Reports de recercahttp://hdl.handle.net/2117/3872024-03-29T07:24:01Z2024-03-29T07:24:01ZEfficient motion planning for high DOF hands using principal motion directionsRosell Gratacòs, JanSuárez Feijóo, RaúlRosales Gallegos, CarlosGarcía, J.A.Pérez Ruiz, Alexanderhttp://hdl.handle.net/2117/30712020-07-22T19:43:52Z2009-10-20T16:37:10ZEfficient motion planning for high DOF hands using principal motion directions
Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; García, J.A.; Pérez Ruiz, Alexander
The paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphical mechanical hand, and some examples are included to illustrate its validity.
2009-10-20T16:37:10ZRosell Gratacòs, JanSuárez Feijóo, RaúlRosales Gallegos, CarlosGarcía, J.A.Pérez Ruiz, AlexanderThe paper deals with the problem of motion planning of anthropomorphical mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand workspace, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphical mechanical hand, and some examples are included to illustrate its validity.Modelo de planificación agregada de la producción, la plantilla, el tiempo de trabajo y la tesoreríaBoiteux, Orlando DanteCorominas Subias, AlbertLusa García, Amaiahttp://hdl.handle.net/2117/30702020-07-22T19:10:58Z2009-10-20T16:20:54ZModelo de planificación agregada de la producción, la plantilla, el tiempo de trabajo y la tesorería
Boiteux, Orlando Dante; Corominas Subias, Albert; Lusa García, Amaia
En este trabajo se propone un modelo de planificación agregada que incorpora, junto a la planificación de la producción, la gestión de la tesorería y las finanzas, a corto plazo, y la organización flexible del tiempo de trabajo, con un sistema de cuentas de horas.
Esto último, unido al hecho de considerar una relación no lineal entre la dimensión de la plantilla y la capacidad de la planta por unidad de tiempo, implica una relación entre producción y horas de trabajo disponibles más compleja y realista que la asumida en los modelos tradicionales de planificación agregada. En un previo análisis de la literatura (Boiteux et al., 2007a y 2007b) se detectan limitaciones de los modelos propuestos y la consiguiente necesidad de abrir nuevas líneas de investigación para que la planificación agregada pueda ser realmente un instrumento para determinar, a medio plazo, las actividades de las principales áreas funcionales de la empresa y para garantizar la coordinación de las mismas, mejorando de esta forma la eficiencia y los beneficios globales. El modelo de planificación agregada aquí propuesto pretende ser un paso en esta dirección.
2009-10-20T16:20:54ZBoiteux, Orlando DanteCorominas Subias, AlbertLusa García, AmaiaEn este trabajo se propone un modelo de planificación agregada que incorpora, junto a la planificación de la producción, la gestión de la tesorería y las finanzas, a corto plazo, y la organización flexible del tiempo de trabajo, con un sistema de cuentas de horas.
Esto último, unido al hecho de considerar una relación no lineal entre la dimensión de la plantilla y la capacidad de la planta por unidad de tiempo, implica una relación entre producción y horas de trabajo disponibles más compleja y realista que la asumida en los modelos tradicionales de planificación agregada. En un previo análisis de la literatura (Boiteux et al., 2007a y 2007b) se detectan limitaciones de los modelos propuestos y la consiguiente necesidad de abrir nuevas líneas de investigación para que la planificación agregada pueda ser realmente un instrumento para determinar, a medio plazo, las actividades de las principales áreas funcionales de la empresa y para garantizar la coordinación de las mismas, mejorando de esta forma la eficiencia y los beneficios globales. El modelo de planificación agregada aquí propuesto pretende ser un paso en esta dirección.Finding a fourth contact that allows the loss of two out of three existing ones remaining as force-closure graspPrado, RicardoSuárez Feijóo, Raúlhttp://hdl.handle.net/2117/30692020-07-22T19:44:02Z2009-10-20T14:55:50ZFinding a fourth contact that allows the loss of two out of three existing ones remaining as force-closure grasp
Prado, Ricardo; Suárez Feijóo, Raúl
2009-10-20T14:55:50ZPrado, RicardoSuárez Feijóo, RaúlCapacidades de fabricación y almacenaje óptimas en un sistema con logística inversa y demanda aleatoriaBenedito Benet, ErnestCorominas Subias, Alberthttp://hdl.handle.net/2117/30672022-06-12T03:48:44Z2009-10-20T13:05:53ZCapacidades de fabricación y almacenaje óptimas en un sistema con logística inversa y demanda aleatoria
Benedito Benet, Ernest; Corominas Subias, Albert
En el presente trabajo se estudia un sistema con demanda y retornos aleatorios para calcular las capacidades óptimas de fabricación y almacenaje. El modelo presentado permite estudiar el comportamiento de las capacidades de fabricación y almacenaje óptimas cuando varían los costes de producción.
