Antonio Barrientos - Profile on Academia.edu (original) (raw)

Papers by Antonio Barrientos

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC), 1997

New large range robots with hydraulic actuators play a key role in the automation of several impo... more New large range robots with hydraulic actuators play a key role in the automation of several important construction tasks and its demand is increasing nowadays. However the steps for design this type of robots are not structured today, and it is performed in an individual way. This paper presents a new computer aided methodology for design of robots in construction industry applications. This methodology is based on the 3D kinematics CAD toolbox for robot simulation TOROS [1] and software modules linked to 3D dynamics simulation package ADAMS [2]. This methodology has been applied in an iterative way for design of the large range or , site assembly ROCCO robot [ 3] (for wall erection using big blocks ; and for a metallic structure inspection robot t ha! is under development now.

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC), 1993

This paper presents a robotized system that produces high quality GRC panels in an automatic way.... more This paper presents a robotized system that produces high quality GRC panels in an automatic way. The system is installed in a Dragados y Construcciones factory near Zaragoza. The input of the system are the 3D AUTOCAD drawings of the panels. The output of the system are the robots paths, which are generated automatically, and real-time optimum sequences of the system processes: robot movements, spray gun working, panels transportation and mortar preparation.

Abstract: A great deal of work has been done in recent years on the multi-robot patrolling proble... more Abstract: A great deal of work has been done in recent years on the multi-robot patrolling problem. In such problem a team of robots is engaged to supervise an infrastructure. Commonly, the patrolling tasks are performed with the objective of visiting a set of points of interest. This problem has been solved in the literature by developing deterministic and centralized solutions, which perform better than decentralized and non-deterministic approaches in almost all cases. However, deterministic methods are not suitable for security purpose due to their predictability. This work provides a new decentralized and non-deterministic approach based on the model of Game Theory called Stochastic Fictitious Play (SFP) to perform security tasks at critical facilities. Moreover, a detailed study aims at providing additional insight of this learning model into the multi-robot patrolling context is presented. Finally, the approach developed in this work is analyzed and compared with other method...

Proceedings of the 12th International Symposium on Automation and Robotics in Construction (ISARC), 1995

The paper presents, in economic, quality and technical terms, several aspects of the robotics man... more The paper presents, in economic, quality and technical terms, several aspects of the robotics manufacturing of GRC panels, based on actual measurements of performance rates, and real estimates of all cost items. The comparison of robotics versus manual performance is also presented. The system has been finished, and is now producing in a Dragados y Construcciones factory near Madrid. This paper focuses on a detailed quality and technical evaluation of the robotized spraying of GRC panels, in comparison with the previous manual manufacturing.

IFAC Proceedings Volumes, 1997

Conventional control strategies, based on PID or PD controllers and linear models, are non-suitab... more Conventional control strategies, based on PID or PD controllers and linear models, are non-suitable and result completely inefficient for large range robots with hydraulic actuators. New control methods are necessary in order to achieve high performance with a reasonable time consuming algorithm, useful in a real time control system. A control system based on a fuzzy supervisory that implements a hierarchical distributed but non decoupled strategy has been developed and successfully implemented in a large range robot. A specific system has been included in order to reduce the position errors due to the static deflection of the robot structure. The hardware and software control architecture and the results of its implementation are presented in this paper.

Advanced Robotics, 2015

In this article, we address the question of how the ftight efficiency of Micro Aerial Vehicles wi... more In this article, we address the question of how the ftight efficiency of Micro Aerial Vehicles with variable wing geometry can be inspired by the biomechanics of bats. We use a bat-Iike drone with highly articulated wings using shape memory alloys (SMA) as artificial muscle-Iike actuators.The possibility of actively changing the wing shape by controlling the SMA actuators, Jet us study the effects of different wing modulation pattems on lift generation, drag reduction, and the energy cost of a wingbeat cycle.To this purpose, we presentan energy-model for estimating the energy cost required by the wings during a wingbeat cycle, using experimental aerodynamic and inertial force data as inputs to the energy-model. Results allowed us determining that faster contraction of the wings during the upstroke, and slower extension during the downstroke enables to reduce the energy cost of ftapping in our prototype.

