GRINS - Robòtica Intel·ligent i Sistemes
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.
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.
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.
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Articles de revista [36]
Recent Submissions
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Control de robots en neurorehabilitación: desde sensores neurales a sensores portables
(2017-07-06)
External research report
Open AccessLas interfaces BCI tienen ya un cierto grado de desarrollo en el ámbito del diagnóstico y de la interacción persona-computador, sin embargo su aplicación al control de dispositivos robóticos está todavía muy limitado debido ... -
Towards retrieving force feedback in robotic-assisted surgery: a supervised neuro-recurrent-vision approach
(Institute of Electrical and Electronics Engineers (IEEE), 2017-07-01)
Article
Open AccessRobotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations ... -
Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery
(Institute of Electrical and Electronics Engineers (IEEE), 2017)
Conference report
Open AccessRobotic-assisted minimally invasive surgical sys-tems suffer from one major limitation which is the lack of interaction forces feedback. The restricted sense of touch hinders the surgeons’ performance and reduces their ... -
Estimating position & velocity in 3D space from monocular video sequences using a deep neural network
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Conference report
Open AccessThis work describes a regression model based on Convolutional Neural Networks (CNN) and Long-Short Term Memory (LSTM) networks for tracking objects from monocular video sequences. The target application being pursued is ... -
MMC-based solid-state transformer model including semiconductor losses
(2017-09-06)
Article
Restricted access - publisher's policyThis paper presents the model of a solid-state transformer (SST) for distribution system studies with some advanced features. The model is based on a previous work in which a bidirectional SST with a MV-side modular ... -
A virtual power plant model for time-driven power flow calculations
(2017-11-13)
Article
Open AccessThis paper presents the implementation of a custom-made virtual power plant model in OpenDSS. The goal is to develop a model adequate for time-driven power flow calculations in distribution systems. The virtual power plant ... -
Volition-adaptive control for gait training using wearable exoskeleton: preliminary tests with incomplete spinal cord injury individuals
(2018-01-03)
Article
Open AccessBackground Gait training for individuals with neurological disorders is challenging in providing the suitable assistance and more adaptive behaviour towards user needs. The user specific adaptation can be defined based on ... -
Impact of clock drifts on communication-free secondary control schemes for inverter-based islanded microgrids
(Institute of Electrical and Electronics Engineers (IEEE), 2017-11-13)
Article
Restricted access - publisher's policyIEEE In inverter-based microgrids, individual inverters operate usually with its own digital processor. The clocks used to generate the time signals of these processors differ from each other due to clock drifts. This paper ... -
Event-based control for sit-to-stand transition using a wearable exoskeleton
(Institute of Electrical and Electronics Engineers (IEEE), 2017)
Conference report
Open AccessSit-to-stand transition is an essential step in a lower limb rehabilitation therapy, mainly for assisting the patient to transit from wheel chair to the next level of therapy. A mixed stiffness-damping control adaptation ... -
Robust cardiac motion estimation using ultrafast ultrasound data: a low-rank topology-preserving approach
(2017-06-21)
Article
Open AccessCardiac motion estimation is an important diagnostic tool for detecting heart diseases and it has been explored with modalities such as MRI and conventional ultrasound (US) sequences. US cardiac motion estimation still ... -
Secondary switched control with no communications for islanded microgrids
(Institute of Electrical and Electronics Engineers (IEEE), 2017-05-12)
Article
Open AccessFlexibility and reliability of AC microgrids are enhanced by reducing the dependence on communications in multi-layer hierarchical control. In this sense, this paper presents a secondary control with no communications for ... -
Els sistemes encastats: impacte i reptes de futur
(Institut d'Estudis Catalans (IEC), 2017)
Article
Open AccessS’analitza l’impacte que tenen els moderns sistemes electrònics encastats en diferents àmbits, com són la societat, l’àmbit industrial i l’educació. Es presenta una breu definició del que és un sistema encastat i es donen ...
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