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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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Scanning manipulator with terrain surface mapping for demining tasks 18th

Scanning manipulator with terrain surface mapping for demini...

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18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015

作者： Fernández, Roemi Gavilanes, Javier Montes, Héctor Salinas, Carlota De Santos, Pablo González Armada, Manuel Centre for Automation and Robotics CAR CSIC-UPM Agencia Estatal Consejo Superior de Investigaciones Científicas Ctra. Campo Real Km. 0200 La Poveda Arganda del ReyMadrid28500 Spain Faculty of Electrical Engineering Technological University of Panama Panama

ISBN: (纸本)9789814725231

Landmines, cluster munitions and explosive remnants of war still pose a threat to the physical, psychological, economic and social welfare of many peoples. With the aim of contributing to alleviate this terrible problem, this paper introduces a robotic manipulator capable of handling a metal detector while scans the surface of interest searching for mines during humanitarian demining tasks. A set of mini-cameras installed on the robotic arm acquires the data required for adapting the scanning to the irregularities of the terrain in such a way that the metal detector remains at a constant height from the ground during all the operating procedures. Results of preliminary tests show the potential of the proposed approach. © 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved.

关键词： Manipulators

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Flight performance assessment of land surveying trajectories for multiple UAV platforms

Flight performance assessment of land surveying trajectories...

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Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

作者： Andres Mora Sai Vemprala Adrian Carrio Srikanth Saripalli School of Earth and Space Exploration Arizona State University Tempe AZ USA Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain

Crop monitoring of large areas using unmanned aerial vehicles (UAV) is a process that involves multiple trade-offs. For a particular location a multicopter may be more suitable than a fixed-wing due to landscape, altitude, or weather conditions. In other cases the opposite may also be true and the best solution considering additional factors such as available energy and the time it takes to sample the area of interest. In this paper we evaluate the energy consumption, the total distance traveled, and the total time it takes for two unmanned aerial platforms, a fixed-wing and a multicopter to traverse different trajectories. We evaluate the performance of these two platforms using two trajectories: lawnmower and spiral. These trajectories guarantee a 60% both in overlap and sidelap. We analyze the trade-offs between traversing a given trajectory with both platforms and the impact of using a lawnmower instead of a spiral pattern in the context of precision agriculture applications.

关键词： Trajectory Vehicles Spirals Cameras DC motors Agriculture Energy consumption

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Erratum to: Improved initial vertex ordering for exact maximum clique search

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Applied Intelligence 2016年第1期46卷 240-240页

作者： Segundo, Pablo San Lopez, Alvaro Batsyn, Mikhail Nikolaev, Alexey Pardalos, Panos M. Centre for Automation and Robotics (UPM-CSIC) Madrid Spain Laboratory of Algorithms and Technologies for Networks Analysis National Research University Higher School of Economics Niznhy Novgorod Russia Center for Applied Optimization University of Florida Gainesville USA

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High speed Fragile object manipulation 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Sarria, Javier Montes, Hector Prieto, Manuel Armada, Manuel Centre for Automation and Robotics CSIC-UPM Spain Technological University of Panama Panama

ISBN: (纸本)9783319036526

This paper describes the optimization of picking up soft goods moving on a belt conveyor using a high speed manipulator driven by linear motors and equipped with a vacuum gripper structure and a computer vision system. A special gripper with several grasping devices and with a rotational degree of freedom has been designed to cope with object orientation. The vision system determines the location and orientation of the objects in the task space of the robot and the control system is in charge of the correct manipulation of the products. Also, this work presents the development and results of a pastry industrial project, which has a particular emphasis, given its complexity, the Cartesian robot manipulator, which has been designed to optimize the process of handling and palletising in this industrial area. © Springer International Publishing Switzerland 2014.

关键词： Grippers

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Instrumented Scanning Manipulator for Landmines Detection Tasks

Instrumented Scanning Manipulator for Landmines Detection Ta...

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Javier Gavilanes Roemi Fernandez Hector Montes Javier Sarria Pablo Gonzalez De Santos Manuel Armada Centre for Automation and Robotics CAR CSIC-UPM Agencia Estatal Consejo Superior de Investigaciones Cientificas Madrid Spain Consejo Superior de Investigaciones Cientificas Madrid Madrid ES

This paper presents an instrumented robotic arm for landmines detection tasks during humanitarian demining activities. The manipulator has 5 DOF and it is endowed with a metal detector for landmines detection and a mini-TOF camera for mapping the terrain that has to be scanned. The mini-TOF camera provides a point cloud of the terrain that allows keeping the metal detector at a constant height above the ground and performing an efficient scanning of the contaminated terrain.

