http://hdl.handle.net/2117/3423 Mon, 20 May 2013 02:42:36 GMT 2013-05-20T02:42:36Z webmaster.bupc@upc.edu Universitat Politècnica de Catalunya. Servei de Biblioteques i Documentació no http://hdl.handle.net/2117/17565 Title: Human direct interface Authors: Muñoz Morgado, Luis Miguel Mon, 04 Feb 2013 09:55:21 GMT http://hdl.handle.net/2117/17565 2013-02-04T09:55:21Z Muñoz Morgado, Luis Miguel no http://hdl.handle.net/2117/14474 Title: Lowering traffic without sacrificing performance in networked control systems Authors: Martí Colom, Pau; Velasco García, Manel; Yépez Castillo, José Gregorio; Martín Rull, Enric Xavier Abstract: In Networked Control Systems (NCS), the amount of control data exchanged between sensors, controllers and actuators nodes highly depends on the control performance specifications given to each networked control loop. The periodic execution of each loop helps meeting the control specifications while imposing a static network traffic. This paper presents an alternative execution mechanism for each networked control loop that permits to dynamically lower the traffic while ensuring the same or better control performance than the achieved by the periodic case. Simulation results illustrate the theoretical analysis. Wed, 11 Jan 2012 15:23:48 GMT http://hdl.handle.net/2117/14474 2012-01-11T15:23:48Z Martí Colom, Pau; Velasco García, Manel; Yépez Castillo, José Gregorio; Martín Rull, Enric Xavier no In Networked Control Systems (NCS), the amount of control data exchanged between sensors, controllers and actuators nodes highly depends on the control performance specifications given to each networked control loop. The periodic execution of each loop helps meeting the control specifications while imposing a static network traffic. This paper presents an alternative execution mechanism for each networked control loop that permits to dynamically lower the traffic while ensuring the same or better control performance than the achieved by the periodic case. Simulation results illustrate the theoretical analysis. http://hdl.handle.net/2117/14473 Title: Networked sliding mode control of the double integrator system using the event-driven self-triggered approach Authors: Martí Colom, Pau; Velasco García, Manel; Camacho Santiago, Antonio; Martín Rull, Enric Xavier; Fuertes Armengol, José Mª Abstract: Sliding mode control (SMC) methods rely on applying a high-frequency switching control. In networked control systems (NCS), high-frequency operations/transactions are not desirable because communication bandwidth consumption increases dramatically. This paper studies the application of event-driven self-triggered techniques to sliding mode control over networks as a means for reducing the bandwidth utilization. To this end, sliding mode control with hysteresis is adopted and control updates are forced to only occur at the hysteresis band boundary. This paper elaborates on the conditions that must be fulfilled in order to ensure such operation for the case of the double integrator system. Simulation results illustrate the presented concepts. Wed, 11 Jan 2012 13:27:51 GMT http://hdl.handle.net/2117/14473 2012-01-11T13:27:51Z Martí Colom, Pau; Velasco García, Manel; Camacho Santiago, Antonio; Martín Rull, Enric Xavier; Fuertes Armengol, José Mª no Sliding mode control (SMC) methods rely on applying a high-frequency switching control. In networked control systems (NCS), high-frequency operations/transactions are not desirable because communication bandwidth consumption increases dramatically. This paper studies the application of event-driven self-triggered techniques to sliding mode control over networks as a means for reducing the bandwidth utilization. To this end, sliding mode control with hysteresis is adopted and control updates are forced to only occur at the hysteresis band boundary. This paper elaborates on the conditions that must be fulfilled in order to ensure such operation for the case of the double integrator system. Simulation results illustrate the presented concepts. http://hdl.handle.net/2117/13038 Title: Photogrammetry based error analysis of indoor mobile robot localization Authors: Escoda, Josep; Martínez Velasco, Antonio Benito; Benedico, Antonio; Font Llagunes, Josep Maria Abstract: The presented work is a low cost “off-line” method that is able to evaluate the precision of mobile robot localization, which is a difficult task. A reference path is yielded by a drawing pen attached to indoor mobile robot, which also adds timestamps to