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Comunicació de congrés presentada a: 17th International Conference of the Catalan Association for Artificial Intelligence, Barcelona, Catalonia, Spain, October 22-24, 2014 ; Performing subsea intervention tasks is a challenge due to the complexities of the underwater domain. We propose to use a learning by demonstraition algorithm to intuitively teach an intervention autonomous underwater vehicle (IAUV) how to perform a given task. Taking as an input few operator demonstrations, the algorithm generalizes the task into a model and simultaneously controls the vehicle and the manipulator (using 8 degrees of freedom) to reproduce the task. A complete framework has been implemented in order to integrate the LbD algorithm with the different onboard sensors and actuators. A valve turning intervention task is used to validate the full framework through real experiments conducted in a water tank ; This research was sponsored by the Spanish government (COMAROB Project, DPI2011-27977-C03-02) and the PANDORA EU FP7-Project under the Grant agreement FP7-ICT-2011-7-288273

Málaga (16-17 Junio 2016) ; Comprehensive Geriatric Assessment (CGA) is an integrated clinical procedure to evaluate frail old people status and create therapy plans to improve their quality and quantity of life. In this paper we present CLARC, a mobile robot able to receive the patient and his family, accompany them to the medical consulting room and, once there, help the physician to capture and manage their data during CGA procedures. The hardware structure of CLARC is based on a robotic platform from MetraLabs. The software architecture of the system incorporates a deeply tested framework for interactive robots. This framework, by encoding the whole CGA session using Automated Planning, is able to autonomously plan, drive, monitor and evaluate the session, while also managing robot navigation and data acquisition. CLARC incorporates a series of sensors allowing to collect data automatically, using non-invasive procedures. The healthcare professional can use the platform to automatically collect data while addressing other tasks such as personal interviewing, data evaluation or care planning. First trials will be carried out in hospitals in Seville and Barcelona in June and July 2016, respectively. ; This work has been partially funded by the European Union ECHORD++ project (FP7-ICT-601116) and the TIN2015-65686-C5-1-R Spanish Ministerio de Economía y Competitividad project.

This paper presents a method to build a semantic map to assist an underwater vehicle-manipulator system in performing intervention tasks autonomously in a submerged man-made pipe structure. The method is based on the integration of feature-based simultaneous localization and mapping (SLAM) and 3D object recognition using a database of a priori known objects. The robot uses Doppler velocity log (DVL), pressure, and attitude and heading reference system (AHRS) sensors for navigation and is equipped with a laser scanner providing non-coloured 3D point clouds of the inspected structure in real time. The object recognition module recognises the pipes and objects within the scan and passes them to the SLAM, which adds them to the map if not yet observed. Otherwise, it uses them to correct the map and the robot navigation if they were already mapped. The SLAM provides a consistent map and a drift-less navigation. Moreover, it provides a global identifier for every observed object instance and its pipe connectivity. This information is fed back to the object recognition module, where it is used to estimate the object classes using Bayesian techniques over the set of those object classes which are compatible in terms of pipe connectivity. This allows fusing of all the already available object observations to improve recognition. The outcome of the process is a semantic map made of pipes connected through valves, elbows and tees conforming to the real structure. Knowing the class and the position of objects will enable high-level manipulation commands in the near future ; This work was supported by the Spanish Government through a FPI Ph.D. grant to K. Himri, as well as by the Spanish Project DPI2017-86372-C3-2-R (TWINBOT-GIRONA1000) and the European project H2020-INFRAIA-2017-1-twostage-731103 (EUMarineRobots)

Problems related to quality (and quantity) of water in natural resources or in artificial reservoirs are frequently arising and are at the center of attention of authorities and governments around the world. Many times the monitoring is not performed in an efficient time frame and a precise manner, whereas the adoption of fast and punctual solutions would undoubtedly improve the water quality and consequently enhance the life of people. To minimize or diminish such kinds of problems, we propose an architecture for sensors installed in a robotic platform, an autonomous sail boat, able to acquire raw data relative to water quality, to process and make them available to people that might be interested in such information. The main contributions are the sensors architecture itself, which uses low cost sensors, with practical experimentation done with a prototype. Results show data collected for points in lakes and rivers in the northeast of Brazil. This embedded system is fixed in the sailboat robot with the intention to facilitate the study of water quality for long endurance missions. This robot can help monitoring water bodies in a more consistent manner. Nonetheless the system can also be used with fixed vases or buoys in strategic points.

