Listar por grupo de investigación "Robótica y automatización"
Mostrando ítems 21-40 de 43
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A Generic Interface for x-in-the-Loop Simulations Based on Distributed Co-Simulation Protocol
(IEEE, 2023)Co-simulation is a key step in the development of today’s complex cyber-physical systems (CPS), specially in the integration and validation activities. However, performing a co-simulation involving models developed in ... -
Goal-Conditioned Reinforcement Learning within a Human-Robot Disassembly Environment
(MDPI, 2022)The introduction of collaborative robots in industrial environments reinforces the need to provide these robots with better cognition to accomplish their tasks while fostering worker safety without entering into safety ... -
In-Line Dimensional Inspection of Warm-Die Forged Revolution Workpieces Using 3D Mesh Reconstruction
(MDPI, 2019)Industrial dimensional assessment presents instances in which early control is exerted among “warm” (approx. 600 ºC) pieces. Early control saves resources, as defective processes are timely stopped and corrected. Existing ... -
An Interactive Game-based Learning Framework with a Social Robot to Promote Well-being of Dyslexic Children
(2023)This paper presents the preliminary design and development of a generalized Child-Robot-Interaction framework involving interactive game-play between the socially assistive robot NAO and children with varying types of ... -
Labor Induction failure prediction using Gabor filterbanks and Center Symmetric Local Binary Patterns
(IEEE, 2018)Labor induction is defined as the artificial stimulation of uterine contractions aimed to induce vaginal birth. Occurring in about 20% of pregnancies labor induction has become one the most commonly practiced procedures ... -
Learning and generalising object extraction skill for contact-rich disassembly tasks: an introductory study
(Springer, 2021)Remanufacturing automation must be designed to be flexible and robust enough to overcome the uncertainties, conditions of the products, and complexities in the planning and operation of the processes. Machine learning ... -
A methodology and experimental implementation for industrial robot health assessment via torque signature analysis
(MDPI AG, 2020)This manuscript focuses on methodological and technological advances in the field of health assessment and predictive maintenance for industrial robots. We propose a non-intrusive methodology for industrial robot joint ... -
A Multi Camera and Multi Laser Calibration Method for 3D Reconstruction of Revolution Parts
(MDPI, 2021)This paper describes a method for calibrating multi camera and multi laser 3D triangulation systems, particularly for those using Scheimpflug adapters. Under this configuration, the focus plane of the camera is located at ... -
Optical Dual Laser Based Sensor Denoising for OnlineMetal Sheet Flatness Measurement Using Hermite Interpolation
(MDPI AG, 2020)Flatness sensors are required for quality control of metal sheets obtained from steel coils by roller leveling and cutting systems. This article presents an innovative system for real-time robust surface estimation of ... -
Petri net implementation in programmable logic controllers: methodology for development and validation
(IEEE, 2021)Lead times are key to good market positioning of providers of automated solutions based on a programmable logic controller (PLC). Testing control software against a digital twin (DT) of the process, any programming errors ... -
Petri net-based semi-compiled code generation for programmable logic controllers
(MDPI, 2021)Industrial discrete event dynamic systems (DEDSs) are commonly modeled by means of Petri nets (PNs). PNs have the capability to model behaviors such as concurrency, synchronization, and resource sharing, compared to a step ... -
Phase-shifted imaging on multi-directional induction thermography
(Springer Nature, 2023)A novel multi-directional eddy current thermography (ECT) system is presented generating sets of directional phase images that have been fused with a processing pipeline allowing for an improved probability of detection ... -
A review on reinforcement learning for contact-rich robotic manipulation tasks
(Elsevier, 2023)Research and application of reinforcement learning in robotics for contact-rich manipulation tasks have exploded in recent years. Its ability to cope with unstructured environments and accomplish hard-to-engineer behaviors ... -
A Scalable and Unified Multi-Control Framework for KUKA LBR iiwa Collaborative Robots
(IEEE, 2023)The trend towards industrialization and digitalization has led more and more companies to deploy robots in their manufacturing facilities. In the field of collaborative robotics, the KUKA LBR iiwa is one of the benchmark ... -
Shielded Reinforcement Learning: A review of reactive methods for safe learning
(IEEE, 2023)Reinforcement Learning (RL) algorithms are showing promising results in simulated environments, but their replication in real physical applications, even more so in safety-critical applications, is not yet guaranteed. ... -
skrl: Modular and Flexible Library for Reinforcement Learning
(ArXiv, 2022)skrl is an open-source modular library for reinforcement learning written in Python and designed with a focus on readability, simplicity, and transparency of algorithm implementations. Apart from supporting environments ... -
Sparse sampling-based view planning for complex geometries
(IEEE, 2024)In this paper, an automatic sampling-based view planning algorithm is proposed, for accurate 3D reconstruction of complex geometry parts present in manufacturing. The initial viewpoint sampling method is able to lower the ... -
Testing the verification and validation capability of a DCP-based interface for distributed real-time applications
(MDPI, 2023)Cyber–physical systems (CPS) integrate diverse elements developed by various vendors, often dispersed geographically, posing significant development challenges. This paper presents an improved version of our previously ... -
Towards manufacturing robotics accuracy degradation assessment: A vision-based data-driven implementation
(Elsevier, 2021)In this manuscript we report on a vision-based data-driven methodology for industrial robot health assessment. We provide an experimental evidence of the usefulness of our methodology on a system comprised of a 6-axis ... -
A unified formulation of geometry-aware discrete dynamic movement primitives
(Elsevier, 2024)Learning from demonstration (LfD) is considered as an efficient way to transfer skills from humans to robots. Traditionally, LfD has been used to transfer Cartesian and joint positions and forces from human demonstrations. ...