Carlos Parra

Carlos Parra
Pontificia Universidad Javeriana · Department of Electronic Engineering

About

44
Publications
31,840
Reads
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419
Citations
Citations since 2017
19 Research Items
333 Citations
2017201820192020202120222023020406080
2017201820192020202120222023020406080
2017201820192020202120222023020406080
2017201820192020202120222023020406080
Introduction

Publications

Publications (44)
Article
Full-text available
This paper discusses a novel embedded system-on-chip 3D localization and mapping (eSoC-LAM) implementation, that followed a co-design approach with the primary aim of being deployed in a small system on a programmable chip (SoPC), the Intel’s (a.k.a Altera) Cyclone V 5CSEMA5F31C6N, available in the Terasic’s board DE1-SoC. This computer board incor...
Article
Full-text available
Background and Objective Operating Rooms (ORs) are among the most expensive services in hospitals. A challenge to optimize the OR efficiency is to improve the surgery scheduling task, which requires the estimation of surgical time duration. Surgeons or programming units (based on people's experience) typically do the duration estimation using an ex...
Article
Full-text available
Making decisions under uncertainty is very challenging but necessary as most real-world scenarios are plagued by disturbances that can be generated internally, by the hardware itself, or externally, by the environment. Hence, we propose a general decision-making framework which can be adapted to optimally address the most heterogeneous real-world d...
Article
Full-text available
This work presents a novel intelligent system designed using a multi-agent hardware platform to detect improvised explosive devices concealed in the ground. Each agent is equipped with a different sensor, (i.e. a ground-penetrating radar, a thermal sensor and three cameras each covering a different spectrum) and processes dedicated AI decision-maki...
Article
The issue of detecting improvised explosive devices, henceforth IEDs, in rural or built-up urban environments is a persistent and serious concern for governments in the developing world. In many cases, such devices are plastic, or varied metallic objects containing rudimentary explosives, which are not visible to the naked eye and are difficult to...
Preprint
Full-text available
Real-world problems such as landmine detection require multiple sources of information to reduce the uncertainty of decision-making. A novel approach to solve these problems includes distributed systems, as presented in this work based on hardware and software multi-agent systems. To achieve a high rate of landmine detection, we evaluate the perfor...
Article
This paper presents the design and validation of a pH measurement IoT system for Precision Agriculture applications. The system is based on an IoT architecture which consist on: data acquisition and processing, information, centralization and access to users. The design process of each module is reported as well as its experimental validation proce...
Conference Paper
Full-text available
This paper presents the design and implementation of a system for micro-localization using Wireless Networking Technologies, such as WiFi and Bluetooth Low Energy (BLE) based on the Internet of Things (IoT) philosophy. The solution consists of an acquisition system of wireless signal parameters and the subsequent position system inference meanly cl...
Conference Paper
Full-text available
This paper presents the design and validation of a mobility parameter estimation system based on heterogeneous information fusion. The GNSS implementation in different fields and applications has increased in recent years, due to the high demand for integrated positioning for engineering solutions, such as precision agriculture, logistics, air vehi...
Conference Paper
Full-text available
This paper explores the Android Operative System (OS) as a medium to manage and operate different sensors embedded within smartphones, which are commonly used in participatory sensing oriented applications such as traffic navigation in cities and mobility in Smart Campus. Several operations are tested to determine the possible uses of the Android O...
Article
Full-text available
El presente artículo sintetiza la investigación realizada en el uso de técnicas de clasificación para un proceso de caracterización de posturas de personas que tiene como objetivo la identificación de emociones (Asombro, Enfado, Felicidad y Tristeza). En este proyecto de investigación fue necesario utilizar una metodología de investigación explorat...
Conference Paper
Full-text available
This paper presents the design and implementation of an Internet of Thing (IoT)-based system for indoor localization using Bluetooth Low Energy (BLE) technology. Our solution consists of two main systems: an acquisition system and a central server, under the Client-Server paradigm and the IoT philosophy. We report the development of different modul...
Article
Full-text available
This paper presents an approach for explosive-landmine detection by designing, developing and integrating a Ground Penetrating Radar (GPR) onboard an autonomous aerial drone. Our goal is twofold: firstly, we have tackled the development of a custom-designed lightweight GPR by approaching an interplay between hardware and software radio. This techno...
Article
Full-text available
Process mining is a discipline that allows organisations to discover, analyse and improve their business processes. Although the techniques, algorithms and software packages intended for the application of this discipline have been evolving positively, challenges have appeared as it is applied to process improvement projects. This is so because mos...
Conference Paper
The EMG signals are being used in electronic systems with biofeedback control for tracking and classifying of hand motion. These systems present a challenge in identifying the movement due to the variation of the EMG signals between subjects, therefore different pattern recognition techniques have been implemented to overcome this challenge. In res...
Article
Full-text available
The light field or LF is a function that describes the amount of light traveling in every direction (angular) through every point (spatial) in a scene, this LF can be captured in several ways, using arrays of cameras, or more recently using a single camera with an special lens, that allows the capture of angular and spatial information of light ray...
Conference Paper
In this paper we present an image rectification method for a multi-view image set captured by a mobile and articulated camera arrangement. The cameras are located in individual modules, each module consist in a camera, a single actuator and a proprioceptive angle sensor (servomotor encoder). Each module is connected to other modules in a linear cha...
