David Herrero-Perez

David Herrero-Perez
Universidad Politécnica de Cartagena | UPCT · Structures and Constructions

PhD

About

58
Publications
12,484
Reads
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997
Citations
Citations since 2016
16 Research Items
688 Citations
2016201720182019202020212022020406080100120
2016201720182019202020212022020406080100120
2016201720182019202020212022020406080100120
2016201720182019202020212022020406080100120
Additional affiliations
October 2011 - present
Universidad Politécnica de Cartagena
Position
  • Professor (Associate)
November 2010 - present
Universidad de Cartagena
Position
  • Professor (Assistant)
January 2008 - present
Universidad Carlos III de Madrid
Education
March 2002 - July 2007
University of Murcia
Field of study
  • Computational Science

Publications

Publications (58)
Article
Full-text available
Underwater manipulation with current robotics technology is a challenging task with significant limits in versatility and robustness terms. Such functionality has tremendous potential covering a broad spectrum of applications, mainly replacing divers performing hazardous jobs. Soft robotics provides an efficient solution for operating in these scen...
Article
This work presents an efficient parallel implementation of density-based topology optimization using Adaptive Mesh Refinement (AMR) schemes to reduce the computational burden of the bottleneck of the process, the evaluation of the objective function using Finite Element Analysis (FEA). The objective is to obtain an equivalent design to the one gene...
Article
This work presents a parallel implementation of density-based topology optimization using distributed GPU computing systems. The use of multiple GPU devices allows us accelerating the computing process and increasing the device memory available for GPU computing. This increment of device memory enables us to address large models that commonly do no...
Article
Full-text available
This paper presents a framework for processing, modeling, and fusing underwater sensor signals to provide a reliable perception for underwater localization in structured environments. Submerged sensory information is often affected by diverse sources of uncertainty that can deteriorate the positioning and tracking. By adopting uncertain modeling an...
Article
Full-text available
This paper introduces a novel computational approach for level-set based topology optimisation of hyperelastic materials at large strains. This, to date, is considered an unresolved open problem in topology optimisation due to its extremely challenging nature. Two computational strategies have been proposed to address this problem. The first strate...
Article
Topology optimization under uncertainty of large-scale continuum structures is a computational challenge due to the combination of large finite element models and uncertainty propagation methods. The former aims to address the ever-increasing complexity of more and more realistic models, whereas the latter is required to estimate the statistical me...
Article
This paper presents an evolutionary approach for the Robust Topology Optimization (RTO) of continuum structures under loading and material uncertainties. The method is based on an optimality criterion obtained from the stochastic linear elasticity problem in its weak form. The smooth structural topology is determined implicitly by an iso-value of t...
Preprint
Full-text available
Topology Optimization Under Uncertainty (TOUU) of large-scale continuum structures has become a computational challenge due to the combination of large Finite Element (FE) models and uncertainty propagation methods. The former aims to address the ever-increasing complexity of more and more realistic models, whereas the latter is required to estimat...
Article
This work proposes a level-set based approach for solving risk-averse structural topology optimization problems considering random field loading and material uncertainty. The use of random fields increases the dimensionality of the stochastic domain, which poses several computational challenges related to the minimization of the Excess Probability...
Chapter
This paper proposes a software framework to facilitate the development of algorithms for structural optimization under uncertainty on systems with multiple Graphics Processing Units (GPUs). The computational challenge of this problem requires the use of high performance computing techniques both to be able to address it and to achieve results in a...
Chapter
This paper shows how the proper use of massively parallel architectures can increase significantly the tractable resolution of topology optimization problems in the field of architecture and urban design. Evolutionary topology optimization techniques are redefining architectural practice providing structurally sound and aesthetically pleasing archi...
Article
Evolutionary topology optimization of three-dimensional continuum structures is a computationally demanding task in terms of memory consumption and processing time. This work aims to alleviate these constraints proposing a well-suited strategy for Graphics Processing Unit (GPU) computing. Such a proposal adopts a fine-grained GPU instance of matrix...
Article
This paper proposes a well-suited strategy for High Performance Computing (HPC) of density-based topology optimization using Graphics Processing Units (GPUs). Such a strategy takes advantage of Massively Parallel Processing (MPP) architectures to overcome the computationally demanding procedures of density-based topology design, both in terms of me...
Article
Robust topology optimization of continuum structures is an intensive computational task due to the use of uncertainty propagation methods to estimate the statistical metrics within the topology optimization process. Such a computational problem is exacerbated for large finite element (FE) models in terms of memory consumption and processing time. F...
Article
This work proposes a stochastic shape optimization method for continuous structures using the level-set method. Such a method aims to minimize the expected compliance and its variance as measures of the structural robustness. The behavior of continuous structures is modeled by linear elasticity equations with uncertain loading and material. This un...
Article
Full-text available
