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1. Thermal Vision for Soil Assessment in a Multipurpose Environmental Chamber under Martian Conditions towards Robot Navigation

Author

Castilla-Arquillo, Raul, Mandow, Anthony, Perez-del-Pulgar, Carlos J., Alvarez-Llamas, Cesar, Vadillo, Jose M., and Laserna, Javier

Subjects
Computer Science - Robotics
Abstract

Soil assessment is important for mobile robot planning and navigation on natural and planetary environments. Terramechanic characteristics can be inferred from the thermal behaviour of soils under the influence of sunlight using remote sensors such as Long-Wave Infrared cameras. However, this behaviour is greatly affected by the low atmospheric pressures of planets such as Mars, so practical models are needed to relate robot remote sensing data on Earth to target planetary exploration conditions. This article proposes a general framework based on multipurpose environmental chambers to generate representative diurnal cycle dataset pairs that can be useful to relate the thermal behaviour of a soil on Earth to the corresponding behaviour under planetary pressure conditions using remote sensing. Furthermore, we present an application of the proposed framework to generate datasets using the UMA-Laserlab chamber, which can replicate the atmospheric \ch{CO2} composition of Mars. In particular, we analyze the thermal behaviour of four soil samples of different granularity by comparing replicated Martian surface conditions and their Earth's diurnal cycle equivalent. Results indicate a correlation between granularity and thermal inertia that is consistent with available Mars surface measurements recorded by rovers. The resulting dataset pairs, consisting of representative diurnal cycle thermal images with heater, air, and subsurface temperatures, have been made available for the scientific community., Comment: 10 pages, 13 figures

Published
2023

2. U-Net/ResNet-50 Network with Transfer Learning for Semantic Segmentation in Search and Rescue

Author

Salas-Espinales, Andrés, Vélez-Chávez, Elián, Vázquez-Martín, Ricardo, García-Cerezo, Alfonso, Mandow, Anthony, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Marques, Lino, editor, Santos, Cristina, editor, Lima, José Luís, editor, Tardioli, Danilo, editor, and Ferre, Manuel, editor

Published
2024
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4. Remote Planning and Operation of a UGV Through ROS and Commercial Mobile Networks

Author

Sánchez-Montero, Manuel, Toscano-Moreno, Manuel, Bravo-Arrabal, Juan, Serón Barba, Javier, Vera-Ortega, Pablo, Vázquez-Martín, Ricardo, Fernandez-Lozano, Juan Jesús, Mandow, Anthony, García-Cerezo, Alfonso, Kacprzyk, Janusz, Series Editor, Gomide, Fernando, Advisory Editor, Kaynak, Okyay, Advisory Editor, Liu, Derong, Advisory Editor, Pedrycz, Witold, Advisory Editor, Polycarpou, Marios M., Advisory Editor, Rudas, Imre J., Advisory Editor, Wang, Jun, Advisory Editor, Tardioli, Danilo, editor, Matellán, Vicente, editor, Heredia, Guillermo, editor, Silva, Manuel F., editor, and Marques, Lino, editor

Published
2023
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7. SPIN-Based Linear Temporal Logic Path Planning for Ground Vehicle Missions with Motion Constraints on Digital Elevation Models.

Author

Toscano-Moreno, Manuel, Mandow, Anthony, Martínez, María Alcázar, and García-Cerezo, Alfonso José

Subjects
*DIGITAL elevation models, *MATHEMATICAL optimization, *ALL terrain vehicles, *COST control, *PARAMETERIZATION
Abstract

Linear temporal logic (LTL) formalism can ensure the correctness of mobile robot planning through concise, readable, and verifiable mission specifications. For uneven terrain, planning must consider motion constraints related to asymmetric slope traversability and maneuverability. However, even though model checker tools like the open-source Simple Promela Interpreter (SPIN) include search optimization techniques to address the state explosion problem, defining a global LTL property that encompasses both mission specifications and motion constraints on digital elevation models (DEMs) can lead to complex models and high computation times. In this article, we propose a system model that incorporates a set of uncrewed ground vehicle (UGV) motion constraints, allowing these constraints to be omitted from LTL model checking. This model is used in the LTL synthesizer for path planning, where an LTL property describes only the mission specification. Furthermore, we present a specific parameterization for path planning synthesis using a SPIN. We also offer two SPIN-efficient general LTL formulas for representative UGV missions to reach a DEM partition set, with a specified or unspecified order, respectively. Validation experiments performed on synthetic and real-world DEMs demonstrate the feasibility of the framework for complex mission specifications on DEMs, achieving a significant reduction in computation cost compared to a baseline approach that includes a global LTL property, even when applying appropriate search optimization techniques on both path planners. [ABSTRACT FROM AUTHOR]