1: Aspects of Robotics -- USA perspectives on the integration of robots into the factory of the future -- Research and development programmes in computer-integrated manufacturing in Europe -- Robotics research and development in 1985: a Japanese perspective -- Tactile sensors for robots: a review -- New manufacturing concepts — the plant engineer's perspective -- Robotics — some wider implications -- 2: Current Developments: Overviews and National Funding Programmes -- 3: World Directory of Robotics Research and Development Activities -- 4: World Index of Research and Development Centres -- 5: World Index of Robotics Researchers -- 6: Subject Index to Research Activities -- 7: Further Information.

Recent years have seen a rapid development of the Internet of Things (IoT) and the growth of autonomous robotic applications which are using network communications. Accordingly, an increasing advancement of intelligent devices with wireless sensors (that means autonomous robotic platforms) operating in challenging environments makes robots a tangible reality in the near future. Unfortunately, as a result of technical development, security problems emerge, especially when considering human–robot collaboration. Two abnormalities often compromise the basic security of collaborative robotic fleets: (a) Information faults and (b) system failures. This paper attempts to describe the methodology of a control framework design for secure robotic systems aided by the Internet of Things. The suggested concept represents a control system structure using blocks as the components. The structure is designed for the robots expected to interact with humans safely and act connected by communication channels. The properties of the components and relations between them are briefly described. The novelty of the proposed concept concerns the security mechanisms. The paper also categorizes two different modes of network attacks summarizing their causal effects on the human–robot collaboration systems. The issue of standardization is also raised. In particular, the works of the National Institute of Standards and Technology (NIST) and European Parliament (EP) on the security templates for communication channels are commented.

Telemanipulation systems have been widely utilized in industrial, surgical, educational, and even military fields. One of the important issues is that when a robot interacts with environment or objects, it can damage the robot itself or the objects due to hard contact. To address this problem, we propose a novel compliance control of a slave robot using the electromyography (EMG) signal, which is measured by the sensors attached onto the master operator&rsquo ; s arm. The EMG signal is used since it is easy to process and it provides humans with an intuitive capability to perform the operational work. Furthermore, it has been proved that the EMG signal is useful in the control of the stiffness of the slave robot. This research identifies the muscle that is the best suitable to a precision-grip operation, and a series of experiments were performed. A compliance control algorithm with a variable stiffness of a slave robot is proposed, where the stiffness is changed based on the EMG signal, and it is confirmed by a series of experiments using a two-channel force/position teleoperation architecture.

The object of research is the architecture of any combat ground robot in the context of its individual systems and subsystems. The conducted research forms a transparent and clear understanding of the main logical links of a combat robot, individual technologies, and components used in the development and serial production. The paper summarizes the global experience and achievements of combat robotics and provides examples of the example of the development of teams from Ukraine. The mentioned are the main system players in this sector of defense technologies, long-term and productive activity of which resulted in the appearance of the first combat robot units in the armies of the leading countries of the world. The author studied and presented the structural structure of any ground combat robot by the method of deduction and reproduction of functional capabilities. In the context of separate systems or subsystems of a ground combat robot recommendations on the equipment of those or other components, sensors, technologies, or their analogs and other equipment are given. The work summarizes the experience of the head of Robotics Design Bureau LLC (Kyiv, Ukraine), associated with the attention of representatives of foreign companies and government agencies to the Ukrainian developments in this area. The leading idea of the research is the priority development of functions and algorithms of combat robots, associated with the development of vision and autonomous movement systems. Realization of these functions sharply increases the advantages of own combat robots, increases their survivability and combat efficiency, reduces dangers for operators of the equipment. Factors related to the package of impact module subsystems directly affecting the combat effectiveness of a ground robot are presented. Compared to similar known studies on this topic, the research conducted immediately immerses the reader into the practical plane of developing a ground combat robot from the perspective of the engineer-creator, which ...

The field of in-hand robot manipulation of deformable objects is an open and key issue for the next-coming robots. Developing an adaptable and agile framework for the tasks where a robot grasps and manipulates different kinds of deformable objects, is a main goal in the literature. Many research works have been proposed to control the manipulation tasks using a model of the manipulated object. Despite these techniques are precise to model the deformations, they are time consuming and, using them in real environments is almost impossible because of the large amount of objects which the robot could find. In this paper, we propose a model-independent framework to control the movements of the fingers of the hands while the robot executes manipulation tasks with deformable objects. This technique is based on tactile images which are obtained as a common interface for different tactile sensors, and uses a servo-tactile control to stabilize the grasping points, avoid sliding and adapt the contacts' configuration regarding to position and magnitude of the applied force. Tactile images are obtained using a combination of dynamic Gaussians, which allows the creation of a common representation for tactile data given by different sensors with different technologies and resolutions. The framework was tested on different manipulation tasks where the objects are deformed, and without using a model of them. ; Research supported by the Spanish Ministry of Economy, European FEDER funds, Valencia Regional Government and University of Alicante through the projects DPI2015-68087-R, PROMETEO/2013/085 and GRE 15-05. This work has been also supported by the French Government Research Program Investissements d'avenir, through the RobotEx Equipment of Excellence (ANR-10-EQPX-44) and the IMobS3 Laboratory of Excellence (ANR-10-LABX-16-01).