2009-10-20T13:05:53ZBenedito Benet, ErnestCorominas Subias, AlbertEn el presente trabajo se estudia un sistema con demanda y retornos aleatorios para calcular las capacidades óptimas de fabricación y almacenaje. El modelo presentado permite estudiar el comportamiento de las capacidades de fabricación y almacenaje óptimas cuando varían los costes de producción.Non-uniform sampling in digital repetitive control systems: An LMI stability analysisRamos Fuentes, Germán AndrésOlm Miras, Josep MariaCosta Castelló, Ramonhttp://hdl.handle.net/2117/26512020-07-22T19:00:03Z2009-03-12T09:50:11ZNon-uniform sampling in digital repetitive control systems: An LMI stability analysis
Ramos Fuentes, Germán Andrés; Olm Miras, Josep Maria; Costa Castelló, Ramon
Digital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling time according to the reference/disturbance period variation. This report presents a stability analysis of a digital repetitive controller working under time-varying sampling period by means of an LMI gridding approach. Theoretical developments are illustrated with experimental results.
2009-03-12T09:50:11ZRamos Fuentes, Germán AndrésOlm Miras, Josep MariaCosta Castelló, RamonDigital repetitive control is a technique which allows to track periodic references and/or reject periodic disturbances. Repetitive controllers are usually designed assuming a fixed frequency for the signals to be tracked/rejected, its main drawback being a dramatic performance decay when this frequency varies. A usual approach to overcome the problem consists of an adaptive change of the sampling time according to the reference/disturbance period variation. This report presents a stability analysis of a digital repetitive controller working under time-varying sampling period by means of an LMI gridding approach. Theoretical developments are illustrated with experimental results.Robust Exact Differentiation via Sliding Mode Technique applied to a Fixed-Frequency Quasi-Sliding Control AlgorithmBiel Solé, DomingoFossas Colet, EnricMeza Benavides, CarlosMuñoz Aguilar, Raúl Santiagohttp://hdl.handle.net/2117/23602020-07-22T18:59:59Z2008-11-13T15:10:55ZRobust Exact Differentiation via Sliding Mode Technique applied to a Fixed-Frequency Quasi-Sliding Control Algorithm
Biel Solé, Domingo; Fossas Colet, Enric; Meza Benavides, Carlos; Muñoz Aguilar, Raúl Santiago
This paper presents the design of a DC-AC power converter controller that bears the same benefits of a sliding mode controller but with the advantage of a fixed-frequency control signal. The controller is based on the imposition of zero averaged value of the sliding surface in each switching cycle. A keypoint of the presented controller is the calculation of the sliding surface’s derivative which in the present paper is obtained using an estimation algorithm introduced by Levant in 1998.
2008-11-13T15:10:55ZBiel Solé, DomingoFossas Colet, EnricMeza Benavides, CarlosMuñoz Aguilar, Raúl SantiagoThis paper presents the design of a DC-AC power converter controller that bears the same benefits of a sliding mode controller but with the advantage of a fixed-frequency control signal. The controller is based on the imposition of zero averaged value of the sliding surface in each switching cycle. A keypoint of the presented controller is the calculation of the sliding surface’s derivative which in the present paper is obtained using an estimation algorithm introduced by Levant in 1998.Taking decisions on assignment of tasks with path dependent learning curvesCorominas Subias, AlbertOlivella Nadal, JordiPastor Moreno, Rafaelhttp://hdl.handle.net/2117/23562020-07-22T19:11:02Z2008-11-12T12:10:12ZTaking decisions on assignment of tasks with path dependent learning curves
Corominas Subias, Albert; Olivella Nadal, Jordi; Pastor Moreno, Rafael
Performance in doing a task in the learning stage depends on the previous practice on other tasks –learning curve is path dependent. A mathematical program aimed to assign a set of tasks to a set of workers considering path dependent learning curves is presented. Due dates for task and final knowledge objectives are possible, some tasks can be subcontracted and temporary workers can be hired. The model allows obtaining the cost of due dates and final knowledge.
