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Robotic architecture to map an action language to a low level motion commands for skillful manipulation
(2020)
This paper gives an overview of a robotic
architecture meant for skillful manipulation. This design is
meant to close the gap between the high-level layer (reasoning
and planing layer) and the object model system (physical ...
Learning the prediction error for improving an analytical-based prediction (object-model) system for manipulation tasks
(2018)
One of the main tasks in robotics today, is to
bring robots closer to humans in everyday situations. This
requires the robot to understand how its environment (objects,
people, conditions) behaves. One method that tries ...
Robustness/performance tradeoff for anisochronic plants with two degrees of freedom PID controllers
(2015)
In this paper, the anisochronic model (which is able to represent both over-damped and under-damped process with the same topology) is used for the tuning of PI and PID controllers. The relationship between robustness and ...
Pushing cylinders: Expanding on object-based manipulation
(2020-07)
Competent assistant robots need to understand
their environment to be able to perform skilled manipulation
tasks. One way of achieving it is to have knowledge about the
physical behaviour of objects and how they respond ...
Diseño y evaluación mediante simulación de una articulación inteligente de alto desempeño para robots humanoides
(2021)
El porcentaje de personas adultas mayores en el planeta ha aumentado considerablemente en la última década (de acuerdo a un estudio de las Naciones Unidades llamado “World Population Ageing 2020 Highlights”. En 2020 se ...
Automated Quantification of Ki-67 on Gastric Epithelial Tissue based on Cell Nuclei Area Ratio
(2022)
The objective was to develop an automated algorithm for the estimation of a protein (Ki-67) index based on cell nuclei area ratio of gastric epithelial tissue cells; for this purpose, digital histopathology images were ...
Torso, mobile platform and head integration for a humanoid robot
Integración de un torso, base móvil y una cabeza, para un robot humanoide
(2019)
En el ARCOS-Lab, se tiene como proyecto principal, la construcción de un robot
humanoide de cuerpo completo, capaz de realizar tareas de manipulación de objetos a un nivel
elevado de precisión y complejidad. Para ello, ...
New constrained predictive PID controller for packet dropouts in wireless networked control systems
(2018-06-18)
A new constrained predictive PID controller is presented to achieve stability and performance robustness in Wireless Networked Control Systems (WNCS), where the communication is subject to dropouts in both communication ...
I-PD controller as an structural alternative to servo/regulation tradeoff tuning
(2018)
One of the recurrent topics in the PI/PID literature of recent years is the incorporation of the tradeoff between the two possible modes of closed-loop operation: servo and regulation. Tuning rules are usually provided as ...
Generación de supercontinuo con fibra óptica microestructurada de dispersión decreciente y su aplicación en imagen biomédica
(2024-01-22)
Cuando un pulso láser suficientemente intenso se propaga por un material transparente, la naturaleza no
lineal del material se pone de manifiesto y es posible la generación de un conjunto de fenómenos no lineales
que ...