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2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014

作者： Sanchez-Lopez, Jose Luis Pestana, Jesus De La Puente, Paloma Suarez-Fernandez, Ramon Campoy, Pascual Computer Vision Group Centre for Automation and Robotics CSIC-UPM Spain Institut of Automation and Control Vienna University of Technology Austria

ISBN: (纸本)9781479923762

This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module. © 2014 IEEE.

关键词： Drones

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Reactive humanoid walking algorithm for occluded terrain 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Arevalo, J.C. Sanz-Merodio, Daniel Garcia, Elena Centre for Automation and Robotics CSIC-UPM Carretera Campo Real Km 0200 Madrid28500 Spain

ISBN: (纸本)9783319036526

Humanoid robots are a good option for rescue missions in disaster scenarios when the safety of the rescue team can be compromised. Thus, allowing saving lives without the need of risking the safety of the rescue team. In this study we propose a reactive walking algorithm that provides statically stable locomotion when negotiating difficult terrains (combinations of inclined planes and flat ground) in the case that computer vision is not an option due to occluded terrains. Furthermore, we have tested the algorithm in simulation using the DRCSim software package obtaining good results. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Application of hybrid incremental modeling for predicting surface roughness in micromachining processes

Application of hybrid incremental modeling for predicting su...

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2014 IEEE Symposium on Computational Intelligence for Engineering Solutions, CIES 2014

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

ISBN: (纸本)9781479945108

This paper presents the application of a hybrid incremental modeling strategy (HIM) for real-time estimation of surface roughness in micromachining processes. This strategy essentially consists of two steps. First, a representative hybrid incremental model of micromachining process is obtained. The final result of this model describes output as a function of two inputs (feed per tooth quadratic and vibration mean quadratic (rms) in the Z axis) and output (surface roughness Ra). Second, the hybrid incremental model is evaluated in real time for predicting the surface roughness. The model is experimentally tested by embedding the computational procedure in a real-time monitoring system of surface roughness. The prototype evaluation shows a success rate in the estimate of surface roughness about 80%. These results are the basement for developing a new generation of embedded systems for monitoring surface roughness of micro components in real time and the further exploitation of the monitoring system at industrial level. © 2014 IEEE.

关键词： Surface roughness

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Intelligent Models for Predicting the Thrust Force and Perpendicular Vibrations in Microdrilling Processes 26

Intelligent Models for Predicting the Thrust Force and Perpe...

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26th IEEE International Conference on Tools with Artificial Intelligence, ICTAI 2014

作者： Beruvides, Gerardo Castano, Fernando Haber, Rodolfo E. Quiza, Ramon Rivas, Marcelino Centre for Automation and Robotics UPM CSIC La Poveda Madrid United States Department of Mechanical Engineering University of Matanzas Matanzas Cuba

ISBN: (纸本)9781479965724

This paper presents the modeling of thrust force and perpendicular vibrations in micro drilling processes of five commonly used alloys (titanium-based, tungsten-based, aluminum-based and invar). The process was carried out by peck drilling and the influence of five parameters (drill diameter, cutting speed, feed rate, one-step feed length and total drilling length) on the behavior of the thrust force was considered. Some important mechanical and thermal properties of the work piece material were also considered in the model. Two different models were tried: the first one based on artificial neural networks and the second one based on fuzzy inference systems. Outcomes of both approaches were compared to each other and to a multiple regression model. The neural model shows not only a better goodness-of-fit but also a higher generalization capability. © 2014 IEEE.

关键词： Fuzzy systems

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Application of hybrid incremental modeling for predicting surface roughness in micromachining processes

Application of hybrid incremental modeling for predicting su...

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IEEE Symposium on Computational Intelligence for Engineering Solutions (CIES)

作者： Fernando Castaño Rodolfo E. Haber Raúl M. del Toro Gerardo Beruvides Centre for Automation and Robotics UPM - CSIC Arganda del Rey Spain

This paper presents the application of a hybrid incremental modeling strategy (HIM) for real-time estimation of surface roughness in micromachining processes. This strategy essentially consists of two steps. First, a representative hybrid incremental model of micromachining process is obtained. The final result of this model describes output as a function of two inputs (feed per tooth quadratic and vibration mean quadratic (rms) in the Z axis) and output (surface roughness R a ). Second, the hybrid incremental model is evaluated in real time for predicting the surface roughness. The model is experimentally tested by embedding the computational procedure in a real-time monitoring system of surface roughness. The prototype evaluation shows a success rate in the estimate of surface roughness about 80%. These results are the basement for developing a new generation of embedded systems for monitoring surface roughness of micro components in real time and the further exploitation of the monitoring system at industrial level.

