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A branch-and-prune method to solve closure equations in dual quaternions
(2021)
Article
Open AccessUsing dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored ... -
A randomised kinodynamic planner for closed-chain robotic systems
(Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
Article
Open AccessKinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, ... -
Online reinforcement learning using a probability density estimation
(The MIT Press. Massachusetts Institute of Technology, 2017-01-01)
Article
Open AccessFunction approximation in online, incremental, reinforcement learning needs to deal with two fundamental problems: biased sampling and nonstationarity. In this kind of task, biased sampling occurs because samples are ... -
Using a new high-throughput video-tracking platform to assess behavioural changes in Daphnia magna exposed to neuro-active drugs
(Elsevier, 2019-04-20)
Article
Open AccessOne of the major challenges that faces today regulatory risk assessment is to speed up the way of assessing threshold sublethal detrimental effects of existing and new chemical products. Recently advances in imaging allows ... -
Solution intervals for variables in spatial RCRCR linkages
(2019-03-01)
Article
Open AccessAn analytic method to compute the solution intervals for the input variables of spatial RCRCR linkages and their inversions is presented. The input-output equation is formulated as the intersection of a single ellipse with ... -
Further characterization of the zebrafish model of acrylamide acute neurotoxicity: gait abnormalities and oxidative stress
(Nature, 2019-05-08)
Article
Open AccessOccupational, accidental, or suicidal exposure to acrylamide (ACR) may result in a neurotoxic syndrome. Development of animal models of acrylamide neurotoxicity is necessary for increasing our mechanistic understanding of ... -
On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices
(2019-05-09)
Article
Open AccessA real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ... -
A survey on the computation of quaternions from rotation matrices
(ASME PRESS, 2019-04-01)
Article
Open AccessThe parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer ... -
A Convolutional Neural Network for the automatic diagnosis of collagen VI-related muscular dystrophies
(2019-12-01)
Article
Open AccessThe development of machine learning systems for the diagnosis of rare diseases is challenging, mainly due to the lack of data to study them. This paper surmounts this obstacle and presents the first Computer-Aided Diagnosis ... -
Closed-form position analysis of variable geometry trusses
(2017-03-01)
Article
Open AccessVariable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent ... -
Uncalibrated visual servo for unmanned aerial manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
Article
Open AccessThis paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ... -
New algebraic conditions for the identification of the relative position of two coplanar ellipses
(2017-05-01)
Article
Open AccessThe identification of the relative position of two real coplanar ellipses can be reduced to the identification of the nature of the singular conics in the pencil they define and, in general, their location with respect to ...
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