Vidal Moreno - Academia.edu (original) (raw)
Papers by Vidal Moreno
Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, 2018
The iberian ham is a high valued product, due to this fact, it is very important to offer to the ... more The iberian ham is a high valued product, due to this fact, it is very important to offer to the costumer a high quality food product and to ensure its organoleptic properties. Producers have to evaluate, periodically, its sensorial attributes by a professional tasting panel. Due to high elevated organizational and economics costs, in addition to, the sensory fatigue and the subjectivity of the panel members, only a few product lots are sampled. In this paper is proposed a cloud manufacturing based platform to monitor the quality of Iberian ham. The success of this solution is based on cooperation and data exchange between the main agents involved in the process: quality manager, professional tasters, production manager, inspection authorities, etc. Intelligent algorithms have been embedded into the cloud monitoring platform to predict the ham sensory properties, using the Near InfraRed Spectroscopy data from the product samples as input. The key feature of the solution is that the sensory analysis is performed without gathering routinely a professional tasting panel, but the solution also allows to the quality manager, with advanced visualization techniques, to monitor what is the merit figure related with a specific type of ham or shoulder. Another important aspect of the solution is that, due to the huge amount of data coming from the elaboration process itself are available is possible to fine-tune continuously the machine-learning algorithms to the particular producer and use them intelligently to increase the competitiveness.
Proceedings of the Sixth International Conference on Technological Ecosystems for Enhancing Multiculturality, 2018
Nowadays, one of the most commonly used techniques for the approach to spasticity is the ultrasou... more Nowadays, one of the most commonly used techniques for the approach to spasticity is the ultrasound-guided infiltration of botulinum toxin, because it has the most advantages. In order to medical professionals can properly use this technique, they need training and education. One of the ways to train and teach professionals is through simulators, because it is a safe and unlimited technique that makes the students' learning tasks much easier. In this paper is presented a screen-based computer simulator that will allow professionals to receive an autonomous training in the technique of ultrasound-guided Spasticity treatment. The simulation platform will guide students in learning all the tasks involved in the treatment of Spasticity by infiltration of Botulinum Toxin.
Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'
In this paper a mathematical formalism for the configuration space evaluation of robots is presen... more In this paper a mathematical formalism for the configuration space evaluation of robots is presented, that tries to optimise the computational time. The use of the proposed method and the choice of a suitable coordinate system, in the workspace, as well as in the configuration space, lead to the fact that the obstacle representation in the configuration space could be
2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021
Within the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and... more Within the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and robots. To achieve this, the barriers that have historically separated humans from industrial robots are being eliminated with the main objective of increasing performance by taking advantage of the capabilities in which each one excels. The success of collaborative robotics is possible once safety is ensured, adding the need and importance of a proper human-robot communication interface. In this context, there are many safety techniques in current collaborative robots, but these are not sufficient to guarantee high industrial production and quality products. Non-verbal communication using the hands is one of the most widely used techniques in the industrial environment for the exchange of human-human information. Thus, this work presents a safety solution based on the creation of a new layer that allows the avoidance of human-robot collisions and includes a robust and safe human-robot communication interface. Advanced automatic learning and computer vision techniques have been used in its development, which was experimental analyses and validated in a co-work scenario involving an industrial collaborative robot and an operator.
Sensors, 2020
In this paper, we present a new procedure to solve the global localization of mobile robots calle... more In this paper, we present a new procedure to solve the global localization of mobile robots called Environmental Stimulus Localization (ESL). We propose that the presence of common facts on the environment around the robot can be considered as stimuli for the procedure. The robust performance of our approach is supported by two concurrent particle filters. A primary particle filter estimates and tracks the robot position, while a secondary filter is fired by environmental stimuli, helps to reduce the influence of measurement errors and allows an earlier recovery from localization failures. We have successfully used this method in a 5000 m 2 real indoor environment using as inputs the available environment information from a Geographical Information System (GIS) map, the robot’s odometry and the output of an algorithm for the perception of facts from the environment. We present a case study and the result of different tests, showing the performance of our method under the influence o...
