Luis E Moreno

University Carlos III de Madrid | UC3M · Department of Systems Engineering and Automation

En este estudio, se presenta el diseño y modelado de un sensor blando piezoresistivo utilizando hilos de poliamida recubiertos de plata. Estos sensores destacan por su flexibilidad, bajo coste y fácil integración en textiles, lo que los hace ideales para aplicaciones en tecnología vestible. Se evalúan diferentes recubrimientos, identificando la sil...

Los enjambres de vehículos aéreos no tripulados (UAVs) se están convirtiendo en una herramienta fundamental en diversos campos de aplicación, tales como la vigilancia aérea, la búsqueda y rescate en zonas urbanas y la entrega de mercancía. En este marco, la planificación de trayectorias sigue siendo una de las principales preocupaciones en aplicaci...

En los últimos años, el desarrollo de nuevas tecnologı́as continúa motivando la integración de la robótica en la educación. Sin embargo, la complejidad y conocimientos requeridos para comprender los sistemas robóticos, llevan a los estudiantes a recurrir a kits de robótica educativos limitados. Este artı́culo presenta una plataforma de aprendizaje...

One of the major problems of today's society is the rapid aging of its population. Life expectancy is increasing, but the quality of life is not. Faced with the growing number of people who require cognitive or physical assistance, new technological tools are emerging to help them. In this article, we present the ADAM robot, a new robot designed fo...

The movement of the human hand offers various degrees of freedom, enabling efficient performance of dynamic tasks and robust interaction with the environment in a compliant and continuous manner. However, the rigid exoskeleton used in hand rehabilitation limits the user’s freedom of movement, complicating their natural interaction with the environm...

En este trabajo se presenta un algoritmo de detección humana basado en el uso de único sensor RGB-D para demostrar movimientos teniendo en cuenta los puntos clave del brazo humano (hombro-codo-muñeca) para controlar un brazo no antropomórfico. El método desarrollado se basa en la detección de dichos puntos significativos del brazo humano y su mapeo...

In household settings, Learning from Demonstration techniques can enable end-users to teach their robots new skills. Furthermore, it may be necessary for the demonstrations to be accessible through a straightforward setup, such as a single visual sensor. This study presents a pipeline that uses a single RGB-D sensor to demonstrate movements taking...

Nowadays, robotic technologies are used in many fields, one of them is medicine. The breakthrough of technologies has enabled the development of robotic devices for rehabilitation therapies. The exoskeletons can be found as robotic device for rehabilitation therapy, whose rigidity limits the user's freedom of movement, complicating his interaction...

Collision checking is the primitive operation of motion planning that consumes most time. Machine learning algorithms have proven to accelerate collision checking. We propose CollisionGP, a Gaussian process-based algorithm for modeling a robot's configuration space and query collision checks. CollisionGP introduces a Pòlya-Gamma auxiliary variable...

Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subjected to heat or tension, resulting in a macroscopic deformation. When applied to actuators, SMAs present a remarkable load-weight ratio and flexibility, making them suitable for diverse applications. However, challenges such as their energy consumption...

The exploration of unknown environments is a challenge in robotics. The proposed method approaches this problem by combining the Fast Marching Square path planning technique with the machine learning method called Gaussian processes (GP). The Fast Marching Square method is used to determine the most unexplored areas of the environment and to plan t...

In this paper, we present a study on coverage missions carried out by UAV formations in 3D environments. These missions are designed to be applied in tracking and search and rescue missions, especially in the case of accidents. In this manner, the presented method focuses on the path planning stage, the objective of which is to compute a convenient...

The presence of mobile robots in indoor environments is becoming increasingly significant. While there are algorithms such as SLAM that allow robots to navigate these environments, they do not take into account structural elements of modern buildings such as large glass areas. Due to the use of light-based sensors such as laser scans, these element...

Two-dimensional laser scan sensors stand out as the preferred choice for robot mapping applications. However, these sensors have a significant drawback. Encountering objects with varying shapes at different heights, such as tables, poses challenges for these sensors due to their limited detection capability resulting from their dimensionality. This...

Swarms composed of multiple unmanned aerial vehicles (UAVs) are emerging as a key tool in various application fields including aerial surveillance, urban search and rescue, and package delivery. In this context, trajectory planning remains one of the principal concerns regarding complex robotic applications. This paper proposes a 4D path planning a...

La presencia de los robots móviles en entornos de interior es cada vez mayor para tareas como la asistencia de personas mayores. Dado que estas plataformas deben adaptarse a las dimensiones y formas de los entornos donde se encuentran, su tamaño resulta considerable. Es por ello que se necesita una estrategia de navegación que permita el paso de zo...

Las Jornadas de Automática (JA) son el evento más importante del Comité Español de Automática (CEA), entidad científico-técnica con más de cincuenta años de vida y destinada a la difusión e implantación de la Automática en la sociedad. Este año se celebra la cuadragésima tercera edición de las JA, que constituyen el punto de encuentro de la comunida...