[EN] This paper presents a bio-inspired hybrid algorithm for shape detection applicable to solar estimation in solar power plants. The objective is to locate and characterise the shape of a cloud over a solar power plant based on low level irradiance measurement with a small fleet of Unmanned Aerial Vehicles (UAVs) equipped with direct normal irradiance sensors. Toe hybrid algorithm takes inspiration and adapts ideas of the ant colony optimisation algorithm (ACO) and also uses a standard cover area algorithm, separating the field into two grids, one for each layer of the algorithm, to find the area affected by the cloud. Once the low irradiance zone is located by one of the UAVs, the others go to help it. This team delimits the cloud border using concepts of an image processing technique. Finally, the algorithm is tested by simulations. ; [ES] En este artículo se presenta un algoritmo híbrido bio-inspirado para la detección de formas aplicado a la estimación solar en plantas solares. Se tiene como objetivo localizar y caracterizar la forma de una nube sobre una planta solar basándose en medidas de niveles bajos de la irradiancia con una pequeña flota de vehículos aéreos no tripulados (UAVs en inglés) equipados con sensores capaces de medir la irradiancia directa normal. El algoritmo híbrido propuesto se inspira y adapta las ideas del algoritmo de optimización de colonia de hormigas (ant colony optimization, ACO) y también usa un algoritmo estándar de cobertura de área, separándose el campo de la planta solar en dos mallados, uno para cada capa del algoritmo, para encontrar el área afectada por la nube. Cuando un UAV localiza la zona de baja irradiancia, los otros van a ayudarle. Dicho equipo delimita el borde de la nube usando conceptos de técnicas de procesamiento de imágenes. Finalmente, se prueba el algoritmo propuesto mediante simulaciones. ; Este proyecto ha recibido fondos del European Research Council (ERC) en el marco del programa 'European Union's Horizon 2020 and innovation programme' (grant agreement ...

" The final publication is available at Springer via http://dx.doi.org/ 10.1007/978-3-319-07593-8_33" ; Currently, 3D sensors can be considered an evolution of cameras by providing the image with its depth information. These sensors have a generic function and the programmer has to process the received information in order to be adapted and used in a specific environment. In robots navigation, the 3D information can be useful for basic behaviours such as obstacles avoidance or even more complex behaviours such as maps generation . In this article an image management system provided by the xTion intelligent sensor is presented. The xTion sensor provides a VGA image and a 3D depth, which allows it to be used for several purposes. In order to distribute the data, it is acquired, processed and sent to several clients with a triple buffer system modified to serve the most recent image to the client. The system is programmed in C for Linux and built-in in a Raspberry PI. The article exposes the performance and results from monitoring the frame's delay comparing it with a simple and a double buffer system widely used in this kind of systems. ; Coordinated project COBAMI: Mission-based Hierarchical Control. Education and Science Department, Spanish Government. CICYT: MICINN: DPI2011-28507-C02-01/02 and project "Real time distributed control systems" of the Support Program for Research and Development 2012 UPV (PAID-06-12). ; Jiménez García, JL.; Poza Luján, JL.; Posadas Yagüe, JL.; Baselga Masiá, D.; Simó Ten, JE. (2014). Performance and Results of the Triple Buffering Built-In in a Raspberry PI to Optimize the Distribution of Information from a Smart Sensor. En Distributed Computing and Artificial Intelligence, 11th International Conference. Springer. 279-286. https://doi.org/10.1007/978-3-319-07593-8_33 ; S ; 279 ; 286 ; Brignell, J.E.: The future of intelligent sensors: a problem of technology or ethics? Sensors and Actuators 56, 11–15 (1996) ; Fernandes, J., Laranjeira, J., Novais, P., Marreiros, G., Neves, J.: A ...