The Journal of Allergy and Clinical Immunology: In Practice, 2020
This is a PDF file of an article that has undergone enhancements after acceptance, such as the ad... more This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.
Sensors, 2018
As a consequence of the huge development of IMU (Inertial Measurement Unit) sensors based on MEMS... more As a consequence of the huge development of IMU (Inertial Measurement Unit) sensors based on MEMS (Micro-Electromechanical Systems), innovative applications related to the analysis of human motion are now possible. In this paper, we present one of these applications: a portable platform for training in Ultrasound Imaging-based musculoskeletal (MSK) exploration in rehabilitation settings. Ultrasound Imaging (USI) in the diagnostic and treatment of MSK pathologies offers various advantages, but it is a strongly operator-dependent technique, so training and experience become of fundamental relevance for rehabilitation specialists. The key element of our platform is a replica of a real transducer (HUSP—Haptic US Probe), equipped with MEMS based IMU sensors, an embedded computing board to calculate its 3D orientation and a mouse board to obtain its relative position in the 2D plane. The sensor fusion algorithm used to resolve in real-time the 3D orientation (roll, pitch and yaw angles) o...
IFAC Proceedings Volumes, 2004
This paper will present the educational initiative called NXT Workshops implemented at the Intern... more This paper will present the educational initiative called NXT Workshops implemented at the International Centre for Advanced Technologies (CITA). Its aim is to promote an attractive and dynamic view of science and technology in rural areas. At pedagogical level, arguments are given to establish the main learning theory upon which these workshops are based, being this theory "constructionism". Equally, their objective is to remark the importance attached to project-based learning in robotics for developing technological fluency. Generally speaking, some progress has been observed with regard to team work, in areas such as taking responsibility and developing creativity and self-esteem, as well as the ability to learn from challenges and to express opinions clearly. These first results of the study allow robotics to be considered a key factor in the development of personal competences in the new century.
Revista española de cardiología, 1992
In order to know the restenosis rate and its predictive factors and the short-term clinical outco... more In order to know the restenosis rate and its predictive factors and the short-term clinical outcome (6-12 months) after coronary angioplasty (PTCA), we prospectively followed 200 consecutive patients with 231 coronary stenoses successfully dilated (residual stenosis < 50%). Patients have been clinically and angiographically followed 6-9 months after the procedure. Forty-nine clinical, hemodynamic, angiographic and technical variables were analyzed. Restenosis (stenosis > or = 50% in late angiographic control) rate was 51.5%, and 61% of the study population was symptomless. Variables associated with restenosis in the univariate analysis were: pre-PTCA positive exercise test (p = 0.004); stenosis severity pre-PTCA (p = 0.04); eccentricity (p < 0.0001) and irregularity (p < 0.0001) of the pre-PTCA stenosis; total dilation time (p = 0.02) and post-PTCA dissection (p = 0.002). The multivariate analysis revealed the following variables as independent predictors of restenosis: ...
Lecture Notes in Computer Science, 2006
Many applications in computer graphics require fast and robust collision detection algorithms. Th... more Many applications in computer graphics require fast and robust collision detection algorithms. The problem of simulating motion in an articulated chain has been well studied using both dynamic and kinematics techniques. This paper describes an efficient method for obstacle representation in the configuration space (C-space) for articulated chains. The method is based on the analytical deconstruction of the Cspace, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link. The Deconstruction method is not limited to particular kinematic topologies and allows good collision detection times. The systematic application of a simple convolution of two functions describing each link in the kinematic chain and the workspace, respectively, is applied. The proposed method can naturally face the evaluation of high-dimensional C-spaces, since only non-colliding configurations are considered for the evaluation of the next link in the chain.
