Fernando Auat Cheein

Fernando Auat Cheein
Heriot-Watt University · Department of Electrical, Electronic and Computer Engineering

Doctor of Engineering

About

165
Publications
40,060
Reads
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2,153
Citations
Introduction
I'm an Associate Professor at the Department of Electronic Engineering, Federico Santa Maria Technical University (UTFSM), Valparaiso, Chile, with a PhD on Control Systems, a MS on Control Systems as well. My current research focus is agricultural robotics, autonomous navigation and perception. At Scopus, search me as "Cheein", or visit my out-of-date webpage: http://profesores.elo.utfsm.cl/~fauat/. I always looking for new PhD students. My group, called GRAI (Autonomous and Industrial Robotics Research Group, in Spanish) has 10 PhD students, several MS and some undergraduate stuff. I'm currently the PI of one Chilean NSF project, and co-PI of other three. Also, I'm PI of the Basal Centre AC3E (www.ac3e.cl, take a look at what we do there).
Education
March 2004 - March 2009
National University of San Juan
Field of study
  • Robotics
September 2002 - June 2005
National University of San Juan
Field of study
  • Control Systems
March 1997 - March 2002
National University of Tucuman
Field of study
  • Electronics

Publications

Publications (165)
Article
The energy consumption in electrically powered machinery (EPM) depends on the manoeuvres, the mass of the vehicle, its load, the characteristics of the terrain, the deformation of the wheel, the slippage, the ambient and batteries temperature, among other issues, changing the instantaneous power consumption (IPC) behaviour. An accurate estimate of...
Article
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Artificial intelligence has a long history full of innovations that have resulted in different high-performance diagnostic resources currently available. This work has reviewed the artificial intelligence definition and its applications to medicine. We focused our review on otolaryngology's specialty to inform the medical community of the importanc...
Article
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Autonomous navigation in mining tunnels is challenging due to the lack of satellite positioning signals and visible natural landmarks that could be exploited by ranging systems. Solutions requiring stable power feeds for locating beacons and transmitters are not accepted because of accidental damage risks and safety requirements. Hence, this work p...
Article
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Artificial intelligence-assisted otologic diagnosis has been of growing interest in the scientific community, where middle and external ear disorders are the most frequent diseases in daily ENT practice. There are some efforts focused on reducing medical errors and enhancing physician capabilities using conventional artificial vision systems. Howev...
Article
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In the last few years, scattered experiences of the application of additive manufacturing in the construction of buildings using 3D printing with robots or automated equipment have emerged around the world. These use a variety of procedures and suggest relevant advantages for the construction industry. In order to identify the different processes a...
Article
The construction of fuel moisture content (FMC) maps, as well as temperature, terrain topography, and wind speed maps, are essential for the development of fire susceptibility models in forested areas. Moisture distribution in tree canopies requires exploration and a three-dimensional representation. This paper presents the construction of FMC maps...
Article
Several countries are currently leading the challenge of replacing internal combustion engines (ICE) in vehicles by electrically powered ones, mainly motivated by the goal of reducing the dependence on oil and the carbon footprint. However, the autonomy of electric vehicles (EVs) remains significantly lower than their ICE counterpart: it depends on...
Article
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Ear disorders are among the most common diseases treated in primary care, with a high percentage of non-relevant referrals. The conventional diagnostic procedure is done by a visual examination of the ear canal and tympanic membrane. Consequently, the accuracy of the diagnosis is affected by observer-observer variation, depending on the technical s...
Article
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Electric field energy harvesters (EFEHs) are reliable and sustainable power sources that may be used to power wireless sensor nodes (WSNs) in urban Internet of Things (IoT) networks, replacing traditional batteries. However, the large-scale deployments begin to pose significant environmental concerns regarding fabrication material degradation and r...
Article
The use of three-dimensional registration techniques is an important component for sensor-based localization and mapping. Several approaches have been proposed to align three-dimensional data, obtaining meaningful results in structured scenarios. However, the increased use of high-frame-rate 3D sensors has lead to more challenging application scena...
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Colorectal cancer (CRC) was the second-ranked worldwide type of cancer during 2020 due to the crude mortality rate of 12.0 per 100000 inhabitants. It can be prevented if glandular tissue (adenomatous polyps) is detected early. Colonoscopy has been strongly recommended as a screening test for both early cancer and adenomatous polyps. However, it has...