the trace on the floor. The method is based on comparing the reference path obtained using photogrammetry, with the results of several localization algorithms on board of mobile robots. At the moment, different techniques exist that deal with that problem, but these are either expensive or too rigid. Mon, 25 Jul 2011 11:45:45 GMT http://hdl.handle.net/2117/13038 2011-07-25T11:45:45Z Escoda, Josep; Martínez Velasco, Antonio Benito; Benedico, Antonio; Font Llagunes, Josep Maria no The presented work is a low cost “off-line” method that is able to evaluate the precision of mobile robot localization, which is a difficult task. A reference path is yielded by a drawing pen attached to indoor mobile robot, which also adds timestamps to the trace on the floor. The method is based on comparing the reference path obtained using photogrammetry, with the results of several localization algorithms on board of mobile robots. At the moment, different techniques exist that deal with that problem, but these are either expensive or too rigid. http://hdl.handle.net/2117/12454 Title: Motor-model-based dynamic scaling in human-computer interfaces Authors: Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep Abstract: This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves the efficiency of an interface, thereby reducing the user’s workload. The study uses several human-motor models to interpret human intention and thus contribute to defining and adapting the scaling parameters to the execution of the task. Two techniques addressed to vary the control-display ratio are compared, and a new method for aiding in the task of steering is proposed. Tue, 03 May 2011 12:01:19 GMT http://hdl.handle.net/2117/12454 2011-05-03T12:01:19Z Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep no This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves the efficiency of an interface, thereby reducing the user’s workload. The study uses several human-motor models to interpret human intention and thus contribute to defining and adapting the scaling parameters to the execution of the task. Two techniques addressed to vary the control-display ratio are compared, and a new method for aiding in the task of steering is proposed. http://hdl.handle.net/2117/12183 Title: Analisis de la señal del centro de presiones mediante auto-informacion mutua: Test con ojos abiertos Authors: Galicia, Berenice; Vallverdú Ferrer, Montserrat; Peydro, Francisca; Casals Gelpi, Alicia Thu, 31 Mar 2011 09:20:55 GMT http://hdl.handle.net/2117/12183 2011-03-31T09:20:55Z Galicia, Berenice; Vallverdú Ferrer, Montserrat; Peydro, Francisca; Casals Gelpi, Alicia no http://hdl.handle.net/2117/11056 Title: Supported human autonomy for recovery and enhancement of cognitive and motor abilities using agent technologies Authors: Cortés García, Claudio Ulises; Annicchiarico, Roberta; Urdiales García, Cristina; Barrué Subirana, Cristian; Martínez Velasco, Antonio Benito; Villar, Alfredo; Caltagirone, Carlo Abstract: The goal of SHARE-it, an EU FP6 funded project, is to develop a scalable, adaptive system of add-ons to sensor and assistive technology so that they can be modularly integrated into an intelligent home environment to enhance the individuals autonomy. The system will be designed to inform and assist the user and his/her caregivers through monitoring and mobility help. Thus, we plan to contribute to the development of the next generation of assistive devices for older persons or people with disabilities so that they can be self-dependent as long as possible. We focus on add-ons to be compatible with existing technologies and to achieve an easier integration into existing systems.We also aim at adaptive systems as transparent and, consequently, as easy to use to the person as possible. Scalability is meant to include or remove devices from the system in a simple, intuitive way. SHARE-it will provide an Agent-based Intelligent Decision Support System to aid the elders. Mon, 17 Jan 2011 10:32:59 GMT http://hdl.handle.net/2117/11056 2011-01-17T10:32:59Z Cortés García, Claudio Ulises; Annicchiarico, Roberta; Urdiales García, Cristina; Barrué Subirana, Cristian; Martínez Velasco, Antonio Benito; Villar, Alfredo; Caltagirone, Carlo no Assistive technologies, Agents The goal of SHARE-it, an EU FP6 funded project, is to develop a scalable, adaptive system of add-ons to sensor and assistive technology so that they can be modularly integrated into an intelligent home environment to enhance the individuals autonomy. The