Event-based visual servoing with features’ prediction

Event-based visual servoing is a recently presented approach that performs the positioning of a robot using visual information only when it is required. From the basis of the classical image-based visual servoing control law, the scheme proposed in this paper can reduce the processing time at each loop iteration in some specific conditions. The proposed control method enters in action when an event deactivates the classical image-based controller (i.e. when there is no image available to perform the tracking of the visual features). A virtual camera is then moved through a straight line path towards the desired position. The virtual path used to guide the robot improves the behavior of the previous event-based visual servoing proposal.

Barandillas de protección personal con solicitación dinámica

Las barandillas de seguridad con solicitación dinámica, tipos B y C según UNE-EN 13374, son el conjunto de componentes destinados a la protección colectiva de las personas contra las caídas a un nivel inferior y a retener materiales. Frecuentemente incorporan una red de seguridad. En este artículo se analizan aspectos fundamentales como su diseño, sus requisitos mecánicos y la solución a la problemática que suponen los soportes o puntos duros capaces de producir lesiones al accidentado. Para este fin, se ha estudiado el fenómeno de la caída de un lastre sobre tales redes con distintos modelos numéricos de elementos finitos en régimen dinámico y mediante consideraciones analíticas cinemáticas, obteniendo conclusiones útiles como la forma geométrica necesaria, la escuadría de los perfiles que constituyen el bastidor de la red, y los factores de impacto que sufren los accidentados. Ello permite sugerir mejoras al texto normativo.

Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback

Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.

A Survey on FPGA-Based Sensor Systems: Towards Intelligent and Reconfigurable Low-Power Sensors for Computer Vision, Control and Signal Processing

The current trend in the evolution of sensor systems seeks ways to provide more accuracy and resolution, while at the same time decreasing the size and power consumption. The use of Field Programmable Gate Arrays (FPGAs) provides specific reprogrammable hardware technology that can be properly exploited to obtain a reconfigurable sensor system. This adaptation capability enables the implementation of complex applications using the partial reconfigurability at a very low-power consumption. For highly demanding tasks FPGAs have been favored due to the high efficiency provided by their architectural flexibility (parallelism, on-chip memory, etc.), reconfigurability and superb performance in the development of algorithms. FPGAs have improved the performance of sensor systems and have triggered a clear increase in their use in new fields of application. A new generation of smarter, reconfigurable and lower power consumption sensors is being developed in Spain based on FPGAs. In this paper, a review of these developments is presented, describing as well the FPGA technologies employed by the different research groups and providing an overview of future research within this field.

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.

Ferredoxin-dependent glutamate synthase: involvement in ammonium assimilation in Haloferax mediterranei

Glutamate synthase (GOGAT) is one of the two important enzymes involved in the ammonium assimilation pathway glutamine synthetase (GS)/GOGAT, which enables Hfx. mediterranei to thrive in media with low ammonium concentration or containing just nitrate as single nitrogen source. The gene coding for this enzyme, gltS, has been sequenced, analysed and compared with other GOGATs from different organisms from the three domains of life. According to its amino acid sequence, Hfx. mediterranei GOGAT displays high homology with those from other archaeal halophilic organisms and with the bacterial alpha-like subunit. Hfx. mediterranei GOGAT and GS expression was induced under conditions of ammonium restriction. The GOGAT protein was found to be a monomer with a molecular mass of 163.78 kDa, which is consistent with that estimated by gel filtration, 198 ± 30 kDa. The enzyme is highly ferredoxin dependent: activity was only observed with one of the two different 2Fe–2S ferredoxins chromatographically isolated from Hfx. mediterranei. The enzyme also displayed typical halophilic behaviour, being fully stable, and producing maximal activity, at salt concentrations from 3 to 4 M NaCl, pH 7.5 and a temperature of 50 °C.

Dynamic visual servo control of a 4-axis joint tool to track image trajectories during machining complex shapes

A large part of the new generation of computer numerical control systems has adopted an architecture based on robotic systems. This architecture improves the implementation of many manufacturing processes in terms of flexibility, efficiency, accuracy and velocity. This paper presents a 4-axis robot tool based on a joint structure whose primary use is to perform complex machining shapes in some non-contact processes. A new dynamic visual controller is proposed in order to control the 4-axis joint structure, where image information is used in the control loop to guide the robot tool in the machining task. In addition, this controller eliminates the chaotic joint behavior which appears during tracking of the quasi-repetitive trajectories required in machining processes. Moreover, this robot tool can be coupled to a manipulator robot in order to form a multi-robot platform for complex manufacturing tasks. Therefore, the robot tool could perform a machining task using a piece grasped from the workspace by a manipulator robot. This manipulator robot could be guided by using visual information given by the robot tool, thereby obtaining an intelligent multi-robot platform controlled by only one camera.

Inclusion of immersive virtual learning environments and visual control systems to support the learning of students with Asperger syndrome

This paper presents the use of immersive virtual reality systems in the educational intervention with Asperger students. The starting points of this study are features of these students' cognitive style that requires an explicit teaching style supported by visual aids and highly structured environments. The proposed immersive virtual reality system, not only to assess the student's behavior and progress, but also is able to adapt itself to the student's specific needs. Additionally, the immersive reality system is equipped with sensors that can determine certain behaviors of the students. This paper determines the possible inclusion of immersive virtual reality as a support tool and learning strategy in these particular students' intervention. With this objective two task protocols have been defined with which the behavior and interaction situations performed by participant students are recorded. The conclusions from this study talks in favor of the inclusion of these virtual immersive environments as a support tool in the educational intervention of Asperger syndrome students as their social competences and executive functions have improved.

