Jorge Sales

• PhD
• Jaume I University

p>La creciente demanda en todo el mundo de sistemas de intervención submarina en diversos dominios de aplicación requiere sistemas más versátiles y económicos. Empleando un sistema de comunicación inalámbrica, los robots semiautónomos supervisados disponen de libertad de movimientos y, al mismo tiempo, permiten al operador obtener información visua...

The increasing demand for underwater robotic intervention systems around the world in several application domains requires more versatile and inexpensive systems. By using a wireless communication system, supervised semi-autonomous robots have freedom of movement; however, the limited and varying bandwidth of underwater radio frequency (RF) channel...

Field experiments in underwater robotics research require a big amount of resources in order to be able to test the system in sea conditions. Moreover, sea conditions are constantly changing making impossible to reproduce specific situations. For these reasons, testing, comparing and evaluating different algorithms in similar conditions is an utopi...

Technology has recently been developed which offers an excellent opportunity to design systems with the ability to help people in their own houses. In particular, assisting elderly people in their environments is something that can significantly improve their quality of life. However, helping elderly people outside their usual environment is also n...

This paper presents recent progress concerning benchmarking issues in the underwater robotics manipulation context. After a very intensive 6-years period of work, under several funding research projects, all of them in the aforementioned area, a strong know-how has been developed. As part of this expertise, a new underwater simulation tool has been...

Nowadays, there is an increasing demand for underwater robotic intervention systems around the world in several application domains. Examples of applications include search and recovery (i.e. aviation or naval accidents), archaeology, offshore industry, environment protection and monitoring, etc. The commercially available systems are expensive and...

The long term of this ongoing research has to do with increasing degree of autonomy for robots involved in underwater intervention missions. Bearing in mind that the specific mission to face has been the intervention on a panel, in this paper some results in different development stages are presented by using the real mechatronics and the panel moc...

When the results of research in the field of robotics are presented to the scientific community, the same question is asked repeatedly: Are the results really reproducible? Regarding benchmarking issues, some technological areas where complex mechatronic devices, such as robots, have a central role are very far from other research areas like physic...

Autonomous manipulation in unestructured underwater scenarios is a high challenging skill that has been poorly studied and is becoming more and more important in the last years. One of the main problems regarding the autonomous manipulation, is to find out the characteristics of the object which is going to be manipulated. This paper presents a new...

Benchmarking is nowadays an issue on robotic research platforms, due to the fact that it is not easy to reproduce previous experiments and knowing in detail in which real conditions other algorithms have been performed. Having a web-based tool to configure and execute benchmarks opens the door to new opportunities as the design of virtual tele-labo...

Autonomous manipulation in real underwater environments presents many unexpected situations, such as lack of visibility due to light reflections or presence of particles in the water. Moreover, the use of cameras is still very important, considering that they provide a natural sensor input to the operator, and many robust and efficient underwater m...

This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking...

This article presents research on the subject of autonomous underwater robot manipulation. Ongoing research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction in order to achieve social benefits in fields such as archaeology or biology that cannot afford the expenses of costly underw...

Nowadays, there is an increasing demand for underwater intervention systems around theworld in several application domains. The commercially available systems are far from what is demanded in many aspects, justifying the need of more autonomous, cheap and easy-to-use solutions for underwater intervention missions. The chapter begins making a review...

The long term of this ongoing research has to do with increasing the autonomy levels for underwater intervention missions. Bearing in mind that the specific mission to face, has been the intervention on a panel, in this paper some preliminary results in water tank conditions are presented by using the real mechatronics and the panel mockup. Further...

This paper presents the TraxBot robot and its full integration in the Robotic Operating System (ROS). The TraxBot is a compact mobile robotic platform developed and assembled at the Institute of Systems and Robots (ISR) Coimbra. The goal in this work is to drastically decrease the development time, providing hardware abstraction and intuitive opera...

Benchmarking is nowadays an issue on robotic research platforms, due to the fact that it is not easy to reproduce previous experiments and knowing in detail in which real conditions other algorithms have been performed. Having a Web-based tool to configure and execute benchmarks opens the door to new opportunities as the design of virtual tele-labo...

