Doctorat en Automàtica, Robòtica i Visió
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Articles de revista [174]
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Learning-based planner for unknown object dexterous manipulation using ANFIS
(2024-06-01)
Article
Open AccessDexterous manipulation of unknown objects performed by robots equipped with mechanical hands represents a critical challenge. The difficulties arise from the absence of a precise model of the manipulated objects, unpredictable ... -
Exploring transformers and visual transformers for force prediction in human-robot collaborative transportation tasks
(Institute of Electrical and Electronics Engineers (IEEE), 2024)
Conference report
Restricted access - publisher's policyIn this paper, we analyze the possibilities offered by Deep Learning State-of-the-Art architectures such as Transformers and Visual Transformers in generating a prediction of the human’s force in a Human-Robot collaborative ... -
Human motion trajectory prediction using the social force model for real-time and low computational cost applications
(Springer, 2023)
Conference report
Restricted access - publisher's policyHuman motion trajectory prediction is a very important functionality for human-robot collaboration, specifically in accompanying, guiding, or approaching tasks, but also in social robotics, self-driving vehicles, or ... -
Enhancing robotic collaborative tasks through contextual human motion prediction and intention inference
(2024-07-13)
Article
Open AccessPredicting human motion based on a sequence of past observations is crucial for various applications in robotics and computer vision. Currently, this problem is typically addressed by training deep learning models using ... -
Context attention: human motion prediction using context information and deep learning attention models
(Springer, 2022)
Conference lecture
Open AccessThis work proposes a human motion prediction model for handover operations. The model uses a multi-headed attention architecture to process the human skeleton data together with contextual data from the operation. This ... -
Knowledge-based execution configuration of behavior trees
(2024-05-13)
Research report
Open AccessAutomated planning is commonly used to obtain plans to solve particular tasks. To execute the plans, Behavior Trees (BTs) have emerged as a popular execution architecture due to their reactivity and modularity. Configuring ... -
Sensitivity analysis and calibration for a two-dimensional state-space model of metal hydride storage tanks based on experimental data
(Elsevier, 2024-06-12)
Article
Open AccessIn this paper, a state-space model of a metal hydride tank is formulated and analyzed in detail. Firstly, a three-dimensional state-space model of the metal hydride tank is simplified by assuming that the tank temperature ... -
Learning dictionaries from physical-based interpolation for water network leak localization
(2024-05)
Article
Open AccessThis article presents a leak localization methodology based on state estimation and learning. The first is handled by an interpolation scheme, whereas dictionary learning (DL) is considered for the second stage. The novel ... -
A sliding-mode control in a new reference frame for three-phase UPFR with extended control range
(Institute of Electrical and Electronics Engineers (IEEE), 2024-06-18)
Article
Open AccessThis article presents a new switching strategy for a unity power factor rectifier (UPFR) using sliding-mode control (SMC). The traditional SMC in the natural frame suffers from a cross-coupling problem among controllers ... -
Robust voltage unbalance control with inherent current sharing in grid-connected microgrids
(Institute of Electrical and Electronics Engineers (IEEE), 2024-06-06)
Article
Open AccessGrid-connected ac microgrids (MG) are commonly exposed to voltage quality deterioration due to the presence of voltage imbalance. This article presents a control strategy that enables MG grid-feeding inverters (interfacing ... -
User interactions and negative examples to improve the learning of semantic rules in a cognitive exercise scenario
(2023)
Conference report
Open AccessEnabling a robot to perform new tasks is a complex endeavor, usually beyond the reach of non-technical users. For this reason, research efforts that aim at empowering end-users to teach robots new abilities using intuitive ... -
Model predictive control of an on-site green hydrogen production and refuelling station
(Elsevier, 2023-01-01)
Article
Open AccessThe expected increase of hydrogen fuel cell vehicles has motivated the emergence of a significant number of studies on Hydrogen Refuelling Stations (HRS). Some of the main HRS topics are sizing, location, design optimization, ...
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