Published
2024
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8. Velocity-Based Heuristic Evaluation for Path Planning and Vehicle Routing for Victim Assistance in Disaster Scenarios

Author

Toscano-Moreno, Manuel, Mandow, Anthony, Martínez, María Alcázar, García-Cerezo, Alfonso, 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, Silva, Manuel F., editor, Luís Lima, José, editor, Reis, Luís Paulo, editor, Sanfeliu, Alberto, editor, and Tardioli, Danilo, editor

Published
2020
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10. Open On-Limb Robot Locomotion Mechanism with Spherical Rollers and Diameter Adaptation.

Author

Tobar-Subía-Contento, Luz M., Mandow, Anthony, and Gómez-de-Gabriel, Jesús M.

Subjects
ROBOT design & construction, MOBILE robots, CASCADE control, WEARABLE technology, ROBOTS, ROBOT hands
Abstract

The rapid development of wearable technologies is increasing research interest in on-body robotics, where relocatable robots can serve as haptic interfaces, support healthcare measurements, or assist with daily activities. However, on-body mobile robotics poses challenges in aspects such as stable locomotion and control. This article proposes a novel small robot design for moving on human limbs that consists of an open grasping mechanism with a spring linkage, where one side holds a pivoting differential drive base (PDDB) with two spherical rollers, and the other side holds an actuated roller for grasping and stabilization. The spherical rollers maintain contact at three points on the limb, optimizing stability with a minimal number of rollers and integrating DC motors within. The PDDB wheels (spherical rollers) enable directional changes on limb surfaces. The combination of the open mechanism, the PDDB, and the spherical rollers allows adaptability to diameter variations along the limb. Furthermore, the mechanism can be easily put on or removed at any point along the limb, eliminating the need to slip the robot over the hand or foot. The kinematic model for the proposed mechanism has been developed. A cascade control strategy is proposed with an outer loop for stable grasping and an inner loop for trajectory adjustments using PDDB roller velocities. An on-limb robot prototype has been built to test its applicability to human arms. Simulation and experimental results validate the design. [ABSTRACT FROM AUTHOR]

Published
2024
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16. Multi-layer Perceptrons for Voxel-Based Classification of Point Clouds from Natural Environments

Author

Plaza, Victoria, Gomez-Ruiz, Jose Antonio, Mandow, Anthony, Garcia-Cerezo, Alfonso, 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, Rojas, Ignacio, editor, Joya, Gonzalo, editor, and Catala, Andreu, editor

Published
2015
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17. Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

Author

Gómez-de-Gabriel, Jesús Manuel, Mandow, Anthony, Fernández-Lozano, Jesús, and García-Cerezo, Alfonso

Abstract

This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.

Published
2015
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18. Thermal Imagery for Rover Soil Assessment Using a Multipurpose Environmental Chamber Under Simulated Mars Conditions

Author

Castilla-Arquillo, Raul, Mandow, Anthony, Perez-del-Pulgar, Carlos J., Alvarez-Llamas, Cesar, Vadillo, Jose M., and Laserna, Javier

Abstract

Planetary rover missions on Mars have suffered entrapments and serious mobility incidents due to soil assessment limitations of stereo RGB cameras, which cannot characterize relevant physical phenomena such as thermal behavior that depend on granularity and cohesion. In particular, thermal inertia estimations are already being used to assess geophysical properties from 1-D low-resolution measurements by onboard thermopiles. However, no high-resolution measurements are currently available to characterize Martian soils for safer navigation in future missions, so new experimental methods are required to capture and analyze thermal images with planetary conditions in Earth-based experiments. In this work, we propose a novel measurement system configuration and experimental methodology to capture thermal images using isolated multipurpose environmental chambers (MECs) to replicate the temperature and pressure conditions of Mars. Furthermore, the system has allowed to measure diurnal cycles for four soil types of known physical characteristics under Martian and Earth pressures to perform a unique quantitative analysis and comparison of thermal behavior and thermal inertia for soil assessment. Even if no actual Martian infrared (IR) images are available for comparison, results indicate a correlation between granularity and thermal inertia that is consistent with available thermopile measurements recorded by rover’s onsite. Furthermore, the set of measurements acquired in the experiments has been made available to the scientific community.

