Pub Date : 2020-03-06DOI: 10.17979/spudc.9788497497565.0186
J. M. Vicente-del-Rey, I. García-Morales, Vicente Manuel Arevalo-Espejo
Universidad de Malaga. Campus de Excelencia Internacional Andalucia Tech. Plan de Innovacion Educativa de la Universidad de Malaga (convocatoria 2017/2019) bajo la referencia PIE17- 090.
马拉加大学。马拉加大学教育创新计划(call 2017/2019)，参考PIE17- 090。
{"title":"El uso de microvídeos como refuerzo del aprendizaje presencial en la enseñanza de las bases del control automático","authors":"J. M. Vicente-del-Rey, I. García-Morales, Vicente Manuel Arevalo-Espejo","doi":"10.17979/spudc.9788497497565.0186","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.0186","url":null,"abstract":"Universidad de Malaga. Campus de Excelencia Internacional Andalucia Tech. Plan de Innovacion Educativa de la Universidad de Malaga (convocatoria 2017/2019) bajo la referencia PIE17- 090.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114673110","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/SPUDC.9788497497565.0838
L. González, M. Vaca, Ray Lattarulo, Isidro Calvo, J. Pérez, A. Ruiz
espanolLos vehiculos conectados y automatizados han sido recientemente concebidos como entes ciberfisicos, estrechamente relacionados con la red del Internet de las cosas (IoT). Este hecho supone un incremento en la superficie de ataque del vehiculo, que junto a la creciente tendencia hacia vehiculos automatizados, hacen que estos riesgos de ciberseguridad puedan tener conse- cuencias catastroficas en seguridad vial. En el presente trabajo se expone un analisis de riesgos de ciberseguridad en el marco de una arquitectura de vehiculos automatizados. Este analisis previo se realiza en el contexto de dos escenarios de estudio en maniobras cooperativas. Inicialmente se presenta un estado del arte de la ciberseguridad en automocion, asi como tambien su repercusion en entornos automatizados, haciendo especial enfasis en las comunicaciones entre vehiculos y con infraestructura. Ademas, se analizan dos maniobras cooperativas, y se ilustran una serie de posibles ataques en la plataforma. EnglishConnected and automated vehicles have been recently categorized as cybephysical entities, tightly related with a part of the Internet of Things (IoT) network. As a consequence the attack surface of a modern vehicle is increased, which added to the automation trend, makes cibersecurity risks a higher threat in the road. In this work a framework for automated vehicles is described, with the objective of validating security strategies when performing cooperative maneuvers. A review of the state of the art in automotive cibersecurity is presented, along its e ect in automated vehicles, making special emphasis in inter-vehicle (V2V) communication and to the infrastructure (V2I). Moreover, two maneuvers are studied and a series of safety factors, taking into consideration the possible intervention of external malicious agents.
最近，联网和自动化汽车被认为是与物联网(IoT)网络密切相关的网络实体。这意味着车辆攻击表面的增加，再加上自动化车辆的日益增长的趋势，使得这些网络安全风险可能对道路安全产生灾难性的影响。本文在自动化车辆架构的框架下进行了网络安全风险分析。这一初步分析是在合作机动的两种研究方案的背景下进行的。首先，介绍了汽车网络安全的现状，以及它对自动化环境的影响，特别强调车辆之间的通信和基础设施。此外，还分析了两种合作演习，并说明了对平台的一系列可能攻击。EnglishConnected和自动化车辆而惧,categorized as cybephysical实体tightly related with a part of the Internet of Things(;)网络。因此，现代车辆的攻击表面增加，再加上自动化趋势，使网络安全风险在道路上成为更高的威胁。本文描述了自动化车辆的框架，其目的是在实施合作机动车辆时验证安全策略。介绍了汽车网络安全的现状，以及它在自动化车辆中的应用，特别强调车辆间(V2V)通信和基础设施(V2I)。此外，还研究了两种操作方法和一系列安全因素，考虑到外部恶意因素的可能干预。