Los sistemas multi UAV se alzan en la actualidad como una solución potente a la hora de desempeñar y agilizar tareas que pueden resultar peligrosas o tediosas para las personas: tareas de búsqueda y rescate, inspección y vigilancia de instalaciones, entrega de mercancías, tareas de agricultura y conservación de la vida silvestre, etc. En este conte...

This paper presents the design of a heterogeneous multi-robot system consisting of a small mobile robot to monitor the well-being of elderly people living alone at home and suggest activities to improve their mood, and a domestic mobile manipulator robot to help them perform tasks requiring manipulation. All of this is integrated into Ambient Assis...

Nowadays, most mobile robot applications use two-dimensional LiDAR for indoor mapping, navigation, and low-level scene segmentation. However, single data type maps are not enough in a six degree of freedom world. Multi-LiDAR sensor fusion increments the capability of robots to map on different levels the surrounding environment. It exploits the ben...

Human hand gesture recognition from surface electromyography (sEMG) signals is one of the main paradigms for prosthetic and rehabilitation device control. The accuracy of gesture recognition is correlated with the control mechanism. In this work, a new classifier based on the Bayesian neural network, pattern recognition networks, and layer recurren...

This paper studies the Fast Marching Square ($FM^2$) method as a competitive path planner for UAV applications. The approach fulfills trajectory curvature constraints together with a significantly reduced computation time, which makes it overperform with respect to other planning methods of the literature based on optimization. A comparative analys...

n the published version of the above paper, the URL for a video of the experiment was missing from the second paragraph of section 6.1 Experimental results. The paragraph should read as follows: In this experiment, a target position is given to the left arm of the robot. The path for the arm is then computed using the proposed algorithm. The resu...

Control Engineering slides

This contribution presents the advances in the use of flexible Shape Memory Alloy (SMA)-based actuators for the development of upper limb rehabilitation exoskeletons that have been carried out by our research group. The actuator features developed by our research group maintain the SMA wire characteristics (low-weight, low-cost, noiseless operation...

Rehabilitation robotic devices are currently used with success as a complement to the physiotherapist task. However, this technology is still attracting the research interest because aspects such as the effectiveness of rehabilitation therapy, the cost of the device, the weight and ergonomic are only a few of aspects which can continuously be impro...

Coverage path planning (CPP) is a field of study which objective is to find a path that covers every point of a certain area of interest. Recently, the use of Unmanned Aerial Vehicles (UAVs) has become more proficient in various applications such as surveillance, terrain coverage, mapping, natural disaster tracking, transport, and others. The aim o...

In this paper, we propose a coverage method for the search of lost target or debris on the ocean surface. The OSCAR data set is used to determine the marine currents and the differential evolution genetic filter is used to optimize the sweep direction of the lawnmower coverage and get the sweep angle for the maximum probability of containment. The...

Multi-UAV systems are attracting, especially in the last decade, the attention of researchers and companies of very different fields due to the great interest in developing systems capable of operating in a coordinated manner in complex scenarios and to cover and speed up applications that can be dangerous or tedious for people: search and rescue t...

About Frontiers Frontiers is more than just an open-access publisher of scholarly articles: it is a pioneering approach to the world of academia, radically improving the way scholarly research is managed. The grand vision of Frontiers is a world where all people have an equal opportunity to seek, share and generate knowledge. Frontiers provides imm...

Shape memory alloy (SMA) actuators have recently demonstrated their potential for various applications in fields such as robotics, medicine, aerospace, and automotive. Its features, such as low weight and high force, simplicity, noiseless operation, and low cost compared with other conventional actuator, are only a few advantages of this actuator,...

This work presents a modeling and controller tuning method for non-rational systems. First, we propose a graphical tool where transfer functions are represented in a four-dimensional space. The magnitude is represented in decibels in the third dimension and a color code is applied to represent the phase in a fourth dimension. This tool, which is ca...

The effects of economic incentives on research have been widely debated in the literature. Some authors deem them to have no or even an adverse impact, particularly, if they are perceived as irrelevant to or an attempt to control researcher activity, whilst others believe they enhance research productivity by inducing new habits such as internation...

This article presents a novel method for the management of UAVs formations. Based on the fast marching square (FM2) technique, the proposed method allows the generation of soft realizable paths for a formation in leader–followers configuration, keeping a desired geometry among its different agents. The solution presented here also allows the UAVs f...

This research presents a novel approach for missions of Coverage Path Planning (CPP) carried out by a UAVs in a 3D environment. These missions are focused on path planning to cover a certain area in an environment in order to carry out tracking, search or rescue tasks. The methodology followed uses an optimization process based on the Differential...

One of the limitations in the development of really soft robotic devices is the development of soft actuators. In recent years, our research group has developed a new flexible shape memory alloy actuator that provides more freedom of movements and a better integration in wearable robots, especially in soft wearable robots. Shape memory alloy wires...

Path planning for marine applications is a special case of the more general problem for mobile robots since, in addition to avoid colliding with obstacles, it is necessary to optimize the cost function taking into account water currents. In this paper, several solutions for ship motion planning based on the Fast Marching Method are proposed. The ba...

