Ana Cruz-Martín

Ana Cruz-Martín
University of Malaga | UMA · Department of System Engineering and Automatics

15.04
 · 
PhD in Computer Science
About
35
Research items
4,714
Reads
128
Citations
Introduction
She was born in 1972. She got her MS Degree in Computer Science in 1997 and her PhD in Computer Science in 2004, both at University of Málaga. Currently, she is with Systems Engineering and Automation Department at University of Málaga. Her teaching is related to Control Engineering, Robotics and Automation. Her research lines involve Educational Robotics and Networked Robots; she has also an interest in Archaeology, and currently she is pursuing a bachelor's History Degree at UNED.
Research Experience
Feb 2002
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Projects
Projects (4)
Project
Desarrollo de un prototipo de laboratorio remoto construido a partir de componentes hardware de bajo coste y software open-source. El sistema propuesto tiene como objeto rebajar los costes necesarios para llevar a cabo prácticas de laboratorio en diversas asignaturas impartidas en el Dpto. de Ingeniería de Sistemas y Automática de la Universidad de Málaga.
Archived project
Machine Learning in Robotics Reinforcement Learning for multiple tasks Software Framework RL-ROBOT https://arxiv.org/abs/1702.06329 https://github.com/angelmtenor/RL-ROBOT
Archived project
MSc robotics students learn reinforcement learning advantages and limitations when applied to a real robots.
Research
Research items (35)
Technical Report
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Technical Report
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Aviso de exención de responsabilidad: los procedimientos y opiniones aquí expresados son reflejo de la experiencia de la autora, no están exentos de error, y no son en absoluto un manual oficial ni del robot ni del brazo; por tanto, no se ofrece ningún tipo de garantía. Este documento resume los pasos iniciales básicos necesarios para usar el robot...
Answer
Maybe you could try MRPT (Mobile Robotics Programming Toolkit, www.mrpt.org). It offers several libraries to be used for the mobile robotics tasks you mention, as well as some simulation tools.
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Thanks for the link, Karsten, it has some interesting information.
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Thanks a lot for your help, Haider :)
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Thanks a lot for the references, they will be really helpful. About the last two papers, the one about legacy databases seems really interesting, and I got it from my University Library. Thanks again for your interest.
Question
I have checked "Archaeological Computing" by H. Eiteljorg, as well as some of his web entries, but I do not know if there is any other well known reference about this subject, and specifically, about database design for an archaeological site. Thanks in advance.
Article
Full-text available
Networked telerobots are remotely controlled through general purpose networks and components, which are highly heterogeneous and exhibit stochastic response times; however their correct teleoperation requires a timely flow of information from sensors to remote stations. In order to guarantee these time requirements, a good on-line probabilistic est...
Answer
Thanks everybody for your help. I would like to use open software, so your comments about gvSIG have been really useful
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Thanks for your help, Thomas. Currently I am more used to gvSIG, and as I need to get results soon, I'll go on with it, but I want to take a look to QGIS so I can compare and see. The good thing is that the underlying DB for both gvSIG and QGIS is PostGIS, so there is no need to replicate that part of the work.
Answer
Thanks a lot Alejandro and David, your answers have been vary helpful :) My idea was to use SEXTANTE, but I'll check your suggestions regarding GRASS and R.
I do use a PostGIS DB in my project, though yesterday I was fighting with a plain Postgres DB and it seems it was the only DB I could think of :)
Question
I would like to use an open source GIS for an archaeology project. My goals are to relate some artifacts included in a Postgres DB with maps and geographic information, and then, apply statistical analysis; I would also like to do some webmapping. I have been using gvSIG, and up to this moment I find it useful and easy. Is this a good option, or another solutions like GRASS or QGIS are a better choice? Thanks in advance for your help
Article
This paper presents H, a minimalistic specification language for designing heterogeneous software applications, particularly in the realms of robotics and industria, which takes advantage of a Component-Based Software Engineering (CBSE) approach. H copes with some of the most outstanding characteristics of these systems, like diversity at different...
Article
LEGO Mindstorms NXT robots are being increasingly used in undergraduate courses, mostly in robotics-related subjects. But other engineering topics, like the ones found in data acquisition, control and real-time subjects, also have difficult concepts that can be well understood only with good lab exercises. Such exercises require physical educationa...
Article
Mechatronics is emerging as a leading trend in the current engineering scene. Hence, educational platforms are needed in order to train engineers for this new job market demand. At present time, the existing educational systems that deal with mechatronic aspects, like robotic, control or automation systems, lack of a systematic methodology of devel...
Article
One of the most evident characteristics of robotic applications is heterogeneity: large robotic projects involve many different researchers with very different programming needs and areas of research, using a variety of hardware and software that must be integrated efficiently (i.e.: with a low development cost) to construct applications that satis...
Article
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Purpose – The CIM framework pursues the integration of components in a manufacturing enterprise by means of computer systems. This, however, may be obstructed due to heterogeneity in the field: programmable controllers, robots, sensors and actuators, etc. in communications: different kinds of networks and/or field buses; and in the programming tool...
Conference Paper
Full-text available
The use of the World Wide Web for robot teleoperation is growing in the last years due mainly to the pervasiveness of Internet and Web browsers, although Web interfaces usually use Ethernet networks that exhibit time unpredictability. Most recent research in the area has been focused on improving time predictability of the network under delays, jit...
Article
Full-text available
Assistant robots like robotic wheelchairs can perform an effective and valuable work in our daily lives. However, they eventually may need external help from humans in the robot environment (particularly, the driver in the case of a wheelchair) to accomplish safely and efficiently some tricky tasks for the current technology, i.e. opening a locked...
Article
Full-text available
Assistant robots like robotic wheelchairs can perform an effective and valuable work in our daily lives. However, they eventually may need external help from humans in the robot environment (particularly, the driver in the case of a wheelchair) to accomplish safely and efficiently some tricky tasks for the current technology, i.e. opening a locked...
Conference Paper
Full-text available
Most research in networked robots that use Web interfaces for robot control has been focused recently on the network part, since Ethernet involves poor (unpredictable) time performance. However, we believe that the problem to be addressed is more general and should not be restricted only to communication engineering: the interfaced system as a whol...
Article
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En esta tesis se aborda el problema de la planificación de trayectorias en sistemas robóticos compuestos por múltiples elementos. Como punto de partida, se toma un algoritmo de planificación de velocidades para un único robot que genera trayectoria cuyos perfiles de velocidad tienen en cuenta las limitaciones de velocidad, tanto físicas como operac...
Conference Paper
This paper presents a methodology for planning trajectories in a multirobot system. The planner takes into account the speed constraints acting on the vehicles, so it provides a safe speed profile for every robot in the system. As the planner is decoupled and prioritized, it is necessary to set up some priority assignment that defines the order in...
Article
Full-text available
This work presents a new procedure for planning mobile robot trajectories by considering kinematic and dynamic constraints on the vehicle motion. This approach divides the above problem into two stages: first, a spatial planning of a collision-free path, which proves the non-holonomic motion constraint; and secondly, a temporal planning of a speed...
Chapter
This paper presents a moving obstacle avoidance algorithm for mobile robots that work under some kind of speed limitations. The proposed method takes the information about these speed constraints and the moving obstacles in its environment, and provides a safe speed profile which allows to build a trajectory that bypasses such obstacles. The algori...