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262 results on '"Arana-Daniel, Nancy"'

4. Image based visual servoing with kinematic singularity avoidance for mobile manipulator.

Author

Hernandez-Barragan, Jesus, Villaseñor, Carlos, Lopez-Franco, Carlos, Arana-Daniel, Nancy, and Gomez-Avila, Javier

Subjects
MATRIX inversion, JACOBIAN matrices, ROBOT control systems, LEAST squares, GRAVITY
Abstract

This article presents an implementation of visual servoing (VS) for a redundant mobile manipulator in an eye-in-hand configuration. We used the image based visual servoing (IBVS) scheme, which means the pose control of the robot is based on the error features in the image of a camera. Conventional eye-in-hand VS requires the inversion of a Jacobian matrix, which can become rank deficient, provoking kinematic singularities. In this work, the inversion of the Jacobian matrix is solved using damped least squares (DLS) to reduce singularities and smooth out discontinuities. In addition, a task prioritization scheme is proposed where a primary task performs the eye-in-hand IBVS task, and a secondary task maximizes a manipulability measure to avoid singularities. Finally, a gravity compensation term is also considered and defined on the basis of the image space error. The effectiveness of the proposed algorithm is demonstrated through both simulation and experimental results considering the Kuka YouBot. [ABSTRACT FROM AUTHOR]

Published
2024
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5. Inverse Kinematics of Robotic Manipulators Based on Hybrid Differential Evolution and Jacobian Pseudoinverse Approach.

Author

Hernandez-Barragan, Jesus, Plascencia-Lopez, Josue, Lopez-Franco, Michel, Arana-Daniel, Nancy, and Lopez-Franco, Carlos

Subjects
DIFFERENTIAL evolution, ROBOT kinematics, JACOBIAN matrices, NONLINEAR equations, KINEMATICS, METAHEURISTIC algorithms
Abstract

Robot manipulators play a critical role in several industrial applications by providing high precision and accuracy. To perform these tasks, manipulator robots require the effective computation of inverse kinematics. Conventional methods to solve IK often encounter significant challenges, such as singularities, non-linear equations, and poor generalization across different robotic configurations. In this work, we propose a novel approach to solve the inverse kinematics (IK) problem in robotic manipulators using a metaheuristic algorithm enhanced with a Jacobian step. Our method overcomes those limitations by selectively applying the Jacobian step to the differential evolution (DE) algorithm. The effectiveness and versatility of the proposed approach are demonstrated through simulations and real-world experimentation on a 5 DOF KUKA robotic arm. [ABSTRACT FROM AUTHOR]

Published
2024
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9. KAdam: Using the Kalman Filter to Improve Adam algorithm

Author

Camacho, José David, Villaseñor, Carlos, Alanis, Alma Y., Lopez-Franco, Carlos, Arana-Daniel, Nancy, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Nyström, Ingela, editor, Hernández Heredia, Yanio, editor, and Milián Núñez, Vladimir, editor

Published
2019
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10. Visual Odometry in GPS-Denied Zones for Fixed-Wing Unmanned Aerial Vehicle with Reduced Accumulative Error Based on Satellite Imagery.

Author

Mateos-Ramirez, Pablo, Gomez-Avila, Javier, Villaseñor, Carlos, and Arana-Daniel, Nancy

Subjects
VISUAL odometry, FEATURE extraction, REMOTE-sensing images, DRONE aircraft, VEHICLE models
Abstract

In this paper, we present a method for estimating GPS coordinates from visual information captured by a monocular camera mounted on a fixed-wing tactical Unmanned Aerial Vehicle at high altitudes (up to 3000 m) in GPS-denied zones. The main challenge in visual odometry using aerial images is the computation of the scale due to irregularities in the elevation of the terrain. That is, it is not possible to accurately convert from pixels in the image to meters in space, and the error accumulates. The contribution of this work is a reduction in the accumulated error by comparing the images from the camera with satellite images without requiring the dynamic model of the vehicle. The algorithm has been tested in real-world flight experiments at altitudes above 1000 m and in missions over 17 km. It has been proven that the algorithm prevents an increase in the accumulated error. [ABSTRACT FROM AUTHOR]

Published
2024
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12. Neural Identifier-Control Scheme for Nonlinear Discrete Systems with Input Delay

Author

Rios, Jorge D., Alanís, Alma Y., Arana-Daniel, Nancy, López-Franco, Carlos, Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Castillo, Oscar, editor, Reformat, Marek, editor, and Melek, William, editor

Published
2018
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13. Outdoor Robot Navigation Based on Particle Swarm Optimization

Author

Martínez Soltero, Erasmo Gabriel, Lopéz-Franco, Carlos, Alanis, Alma Y., Arana-Daniel, Nancy, Kacprzyk, Janusz, Series editor, Pal, Nikhil R., Advisory editor, Bello Perez, Rafael, Advisory editor, Corchado, Emilio S., Advisory editor, Hagras, Hani, Advisory editor, Kóczy, László T., Advisory editor, Kreinovich, Vladik, Advisory editor, Lin, Chin-Teng, Advisory editor, Lu, Jie, Advisory editor, Melin, Patricia, Advisory editor, Nedjah, Nadia, Advisory editor, Nguyen, Ngoc Thanh, Advisory editor, Wang, Jun, Advisory editor, Castillo, Oscar, editor, Reformat, Marek, editor, and Melek, William, editor

