http://hdl.handle.net/2117/3424 Mon, 20 May 2013 06:30:26 GMT 2013-05-20T06:30:26Z 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/2117/12454 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/2117/10846 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/2117/7486 Title: Heat transfer in polypropylene-based foams produced using different foaming processes Authors: Sousa Pais Antunes, Marcelo de; Velasco Perero, José Ignacio; Redondo Realinho, Vera Cristina de; Martínez Velasco, Antonio Benito; Rodríguez-Pérez, Miguel Ángel; Saja, José Antonio de Abstract: This paper presents the characterization of the cellular structure and thermal conduction behaviour of polypropylene foams produced using different foaming processes, with the aim of selecting the best possible PP foam thermal insulator. Thermal conductivity results have shown that the global heat transfer behaviour is controlled by the relative density. For relative densities higher than 0.2, thermal conductivity differences were insignificant, the data being predicted by the mixture's rule and Russell's model. In the low density range, all of the proposed models underestimated the overall conductivity, the effect of the processing method being more significant, slight differences being observed between foams produced by extrusion and those produced by gas dissolution with higher cell sizes and anisotropies. Foams with finer cellular structures showed to be better insulating materials. Wed, 02 Jun 2010 14:09:07 GMT http://hdl.handle.net/2117/7486 2010-06-02T14:09:07Z Sousa Pais Antunes, Marcelo de; Velasco Perero, José Ignacio; Redondo Realinho, Vera Cristina de; Martínez Velasco, Antonio Benito; Rodríguez-Pérez, Miguel Ángel; Saja, José Antonio de no This paper presents the characterization of the cellular structure and thermal conduction behaviour of polypropylene foams produced using different foaming processes, with the aim of selecting the best possible PP foam thermal insulator. Thermal conductivity results have shown that the global heat transfer behaviour is controlled by the relative density. For relative densities higher than 0.2, thermal conductivity differences were insignificant, the data being predicted by the mixture's rule and Russell's model. In the low density range, all of the proposed models underestimated the overall conductivity, the effect of the processing method being more significant, slight differences being observed between foams produced by extrusion and those produced by gas dissolution with higher cell sizes and anisotropies. Foams with finer cellular structures showed to be better insulating materials. http://hdl.handle.net/2117/6217 Title: Remote programming of network robots within the UJI Industrial Robotics Telelaboratory: FPGA vision and SNRP network protocol Authors: Marin, Raul; León, Germán; Wirz, Raul; Sales, Jorge; Claver, José M.; Sanz, Pedro J.; Fernández Ruzafa, José Abstract: This paper presents the UJI Industrial Robotics Telelaboratory, which lets Ph.D. and Master’s degree students perform robotics and computer vision tele-experiments. By using this system, students are able to program experiments remotely via the Web, in order to combine the use of a field-programmable gate array (FPGA) to provide real-time vision processing, a conveyor belt, and a Motoman industrial manipulator. This paper introduces the novel SNRP protocol (i.e., Simple Network Robot Protocol), which permits the integration of network robots and sensors within an e-learning platform in a simple and reliable manner. As long as the students are able to interact remotely with a real robotic scenario, this system helps students very much to learn robotics control techniques like visual servoing control, vision for industrial applications, and robotics manipulation. The various components of the system are connected via a 100BaseT Ethernet network and follow the SNRP protocol, which grants simple access to generic networked devices using enhanced HTTP-based connections. Moreover, the whole telelaboratory is connected to the Internet through a router that permits the user to control the networked devices according to security constraints. The SNRP architecture is compared with a Common Object Request Broker Architecture-based approach, which was used in a previous telelaboratory. This paper describes two principle contributions: the design of a novel SNRP network architecture for the tercommunication of robots and sensors within an e-learning telelaboratory and the integration of a programmable FPGA vision system, which allows students to learn not only robotic techniques but also the design of high-performance circuits for industrial vision applications. Mon, 25 Jan 2010 12:49:18 GMT http://hdl.handle.net/2117/6217 2010-01-25T12:49:18Z Marin, Raul; León, Germán; Wirz, Raul; Sales, Jorge; Claver, José M.; Sanz, Pedro J.; Fernández Ruzafa, José no This paper presents the UJI Industrial Robotics Telelaboratory, which lets Ph.D. and Master’s degree students perform robotics and computer vision tele-experiments. By using this system, students are able to program experiments remotely via the Web, in order to combine the use of a field-programmable gate array (FPGA) to provide real-time vision processing, a conveyor belt, and a Motoman industrial manipulator. This paper introduces the novel SNRP protocol (i.e., Simple Network Robot Protocol), which permits the integration of network robots and sensors within an e-learning platform in a simple and reliable manner. As long as the students are able to interact remotely with a real robotic scenario, this system helps students very much to learn robotics control techniques like visual servoing control, vision for industrial applications, and robotics manipulation. The various components of the system are connected via a 100BaseT Ethernet network and follow the SNRP protocol, which grants simple access to generic networked devices using enhanced HTTP-based connections. Moreover, the whole telelaboratory is connected to the Internet through a router that permits the user to control the networked devices according to security constraints. The SNRP architecture is compared with a Common Object Request Broker Architecture-based approach, which was used in a previous telelaboratory. This paper describes two principle contributions: the design of a novel SNRP network architecture for the tercommunication of robots and sensors within an e-learning telelaboratory and the integration of a programmable FPGA vision system, which allows students to learn not only robotic techniques but also the design of high-performance circuits for industrial vision applications.