{"title":"Análisis de riesgos de ciberseguridad en arquitectura de vehículos automatizados","authors":"L. González, M. Vaca, Ray Lattarulo, Isidro Calvo, J. Pérez, A. Ruiz","doi":"10.17979/SPUDC.9788497497565.0838","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.0838","url":null,"abstract":"espanolLos vehiculos conectados y automatizados han sido recientemente concebidos como entes ciberfisicos, estrechamente relacionados con la red del Internet de las cosas (IoT). Este hecho supone un incremento en la superficie de ataque del vehiculo, que junto a la creciente tendencia hacia vehiculos automatizados, hacen que estos riesgos de ciberseguridad puedan tener conse- cuencias catastroficas en seguridad vial. En el presente trabajo se expone un analisis de riesgos de ciberseguridad en el marco de una arquitectura de vehiculos automatizados. Este analisis previo se realiza en el contexto de dos escenarios de estudio en maniobras cooperativas. Inicialmente se presenta un estado del arte de la ciberseguridad en automocion, asi como tambien su repercusion en entornos automatizados, haciendo especial enfasis en las comunicaciones entre vehiculos y con infraestructura. Ademas, se analizan dos maniobras cooperativas, y se ilustran una serie de posibles ataques en la plataforma. EnglishConnected and automated vehicles have been recently categorized as cybephysical entities, tightly related with a part of the Internet of Things (IoT) network. As a consequence the attack surface of a modern vehicle is increased, which added to the automation trend, makes cibersecurity risks a higher threat in the road. In this work a framework for automated vehicles is described, with the objective of validating security strategies when performing cooperative maneuvers. A review of the state of the art in automotive cibersecurity is presented, along its e ect in automated vehicles, making special emphasis in inter-vehicle (V2V) communication and to the infrastructure (V2I). Moreover, two maneuvers are studied and a series of safety factors, taking into consideration the possible intervention of external malicious agents.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129493773","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/SPUDC.9788497497565.0322
A. Portero, J. Lozano, S. Salamanca
espanolSe presenta en este trabajo un sistema de control de un robot cartesiano, mediante la comunicacion entre distintos dispositivos controladores, para su funcionamiento como impresora 3D. El sistema de control esta basado en un automata programable S7-1200 de Siemens, una tarjeta Arduino Mega 2560 y un modulo Ethernet Shield 2.0. El programa de control se ha realizado a traves de los entornos de desarrollo Arduino IDE y TIA Portal v13. La comunicacion entre la tarjeta Arduino y el automata programable S7-1200 se ha realizado mediante conexion Ethernet, a traves del protocolo de comunicacion UDP (User Datagram Protocol). Se ha disenado el sistema de manera que el programa de control lea un archivo G-Code (modelo 3D), lo interprete, y ejecute las instrucciones de movimiento del robot cartesiano. El programa de control no contempla la posibilidad de extrusion, y se centra en el control del movimiento de los ejes y en la comunicacion entre dispositivos. EnglishA control system of a cartesian robot is presented in this work, through the communication, among different controllers, for its functioning as a 3D printer. The control system is based on a Siemens S7-1200 programmable controller, an Arduino Mega 2560 card and an Ethernet Shield 2.0 module. The control program was developed through the Arduino IDE and TIA Portal v13 development environments. The communication between the Arduino card and the S7-1200 programmable controller has been made through Ethernet connection, through the UDP (User Datagram Protocol) communication protocol. The system has been designed so that the control program reads a G-Code file (3D model), interprets it and executes the movement instructions of the cartesian robot. The control program does not contemplate the possibility of extrusion, and focuses on controlling the movement of the axes and on communication between devices.