2011 IEEE International Conference on Robotics and Automation, 2011

In this paper, we describe our current work on bio-inspired locomotion systems using a deformable... more In this paper, we describe our current work on bio-inspired locomotion systems using a deformable structure and smart materials, concretely Shape Memory Alloys, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot has been developed whose movements are generated using such actuators, used for bending the backbone of the fish, which in turn causes a change on the curvature of the body. This paper focuses on how standard swimming patterns can be reproduced with the proposed design, using an actuation dynamics model identified in prior work.

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014

In this paper, we present our current work in the design and characterisation of a new shape memo... more In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). The motor can be used either in stepping mode or in servo mode of operation. Each phase of the motor consists of an SMA wire with a spring. The principle of operation of the HPOM is presented. In its operation the motor resembles a stepper motor though the actuation principles are different and hence has been characterised similar to a stepper motor.This motor can be actuated in either direction depending on which SMA is actuated, which are presented in this work. The motor is modelled and simulated and the results of simulations and experiments are presented.

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014

Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by mean... more Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by means of changing the wing shape during flight. There is evidence that the inertial forces produced by their wings during flapping have a key role in the attitude movements of the animal, i.e. aerial rotations. In fact, bats efficiently generate net body forces to manoeuvre by taking advantage of their large wing-to-body mass ratio. In this paper, the following question is formulated: Could a Micro Aerial Vehicle (MAV) inspired by the biomechanics of bats take advantage of the morphing-wings aimed at increasing net body forces? Using BaTboT, a novel bat-like MAV with highly articulated wings actuated by shape memory alloy actuators, our goal is to quantify the effects of different wing modulation patterns on the generation of net body forces. Experiments are carried out to confirm the important physical role that changing the wing shape enables: the contraction time of the wings (upstroke) should be faster than the extension time (downstroke), taking about 37.5% of the wingbeat period. This modulation pattern has enabled a lift force increment of 22% (from L = 0.92N to L = 1.12N), abrupt drag reduction (from D = 0.22N to D = 0.11N) and also an increase of net body forces (F net) about 28% compared to those wing modulation patterns defined with equal periods for contraction/extension. These findings can be useful for accurate dynamics modelling and efficient design of flight controllers applied to morphing-wing micro aerial vehicles.

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges, 2012

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 2010

An important topic in the field of Multi Robot Systems focuses on motion coordination and synchro... more An important topic in the field of Multi Robot Systems focuses on motion coordination and synchronization for formation keeping. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log 2 n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing.

Revista Iberoamericana De Automatica E Informatica Industrial, 2011

Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pert... more Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales, ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementacion de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructura ósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs. Alas mórficas.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

In this paper, we present an application to Search and Rescue of a task negotiation protocol for ... more In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then focus on monitoring the mission and deciding next actions. The protocol has been tested on both computer simulations and real robots.

2007 IEEE International Symposium on Intelligent Signal Processing, 2007

An important feature of heterogeneous multi-robots systems is the availability of sensing informa... more An important feature of heterogeneous multi-robots systems is the availability of sensing information coming from multiple sources or points of view. Team members can exchange localization information regarding a target, or provide extra sensor information to teammates that lack of certain sensing capabilities. In this paper, we present two examples of multi-robot pose estimation in a team of robots composed by unmanned aerial and terrestrial vehicles. Information integration is achieved through an evolutionary-based vision algorithm. Experiments have been performed part on virtual-reality simulations and part in-field.

Sensors, 2014

The detection and tracking of mobile objects (DATMO) is progressively gaining importance for secu... more The detection and tracking of mobile objects (DATMO) is progressively gaining importance for security and surveillance applications. This article proposes a set of new algorithms and procedures for detecting and tracking mobile objects by robots that work collaboratively as part of a multirobot system. These surveillance algorithms are conceived of to work with data provided by long distance range sensors and are intended for highly reliable object detection in wide outdoor environments. Contrary to most common approaches, in which detection and tracking are done by an integrated procedure, the approach proposed here relies on a modular structure, in which detection and tracking are carried out independently, and the latter might accept input data from different detection algorithms. Two movement detection algorithms have been developed for the detection of dynamic objects by using both static and/or mobile robots. The solution to the overall problem is based on the use of a Kalman filter to predict the next state of each tracked object. Additionally, new tracking algorithms capable of combining dynamic objects lists coming from either one or various sources complete the solution. The complementary performance of the separated modular structure for detection and identification is evaluated and, finally, a selection of test examples discussed.