This paper proposes a novel infill sampling criterion for constraint handling in multi-objective optimization of computationally expensive black-box functions. To reduce the computational burden, Kriging models are used to emulate the objective and constraint functions. The challenge of this multi-objective optimization problem arises from the fact...
Article
This paper proposes a strategy for the efficient implementation of Fixed Grid Finite Element Analysis (FGFEA) method on Graphics Processing Units (GPUs). Such a strategy makes use of grid regularity of FGFEA to reduce drastically both the memory required by the implementation and the memory transactions to perform the operations with the common ele...
Article
This paper proposes a fine-grained implementation of matrix-free Conjugate Gradient (CG) solver for Finite Element Analysis (FEA) using Graphics Processing Unit (GPU) architectures. The use of GPU computing in FEA is today an active research field. This is primary due to current GPU sparse solvers are partially parallelizable and can hardly make us...
Article
This paper shows how the development of an intelligent vehicle application can benefit from using standard mobile robotics elements in general, and a development framework in particular. This framework, ThinkingCap-II, has been successfully used in other robotics applications. It consists of a series of modules and services that have been developed...
Article
Full-text available
This paper presents the development of a framework based on fuzzy logic for multi-sensor fusion and localization in indoor environments. Such a framework makes use of fuzzy segments to represent uncertain location information from different sources of information. Fuzzy reasoning, based on similarity interpretation from fuzzy logic, is then used to...
Article
Numerous approaches have been proposed to generate well-balanced gaits in biped robots that show excellent perfor- mance in simulated environments. However, in general, the dynamic balance of the robots decreases dramatically when these methods are tested in physical platforms. Since humanoid robots are intended to collaborate with humans and oper-...
Article
Full-text available
This work presents the development of a flexible industrial guidance system used to guide Automated Guided Vehicles (AGVs) in indoor industrial environments. Typically, wireless guidance systems are composed of path-tracking and localization methods linked to follow a certain route. This paper focuses on the localization approach that permits indus...
Article
Full-text available
We study the problem of automatic configuration of the initial position, the so-called waypoint, from which to initiate a robust and accurate docking maneuver using nonholonomic (car-like) robotic forklifts in the context of automated manufacturing. The proper selection of these positions is of paramount importance to operate with the industrial gr...
Article
The Zero Moment Point (ZMP) stability criterion has been broadly employed for walking pattern generation in legged robots. However, ZMP-based approaches usually ignore the presence of angular momentum in the system. This hinders the performance of the gait, especially against disturbances. In this work we propose an angular momentum controller that...
Article
Wireless Sensor Network (WSN) localization has shown a growing research interest, thanks to the expected proliferation of WSN applications. This work is focused on indoor localization of a mobile robot in a WSN using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. These measurements are affect...
Article
Full-text available
This work addresses the path tracking problem of industrial guidance systems used by automated guided vehicles (AGVs) in load transfer operations. We focus on the control law that permits to AGVs to operate tracking a predefined route with industrial grade of accuracy, repeatability and reliability. One of the main issues of this problem is related...
Article
In this chapter, the authors describe their vision system used in the Standard Platform League (SPL), one of the official leagues in RoboCup competition. The characteristics of SPL are very demanding, as all the processing must be done on board, and the changeable environment requires powerful methods for extracting information and robust filters....
Article
Full-text available
This work presents the development and experimental evaluation of a method based on fuzzy logic to locate mobile robots in an Intelligent Space using wireless sensor networks (WSNs). The problem consists of locating a mobile node using only inter-node range measurements, which are estimated by radio frequency signal strength attenuation. The sensor...
Article
This paper deals with the problem of coordinating flexible automated guided vehicles (AGVs) in real manu- facturing systems. The problem consists of ensuring safe and successful task execution while several AGVs operate as a distributed transportation system in real industrial environments. The proposed solution com- bines different decentralized t...
Article
Full-text available
This paper deals with the problem of planning the Center of Mass (CoM) trajectory of a humanoid robot while its feet follow an omnidirectional walking pattern. This trajectory should satisfy the dynamic stability criterion to ensure analytically that the Zero Moment Point (ZMP) lies within the support polygon. The proposed approach provides flexibi...
Article
This paper presents a localization method using fuzzy logic to represent the different facets of uncertainty present in sensor data. Our method follows the typical predict-update cycle of recursive state estimators to estimate the robot’s location. The method is implemented on a fuzzy position grid, and several simplifications are introduced to red...
Conference Paper
Full-text available
We present the embedded vision system used in the Standard Platform League which is one of the o cial leagues in Robocup competition. This vision system runs at frame rate in Nao robots, while detecting colour coded objects. Because biped league is quite dynamic, e - cient and robust image processing techniques should be used. Furthermore, vision c...
Article
The research presented in this paper approaches the issue of navigation using an automated guided vehicle (AGV) in industrial environments. The work describes the navigation system of a flexible AGV intended for operation in partially structured warehouses and with frequent changes in the floor plant layout. This is achieved by incorporating a high...
Article
