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2011 IEEE Ultrasonics Symposium (IUS 2011)

作者： Joao L. Ealo Jose Carlos Prieto Fernando Seco School of Mechanical Engineering University of Valle Cali COLOMBIA Centre for Automation and Robotics (CAR) CSIC-UPM Arganda del Rey Madrid SPAIN

ISBN: (纸本)9781457712531

In this work, the feasibility to easily generate airborne ultrasonic helical wavefronts is demonstrated. We have experimentally obtained airborne ultrasonic Helical Wavefronts (HW) of great quality by gluing a ferroelectret film on a helicoid surface. A comparison between measured and theoretical results of the pressure and phase distributions of this type of wavefront is accomplished. The simple fabrication procedure, which results inexpensive and reliable, opens up a new alternative to explore the special features of wavefronts with screw-type dislocations.

关键词： Acoustics Transducers Acoustic beams Surface impedance Acoustic measurements Substrates Surface treatment

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Autonomous driving manoeuvres in urban road traffic environment: a study on roundabouts

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IFAC Proceedings Volumes 2011年第1期44卷 13795-13800页

作者： Joshué Pérez Vicente Milanés Teresa de Pedro Ljubo Vlacic AUTOPIA program Centre for Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract The highway and urban traffic safety has significantly been improved thanks to advanced development of Intelligent Transportation Systems technologies. However, some driving aspects have remained outside of this evolution or they are still in the development stage. Autonomous vehicle performance on roundabouts is one of these. In this paper, a simple and practical approach for the driverless control on roundabouts is described. Firstly, a description of a path planning is explained. Finally, a new concept for lateral control on roundabouts is introduced, taking into account entrances, exits and lane changes inside the roundabouts. The experiments have been tested in a 3D simulator that emulates the behaviour of driverless vehicle from the real world, – Cybercars. The results are promising, and leave the door open for future implementation in real vehicles.

关键词： Lane keeping autonomous vehicles roundabouts digital map Intelligent Transportation Systems (ITS)

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Control of a nonlinear teleoperation system by state convergence

Control of a nonlinear teleoperation system by state converg...

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9th IEEE International Conference on Control and automation, ICCA 2011

作者： Tafur, Julio C. García, Cecilia Aracil, Rafael Saltaren, Roque Pontificia Universidad Católica Del Perú Departamento de Ingeniería. Sección Electricidad y Electrónica Centro de Tecnologías Avanzadas de Manufactura Av. Universitaria No.1801 San Miguel Lima-32 Peru Centre for Automation and Robotics UPM CSIC Madrid Spain

ISBN: (纸本)9781457714757

In this work, we proposes a control strategy that allows the remote manipulator follow the local manipulator through the state convergence even if it has a delay in the communication channel The bilateral control of the teleoperator system considers the case were the human operator applies a constant force on the local manipulator and when the interaction of the remote manipulator with the environment is considered passive. The stability analysis was performed using Lyapunov-Krasovskii functional, it showed for the case with constant delay, that using a proposed control algorithm by state convergence resulted in asymptotically stable, local and remote the nonlinear teleoperation system. © 2011 IEEE.

关键词： Manipulators

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A Simple and Low Cost Device for Automatically Supervising Urine Output of Critical Patients

A Simple and Low Cost Device for Automatically Supervising U...

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4th International Joint Conference on Biomedical Engineering Systems and Technologies, BIOSTEC 2011

作者： Otero, Abraham Palacios, Francisco Apalkov, Andrey Fernández, Roemi Department of Information Systems Engineering University San Pablo CEU 28668 Madrid Spain Critical Care Unit University Hospital of Getafe Getafe Carretera Toledo KM 12.500 28901 Madrid Spain Centre for Automation and Robotics CSIC-UPM Ctra. Campo Real Km. 02 La Poveda Arganda del Rey 28500 Madrid Spain

