14 results on '"Carreras Pérez, Marc"'
Search Results
2. Long-lasting ecological monitoring network of lander platforms for marine protected areas
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Toma, Daniel, Artero Delgado, Carola, Carandell Widmer, Matias, Nogueras Cervera, Marc, Bghiel, Ikram, Ramón Ripoll, Álex, López Navarro, Juan Manuel, Carreras Pérez, Marc, Palomeras Rovira, Narcís, Real Vial, Marta, Segura Duran, Ricard, Chatzievangelou, Damianos, Bahamón Rivera, Nixon, Company Claret, Joan Baptista, Aguzzi, Jacopo, Martorell Torres, Antoni, Alfaro Dufour, Eric, Río Fernández, Joaquín del, Toma, Daniel, Artero Delgado, Carola, Carandell Widmer, Matias, Nogueras Cervera, Marc, Bghiel, Ikram, Ramón Ripoll, Álex, López Navarro, Juan Manuel, Carreras Pérez, Marc, Palomeras Rovira, Narcís, Real Vial, Marta, Segura Duran, Ricard, Chatzievangelou, Damianos, Bahamón Rivera, Nixon, Company Claret, Joan Baptista, Aguzzi, Jacopo, Martorell Torres, Antoni, Alfaro Dufour, Eric, and Río Fernández, Joaquín del
- Abstract
In addition to the potential global impact of climate change on marine ecosystems, the extensive use of high-impact fishing methods is a primary catalyst for benthic biodiversity degradation in the Mediterranean Sea. Implementing fishery no-take zones (FNTZs) emerges as a key measure for the sustainable recovery and management of overexploited stocks and habitats. To identify appropriate geographical scales for their implementation, it is crucial to understand the spatial connectivity of species and ecosystem functioning during long periods. Therefore, it is necessary to implement robust spatio-temporal multiparametric monitoring procedures, allowing the synchronous collection of biological (i.e., image-based), oceanographic and geochemical data. For this, we developed a spatial cooperative network of fixed (i.e., landers) and docked mobile (i.e., AUVs) platforms with wireless intercommunication capability (i.e., by acoustic modems). This system is designed for intelligent observation monitoring and mapping (i.e., AI-based recognition of species and bioturbation features) over extended periods with real-time, remote supervision and data transmission through the water column to an ASV., Peer Reviewed
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- 2024
3. Underwater Pose SLAM using GMM scan matching for a mechanical profiling sonar
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Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Universitat Politècnica de Catalunya. RAIG - Mobile Robotics and Artificial Intelligence Group, Vial Serrat, Pau, Palomeras Rovira, Narcís, Solà Ortega, Joan, Carreras Pérez, Marc, Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Universitat Politècnica de Catalunya. RAIG - Mobile Robotics and Artificial Intelligence Group, Vial Serrat, Pau, Palomeras Rovira, Narcís, Solà Ortega, Joan, and Carreras Pérez, Marc
- Abstract
This is an open access article under the terms of theCreative Commons Attribution‐NonCommercial‐NoDerivsLicense, The underwater domain is a challenging environment for robotics because widely used electromagnetic devices must be substituted by acoustic equivalents, much slower and noisier. In this paper a two-dimensional pose simultaneous localization and mapping (SLAM) system for an Autonomous Underwater Vehicle based on inertial sensors and a mechanical profiling sonar is presented. Two main systems are specially designed. On the one hand, a dead reckoning system based on Lie Theory is presented to track integrated pose uncertainty. On the other hand, a rigid scan matching technique specialized for acoustic data is proposed, which allows one to estimate the uncertainty of the matching result. Moreover, Bayesian–Gaussian mixtures models are introduced to the scan matching problem and the registration problem is solved by an optimization in Lie groups. The SLAM system is tested on real data and executed in real time with the robotic application. Using this system, section maps at constant depth can be obtained from a three-dimensional underwater domain. The presented SLAM system constitutes the first achievement towards an underwater Active SLAM application., CRUE‐CSIC; PLOME, Grant/Award Number:PLEC2021‐007525; Biter‐AUV,Grant/Award Number: PID2020‐114732RB‐C33; Spanish Government,Grant/Award Number: FPU19/03638, Peer Reviewed, Postprint (published version)
- Published
- 2023
4. Marine ecosystems observation by a cooperative AUV in the PLOME project
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Carreras Pérez, Marc, Palomeras Rovira, Narcís, Vial Serrat, Pau, Real Vial, Marta, Ridao Rodríguez, Pere, Río Fernández, Joaquín del, Toma, Daniel, López Navarro, Juan Manuel, Bonín-Font, Francisco, Hurtós Vilarnau, Natàlia, Aguzzi, Jacopo, Chatzievangelou, Damianos, Carreras Pérez, Marc, Palomeras Rovira, Narcís, Vial Serrat, Pau, Real Vial, Marta, Ridao Rodríguez, Pere, Río Fernández, Joaquín del, Toma, Daniel, López Navarro, Juan Manuel, Bonín-Font, Francisco, Hurtós Vilarnau, Natàlia, Aguzzi, Jacopo, and Chatzievangelou, Damianos
