Recent Submissions

  • Hand-eye calibration made easy through a closed-form two-stage method 

    Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2022)
    Article
    Open Access
    An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail ...
  • Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector 

    Marchi, Tommaso; Mottola, Giovanni; Porta Pleite, Josep Maria; Thomas, Federico; Carricato, Marco (2021)
    Article
    Open Access
    Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic ...
  • Androgenic activation, impairment of the monoaminergic system and altered behavior in zebrafish larvae exposed to environmental concentrations of fenitrothion 

    Faria, Melissa; Prats, Eva; Rosas Ramírez, Jonathan Ricardo; Bellot, Marina; Bedrossiantz, Juliette; Pagano, Maria; Valls Brusco, Arnau; Gomez Canela, Cristian; Porta Pleite, Josep Maria; Mestres, Jordi; Garcia Reyero, Natalia; Faggio, Caterina; Gómez Oliván, Leobardo Manuel; Raldúa Pérez, Demetrio José (Elsevier, 2021)
    Article
    Open Access
    Fenitrothion is an organophosphorus insecticide usually found in aquatic ecosystems at concentrations in the range of low ng/L. In this manuscript we show that 24 h exposure to environmental concentrations of fenitrothion, ...
  • A branch-and-prune method to solve closure equations in dual quaternions 

    Shabani, Arya; Porta Pleite, Josep Maria; Thomas, Federico (2021)
    Article
    Open Access
    Using 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 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
    Article
    Open Access
    Kinodynamic 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 

    Agostini, Alejandro Gabriel; Celaya Llover, Enric (The MIT Press. Massachusetts Institute of Technology, 2017-01-01)
    Article
    Open Access
    Function 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 

    Simão, Fátima C.P.; Martínez Jerónimo, Fernando; Blasco Gutiérrez, Víctor; Moreno-Noguer, Francesc; Porta Pleite, Josep Maria; Pestana, Joao; Soarez, Amadeu; Raldúa Pérez, Demetrio José; Barata Martí, Carlos (Elsevier, 2019-04-20)
    Article
    Open Access
    One 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 

    Celaya Llover, Enric (2019-03-01)
    Article
    Open Access
    An 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 

    Faria, Melissa; Valls Brusco, Arnau; Prats Miravitllas, Eva; Bedrossiantz, Juliette; Orozco, Manuel; Porta Pleite, Josep Maria; Gómez Oliván, Leobardo Manuel; Raldúa Pérez, Demetrio José (Nature, 2019-05-08)
    Article
    Open Access
    Occupational, 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 

    Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2019-05-09)
    Article
    Open Access
    A 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 

    Sarabandi, Soheil; Thomas, Federico (ASME PRESS, 2019-04-01)
    Article
    Open Access
    The 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 

    Rodríguez Bazaga, Adrián; Roldán Molina, Mónica; Badosa Gallego, Maria del Carmen; Jiménez Mallebrera, Cecilia; Porta Pleite, Josep Maria (2019-12-01)
    Article
    Open Access
    The 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 ...

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