Capítols de llibre

Recent Submissions

  • Time to contact for robot safety stop in close collaborative tasks 

    Olivares Alarcos, Alberto; Foix, Sergi; Alenyà Ribas, Guillem (IET Digital Library, 2023-08)
    Part of book or chapter of book
    Restricted access - publisher's policy
    Within the next years, industrial collaborative robots will collaborate with human operators, whose safety might be compromised. To ensure a safe collaboration, robots should estimate the risk of collision with respect to ...

  • Fault-tolerant control of a service robot 

    San Miguel Tello, Alberto; Puig Cayuela, Vicenç; Alenyà Ribas, Guillem (IET Digital Library, 2020)
    Part of book or chapter of book
    Restricted access - publisher's policy
    In this chapter, the problem of fault-tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on an Robust Unknown-Input Observer (RUIO) that allows to ...

  • Virtual human hand: wrist movements 

    Peña Pitarch, Esteve; Puig de la Bellacasa, Inmaculada; Padilla Magaña, Jesús Fernando; Al Omar Mesnaoui, Anas; Alcelay Larrión, José Ignacio (Springer, 2021-06-27)
    Part of book or chapter of book
    Open Access
    Hand model with 25 Degrees of Freedom (DOF) was developed and implemented considering forward and inverse kinematics. However, the model, after some experience and use need to add new DOF. The proposed model is with 29 ...

  • Fault-tolerant control of a service robot 

    San Miguel Tello, Alberto; Puig Cayuela, Vicenç; Alenyà Ribas, Guillem (2020-08-02)
    Part of book or chapter of book
    Open Access
    In this chapter, the problem of fault -tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on a robust unknown -input observer (RUI0) that allows one ...

  • Robust economic model predictive control of drinking water transport networks using zonotopes 

    Khoury, Boutrous; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç (Springer, 2020-06-25)
    Part of book or chapter of book
    Open Access
    A robust economic Model Predictive Control (EMPC) approach is presented in this paper for the control of a Drinking Water Network (DWN) albeit the presence of uncertainties in the forecasted demands required for the ...

  • Damage detection and identification in jacket-type support structures via deep learning and accelerometer sensors data 

    Puruncajas Maza, Bryan; Vidal Seguí, Yolanda; Tutivén Gálvez, Christian (2020-10)
    Part of book or chapter of book
    Open Access

  • Developing cognitive advisor agents for operators in industry 4.0 

    Chacón Encalada, Luis Alejandro; Angulo Bahón, Cecilio; Ponsa Asensio, Pere (IntechOpen, 2020-03-25)
    Part of book or chapter of book
    Open Access
    Human cyber-physical systems (CPS) are an important component in the development of Industry 4.0. The paradigm shift of doing to thinking has allowed the emergence of cognition as a new perspective for intelligent systems. ...

  • Suitable task allocation in intelligent systems for assistive environments 

    Vinagre Ruiz, Manuel; Aranda López, Juan; Casals Gelpí, Alicia (Springer, 2020)
    Part of book or chapter of book
    Open Access
    The growing need of technological assistance to provide support to people with special needs demands for systems more and more efficient and with better performances. With this aim, this work tries to advance in a multirobot ...

  • Assistance strategies for robotized laparoscopy 

    Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Amat Girbau, Josep (Springer, 2020)
    Part of book or chapter of book
    Open Access
    Robotizing laparoscopic surgery not only allows achieving better accuracy to operate when a scale factor is applied between master and slave or thanks to the use of tools with 3 DoF, which cannot be used in conventional ...