- Abstract
To improve our understanding of how marine ecosystems function, it is crucial to quantify their processes using proper spatio-temporal multiparametric monitoring techniques. Science and innovative technologies must play a central role in developing the Blue Growth in a sustainable manner, where advances in enabling technologies such as remote sensing, modelling, AI and autonomous systems, will enhance our capacity to monitor and predict, assess and manage ecosystems. The PLOME project proposes a spatially adaptive, non-invasive, modular platform of independent and wirelessly connected benthic stations and AUVs to intelligently observe, monitor and map marine ecosystems, during long-lasting periods with real-time supervision. The monitoring solution has a simple deployment and is easy-to-move from an experimental site to another, without any cable installation, for coastal and deep water environments. Stations provide continuous and intensive temporal observation, while AUVs can provide such intensive measurement at spatial level, when they undock for a mission from a station in which they previously recharged batteries and transmitted information. The PLOME project will demonstrate the proposed concept in two scenarios. The first one, involves testing independent capabilities in a real deep-sea scenario, while the second one entails a oneweek demonstration in shallow water, where an AUV will be operated from a docking station. This paper describes the Girona 1000 AUV from the Universitat de Girona that will be used for the deep tests , conducted at depths ranging from 200 to 400 meters. The AUV will be used in cooperation with two fixed stations developed by the Universitat Politècnica de Catalunya. Acoustic communications and ranges between the AUV and the stations will be used to coordinate the AUV’s work and to improve its navigation. Optical communications will be used to transmit data to the stations gathered from the AUV observations. The AUV will integrate a, Peer Reviewed
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- 2023
5. Multisensor acoustic tracking benthic landers to evaluate connectivity of fishes in marine protected areas
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Toma, Daniel, Aguzzi, Jacopo, Carandell Widmer, Matias, Nogueras Cervera, Marc, Martínez Padró, Enoc, Francescangeli, Marco, Chatzievangelou, Damianos, Bahamón Rivera, Nixon, Company Claret, Joan Baptista, Carreras Pérez, Marc, Río Fernández, Joaquín del, Toma, Daniel, Aguzzi, Jacopo, Carandell Widmer, Matias, Nogueras Cervera, Marc, Martínez Padró, Enoc, Francescangeli, Marco, Chatzievangelou, Damianos, Bahamón Rivera, Nixon, Company Claret, Joan Baptista, Carreras Pérez, Marc, and Río Fernández, Joaquín del
- Abstract
Deep-sea fishing has been carried out on an industrial scale since the 1950s, and this has had a variety of effects on the environment and its biota. Most benthic species experience a decline in abundance or a constant decline in abundance as a result of direct disturbance of the seafloor, such as its plowing and scraping by hauled nets, with overall impacts on regional biodiversity [1]. Sediment has lost some of its biogenic habitat complexity, and sessile epifauna-provided microhabitat has been destroyed or disrupted [2] and marine protected areas (MPAs) have been widely implemented to address this decline. Marine fish mobility, which is crucial for ecosystem function and is increasingly being researched with acoustic telemetry, has an impact on how well no-take MPAs (i.e., marine reserves) work in terms of protecting and repopulating fish populations [3], [4] Therefore, it is necessary to continuously monitor periodic changes in commercially exploited deep-sea ecosystems in order to gather baseline information, give accurate environmental impact assessments, and derive sound biological indicators for restoration. Using a fixed acoustic ultra-short baseline (USBL) receiver on benthic lander and miniature bidirectional acoustic tags [5], we address three key questions: How far can fish move? Does connectivity exist between adjacent MPAs? Does existing MPA size match the spatial scale of fish movements?, Peer Reviewed
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- 2023
6. Morbidity and self-perception of health, two different approaches to health status
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Carreras Pérez, Marc, Puig, Guillem, Sánchez Pérez, Inma, Inoriza, José María, Coderch, Jordi, and Gispert, Rosa
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Quality of life ,Pacients -- Satisfacció ,Qualitat de vida ,Indicadors de salut ,Patient satisfaction ,Health status indicators - Abstract
