Recursos de colección

Archivo Digital UPM (109.118 recursos)

This is an institutional repository providing access to the research output of the institution. Primarily contains thesis.

Materia = Robótica e Informática Industrial

Mostrando recursos 1 - 20 de 678

  1. Desarrollo de un sistema robotizado para la composición automática de imágenes mono e hiperespectrales para reflectografía de infrarrojos

    García Ayala, Enrique
    El presente Proyecto Fin de Carrera realiza el desarrollo de una aplicación informática llamada VARIM 2.0 capaz de controlar unos sistemas robotizados de adquisición de imágenes, en banda ancha e hiperespectrales, en el infrarrojo. Dicha aplicación es capaz de obtener, mediante uniones manuales o automáticas de las imágenes adquiridas, una composición del mosaico reflectográfico. También es capaz de obtener, de imágenes hiperespectrales adquiridas, unas imágenes en distintas longitudes de onda o hiperespectrales, para obtener información precisa de las distintas capas que forman una obra de arte. Además, dispone de herramientas para el tratamiento digital de imágenes.

  2. A System for the Design and Development of Vision-based Multi-robot Quadrotor Swarms

    Sanchez Lopez, Jose Luis; Pestana Puerta, Jesús; Puente Yusty, Paloma de La; Suárez Fernández, Ramón; Campoy Cervera, Pascual
    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...

  3. A Vision-based Quadrotor Swarm for the participation in the 2013 International Micro Air Vehicle Competition

    Pestana Puerta, Jesús; Sanchez Lopez, Jose Luis; Puente Yusty, Paloma de La; Carrió Fernández, Adrián; Campoy Cervera, Pascual
    This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an AR Drone 2.0 quadrotor connected to a laptop which runs the software architecture. In order to present a completely visual-based solution the localization problem is simplified by the usage of ArUco visual markers. These visual markers are used to sense and map obstacles and to...

  4. Optical-Flow kymograms and glottovibrograms: a new way to present high-speed data for laryngeal assessment

    Andrade Miranda, Gustavo Xavier; Henrich Bernardoni, Nathalie; Godino Llorente, Juan Ignacio
    The use of high-speed videoendoscopy (HSV) in combination with image-processing techniques is the most promising approach to investigate vocal-folds vibration and laryngeal dynamics in speech and singing. The current challenge is to pro- vide facilitative and informative playbacks for clinical and research purposes. We present three new facilitative playbacks using an optical-flow framework (OF), which has the main advantage of requiring no glottis segmentation. The method has been tested on a database of 60 HSV sequences, which covers different voice qualities for spoken and sung vowels. The new data representations have been compared with commonly used facilitative playbacks.

  5. Delimitación de parcelas agrícolas mediante consenso de diversas segmentaciones

    García Pedrero, Ángel Mario; Gonzalo Martín, Consuelo; Rodríguez Esparragón, Dionisio; Lillo Saavedra, Mario Fernando
    La delimitación de parcelas agrícolas a gran escala juega un papel primordial en los estudios relacionados con el manejo y la gestión de las explotaciones agrícolas. Por ello, es necesario el diseño de métodos computacionales que realicen esta labor de forma automática, rápida y precisa. El objetivo de este trabajo es proporcionar un marco que permita la correcta delimitación de las parcelas. La metodología propuesta emplea un consenso de segmentaciones a diferentes escalas para proporcionar información acerca de los bordes más significativos correspondientes a las parcelas agrícolas presentes en una imagen de muy alta resolución espacial.

  6. Desarrollo de una célula robotizada de paletizado

    Rodríguez Rodríguez, Iván
    No cabe duda de que, a lo largo de los años, la automatización ha ido cobrando cada vez más importancia en los procesos industriales hasta convertirse en una parte fundamental de los mismos. El afán por mejorar los tiempos de producción, reducir los costes y obtener mejores productos ha provocado que hoy en día, prácticamente cualquier proceso industrial que pueda estar sujeto a ser automatizado, lo sea. Con esta idea en mente, el campo de la automatización de procesos de cara a la formación de un ingeniero industrial, es cada vez más importante. La probabilidad de que a lo largo...

  7. Herramienta de monitorización para mejorar las prestaciones de los grupos electrógenos fueloil en Cuba

    Pardo Llosas, Yolanda; Haber Guerra, Rodolfo E.; Cobos Castro, Alejandro; Llosas Albuerne, Yolanda; Domínguez Abreu, Hugo
    En emplazamientos de grupos electrógenos de tecnología Hyundai instalados en Cuba se han presentado algunos problemas de funcionamiento que imposibilitan una rápida y correcta respuesta de los operarios ante distintas situaciones ocurridas. Por ejemplo, los reguladores de viscosidad en las baterías de los emplazamientos han sufrido averías debido a las vibraciones y altas temperaturas, ocasionando interrupciones, aumento del consumo de combustible, afectaciones en el suministro energético, elevación de los costes de explotación, incremento de la frecuencia de mantenimiento, afectación en la eficacia del Grupo y disminución de su vida útil, haciéndose más sensible al estar enlazado con el sistema nacional....