Published
2024
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23. Identificación de parámetros borrosos para el control de suspensión activa mediante enjambre de partículas

Author

Herrera, Isabel Elena, Mandow, Anthony, and Garcia-Cerezo, Alfonso J.

Subjects
Conjuntos difusos, Suspensión activa, Algoritmos evolutivos, Enjambre de partículas, Control borroso
Abstract

[Resumen] Este artículo aborda la identificación de parámetros borrosos mediante técnicas de optimización de enjambre de partículas (PSO) y su aplicación al control de un sistema de suspensión activa. En particular, se adopta un controlador de tipo Takagi-Sugeno de orden cero con Partición Difusa Estándar de sus antecedentes. A diferencia de trabajos previos, donde el aprendizaje se limitaba a los parámetros de escala del control, el método propuesto permite la optimización de los conjuntos borrosos de los antecedentes. La metodología propuesta se ha experimentado con éxito sobre un sistema físico de un cuarto de vehículo. Este trabajo ha sido financiado parcialmente por los proyectos CICYT DPI 2011-22443 and DPI2015-65186-R https://doi.org/10.17979/spudc.9788497498081

Published
2022

27. Enabling Remote Responder Bio-Signal Monitoring in a Cooperative Human–Robot Architecture for Search and Rescue.

Author

Vera-Ortega, Pablo, Vázquez-Martín, Ricardo, Fernandez-Lozano, J. J., García-Cerezo, Alfonso, and Mandow, Anthony

Subjects
RESCUE work, FATIGUE (Physiology), SEARCH engines, BIOLOGICAL monitoring, REMOTE control, HUMAN activity recognition, SUCCESSIVE approximation analog-to-digital converters
Abstract

The roles of emergency responders are challenging and often physically demanding, so it is essential that their duties are performed safely and effectively. In this article, we address real-time bio-signal sensor monitoring for responders in disaster scenarios. In particular, we propose the integration of a set of health monitoring sensors suitable for detecting stress, anxiety and physical fatigue in an Internet of Cooperative Agents architecture for search and rescue (SAR) missions (SAR-IoCA), which allows remote control and communication between human and robotic agents and the mission control center. With this purpose, we performed proof-of-concept experiments with a bio-signal sensor suite worn by firefighters in two high-fidelity SAR exercises. Moreover, we conducted a survey, distributed to end-users through the Fire Brigade consortium of the Provincial Council of Málaga, in order to analyze the firefighters' opinion about biological signals monitoring while on duty. As a result of this methodology, we propose a wearable sensor suite design with the aim of providing some easy-to-wear integrated-sensor garments, which are suitable for emergency worker activity. The article offers discussion of user acceptance, performance results and learned lessons. [ABSTRACT FROM AUTHOR]

Published
2023
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29. Análisis de técnicas de aumento de datos y entrenamiento en YOLOv3 para detección de objetos en imágenes RGB y TIR del UMA-SAR Dataset

Author

Galán-Cuenca, Álvaro, Vázquez-Martín, Ricardo, Mandow, Anthony, Morales, Jesús, García-Cerezo, Alfonso, Galán-Cuenca, Álvaro, Vázquez-Martín, Ricardo, Mandow, Anthony, Morales, Jesús, and García-Cerezo, Alfonso

Abstract

[Resumen] El uso de imágenes de los espectros visible (RGB) e infrarrojo térmico (TIR) para la detección de objetos puede resultar crucial en aplicaciones donde las condiciones de visibilidad están limitadas, como la robótica para búsqueda y rescate en catástrofes. Para ello resulta beneficioso analizar cómo las técnicas de aprendizaje profundo basadas en redes neuronales convolucionales (CNN) pueden aplicarse a ambas modalidades. En este artículo se analizan diferentes configuraciones y parámetros para el entrenamiento de CNN tanto para imágenes térmicas como para imágenes equivalentes del espectro visible. En concreto, se aborda el problema del sobre-entrenamiento para determinar una configuración eficaz de técnicas de aumento de datos y parada temprana. El caso de estudio se ha realizado con la red de código abierto YOLOv3, pre-entrenada con el dataset RGB COCO y optimizada (o re-entrenada) con el conjunto público de datos UMA-SAR dataset, que incluye pares de imágenes RGB y TIR obtenidas en ejercicios realistas de rescate., [Abstract] The combination of imaging of visible (RGB) and thermal infrared (TIR) modalities can be crucial for object detection in applications where visibility conditions are limited, such as search and rescue robotics. For this, it is beneficial to analyze how deep learning techniques based on convolutional neural networks (CNN) can be applied to these modalities. This article discusses different settings and parameters for CNN training for two equivalent sets of thermal and RGB images. Specifically, we address the problem of overfitting and determine an effective configuration of data augmentation and early stop techniques. The case study has been carried out with the open source network YOLOv3, pre-trained with the RGB COCO dataset, and optimised with the UMA-SAR dataset, which includes pairs of RGB and TIR images obtained in realistic rescue exercises.