Objective: To determine the degree of association between perceived health status and that obtained from information on attended morbidity. Method: The population of four health areas of the Baix Empordà region (Catalonia, Spain) (N = 91,067) was studied in 2016, by means of a sample of 1202 individuals. A health survey was conducted on sample individuals. At the same time, the respondents were classified by health status through the Clinical Risk Groups system. The degree of association was analysed by logistic regression. Results: 27% of patients with more than two major chronic diseases or with complex health conditions stated they were in good health. An association was detected between health perception and disease burden. Sex, work situation, social class and especially age also showed association with the perception of health. Conclusions: The inference of health status from clinical records on attended morbidity approximates to the subjective perception of health and vice versa. However, certain sociodemographic factors modulate individual perception. The results obtained are encouraging in relation to the development of new methodologies for calculating quality of life indicators Este artículo se ha elaborado en el marco del proyectoPI15/02188, Obtención de la esperanza de vida y descomposición porestados de salud a partir de información clínica, financiado por el Ins-tituto de Salud Carlos III, en la convocatoria 2015 de ayudas delSubprograma de Proyectos de Investigación de Salud, cofinanciadopor el Fondo Europeo de Desarrollo Regional (FEDER) de la UniónEuropea
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- 2020
7. Toward Autonomous Exploration in Confined Underwater Environments
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Mallios, Angelos, Ridao Rodríguez, Pere, Ribas Romagós, David, Carreras Pérez, Marc, and Camilli, Richard
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Submersibles ,Robots mòbils ,Vehicles submergibles ,Autonomous robots ,Robots autònoms ,Mobile robots ,Detectors - Abstract
In this field note, we detail the operations and discuss the results of an experiment conducted in the unstructured environment of an underwater cave complex using an autonomous underwater vehicle (AUV). For this experiment, the AUV was equipped with two acoustic sonar sensors to simultaneously map the caves' horizontal and vertical surfaces. Although the caves' spatial complexity required AUV guidance by a diver, this field deployment successfully demonstrates a scan‐matching algorithm in a simultaneous localization and mapping framework that significantly reduces and bounds the localization error for fully autonomous navigation. These methods are generalizable for AUV exploration in confined underwater environments where surfacing or predeployment of localization equipment is not feasible, and they may provide a useful step toward AUV utilization as a response tool in confined underwater disaster areas This research work was partially sponsored by the EU FP7-Projects: Tecniospring- Marie Curie (TECSPR13-1-0052), MORPH (FP7-ICT-2011-7-288704), Eurofleets2 (FP7-INF-2012-312762), and the National Science Foundation (OCE-0955674).
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- 2020
8. Online motion planning for unexplored underwater environments using autonomous underwater vehicles
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Hernández Vega, Juan David, Vidal Garcia, Eduard, Moll, Mark, Palomeras Rovira, Narcís, Carreras Pérez, Marc, Kavraki, Lydia E., and Ministerio de Economía y Competitividad (Espanya)
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Submersibles ,Vehicles submergibles ,Autonomous robots ,Robots autònoms - Abstract
We present an approach to endow an autonomous underwater vehicle with the capabilities to move through unexplored environments. To do so, we propose a computational framework for planning feasible and safe paths. The framework allows the vehicle to incrementally build a map of the surroundings, while simultaneously (re)planning a feasible path to a specified goal. To accomplish this, the framework considers motion constraints to plan feasible 3D paths, that is, those that meet the vehicle’s motion capabilities. It also incorporates a risk function to avoid navigating close to nearby obstacles. Furthermore, the framework makes use of two strategies to ensure meeting online computation limitations. The first one is to reuse the last best known solution to eliminate time-consuming pruning routines. The second one is to opportunistically check the states’ risk of collision. To evaluate the proposed approach, we use the Sparus II performing autonomous missions in different real-world scenarios. These experiments consist of simulated and in-water trials for different tasks. The conducted tasks include the exploration of challenging scenarios such as artificial marine structures, natural marine structures, and confined natural environments. All these applications allow us to extensively prove the efficacy of the presented approach, not only for constant-depth missions (2D), but, more important, for situations in which the vehicle must vary its depth (3D) J.D. Hern´andez, E. Vidal, N. Palomeras, and M. Carreras have been supported by the EXCELLABUST and ARCHROV Projects under the Grant agreements H2020-283TWINN-2015, CSA, ID: 691980 and DPI2014- 57746-C3-3-R respectively
