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Mostrando ítems 1-20 de 29

    • A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis 

      Zaplana Agut, Isiah; Basañez Villaluenga, Luis (2018-03-01)
      Artículo
      Acceso abierto
      © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...

    • A novel strategy for balancing the workload of industrial lines based on a genetic algorithm 

      Zaplana Agut, Isiah; Cepolina, Emanuela; Lucia, Oronzo; Gagliardi, Roberto; Baizid, Khelifa; D'Imperio, MariaPaola; Cannella, Ferdinando (Institute of Electrical and Electronics Engineers (IEEE), 2020)
      Texto en actas de congreso
      Acceso abierto
      One major problem in industrial automation is the workload balancing problem. It consists of making the robots or, more generally, the machines, involved in the assembly process to work exactly the same, either by picking ...

    • Analytical approach to reorient unknown objects via in-hand manipulation 

      Shirzadi Maryan, Morad; Zaplana Agut, Isiah; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2024)
      Texto en actas de congreso
      Acceso abierto
      This paper introduces a novel strategy to enhance the dexterous in-hand manipulation capabilities of robotic hands, focusing on reorienting unknown objects around any specified axis. The proposed method leverages tactile ...

    • Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi 

      Zaplana Agut, Isiah; Claret, Josep A.; Basañez Villaluenga, Luis (Elsevier, 2018-03)
      Artículo
      Acceso abierto
      En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular, se deriva la cinemática directa para ambos manipuladores y se resuelve el ...

    • Assessing the efficiency of Laser-Induced Breakdown Spectroscopy (LIBS) based sorting of post-consumer aluminium scrap 

      Van den Eynde, Simon; Diaz-Romero, Dillam; Engelen, Bart; Zaplana Agut, Isiah; Peeters, Jef R. (Elsevier, 2022)
      Artículo
      Acceso abierto
      The aluminium Twitch fraction of a Belgian recycling facility could be further sorted by implementing Laser-Induced Breakdown Spectroscopy (LIBS). To achieve this goal, the presented research identifies commercially ...

    • Automated depth dataset generation with integrated quality metrics for robotic manipulation 

      Dalmases, Albert; Ruiz Celada, Oriol; Rosell Gratacòs, Jan; Zaplana Agut, Isiah (2023)
      Texto en actas de congreso
      Acceso abierto
      This work introduces a fully automatic and adaptable pipeline for synthetic depth dataset generation that later on can be used for the training of deep learning algorithms for robotic manipulation. From any available set ...

    • Classification of aluminum scrap by laser induced breakdown spectroscopy (LIBS) and RGB + D image fusion using deep learning approaches 

      Diaz-Romero, Dillam; Van den Eynde, Simon; Zaplana Agut, Isiah; Sterkens, Wouter; Goedemé, Toon; Peeters, Jef R. (2023-03)
      Artículo
      Acceso abierto
      Integrating multi-sensor systems to sort and monitor complex waste streams is one of the most recent innovations in the recycling industry. The complementary strengths of Laser-Induced Breakdown Spectroscopy (LIBS) and ...

    • Closed-form inverse kinematics solutions for a class of serial robots without spherical wrist using conformal geometric algebra 

      Marzabal Gatell, Arnau; Zaplana Agut, Isiah (Springer, 2024)
      Capítulo de libro
      Acceso restringido por política de la editorial
      One of the most well-known applications of geometric algebra in engineering is providing a compact formulation of the kinematics of serial robotic manipulators. However, the use of geometric algebra in the field of robotics ...

    • Closed-form solutions for the inverse kinematics of serial robots using conformal geometric algebra 

      Zaplana Agut, Isiah; Hadfield, Hugo; Lasenby, Joan (2022-07)
      Artículo
      Acceso abierto
      This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time, ...

    • Deep learning regression for quantitative LIBS analysis 

      Van den Eynde, Simon; Diaz-Romero, Dillam; Zaplana Agut, Isiah; Peeters, Jef R. (2023-02)
      Artículo
      Acceso restringido por política de la editorial
      One of the most promising innovation strategies for sorting and recycling post-consumer aluminium scrap is using quantitative Laser-Induced Breakdown Spectroscopy (LIBS) analysis. However, existing methods to estimate ...

    • Design and analysis of a fully actuated cable-driven joint for hyper-redundant robots with optimal cable routing 

      Guardiani, Paolo; Ludovico, Daniele; Pistone, Alessandro; Abidi, Haider; Lee, Jinoh; Caldwell, Darwin; Zaplana Agut, Isiah; Canali, Carlo (ASME PRESS, 2022-04-01)
      Artículo
      Acceso abierto
      Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that may be inaccessible or dangerous for humans. The cable actuation strategy makes the robot hardware ...