International audience ; Anthropomorphic robots have become increasingly important in contemporary society as shown by the recent adoption of "Civil law rules on robotics" by the European Parliament on February 16, 2017 calling for a definition of smart robots based on: the acquisition of autonomy through sensors and/or by exchanging data with its environment (inter-connectivity) and the trading and analysing of those data; selflearning from experience and by interaction (optional criterion); at least a minor physical support, the adaptation of its behaviour and actions to the environment; absence of life in the biological sense. ; La robotique anthropomorphe prend de plus en plus de place dans notre quotidien. Le photographe et chirurgien Max Aguilera-Hellweg a photographié ces objets dont la forme ressemble étrangement à celle du corps humain. Pourquoi le photographe a-t-il choisi de renoncer au corps humain pour se tourner vers son simulacre ? Que possède le robot que le corps humain ne possèderait pas ? Quel intérêt y-a-t-il à photographier des objets qui ressemblent à des êtres humains ? Voici les interrogations qui guideront notre analyse du travail de Max Aguilera-Hellweg.

International audience ; Anthropomorphic robots have become increasingly important in contemporary society as shown by the recent adoption of "Civil law rules on robotics" by the European Parliament on February 16, 2017 calling for a definition of smart robots based on: the acquisition of autonomy through sensors and/or by exchanging data with its environment (inter-connectivity) and the trading and analysing of those data; selflearning from experience and by interaction (optional criterion); at least a minor physical support, the adaptation of its behaviour and actions to the environment; absence of life in the biological sense. ; La robotique anthropomorphe prend de plus en plus de place dans notre quotidien. Le photographe et chirurgien Max Aguilera-Hellweg a photographié ces objets dont la forme ressemble étrangement à celle du corps humain. Pourquoi le photographe a-t-il choisi de renoncer au corps humain pour se tourner vers son simulacre ? Que possède le robot que le corps humain ne possèderait pas ? Quel intérêt y-a-t-il à photographier des objets qui ressemblent à des êtres humains ? Voici les interrogations qui guideront notre analyse du travail de Max Aguilera-Hellweg.

International audience ; Anthropomorphic robots have become increasingly important in contemporary society as shown by the recent adoption of "Civil law rules on robotics" by the European Parliament on February 16, 2017 calling for a definition of smart robots based on: the acquisition of autonomy through sensors and/or by exchanging data with its environment (inter-connectivity) and the trading and analysing of those data; selflearning from experience and by interaction (optional criterion); at least a minor physical support, the adaptation of its behaviour and actions to the environment; absence of life in the biological sense. ; La robotique anthropomorphe prend de plus en plus de place dans notre quotidien. Le photographe et chirurgien Max Aguilera-Hellweg a photographié ces objets dont la forme ressemble étrangement à celle du corps humain. Pourquoi le photographe a-t-il choisi de renoncer au corps humain pour se tourner vers son simulacre ? Que possède le robot que le corps humain ne possèderait pas ? Quel intérêt y-a-t-il à photographier des objets qui ressemblent à des êtres humains ? Voici les interrogations qui guideront notre analyse du travail de Max Aguilera-Hellweg.

Trabajo presentado en el 19th International Conference on Humanoid Robots (Humanoids), celebrado en Toronto (Canadá) del 15 al 17 de octubre de 2019 ; Current locomotion algorithms in structured (in-door) 3D environments require an accurate localization. The several and diverse sensors typically embedded on legged robots (IMU, coders, vision and/or LIDARS) should make it possible if properly fused. Yet this is a difficult task due to the hetero-geneity of these sensors and the real-time requirement of the control. While previous works were using staggered approaches (odometry at high frequency, sparsely corrected from vision and LIDAR localization), the recent progress in optimal estimation, in particular in visual-inertial localization, is paving the way to a holistic fusion. This paper is a contribution in this direction. We propose to quantify how a visual-inertial navigation system can accurately localize a humanoid robot in a 3D indoor environment tagged with fiducial markers. We introduce a theoretical contribution strengthening the formulation of Forster's IMU pre-integration, a practical contribution to avoid possible ambiguity raised by pose estimation of fiducial markers, and an experimental contribution on a humanoid dataset with ground truth. Our system is able to localize the robot with less than 2 cm errors once the environment is properly mapped. This would naturally extend to additional measurements corresponding to leg odometry (kinematic factors) thanks to the genericity of the proposed pre-integration algebra. ; This work has been supported by the MEMMO European Union project within the H2020 Program under Grant Agreement No. 780684, the Spanish Ministry of Science, Innovation, and Universities project EB-SLAM (DPI2017-89564-P), by the EU H2020 project GAUSS (DPI2017-89564-P) and by the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI MDM-2016-0656.