Isiah Zaplana

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Verified

Isiah verified their affiliation via an institutional email.

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• PhD
• Professor (Assistant) at Polytechnic University of Catalonia

Performing complex manipulation tasks in dynamic environments requires efficient Task and Motion Planning (TAMP) approaches, which combine high-level symbolic plan with low-level motion planning. Advances in Large Language Models (LLMs), such as GPT-4, are transforming task planning by offering natural language as an intuitive and flexible way to d...

The Hansen problem is a classic and well-known geometric challenge in geodesy and surveying involving the determination of two unknown points relative to two known reference locations using angular measurements. Traditional analytical solutions rely on cumbersome trigonometric calculations and are prone to propagation errors. This paper presents a...

Understanding how plants adapt their physiology to overcome severe stress conditions is vital in light of the current climate crisis. This remains a challenge given the complex nature of the underlying molecular mechanisms. To provide a full picture of stress mitigation mechanisms, an exhaustive analysis of publicly available stress-related transcr...

Robotic manipulation in semi-structured environments require perception, planning and execution capabilities to be robust to deviations and adaptive to changes, and knowledge representation and reasoning may play a role in this direction in order to make robots aware of the situations, of the planning domains and of their own execution structures....

Una de las aplicaciones más conocidas del álgebra geométrica en la ingenierìa consiste en proporcionar una formulación compacta de la cinemática de los robots manipuladores serie. Sin embargo, el uso de álgebra geométrica en el campo de la robótica está aún en sus inicios, y todavía hay varios problemas abiertos que pueden ser tratados con esta ele...

We present the results of the regression contest organized for the LIBS 2022 conference. While the motivation and design of the contest are briefly presented, the work focuses on the methodologies of the three best-performing teams. The employed spectral preprocessing strategies, choice of regression models and its optimization are detailed for eac...

Recent developments in robotic demanufacturing raise the potential to increase the cost-efficiency of recycling and recovering resources from Waste of Electrical and Electronic Equipment (WEEE). However, the industrial adoption of robotic demanufacturing for mixed WEEE streams requires tailored instructions for every product model. Considering the...

Integrating multi-sensor systems to sort and monitor complex waste streams is one of the most recent innovations in the recycling industry. The complementary strengths of Laser-Induced Breakdown Spectroscopy (LIBS) and computer vision systems offer a novel multi-sensor solution for the complex task of sorting aluminum (Al) post-consumer scrap into...

The rapid increase in waste generation from electrical and electronic equipment (WEEE) has created the need for more advanced sensor-based systems to sort this complex type of waste. Therefore, this study proposes a method for object detection, instance segmentation, and mass estimation of plastics and contaminants using the fusion of RGB and depth...

In the recycling industry, the use of deep spectral convolutional networks for the purpose of material classification and composition estimation is still limited, despite the great opportunities of these techniques. In this study, the use of Laser-Induced Breakdown Spectroscopy (LIBS), Machine Learning (ML), and Deep Learning (DL) for the three-way...

This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time, or the development of particular geometric strategies that cannot be generalized to arbitrary serial robots. In this work, we pr...

The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and motion planning strategies. While classical approaches entail the computation of the determinant of either a 6×...

While deep learning has helped improve the performance of classification, object detection, and segmentation in recycling, its potential for mass prediction has not yet been explored. Therefore, this study proposes a system for mass prediction with and without feature extraction and selection, including principal component analysis (PCA). These fea...

An apparatus and a method for dispensing discrete sections of double-sided adhesive tape, comprising a reel support unit whose position is adjustable so as to vary a length of the section of double-sided adhesive tape to be dispensed.

A method and an apparatus for preparing an edge of a reel of web material wherein it is envisaged to grip any portion of an external layer of web material of a new reel, removing damaged web material forming loops of the reel, and arranging a leading edge of the new reel to be joined with a tail edge of the reel close to finishing.

The expected surge in demand for lithium-ion batteries (LIBs) has influenced the supply chain of several raw materials and increased their market prices significantly. In recent years, rechargeable battery development projects have started addressing the topic of resource availability and their prices. As a result, metrics for assessing resource cr...

Due to the rapid increase in sales of mobile electronic devices, the number of batteries ending up in waste electric and electronic equipment (WEEE) is also rapidly increasing. According to the EU legislation, all batteries need to be removed from WEEE, which is currently done manually for tablets, posing potential safety risks for workers and resu...

Due to shifting material use in several sectors, such as the automotive sector, the demand for wrought aluminium alloys is significantly increasing. Because of their low weight and desirable mechanical properties, wrought aluminium alloys find their use in many different applications. However, the primary production of aluminium is extremely energy...

The aluminium Twitch fraction of a Belgian recycling facility could be further sorted by implementing Laser-Induced Breakdown Spectroscopy (LIBS). To achieve this goal, the presented research identifies commercially interesting output fractions and investigates machine learning methods to classify the post-consumer aluminium scrap samples based on...

