Alberto Izaguirre

Alberto Izaguirre
Mondragon University | Mu

About

44
Publications
14,280
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741
Citations
Introduction
Computer Vision and Robotics

Publications

Publications (44)
Conference Paper
Full-text available
The evolving landscape of industrial automation demands adaptive solutions to cope with dynamic manufac- turing processes. This paper presents a novel methodology for laser-based dynamic groove following by an industrial robot, aimed at addressing the challenges posed by modern manufac- turing environments. Unlike conventional offline trajectory pr...
Article
Full-text available
Surface flatness assessment is necessary for quality control of metal sheets manufactured from steel coils by roll leveling and cutting. Mechanical-contact-based flatness sensors are being replaced by modern laser-based optical sensors that deliver accurate and dense reconstruction of metal sheet surfaces for flatness index computation. However, th...
Article
Full-text available
This paper describes a method for calibrating multi camera and multi laser 3D triangulation systems, particularly for those using Scheimpflug adapters. Under this configuration, the focus plane of the camera is located at the laser plane, making it difficult to use traditional calibration methods, such as chessboard pattern-based strategies. Our me...
Chapter
In this article we discuss the need for metal strip flatness and the state of the art for its measurement, which is of top importance for the metal processing industry. There is a strong pressure for quality that demands on-line measurement that is robust to the perturbations introduced by further processing down the line. We sketch the design of a...
Article
Full-text available
Flatness sensors are required for quality control of metal sheets obtained from steel coils by roller leveling and cutting systems. This article presents an innovative system for real-time robust surface estimation of flattened metal sheets composed of two line lasers and a conventional 2D camera. Laser plane triangulation is used for surface heigh...
Chapter
We provide a view of current research issues in Robotic Grasping and Bin Picking focused on the perception aspects of the problem, mainly related to computer vision algorithms. After recalling the evolution of the topics in the last decades, we focus on the modern use of Deep Learning Algorithms. Two main trends are followed in the approaches to in...
Article
Full-text available
Industrial dimensional assessment presents instances in which early control is exerted among "warm" (approx. 600 • C) pieces. Early control saves resources, as defective processes are timely stopped and corrected. Existing literature is devoid of dimensional assessment on warm workpieces. In response to this absence, this manuscript presents the im...
Article
Grasping and object manipulation is a key element of intelligent behavior. Many innovative cyberphysical systems involve some kind of object grasp and manipulation, to the extent that grasping has been recognized as a critical technology for the next generation industrial systems. In this survey, we aim to draw a broad landscape of applications and...
Conference Paper
Labor induction is defined as the artificial stim- ulation of uterine contractions aimed to induce vaginal birth. Occurring in about 20% of pregnancies labor induction has become one the most commonly practiced procedures in ob- stetrics. One of the risk related to labor induction is ce- sarean section which accounts about 20% of the inductions. A...
Article
Full-text available
Labor induction is defined as the artificial onset of labor for the purpose of vaginal birth. Cesarean section is one of the potential risk of labor induction as it occur in about 20\% of the inductions. A ripe cervix (soft and distensible) is needed for a successful labor. During the ripening cervical tissues experience micro structural changes: c...
Conference Paper
Labor induction is defined as the artificial onset of labor for the purpose of vaginal birth. Cesarean section is one of the potential risks of labor induction as it occurs in about 20% of the inductions. A ripe cervix (soft and distensible) is needed for a successful labor. Changes occurring during the ripening process, will affect the interaction...
Conference Paper
Deflectometric methods have been extensively used, both in research and industry, to measure the shape of specular surfaces. The method presented in this paper makes it possible to evaluate the planarity of quasi-flat surfaces, i.e. to measure angular deviations between the average normal vector of the surface and the actual vector at each point of...
Conference Paper
Labor induction is defined as the artificial onset of labor for the purpose of vaginal birth. Cesarean section is one of the potential risk of labor induction as it occur in about 20\% of the inductions. A ripe cervix (soft and distensible) is needed for a successful labor. During the ripening cervical tissues experience micro structural changes: c...
Article
Full-text available
Intelligent Environments (IEs) are expected to support people in their daily lives. One of the hidden assumptions in IEs is that they propose a change of perspective in the relationships between human and technology, shifting from a techno-centered perspective to a human-centered one. Unlike current computing systems where the user has to learn how...
Conference Paper
Full-text available
Gait analysis is one of the ways used to assess the evolution of people with dementia. People with dementia tend to become inactive, especially after changing to a different environment this becomes apparent. For that, it is necessary to monitor the user in an unobtrusive manner and develop algorithms to extract patterns of patients' movements from...
Conference Paper
The Scheimplug condition consists on tilting the image plane (CCD plane) respect to the lens plane in order to increase the depth of field of a camera. The problem with this kind of cameras is that the conventional calibration methods doesn't take into account the introduced angle between the image plane and the lens plane. Only if the angle (from...
Chapter
This paper presents a Knowledge Based Engineering (KBE) application developed for the aeronautical sector. Specifically, this paper describes a KBE application that aids on the definition of the contact interface between turbine discs and blades of low pressure turbines, namely the firtree. Designing firtrees requires more than 60 different entry p...
Article
Full-text available
Modelling of anatomical parts is usually tackled through triangulated models with specialised Bio-CAD applications. If features beyond anatomy are required, geometry is usually translated into NURBS geometry for further modification in parametric feature based design CAD systems. But, they remain quite unmanageable yet. The authors present, validat...
Article
Full-text available
Intelligent Environments are expected to act proactively, anticipating the user’s needs and preferences. To do that, the environment must somehow obtain knowledge of those need and preferences, but unlike current computing systems, in Intelligent Environments, the user ideally should be released from the burden of providing information or programmi...
Article
An easy way to achieve higher depth of field in a camera-laser configuration is to tilt the image sensor respect to the lens plane, such that the image plane, laser plane and the lens plane intersect in a unique line (Scheimpflug condition [1]). If something has to be measured with this kind of cameras, a proper camera calibration must be done. The...
Conference Paper
Full-text available