Java software platform for the development of advanced robotic virtual laboratories

This article presents an interactive Java software platform which enables any user to easily create advanced virtual laboratories (VLs) for Robotics. This novel tool provides both support for developing applications with full 3D interactive graphical interface and a complete functional framework for modelling and simulation of arbitrary serial-link manipulators. In addition, its software architecture contains a high number of functionalities included as high-level tools, with the advantage of allowing any user to easily develop complex interactive robotic simulations with a minimum of programming. In order to show the features of the platform, the article describes, step-by-step, the implementation methodology of a complete VL for Robotics education using the presented approach. Finally, some educational results about the experience of implementing this approach are reported.

Control of Redundant Joint Structures Using Image Information During the Tracking of Non-Smooth Trajectories

Visual information is increasingly being used in a great number of applications in order to perform the guidance of joint structures. This paper proposes an image-based controller which allows the joint structure guidance when its number of degrees of freedom is greater than the required for the developed task. In this case, the controller solves the redundancy combining two different tasks: the primary task allows the correct guidance using image information, and the secondary task determines the most adequate joint structure posture solving the possible joint redundancy regarding the performed task in the image space. The method proposed to guide the joint structure also employs a smoothing Kalman filter not only to determine the moment when abrupt changes occur in the tracked trajectory, but also to estimate and compensate these changes using the proposed filter. Furthermore, a direct visual control approach is proposed which integrates the visual information provided by this smoothing Kalman filter. This last aspect permits the correct tracking when noisy measurements are obtained. All the contributions are integrated in an application which requires the tracking of the faces of Asperger children.

Empleo de drones (RPAS) para la elaboración de material audiovisual docente en asignaturas de Ingeniería Civil

El presente trabajo estudia la utilización de drones telecomandados de uso comercial (RPAS) para producir material audiovisual específico de diversas asignaturas de las titulaciones de Ingeniería Civil. Se trata de un equipamiento de alta tecnología y coste relativamente asequible, en torno a 1.300 euros, para producir material audiovisual que hasta ahora únicamente podría ser obtenido empleando medios mucho más limitados (fotografías aéreas y de satélite) o mucho más costosos, tales como vuelos fotográficos específicos. De este modo, se valorará la viabilidad de introducción de una nueva herramienta tecnológica de innovación educativa hasta ahora no empleada en la elaboración de material docente, analizando sus principales ventajas y limitaciones.

Metodología docente para la incorporación de laboratorios virtuales en el plan de estudios del master universitario en automática y robótica

En este artículo se describe la metodología empleada para el desarrollo y coordinación de las asignaturas obligatorias del Máster Universitario en Automática y Robótica de la Universidad de Alicante. Se ha trabajado en adecuar las guías docentes a la metodología mediante el trabajo colaborativo de los distintos profesores coordinadores de las asignaturas con el objetivo de garantizar que todos los conceptos necesarios sean cubiertos y complementados entre las asignaturas, apoyándose en mapas conceptuales. Otro aspecto en el que se ha hecho un especial énfasis en la metodología propuesta ha sido introducir como parte de las actividades teóricas y/o prácticas el uso de laboratorios virtuales remotos. Los laboratorios virtuales sirven de apoyo a la teoría para mostrar simulaciones y resultados prácticos mediante la interacción con equipamiento real. Además, muchas de estas herramientas admiten que el alumnado pueda trabajar a distancia desde sus casas, lo que redunda en la posibilidad de autoaprendizaje e incluso la realización de prácticas a distancia.

Innovar e investigar desde la narración gráfica: hacia un canon literario del cómic

Para el reconocimiento de la narración gráfica (cómic, tebeo, historieta, novela gráfica) como una herramienta didáctica adecuada, es necesaria la definición de un canon artístico de obras que recojan ejemplos principales que se conviertan en obras de referencia. Ya en el canon de cien obras de literatura infantil-juvenil del siglo XX (Equipo Peonza, 2004) aparecen ocho obras que podríamos definir como cómic. Desde la red de investigación en docencia universitaria sobre cómic didáctico y continuando la labor que desde 1999 realiza Unicómic, las Jornadas del Cómic de la Universidad de Alicante, hemos desarrollado una serie de iniciativas para intentar configurar un canon artístico del cómic, que posteriormente generará un canon escolar con aplicaciones didácticas específicas. En el siguiente trabajo presentaremos una primera selección de obras fundamentales a partir de las entrevistas realizadas a distintos autores, críticos y docentes especialistas en el cómic, que podríamos incluir en cualquier proyecto de promoción lectora o plan de lectura en Educación Primaria y Secundaria.

Docencia virtual y autoaprendizaje mediante un laboratorio virtual remoto de un sistema de bombeo en el Máster Universitario en Automática y Robótica

En este artículo se describe un laboratorio remoto empleado en el aprendizaje práctico de la asignatura "Sistemas de Control Automático", que se imparte en el Máster Universitario en Automática y Robótica de la Universidad de Alicante. La aplicación desarrollada permite a los estudiantes practicar a distancia diferentes conceptos teóricos utilizando un modelo hardware de un proceso industrial real consistente en un sistema de bombeo. En el artículo se describe las características más importantes de este laboratorio remoto, destacando su capacidad para realizar la evaluación automática del estudiante. La aplicación propone un conjunto de experiencias prácticas que los alumnos deben resolver haciendo uso del laboratorio remoto. Además, la aplicación ofrece una retroalimentación que guía al estudiante en los conceptos para mejorar en su aprendizaje. Esta información puede ser utilizada por los estudiantes para llevar a cabo un auto-aprendizaje. El documento concluye con un estudio que describe el impacto educativo acerca del uso de esta herramienta en el aprendizaje de los estudiantes.