Ramón P. Ñeco

Universidad Miguel Hernández de Elche, Elche, Valencia, Spain

Are you Ramón P. Ñeco?

Claim your profile

Publications (31)2.18 Total impact

  • [Show abstract] [Hide abstract]
    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;
  • Source
    [Show abstract] [Hide abstract]
    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
  • [Show abstract] [Hide abstract]
    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. DOI:10.1002/rob.20057 · 0.48 Impact Factor
  • [Show abstract] [Hide abstract]
    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
  • ICINCO 2004, Proceedings of the First International Conference on Informatics in Control, Automation and Robotics, Setúbal, Portugal, August 25-28, 2004; 01/2004
  • Source
    [Show abstract] [Hide abstract]
    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
  • [Show abstract] [Hide abstract]
    ABSTRACT: Not Available
    World Automation Congress, 2004. Proceedings; 01/2004
  • Source
    [Show abstract] [Hide abstract]
    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
  • Source
    [Show abstract] [Hide abstract]
    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
  • Source
    [Show abstract] [Hide abstract]
    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 09/2000; 12:2129-2174. DOI:10.1162/089976600300015097 · 1.69 Impact Factor
  • Source
    ESANN 1999, 7th European Symposium on Artificial Neural Networks, Bruges, Belgium, April 21-23, 1999, Proceedings; 01/1999
  • Source
    R.P. Neco, M.L. Forcada
    [Show abstract] [Hide abstract]
    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
    [Show abstract] [Hide abstract]
    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
  • Source
    [Show abstract] [Hide abstract]
    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.
  • Source
    [Show abstract] [Hide abstract]
    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.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: prácticas docentes 1. Introducción. La enseñanza en ingeniería requiere de recursos que permitan al alumno poner en práctica los conceptos que va adquiriendo en las clases teóricas. Tradicionalmente, este elemento de apoyo ha sido el laboratorio de prácticas, en el cual, se requiere la presencia física del estudiante supervisada en todo momento por uno o varios profesores, de modo que el estudiante pueda familiarizarse con instrumentos y equipos reales. El contenido de estas sesiones prácticas está fuertemente condicionado por los equipos disponibles, cuyo número es limitado debido al fuerte coste asociado a la adquisición de grandes equipos y su mantenimiento. Debido a estos factores, los centros de enseñanza sólo pueden ofrecer acceso limitado a los equipos. En este sentido, el rápido desarrollo de las tecnologías basadas en Internet que se ha producido en los últimos años ha posibilitado un gran crecimiento de su uso en el ámbito docente. Estos avances han hecho posible que la educación interactiva a distancia sea una realidad.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Ref: 076 RESUMEN En este artículo se describen las experiencias realizadas en el uso de pequeños robots móviles en el estudio de los conceptos de programación de sistemas de tiempo real. Estas prácticas se proponen como una herramienta fundamental no sólo para asimilar los conceptos de diseño de aplicaciones de tiempo real sino también para que el alumno desarrolle diversas habilidades necesarias en su formación como Ingeniero. Se realiza en primer lugar una revisión de la problemática asociada al diseño de los sistemas de tiempo real, presentando a continuación los equipos utilizados, los objetivos planteados y las experiencias desarrolladas durantes los tres últimos años. Los resultados obtenidos ha supuesto una mejora importante en la docencia de este tipo de asignaturas incrementando la motivación del alumno ante el desafío planteado. Estas actividades se realizan de forma complementaria con la docencia práctica de los sistemas de tiempo real, donde se plantean aspectos más generales asociados a sistemas operativos.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: breve introducción sobre SCILAB/SCICOS, objetivos a alcanzar, enumeración de ventajas e inconvenientes y ejemplos.
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: Resumen En este artículo se presenta una arquitectura de programación de un brazo robot de 7 g.d.l. utilizando reconocimiento de voz y lenguaje natural. El sistema completo incluye un módulo de aprendizaje de tareas nuevas y otro módulo de visión 3D para reconocimiento de las características del entorno. El módulo de lenguaje natural traduce los comandos del operador a una representación en un lenguaje intermedio para, que posteriormente se ejecute el programa mediante un intérprete. Palabras clave: Teleoperación, robótica, programación, reconocimiento de voz, procesamiento del lenguaje natural.