  8. Changes in anatomical and functional connectivity related to lower hippocampal volume

    Pineda Pardo, José Ángel; Cristóbal Huerta, Alexandra; Manzanedo Sáenz, Eva; Pozo Guerrero, Francisco del; Álvarez Linera, Juan; Hernández Tamames, J.A.
    Anatomical 3D T1 weighted images have been widely used to assess the volume of subcortical structures. It has been demonstrated that volume loss of hippocampi, entorhinal cortex and amygdala are early biomarkers for the diagnosis of cognitive impairments and AD1. In this work, we investigate AD biomarkers based on brain connectivity. SC-FC differences have been reported between controls and patients at risk for AD2. We will try to anticipate to MCI or AD diagnoses by differentiating in a sample of healthy subjects, i.e. with no cognitive impairment, other than related to ageing, using as criterion of separation the normalized hippocampal...

  9. TIDA: A spanish EHR semantic search engine

    Costumero Moreno, Roberto; Gonzalo Martín, Consuelo; Menasalvas Ruiz, Ernestina
    Electronic Health Records (EHR) and the constant adoption of Information Technologies in healthcare have dramatically increased the amount of unstructured data stored. The extraction of key information from this data will bring better caregivers decisions and an improvement in patients? treatments. With more than 495 million people talking Spanish, the need to adapt algorithms and technologies used in EHR knowledge extraction in English speaking countries, leads to the development of different frameworks. Thus, we present TIDA, a Spanish EHR semantic search engine, to give support to Spanish speaking medical centers and hospitals to convert pure raw data into information understandable...

  10. External force estimation for telerobotics without force sensor

    Sol Acero, Enrique del; Pagala, Prithvi Sekha; King, Ryan; Ferre Pérez, Manuel
    This paper establishes an approach to external force estimation through the use of a mathematical model and current sensing, without employing a force/torque sensor. The advantages and need for force feedback have been well established in the field of telerobotics. This paper presents the requirement for sensorless force estimation and comparative results between a force sensor and the presented approach using an industrial robot. The approach presents not only a cost effective solution but also a solution for force sensing in hazardous environments, especially ionizing radiation prone environments where the dose rates limit the use of sensing equipment. The paper...

  11. Connectivity control in WSN based on fuzzy logic control

    Huang, Yuanjiang; Toro Matamoros, Raúl Mario del; Martinez Ortega, Jose Fernan; Hernandez Diaz, Vicente; Haber Guerra, Rodolfo E.
    The connectivity of a wireless sensor network (WSN), specified as the percentage of nodes that are able to reach the base station (BS) that relays nodes data to other networks, has to be kept as high as possible, without either increasing significantly the energy consumption or worsening the WSN overall performance. Modelling accurately a WSN and designing a control system for accomplishing the desired network connectivity is an effortful task. In this paper, an approach based on fuzzy logic control is proposed, as it provides a better trade-off between accuracy, effort and time. The control system running in each node...

  12. FuSeOn: A Low-Cost Portable Multi Sensor Fusion Research Testbed for Robotics

    Sánchez López, José Luis; Changhong, Fu; Campoy Cervera, Pascual
    Nowadays, the utilization of multiple sensors on every robotic platform is a reality due to their low cost, small size and light weight. Multi Sensor Fusion (MSF) algorithms are required to take advance of all the given measurements in a robust and complete manner. These high demanding developed algorithms need to be tested under real and challenging situations and environments. To the knowledge of the authors, none of the available datasets fulfills are fully suitable to be used for MSF applied to Robotics, due to the lack of multiple sensor measurements provided by light weight, small size and low cost...

  13. Computer Vision Based General Object Following for GPS-denied Multirotor Unmanned Vehicles

    Pestana Puerta, Jesús; Sanchez Lopez, Jose Luis; Saripalli, Srikanth; Campoy Cervera, Pascual
    The motivation of this research is to show that visual based object tracking and following is reliable using a cheap GPS-denied multirotor platform such as the AR Drone 2.0. Our architecture allows the user to specify an object in the image that the robot has to follow from an approximate constant distance. At the current stage of our development, in the event of image tracking loss the system starts to hover and waits for the image tracking recovery or second detection, which requires the usage of odometry measurements for self stabilization. During the following task, our software utilizes the forward-facing...

  14. Shape memory alloy-based high phase order motor

    Rossi, Claudio; Yuan, Zongjian; Zhang, Chao; Barrientos Cruz, Antonio; Coral Cuellar, William
    In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). The motor can be used either in stepping mode or in servo mode of operation. Each phase of the motor consists of an SMA wire with a spring. The principle of operation of the HPOM is presented. In its operation the motor resembles a stepper motor though the actuation principles are different and hence has been characterised similar to a stepper motor.This motor can be actuated in either direction depending on which SMA is actuated,...