This paper presents a research in progress towards autonomous underwater robot manipulation. Current research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction. Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured sce...

This paper represents research in progress in autonomous manipulation for underwater intervention missions within the context of the GRASPER project. This project focuses on developing manipulation skills for an Autonomous Underwater Vehicle (AUV). Current research in underwater robotics intends to increase autonomy for all kinds of robotic interve...

This paper presents the progress that has been made recently in the TRITON project. The TRITON project is an on going research project being carried out in Spain which has as principal objective the production of an AUV capable of autonomous underwater interventions. The GRASPER sub-project focuses on developing the necessary manipulation skills. C...

When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensor...

Benchmarking is nowadays an issue on robotic research platforms, due to the fact that it is not easy to reproduce previous experiments and to know in detail in which real conditions other algorithms have been applied. In the context of Underwater interventions with semi-autonomous robots the situation gets even more interesting. Experiments perform...

This paper explains how the autonomous grasp of a valve situated in a permanent underwater observatory is performed, using camera and laser sensors. The experiment has been performed within the benchmarking UWSim Underwater Simulator [1][4], which makes it possible to test the hardware ROS (Robot Operating System) interfaces in a simulated environm...

Indoor localization in smoke conditions is one of the EU GUARDIANS project goals. When smoke density grows, optical sensors such as laser range finders and cameras cease to be efficient. Zigbee sensor networks provide an interesting approach due to the fact that radiofrequency signals are propagated easily in such conditions. Moreover, they permit...

Person following with mobile robots has traditionally been an important research topic. It has been solved, in most cases, by the use of machine vision or laser rangefinders. In some special circumstances, such as a smoky environment, the use of optical sensors is not a good solution. This paper proposes and compares alternative sensors and methods...

This paper describes a real-world demonstration that involves two kinds of human-robot interaction: (1) In-situ interaction between a team of robots and a firefighter, and (2) the interaction between a remote operator and the whole system from a base station. The team of robots can provide the firefighter with environmental information to support a...

This paper presents the UJI Industrial Robotics Telelaboratory, which lets Ph.D. and Master’s degree students perform robotics and computer vision tele-experiments. By using this system, students are able to program experiments remotely via the Web, in order to combine the use of a field-programmable gate array (FPGA) to provide real-time vision pr...

Mobile robots are nowadays capable of navigating in a semi-structured environment, either alone or in formations. Dealing with mobile obstacles, e.g. persons, in everyday environments poses additional challenges which are being addressed by the research community. This paper presents an experiment with a set of robots -acting as a swarm- and one pe...

A practical solution based on multi-agent protocols for the development of real-world multi-robot applications is presented. FIPA standard protocols implemented by the JADE library provide the standard functionality for a number of tasks. Robot behaviors are built upon the player middleware. Such components provide off-the-shelf tools which allow a...

In this video we present a work in progress in the UJI (i.e. the acronym for University Jaume I) robotics telelaboratory. This telelaboratory uses a remote control system based on networked robots and FPGAs technology. The main devices included in this cell are: a SCARA manipulator (AdeptOne), a robot arm with six degrees of freedom (Motoman), an i...

(Invited special session: Manipulation and Gripping) The present work shows recent results in the robotic manipulation context, after suitable integration between computer vision and radio frequency identification (RFID). The experimental validation has been carried out in a household environment, by using current manufactured objects, labeled prev...

IntroductionWearable robotic networks, from wired to wirelessWired wearable robotic networksWireless wearable robotic networksCase Study: smart textiles to measure comfort and performanceCase Study: ExoNETCase Study: NeuroLab, a multimodal networked exoskeleton for neuromotor and biomechanical researchCase Study: communication technologies for the...

In this paper we present a work in progress of a new remote control system based on networked robots and FPGAs technology. The experimental validation has been carried out within the UJI (i.e. the acronym for University Jaume I) Robotics Manufacturing Cell. The main devices included in this Cell are: a SCARA manipulator (AdeptOne), a robot arm with...

This paper represents work in progress towards a complete remote control system designed to tele-operate robot manipulators. With this aim, a user interface has been designed, enabling the user to control a robot through the Web via any standard browser. Furthermore, in addition to the online control of robots, a virtual 3D representation of the en...