Proceedings of the First International Conference on Technological Ecosystem for Enhancing Multiculturality, 2013
ABSTRACT In today's information society there is a wide range of resources available to c... more ABSTRACT In today's information society there is a wide range of resources available to carry out different activities involving Educational Robotics (ER). Teachers can choose from a variety of robotics platforms, such as EIM, IM or I (Electronics/Mechanics/Informatics), as well as different software programs (textual or graphical), and thus eventually create a particular Robotics Learning Environment (RLE). Recent studies have shown that learning results associated with ER activities have a stronger link to RLE factors than to proper tools. In this paper we examine the state of the art (RLE resources and features) of ER in Spain and Latin America. A total of 127 teachers completed an online survey between March and May 2013. The final results confirm similar features existing between ordinary school activities and those carried out after school, as well as a high presence of hereby proposed features (active, manipulative, constructive, collaborative, reflexive, intentional, complex, conversational, contextual and technological), promoting significant learning. However, there are important differences with regard to gender, age and participants' countries of origin, as well as their participation in competitions, and their implementation of phases or roles, depending on the different features taken into consideration. This paper points at the importance of focusing research on pedagogical actions which may strengthen RLE features, and thus improve learning results.
Lecture Notes in Computer Science, 2005
This paper presents a new general method for obstacle representation in the configuration space (... more This paper presents a new general method for obstacle representation in the configuration space (C-space) for redundant robots. The method is based on the analytical deconstruction of the C-space, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link in the kinematic chain. The systematic application of a simple convolution of two functions describing each link and the workspace, respectively, is applied. In order to do that, the transformation of the workspace among reference systems located at one point of each link is needed; in this step a well-known and sound method is used.
Abstract In this work we present a hierarchical method to evaluate the configuration space of a m... more Abstract In this work we present a hierarchical method to evaluate the configuration space of a mobile robot working in large environments. It is based on convolution of discrete functions representing the workspace and the robot to obtain a function that represents the C-space. An important key in the work is that the representation of discrete functions is made by hierarchical data structures, so the information is highly compact, and high dimensions or/and resolutions workspaces can be considered. It is important to highlight that the ...
Proceedings of the First International Conference on Technological Ecosystem for Enhancing Multiculturality, 2013
ABSTRACT
Journal of Information Technology Research, 2014
The application of new technologies in training environments allows the development of new teachi... more The application of new technologies in training environments allows the development of new teaching modalities that enable knowledge and ability acquisition in healthcare professionals. Simulation has proven to be an effective method to favor and improve learning as well as to attain the necessary skills to perform a specific technique with greater reliability and security for the patient. We present a new tool or technological development in medical training, through an ultrasound simulator, valid for the knowledge and necessary ability acquisition in the proper infiltration of botulinum toxin guided by ultrasound. This tool benefits from the advantages that new technologies bring when applied in medical training, offering a virtual setting, comfortable and accessible, that does not require the user to move or have access to an ultrasound machine, allowing ultrasound explorations without the existence of a real patient.
Robotics and Autonomous Systems, 2010
This article presents two algorithms that extract information from laser range data. They are des... more This article presents two algorithms that extract information from laser range data. They are designed to work sequentially. The first method (dcc) separates the data into clusters by means of a convolution operation, using a high-pass filter. The second one (reholt) performs line detection in each of the clusters previously discovered. The reliability of the algorithms devised is tested on the experimental data collected both indoors and outdoors. When compared with other methods found in the literature, the ones proposed here prove to achieve higher performance.