This paper proposes a methodology for modeling and controlling a flexible material handling system (MHS), composed of multiple automated guided vehicles (AGVs), suitable for Flexible Manufacturing Systems (FMSs). The AGVs incorporate artificial intelligent techniques to: i) facilitate the configuration and adaptation when there are layout modificat...
Article
Full-text available
Purpose The paper aims to describe the design and development of an automated guided vehicle (AGV) that incorporates artificial intelligence techniques to increase its autonomy and flexibility. The aim is developing a flexible AGV that operates as a flexible material handling system (MHS) in dynamic industrial environments. Design/methodology/appr...
Article
This paper presents a Java framework, ThinkingCap-II, for developing mobile multirobot applications, which has been successfully used in indoor, automotive and industrial robotics applications. It consists of a reference architecture that serves as a guide to make the functional decomposition of a robotics sys- tem, a software architecture that all...
Conference Paper
This paper presents the control strategy adopted to ensure low jerk variations in path tracking operations of automated guided vehicles (AGVs) in industrial environments. The system is focused on robustness, performance and ease configuration of the maneuvers. Robustness is improved by combining algebraic techniques for robust intelligent feedback...
Article
Full-text available
RESUMEN Este artículo presenta las experiencias de la implantación de la metodología de Aprendizaje Basado en Proyectos (ABP) en una asignatura de Domótica en el Título de Ingeniero Técnico en Informática. Esta metodología se ha utilizado tanto en sesiones de teoría como en prácticas, con dos enfoques diferentes marcados por el tamaño de los grupos...
Conference Paper
We present the embedded vision system used in the four-legged league which is one of the official leagues in Robocup competition. This vision system runs at frame rate in AIBO robots, while detecting colour coded objects and field line features. The detection of field line features is becoming necessary because RoboCuppsilas rules change year after...
Conference Paper
We present a decentralized approach used to coordinate several flexible automated guided vehicles (AGVs) operating in flexible manufacturing systems (FMSs). The decentralized coordination is based on a control policy for planning the collision-free motion, which takes into account kinematics and safety constrains. Besides this, in order to avoid de...
Conference Paper
This paper presents the Petri nets based approach used to coordinate several flexible automated guided vehicles (AGVs) operating in flexible manufacturing systems (FMS). The on-board path planning and the way to configure the vehicles are the main features that differentiate flexible AGVs from traditional ones. These new characteristics enable them...
Conference Paper
Full-text available
This demonstration aims to show the decentralized coordination of the navigation system of highly autonomous Automated Guided Vehicles (AGVs) integrated in a real industrial environment. These vehicles are used for goods delivery tasks between different points of the production system. The navigation part consists on calculating and following the t...
Chapter
Full-text available
This work has presented the architecture and behavioral programming model used to develop a team of the Sony Four-Legged League, which is one of the official leagues of the RoboCup. This league is a very demanding scenario, with high uncertainty in perceptions and limited processing power. In addition, having a competition implies that some dates t...
Conference Paper
Full-text available
In some Robocup leagues, specially in the four-legged league, robots make use of coloured landmarks for localisation. Because these landmarks have no correlation with real soccer, it seems a natural approach to remove them. But for this to be a reality, there are some difficulties that need to be solved, mainly an efficient and robust field feature...
Conference Paper
Full-text available
The context of this paper is the auto calibration of a CCD low cost camera of a robotic pet. The underlined idea of the auto calibration is to imitate the human eye capabilities, which is able to accommodates changing lighting conditions, and only when all functionalities works properly, light is converted to impulses to the brain where the image i...
Conference Paper
Full-text available
In some Robocup leagues, specially in the four-legged league, robots make use of coloured landmarks for localisation. Because these landmarks have no correlation with real soccer, it seems a natural approach to remove them. But for this to be a reality, there are some difficulties that need to be solved, mainly an efficient and robust field feature...
Conference Paper
Full-text available
"Team Chaos" is a multi-university team which has been competing in the 4-legged robot league of RoboCup since 1999. This paper shortly describes the Team Chaos entry for RoboCup 2006. The most distinctive points of our team are: (i) a general, principled architecture for autonomous systems, (ii) hierarchical fuzzy behaviors for fast incremental de...
Conference Paper
Full-text available
In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of le...
Article
Full-text available
We study the development and evaluation of differ-ent techniques used to locate both static and mobile nodes in wireless sensor networks only using the radio frequency signal strength. These methods make use of formal frameworks to consider the imprecision and other sources of uncertainty in the RF-based measurements. In particular, the methods eva...
Article
Full-text available
When it comes to human soccer, the players who have good dribbling skills are very appreciated, since they have a strong impact in the result of the game. In this work we will expose an approach to incorporate dribbling as part of a closed loop ZMP-based gait. Information about the underlying theoretical models of the gait as well as reference valu...

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Projects

Projects (5)
Archived project
Different techniques for achieving autonomous indoor navigation. These include different aspects of the navigation, Localization, Mapping and Planning, and also Perception and Behavioral Development
Archived project
Design and development of an AGV based system for autonomous goods transportation in the agro industry
Project
Techniques and technologies for underwater navigation and autonomous missions