本文介绍了一种笛卡尔机器人的控制系统，通过不同控制设备之间的通信，使其作为3D打印机运行。控制系统基于西门子S7-1200可编程自动机、Arduino Mega 2560卡和Ethernet Shield 2.0模块。控制程序是通过Arduino IDE和TIA Portal v13开发环境完成的。Arduino卡与S7-1200可编程自动机之间的通信是通过以太网连接，通过UDP(用户数据报协议)通信协议。该系统的设计使控制程序读取G-Code文件(3D模型)，解释它，并执行笛卡尔机器人的运动指令。控制程序不考虑挤压的可能性，专注于控制轴的运动和设备之间的通信。本工作通过不同控制器之间的通信，介绍了卡代克机器人的控制系统，使其具有3D打印机的功能。控制系统基于西门子S7-1200可编程控制器，Arduino Mega 2560卡和以太网屏蔽2.0模块。= =地理= =根据美国人口普查，这个县的面积为。Arduino卡与S7-1200可编程控制器之间的通信通过以太网连接，通过UDP(用户数据报协议)通信协议。该系统的设计使控制程序读取G-Code文件(3D模型)，解释它并执行运动指令。控制程序不考虑挤压的可能性，而是专注于控制轴的运动和设备之间的通信。
{"title":"Control de robot cartesiano mediante PLC S7-1200 de Siemens y Arduino para impresión 3D","authors":"A. Portero, J. Lozano, S. Salamanca","doi":"10.17979/SPUDC.9788497497565.0322","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.0322","url":null,"abstract":"espanolSe presenta en este trabajo un sistema de control de un robot cartesiano, mediante la comunicacion entre distintos dispositivos controladores, para su funcionamiento como impresora 3D. El sistema de control esta basado en un automata programable S7-1200 de Siemens, una tarjeta Arduino Mega 2560 y un modulo Ethernet Shield 2.0. El programa de control se ha realizado a traves de los entornos de desarrollo Arduino IDE y TIA Portal v13. La comunicacion entre la tarjeta Arduino y el automata programable S7-1200 se ha realizado mediante conexion Ethernet, a traves del protocolo de comunicacion UDP (User Datagram Protocol). Se ha disenado el sistema de manera que el programa de control lea un archivo G-Code (modelo 3D), lo interprete, y ejecute las instrucciones de movimiento del robot cartesiano. El programa de control no contempla la posibilidad de extrusion, y se centra en el control del movimiento de los ejes y en la comunicacion entre dispositivos. EnglishA control system of a cartesian robot is presented in this work, through the communication, among different controllers, for its functioning as a 3D printer. The control system is based on a Siemens S7-1200 programmable controller, an Arduino Mega 2560 card and an Ethernet Shield 2.0 module. The control program was developed through the Arduino IDE and TIA Portal v13 development environments. The communication between the Arduino card and the S7-1200 programmable controller has been made through Ethernet connection, through the UDP (User Datagram Protocol) communication protocol. The system has been designed so that the control program reads a G-Code file (3D model), interprets it and executes the movement instructions of the cartesian robot. The control program does not contemplate the possibility of extrusion, and focuses on controlling the movement of the axes and on communication between devices.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129281888","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/spudc.9788497497565.0001
A. Mancisidor, Asier Brull, A. Zubizarreta, Itziar Cabanes, Eva Portillo, Ana del Pozo Rodríguez, Rakel Berriozabalgoitia
espanolConocer la postura del tronco de los pacientes durante las terapias de rehabilitacion, permite al terapeuta realizar un analisis mas exhaustivo de su estado de recuperacion funcional y adecuar los ejercicios a sus necesidades. Sin embargo, la mayoria de los robots de rehabilitacion de miembros superiores, no poseen la capacidad de monitorizar la postura del tronco de los usuarios. Ante esta situacion, este trabajo presenta un innovador software de rehabilitacion que permite al terapeuta conocer la postura del tronco del paciente, la posicion de la extremidad afectada y el porcentaje de movimiento realizado con el tronco. El software propuesto se ha implementado en el robot de rehabilitacion de extremidades superiores UHP. Con la intencion de evaluar su uso, se han llevado a cabo diferentes pruebas experimentales con un grupo de 25 personas sanas. Los resultados muestran que el software propuesto funciona correctamente al medir el movimiento del tronco. EnglishThe knowledge of the trunk posture of patients with reduced mobility during rehabilitation therapies, allows better analysis of their recovery state and decrease the recovery times. However, most of upper limb rehabilitation robots are not capable to measure the posture of the trunk. In view of this situation, this work presents an innovate rehabilitation software that allows to therapist to know trunk and affected limb postures of the patient and estimate the percentage of movement performed with the trunk. The proposed software has been implemented in the UHP upper limb rehabilitation robot. Different experimental tests have been carried out with a group of 25 healthy people to demonstrate the validity of the approach. The results show that the proposed software performs correctly when measuring trunk movement.