关键词： Rough surfaces Surface roughness Surface treatment Feeds Computational modeling Real-time systems Micromachining

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Corrigendum to Tactile-Sight: A Sensory Substitution Device Based on Distance-Related Vibrotactile Flow

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International Journal of Advanced Robotic Systems 2015年第6期12卷 69-69页

作者： Leandro Cancar Alex Díaz Antonio Barrientos David Travieso David M. Jacobs Technical University of Madrid Centre for Automation and Robotics UPM-CSIC Spain Madrid Autonomous University UAM Perception and Action Group Spain

Corrigendum, corrigendum

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Hammer: An Android based application for end-user industrial robot programming

Hammer: An Android based application for end-user industrial...

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IEEE/ASME International Conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Carlos Mateo Alberto Brunete Ernesto Gambao Miguel Hernando Centre for Robotics and Automation (CAR UPM-CSIC) Universidad Politecnica Madrid Madrid Spain

This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and created for Android OS. It is a visual programming concept that allows non-skilled programmer operators to create programs. The application also allows to monitor the tasks while it is being executed by overlapping real time information through augmented reality. The application includes a teach pendant screen that can be customized according to the operator needs at every moment.

关键词： Service robots Programming Smart phones Robot kinematics Robot sensing systems Three-dimensional displays

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Validation of a multisensory system for fruit harvesting robots in lab conditions 1

Validation of a multisensory system for fruit harvesting rob...

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ROBOT 2013: 1st Iberian robotics Conference

作者： Fernández, Roemi Salinas, Carlota Montes, Héctor Sarria, Javier Armada, Manuel Centre for Automation and Robotics CSIC-UPM Ctra. Campo Real Km. 0200 La Poveda Arganda del Rey Madrid28500 Spain Technological University of Panama Panama

ISBN: (纸本)9783319034126

This paper presents a multisensory system for the detection and localisation of fruits that are candidates to be harvested by a robotic manipulator. The devices that have been selected as primary sensors for this purpose are a high resolution colour camera, a multispectral imaging system that consists of a motorised filter wheel, and a Time-Of-Flight 3D camera. A controlled lighting system completes the set-up. The progressive RGB camera and the multispectral imaging system acquire the basic data inputs for the detection of areas of interest that belong to the fruits, whereas the Time-Of- Flight 3D camera provides fast acquisition of accurate distances enabling the localisation of the targets in the coordinate space. Several experimental tests have been carried out in laboratory conditions in order to evaluate the capabilities of the proposed multisensory system. © Springer International Publishing Switzerland 2014.

关键词： Fruits

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Automatic control of a large articulated vehicle 1

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ROBOT 2013: 1st Iberian robotics Conference

作者： Montes, Hector Salinas, Carlota Sarria, Javier Reviejo, Jesús Armada, Manuel Centre for Automation and Robotics CSIC-UPM Ctra. Campo Real Km 0.220 Arganda del Rey Madrid28020 Spain Universidad Tecnológica de Panamá Via UTP Panama City Panama

ISBN: (纸本)9783319036526

This work presents the development of the automatic control of an articulated bus. It is describes the most relevant concepts of the architecture of perception and actuation implemented on a large wheeled vehicle, Volvo B10M articulated bus of 18.75m in length. In this work, some experimental results of strategies for lateral and longitudinal control of the bus are shown, when it travels on a guide rail through a guiding mechatronics box. Additionally, this article presents the concepts of the guiding rail detection and obstacle detection by means of two Lidar systems for the test lane detection in advance, and for the pedestrians’ safety, respectively. Several experimental results are presented in this manuscript. © Springer International Publishing Switzerland 2014.

关键词： Longitudinal control

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Intelligent Models for Predicting the Thrust Force and Perpendicular Vibrations in Microdrilling Processes

Intelligent Models for Predicting the Thrust Force and Perpe...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： Gerardo Beruvides Fernando Castaño Rodolfo E. Haber Ramón Quiza Marcelino Rivas UPM - CSIC Centre for Automation and Robotics Madrid Department of Mechanical Engineering University of Matanzas Matanzas Cuba

关键词： Force Vibrations Data models Analysis of variance Fuzzy logic Neural networks Training

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