Sensors, 2014

In this study, a device based on patient motion capture is developed for the reliable and non-inv... more In this study, a device based on patient motion capture is developed for the reliable and non-invasive diagnosis of neurodegenerative diseases. The primary objective of this study is the classification of differential diagnosis between Parkinson's disease (PD) and essential tremor (ET). The DIMETER system has been used in the diagnoses of a significant number of patients at two medical centers in Spain. Research studies on classification have primarily focused on the use of well-known and reliable diagnosis criteria developed by qualified personnel. Here, we first present a literature review of the methods used to detect and evaluate tremor; then, we describe the DIMETER device in terms of the software and hardware used and the battery of tests developed to obtain the best diagnoses. All of the tests are classified and described in terms of the characteristics of the data obtained. A list of parameters obtained from the tests is provided, and the results obtained using multilayer perceptron (MLP) neural networks are presented and analyzed.

Sensors, 2011

This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aeri... more This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aerial robot, which is applied to real-time frost monitoring in vineyards. The core feature of our system is a dynamic mobile node carried by an aerial robot, which ensures communication between sparse clusters located at fragmented parcels and a base station. This system overcomes some limitations of the wireless networks in areas with such characteristics. The use of a dedicated communication channel enables data routing to/from unlimited distances.

Journal of Field Robotics, 2011

In this paper, a system that allows applying precision agriculture techniques is described. The a... more In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Bioinspiration & Biomimetics, 2012

This article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism ... more This article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands (DAF function). This novel control approach is aimed at incrementing net body forces (F net) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF function as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5ms −1 .

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC), 1997

New large range robots with hydraulic actuators play a key role in the automation of several impo... more New large range robots with hydraulic actuators play a key role in the automation of several important construction tasks and its demand is increasing nowadays. However the steps for design this type of robots are not structured today, and it is performed in an individual way. This paper presents a new computer aided methodology for design of robots in construction industry applications. This methodology is based on the 3D kinematics CAD toolbox for robot simulation TOROS [1] and software modules linked to 3D dynamics simulation package ADAMS [2]. This methodology has been applied in an iterative way for design of the large range or , site assembly ROCCO robot [ 3] (for wall erection using big blocks ; and for a metallic structure inspection robot t ha! is under development now.

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC), 1993

This paper presents a robotized system that produces high quality GRC panels in an automatic way.... more This paper presents a robotized system that produces high quality GRC panels in an automatic way. The system is installed in a Dragados y Construcciones factory near Zaragoza. The input of the system are the 3D AUTOCAD drawings of the panels. The output of the system are the robots paths, which are generated automatically, and real-time optimum sequences of the system processes: robot movements, spray gun working, panels transportation and mortar preparation.

Abstract: A great deal of work has been done in recent years on the multi-robot patrolling proble... more Abstract: A great deal of work has been done in recent years on the multi-robot patrolling problem. In such problem a team of robots is engaged to supervise an infrastructure. Commonly, the patrolling tasks are performed with the objective of visiting a set of points of interest. This problem has been solved in the literature by developing deterministic and centralized solutions, which perform better than decentralized and non-deterministic approaches in almost all cases. However, deterministic methods are not suitable for security purpose due to their predictability. This work provides a new decentralized and non-deterministic approach based on the model of Game Theory called Stochastic Fictitious Play (SFP) to perform security tasks at critical facilities. Moreover, a detailed study aims at providing additional insight of this learning model into the multi-robot patrolling context is presented. Finally, the approach developed in this work is analyzed and compared with other method...

Proceedings of the 12th International Symposium on Automation and Robotics in Construction (ISARC), 1995

The paper presents, in economic, quality and technical terms, several aspects of the robotics man... more The paper presents, in economic, quality and technical terms, several aspects of the robotics manufacturing of GRC panels, based on actual measurements of performance rates, and real estimates of all cost items. The comparison of robotics versus manual performance is also presented. The system has been finished, and is now producing in a Dragados y Construcciones factory near Madrid. This paper focuses on a detailed quality and technical evaluation of the robotized spraying of GRC panels, in comparison with the previous manual manufacturing.