了解患者在康复治疗期间躯干的姿势，治疗师可以对患者的功能恢复状态进行更详尽的分析，并根据患者的需要调整练习。然而，大多数上肢康复机器人没有能力监测用户的躯干姿势。在这种情况下，这项工作提出了一个创新的康复软件，允许治疗师知道病人的躯干的位置，受影响的肢体的位置和躯干的运动百分比。提出的软件已在超高压上肢康复机器人上实现。为了评估它的使用，对25名健康人进行了不同的实验测试。结果表明，所提出的软件在测量躯干运动时工作正常。在康复治疗过程中，了解活动能力降低的患者的躯干姿势，可以更好地分析他们的康复状态，缩短康复时间。然而，大多数上肢康复机器人无法测量后腿的姿势。在这种情况下，这项工作提出了一种创新的康复软件，使治疗师能够了解病人的躯干和受影响的肢体姿势，并估计用躯干进行的运动的百分比。该软件已在超高压上肢康复机器人中实现。对25名健康人群进行了不同的实验测试，以证明该方法的有效性。The results show that The -软件内容correctly when measuring trunk运动。
{"title":"Análisis de la postura del tronco en terapias de rehabilitación mediante robots","authors":"A. Mancisidor, Asier Brull, A. Zubizarreta, Itziar Cabanes, Eva Portillo, Ana del Pozo Rodríguez, Rakel Berriozabalgoitia","doi":"10.17979/spudc.9788497497565.0001","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.0001","url":null,"abstract":"espanolConocer la postura del tronco de los pacientes durante las terapias de rehabilitacion, permite al terapeuta realizar un analisis mas exhaustivo de su estado de recuperacion funcional y adecuar los ejercicios a sus necesidades. Sin embargo, la mayoria de los robots de rehabilitacion de miembros superiores, no poseen la capacidad de monitorizar la postura del tronco de los usuarios. Ante esta situacion, este trabajo presenta un innovador software de rehabilitacion que permite al terapeuta conocer la postura del tronco del paciente, la posicion de la extremidad afectada y el porcentaje de movimiento realizado con el tronco. El software propuesto se ha implementado en el robot de rehabilitacion de extremidades superiores UHP. Con la intencion de evaluar su uso, se han llevado a cabo diferentes pruebas experimentales con un grupo de 25 personas sanas. Los resultados muestran que el software propuesto funciona correctamente al medir el movimiento del tronco. EnglishThe knowledge of the trunk posture of patients with reduced mobility during rehabilitation therapies, allows better analysis of their recovery state and decrease the recovery times. However, most of upper limb rehabilitation robots are not capable to measure the posture of the trunk. In view of this situation, this work presents an innovate rehabilitation software that allows to therapist to know trunk and affected limb postures of the patient and estimate the percentage of movement performed with the trunk. The proposed software has been implemented in the UHP upper limb rehabilitation robot. Different experimental tests have been carried out with a group of 25 healthy people to demonstrate the validity of the approach. The results show that the proposed software performs correctly when measuring trunk movement.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115842869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/spudc.9788497497565.0710
José Emilio Traver Becerra, I. T. Balsera, Javier Prieto Arranz, B. M. V. Jara
The control of flexible robots that interact with the environment presents some difficulties because the mechanical environment is unknown. In this kind of applications, force robust control rather than position control is required. The purpose of this paper is to model the mechanical impedance of the environment contacted by a flexible link based on the well-known spring-damper system typically used in the literature, considering models of both integer and fractional order. In particular, four models are identified: 1) linear regression model, 2) spring-damper model, 3) spring-damper model that also includes a spring for the robotic arm, and 4) fractional order extension of spring-damper model. Experimental results (impacts with ten di-fferent objects) are given to identify the parameters of the considered models. The goodness of the adjustment is analyzed by a set of performance indices. The results show that fractional models may have better performance in comparison with classical alternatives proposed in the literature for the objects used in this study.