2008-11-12T12:10:12ZCorominas Subias, AlbertOlivella Nadal, JordiPastor Moreno, RafaelPerformance in doing a task in the learning stage depends on the previous practice on other tasks –learning curve is path dependent. A mathematical program aimed to assign a set of tasks to a set of workers considering path dependent learning curves is presented. Due dates for task and final knowledge objectives are possible, some tasks can be subcontracted and temporary workers can be hired. The model allows obtaining the cost of due dates and final knowledge.Técnicas y algoritmos para la adquisición, transmisión y visualización de escenas 3DBeltrán Guerrero, DianaBasañez Villaluenga, Luishttp://hdl.handle.net/2117/22592021-04-22T09:55:21Z2008-09-29T10:31:48ZTécnicas y algoritmos para la adquisición, transmisión y visualización de escenas 3D
Beltrán Guerrero, Diana; Basañez Villaluenga, Luis
2008-09-29T10:31:48ZBeltrán Guerrero, DianaBasañez Villaluenga, LuisProgramming assignments to learn how to build a Probabilistic Roadmap PlannerRosell Gratacòs, JanPérez, Alexanderhttp://hdl.handle.net/2117/22572020-07-22T19:43:57Z2008-09-22T14:42:01ZProgramming assignments to learn how to build a Probabilistic Roadmap Planner
Rosell Gratacòs, Jan; Pérez, Alexander
Research in robot motion planning requires the availability of a simulation environment where to test and validate the theoretic contributions. Nevertheless, PhD programs and graduate studies that include robot motion planning courses usually cover the subject only from a theoretical perspective. Therefore, students aiming to focus their research in this line, face the big challenge of developing their own simulation environment. To cope with this problem, this paper proposes the use of a programming framework based on multi-platform open source code, and presents a set of twelve programming assignments to allow students of any robot motion planning course a quick mastering of the basic skills involved, covering from graphical rendering issues to collision detection or graph representations and algorithms.
2008-09-22T14:42:01ZRosell Gratacòs, JanPérez, AlexanderResearch in robot motion planning requires the availability of a simulation environment where to test and validate the theoretic contributions. Nevertheless, PhD programs and graduate studies that include robot motion planning courses usually cover the subject only from a theoretical perspective. Therefore, students aiming to focus their research in this line, face the big challenge of developing their own simulation environment. To cope with this problem, this paper proposes the use of a programming framework based on multi-platform open source code, and presents a set of twelve programming assignments to allow students of any robot motion planning course a quick mastering of the basic skills involved, covering from graphical rendering issues to collision detection or graph representations and algorithms.Sampling C-obstacles border using a filtered deterministic sequenceRosell Gratacòs, JanPérez, Alexanderhttp://hdl.handle.net/2117/22562020-07-22T19:43:50Z2008-09-22T14:31:34ZSampling C-obstacles border using a filtered deterministic sequence
Rosell Gratacòs, Jan; Pérez, Alexander
This paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and compares them in terms of dispersion, computational efficiency (including the finding of nearest neighbors), and sampling probabilities. Then, based on this analysis and on the recognized success of the Gaussian sampling strategy, the paper proposes a new efficient sampling strategy based on deterministic sampling that also samples more densely near the C-obstacles. The proposal is evaluated and compared with the original Gaussian strategy in both 2D and 3D configuration spaces, giving promising results.
2008-09-22T14:31:34ZRosell Gratacòs, JanPérez, AlexanderThis paper is focused on the sampling process for path planners based on probabilistic roadmaps. The paper first analyzes three sampling sources: the random sequence and two deterministic sequences, Halton and sd(k), and compares them in terms of dispersion, computational efficiency (including the finding of nearest neighbors), and sampling probabilities. Then, based on this analysis and on the recognized success of the Gaussian sampling strategy, the paper proposes a new efficient sampling strategy based on deterministic sampling that also samples more densely near the C-obstacles. The proposal is evaluated and compared with the original Gaussian strategy in both 2D and 3D configuration spaces, giving promising results.