The automatic generation of robot free-collision paths for accomplishing user-specified tasks is ... more The automatic generation of robot free-collision paths for accomplishing user-specified tasks is one of the key elements in robotics. Due to the high computational cost involved in the problem, it is very difficult to find solutions achieving online performance. In this paper, a general and new approach that provides this online motion planning capability to robot manipulators, is proposed. The
IEEE Transactions on Robotics and Automation, 2002
Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics, 2018
The iberian ham is a high valued product, due to this fact, it is very important to offer to the ... more The iberian ham is a high valued product, due to this fact, it is very important to offer to the costumer a high quality food product and to ensure its organoleptic properties. Producers have to evaluate, periodically, its sensorial attributes by a professional tasting panel. Due to high elevated organizational and economics costs, in addition to, the sensory fatigue and the subjectivity of the panel members, only a few product lots are sampled. In this paper is proposed a cloud manufacturing based platform to monitor the quality of Iberian ham. The success of this solution is based on cooperation and data exchange between the main agents involved in the process: quality manager, professional tasters, production manager, inspection authorities, etc. Intelligent algorithms have been embedded into the cloud monitoring platform to predict the ham sensory properties, using the Near InfraRed Spectroscopy data from the product samples as input. The key feature of the solution is that the sensory analysis is performed without gathering routinely a professional tasting panel, but the solution also allows to the quality manager, with advanced visualization techniques, to monitor what is the merit figure related with a specific type of ham or shoulder. Another important aspect of the solution is that, due to the huge amount of data coming from the elaboration process itself are available is possible to fine-tune continuously the machine-learning algorithms to the particular producer and use them intelligently to increase the competitiveness.
Proceedings of the Sixth International Conference on Technological Ecosystems for Enhancing Multiculturality, 2018
Nowadays, one of the most commonly used techniques for the approach to spasticity is the ultrasou... more Nowadays, one of the most commonly used techniques for the approach to spasticity is the ultrasound-guided infiltration of botulinum toxin, because it has the most advantages. In order to medical professionals can properly use this technique, they need training and education. One of the ways to train and teach professionals is through simulators, because it is a safe and unlimited technique that makes the students' learning tasks much easier. In this paper is presented a screen-based computer simulator that will allow professionals to receive an autonomous training in the technique of ultrasound-guided Spasticity treatment. The simulation platform will guide students in learning all the tasks involved in the treatment of Spasticity by infiltration of Botulinum Toxin.
Proceedings 1997 IEEE International Symposium on Computational Intelligence in Robotics and Automation CIRA'97. 'Towards New Computational Principles for Robotics and Automation'
In this paper a mathematical formalism for the configuration space evaluation of robots is presen... more In this paper a mathematical formalism for the configuration space evaluation of robots is presented, that tries to optimise the computational time. The use of the proposed method and the choice of a suitable coordinate system, in the workspace, as well as in the configuration space, lead to the fact that the obstacle representation in the configuration space could be
2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021
Within the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and... more Within the framework of Industry 4.0, robotics is experiencing a rapprochement between humans and robots. To achieve this, the barriers that have historically separated humans from industrial robots are being eliminated with the main objective of increasing performance by taking advantage of the capabilities in which each one excels. The success of collaborative robotics is possible once safety is ensured, adding the need and importance of a proper human-robot communication interface. In this context, there are many safety techniques in current collaborative robots, but these are not sufficient to guarantee high industrial production and quality products. Non-verbal communication using the hands is one of the most widely used techniques in the industrial environment for the exchange of human-human information. Thus, this work presents a safety solution based on the creation of a new layer that allows the avoidance of human-robot collisions and includes a robust and safe human-robot communication interface. Advanced automatic learning and computer vision techniques have been used in its development, which was experimental analyses and validated in a co-work scenario involving an industrial collaborative robot and an operator.
Sensors, 2020
In this paper, we present a new procedure to solve the global localization of mobile robots calle... more In this paper, we present a new procedure to solve the global localization of mobile robots called Environmental Stimulus Localization (ESL). We propose that the presence of common facts on the environment around the robot can be considered as stimuli for the procedure. The robust performance of our approach is supported by two concurrent particle filters. A primary particle filter estimates and tracks the robot position, while a secondary filter is fired by environmental stimuli, helps to reduce the influence of measurement errors and allows an earlier recovery from localization failures. We have successfully used this method in a 5000 m 2 real indoor environment using as inputs the available environment information from a Geographical Information System (GIS) map, the robot’s odometry and the output of an algorithm for the perception of facts from the environment. We present a case study and the result of different tests, showing the performance of our method under the influence o...