{"title":"Fractional order modelling of contact with the environment in flexible robot applications","authors":"José Emilio Traver Becerra, I. T. Balsera, Javier Prieto Arranz, B. M. V. Jara","doi":"10.17979/spudc.9788497497565.0710","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.0710","url":null,"abstract":"The control of flexible robots that interact with the environment presents some difficulties because the mechanical environment is unknown. In this kind of applications, force robust control rather than position control is required. The purpose of this paper is to model the mechanical impedance of the environment contacted by a flexible link based on the well-known spring-damper system typically used in the literature, considering models of both integer and fractional order. In particular, four models are identified: 1) linear regression model, 2) spring-damper model, 3) spring-damper model that also includes a spring for the robotic arm, and 4) fractional order extension of spring-damper model. Experimental results (impacts with ten di-fferent objects) are given to identify the parameters of the considered models. The goodness of the adjustment is analyzed by a set of performance indices. The results show that fractional models may have better performance in comparison with classical alternatives proposed in the literature for the objects used in this study.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":" 16","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141224511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/spudc.9788497497565.0998
J. R. Sarmiento, Javier Monroy, Francisco-Angel Moreno, J. Gonzalez-Jimenez
{"title":"Tutorial para el reconocimiento de objetos basado en características empleando herramientas Python","authors":"J. R. Sarmiento, Javier Monroy, Francisco-Angel Moreno, J. Gonzalez-Jimenez","doi":"10.17979/spudc.9788497497565.0998","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.0998","url":null,"abstract":"","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":" 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141224491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/SPUDC.9788497497565.10561
Christian García, Alejandro R. Mosteo, A. C. Murillo
espanolEste trabajo presenta un prototipo de sistema de monitorizacion remoto que auna una plataforma movil con camara remota y unas gafas de realidad virtual. El sistema implementa un bucle de percepcion-accion gracias a los sensores de posicion de las gafas VR, por un lado para ofrecer una imagen correctamente posicionada al usuario, y por el otro para controlar el dispositivo remoto (en este caso un pan-tilt) hacia el punto de vision del usuario. El sistema se ha desarrollado mediante las librerias de software libre para realidad virtual (OSVR) y robotica (ROS), lo cual hace que esta prueba de concepto sea facil de utilizar o replicar e integrar en otros proyectos EnglishThis work presents a prototype for remote surveillance or monitoring. It joins a mobile platform equipped with a camera and a virtual reality headset to display and control the monitoring. The system consists of a action-perception loop, which thanks to the sensors on the headset achieves two main goals: 1) displays a immersive view of the remote camera view to the user, 2) allows the user to control the remote camera (in the case of our prototype through a pan-tilt) to point to the direction that the user head-motion indicates. The system has been developed integrated with open-source libraries for VR headsets (OSVR) and Robotics (ROS), which makes this proof of concept easy to replicate and integrate in other works.