- Published
- 2019
9. Coverage Path Planning with Real-time Replanning and Surface Reconstruction for Inspection of Three-dimensional Underwater Structures using Autonomous Underwater Vehicles
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Galceran Yebenes, Enric, Campos Dausà, Ricard, Palomeras Rovira, Narcís, Ribas Romagós, David, Carreras Pérez, Marc, Ridao Rodríguez, Pere, and Ministerio de Ciencia e Innovación (Espanya)
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Underwater robots ,Autonomous robots ,Robots autònoms ,Visualització tridimensional (Informàtica) ,Three-dimensional display systems ,Robots submarins - Abstract
We present a novel method for planning coverage paths for inspecting complex structures on the ocean floor using an autonomous underwater vehicle (AUV). Our method initially uses a 2.5-dimensional (2.5D) prior bathymetric map to plan a nominal coverage path that allows the AUV to pass its sensors over all points on the target area. The nominal path uses a standard mowing-the-lawn pattern in effectively planar regions, while in regions with substantial 3D relief it follows horizontal contours of the terrain at a given offset distance. We then go beyond previous approaches in the literature by considering the vehicle's state uncertainty rather than relying on the unrealistic assumption of an idealized path execution. Toward that end, we present a replanning algorithm based on a stochastic trajectory optimization that reshapes the nominal path to cope with the actual target structure perceived in situ. The replanning algorithm runs onboard the AUV in real time during the inspection mission, adapting the path according to the measurements provided by the vehicle's range-sensing sonars. Furthermore, we propose a pipeline of state-of-the-art surface reconstruction techniques we apply to the data acquired by the AUV to obtain 3D models of the inspected structures that show the benefits of our planning method for 3D mapping. We demonstrate the efficacy of our method in experiments at sea using the GIRONA 500 AUV, where we cover part of a breakwater structure in a harbor and an underwater boulder rising from 40 m up to 27 m depth This research has been sponsored by the Government of Spain (COMAROB Project, DPI2011-27977-C03-02), the MORPH EU FP7-Project (grant agreement FP7-ICT-2011-7-288704), and the Eurofleets2 EU FP7-Project (grant agreement FP7-INF-2012-312762). The authors are grateful to Lluis Magi, Carles Candela, and Arnau Carrera for helping with the GIRONA 500 operations
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- 2015
10. Online 3D view planning for autonomous underwater exploration
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Vidal Garcia, Eduard, Carreras Pérez, Marc, Palomeras Rovira, Narcís, and Universitat de Girona. Departament d'Arquitectura i Tecnologia de Computadors
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Autonomous underwater robots ,Mapeo ,004 - Informàtica ,Planificación del movimiento ,Robots autònoms submarins ,Visualització ,Mapping ,68 - Indústries, oficis i comerç d'articles acabats. Tecnologia cibernètica i automàtica ,Visualización ,Planificació del moviment ,Mapeig ,Underwater robotics ,View planning ,Robots autónomos submarinos ,Motion planning ,Exploration ,Exploració ,62 - Enginyeria. Tecnologia ,Robòtica submarina ,Robótica submarina ,Exploración - Abstract
Autonomous underwater vehicles are used nowadays in many applications. One of the applications is mapping of a particular area of the ocean. Quen the robot needs to cover the area of interest and no prior knowledge of the area to be covered is avaialbe, a robotic exploration algorithm is used. This thesis develops a robotic exploration algorithm for autonomous underwater vehicles. The proposed algorithm allows the full exploration of a 2D or 3D environment, using acoustic sensors such as a scanning profiling sonar or a multibeam, and optical cameras. The validity of the proposed algorithm is demonstrated through numerous experiments carried out in different locations of the catalan coast, using different vehicles and sensor suites Els robots autònoms submarins s'utilitzen actualment en moltes aplicacions. Una d'elles és el mapeig d'una zona concreta de l'oceà. Quan el robot ha de cobrir la zona d'interès sense utilitzar informaciò prèvia sobre l'entorn a mapejar, s'utilitzen algorismes d'exploració robòtica. Aquesta tesi desenvolupa un algorisme d'exploració robòtica per a robots autònoms submarins. L'algorisme proposat permet explorar un entorn 2D o 3D en la seva totalitat, utilitzant sensors acústics, com per exemple un sonar perfilador o multifeix, i càmeres òptiques. La validesa de l'algorisme es demostra en experiments portats a terme a diferents entorns de la costa catalana, utilitzant múltiples vehicles i múltiples sensors