Article
This paper compares three computational intelligence techniques applied to the discrimination of environmental situations associated to low air-quality events regarding the concentration of particulate matter with diameter lower than 10 micrometers. The techniques revised in this work are: Naive Bayesian Classification, Support Vector Machines and...
Article
The light field or LF is a function that describes the amount of light traveling in every direction (angular) through every point (spatial) in a scene, this LF can be captured in several ways, using arrays of cameras, or more recently using a single camera with an special lens, that allows the capture of angular and spatial information of light ray...
Chapter
Full-text available
Explosive landmines have cost the lives of hundreds in several countries. This paper presents a field report of a low cost unmanned aerial vehicle -ARdrone 2.0- used as a complemented tool for landmine visual detection in rural scenarios. The main contribution of this work is the practical experimentation with an integrated tool. This tool is compo...
Conference Paper
We design a digital image stabilization algorithm, to be applied in videos captured with a camera installed in the initial module of a snake robot. Stages for digital image stabilization were: motion estimation and motion compensation. In the case of motion estimation, we selected and evaluated two techniques: Pyramidal Lucas-Kanade optical flow an...
Conference Paper
Few topics in image processing have been as extensively studied as stereo correspondence, these algorithms can be divided into two categories, local and global, depending on how the processing is done in the image. A stereo correspondence algorithm is called local if operate on sections of the images and global this treatment is performed on the en...
Conference Paper
Full-text available
Organizations of all sizes are currently supporting their performance on information systems that record the real execution of their business processes in event logs. Process mining tools analyze the log to provide insight on the real problems of the process, as part of the diagnostic phase. Nonetheless, to complete the lifecycle of a process, the...
Conference Paper
En este artículo se presenta una propuesta para la generación de ambientes de aprendizaje interdisciplinarios con robótica en instituciones educativas de bajos recursos económicos, dado a partir de diversas experiencias en instituciones educativas en Colombia, donde se ha trabajado en la generación de ambientes de aprendizaje interdisciplinarios co...
Article
Full-text available
This paper presents a novel bat-like unmanned aerial vehicle inspired by the morphing-wing mechanism of bats. The goal of this paper is twofold. Firstly, a modelling framework is introduced for analysing how the robot should manoeuvre by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning...
Conference Paper
This paper shows the possibility of classifying the surface of locomotion of a modular snake-like robot only from torque and current sensors in the servo-motors. Locomotion in modular snake-like robots is made from gaits that involve the entire body structure, in this particular work we use a modular snake-like robot consisting of 16 modules locate...
Article
This video shows the mechanical structure, module length possibilities, skin options and some of the locomotion capabilities, including indoor and outdoor demonstrations of parametrized gaits for a modular snake robot, used to research at Pontificia Universidad Javeriana by the Systems, Intelligence, Robotics and Perception Research group (SIRP).
Conference Paper
Full-text available
This paper addresses recent developments on Modular Snake Robots suited for applications on de-mining tasks. Inclusion of robotic platforms on the de-mining process will help tasks like the recognizance and perception of dangerous areas, minimizing human risk. As a mobile robot, the modular snake robot can move in a uneven terrain similar to a mine...
Conference Paper
Concerning robotics, one topic of interest is loco- motion and specifically non-conventional locomotion that can be oriented to design robots that could pass through different surfaces in an autonomous way, with the lower power con- sumption possible. An approach to it, is a modular snake robot in a closed chain configuration (as a rolling wheel) i...
Conference Paper
This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the cont...
Article
This paper addresses the problem of find modular robot's center of mass displacements when a rolling gait is executed on the outside of a pipe. Parametrization of the gait and a complete forward kinematic model was determined in order to find the center of mass position. The displacements the robot's center of mass during a gait will be used as a e...
Article
Full-text available
The traffic problem has several components that may be discussed: vehicles, pedestrians and the interaction between them. This paper proposes a method for acquisition of pedestrian traffic variables, using computer vision techniques. Isolated pedestrians, groups of pedestrians and vehicles at the scene are detected from a video sequence, using a ba...
Article
Full-text available
This paper presents three graphic user interfaces, that have been developed as a first functional versions. Two of them, are currently used to fulfill requirements of gait programming for scripted and parametrized gaits. The third one, relies on the need to acquire variables to measure gait performance. Gait designing procedures can be improved by...
Article
Full-text available
In this paper, the development, implementation, construction and validation of a quality control station targeted to the inspection and verification of fabrication qualities of machined parts, based on artificial vision and coupled to a computer integrated manufacturing system is presented. The system analyses the parts based on a template configur...
Article
When humanity faces challenges in solving problems beyond their technical resources, and has no foundation to solve a problem, engineering must search for an answer developing new concepts and innovative frameworks to excel these limitations and travel beyond our capabilities. This project “Serpentine locomotion articulated chain: ANA II” is a self...
Article
en este artículo se presenta el desarrollo de un sistema electrónico capaz de reconocer, en tiempo real, doce gestos manuales realizados por un interlocutor con una de sus manos en una escena con iluminación y con fondo controlados. El sistema implementado es robusto a rotaciones, translaciones y cambios de escala de la mano del interlocutor en el...

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