这项工作提出了一个远程监控系统的原型，它结合了一个带有远程摄像头和虚拟现实眼镜的移动平台。实现了闭环系统的眼镜percepcion-accion感谢传感器位置正确,一方面为用户提供调查的形象定位用户,另一方面来控制装置(在本例中为pan-tilt)的远程用户vision点。该系统是通过虚拟现实(OSVR)和机器人(ROS)的免费软件库开发的，这使得这个概念证明很容易使用或复制，并集成到其他项目中。它加入了一个配备摄像头和虚拟现实头盔的移动平台，以显示和控制监控。The system包含of a action-perception循环,which to The sensors on The headset幸亏achieves两个主要目标:(1)上immersive view of The remote camera view to The user; (2) allows The user to control The remote camera (in The case of our prototype through a pan-tilt to point to The direction that The user head-motion说明了。该系统已经开发与VR耳机(OSVR)和机器人(ROS)的开源库集成，这使得这个概念证明易于复制和集成到其他工作中。
{"title":"Navegación visual controlada desde unas gafas de realidad aumentada","authors":"Christian García, Alejandro R. Mosteo, A. C. Murillo","doi":"10.17979/SPUDC.9788497497565.10561","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.10561","url":null,"abstract":"espanolEste trabajo presenta un prototipo de sistema de monitorizacion remoto que auna una plataforma movil con camara remota y unas gafas de realidad virtual. El sistema implementa un bucle de percepcion-accion gracias a los sensores de posicion de las gafas VR, por un lado para ofrecer una imagen correctamente posicionada al usuario, y por el otro para controlar el dispositivo remoto (en este caso un pan-tilt) hacia el punto de vision del usuario. El sistema se ha desarrollado mediante las librerias de software libre para realidad virtual (OSVR) y robotica (ROS), lo cual hace que esta prueba de concepto sea facil de utilizar o replicar e integrar en otros proyectos EnglishThis work presents a prototype for remote surveillance or monitoring. It joins a mobile platform equipped with a camera and a virtual reality headset to display and control the monitoring. The system consists of a action-perception loop, which thanks to the sensors on the headset achieves two main goals: 1) displays a immersive view of the remote camera view to the user, 2) allows the user to control the remote camera (in the case of our prototype through a pan-tilt) to point to the direction that the user head-motion indicates. The system has been developed integrated with open-source libraries for VR headsets (OSVR) and Robotics (ROS), which makes this proof of concept easy to replicate and integrate in other works.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132590779","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/spudc.9788497497565.1022
M. Massiris, C. Delrieux, Juan Álvaro Fernández Muñoz
espanolEn un numero creciente de entornos de trabajo esta tornandose obligatorio el uso de equipos de proteccion personal, debido a que son la ultima barrera para detener situaciones potenciales de riesgo fisico para el trabajador. Eso determina que controlar en forma periodica y fehaciente el cumplimiento de las normas de seguridad laboral sea una tarea demandante, por lo cual el monitoreo no supervisado representa una solucion de alto impacto para la seguridad industrial. El presente articulo propone utilizar vision artificial como alternativa cuantitativa para monitorear la utilizacion de equipo de proteccion personal. Se entreno la red neuronal YOLO con la intencion de detectar guantes, cascos, ropa de alta visibilidad y a los trabajadores con un dataset creado a partir de videos generados utilizando camaras deportivas. Con el sistema entrenado, se presenta un analisis de caso in the open con un video grabado con camara deportiva sujeta al casco de un trabajador metalurgico en el sector de la construccion. Los resultados son promisorios y muestran que la estrategia planteada es adecuada para llegar a una solucion implantable en ambientes de trabajo. EnglishIn an increasing number of working environments, the use of personal protective equipment is becoming mandatory, since they are the last barrier to stop potential situations of physical risk for the worker. This means that periodically and reliably monitoring compliance with labor safety standards is a demanding task, which is why unsupervised monitoring represents a high impact solution for safety. This article proposes using artificial vision as a quantitative alternative to monitor the use of personal protective equipment. The YOLO neural network was trained with the intention of detecting gloves, hard hats, high visibility suits and workers with a dataset created from videos generated using sports cameras. With the trained system, an in-theopen case analysis is presented with a video recorded with a sports camera attached to the helmet of a metallurgical worker in a real construction site. The results are promising and show that the proposed strategy is adequate as implantable solution for these work environments.