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- 2019
11. Online path planning for autonomous underwater vehicles under motion constraints
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Hernández Vega, Juan David, Carreras Pérez, Marc, and Universitat de Girona. Departament d'Arquitectura i Tecnologia de Computadors
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68 - Indústries, oficis i comerç d'articles acabats. Tecnologia cibernètica i automàtica ,Planificador de camins ,Vehicles submarins autònoms ,Planificador de caminos ,Autonomous underwater vehicles ,Exploration ,Exploració ,AUV ,Vehículos submarinos autónomos ,Robots ,Path planning ,Exploración - Abstract
The most common applications of autonomous underwater vehicles (AUVs) include imaging and inspecting different kinds of structures on the sea. Most of these applications require a priori information of the area or structure to be inspected, either to navigate at a safe and conservative altitude or to 2/2 pre-calculate a survey path. However, there are other applications where it's unlikely that such information is available (e.g., exploring confined natural environments like underwater caves). In this respect, this thesis presents an approach that endows an AUV with the capabilities to move through unexplored environments. To do so, it proposes a computational framework for planning feasible and safe paths online. This approach allows the vehicle to incrementally build a map of the surroundings, while simultaneously (re)plan a feasible path to a specified goal. The framework takes into account motion constraints in planning feasible paths, i.e., those that meet the vehicle's motion capabilities, Les aplicacions més comunes dels vehicles autònoms submarins o AUVs són l’obtenció d'imatges i inspecció de diferents tipus d'estructures, com per exemple, cascos de vaixells o estructures naturals en el fons marí. Moltes d'aquestes aplicacions requereixen informació a priori de l'àrea o estructura que es vol inspeccionar. No obstant, existeixen aplicacions similars o noves, com l'exploració d'entorns naturals confinats (e.g., coves submarines), on aquesta informació pot ser inexistent. En aquest sentit, aquesta tesi presenta una alternativa per dotar un AUV amb l'habilitat de moure’s a través d'entorns no explorats. Per aconseguir aquesta fita, aquesta tesi proposa un mètode per calcular en temps real camins factibles i segurs. El mètode proposat permet al vehicle construir de forma incremental un mapa de l'entorn, i al mateix temps replanificar un camí factible cap a l'objectiu establert. El mètode proposat te en compte les restriccions de moviment del vehicle per planificar camins que siguin factibles
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- 2017
12. Robot learning applied to autonomous underwater vehicles for intervention tasks
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Carrera Viñas, Arnau, Carreras Pérez, Marc, Palomeras Rovira, Narcís, Kormushev, Petar, and Universitat de Girona. Departament d'Arquitectura i Tecnologia de Computadors
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Artificial intelligence ,Robòtica ,Vehicles autònoms submarins ,Intervenciones submarinas ,Aprenentatge de robots ,Intel·ligència artificial ,Aprendizaje por demostración ,Robotics ,Aprenentatge per demostració ,Underwater intervention task ,Inteligencia artificial ,Intervencions submarines ,68 - Indústries, oficis i comerç d'articles acabats. Tecnologia cibernètica i automàtica ,Autonomous underwater vehicle ,Learning by demonstration ,Vehículos autónomos submarinos ,Aprendizaje de robots ,Robótica ,Robot learning - Abstract