IFAC Proceedings Volumes, 1997

Conventional control strategies, based on PID or PD controllers and linear models, are non-suitab... more Conventional control strategies, based on PID or PD controllers and linear models, are non-suitable and result completely inefficient for large range robots with hydraulic actuators. New control methods are necessary in order to achieve high performance with a reasonable time consuming algorithm, useful in a real time control system. A control system based on a fuzzy supervisory that implements a hierarchical distributed but non decoupled strategy has been developed and successfully implemented in a large range robot. A specific system has been included in order to reduce the position errors due to the static deflection of the robot structure. The hardware and software control architecture and the results of its implementation are presented in this paper.

Advanced Robotics, 2015

In this article, we address the question of how the ftight efficiency of Micro Aerial Vehicles wi... more In this article, we address the question of how the ftight efficiency of Micro Aerial Vehicles with variable wing geometry can be inspired by the biomechanics of bats. We use a bat-Iike drone with highly articulated wings using shape memory alloys (SMA) as artificial muscle-Iike actuators.The possibility of actively changing the wing shape by controlling the SMA actuators, Jet us study the effects of different wing modulation pattems on lift generation, drag reduction, and the energy cost of a wingbeat cycle.To this purpose, we presentan energy-model for estimating the energy cost required by the wings during a wingbeat cycle, using experimental aerodynamic and inertial force data as inputs to the energy-model. Results allowed us determining that faster contraction of the wings during the upstroke, and slower extension during the downstroke enables to reduce the energy cost of ftapping in our prototype.

2011 IEEE International Conference on Robotics and Automation, 2011

In this paper, we describe our current work on bio-inspired locomotion systems using a deformable... more In this paper, we describe our current work on bio-inspired locomotion systems using a deformable structure and smart materials, concretely Shape Memory Alloys, exploring the possibility of building motor-less and gear-less robots. A swimming underwater robot has been developed whose movements are generated using such actuators, used for bending the backbone of the fish, which in turn causes a change on the curvature of the body. This paper focuses on how standard swimming patterns can be reproduced with the proposed design, using an actuation dynamics model identified in prior work.

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014

In this paper, we present our current work in the design and characterisation of a new shape memo... more In this paper, we present our current work in the design and characterisation of a new shape memory alloy (SMA)-based High Phase Order Motor (HPOM). The motor can be used either in stepping mode or in servo mode of operation. Each phase of the motor consists of an SMA wire with a spring. The principle of operation of the HPOM is presented. In its operation the motor resembles a stepper motor though the actuation principles are different and hence has been characterised similar to a stepper motor.This motor can be actuated in either direction depending on which SMA is actuated, which are presented in this work. The motor is modelled and simulated and the results of simulations and experiments are presented.

Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014

Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by mean... more Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by means of changing the wing shape during flight. There is evidence that the inertial forces produced by their wings during flapping have a key role in the attitude movements of the animal, i.e. aerial rotations. In fact, bats efficiently generate net body forces to manoeuvre by taking advantage of their large wing-to-body mass ratio. In this paper, the following question is formulated: Could a Micro Aerial Vehicle (MAV) inspired by the biomechanics of bats take advantage of the morphing-wings aimed at increasing net body forces? Using BaTboT, a novel bat-like MAV with highly articulated wings actuated by shape memory alloy actuators, our goal is to quantify the effects of different wing modulation patterns on the generation of net body forces. Experiments are carried out to confirm the important physical role that changing the wing shape enables: the contraction time of the wings (upstroke) should be faster than the extension time (downstroke), taking about 37.5% of the wingbeat period. This modulation pattern has enabled a lift force increment of 22% (from L = 0.92N to L = 1.12N), abrupt drag reduction (from D = 0.22N to D = 0.11N) and also an increase of net body forces (F net) about 28% compared to those wing modulation patterns defined with equal periods for contraction/extension. These findings can be useful for accurate dynamics modelling and efficient design of flight controllers applied to morphing-wing micro aerial vehicles.

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges, 2012

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), 2010

An important topic in the field of Multi Robot Systems focuses on motion coordination and synchro... more An important topic in the field of Multi Robot Systems focuses on motion coordination and synchronization for formation keeping. Although several works have addressed such problem, little attention has been devoted to study the computational complexity within the framework of large-scale systems. This paper presents our current work on how to achieve high computational performance for systems composed by a large number of robots that must fulfill with a marching and formation task. A scalable Multi-Processor Parallel Architecture is introduced with the purpose of achieving scalability, i.e., computation time of O(log 2 n) for a n-robots system. Our architecture has been tested onto a multi-processor system and validated against several simulations testing.

