A grammatical approach to the modeling of an autonomous robot

Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of the scenes of the virtual world, independently of the hardware that is used to represent the world or to interact with it. A case study is presented to explain how to use the proposed model to formalize a robot navigation system with multimodal perception and a hybrid control scheme of the robot. The result is an instance of the model grammar that implements the robotic system and is independent of the sensing devices used for perception and interaction. As a conclusion the Virtual Worlds Generator adds value in the simulation of virtual worlds since the definition can be done formally and independently of the peculiarities of the supporting devices.

Developing Semantic Rich Internet Applications with the Sm4RIA Extension for OIDE

This paper introduces the Sm4RIA Extension for OIDE, which implements the Sm4RIA approach in OIDE (OOH4RIA Integrated Development Environment). The application, based on the Eclipse framework, supports the design of the Sm4RIA models as well as the model-to-model and model-to-text transformation processes that facilitate the generation of Semantic Rich Internet Applications, i.e., RIA applications capable of sharing data as Linked data and consuming external data from other sources in the same manner. Moreover, the application implements mechanisms for the creation of RIA interfaces from ontologies and the automatic generation of administration interfaces for a previously design application.

Dynamic Visual Servoing With Chaos Control for Redundant Robots

This paper presents a new dynamic visual control system for redundant robots with chaos compensation. In order to implement the visual servoing system, a new architecture is proposed that improves the system maintainability and traceability. Furthermore, high performance is obtained as a result of parallel execution of the different tasks that compose the architecture. The control component of the architecture implements a new visual servoing technique for resolving the redundancy at the acceleration level in order to guarantee the correct motion of both end-effector and joints. The controller generates the required torques for the tracking of image trajectories. However, in order to guarantee the applicability of this technique, a repetitive path tracked by the robot-end must produce a periodic joint motion. A chaos controller is integrated in the visual servoing system and the correct performance is observed in low and high velocities. Furthermore, a method to adjust the chaos controller is proposed and validated using a real three-link robot.

Parametrizable Architecture for Function Recursive Evaluation

Paper submitted to the XVIII Conference on Design of Circuits and Integrated Systems (DCIS), Ciudad Real, España, 2003.

Parametrized Architecture for Hough Transform Recursive Evaluation

Paper submitted to International Workshop on Spectral Methods and Multirate Signal Processing (SMMSP), Barcelona, España, 2003.

Hough Transform recursive evaluation using Distributed Arithmetic

Paper submitted to the IFIP International Conference on Very Large Scale Integration (VLSI-SOC), Darmstadt, Germany, 2003.

A finite element model of perforated panel absorbers including viscothermal effects

Most of the analytical models devoted to determine the acoustic properties of a rigid perforated panel consider the acoustic impedance of a single hole and then use the porosity to determine the impedance for the whole panel. However, in the case of not homogeneous hole distribution or more complex configurations this approach is no longer valid. This work explores some of these limitations and proposes a finite element methodology that implements the linearized Navier Stokes equations in the frequency domain to analyse the acoustic performance under normal incidence of perforated panel absorbers. Some preliminary results for a homogenous perforated panel show that the sound absorption coefficient derived from the Maa analytical model does not match those from the simulations. These differences are mainly attributed to the finite geometry effect and to the spatial distribution of the perforations for the numerical case. In order to confirm these statements, the acoustic field in the vicinities of the perforations is analysed for a more complex configuration of perforated panel. Additionally, experimental studies are carried out in an impedance tube for the same configuration and then compared to previous methods. The proposed methodology is shown to be in better agreement with the laboratorial measurements than the analytical approach.