The probable emergence of a global aluminium scrap surplus in the coming decade is one of the main incentives for the aluminium recycling industry to invest in new methods and technologies to collect, sort and recycle aluminium scrap. However, due to the considerable uncertainty in the evolution of the global scrap surplus, it is difficult for poli...

Integrating multi-sensor systems to sort and monitor complex waste streams is one of the most recent innovations in the recycling industry. The complementary strengths of Laser-Induced Breakdown Spectroscopy (LIBS) and computer vision systems offer a novel multi-sensor solution for the complex task of sorting aluminum (Al) post-consumer scrap into...

One of the most promising innovation strategies for sorting and recycling post-consumer aluminium scrap is using quantitative Laser-Induced Breakdown Spectroscopy (LIBS) analysis. However, existing methods to estimate alloying element concentrations based on LIBS spectra, such as linear univariate regression and Machine Learning models, are still t...

The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and motion planning strategies. While classical approaches entail the computation of the determinant of either a 6x...

This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development of particular geometric strategies that cannot be generalized to arbitrary serial robots. In this work, we pre...

Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that maybe inaccessible or dangerous for humans. The cable actuation strategy makes the robot hardware safer and increases the robot payload reducing its weight. In this paper, a novel design of a fully actuated cable-driven hyper-redu...

One of the most successful applications of geometric calculus to engineering refers to robotics and computer vision. In this line, this chapter presents an overview of the main classical problems in robot kinematics and motion planning and explains how geometric calculus has been used to solve them by exploiting their algebraic and geometric proper...

This paper summarizes the work done in the context of an industrial research project in collaboration between the Italian Institute of Technology and the company Fameccanica Data Spa. This paper introduces the design of a six bar linkage mechanism, actuated by a single motor, for re-orienting and aligning objects. The main application consists of g...

For the automated industry, it is important to develop a new mechatronics system, which is able to grasp and manipulate deformable objects in a reliable way. This paper discusses an idea for developing a concept of gripper exploiting the physical proprieties of the objects to be manipulated such as, for example, fabrics textile, sheets of paper or,...

One major problem in industrial automation is the workload balancing problem. It consists of making the robots or, more generally, the machines, involved in the assembly process to work exactly the same, either by picking and placing the same number of pieces or by having the same number of operational cycles. This paper presents a novel strategy f...

This chapter is devoted to a presentation of conformal geometric algebra (CGA) targeted to the sort of applications dealt with in chapters 4 (robotics) and 5 (molecular geometry). This means that the ground space will be the Euclidean space E3 and that the algebra we will be working with is designed so that it can encode all conformal transformatio...

The purpose of this chapter is a study of Minkowski’s space-time that emphasizes the fundamental geometric and physical aspects that concur in its structure.

In this chapter we present a general overview of the kinematics of serial robotic manipulators based on the conformal geometric algebra, which simplifies its formulation and provides means for solving, clearly and efficiently, several of the main classical problems in this field. The core of the material presented in this chapter is assembled from...

The concept of geometric algebra (GA) arises out of the desire to multiply vectors with the usual rules of multiplying numbers, including the usual rules for taking inverses. From that point of view, the construction of GA is an instance of a powerful mechanism used in mathematics that may be described as creating virtue out of necessity. In genera...

The 3D structure of a molecule is fundamental for understanding its function, especially in the case of proteins [28]. The calculation of protein structures can be tackled experimentally, through Nuclear Magnetic Resonance (NMR) spectroscopy and X-ray crystallography [9], or theoretically, via molecular potential energy minimization [56, 57].

This book offers a gentle introduction to key elements of Geometric Algebra, along with their applications in Physics, Robotics and Molecular Geometry. Major applications covered are the physics of space-time, including Maxwell electromagnetism and the Dirac equation; robotics, including formulations for the forward and inverse kinematics and an ov...

This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect on the programming and control of redundant robots. Besides, no general closed-form techniques have been developed so far. In this paper, redundant manipulators are reduced to non-redundant ones by selecting a set of joints, deno...

p>En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular se deriva la cinemática directa para ambos manipuladores y se resuelve el problema de la cinemática inversa. Para el Kuka LWR 4+ dicha solución se obtiene en forma analítica, mientras que para el ABB Yumi...

The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the task execution in real-time. The proposed decoupled position and orientation workspace mapping allows the teleoperation from a...

En algunas asignaturas STEM, el bloque práctico incluye el uso de programas informáticos desconocidos para los alumnos. Esto origina una serie de problemas para el alumnado tales como la falta de aprovechamiento de las sesiones prácticas, desmotivación y frustración. A fin de incrementar la motivación, satisfacción y aprovechamiento de los alumnos...