This paper considers the problem of fusing vision and touch senses together to estimate the 6D pose of an object while it is grasped. Assuming that a textured 3D model of the object is available, first, Scale-Invariant Feature Transform (SIFT) keypoints of the object are extracted, and a Random sample consensus (RANSAC) method is used to match thes...

This paper considers the problem of fusing vision and touch senses together to estimate the 6D pose of an object while it is grasped. Assuming that a textured 3D model of the object is available, first, Scale-Invariant Feature Transform (SIFT) keypoints of the object are extracted, and a Random sample consensus (RANSAC) method is used to match thes...

Replicating the behavior and movement of living organisms to develop robots which are better adapted to the human natural environment is a major area of interest today. Soft device development is one of the most promising and innovative technological fields to meet this challenge. However, soft technology lacks of suitable actuators, and therefore,...

The Fast Marching Method is a very popular algorithm to compute times-of-arrival maps (distances map measured in time units). Since their proposal in 1995, it has been applied to many different applications such as robotics, medical computer vision, fluid simulation, etc. Many alternatives have been proposed with two main objectives: to reduce its...

Thanks to characteristics, such as high force and light weight, a good biocompatibility, noiseless operation and simplicity, and relatively low-cost compared with other conventional actuators, actuators based on shape memory alloy are currently one of the most interesting research topics. They have been introduced in applications such robotics, med...

New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wid...

Programs that can predict wildfire behavior are a very useful tool in terms of extinguishing these fires more effectively. State of the art wildfire simulators present some drawbacks such as not being sufficiently user-friendly, being expensive, requiring great computational power or having poor graphical representation. This paper presents a proto...

A large number of musculoskeletal and neurological disorders can affect the upper limb limiting the subject’s ability to perform activities of daily living. In recent years, rehabilitation therapies based on robotics have been proposed as complement to the work of therapists. This article introduces a prototype of exoskeleton for evaluation and reh...

Organismos como el Global Enterpreneurship Monitor (GEM) consideran que el espíritu emprendedor es fundamental para el desarrollo económico y el bienestar de la sociedad ya que crea puestos de trabajo, impulsa la innovación, la competencia y aumenta la productividad de un país. En este sentido, el emprendimiento es entendido como aquella capacidad...

The success of mobile robots, specially those operating in human environments, relies on the ability to understand human structures. The aim of this work is to develop a localiza-tion framework that considers different scenes and a hierarchical model of the environment. A probabilistic model for recognizing scenes including the objects in the envir...

Curso de Ingeniería de Control III

Apuntes de Control de Procesos

This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of mobile robots moving in 3D environments. The slope of a terrain can be considered as a tensor filed because at any point on a 3D surface there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, which is the...

Human exploration of the Solar System is one of the most challenging objectives included in the space programs of the most important space agencies in the world. Since the Apollo program, and especially with the construction and operation of the International Space Station, extravehicular activities (EVA) have become an important part of space expl...

The effects of economic incentive policies in the research activities have been widely debated in the literature. In this sense, there is a debate about whether the incentives are irrelevant for some groups and even affect negatively, especially if it is perceived as a control/pressure (Andersen & Pallesen, 2008) and, who consider these incentives...

This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of freedom (DOF), flexion-extension and adduction-abduction (radial and ulnar deviation), actuated with Shape Memory Alloy (SMA) based actuators. Thanks to this type of actuators, the proposed device presents a very light weight and noiseless operation, in co...

A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) was designed. It was applied to a shape memory alloy (SMA)-actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according to data collected online dur...

This paper presents an automatic serial number recognition system based on computed vision techniques and machine learning. The serial number is engraved on the backside of porcelain ware. The approach uses standard algorithms for digit segmentation and a deep learning approach for the recognition. The system is developed within a project in collab...

A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) has been designed. It is applied to a shape memory alloy (SMA) actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according data collected online du...

La robótica de rehabilitación ha surgido en las últimas décadas como una tecnología muy prometedora de cara a su incorporación en el sistema sanitario como ayuda a los equipos médicos. El envejecimiento de la población, está incrementando el número de personas que requieren tener acceso a este tipo de dispositivo de rehabilitación, puesto que en pe...

El interés en los rankings globales de universidades ha crecido significativamente a lo largo de los últimos 10 años. El uso de indicadores simples y sintéticos, la facilidad de interpretación de la información que contienen, el fomento de la competencia entre las universidades, así como la posibilidad de compararlas entre sí, son algunos de los fa...

The aim of this work is to build a model of theenvironment that entails both metric and topological information.The creation of the topological map will be extracted fromthe metric map, exploiting all the individual advantages ofeach spatial representation. Voronoi Diagram was the selectedrepresentation as a link between the two types of maps.The m...

RESUMEN El Observatorio IUNE de las Universidades madrileñas es una buena fuente para monitorizar la actividad investigadora de las Universidades del estado español y poder observar la tendencia general, además de las particularidades de cada una de las instituciones. Este trabajo se centra en el análisis de la producción científica y, más en parti...

This paper presents a method to estimate the pose of an object inside a robotic hand by exploiting contact and joint position information. Once an initial visual estimation is provided, a Bootstrap Particle Filter is used to evaluate multiple hypothesis for the object pose. The function used to score the hypothesis considers feasibility and physica...