Ramón P. Ñeco

Universidad Miguel Hernández de Elche, Elx, Valencia, Spain

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Publications (27)2.24 Total impact

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    ABSTRACT: A teleoperation tool that allows to interact with the remote environment in a more comfortable and flexible way is presented in this chapter. Working over a classical teleoperation environment, the goal is to reach a higher level of abstraction in the user commands. The tool allows the operator to interact with the remote environment through natural language recognition. This system is able to interpret and execute the commands formulated by the operator in natural language, according to the elements present in the remote environment. An error feedback module has been designed in order to take into account the on-line correcting information expressed by the operator during the execution of a task in the remote environment. The proposed voice assistance tool has been designed as a module in a novel teleoperation architecture, which allows to integrate multiple assistance tools.
    08/2007: pages 107-120;
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    ABSTRACT: In this paper, a teaching application for remote real-time execution of physical process controllers is presented. This application has been developed using the platform Matlab/Simulink. The motivation of this work is based on the little availability of real physical systems or laboratories to perform the experiments in control courses. In this way, control lab assignments with various physical processes present in the remote laboratories can be performed. Also, some examples that show the validity and applicability of the presented architecture are introduced.
    Industrial Electronics, 2007. ISIE 2007. IEEE International Symposium on; 07/2007
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    ABSTRACT: This paper presents a dynamic virtual environment tool for training operators and to prove different control schemes in telerobotic systems, and describes virtual reality environments used in teleoperated robotic systems. In the presented tool, the kinematic and dynamic model of the remote environment which is manipulating the operator is considered. The paper also describes how time delays in the communication channel can be easily added to the simulator, in order to analyze their effects in the teleoperated system. Finally, some experimental results achieved with this virtual teleoperated system are shown. With the presented dynamic simulator, different control schemes designed to overcome the time delay problem could be tested. © 2005 Wiley Periodicals, Inc.
    Journal of Robotic Systems 03/2005; 22(4):167 - 181. · 0.48 Impact Factor
  • J. Field Robotics. 01/2005; 22:167-181.
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    ABSTRACT: This paper presents a visual tracking system developed for a teleoperation project. The goal of this project is a both hands master-slave system in which the operator needs to see the robot hand (gripper) every time. For this reason, a new and robust algorithm to track the robot hand during its movement is developed. This is a model based tracking so the knowledge of the robot hand CAD model is needed (pose is obtained). This information is used to move a pan-tilt camera and keep the gripper centered in the image using an adaptive fuzzy logic controller. Due to the continuous gripper movement, we need a position predictor to reduce the error. In our case, the extended Kalman filter - EKF is used to do it. Vision based systems have a lot of empirically adjustable parameters for a good working. With the algorithm proposed in this paper, some parameters are auto-adjustable, so the system is easier to use and the robustness is increased.
    Fuzzy Systems, 2004. Proceedings. 2004 IEEE International Conference on; 08/2004
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    ABSTRACT: Not Available
    World Automation Congress, 2004. Proceedings; 01/2004
  • ICINCO 2004, Proceedings of the First International Conference on Informatics in Control, Automation and Robotics, Setúbal, Portugal, August 25-28, 2004; 01/2004
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    ABSTRACT: This paper presents a proposal for the development of laboratory assignments about the design and implementation of advanced interfaces for mobile robots using speech recognition. In these assignments, the main objective is the analysis of the possibilities for using speech interfaces as a complementary system for other interaction components with a mobile robot, such as artificial vision. The paper also describes how to develop introductory practical works to the analysis and implementation of intelligent dialogue for mobile robots
    Automation Congress, 2004. Proceedings. World; 01/2004
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    ABSTRACT: In this paper, the dynamic analysis for a teleoperation system with time delay is presented. The teleoperation system is controlled using a new design method through state convergence. This control method allows establishing the dynamics of the slave and the master-slave error. To perform the dynamic analysis, the influence of the slave and the error poles location in the dynamic behavior of the teleoperation system is studied. Also the robustness of the method control against slightly variations in the design parameters is analyzed.