Article
Bare-earth extraction in forested regions has been considered challenging because of the lack of ground point information. In these regions, vision systems cannot capture any information about ground points under the canopy. Thus, the challenge of generating a digital terrain model by cameras increases. Nevertheless, one might alleviate ground filt...
Article
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The knowledge of the workspace for a robotic system on construction sites represents an essential resource to ensure the work progress, guarantee the safety of the construction tasks, and avoid robot damage. Despite the dramatic development of 3D printing technologies with robotic systems in recent years, these are still several challenges to consi...
Chapter
The first stage in the Precision Agriculture (PA) cycle entails data acquisition. This chapter deals with sensors used in conjunction with ground robotic platforms or terrestrial service units involved in scouting operations to model crops and their surrounding environment in PA and in Precision Fructiculture. In the following sections, various sen...
Article
Strategies to reduce slippage and disturbing wheel-terrain interactions are essential to improve navigation and motion control of field robots. Thus, this work proposes an integral control architecture based on a distributed tube-based nonlinear Model Predictive Control scheme to regulate tire dynamics and an adaptive model-based control scheme for...
Article
The agricultural industry could greatly benefit from an intelligent system capable of supporting field workers to increase production. Such a system would need to monitor human workers, their current actions, their intentions, and possible future actions, which are the focus of this work. Herein, we propose and validate a methodology to recognize h...
Article
The development of efficient autonomous off-road vehicles for agriculture or mining has still some challenges related with the effects of driving on rough terrain. An accurate modelling, simulation and estimation of the wheel-terrain interaction and its effects on the robot movement plays a key role in control and navigation tasks, specially in con...
Article
Global navigation satellite system (GNSS) is the standard solution for solving the localization problem in outdoor environments, but its signal might be lost when driving in dense urban areas or in the presence of heavy vegetation or overhanging canopies. Hence, there is a need for alternative or complementary localization methods for autonomous dr...
Article
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The vegetation indices derived from spectral reflectance have served as an indicator of vegetation’s biophysical and biochemical parameters. Some of these indices are capable of characterizing more than one parameter at a time. This study examines the feasibility of retrieving several spectral vegetation indices from a single index under the assump...
Article
In the last few years, automatic guidance of agricultural vehicles has received increased interest to improve field efficiency, while releasing human workers from monotonous operations. In this context, this work proposes a short or medium-term alternative to complete automation of manual harvesting processes by introducing a fleet of robotic N-tra...
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The conditional random field is a suitable framework for contextual classification of two–dimensional (images) and three–dimensional (point clouds) data. This framework is based on probabilistic graphical models, an alternative representation of a conditional probability distribution over random variables. In general, a graphical model encodes prob...
Article
Vegetation indices can be used to perform quantitative and qualitative assessment of vegetation cover. These indices exploit the reflectance features of leaves to predict their biophysical properties. In general, there are different vegetation indices capable of describing the same biophysical parameter. For instance, vegetation water content can b...
Article
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Because traditional electronics cannot directly use the alternating output voltage and current provided by electric field energy harvesters, harvesting systems require additional regulating and conditioning circuits. In this field, this work presents a conditioning circuit, called serial switch-only rectifier (SSOR) for low-voltage electric field e...
Article
In this work we study the effect of changing the vehicle guidance point position over the collision risk and motion control performance of an N-trailer vehicle. Based on a Monte Carlo method, we are able to find the correlation among motion control performance, trajectory curvature variation and guidance point position, to strategically select the...
Article
Reducing the number of traffic accidents due to human errors is an urgent need in several countries around the world. In this scenario, the use of human-robot interaction (HRI) strategies has recently shown to be a feasible solution to compensate human limitations while driving. In this work we propose a HRI system which uses the driver’s cognitive...
Article
Full-text available
Construction and mining require high levels of planning and productivity. Planning and management of operational targets and performance requires taking into account several variables, among which the amount of moved, loaded and unloaded material is one the main ones. This motivates the development of an approach for the estimation of the volume of...
Article
Articulated vehicles composed of a tractor and several passive trailers are commonly used for transportation purposes in agricultural applications. The increment of the number of trailers increases the payload capacity, but on the other hand, it also implies serious motion constraints, especially in turning scenarios where there is a greater risk o...