The Journal of Allergy and Clinical Immunology: In Practice, 2020
This is a PDF file of an article that has undergone enhancements after acceptance, such as the ad... more This is a PDF file of an article that has undergone enhancements after acceptance, such as the addition of a cover page and metadata, and formatting for readability, but it is not yet the definitive version of record. This version will undergo additional copyediting, typesetting and review before it is published in its final form, but we are providing this version to give early visibility of the article. Please note that, during the production process, errors may be discovered which could affect the content, and all legal disclaimers that apply to the journal pertain.
Sensors, 2018
As a consequence of the huge development of IMU (Inertial Measurement Unit) sensors based on MEMS... more As a consequence of the huge development of IMU (Inertial Measurement Unit) sensors based on MEMS (Micro-Electromechanical Systems), innovative applications related to the analysis of human motion are now possible. In this paper, we present one of these applications: a portable platform for training in Ultrasound Imaging-based musculoskeletal (MSK) exploration in rehabilitation settings. Ultrasound Imaging (USI) in the diagnostic and treatment of MSK pathologies offers various advantages, but it is a strongly operator-dependent technique, so training and experience become of fundamental relevance for rehabilitation specialists. The key element of our platform is a replica of a real transducer (HUSP—Haptic US Probe), equipped with MEMS based IMU sensors, an embedded computing board to calculate its 3D orientation and a mouse board to obtain its relative position in the 2D plane. The sensor fusion algorithm used to resolve in real-time the 3D orientation (roll, pitch and yaw angles) o...
IFAC Proceedings Volumes, 2004
This paper will present the educational initiative called NXT Workshops implemented at the Intern... more This paper will present the educational initiative called NXT Workshops implemented at the International Centre for Advanced Technologies (CITA). Its aim is to promote an attractive and dynamic view of science and technology in rural areas. At pedagogical level, arguments are given to establish the main learning theory upon which these workshops are based, being this theory "constructionism". Equally, their objective is to remark the importance attached to project-based learning in robotics for developing technological fluency. Generally speaking, some progress has been observed with regard to team work, in areas such as taking responsibility and developing creativity and self-esteem, as well as the ability to learn from challenges and to express opinions clearly. These first results of the study allow robotics to be considered a key factor in the development of personal competences in the new century.
Revista española de cardiología, 1992
In order to know the restenosis rate and its predictive factors and the short-term clinical outco... more In order to know the restenosis rate and its predictive factors and the short-term clinical outcome (6-12 months) after coronary angioplasty (PTCA), we prospectively followed 200 consecutive patients with 231 coronary stenoses successfully dilated (residual stenosis < 50%). Patients have been clinically and angiographically followed 6-9 months after the procedure. Forty-nine clinical, hemodynamic, angiographic and technical variables were analyzed. Restenosis (stenosis > or = 50% in late angiographic control) rate was 51.5%, and 61% of the study population was symptomless. Variables associated with restenosis in the univariate analysis were: pre-PTCA positive exercise test (p = 0.004); stenosis severity pre-PTCA (p = 0.04); eccentricity (p < 0.0001) and irregularity (p < 0.0001) of the pre-PTCA stenosis; total dilation time (p = 0.02) and post-PTCA dissection (p = 0.002). The multivariate analysis revealed the following variables as independent predictors of restenosis: ...
Lecture Notes in Computer Science, 2006
Many applications in computer graphics require fast and robust collision detection algorithms. Th... more Many applications in computer graphics require fast and robust collision detection algorithms. The problem of simulating motion in an articulated chain has been well studied using both dynamic and kinematics techniques. This paper describes an efficient method for obstacle representation in the configuration space (C-space) for articulated chains. The method is based on the analytical deconstruction of the Cspace, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link. The Deconstruction method is not limited to particular kinematic topologies and allows good collision detection times. The systematic application of a simple convolution of two functions describing each link in the kinematic chain and the workspace, respectively, is applied. The proposed method can naturally face the evaluation of high-dimensional C-spaces, since only non-colliding configurations are considered for the evaluation of the next link in the chain.