Intelligent Environments are supposed to act proactively anticipating users’ needs and preferences in order to provide effective support. Therefore, learning users’ frequent behaviours is essential to provide such personalized services. In that sense, we have developed a system, which learns those frequent behaviours. Due to the complexity of the e...
Conference Paper
Full-text available
Intelligent Environments depend on their capability to understand and anticipate user's habits and needs. Therefore, learning user's common behaviours becomes an important step towards allowing an environment to provide such personalized services. Due to the complexity of the entire learning system, this paper will focus on the automatic discoverin...
Article
Full-text available
It is essential for environments that aim at helping people in their daily life that they have some sort of Ambient Intelligence. Learning the preferences and habits of users then becomes an important step in allowing a system to provide such personalized services. Thus far, the exploration of these issues by the scientific community has not been e...
Conference Paper
Forming processes are manufacturing processes based on deformation of raw material applying pressure in one or several stages until getting the final product. Correct forming of parts is very important as any defective part may result in big economical losses, e.g. the return of a complete set of parts or the loss of some clients. Real time human s...
Conference Paper
Full-text available
Intelligent Environments depend on their capability to understand and anticipate user's habits and needs. Therefore, learning user's common behaviours becomes an important step towards allowing an environment to provide such per- sonalized services. We have developed a system which learns user's patterns taking into account the special features of...
Conference Paper
Full-text available
Intelligent Environments are supposed to act proactively anticipating the user's needs and preferences in order to provide effective support. Therefore, the capability of an Intelligent Environment to learn user's habits and common behaviors becomes an important step towards allowing an environment to provide such personalized services. In this cha...
Article
Forming processes are manufacturing processes that use force and pressure in order to modify the shape of a material part until obtaining the final product. The wide range of non-linear factors that drive this sort of processes make them very complex and extremely difficult to be controlled. Traditional control techniques, like PID controllers, hav...
Article
Forming processes are manufacturing processes based on deformation of raw material applying pressure in one or several stages until getting the final product. This process depends on many factors, e.g. process parameters, material properties or lubrication, leading to possible defective parts. Correct forming of parts is very important as any defec...
Chapter
Full-text available
Ambient Intelligence environments depend on their capability to learn user’s preferences and typical behavior. In this paper we present an algorithm that taking as starting point information collected by sensors finds out accurate temporal relations among actions carried out by the user.
Conference Paper
A novel deformation measurement system has been developed in order to get material's FLD´s (Forming Limit Diagrams) via stereovision techniques. Two CCD cameras are protected by a transparent window used in a warm sheet hydro-forming prototype, therefore the refraction is corrected. Different strain calculation methods have been studied and compare...
Conference Paper
Full-text available
Ambient Intelligent (AmI) environments are supposed to act proactively anticipating the user's needs and preferences, therefore the capability of an AmI system to learn those elements out of daily life behaviour of those using the environment is very valuable. In this paper we present a system that discovers patterns related to user's actions and i...
Article
Full-text available
Core to the development of an intelligent environment is the understanding of where, when, and for how long, actions take place. Our work addresses the process of discovering patterns of be-haviour which may reflect preferences of a user on the use of devices. A solution to this problem is essential for the automatization of en-vironments like Smar...
Conference Paper
Full-text available
This article describes a self-healing mechanism for state- machine based distributed components. Each component is composed of two layers: a healing (HL) and a service or functional layer (FL). At least, the functional layer must be implemented according to a state- machine specification. The healing layer has the capacity of monitoring the service...
Article
Full-text available
We present an efficient structure for the computation of robot dynamics in real time. The fundamental characteristic of this structure is the division of the computation into a high-priority synchronous task and low-priority background tasks, possibly sharing the resources of a conventional computing unit based on commercial microprocessors. The ba...
Article
Full-text available
This is the final report representing three years of work under the current grant. This work was directed to the development of a distributed computer architecture to function as a force and motion server to a robot system. In the course of this work we developed a compliant contact sensor to provide for transitions between position and force contr...
Article
A new method of camera calibration is proposed for active visual sensing for use in three-dimensional (3D) scene analy sis. The method permits calibration of a mobile camera as a function of the position and orientation of the camera. The algorithm for identification of the calibration matrices is divided into two steps: first, calibration for a fi...
Conference Paper
The decentralized control of robot manipulators at low speed needs the calculation of the inertial and gravitational coefficients of the dynamic equations. The scheme of calculation of the generalized forces can then be divided into two parts: the calculation in background of the dynamic coefficients and the calculation in real time of the generali...
Article
A new method of camera calibration is proposed for active visual sensing for use in 3D scene analysis. The method, based on a variation of the two plane camera model, permits the calibration of a mobile camera as a function of the position and orientation of the camera. The algorithm for identification of the calibration matrices is divided into tw...
Conference Paper
A new method of calibration is proposed for active visual sensing for use in 3D analysis. The method, based on an adaptation of the two camera plane m model, permits the calibration of a mobile camera as a function of the position and orientation of the camera.
Conference Paper
We present a method for the computation of the effective inertia, coupling inertia, and gravity loading terms for a manipulator with a load. The calculations are separated so as to consider the manipulator and the load independently. These inertial and gravity loading effects are additive and furthermore their computation need only be performed at...
Article
A new method of camera calibration is proposed for active visual sensing for use in 3D analysis. The method, based on a variation of the two plane camera model, permits the calibration of a mobile camera as a function of the position and orientation of the camera. The algorithm for identification of the calibration matrices is divided into two step...

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