Article
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The new mobile technology, 5G, challenges the current scenario in communications by overcoming the flaws of currently working 4G. Such new technology offers to smart cities and intelligent transportation systems a new way to become fully integrated by allowing massive simultaneous connections and ubiquity of network, even under high mobility situat...
Article
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This work addresses the problem of robust tracking control for skid-steer mobile platforms, using tube-based Nonlinear Model Predictive Control. The strategy seeks to mitigate the impact of disturbances propagated to autonomous vehicles originated by traction losses. To this end, a dynamical model composed by two coupled sub-systems stands for late...
Article
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Chile is one of the main exporters of sweet cherries in the world and one of the few in the southern hemisphere, being their harvesting between October and January. Hence, Chilean cherries have gained market in the last few years and positioned Chile in a strategic situation which motivates to undergo through a deep innovation process in the field....
Article
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The construction industry is currently technologically challenged to incorporate new developments for enhancing the process, such as the use of 3D printing for complex building structures, which is the aim of this brief. To do so, we show a systematic study regarding the usability and performance of mobile manipulators as displaceable 3D printing m...
Article
Full-text available
Construction and mining require high levels of planning and productivity. Planning and management of operational targets and performance requires taking into account several variables, among which the amount of moved, loaded and unloaded material is one the main ones. This motivates the development of an approach for the estimation of the volume of...
Article
Full-text available
3D printed construction has recently emerged as a new building technology, with various experiences disseminated around the world. This paper reviews existing documents and examples of this technology to characterize its potential projections, particularly those oriented towards improving productivity and sustainability of construction in Chile. Sc...
Article
Valparaíso, a central-southern region in Chile, has one of the highest rates of wildfire occurrence in the country. The constant threat of fires is mainly due to its highly flammable forest plantation, composed of 97.5% Pinus radiata and Eucalyptus globulus. Fuel moisture content is one of the most relevant parameters for studying fire spreading an...
Article
Knowing beforehand the amount of fruit to be harvested leads to better logistics and decisions making in the agricultural industry. In the last years, several sensors –mainly artificial vision systems– and sensing techniques have been proposed to address the fruit counting problem with sundry results. Convolutional neural networks (CNN) arise as th...
Article
In general, proposed solutions for LiDAR-based localization used in autonomous cars require expensive sensors and computationally expensive mapping processes. Moreover, the global localization for autonomous driving is converging to the use of maps. Straightforward strategies to reduce the costs are to produce simpler sensors and use maps already a...
Article
Full-text available
3D printed construction has recently emerged as a new building technology, with various experiences disseminated around the world. This paper reviews existing documents and examples of this technology to characterize its potential projections, particularly those oriented towards improving productivity and sustainability of construction in Chile. Sc...
Article
Reducing material spillage by robotic mining mobile manipulators, such as front-end loaders, is necessary to improve mining operations. To this end, the present work proposes an approach to reduce disturbances on the endeffector induced by the terrain and propagated through the wheels and arm links of the machine. The proposed approach is based on...
Article
Full-text available
In medicine, a misdiagnosis or the absence of specialists can affect the patient’s health, leading to unnecessary tests and increasing the costs of healthcare. In particular, the lack of specialists in otolaryngology in third world countries forces patients to seek medical attention from general practitioners, whom might not have enough training an...
Article
3D-printed construction allows elaborating building elements with diverse shapes that are digitally controlled. This paper exposes the modeling of 3D-printed curved walls through parametric programming in building information modeling (BIM) in order to support a cost-efficient building design. The advantage of using curved walls is based on the pos...
Article
Currently, 3D point clouds are obtained via LiDAR (Light Detection and Ranging) sensors to compute vegetation parameters to enhance agricultural operations. However, such a point cloud is intrinsically dependent on the GNSS (global navigation satellite system) antenna used to have absolute positioning of the sensor within the grove. Therefore, the...
Article
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This article presents the LFuji-air dataset, which contains LiDAR based point clouds of 11 Fuji apples trees and the corresponding apples location ground truth. A mobile terrestrial laser scanner (MTLS) comprised of a LiDAR sensor and a real-time kinematics global navigation satellite system was used to acquire the data. The MTLS was mounted on an...
Article
Payload estimation is essential to measure productivity, evaluate efficiency in industrial operations and adapting control laws according to the carried weight. One particular problem is to identify how much mass is carried in a mining machine while it is being operated without using strain gauge sensors which require frequent calibration and are p...