    Control Applications, 2003. CCA 2003. Proceedings of 2003 IEEE Conference on; 07/2003
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    ABSTRACT: This paper shows an application of four neural networks architectures for the automatic adaptation of the voice interface to a robotic system. These architectures are flexible enough to allow a nonspecialist user to train the interface to recognize the syntax of new commands to the teleoperated environment. The system has been tested in a real experimental robotic system applied to perform simple assembly tasks, and the experiments have shown that the networks are robust and efficient for the trained tasks.
    Advances in Artificial Intelligence - IBERAMIA 2002, 8th Ibero-American Conference on AI, Seville, Spain, November 12-15, 2002, Proceedings; 01/2002
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    ABSTRACT: There has been a lot of interest in the use of discrete-time recurrent neural nets (DTRNN) to learn finite-state tasks, with interesting results regarding the induction of simple finite-state machines from input-output strings. Parallel work has studied the computational power of DTRNN in connection with finite-state computation. This article describes a simple strategy to devise stable encodings of finite-state machines in computationally capable discrete-time recurrent neural architectures with sigmoid units and gives a detailed presentation on how this strategy may be applied to encode a general class of finite-state machines in a variety of commonly used first- and second-order recurrent neural networks. Unlike previous work that either imposed some restrictions to state values or used a detailed analysis based on fixed-point attractors, our approach applies to any positive, bounded, strictly growing, continuous activation function and uses simple bounding criteria based on a study of the conditions under which a proposed encoding scheme guarantees that the DTRNN is actually behaving as a finite-state machine.
    Neural Computation 01/2000; 12:2129-2174. · 1.76 Impact Factor
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    ESANN 1999, 7th European Symposium on Artificial Neural Networks, Bruges, Belgium, April 21-23, 1999, Proceedings; 01/1999
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    R.P. Neco, M.L. Forcada
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    ABSTRACT: Many researchers have explored the relation between discrete-time recurrent neural networks (DTRNN) and finite-state machines (FSMs) either by showing their computational equivalence or by training them to perform as finite-state recognizers from examples. Most of this work has focused on the simplest class of deterministic state machines, that is deterministic finite automata and Mealy (or Moore) machines. The class of translations these machines can perform is very limited, mainly because these machines output symbols at the same rate as they input symbols, and therefore, the input and the translation have the same length; one may call these translations synchronous. Real-life translations are more complex: word reorderings, deletions, and insertions are common in natural-language translations; or, in speech-to-phoneme conversion, the number of frames corresponding to each phoneme is different and depends on the particular speaker or word. There are, however, simple deterministic, finite-state machines (extensions of Mealy machines) that may perform these classes of “asynchronous” or “time-warped” translations. A simple DTRNN model with input and output control lines inspired on this class of machines is presented and successfully applied to simple asynchronous translation tasks with interesting results regarding generalization. Training of these nets from input-output pairs is complicated by the fact that the time alignment between the target output sequence and the input sequence is unknown and has to be learned: we propose a new error function to tackle this problem. This approach to the induction of asynchronous translators is discussed in connection with other approaches
    Neural Networks,1997., International Conference on; 07/1997
  • Mikel L. Forcada, Ramón P. Ñeco
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    ABSTRACT: . This paper presents a modification of Pollack's RAAM (RecursiveAuto-Associative Memory), called a Recursive Hetero-AssociativeMemory (RHAM), and shows that it is capable of learning simple translationtasks, by building a state-space representation of each input stringand unfolding it to obtain the corresponding output string. RHAM-basedtranslators are computationally more powerful and easier to train thantheir corresponding double-RAAM counterparts in the literature.1...
    Biological and Artificial Computation: From Neuroscience to Technology, International Work-Conference on Artificial and Natural Neural Networks, IWANN '97, Lanzarote, Canary Islands, Spain, June 4-6, 1997, Proceedings; 01/1997
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    ABSTRACT: In this paper the control and supervision through Internet of a process managed by PLCs (Programmable Logic Controller) is presented. The proposed software architecture allows remote users to know the sensors state and to send control signals to process actuators, by means of a graphical interface that is accessible via a web browser. Also the remote user can download control programs to PCL. It has been used the client/server architecture, where the PLC and the server PC are connected by a Visual Basic application, and the server PC and the client PC exchange data using the TCP/IP protocol. This architecture has been applied to a real system that consists in an electropneumatic manipulator. This manipulator together the PLC and the server PC form the virtual laboratory. This kind of remote control has a shiny future in the industry and the education world. From an educational view point, it allows students to verify its control algorithms in a real system from its house, analyzing the process evolution using only the web browser, without any software else.