Published
2018
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14. Traversability Cost Identification of Dynamic Environments Using Recurrent High Order Neural Networks for Robot Navigation

Author

Arana-Daniel, Nancy, Valdés-López, Julio, Alanís, Alma Y., López-Franco, Carlos, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Mendoza, Marcelo, editor, and Velastín, Sergio, editor

Published
2018
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23. Acknowledgments

Author

Rios, Jorge D., primary, Alanis, Alma Y., additional, Arana-Daniel, Nancy, additional, and Lopez-Franco, Carlos, additional

Published
2020
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27. Recognition of Non-pedestrian Human Forms Through Locally Weighted Descriptors

Author

Arana-Daniel, Nancy, Cibrian-Decena, Isabel, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, and Pardo, Alvaro, editor

Published
2015
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28. Acknowledgment

Author

Alanis, Alma Y., primary, Arana-Daniel, Nancy, additional, and López-Franco, Carlos, additional

Published
2019
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36. Quaternion Support Vector Classifier

Author

López-González, G., Arana-Daniel, Nancy, Bayro-Corrochano, Eduardo, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Bayro-Corrochano, Eduardo, editor, and Hancock, Edwin, editor

Published
2014
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37. Bio-inspired Aging Model-Particle Swarm Optimization and Geometric Algebra for Structure from Motion

Author

Arana-Daniel, Nancy, Villaseñor, Carlos, López-Franco, Carlos, Alanís, Alma Y., Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Bayro-Corrochano, Eduardo, editor, and Hancock, Edwin, editor

Published
2014
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38. Plane Detection Using Particle Swarm Optimization and Conformal Geometric Algebra

Author

López-Franco, Carlos, Hernández-Barragán, Jesús, López-Franco, Michel, Arana-Daniel, Nancy, Alanís, Alma Y., Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Bayro-Corrochano, Eduardo, editor, and Hancock, Edwin, editor

Published
2014
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39. Bio-inspired Aging Model Particle Swarm Optimization Neural Network Training for Solar Radiation Forecasting

Author

Rangel, Eduardo, Alanís, Alma Y., Ricalde, Luis J., Arana-Daniel, Nancy, López-Franco, Carlos, Hutchison, David, Series editor, Kanade, Takeo, Series editor, Kittler, Josef, Series editor, Kleinberg, Jon M., Series editor, Kobsa, Alfred, Series editor, Mattern, Friedemann, Series editor, Mitchell, John C., Series editor, Naor, Moni, Series editor, Nierstrasz, Oscar, Series editor, Pandu Rangan, C., Series editor, Steffen, Bernhard, Series editor, Terzopoulos, Demetri, Series editor, Tygar, Doug, Series editor, Weikum, Gerhard, Series editor, Bayro-Corrochano, Eduardo, editor, and Hancock, Edwin, editor

Published
2014
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40. Conformal Hough Transform for 2D and 3D Cloud Points

Author

López-González, Gehová, Arana-Daniel, Nancy, Bayro-Corrochano, Eduardo, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Ruiz-Shulcloper, José, editor, and Sanniti di Baja, Gabriella, editor

Published
2013
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41. 3D Representation for Object Detection and Verification

Author

Villavicencio, Luis, Lopez-Franco, Carlos, Arana-Daniel, Nancy, Lopez-Franco, Lilibet, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Carrasco-Ochoa, Jesús Ariel, editor, Martínez-Trinidad, José Francisco, editor, Rodríguez, Joaquín Salas, editor, and di Baja, Gabriella Sanniti, editor

Published
2013
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42. Improving Recurrent CSVM Performance for Robot Navigation on Discrete Labyrinths

Author

Arana-Daniel, Nancy, López-Franco, Carlos, Bayro-Corrochano, Eduardo, Hutchison, David, editor, Kanade, Takeo, editor, Kittler, Josef, editor, Kleinberg, Jon M., editor, Mattern, Friedemann, editor, Mitchell, John C., editor, Naor, Moni, editor, Nierstrasz, Oscar, editor, Pandu Rangan, C., editor, Steffen, Bernhard, editor, Sudan, Madhu, editor, Terzopoulos, Demetri, editor, Tygar, Doug, editor, Vardi, Moshe Y., editor, Weikum, Gerhard, editor, Bayro-Corrochano, Eduardo, editor, and Eklundh, Jan-Olof, editor

Published
2009
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45. Final Remarks

Author

Alanis, Alma Y., primary, Arana-Daniel, Nancy, additional, and López-Franco, Carlos, additional

Published
2018
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47. Preface

Author

Alanis, Alma Y., primary, Arana-Daniel, Nancy, additional, and López-Franco, Carlos, additional

Published
2018
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