Recent Submissions

  • Vision based robot assistance in TTTS fetal surgery 

    Sayols Baixeras, Narcís; Hernansanz Prats, Alberto; Parra Hernández, Johanna; Eixarch Roca, Elisenda; Gratacós Solsona, Eduard; Amat Girbau, Josep; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Restricted access - publisher's policy
    This paper presents an accurate and robust tracking vision algorithm for Fetoscopic Laser Photo-coagulation (FLP) surgery for Twin-Twin Transfusion Syndrome (TTTS). The aim of the proposed method is to assist surgeons ...
  • SENTISIM: A hybrid training platform for SLNB in local melanoma staging 

    Hernansanz Prats, Alberto; Pieras Morell, Tomas; Ferrandiz Pulido, Lara; Moreno Ramirez, David; Casals Gelpi, Alicia (Università degli Studi di Genova, 2019)
    Conference report
    Open Access
    Sentinel Lymph Node Biopsy (SLNB) has been established as an accurate procedure for regional melanoma staging. SNLB has a diagnostic significance as biopsy-based staging identifies patients with nodal metastases who may ...
  • Plataforma para un entorno asistencial inteligente heterogéneo 

    Casals Gelpi, Alicia; Vinagre Ruiz, Manuel; Aranda López, Juan; Amat Girbau, Josep (Comité Español de Automática (CEA-IFAC), 2018)
    Conference report
    Open Access
    La creciente demanda de soporte tecnológico para la asistencia a personas con necesidades especiales obliga a avanzar tecnológi-camente hacia sistemas más eficientes y con más prestaciones. En esta íinea, en este artículo ...
  • Sliding mode control of a differential-drive mobile robot following a path 

    Dòria Cerezo, Arnau; Biel Solé, Domingo; Olm Miras, Josep Maria; Repecho del Corral, Víctor (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference report
    Open Access
    This paper presents a control algorithm for a differential-drive robot following a path. The main contributions are: a new control formulation that does not require the robot global position, and a nonlinear controller ...
  • A Comparison of autonomous vehicle navigation simulators under regulatory and reinforcement learning constraints 

    Cabañeros, Alex; Angulo Bahón, Cecilio (IOS Press, 2019)
    Conference lecture
    Restricted access - publisher's policy
    The transition from conventional vehicles to autonomous vehicles is regulated thorough ADAS (Advanced Driver Assistance Systems) functionalities. The combination of different ADAS functions allows vehicles navigate on a ...
  • Towards a healthcare digital twin 

    Angulo Bahón, Cecilio; Ortega Ramírez, Juan Antonio; Gonzalez Abril, Luis (IOS Press, 2019)
    Conference lecture
    Restricted access - publisher's policy
    The main aim of this short position paper is to introduce a proposal to orchestrate an ecosystem of manipulation of reliable and safe data, applied to the field of health, proposing the creation of digital twins for ...
  • Smooth motion profile for trajectory planning of a flexible manipulator 

    Zribi, Sameh; Mejerbi, M.; Tlijani, Hatem; Knani, Jilani; Puig Cayuela, Vicenç
    Conference report
    Open Access
    This paper deals with the problem of trajectory generation with a motion law in joint space for a flexible singlelink manipulator. To this aim, we propose a smooth motion profile based on polynomial function for a flexible ...
  • A physical/virtual anatomical platform for hysteroscopy training 

    Rovira Negre, Ramón; Martínez, R.; Hernansanz Prats, Alberto; Casals Gelpi, Alicia (Università degli Studi di Genova, 2019)
    Conference report
    Open Access
    Minimally Invasive Surgery (MIS), which consists in operating through small orifices, reduces the patients’ pain, complications, recovery time and scarring. However, while providing many benefits, the skills required in ...
  • Learning Action-oriented grasping for manipulation 

    Ud Din, Muhayy; Sarwar, M Usman; Zahoor, Imran; Qazi, Wajahat M; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2019)
    Conference lecture
    Restricted access - publisher's policy
    Complex manipulation tasks require grasping strategies that simultaneously satisfy the stability and the semantic constraints that have to be satisfied for an action to be feasible, referred as action-oriented semantic ...
  • Control en modo deslizante terminal con limitación de corriente en arranque en un convertidor reductor 

    Masclans, Nuria; Repecho del Corral, Víctor; Biel Solé, Domingo (2019)
    Conference report
    Restricted access - publisher's policy
    En este trabajo se diseña un control en modo des-lizante en un convertidor reductor que garantiza alcanzabilidaddel estado estacionario en tiempo finito. El estudio que se detallaen el artículo permite seleccionar los ...
  • Estudio de estabilidad bajo régimen deslizante de un convertidor reductor multifase con control de ecualización y pérdidas desequilibradas 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Ramos Lara, Rafael Ramón (2019)
    Conference report
    Restricted access - publisher's policy
    En este trabajo se presenta el diseño, el análisis derobustez y la implementación de un control en modo deslizantecon frecuencia de conmutación fija basado en la dinámicapromedio cero para un convertidor reductor multifase. ...
  • Fault detection and diagnostics in ventilation units using linear regression virtual sensors 

    Giovanni Mattera, Claudio; Quevedo Casín, Joseba Jokin; Escobet Canal, Teresa; Reza Shaker, Hamir; Jradi, Muhyiddine (2018)
    Conference report
    Open Access
    Buildings represent a significant portion of global energy consumption. Ventilation units are one of the largest components in buildings systems and are responsible for large part of energy consumption. Ventilation units ...

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