  15. Virtual-work-based optimization design on compliant transmission mechanism for flapping-wing aerial vehicles

    Zhang, Chao; Rossi, Claudio; He, Wei; Colorado Montaño, Julián
    This paper presents a method for analyzing and optimizing the design of a compliant transmission mechanism for a flapping-wing aerial vehicle. Its purpose is of minimizing the peak input torque required from a driving motor. In order to maintain the stability of flight, minimizing the peak input torque is necessary. To this purpose, first, a pseudo-rigid-body model was built and a kinematic analysis of the model was carried out. Next, the aerodynamic torque generated by flapping wings was calculated. Then, the input torque required to keep the flight of the vehicle was solved by using the principle of virtual work....

  16. Identifying ground-robot impedance to improve terrain adaptability in running robots

    Arévalo Martín, Juan Carlos; Sanz Merodio, Daniel; Cestari Soto, Manuel; García Armada, Elena
    To date, running robots are still outperformed by animals, but their dynamic behaviour can be described by the same model. This coincidence means that biomechanical studies can reveal much about the adaptability and energy efficiency of walking mechanisms. In particular, animals adjust their leg stiffness to negotiate terrains with different stiffnesses to keep the total leg-ground stiffness constant. In this work, we aim to provide one method to identify ground-robot impedance so that control can be applied to emulate the aforementioned animal behaviour. Experimental results of the method are presented, showing well-differentiated estimations on four different types of terrain. Additionally,...

  17. Artificial cognitive control with self-x capabilities: A case study of a micro-manufacturing process

    Haber Guerra, Rodolfo E.; Juanes Rodríguez, Carmelo; Toro Matamoros, Raúl Mario del; Beruvides López, Gerardo
    Nowadays, even though cognitive control architectures form an important area of research, there are many constraints on the broad application of cognitive control at an industrial level and very few systematic approaches truly inspired by biological processes, from the perspective of control engineering. Thus, our main purpose here is the emulation of human socio-cognitive skills, so as to approach control engineering problems in an effective way at an industrial level. The artificial cognitive control architecture that we propose, based on the shared circuits model of socio-cognitive skills, seeks to overcome limitations from the perspectives of computer science, neuroscience and systems...

  18. Altered functional connectivity in essential tremor

    Benito León, Julián; Louis, Elan D.; Romero Muñoz, Juan Pablo; Hernández Tamames, J.A.; Manzanedo Sáenz, Eva; Álvarez Linera, Juan; Bermejo Pareja, Félix; Posada Rodríguez, Ignacio Javier; Rocón de Lima, Eduardo
    Essential tremor (ET) has been associated with a spectrum of clinical features, with both motor and nonmotor elements, including cognitive deficits. We employed resting-state functional magnetic resonance imaging (fMRI) to assess whether brain networks that might be involved in the pathogenesis of nonmotor manifestations associated with ET are altered, and the relationship between abnormal connectivity and ET severity and neuropsychological function. Resting-state fMRI data in 23 ET patients (12 women and 11 men) and 22 healthy controls (HC) (12 women and 10 men) were analyzed using independent component analysis, in combination with a ‘‘dualregression’’ technique, to identify the group differences...

  19. Monocular visual-inertial SLAM-based collision avoidance strategy for fail-safe UAV using fuzzy logic controllers

    Fu, Changhong; Olivares Mendez, Miguel Ángel; Suarez Fernandez, Ramon; Campoy Cervera, Pascual
    In this paper, we developed a novel Cross-Entropy Optimization (CEO)-based Fuzzy Logic Controller (FLC) for Fail-Safe UAV to expand its collision avoidance capabilities in the GPS-denied envrionments using Monocular Visual-Inertial SLAM-based strategy. The function of this FLC aims to control the heading of Fail-Safe UAV to avoid the obstacle, e.g. wall, bridge, tree line et al, using its real-time and accurate localization information. In the Matlab Simulink-based training framework, the Scaling Factor (SF) is adjusted according to the collision avoidance task firstly, and then the Membership Function (MF) is tuned based on the optimized Scaling Factor to further improve the...

  20. Free vibration analysis of a robotic fish based on a continuous and non-uniform flexible backbone with distributed masses

    Coral Cuellar, William Hernan; Rossi, Claudio; Saltaren Pazmiño, Roque Jacinto; Curet, Oscar M.; Barrientos Cruz, Antonio
    This paper presents a differential quadrature element method for free transverse vibration of a robotic-fish based on a continuous and non-uniform flexible backbone with distributed masses (represented by ribs) based in the theory of a Timoshenko cantilever beam. The effects of the masses (Number, Magnitud and position) on the value of natural frequencies are investigated. Governing equations, compatibility and boundary conditions are formulated according to the Differential Quadrature rules. The compatibility conditions at the position of each distributed mass are assumed as the continuity in the vertical displacement, rotation and bending moment and discontinuity in the transverse force due to...

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