Published
2021

34. Experimental Validation of a Robotic Stretcher for Casualty Evacuation in a Man-Made Disaster Exercise

Author

Pastor, Francisco, Mandow, Anthony, Serón, Javier, and Garcia-Cerezo, Alfonso J.

Subjects
Casualty evacuation, Search and rescue, Catástrofes, Robots, Disaster robotics, Robotic stretcher, UGV
Abstract

This paper describes a cooperative search and rescue exercise where an unmanned ground vehicle (UGV) is used by a military rescue team for extraction and evacuation of a casualty from an unsafe man-made disaster area. This experimental validation was performed within a full-scale emergency response exercise organized on June 2019 by the Chair of Safety, Emergencies and Disasters at Universidad de Málaga (Spain). With this purpose, we adapted the skid-steer Rambler robot to carry a stretcher with appropriate roll-in and locking mechanisms. The mission consisted of two phases: first, extraction from the hot zone was performed with remote teleoperation using a dummy; second, casualty evacuation (CASEVAC) to an aeromedical evacuation point was done with sightline teleoperation moving an actual volunteer. The realistic one-shot exercise was performed by actual rescue personnel with no previous experience with the robotic system. The paper shares insight and lessons learned from this concept validation experience. This work was partially supported by the project ``TRUST-ROB: Towards Resilient UGV and UAV Manipulator Teams for Robotic Search and Rescue Tasks'', funded by the Spanish Government (RTI2018-093421-B-I00). Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.

Published
2020

40. Modelado y verificación mediante lógica lineal temporal de un grupo de dos ascensores con sistema de control de destino

Author

Toscano Moreno, Manuel, Arregui, Alberto, Mandow, Anthony, García-Cerezo, Alfonso, Toscano Moreno, Manuel, Arregui, Alberto, Mandow, Anthony, and García-Cerezo, Alfonso

Abstract

[Resumen] Los grupos de ascensores con sistema de preselección de destino persiguen la reducción del tiempo de espera en edificios de mediana y gran altura como hoteles o bloques de oficinas. En este tipo de sistemas, los pasajeros se dirigen al ascensor de acuerdo con el destino que hayan indicado en un panel exterior. El presente trabajo aborda la verificación del control de ascensores con preselección de destino mediante la aplicación de una herramienta software basada en lógica temporal lineal (LTL). En particular, se ha definido tanto el modelo del sistema como la especificaciones LTL mediante la herramienta de código abierto Spin. Como caso de estudio, se ha implementado el modelo de un grupo de dos ascensores en un edificio de cuatro plantas con paneles de preselección de destino en cada planta. El artículo ofrece resultados preliminares de simulaciones y verificaciones para un conjunto de fórmulas LTL definidas específicamente para este sistema., [Abstract] Destination dispatch systems for group control of elevators aim to reduce the waiting and displacement time with respect to conventional control systems in mid and high rise buildings such as hotels or office blocks. In these systems, passengers are directed to cars according to their destinations. The present work addresses verification of the destination control system for an elevator group by using a software tool based on linear temporal logic (LTL). In particular, both the system model and the LTL specifications have been defined using the open source tool Spin. As a case study, the model of a group of two elevators has been implemented in a four-story building with destination preselection panels in each plant. The article offers preliminary results of simulations and verifications for a set of LTL formulas defined specifically for this system

Published
2019

41. Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions

Author

Fernández-Lozano, Juan Jesús, Mandow, Anthony, Martín-Guzmán, Miguel, Martín-Ávila, Juan, Gomez-Ruiz, Jose Antonio, Socarras Bertiz, Carlos, Miranda-Paez, Jesus, and Garcia-Cerezo, Alfonso J.