    • Design of a robotic system for battery dismantling from tablets 

      Zhou, Chuangchuang; Engelen, Bart; Zaplana Agut, Isiah; Peeters, Jef R. (Elsevier, 2022)
      Artículo
      Acceso abierto
      Due to the rapid increase in sales of mobile electronic devices, the number of batteries ending up in waste electric and electronic equipment (WEEE) is also rapidly increasing. According to the EU legislation, all batteries ...

    • Dual-arm robotic manipulation using visual guidance 

      Ramon Canyameres, Pol; Palomo Avellaneda, Leopold; Zaplana Agut, Isiah; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2024)
      Texto en actas de congreso
      Acceso abierto
      Dual-arm manipulation poses many challenges in order to actually perform manipulation tasks with enough efficiency. To cope with this challenges, this work-in-progress describes a system for motion coordination of a mobile ...

    • Enhanced plastic recycling using RGB+depth fusion with massFaster and massMask R-CNN 

      Diaz-Romero, Dillam; Zaplana Agut, Isiah; Van den Eynde, Simon; Sterkens, Wouter; Goedemé, Toon; Peeters, Jef R. (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Texto en actas de congreso
      Acceso abierto
      The rapid increase in waste generation from electrical and electronic equipment (WEEE) has created the need for more advanced sensor-based systems to sort this complex type of waste. Therefore, this study proposes a method ...

    • Evaluating the effectiveness of density-based sorting of plastics from WEEE and ELVs 

      Van den Eynde, Simon; Waumans, Stijn; Dimas, Theodoros; Díaz-Romero, Dillam Jossue; Zaplana Agut, Isiah; Peeters, Jef R. (2024-10)
      Artículo
      Acceso restringido por política de la editorial
      Density-based sorting is the most commonly applied method to sort plastic waste from Electrical and Electronic Equipment (WEEE) and End-of-Life Vehicles (ELVs). Therefore, density-based sorting processes have a large ...

    • Forecasting global aluminium flows to demonstrate the need for improved sorting and recycling methods 

      Van den Eynde, Simon; Bracquené, Ellen; Diaz-Romero, Dillam; Zaplana Agut, Isiah; Engelen, Bart; Duflou, Joost R.; Peeters, Jef R. (2022-01)
      Artículo
      Acceso abierto
      The probable emergence of a global aluminium scrap surplus in the coming decade is one of the main incentives for the aluminium recycling industry to invest in new methods and technologies to collect, sort and recycle ...

    • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

      Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
      Comunicación de congreso
      Acceso restringido por política de la editorial
      In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ...

    • Quantification of alloying elements in steel targets: The LIBS 2022 regression contest 

      Képes, Erik; Vrábel, Jakub; Siozos, Panagiotis; Pinon, Victor; Pavlidis, Pavlos; Anglos, Demetrios; Chen, Tong; Sun, Lanxiang; Lu, Guanghui; Diaz-Romero, Dillam; Van den Eynde, Simon; Zaplana Agut, Isiah; Peeters, Jef R.; Kana, Václav; Zádera, Antonín; Palleschi, Vincenzo; De Giacomo, Alessandro; Porízka, Pavel; Kaiser, Jozef (2023-08)
      Artículo
      Acceso restringido por política de la editorial
      We present the results of the regression contest organized for the LIBS 2022 conference. While the motivation and design of the contest are briefly presented, the work focuses on the methodologies of the three best-performing ...

    • Real-time classification of aluminum metal scrap with laser-induced breakdown spectroscopy using deep and other machine learning approaches 

      Diaz-Romero, Dillam; Van den Eynde, Simon; Sterkens, Wouter; Zaplana Agut, Isiah; Goedemé, Toon; Peeters, Jef R. (2022-10)
      Artículo
      Acceso abierto
      In the recycling industry, the use of deep spectral convolutional networks for the purpose of material classification and composition estimation is still limited, despite the great opportunities of these techniques. In ...

    • Resolución geométrica de la cinemática inversa de un robot sin muñeca esférica 

      Palomo Avellaneda, Leopold; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Zaplana Agut, Isiah (Universidade da Coruña. Servizo de Publicacións, 2023)
      Comunicación de congreso
      Acceso abierto
      Una de las aplicaciones más conocidas del álgebra geométrica en la ingenierìa consiste en proporcionar una formulación compacta de la cinemática de los robots manipuladores serie. Sin embargo, el uso de álgebra geométrica ...