Browsing by Author "Zaplana Agut, Isiah"
Now showing items 1-20 of 26
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A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis
(2018-03-01)
Article
Open Access© 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
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference report
Open AccessOne 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 ... -
Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi
(Elsevier, 2018-03)
Article
Open AccessEn 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
(Elsevier, 2022)
Article
Open AccessThe 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
(2023)
Conference report
Open AccessThis 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
(2023-03)
Article
Restricted access - publisher's policyIntegrating 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 solutions for the inverse kinematics of serial robots using conformal geometric algebra
(2022-07)
Article
Open AccessThis 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
(2023-02)
Article
Restricted access - publisher's policyOne 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
(ASME PRESS, 2022-04-01)
Article
Open AccessCable-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
(Elsevier, 2022)
Article
Open AccessDue 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 ... -
Enhanced plastic recycling using RGB+depth fusion with massFaster and massMask R-CNN
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Conference report
Open AccessThe 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
(2024-10)
Article
Restricted access - publisher's policyDensity-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
(2022-01)
Article
Open AccessThe 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
(Comité Español de Automática (CEA-IFAC), 2017)
Conference lecture
Restricted access - publisher's policyIn 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
(2023-08)
Article
Restricted access - publisher's policyWe 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
(2022-10)
Article
Open AccessIn 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
(Universidade da Coruña. Servizo de Publicacións, 2023)
Conference lecture
Open AccessUna 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 ... -
Revisiting the Hansen problem: A geometric algebra approach
(Multidisciplinary Digital Publishing Institute (MDPI), 2024-06-28)
Article
Open AccessThe Hansen problem is a classic and well-known geometric challenge in geodesy and surveying involving the determination of two unknown points relative to two known reference locations using angular measurements. Traditional ... -
Scalable six bar linkage mechanism for re-orienting and aligning objects: Design methodology
(Elsevier, 2021)
Article
Open AccessThis paper summarizes the work done in the context of an industrial research project in collaboration between the Italian Institute of Technology and the company Fameccanica Data Spa. This paper introduces the design of a ... -
Simultaneous mass estimation and class classification of scrap metals using deep learning
(2022-06)
Article
Open AccessWhile deep learning has helped improve the performance of classification, object detection, and segmentation in recycling, its potential for mass prediction has not yet been explored. Therefore, this study proposes a system ...
