and social robotics, based on five layers: reactive, executive, deliberative, reflective, and social. To be a highly versatile practical solution, Aerostack's open-source software framework includes the main components to execute the architecture for fully autonomous missions of swarms of UAS; a collection of ready-to-use and flight proven modular components that can be reused by the users and developers; and compatibility with five well known aerial platforms, as well as a high number of sensors. Aerostack has been validated during three years by its successful use on many research projects, international competitions and exhibitions. To corroborate this fact, this paper also presents Aerostack carrying out a fictional fully autonomous indoors search and rescue mission.

关键词： Computer architecture Feature extraction Software Hardware Robot sensing systems

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Comparing Decawave and Bespoon UWB location systems: Indoor/outdoor performance analysis

Comparing Decawave and Bespoon UWB location systems: Indoor/...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： A.R. Jiménez F. Seco Consejo Superior de Investigaciones Científicas (CSIC)-UPM Centre for Automation and Robotics (CAR) Madrid Spain

ISBN: (纸本)9781509024261

Several UWB location systems have already been proposed for accurate position estimation. These UWB systems, some available at commercial level, and others implemented as laboratory test-beds, have been individually evaluated for particular applications and under different fusion strategies. In this paper we compare two commercially available UWB systems (Decawave and Bespoon) under exactly the same experimental conditions, in order to generate a critical analysis about their performances. The analysis includes the characterization of the range error in Line-Of-Sight (LOS) and Non-Line-Of-Sight (NLOS) conditions. The NLOS conditions include the propagation/difraction of radio signals across furniture, metallic cabinets and several brick walls in indoor scenarios. The analysis also includes the 2D/3D positioning performance of both UWB systems using a particle filter estimation approach that takes into account NLOS conditions.

关键词： Distance measurement Ultra wideband technology Companies Estimation Bandwidth IEEE 802.15 Standard

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Organization of the agenda of a tour-guide robot based on fuzzy logic 12

Organization of the agenda of a tour-guide robot based on fu...

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Uncertainty Modelling in Knowledge Engineering and Decision Making - 12th International Fuzzy Logic and Intelligent Technologies in Nuclear Science Conference, FLINS 2016

作者： Rainer, J. Javier Sicilia, Juan Antonio Galán, Ramón Av. Gran Vía Rey Juan Carlos I 41 LogroñoLa Rioja26002 Spain Centre for Automation and Robotics UPM - CSIC Universidad Politécnica de Madrid C/ José Gutiérrez de Abascal 2 Madrid28006 Spain

ISBN: (纸本)9789813146969

One of the main objectives for a robot-guide is a proper management of the agenda in all the activities that has to develop over a period of time. The agenda is dynamic, changes and new tasks occur, others are completed and priority should be given to perform at all times the most appropriate task. A decision-making mechanism based on fuzzy logic is proposed, so that the tasks are prioritized according to the agenda. The modeling of the quality index of the best choice to perform is made using fuzzy logic and it represents the beliefs of the robot. This fuzzy system is used to select the most appropriate set of tasks to perform during the day. The updating of the criteria, the learning, is made using genetic algorithms. © 2016 by World Scientific Publishing Co. Pte. Ltd.

关键词： Fuzzy logic

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Innovative robotic application: The experiment Catch

WT Werkstattstechnik

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WT Werkstattstechnik 2017年第9期107卷 600-602页

作者： Surdilovic, D. Surdilovic, J. Fernandez, R. Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK Pascalstr. 8-9 BerlinD-10587 Germany Leibniz-Institut für Agrartechnik und Bioökonomie ATB Potsdam Max-Eyth-Allee 100 PotsdamD-14469 Germany CSIC-UPM Centre for Automation and Robotics Ctra. Campo Real Km. 0200 La Poveda Arganda del Rey MadridES-28500 Spain

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Natural User Interfaces for Human-Drone Multi-Modal Interaction

Natural User Interfaces for Human-Drone Multi-Modal Interact...

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International Conference on Unmanned Aircraft Systems

作者： Ramón A. Suárez Fernández Jose Luis Sanchez-Lopez Carlos Sampedro Hriday Bavle Martin Molina Pascual Campoy Computer Vision Group Centre for Automation and Robotics CSIC-UPM (Spain)

ISBN: (纸本)9781467393355

Personal drones are becoming part of every day life. To fully integrate them into society, it is crucial to design safe and intuitive ways to interact with these aerial systems. The recent advances on User-Centered Design (UCD) applied to Natural User Interfaces (NUIs) intend to make use of human innate features, such as speech, gestures and vision to interact with technology in the way humans would with one another. In this paper, a Graphical User Interface (GUI) and several NUI methods are studied and implemented, along with computer vision techniques, in a single software framework for aerial robotics called Aerostack which allows for intuitive and natural human-quadrotor interaction in indoor GPS-denied environments. These strategies include speech, body position, hand gesture and visual marker interactions used to directly command tasks to the drone. The NUIs presented are based on devices like the Leap Motion Controller, microphones and small size monocular on-board cameras which are unnoticeable to the user. Thanks to this UCD perspective, the users can choose the most intuitive and effective type of interaction for their application. Additionally, the strategies proposed allow for multi-modal interaction between multiple users and the drone by being able to integrate several of these interfaces in one single application as is shown in various real flight experiments performed with non-expert users.

关键词： UCD Natural User

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A proposal of methodology for multi-UAV mission modeling

A proposal of methodology for multi-UAV mission modeling

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Mediterranean Conference on Control and automation (MED)

作者： Juan Jesús Roldán Jaime del Cerro Antonio Barrientos Centre for Automation and Robotics (UPM-CSIC) Madrid Spain

The emergence of multi-UAV missions poses a set of challenges. The control and monitoring of these missions requires to increase the autonomy of fleets and to reduce the workload of operators. The development of an appropriate mission model is fundamental not only for specification and planning but also for control and monitoring. This model allows determining the mission and fleet states and, therefore, providing the operator with adequate information of the mission. This paper poses a methodology to develop multi-UAV mission models and analyzes different modeling techniques, such as Petri nets or hidden Markov models.

关键词： Hidden Markov models Fires Robots Surveillance Analytical models Payloads

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Conductance sensor for micromachining. A case study on monitoring tool-workpiece contact

Conductance sensor for micromachining. A case study on monit...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Fernando Castaño Rodolfo E. Haber Raúl M. del Toro Gerardo Beruvides Raúl M. del Toro and Gerardo Beruvides Centre for Automation and Robotics (UPM-CSIC) Spain Department of Informatics Engineering Autonomous University of Madrid Madrid Spain Centre for Automation and Robotics (UPM-CSIC) Arganda del Rey Spain

This paper proposes a conductance sensor and a procedure for real-time monitoring of micromaching processes. This procedure is based on a computationally efficient method to detect both the state of tool-workpiece contact dynamic and tool breakage. The measurement of electrical voltage drop is done by supplying an AC current through the contact impedance and this is the main input signal of the algorithm. The design of a conductance sensor is verified experimentally. The assessment of the prototype demonstrates a success rate of 90% in detecting the cutting states. These results are the basis for developing and implementing embedded system for real-time and tool condition monitoring of micromachining processes at industrial level.

关键词： Monitoring Contacts Micromachining Real-time systems Voltage measurement Cutting tools Artificial intelligence

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