Nowadays, patients admitted to critical care units have most of their physiological parameters sensed by sophisticated commercial monitoring devices. These devices also supervise whether the values of the parameters lie within a preestablished range of normality set by the clinician. If any of the parameters leaves its normality range, an alarm will be triggered. The automation of the sensing and supervision of physiological parameters discharges the healthcare staff of a considerable workload. It also avoids human errors, which are common in repetitive and monotonous tasks. Urine output is a physiological parameter that, despite being of great relevance in the treatment of critical care patients, is still measured and supervised manually. This paper presents a device capable of sensing and supervising urine output automatically. The device uses reed switches that are activated by a magnet that is attached to a float in order to measure the amount of urine collected in two containers. An electronic unit sends the state of the reed switches to a PC, which supervises the achievement of therapeutic goals. © Springer-Verlag Berlin Heidelberg 2013.

关键词： Reed relays

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An add-on solution to take measures automatically from critical care urine meters

An add-on solution to take measures automatically from criti...

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IEEE International Symposium on Intelligent Signal Processing

作者： A. Otero R. Fernández A. Apalkov M. Armada F. Palacios Department of Information and Communications Systems Engineering University San Pablo CEU Madrid Spain Centre for Automation and Robotics CSIC-UPM Madrid Spain Critical Care Unit University Hospital of Getafe Madrid Spain

Critical care patients have most of their physiological parameters automatically sensed by sophisticated commercial monitoring devices. These devices can also supervise whether the values of each parameter lie within a preestablished normal range, and warn of deviations from this range by triggering audible alarms. automation of the sensing and supervision of physiological parameters discharges the healthcare staff of a considerable workload. Furthermore, it avoids human errors, which are common in repetitive and monotonous tasks. However, there is still a very relevant physiological parameter that is sensed and supervised manually by the healthcare staff: urine output. In this paper we present a patent-pending addon solution that can be easily incorporated into commercial urine meters to transform these manual measuring devices into automated measuring devices. The solution is based on capacitive sensors capable of taking continuous measurements of the height of the column of liquid accumulated in the various chambers that make up a commercial urine meter. An electronic unit sends the measures of the capacitive sensors via Bluetooth to a PC which calculates the urine output from this information and supervises the achievement of therapeutic goals.

关键词： Containers Medical services Capacitive sensors Magnetic liquids Valves Demodulation

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An add-on solution to take measures automatically from critical care urine meters

An add-on solution to take measures automatically from criti...

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7th IEEE International Symposium on Intelligent Signal Processing, WISP 2011

作者： Otero, A. Fernández, R. Apalkov, A. Armada, M. Palacios, F. Department of Information and Communications Systems Engineering University San Pablo CEU Boadilla del Monte 28668 Madrid Spain Centre for Automation and Robotics CSIC-UPM Ctra. Campo Real km. 0.2 La Poveda Arganda del Rey 28500 Madrid Spain Critical Care Unit University Hospital of Getafe Getafe Carretera Toledo KM 12 5 28901 Madrid Spain

ISBN: (纸本)9781457714016

关键词： Capacitive sensors

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MDL: A Module Description Language for Chained Heterogeneous Modular Robots

MDL: A Module Description Language for Chained Heterogeneous...

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IEEE International Conference on robotics and Biomimetics

作者： A. Brunete M. Hernando E. Gambao J. E. Torres A. Castro-Gonzalez RoboticsLab at the Carlos III University of Madrid Centre for Automation and Robotics (CAR) UPM-CSIC Jose Gutierrez

ISBN: (纸本)9781457721366

This paper presents the new concept of a description language for modular robots called module description language (MDL). A specific implementation of this concept has been designed and tested to describe the capabilities of modules of a chained heterogeneous robot (both from the point of view of movements and tasks it can perform). Thanks to MDL each module is able to report dynamically what is able to do (capabilities like rotate, extend, push forward, measure temperature or distance) to other modules or to a central control, and it is also possible to set up new actions for the whole robot, like combined movements. The description of current capabilities of modules allows the robot to react to failures at runtime.