    08/2002;
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    ABSTRACT: In this paper we present a new control design tool for algebraic methods to obtain digital controllers. These controllers are very useful to obtain an exact response (zero errors) in the close loop control system. But for students the algebraic methods are difficult and tedious because they involve the resolution of large linear systems. This is the main motivation for the tool presented in this paper. The tool is a graphical toolbox for Matlab and it is able to show the detailed solution of the controller design using symbolic notation, very similar to the resolution of problems in practical laboratories. The tool includes a visual environment and has been very useful in the learning process for engineering undergraduate students. Four types of digital controllers have been considered: poles placement, cancellation, minimum time, and finite time controllers. The specifications in the complex plane are the starting point of the design and the toolbox can obtain the final controller in two different ways: didactic mode (with symbolic details) and direct mode (obtaining the controller without design details). Index Terms  Control design tools, control and signal processing education, digital controllers, systems engineering.
    08/2002;
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    ABSTRACT: En este artículo se presenta una arquitectura general aplicable a la ejecución remota en tiempo real vía internet de controladores sobre procesos físicos. Esta aplicación ha sido desarrollada utilizando la plataforma Matlab/Simulink (Mathworks, 2004). La motivación de este trabajo está basada en la limitada disponibilidad de sistemas físicos reales en los laboratorios para realizar prácticas en cursos de ingeniería de control. De este modo, se permite el uso compartido de varios procesos físicos, disponibles en el laboratorio, de forma remota. Asimismo se presentan algunos ejemplos que muestran la validez y aplicabilidad de la arquitectura presentada.
    Revista iberoamericana de automática e informática industrial (RIAI), ISSN 1697-7912, Vol. 2, Nº. 2, 2005, pags. 64-72.
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    ABSTRACT: del Ferrocarril s/n 03202 Elche (Alicante) España ramon.neco@umh.es 1 INTRODUCCIÓN Durante los dos primeros años de docencia en Ingeniería Industrial en la Universidad "Miguel Hernández" de Elche, se ha comprobado que existe una problemática asociada a la corrección y evaluación de los exámenes de las asignaturas de informática con un componente mayoritariamente práctico. En la mayoría de sistemas de evaluación de la calidad de la docencia universitaria en ingeniería, las prácticas de laboratorio juegan un papel crucial [Cabrera, 1999]. En la tabla 1 se presenta una relación de las asignaturas que imparte la división de Ingeniería de Sistemas y Automática en las cuales se ha detectado este problema. En estas asignaturas en las que las partes teóricas se mezclan con las prácticas realizadas sobre el paquete informático correspondiente, la forma de evaluar y la posterior corrección presenta muchos inconvenientes. La primera cuestión que se plantea es ¿Cómo evaluar los conocimientos adquiridos por el alumno? Es obvio que en asignaturas de este tipo con un componente mayoritariamente práctico los exámenes no pueden ser totalmente teóricos, sino que deben tener una mínima parte teórica y un alto grado de práctica. Pero contestada en un primer momento esta pregunta nos asaltan otras cuestiones, ¿En qué porcentaje? ¿Cómo deben ser los exámenes prácticos?, etc. Estas cuestiones tendrán su contestación a lo largo de este artículo.
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    ABSTRACT: Evaluation through exams based on multiple choice questions has an important advantage: the results are completely objective. However, this kind of evaluation is seldom used due to its main drawback: cheating, or copying the answers from a classmate, is much easier for the students. We present a simple software tool that manages multiple choice exams. The main idea is automating the generation of different exam versions by shuffling all question versions. First, a Latex document must be created, with the main structure of the exam and the different versions of each question delimited with markers. Then, a simple Matlab script (easily portable to other programming languages) produces a new Latex file where the different versions of each question are combined, resulting in a huge number of exam versions. A separate Latex file is also created, in order to be used by the docent, helping him/her in the correction process. Finally, the appropriate Latex commands are run in order to compile the files and produce two pdf outputs: one for the students (all the version of the exam to be solved) and one for the docent (which helps in the correction process). The Matlab script, as well as usage instructions and examples are freely available from our website (http://lcsi.umh.es).
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