L’activitat del grup de recerca GRINS és el desenvolupament de sistemes robòtics intel•ligents, d’aplicació en camps poc estructurats en que, per la seva complexitat, no és possible una preprogramació de la tasca, com és el cas de la robòtica mèdica (quirúrgica, neurorehabilitació i assistencial) o en determinades aplicacions de la robòtica industrial o de serveis.
Les seves tres àrees temàtiques de recerca: robòtica, visió per computador i sistemes empotrats, conflueixen en els diferents projectes de recerca i transferència de tecnologia reforçant-se entre elles. En aquests àmbits, el disseny i la implementació requereixen d’una interacció persona-robot intuïtiva que precisa de sistemes de percepció, especialment visió, i la interpretació del context de treball. La implementació de sistemes intel•ligents comporta per a moltes aplicacions, la distribució d'aquesta capacitat tant a sensors com a mòduls de control descentralitzats, utilitzant tota la capacitat dels sistemes empotrats.

http://futur.upc.edu/GRINS

The group?s main field of research is the study, analysis and development of systems that involve advanced robotic systems that have perception capabilities and distributed control, which can thus achieve more intelligent and flexible behaviours. This subject is extremely broad in scope. The group focuses mainly on the development of multiagent systems (robots and persons) that have cooperation capabilities. It also works on the study, analysis and design of distributed control systems, where communication, real-time computing and advanced control algorithms are relevant issues. The research is oriented towards solving scientific and technological problems, both in the industrial sector and in non-industrial fields. The group is currently working on projects related to medical robots, underwater robots, mobile robot control and distributed control of automobiles.

http://futur.upc.edu/GRINS

The group?s main field of research is the study, analysis and development of systems that involve advanced robotic systems that have perception capabilities and distributed control, which can thus achieve more intelligent and flexible behaviours. This subject is extremely broad in scope. The group focuses mainly on the development of multiagent systems (robots and persons) that have cooperation capabilities. It also works on the study, analysis and design of distributed control systems, where communication, real-time computing and advanced control algorithms are relevant issues. The research is oriented towards solving scientific and technological problems, both in the industrial sector and in non-industrial fields. The group is currently working on projects related to medical robots, underwater robots, mobile robot control and distributed control of automobiles.

http://futur.upc.edu/GRINS

Enviaments recents

  • Communication-aware consensus for frequency restoration in islanded microgrids 

    Martí Colom, Pau; Velasco García, Manel; Martín Rull, Enric Xavier; Castilla Fernández, Miguel; Miret Tomàs, Jaume; Camacho Santiago, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    MicroGrids (MGs) include spatially distributed generation (DG) systems and loads that may require operating autonomously in islanded mode. The operation of islanded MGs can benefit from consensus theory and practice, ...
  • Performance evaluation of secondary control policies with respect to digital communications properties in inverter-based islanded microgrids 

    Martí Colom, Pau; Velasco García, Manel; Martín Rull, Enric Xavier; García de Vicuña Muñoz de la Nava, José Luis; Miret Tomàs, Jaume; Castilla Fernández, Miguel (Institute of Electrical and Electronics Engineers (IEEE), 2016-09-12)
    Article
    Accés obert
    A key challenge for inverted-based microgrids working in islanded mode is to maintain their own frequency and voltage to a certain reference values while regulating the active and reactive power among distributed generators ...
  • V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery 

    Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Montseny Masip, Eduard; Casals Gelpi, Alicia (Atlantis Press, 2015)
    Text en actes de congrés
    Accés obert
    Accurate and robust estimation of applied forces in Robotic-Assisted Minimally Invasive Surgery is a very challenging task. Many vision-based solutions attempt to estimate the force by measuring the surface deformation ...
  • Towards estimating cardiac motion using low-rank representation and topology preservation for ultrafast ultrasound data 

    Avilés Rivero, Angélica; Widlak, Thomas; Casals Gelpi, Alicia; Ammari, Habib (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Estimation of the cardiac motion is very important in order to detect heart diseases. This work presents a cardiac motion estimation approach using ultrafast ultrasound data. We optimize a variational framework which has ...
  • Adaptive segmentation and mask-specific Sobolev inpainting of specular highlights for endoscopic images 

    Alsaleh, Samar M.; Avilés Rivero, Angélica; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia; Hahn, James K. (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Comunicació de congrés
    Accés restringit per política de l'editorial
    Minimally invasive surgical and diagnostic systems rely on endoscopic images of internal organs to assist medical tasks. Specular highlights are common on those images due to the strong reflectivity of the mucus layer on ...
  • Human activity recognition from object interaction in domestic scenarios 

    Flores Vázquez, Carlos; Aranda López, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés obert
    This paper presents a real time approach to the recognition of human activity based on the interaction between people and objects in domestic settings, specifically in a kitchen. Regarding the procedure, it is based on ...
  • Anticipating human activities from object interaction cues 

    Aranda López, Juan; Vinagre Ruiz, Manuel (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    A real time approach to the recognition of human activity based on the interaction with objects in domestic settings is presented. It is based on capturing partial images where the activity takes place using a color camera, ...
  • On gait analysis estimation errors using force sensors on a smart rollator 

    Ballesteros, Joaquin; Urdiales García, Cristina; Martínez Velasco, Antonio Benito; Dieën, Jaap H. van (2016-11-01)
    Article
    Accés obert
    Gait analysis can provide valuable information on a person’s condition and rehabilitation progress. Gait is typically captured using external equipment and/or wearable sensors. These tests are largely constrained to specific ...
  • Control of an ambulatory exoskeleton with a brain–machine interface for spinal cord injury gait rehabilitation 

    López Larraz, Eduardo; Trincado Alonso, Fernando; Rajasekaran, Vijaykumar; Pérez Nombela, Soraya; Ama, Antonio J. del; Aranda López, Juan; Minguez, Javier; Gil Agudo, Angel; Montesano Del Campo, Luis (2016-08-03)
    Article
    Accés obert
    The closed-loop control of rehabilitative technologies by neural commands has shown a great potential to improve motor recovery in patients suffering from paralysis. Brain–machine interfaces (BMI) can be used as a natural ...
  • Reactive power control for loss minimization in low-voltage distributed generation systems 

    Martí Colom, Pau; Velasco García, Manel; Torres Martínez, Javier; Miret Tomàs, Jaume; Castilla Fernández, Miguel (2016)
    Text en actes de congrés
    Accés restringit per política de l'editorial
    Dispersed small distributed generation (DG) systems in low-voltage (LV) grids pose diverse challenges for successful grid operation. The main one is to guarantee power quality by ensuring that voltages along all the feeders ...

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