关键词： Modular robots language description Control centres Robot Runtime

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Optimal Mechanical Design of Modular Haptic Devices

Optimal Mechanical Design of Modular Haptic Devices

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Pablo Cerrada Jose Brenosa Ignacio Galiana Javier Lopez Manuel Ferre Antonio Gimenez Rafael Aracil Centre for Automation and Robotics (UPM-CSIC Madrid Spain) Universidad de Almeria Area de Ingenieria Mecanica

ISBN: (纸本)9781457708381

This paper presents two possible mechanical designs for a modular haptic device. In a modular haptic device, each module allows the interaction with a scenario by using a single finger, and by adding more modules, multi-finger interaction can be achieved. In this paper, two different mechanical designs for such haptic modules are presented and compared (4-bar and 5-bar mechanisms). This comparison is performed in terms of inertia, manipulability, workspace width, homogeneity of forces reflection and the resulting direct kinematics and jacobian equations. Moreover, it is described how these modules can be scaled to provide haptic feedback to multiple fingers.

关键词： Equipment Design Haptic Device Component Touch Modularity haptic device Fingers

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Enhancing student learning: On-line interactive laboratory for modelling of real world control system applications

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IFAC Proceedings Volumes 2011年第1期44卷 7268-7273页

作者： Joshué Pérez Sebastián Dormido Ljubo Vlacic Centre of Automation and Robotics (CAR) University Polytechnic of Madrid (UPM) – Spanish National Research Council (CSIC) Madrid Spain Dep. Informática y Automática Escuela Técnica Superior de Ingeniería Informática Universidad Nacional de Educación a Distancia Madrid Spain Intelligent Control Systems Laboratory Griffith University Brisbane Australia

Abstract Teaching an introductory course on control systems to undergraduate students often seeks elaborations on real engineering world control system applications to assist students in grasping theoretical concepts. In this paper, the newly developed animated and interactive control systems tutorials are presented. The paper shows that this teaching approach helps students in bridging the gap between the classical control techniques and the real world applications. The course evaluations undertaken since the time of the inclusion of the animated tutorials into the teaching process clearly show the learning improvement gained, reflected in increased average scores, and reduced course fail grade.

关键词： Interactive control system tutorials Interactive teaching tools Animation Distance Education

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Pedestrian indoor navigation by aiding a foot-mounted IMU with RFID Signal Strength measurements

Pedestrian indoor navigation by aiding a foot-mounted IMU wi...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Antonio R Jiménez Jiménez Ruiz Fernando Seco Granja J. Carlos Prieto Honorato Jorge I. Guevara Rosas CAR (Centre of Automation and Robotics) CSIC-UPM Madrid Spain

We present a methodology to accurately locate persons indoors by fusing Inertial Navigation (INS) techniques with active RFID technology. A foot-mounted IMU aided by the Received Signal Strengths (RSS) obtained from several active RFID tags, placed at known locations in a building, has been used. Other authors have already integrated IMUs with RFID tags in loosely-coupled Kalman Filter (KF) solutions [1], [2], [3]. They feed the KF with the residuals of inertial- and RFID-calculated positions; these approaches do not exploit the benefits of Zero Velocity Updates (ZUPT). In this paper, we present a tight KF-based INS/RFID integration using the residual between the INS-predicted range-to-tag, and the range derived from a generic RSS path-loss model. Our approach also includes ZUPTs at detected foot stances, ZARU (Zero Angular-rate Update) estimation at still phases, and heading drift reduction using magnetometers. A 15-element error state Extended KF [4], [7] compensates position, velocity and attitude errors of the INS solution, as well as IMU biases. This methodology is valid for any kind of motion (forward, lateral or backwards walk, at different speeds) and does not require an specific off-line calibration, neither for the user gait, nor for the location-dependent RSS fading in the building. The integrated INS+RFID methodology eliminates the typical drift of IMU-alone solutions (approximately 1% of the total travelled distance), accounting for typical positioning errors along the walking path (no matter its length) of approximately 1.5 meters.

关键词： Radiofrequency identification Buildings Trajectory Foot Estimation Navigation

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