Article
Full-text available
Fuel moisture content (FMC) proved to be one of the most relevant parameters for controlling fire behavior and risk, particularly at the wildland-urban interface (WUI). Data relating FMC to spectral indexes for different species are an important requirement identified by the wildfire safety community. In Valparaíso, the WUI is mainly composed of Eu...
Patent
Full-text available
Device for cutting double curvature surfaces into expanded polystyrene foam volumes comprising a first pair of linear guides; over each of the linear guides two pairs of plates arranged over skids are moving, where a horizontal beam connects each pair of plates; the two pairs of plates and the pair of horizontal beams; a block of material supported...
Article
Yield monitoring and geometric characterization of crops provide information about orchard variability and vigor, enabling the farmer to make faster and better decisions in tasks such as irrigation, fertilization, pruning, among others. When using LiDAR technology for fruit detection, fruit occlusions are likely to occur leading to an underestimati...
Article
The development of reliable fruit detection and localization systems provides an opportunity to improve the crop value and management by limiting fruit spoilage and optimised harvesting practices. Most proposed systems for fruit detection are based on RGB cameras and thus are affected by intrinsic constraints, such as variable lighting conditions....
Article
The use of electric vehicles (EVs) has been viewed as a potential solution to reduce the oil dependence in transportation. Nevertheless, the performance of the EV changes according to the nature and characteristics of the terrain. This work focuses in modelling the instantaneous power consumption (IPC) of an EV as it traverses through different typ...
Article
In field operations, machinery is subject to resource restrictions that lead to a significant number of approaches to make it more efficient. Operational times, costs and manoeuvres, machinery effort, among others, are often considered for route planning strategies. In particular, the route planning problem (RPP) has been widely studied for both si...
Article
Full-text available
A proper design of human–robot interaction strategies based on human cognitive factors can help to compensate human limitations for safety purposes. This work is focused on the development of a human–robot interaction system for commercial vehicle (Renault Twizy) driving, that uses driver cognitive parameters to improve driver’s safety during day a...
Article
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A low cost robotic-assisted prototype for finger and hand rehabilitation of people affected by a stroke is presented. The system was developed by a team of undergraduate students led by a Design lecturer in collaboration with the Rehabilitation Unit of the Peñablanca Public Hospital in Chile. The system consists of a flexion sensor equipped glove,...
Article
Electric field energy harvesting is a promising solution to energize a variety of self-sustainable wireless sensor nodes, which may be used in next-generation smart-grids. In this work, a low-power energy harvesting system targeting to extract energy from the electric field around energized wires is presented. Unlike the conventional electric field...
Conference Paper
In this work, a collision-free navigation strategy for N-trailer vehicles is proposed. This approach is based on a scalable cascaded control scheme to perform several tasks simultaneously: trajectory tracking control, off-track error reduction, external obstacles avoidance, and inter-vehicle collision avoidance. To validate the proposed strategy, a...
Conference Paper
The continuous growing of machine learning techniques, their capabilities improvements and the availability of data being continuously collected, recorded and updated, can enhance diagnosis stages by making it faster and more accurate than human diagnosis. In lower endoscopies procedures, most of the diagnosis relies on the capabilities and experti...
Article
Full-text available
Background: Several countries encourage the practice of football for rehabilitation and social inclusion purposes. For visually impaired people, football is purely sound-based, where the ball and the players are constantly emitting sounds for localization purposes in the field. However, the task of shooting the ball requires of a non-visually impa...
Article
Full-text available
When working in agricultural environments, specially in groves with dense foliage , machinery positioning systems might suffer from loss of GNSS (Global Navigation Satellite System) signal. The latter motivated the development of new localization strategies that use the environment information to localize the machinery and thus fulfil the required...
Article
Full-text available
One of the upcoming challenges in precision agriculture is the development of electric machinery able to replace traditional combustion engines. This step toward green agriculture practices still has to face the lifetime of the batteries. Despite their technological advancement, batteries’ charges do not last as long as fueled engines. The route pl...
Conference Paper
To date, robotic applications in agriculture are still a challenging topic, which has been studied mainly for large farms. However, groves in particular, require tasks, such as picking and handling, that still require human labor force. In countries such as Chile and Peru, avocado is one of the main fruit production, but its growing in complex envi...