The interest in performing underwater tasks using Autonomous Underwater Vehicles (AUVs) has been growing over the past few years. In this thesis, a flexible framework for underwater interventions using a Learning by Demonstration algorithm as a core has been developed. This algorithm allows to the robot's user to transfer a skill or knowledge to the I-AUV using a natural and intuitive form. The developed framework for interventions has been tailored to the GIRONA 500 AUV in order to enable it to perform an underwater valve turning task under different conditions. The GIRONA 500 has been equipped with a 4 DOF Manipulator and a custom end-effector. Throughout this thesis, the experiments developed have been carried out in a mock-up scenario of a sub-sea installation with a valve panel. The difficulty of the task has been increased gradually in order to test the new improvements and the robustness in the proposed framework, Durant les últimes dècades ha augmentat l’interès en la utilització de Vehicles Autònoms Submarins (AUVs) per realitzar tasques submarines. En aquesta tesis s’ha desenvolupat un marc de treball (framework) per a realitzar intervencions submarines amb AUVs basat en un algorisme d’Aprenentatge per Demostració (LbD). Aquest algorisme permet a l’usuari del robot transferir el seu coneixement al vehicle d’intervenció d’una forma natural. El framework desenvolupat s’ha ajustat a les característiques del GIRONA 500 AUV, amb l’objectiu de que pugui girar vàlvules submarines en diverses condicions. El GIRONA 500 s’ha equipat amb un braç robòtic i un element terminal personalitzat. Al llarg de tota la tesis s’ha utilitzat com entorn de desenvolupament un tanc d’aigua amb una recreació d’un escenari d’intervenció subaquàtic on s’han de girar determinades vàlvules d’un panell. El grau de dificultat de la tasca s’ha incrementat de forma gradual, per tal de poder provar les noves millores
- Published
- 2017
13. Development of a teaching assistance application for SoftBank Pepper
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Lleonsí Carrillo, Ignasi, Universitat de Girona. Escola Politècnica Superior, and Carreras Pérez, Marc
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Robots -- Programació ,Robots -- Programming ,Python (Llenguatge de programació) ,Presentacions gràfiques multimèdia ,Interacció persona-ordinador ,Human-computer interaction ,Python (Computer program language) ,Presentation graphics software - Abstract
During this project, we are going to develop an application to support teaching assistance (presentations) on the Softbank Pepper robot. One of the many problems when working with robots is flexibility and comfort for the end user. This project wants to create a simple application that uses the regular user’s inputs to feed information to the robot, such as images to show, dialog, etc. This application will be built from scratch and should be easily extendable by people familiar with the robot’s official software. That is one of the main objectives of the project. This project provides all the necessary tools to learn everything needed to develop the application further, or to just use it as is
- Published
- 2017
14. Integració de timons en el robot SPARUS II pel control en cinc graus de llibertat
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Pairet Artau, Èric, Universitat de Girona. Escola Politècnica Superior, and Carreras Pérez, Marc
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Submersibles ,Vehicles submergibles ,Robots -- Programació ,Robots mòbils -- Aparells i accessoris ,Robots -- Programming ,Robots mòbils -- Sistemes de control ,Mobile robots -- Equipment and supplies ,Mobile robots -- Control systems - Abstract
El CIRS és un grup de recerca que pertany a l’institut VICOROB de la UdG que es dedica a la investigació en el camp de la robòtica submarina. Un dels robots autònoms dels que disposa és l’SPARUS II, el qual abans de la realització d’aquest projecte encara es trobava en fase de desenvolupament. Aquest vehicle submarí es va dissenyar per ser hidrodinàmicament eficient, reconfigurable segons les necessitats de cada tasca i amb una gran autonomia a partir de les seves bateries de lithium-ion. També es va pensar que podria assolir satisfactòriament la velocitat de 2 m/s, especificació que no s’havia complert amb els tres graus de llibertat o DOFs dels que disposava, el surge, el heave i el yaw; quan superava la velocitat de 0,5 m/s el robot s’orientava incontroladament amb pitch i impossibilitava mantenir una profunditat constant. L’objecte del present projecte és integrar electrònicament i a nivell de software els dos timons de profunditat a la part posterior del vehicle tot proporcionant al robot el control de dos DOFs addicionals, el pitch i el roll. Amb aquests actuadors es preveu solucionar el problema exposat anteriorment i assolir satisfactòriament les característiques de disseny del robot, a més de millorar el seu rendiment global. L’abast d’aquest projecte cobreix el disseny, muntatge, programació i instal·lació d’una placa electrònica que interpreti les consignes provinents de l’ordinador central del robot i que posicioni els dos timons de profunditat segons les consignes rebudes. Aquesta placa també interpretarà valors de calibratge per cada una de les pales i informarà de la presència d’aigua dins el compartiment on s’ubiquen els seus actuadors mecànics
- Published
- 2015
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