0000000000123125
AUTHOR
Vicent Girbés-juan
Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles
[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…
Robotic assistance for industrial sanding with a smooth approach to the surface and boundary constraints
[EN] Surface treatment operations, such as sanding, deburring, finishing, grinding, polishing, etc. are progressively becoming more automated using robotic systems. However, previous research in this field used a completely automatic operation of the robot system or considered a low degree of human-robot interaction. Therefore, to overcome this issue, this work develops a truly synergistic cooperation between the human operator and the robot system to get the best from both. In particular, in the application developed in this work the human operator provides flexibility, guiding the tool of the robot system to treat arbitrary regions of the workpiece surface; while the robot system provides…
On the Assessment of Fitness to Drive: Steering and Brake Operative Forces
[EN] The Directive (EU) 2015/653 aimed at facilitating that the maximum force that any disabled driver could make on the vehicle's primary controls could be adjusted to their needs. The technical adjustment in the vehicle's design requires a measurement of the operational forces applied by the driver on the steering and brake controls, in order to determine its functional capacity during the execution of driving maneuvers. The objective of this paper is to define the steering and braking operative forces used for driving current market M1 motor vehicles for the ¿fitness to drive assessment of drivers with physical disabilities. A total of 200 trials were performed with 17 different vehicles…
Elementary Clothoid-Based Three-Dimensional Curve for Unmanned Aerial Vehicles
UNMANNED aerial vehicles (UAVs), either multirotor or fixed-wing UAVs, can be used in many fields to solve complex problems in safety [1], communications [2, 3], military applications [4, 5], civilian applications [6, 7], protection of nuclear plants [8], energy efficiency [9], nonlinear control [10, 11], and path planning [12], among others. Vertical takeoff and landing (VTOL) is by far the most used UAV's configuration [13]. Probably the main reason is that, nowadays, there are lots of low-cost multirotor models. VTOL strategies can be applied to fixed-wing airplanes [14]; however, in normal operation they usually fly horizontally to keep a constant altitude [15, 16], but they need to per…
Combining haptics and inertial motion capture to enhance remote control of a dual-arm robot
AbstractHigh dexterity is required in tasks in which there is contact between objects, such as surface conditioning (wiping, polishing, scuffing, sanding, etc.), specially when the location of the objects involved is unknown or highly inaccurate because they are moving, like a car body in automotive industry lines. These applications require the human adaptability and the robot accuracy. However, sharing the same workspace is not possible in most cases due to safety issues. Hence, a multi-modal teleoperation system combining haptics and an inertial motion capture system is introduced in this work. The human operator gets the sense of touch thanks to haptic feedback, whereas using the motion…
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Flipped evaluation: herramientas online para la evaluación participativa
[EN] The evaluation of a subject is a fundamental part of the teaching-learning process and one of the main concerns of our students. This is a complex task that requires a lot of effort from the teacher. This is a growing effort in line with the increased weight of con-tinuous evaluation in the current educational system. In this work, different methodo-logies focused on maximizing the student’s performance are presented, thus minimizing the extra effort for the teacher in the evaluation process. We provide several examples of activities throught Moodle platform such as the workshop, glossary, databases, ques-tionnaires, etc. Some of them allow self-assessment once configured, whereas others pr…
Data Acquisition System for the Characterization of Biomechanical and Ergonomic Thresholds in Driving Vehicles
Directive (EU) 2015/653 on driving licenses has involved the modification of different codes that must appear on driver&rsquo
Estrategia de enseñanza y aprendizaje de programación basada en la idea de ’hackathon’
[EN] The acquisition of programming and data analysis skills in higher education is increa-singly necessary in all areas of Science and Engineering. In this paper we present a methodology for the motivation of programming learning, mainly focused on the deve-lopment of machine learning algorithms. This methodology is based on the hackathon idea and will have different levels. On the one hand the basic level where a competition is proposed in an improvised way during the development of the class. A second level where a programmed hackathon is proposed but within the classroom environment and using learning management systems such as Moodle. The last level consists of parti-cipation in an exte…
Haptic and Visual Feedback Assistance for Dual-Arm Robot Teleoperation in Surface Conditioning Tasks
Contact driven tasks, such as surface conditioning operations (wiping, polishing, sanding, etc.), are difficult to program in advance to be performed autonomously by a robotic system, specially when the objects involved are moving. In many applications, human-robot physical interaction can be used for the teaching, specially in learning from demonstrations frameworks, but this solution is not always available. Robot teleoperation is very useful when user and robot cannot share the same workspace due to hazardous environments, inaccessible locations, or because of ergonomic issues. In this sense, this article introduces a novel dual-arm teleoperation architecture with haptic and visual feedb…
Bimanual robot control for surface treatment tasks
This work develops a method to perform surface treatment tasks using a bimanual robotic system, i.e. two robot arms cooperatively performing the task. In particular, one robot arm holds the workpiece while the other robot arm has the treatment tool attached to its end-effector. Moreover, the human user teleoperates all the six coordinates of the former robot arm and two coordinates of the latter robot arm, i.e. the teleoperator can move the treatment tool on the plane given by the workpiece surface. Furthermore, a force sensor attached to the treatment tool is used to automatically attain the desired pressure between the tool and the workpiece and to automatically keep the tool orientation …