{"title":"Detección de equipos de protección personal mediante red neuronal convolucional YOLO","authors":"M. Massiris, C. Delrieux, Juan Álvaro Fernández Muñoz","doi":"10.17979/spudc.9788497497565.1022","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.1022","url":null,"abstract":"espanolEn un numero creciente de entornos de trabajo esta tornandose obligatorio el uso de equipos de proteccion personal, debido a que son la ultima barrera para detener situaciones potenciales de riesgo fisico para el trabajador. Eso determina que controlar en forma periodica y fehaciente el cumplimiento de las normas de seguridad laboral sea una tarea demandante, por lo cual el monitoreo no supervisado representa una solucion de alto impacto para la seguridad industrial. El presente articulo propone utilizar vision artificial como alternativa cuantitativa para monitorear la utilizacion de equipo de proteccion personal. Se entreno la red neuronal YOLO con la intencion de detectar guantes, cascos, ropa de alta visibilidad y a los trabajadores con un dataset creado a partir de videos generados utilizando camaras deportivas. Con el sistema entrenado, se presenta un analisis de caso in the open con un video grabado con camara deportiva sujeta al casco de un trabajador metalurgico en el sector de la construccion. Los resultados son promisorios y muestran que la estrategia planteada es adecuada para llegar a una solucion implantable en ambientes de trabajo. EnglishIn an increasing number of working environments, the use of personal protective equipment is becoming mandatory, since they are the last barrier to stop potential situations of physical risk for the worker. This means that periodically and reliably monitoring compliance with labor safety standards is a demanding task, which is why unsupervised monitoring represents a high impact solution for safety. This article proposes using artificial vision as a quantitative alternative to monitor the use of personal protective equipment. The YOLO neural network was trained with the intention of detecting gloves, hard hats, high visibility suits and workers with a dataset created from videos generated using sports cameras. With the trained system, an in-theopen case analysis is presented with a video recorded with a sports camera attached to the helmet of a metallurgical worker in a real construction site. The results are promising and show that the proposed strategy is adequate as implantable solution for these work environments.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114391952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/SPUDC.9788497497565.0688
Gharab Saddam, V. F. Batlle, Juan Carlos Cambera
This paper discusses the identification of hydraulic canal system with a fractional-order model. The identification procedure is carried out by using a time domain technique. A pseudorandom binary signal (PRBS) is considered, the auto-correlation of the input signal, as well as, the impulsive response of the system has been concluded, and the obtained model are discussed in order to show the effect of using the PRBS signal in comparison with a fundamental step signal. Finally, we put the accent into the improvisation of the fractional-order model of the considered prototype that has a significant impact on improving the performance of canal monitoring, control, and supervisory systems.
{"title":"Fractional-order identification based on time domain methodology for hydraulic canal system","authors":"Gharab Saddam, V. F. Batlle, Juan Carlos Cambera","doi":"10.17979/SPUDC.9788497497565.0688","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.0688","url":null,"abstract":"This paper discusses the identification of hydraulic canal system with a fractional-order model. The identification procedure is carried out by using a time domain technique. A pseudorandom binary signal (PRBS) is considered, the auto-correlation of the input signal, as well as, the impulsive response of the system has been concluded, and the obtained model are discussed in order to show the effect of using the PRBS signal in comparison with a fundamental step signal. Finally, we put the accent into the improvisation of the fractional-order model of the considered prototype that has a significant impact on improving the performance of canal monitoring, control, and supervisory systems.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127729460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-03-06DOI: 10.17979/spudc.9788497497565.0270
Jorge de Castro Casares, E. Casanova, Eusebio de la Fuente López, Jaime Gómez García-Bermejo
espanolEn este articulo se presenta el desarrollo de un vehiculo a escala que permite su conduccion autonoma mediante el auto guiado a traves de la deteccion de las marcas viales de la carretera. El vehiculo se basa en un modelo de radiocontrol modificado al que se le ha anadido una camara para la deteccion de marcas viales y semaforos, y un laser lidar para la deteccion de obstaculos. Ademas, incluye un procesador Odroid con sistema base Linux Ubuntu y ROS (Robot Operation System) para el control de alto nivel, y un microcontrolador Arduino para el control de los motores. El sistema de control esta basado en el modelo de arquitectura Subsumption en el que se incluyen tres modulos con diferentes niveles de prioridad. El seguimiento de marcas viales utiliza un algoritmo RANSAC para la deteccion de rectas y un sistema de control PID. El sistema de control incluye la deteccion de obstaculos y maniobras de adelantamiento, y la deteccion de semaforos. La arquitectura propuesta ha sido verificada en la edicion 2017 de la Seat Autonomous Driving Challenge alcanzando la primera posicion. EnglishThis article presents the development of a vehicle at scale that allows autonomous driving by self-guided through the detection of road signs. The vehicle is based on a modified radio control model with a camera for the detection of road signs and traffic lights, and a lidar laser for obstacle detection. It also includes an Odroid processor with Ubuntu Linux base system and ROS (Robot Operation System) for high level control, and an Arduino microcontroller for motor control. The control system is based on the Subsumption architecture model, which includes three modules with different priority levels. The tracking of road markings uses a RANSAC algorithm for the detection of straight lines and a PID control system. The control system includes the detection of obstacles and maneuvers, and the detection of traffic lights. The proposed architecture has been verified in the 2017 edition of the Seat Autonomous Driving Challenge reaching the first position.