Subjects
Robótica
Abstract

Search and rescue operations in the context of emergency response to human or natural disasters have the major goal of finding potential victims in the shortest possible time. Multi-agent teams, which can include specialized human respondents, robots and canine units, complement the strengths and weaknesses of each agent, like all-terrain mobility or capability to locate human beings. However, efficient coordination of heterogeneous agents requires specific means to locate the agents, and to provide them with the information they require to complete their mission. The major contribution of this work is an application of Wireless Sensor Networks (WSN) to gather information from a multi-agent team and to make it available to the rest of the agents while keeping coverage. In particular, a canine agent has been equipped with a mobile node installed on a harness, providing information about the dog’s location as well as gas levels. The configuration of the mobile node allows for flexible arrangement of the system, being able to integrate static as well as mobile nodes. The gathered information is available at an external database, so that the rest of the agents and the control center can use it in real time. The proposed scheme has been tested in realistic scenarios during search and rescue exercises.

Published
2018

42. Uso de Google Classroom como repositorio de robótica práctica: PieroAcademy

Author

Muñoz-Ramírez, Antonio J., Gómez-de-Gabriel, Jesús Manuel, Gandarias, Juan M., Cárdenas, José, Molina, Jaime, and Mandow, Anthony

Subjects
Tutoriales, Aprendizaje semipresencial, GAFE, Repositorio robótica, Blend learning, Google Classroom, GSFE, Tutorials, Robotic repository
Abstract

[Resumen] En el desarrollo de prácticas de laboratorio en algunas asignaturas del área de ingeniería de sistemas y automática, los alumnos recaban información relativa a equipos y componentes de diversas fuentes externas. Los resultados de su trabajo, que en muchos casos son de gran calidad, pasan al olvido una vez evaluados. Con el objetivo de poner en valor y mejorar el aprovechamiento de dichos trabajos, se propone la creación de un repositorio controlado de información, donde los estudiantes puedan recopilar parte del material necesario para la realización de sus trabajos, ejemplos de ayuda, y tutoriales realizados por otros estudiantes; pero además contribuir a ampliar la información mediante sus propias experiencias. En la implementación del repositorio, se hace uso de las herramientas proporcionadas por la G Suite for Education (GSFE), siendo el núcleo, la herramienta denominada Google Classroom. En este trabajo se describe la implantación y experiencia con este sistema como medio para gestionar un repositorio organizado donde sus denominadas “clases", toman contenido de unidades temáticas; con la versatilidad de su acceso desde dispositivos móviles y la capacidad de reutilización en asignaturas reales. [Abstract] In developing laboratory practices in some courses related to systems engineering and automation, students are expected to gather information on equipment and components from different external sources. However, the results of their research, which in many cases are of high quality, are forgotten once evaluated. In order to value and improve the use of these works, we propose the creation of a controlled repository of information where students can collect material required to carry out their labwork, examples, and tutorials made by other students, but also contribute to expand the available information through their own experiences. The implementation of the repository is based on tools recently provided by the G Suite for Education (GSFE), especially Google Classroom. This paper describes the development and experience with this system as a means to manage an organized repository where the so-called "Classes" take content from thematic units. The experience has shown advantages regarding versatility in the access from mobile devices and the capacity of reuse in real courses. Universidad de Málaga; PIE 17-118 http://hdl.handle.net/10662/8215

Published
2018

43. Ground Extraction from 3D Lidar Point Clouds

Author

Pomares, Antonio, Martínez, Jorge L., Mandow, Anthony, Martinez-Sanchez, Maria Alcazar, and Morán, Mariano

Subjects
Machine Learning, Lidar, Aprendizaje automático (Inteligencia artificial), Classification
Abstract

© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works Pomares, A., Martínez, J.L., Mandow, A., Martínez, M.A., Morán, M., Morales, J. Ground extraction from 3D lidar point clouds with the Classification Learner App (2018) 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 2018, pp.400-405. DOI: Pending Ground extraction from three-dimensional (3D) range data is a relevant problem for outdoor navigation of unmanned ground vehicles. Even if this problem has received attention with specific heuristics and segmentation approaches, identification of ground and non-ground points can benefit from state-of-the-art classification methods, such as those included in the Matlab Classification Learner App. This paper proposes a comparative study of the machine learning methods included in this tool in terms of training times as well as in their predictive performance. With this purpose, we have combined three suitable features for ground detection, which has been applied to an urban dataset with several labeled 3D point clouds. Most of the analyzed techniques achieve good classification results, but only a few offer low training and prediction times. This work was partially supported by the Spanish project DPI 2015- 65186-R. The publication has received support from Universidad de Málaga, Campus de Excelencia Andalucía Tech.