关键词： Cameras Detectors Metals Robot vision systems

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Development of a lower-limb active orthosis and a walker for gait assistance 1

Development of a lower-limb active orthosis and a walker for...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Sanz-Merodio, D. Cestari, M. Arevalo, J.C. Carrillo, X. Garcia, E. Centre for Automation and Robotics CSIC-UPM La Poveda Madrid28500 Spain

ISBN: (纸本)9783319034126

Lower-limb exoskeletons and powered orthoses in gait assistance applications for patients with locomotive disorders possess the potential to significantly affect society in the near future. This paper presents the primary features of a lower-limb exoskeleton to enable paralysed children to walk. Because these patients are unable to move their limbs, the device generates their basic motions in everyday life, e.g., standing up, sitting down, and stable ambulation. A walker provides stability in the lateral plane, while the active orthosis provides stability in the sagittal plane while walking. The walker has been devised with a two degree of freedom mechanism to allow the user to sit down and stand up in a stable and comfortable way without the movement of the walker itself. The gait of the orthosis parameters such as step height, body height or step length are modified online, based on an impedance control approach, providing a safe and smooth gait pattern. Two shoe insole pressure measurement systems provide ground reaction force and center of pressure to adapt these gait parameters online. An adjustable compliance actuator has been designed and incorporated to the knee joint of the active orthosis. This Actuator with Adjustable Rigidity and Embedded Sensor (ARES) fulfills the demanding characteristics required in an active orthosis’s joint, namely, intrinsic compliance to allow humanmachine interaction, high power-to-weight ratio, high peak torque, small size and low weight. Exploiting the characteristics of ARES actuator a control scheme has been designed and implemented to achieved a reduction in the energy expenditure while keeping compliant to accommodate unexpected disturbances. The final ATLAS exoskeleton has been successfully tested in a healthy user, in a quadriplegic child, and in a patient with neuromuscular disease. © Springer International Publishing Switzerland 2014.

关键词： Exoskeleton (robotics)

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Aerial fleet in rhea project: A high vantage point contributions to robot 2013 1

Aerial fleet in rhea project: A high vantage point contribut...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Del Cerro, Jaime Barrientos, Antonio Sanz, David Valente, João UPM- Robotics and Cybernet Research Group Centre for Automation and Robotics UPM-CSIC José Gutierrez Abascal 2 Madrid28006 Spain

ISBN: (纸本)9783319034126

The RHEA project is based on the cooperation among aerial and ground vehicles aiming at performing several precision agriculture tasks. This work is focused on the description of the aerial mission in the mentioned project. The work includes a description of the units, the goals and mission types, the requirements involved in the mission planning as well as their supervision and monitoring. The missions are performed by using a fleet of last-generation hex-rotors that rely on high payload and extraordinary stability. These features allow taking steady pictures with high quality cameras in large extension fields. As result, high-resolution images of the field to cover are obtained in order to provide with weeds pots positions to ground units for their removal. © Springer International Publishing Switzerland 2014.

关键词： Fleet operations

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Evaluation of AHRS algorithms for inertial personal localization in industrial environments

Evaluation of AHRS algorithms for inertial personal localiza...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Estefania Munoz Diaz Fabian de Ponte Müller Antonio R. Jiménez Francisco Zampella German Aerospace Center (DLR) Institute of Communications and Navigation Oberpfaffenhofen Wessling Germany Centre for Automation Robotics (CAR) Consejo Superior de Investigaciones Científicas (CSIC)- UPM Ctra Madrid Spain

This paper presents a comparison among several state-of-the-art Attitude and Heading Reference Systems (AHRS). These algorithms can be used for 3D orientation and position estimation of users or devices. The robust performance of these AHRS algorithms is of paramount importance, specially in environments with potential external perturbations, such as industrial environments. The comparison among AHRS algorithms presented in this paper also includes an algorithm recently proposed by the authors (DLR-AHRS). In this paper the performance of the different AHRS will be studied, including the effect of magnetic perturbations on the performance of orientation estimation, and the effect of using different patterns of motion when the sensor is carried by a user at different locations (pocket, foot/shoe, hand). These AHRS algorithms are also compared with the Kalman-based commercially available AHRS algorithm of Xsens. The performance of the AHRS algorithms depends strongly on the strategies used to reject perturbations (sudden accelerations or deformations of the Earth magnetic field) and the ability of the systems to estimate the biases of the gyroscopes.

关键词： Magnetometers Gyroscopes Estimation Acceleration Accelerometers Earth Gravity

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A new combined strategy for discrimination between types of weed 1

A new combined strategy for discrimination between types of ...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Javier Herrera, P. Dorado, José Ribeiro, Ángela Centre for Automation and Robotics CSIC-UPM Madrid28500 Spain Institute of Agricultural Sciences CSIC Madrid28006 Spain

ISBN: (纸本)9783319034126

Specific weed management consists on adjusting herbicide treatments depending on the zone infested and the type of weed. In this context, the discrimination between grasses (monocots) and broad-leaved weeds (dicots) is an important objective mainly because the two weed groups can be appropriately controlled by different specific herbicides. This work proposes a method of discrimination between these types of weeds based on a combined strategy, the Sugeno Fuzzy Integral, where the final decision is taken by combining seven attributes, the Hu moments. The main challenge in terms of image analysis is to achieve an appropriate discrimination between both groups in outdoor field images under varying conditions of lighting as well as of soil background texture. © Springer International Publishing Switzerland 2014.

关键词： Herbicides

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