在这篇文章中，我们介绍了一种比例车辆的发展，它可以通过检测道路标志的自动引导来实现自动驾驶。该车辆是基于改进的无线电控制模型，增加了一个摄像头来检测道路标志和交通灯，以及一个激光雷达来检测障碍物。此外，它还包括一个基于Linux Ubuntu系统的Odroid处理器和用于高级控制的ROS(机器人操作系统)，以及一个用于电机控制的Arduino微控制器。控制系统基于包含三个不同优先级的模块的体系结构模型。道路标记跟踪采用RANSAC算法进行直线检测和PID控制系统。控制系统包括障碍物检测和超车机动，以及交通灯检测。该架构在2017年版的座椅自动驾驶挑战赛中得到验证，获得第一名。这篇文章介绍了一种规模车辆的发展，允许通过检测路标自动引导自动驾驶。该车辆是基于一种改进的无线电控制模型，带有用于探测路标和交通灯的摄像头，以及用于探测障碍物的激光雷达。它还包括一个带有Ubuntu Linux基础系统的Odroid处理器和用于高级控制的ROS(机器人操作系统)，以及用于引擎控制的Arduino微控制器。控制系统基于包含体系结构模型，其中包含三个具有不同优先级的模块。= =地理= =根据美国人口普查，这个县的面积为。控制系统包括检测障碍和maneuvers, and The检测of traffic灯。The - architecture has been verified in The 2017年edition of The成行抓住Driving The first定位的挑战。
{"title":"Vehículo autónomo a escala para el seguimiento de marcas viales de carretera","authors":"Jorge de Castro Casares, E. Casanova, Eusebio de la Fuente López, Jaime Gómez García-Bermejo","doi":"10.17979/spudc.9788497497565.0270","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.0270","url":null,"abstract":"espanolEn este articulo se presenta el desarrollo de un vehiculo a escala que permite su conduccion autonoma mediante el auto guiado a traves de la deteccion de las marcas viales de la carretera. El vehiculo se basa en un modelo de radiocontrol modificado al que se le ha anadido una camara para la deteccion de marcas viales y semaforos, y un laser lidar para la deteccion de obstaculos. Ademas, incluye un procesador Odroid con sistema base Linux Ubuntu y ROS (Robot Operation System) para el control de alto nivel, y un microcontrolador Arduino para el control de los motores. El sistema de control esta basado en el modelo de arquitectura Subsumption en el que se incluyen tres modulos con diferentes niveles de prioridad. El seguimiento de marcas viales utiliza un algoritmo RANSAC para la deteccion de rectas y un sistema de control PID. El sistema de control incluye la deteccion de obstaculos y maniobras de adelantamiento, y la deteccion de semaforos. La arquitectura propuesta ha sido verificada en la edicion 2017 de la Seat Autonomous Driving Challenge alcanzando la primera posicion. EnglishThis article presents the development of a vehicle at scale that allows autonomous driving by self-guided through the detection of road signs. The vehicle is based on a modified radio control model with a camera for the detection of road signs and traffic lights, and a lidar laser for obstacle detection. It also includes an Odroid processor with Ubuntu Linux base system and ROS (Robot Operation System) for high level control, and an Arduino microcontroller for motor control. The control system is based on the Subsumption architecture model, which includes three modules with different priority levels. The tracking of road markings uses a RANSAC algorithm for the detection of straight lines and a PID control system. The control system includes the detection of obstacles and maneuvers, and the detection of traffic lights. The proposed architecture has been verified in the 2017 edition of the Seat Autonomous Driving Challenge reaching the first position.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128701565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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