Published
2018

44. Planificador estratégico para operaciones de rescate mediante vehículos terrestres no tripulados

Author

Toscano-Moreno, Manuel, Mandow, Anthony, Alcázar Martínez, María, García-Cerezo, Alfonso, Toscano-Moreno, Manuel, Mandow, Anthony, Alcázar Martínez, María, and García-Cerezo, Alfonso

Abstract

[Resumen] El despliegue de plataformas robóticas como apoyo a la gestión de situaciones de emergencia constituye un reto que persigue mejorar la eficiencia en misiones de búsqueda y rescate. Este artículo propone un planificador estratégico para el rescate de víctimas mediante un equipo de robots terrestres. Este sistema inteligente permitirá planificar las trayectorias para acceder a las víctimas de acuerdo con su ubicación y prioridad de asistencia médica (triaje). Para la planificación se propone una nueva variante del algoritmo “fast marching method” (FMM). En este trabajo se ofrecen resultados preliminares mediante un ejemplo de aplicación en condiciones simuladas., [Abstract] The deployment of robotic platforms in support of emergency management is a challange that seeks to improve efficiency in search and rescue missions. This paper proposes a strategic planner for the rescue of victims with a team of ground robots. The purpose of this intelligent system is planning the routes to access a number of victims according to their location and priority of medical assistance (i.e., triage). In particular, this paper offers work in progress regarding a new anisotropic variant of the fast marching method (FMM). Furthermore, preliminary results illustrate the application under simulated conditions.

Published
2018

49. Control a baja velocidad de una rueda con motor de accionamiento directo mediante ingeniería basada en modelos

Author

Muñoz-Ramírez, Antonio J., Luque Bedmar, Jesús M., Gómez-de-Gabriel, Jesús Manuel, Mandow, Anthony, Serón, Javier, García-Cerezo, Alfonso, Muñoz-Ramírez, Antonio J., Luque Bedmar, Jesús M., Gómez-de-Gabriel, Jesús Manuel, Mandow, Anthony, Serón, Javier, and García-Cerezo, Alfonso

Abstract

[Resumen] Los motores de corriente continua sin escobillas (BLDC) con accionamiento directo suponen una solución compacta para la tracción en vehículos eléctricos, si bien requieren detectar la posición del rotor, habitualmente mediante un codificador angular de efecto Hall dentro del mismo motor. No obstante, la ausencia de reductora y a la dificultad de añadir un codificador angular de precisión suponen un reto para lograr un control preciso a baja velocidad, especialmente si se hace uso de controladoras industriales donde las posibilidades de programación son limitadas. Este trabajo propone aplicar una estrategia de ingeniería basada en modelos (MDE) para el control a baja velocidad de una rueda con motor BLDC de accionamiento directo. En particular, se presenta la solución para un caso de estudio basado en hardware de bajo coste que incluye una tarjeta Arduino Due, una controladora Roboteq HBL2360 y un interfaz de comunicación de bus CAN. La solución MDE basada en Simulink ofrece simplicidad conceptual, capacidad de adaptación a nuevas especificaciones de diseño usando herramientas de diseño avanzadas y generación de código automática. El artículo ofrece resultados experimentales obtenidos sobre el sistema real.

Published
2017

50. Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots

Author

Mandow, Anthony, Cantador, Tomás J., Reina, Antonio J., Martínez, Jorge L., Morales, Jesús, and Garcia-Cerezo, Alfonso J.

Subjects
Elevation maps, Fuzzy modeling, 3D scanners, Mobile robots, Robots
Abstract

Mandow, A; Cantador, T.J.; Reina, A.J.; Martínez, J.L.; Morales, J.; García-Cerezo, A. "Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots," Robot2015: Second Iberian Robotics Conference, Advances in Robotics, (2016) Advances in Intelligent Systems and Computing, vol. 418. This is a self-archiving copy of the author’s accepted manuscript. The final publication is available at Springer via http://link.springer.com/book/10.1007/978-3-319-27149-1. The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To this end, spherical sub-sampling of the raw scan is proposed to select training data that does not filter out salient obstacles. Besides, rule structure is systematically defined by considering triangular sets with an unevenly distributed standard fuzzy partition and zero order Sugeno-type consequents. This structure, which favors a faster training time and reduces the number of rule parameters, also serves to compute a fuzzy reliability mask for the continuous fuzzy surface. The paper offers a case study using a Hokuyo-based 3D rangefinder to model terrain with and without outstanding obstacles. Performance regarding error and model size is compared favorably with respect to a solution that uses quadric-based surface simplification (QSlim). This work was partially supported by the Spanish CICYT project DPI 2011-22443, the Andalusian project PE-2010 TEP-6101, and Universidad de Málaga-Andalucía Tech.

Published
2015

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