system will be designed to inform and assist the user and his/her caregivers through monitoring and mobility help. Thus, we plan to contribute to the development of the next generation of assistive devices for older persons or people with disabilities so that they can be self-dependent as long as possible. We focus on add-ons to be compatible with existing technologies and to achieve an easier integration into existing systems.We also aim at adaptive systems as transparent and, consequently, as easy to use to the person as possible. Scalability is meant to include or remove devices from the system in a simple, intuitive way. SHARE-it will provide an Agent-based Intelligent Decision Support System to aid the elders. http://hdl.handle.net/2117/10846 Title: Prototype of robotic assistant for craniofacial osteotomies Authors: Hueto, J.A.; Navazo Álvaro, Isabel; Casals Gelpi, Alicia; González Lagunas, J.; Raspall, G. Abstract: Requirements of accuracy, predictability and safety of contemporary and future surgical procedures makes essential the introduction of new technologies. Robotics have demonstrate in the manufacturing industry, aerospace and in many other fields those capabilities of accuracy and adaptability to fulfill this requirements. Even though everybody believe that robots will perform important tasks in future surgery many problems have to be solved to introduce this technology in the operating rooms. A prototype of robotic arm to help the surgeon to perform craniofacial osteotomies have been designed in cooperation with the Industrial Robotics Institute of the Polytechnic University of Barcelona. Thu, 30 Dec 2010 09:29:49 GMT http://hdl.handle.net/2117/10846 2010-12-30T09:29:49Z Hueto, J.A.; Navazo Álvaro, Isabel; Casals Gelpi, Alicia; González Lagunas, J.; Raspall, G. no Requirements of accuracy, predictability and safety of contemporary and future surgical procedures makes essential the introduction of new technologies. Robotics have demonstrate in the manufacturing industry, aerospace and in many other fields those capabilities of accuracy and adaptability to fulfill this requirements. Even though everybody believe that robots will perform important tasks in future surgery many problems have to be solved to introduce this technology in the operating rooms. A prototype of robotic arm to help the surgeon to perform craniofacial osteotomies have been designed in cooperation with the Industrial Robotics Institute of the Polytechnic University of Barcelona. http://hdl.handle.net/2117/10343 Title: Assistive technologies for the new generation of senior citizens: the SHARE-it approach Authors: Cortés García, Claudio Ulises; Barrué Subirana, Cristian; Martínez Velasco, Antonio Benito; Urdiales García, Cristina; Campana, Fabio; Annicchiarico, Roberta; Caltagirone, Carlo Abstract: In this paper, we present the SHARE-it approach to the integration of agent technology with other existing technologies to build specific intelligent and semi-autonomous assistive devices for older persons and people with disabilities (both cognitive and/or motor). In particular, we explored the benefits of the concept of situated intelligence to build mobility platforms and other artefacts that enhance the autonomy of the target user group in their daily life so that they can be self-dependent enough to autonomously live in their preferred environment. Thu, 18 Nov 2010 12:35:47 GMT http://hdl.handle.net/2117/10343 2010-11-18T12:35:47Z Cortés García, Claudio Ulises; Barrué Subirana, Cristian; Martínez Velasco, Antonio Benito; Urdiales García, Cristina; Campana, Fabio; Annicchiarico, Roberta; Caltagirone, Carlo no Assistive technologies, Intelligent agents In this paper, we present the SHARE-it approach to the integration of agent technology with other existing technologies to build specific intelligent and semi-autonomous assistive devices for older persons and people with disabilities (both cognitive and/or motor). In particular, we explored the benefits of the concept of situated intelligence to build mobility platforms and other artefacts that enhance the autonomy of the target user group in their daily life so that they can be self-dependent enough to autonomously live in their preferred environment. http://hdl.handle.net/2117/10314 Title: Simulation study of a remote wireless path tracking control with delay estimation for an autonomous guided vehicle Authors: Lozoya, Camilo; Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª; Martín Rull, Enric Xavier Abstract: Industrial applications involving mobile systems can benefit from the use of wireless technology. However, wireless communication has not been widely accepted on the factory floor due to its difficulty in achieving the timely and reliable transmission of messages over error-prone wireless channels. This paper presents an autonomous guided vehicle (AGV) path tracking wireless control system where an accurate delay estimation scheme is shown to be the key for successful operation. The control architecture consists on an AGV connected through a wireless network to a controller. To mitigate the negative effects that varying time delays in data transfer have in the networked control loop, the controller performs two tasks at each loop operation. First, it uses a Kalman filter to produce an optimal delay estimate considering a simple stochastic model of the wireless delay dynamics. Second, each delay estimate is employed to infer the real AGV position which permits to compute the appropriate control commands. Results show that the proposed technique provides more efficient and effective operation for path tracking control compared to similar previously proposed solutions. Tue, 16 Nov 2010 13:11:05 GMT http://hdl.handle.net/2117/10314 2010-11-16T13:11:05Z Lozoya, Camilo; Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª; Martín Rull, Enric Xavier no Industrial applications involving mobile systems can benefit from the use of wireless technology. However, wireless communication has not been widely accepted on the factory floor due to its difficulty in achieving the timely and reliable transmission of messages over error-prone wireless channels. This paper presents an autonomous guided vehicle (AGV) path tracking wireless control system where an accurate delay estimation scheme is shown to be the key for successful operation. The control architecture consists on an AGV connected through a wireless network to a controller. To mitigate the negative effects that varying time delays in data transfer have in the networked control loop, the controller performs two tasks at each loop operation. First, it uses a Kalman filter to produce an optimal delay estimate considering a simple stochastic model of the wireless delay dynamics. Second, each delay estimate is employed to infer the real AGV position which permits to compute the appropriate control commands. Results show that the proposed technique provides more efficient and effective operation for path tracking control compared to similar previously proposed solutions. http://hdl.handle.net/2117/9998 Title: Robótica en sanidad: asistencia en el quirófano y asistencia a las personas Authors: Casals Gelpi, Alicia Tue, 26 Oct 2010 11:39:53 GMT http://hdl.handle.net/2117/9998 2010-10-26T11:39:53Z Casals Gelpi, Alicia no http://hdl.handle.net/2117/9990 Title: Design of an embedded control system laboratory experiment Authors: Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª; Camacho Santiago, Antonio; Buttazzo, Giorgio Description: This paper presents a prototype laboratory experiment to be integrated in the education of embedded control system engineers. The experiment, a real-time control of a dynamical system, is designed to drive students to a deeper understanding and integration of the diverse theoretical concepts that often come from different disciplines such as real-time systems and control systems. Rather than proposing the experiment for a particular course within an embedded system engineering curriculum, this paper describes how the experiment can be tailored to the needs and diverse background of both undergraduate and graduate students education. Tue, 26 Oct 2010 09:25:51 GMT http://hdl.handle.net/2117/9990 2010-10-26T09:25:51Z Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª; Camacho Santiago, Antonio; Buttazzo, Giorgio no http://hdl.handle.net/2117/9693 Title: Optimization criterion for safety task transfer in cooperative robotics Authors: Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia Abstract: This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the Virtual Robot must be transparent to the user, a control architecture has been developed. Thu, 14 Oct 2010 11:50:13 GMT http://hdl.handle.net/2117/9693 2010-10-14T11:50:13Z Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia no This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the Virtual Robot must be transparent to the user, a control architecture has been developed. http://hdl.handle.net/2117/9260 Title: Preliminary