Proceedings of the First International Conference on Technological Ecosystem for Enhancing Multiculturality, 2013
ABSTRACT In today's information society there is a wide range of resources available to c... more ABSTRACT In today's information society there is a wide range of resources available to carry out different activities involving Educational Robotics (ER). Teachers can choose from a variety of robotics platforms, such as EIM, IM or I (Electronics/Mechanics/Informatics), as well as different software programs (textual or graphical), and thus eventually create a particular Robotics Learning Environment (RLE). Recent studies have shown that learning results associated with ER activities have a stronger link to RLE factors than to proper tools. In this paper we examine the state of the art (RLE resources and features) of ER in Spain and Latin America. A total of 127 teachers completed an online survey between March and May 2013. The final results confirm similar features existing between ordinary school activities and those carried out after school, as well as a high presence of hereby proposed features (active, manipulative, constructive, collaborative, reflexive, intentional, complex, conversational, contextual and technological), promoting significant learning. However, there are important differences with regard to gender, age and participants' countries of origin, as well as their participation in competitions, and their implementation of phases or roles, depending on the different features taken into consideration. This paper points at the importance of focusing research on pedagogical actions which may strengthen RLE features, and thus improve learning results.
Lecture Notes in Computer Science, 2005
This paper presents a new general method for obstacle representation in the configuration space (... more This paper presents a new general method for obstacle representation in the configuration space (C-space) for redundant robots. The method is based on the analytical deconstruction of the C-space, i.e., the separated evaluation of the C-space portion contributed by the collisions of each link in the kinematic chain. The systematic application of a simple convolution of two functions describing each link and the workspace, respectively, is applied. In order to do that, the transformation of the workspace among reference systems located at one point of each link is needed; in this step a well-known and sound method is used.
Abstract In this work we present a hierarchical method to evaluate the configuration space of a m... more Abstract In this work we present a hierarchical method to evaluate the configuration space of a mobile robot working in large environments. It is based on convolution of discrete functions representing the workspace and the robot to obtain a function that represents the C-space. An important key in the work is that the representation of discrete functions is made by hierarchical data structures, so the information is highly compact, and high dimensions or/and resolutions workspaces can be considered. It is important to highlight that the ...
Proceedings of the First International Conference on Technological Ecosystem for Enhancing Multiculturality, 2013
ABSTRACT
Journal of Information Technology Research, 2014
The application of new technologies in training environments allows the development of new teachi... more The application of new technologies in training environments allows the development of new teaching modalities that enable knowledge and ability acquisition in healthcare professionals. Simulation has proven to be an effective method to favor and improve learning as well as to attain the necessary skills to perform a specific technique with greater reliability and security for the patient. We present a new tool or technological development in medical training, through an ultrasound simulator, valid for the knowledge and necessary ability acquisition in the proper infiltration of botulinum toxin guided by ultrasound. This tool benefits from the advantages that new technologies bring when applied in medical training, offering a virtual setting, comfortable and accessible, that does not require the user to move or have access to an ultrasound machine, allowing ultrasound explorations without the existence of a real patient.
Robotics and Autonomous Systems, 2010
This article presents two algorithms that extract information from laser range data. They are des... more This article presents two algorithms that extract information from laser range data. They are designed to work sequentially. The first method (dcc) separates the data into clusters by means of a convolution operation, using a high-pass filter. The second one (reholt) performs line detection in each of the clusters previously discovered. The reliability of the algorithms devised is tested on the experimental data collected both indoors and outdoors. When compared with other methods found in the literature, the ones proposed here prove to achieve higher performance.
The automatic generation of robot free-collision paths for accomplishing user-specified tasks is ... more The automatic generation of robot free-collision paths for accomplishing user-specified tasks is one of the key elements in robotics. Due to the high computational cost involved in the problem, it is very difficult to find solutions achieving online performance. In this paper, a general and new approach that provides this online motion planning capability to robot manipulators, is proposed. The
IEEE Transactions on Robotics and Automation, 2002