Revista Iberoamericana De Automatica E Informatica Industrial, 2011

Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pert... more Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales, ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementacion de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructura ósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs. Alas mórficas.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009

In this paper, we present an application to Search and Rescue of a task negotiation protocol for ... more In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then focus on monitoring the mission and deciding next actions. The protocol has been tested on both computer simulations and real robots.

2007 IEEE International Symposium on Intelligent Signal Processing, 2007

An important feature of heterogeneous multi-robots systems is the availability of sensing informa... more An important feature of heterogeneous multi-robots systems is the availability of sensing information coming from multiple sources or points of view. Team members can exchange localization information regarding a target, or provide extra sensor information to teammates that lack of certain sensing capabilities. In this paper, we present two examples of multi-robot pose estimation in a team of robots composed by unmanned aerial and terrestrial vehicles. Information integration is achieved through an evolutionary-based vision algorithm. Experiments have been performed part on virtual-reality simulations and part in-field.

Sensors, 2014

The detection and tracking of mobile objects (DATMO) is progressively gaining importance for secu... more The detection and tracking of mobile objects (DATMO) is progressively gaining importance for security and surveillance applications. This article proposes a set of new algorithms and procedures for detecting and tracking mobile objects by robots that work collaboratively as part of a multirobot system. These surveillance algorithms are conceived of to work with data provided by long distance range sensors and are intended for highly reliable object detection in wide outdoor environments. Contrary to most common approaches, in which detection and tracking are done by an integrated procedure, the approach proposed here relies on a modular structure, in which detection and tracking are carried out independently, and the latter might accept input data from different detection algorithms. Two movement detection algorithms have been developed for the detection of dynamic objects by using both static and/or mobile robots. The solution to the overall problem is based on the use of a Kalman filter to predict the next state of each tracked object. Additionally, new tracking algorithms capable of combining dynamic objects lists coming from either one or various sources complete the solution. The complementary performance of the separated modular structure for detection and identification is evaluated and, finally, a selection of test examples discussed.

Sensors, 2014

In this study, a device based on patient motion capture is developed for the reliable and non-inv... more In this study, a device based on patient motion capture is developed for the reliable and non-invasive diagnosis of neurodegenerative diseases. The primary objective of this study is the classification of differential diagnosis between Parkinson's disease (PD) and essential tremor (ET). The DIMETER system has been used in the diagnoses of a significant number of patients at two medical centers in Spain. Research studies on classification have primarily focused on the use of well-known and reliable diagnosis criteria developed by qualified personnel. Here, we first present a literature review of the methods used to detect and evaluate tremor; then, we describe the DIMETER device in terms of the software and hardware used and the battery of tests developed to obtain the best diagnoses. All of the tests are classified and described in terms of the characteristics of the data obtained. A list of parameters obtained from the tests is provided, and the results obtained using multilayer perceptron (MLP) neural networks are presented and analyzed.

Sensors, 2011

This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aeri... more This paper presents a collaborative system made up of a Wireless Sensor Network (WSN) and an aerial robot, which is applied to real-time frost monitoring in vineyards. The core feature of our system is a dynamic mobile node carried by an aerial robot, which ensures communication between sparse clusters located at fragmented parcels and a base station. This system overcomes some limitations of the wireless networks in areas with such characteristics. The use of a dedicated communication channel enables data routing to/from unlimited distances.

Journal of Field Robotics, 2011

In this paper, a system that allows applying precision agriculture techniques is described. The a... more In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions.

Bioinspiration & Biomimetics, 2012

This article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism ... more This article presents a novel bat-like micro air vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Secondly, an attitude controller named backstepping+DAF is proposed. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, the attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands (DAF function). This novel control approach is aimed at incrementing net body forces (F net) that generate propulsion. Simulations and wind-tunnel experimental results have shown an increase about 23% in net body force production during the wingbeat cycle when the wings are modulated using the DAF function as a part of the backstepping control law. Results also confirm accurate attitude tracking in spite of high external disturbances generated by aerodynamic loads at airspeeds up to 5ms −1 .