approach to Lyapunov sampling in CAN-based networked control systems Authors: Yépez Castillo, José Gregorio; Lozoya, Camilo; Velasco García, Manel; Martí Colom, Pau; Fuertes Armengol, José Mª Abstract: This paper presents a preliminary approach to networked control systems (NCS) that relies on an event-driven control method based on Lyapunov sampling. The goal is to study and develop approaches for NCS capable of offering controllers with low bandwidth demands. The paper starts by presenting the theoretical framework required for applying Lyapunov sampling to a set of closed-loop systems that share a serial bus line. The discussion permits identifying which requirements must be fulfilled in order to guarantee overall stability. In addition, the feasibility of the theoretical framework in terms of implementation requires to address problems caused by the implicit distributed architecture of the NCS. In particular, an efficient implementation approach is described for the CAN network. Simulation results illustrate the operation and benefits of the presented approach. Mon, 04 Oct 2010 07:44:50 GMT http://hdl.handle.net/2117/9260 2010-10-04T07:44:50Z Yépez Castillo, José Gregorio; Lozoya, Camilo; Velasco García, Manel; Martí Colom, Pau; Fuertes Armengol, José Mª no This paper presents a preliminary approach to networked control systems (NCS) that relies on an event-driven control method based on Lyapunov sampling. The goal is to study and develop approaches for NCS capable of offering controllers with low bandwidth demands. The paper starts by presenting the theoretical framework required for applying Lyapunov sampling to a set of closed-loop systems that share a serial bus line. The discussion permits identifying which requirements must be fulfilled in order to guarantee overall stability. In addition, the feasibility of the theoretical framework in terms of implementation requires to address problems caused by the implicit distributed architecture of the NCS. In particular, an efficient implementation approach is described for the CAN network. Simulation results illustrate the operation and benefits of the presented approach. http://hdl.handle.net/2117/9158 Title: Equilibrium sampling interval sequences for event-driven controllers Authors: Velasco García, Manel; Martí Colom, Pau; Bini, Enrico Abstract: Standard discrete-time control laws consider periodic execution of control jobs. Although this assumption simplifies the control design and the resource utilization analysis for later implementation, it leads to a conservative usage of computing resources. On the contrary, event-driven control offers controllers with a tighter resource utilization. However, job executions are no longer periodic, and predicting their computing requirements is crucial for efficient implementation in severely limited computing systems. Sampling intervals for event-driven control systems show different patterns, ranging from chaotic behaviors to periodic oscillatory patterns, named equilibrium sampling interval sequences (ESIS). Focusing on resource demands predictability, in this paper we identify the conditions for event-driven controllers to exhibit ESIS, and provide methods to characterize and compute them. Finally, we study the transitions from ESIS to chaotic sampling. Simulated experiments illustrate the paper contributions. Wed, 29 Sep 2010 12:17:45 GMT http://hdl.handle.net/2117/9158 2010-09-29T12:17:45Z Velasco García, Manel; Martí Colom, Pau; Bini, Enrico no Standard discrete-time control laws consider periodic execution of control jobs. Although this assumption simplifies the control design and the resource utilization analysis for later implementation, it leads to a conservative usage of computing resources. On the contrary, event-driven control offers controllers with a tighter resource utilization. However, job executions are no longer periodic, and predicting their computing requirements is crucial for efficient implementation in severely limited computing systems. Sampling intervals for event-driven control systems show different patterns, ranging from chaotic behaviors to periodic oscillatory patterns, named equilibrium sampling interval sequences (ESIS). Focusing on resource demands predictability, in this paper we identify the conditions for event-driven controllers to exhibit ESIS, and provide methods to characterize and compute them. Finally, we study the transitions from ESIS to chaotic sampling. Simulated experiments illustrate the paper contributions.