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Enclosing a moving target with an optimally rotated and scaled multiagent pattern Miguel Aranda, Youcef Mezouar, Gonzalo L�pez-Nicol�s &

Reluctance actuator characterization via FEM simulations and experimental tests E.

Sagues Mechatronics (ISSN 0957-4158), doi: 10.1016/j.mechatronics.2018.10.009, Vol.: 56: 58-66, 2018.

Robust stability analysis of formation control in local frames under time-varying delays and actuator faults A.

Sagues Journal of the Franklin Institute (ISSN 0016-0032), doi: 10.1016/j.jfranklin.2018.06.020 Vol.: 356(2): 1131-1153, 2019.

Stability analysis of nonholonomic multiagent coordinate-free formation control subject to communication delays A.

Fast distributed algebraic connectivity estimation in large scale networks E.

10.1016/j.jfranklin.2017.05.021, Vol.: 354(13): 5421- 5442, 2017.

Llorente IEEE Transactions on Industrial Electronics (ISSN 0278-0046), doi: 10.1109/TIE.2016.2605622, Vol.: 64(1): 535- 543, 2017.

Modeling of pancake frying with non-uniform heating source applied to domestic cookers F.

Llorente Journal of Food Engineering (ISSN 0260-8774), doi: http://dx.doi.org/10.1016/j.jfoodeng.2016.09.027, Vol.: 195:114-127, 2017.

Llorente IEEE Transactions on Robotics (ISSN 1552-3098), doi: 10.1109/TRO.2016.2602383, Vol.: 32(6): 1444-1460, 2016.

Zavlanos IEEE Transactions on Automatic Control (ISSN 0018-9286), doi: 10.1109/TAC.2016.2527719, Vol.: 61(12): 3925-3935, 2016.

A New Model of Electromechanical Relays for Predicting the Motion and Electromagnetic Dynamics Edgar Ramirez-Laboreo, Carlos Sagues, Sergio Llorente IEEE Transactions on Industry Applications (ISSN 0093-9994), doi: 10.1109/TIA.2016.2518120, Vol.: 52(3): 2545-2553, 2016.

Llorente IEEE Transactions on Industry Applications (ISSN 0093-9994), doi: 10.1109/TIA.2016.2515996, Vol.: 52(3): 2537-2544, 2016.

Dynamic heat and mass transfer model of an electric oven for energy analysis Edgar Ramirez-Laboreo, Carlos Sagues, Sergio Llorente Applied Thermal Engineering (ISSN 1359-4311), doi: 10.1016/j.applthermaleng.2015.10.040 , Vol.

Inverse modeling of pan heating in domestic cookers F.

Average consensus on strongly connected weighted digraphs: A generalized error bound E.

Corrigendum to ��A distributed algorithm for average consensus on strongly connected weighted digraphs�� [Automatica 50(3) (2014) 946�951] A.

Coordinate-free formation stabilization based on relative position measurements M.

Calafiore IEEE Sensors Journal (ISSN 1530-437X), doi: 10.1109/JSEN.2014.2366035,15(3): 1872-1883, 2015 28.

Llorente IEEE Transactions on Industry Applications (ISSN 0093-9994), doi:10.1109/TIA.2014.2367136 , Vol.: 51(3): 1945-1952, 2015.

Feature-based map merging with dynamic consensus on information increments R.

Persistent coverage control for a team of agents with collision avoidance C.

Distributed algebraic connectivity estimation for undirected graphs with upper and lower bounds R.

Mezouar Automatica (ISSN 0005-1098), doi:10.1016/j.automatica.2014.10.051� , Vol.: 50(12): 3253-3259, 2014.

Robust discrete time dynamic average consensus E.

Automatica (ISSN 0005-1098), doi:10.1016/j.automatica.2014.10.005 , Vol.: 50(12): 3131-3138, 2014.

Unitary torus model for conical mirror based catadioptric system G.

Sagues, Computer Vision and Image Understanding, (ISSN 1077-3142), http://dx.doi.org/10.1016/j.cviu.2014.06.008, Vol.: 126(0):67-79, 2014.

A single visual-servo controller of mobile robots with super-twisting control H.M.

Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint H.M.

A distributed algorithm for average consensus on strongly connected weighted digraphs A.

Angle-based homing from a reference image set using the 1D trifocal tensor M.

Sinusoidal input-based visual control for non-holonomic vehicles M.

Sistemas multi-robot para localizaci�n e identificaci�n de veh�culos C.

Distributed multi-camera visual mapping using topological maps of planar regions E.

Visual control of vehicles using two-view geometry G.

Visual control through the trifocal tensor for nonholonomic robots G.

1(4): 829-841 (doi:10.3390/rs1040829), 2009 65.

Switching visual control based on epipoles for mobile robots G.

Automatic control of biomass gasifiers using fuzzy inference systems C.

Robust line matching in image pairs of scenes with dominant planes C.

Uncalibrated vision based on lines for robot navigation J.J.

Direct method to obtain straight edge depth from motion.

Tracking features with camera maneuvering for vision-based navigation.

Virtual target formulation for singularity-free visual control using the trifocal tensor H.M.

Sag��s MCPR 2013 - LNCS 7914, ISBN 978-3-642-38988-7, pages 30-39, 2013.

Sag��s T�tulo del libro: Sliding Mode Control, pages 221-236 Editors: Andrzej Bartoszewicz, ISBN 978-953-307-162-6, 2011.

Shortest path homography-based visual control for differential drive robots G.

Automatic computation of fundamental matrix from matched lines.

Robust line matching and estimate of homographies simultaneously.

Dynamic behaviour analysis of non-contact compliant robot motions: Application to edge and plane localization L.

Sag��s Robotic and Flexible Manufacturing Systems, Elsevier Science Publishers, pages 57-66, ISBN 0 444 89705 4, 1992.

Active sensing strategies with non-contact compliant motions for contraint based recognition C.

Montano Robot Control, Pergamon Press, pages 475-480, ISBN 0 08 041276 9, 1992.

Control de esfuerzos con un robot industrial L.

Formation control synthesis in local frames under communication delays and switching topology: An LMI approach A.

2019, American Control Conference (ACC), ACC � pages 5328-5333 (ISBN 978-1-5386-7928-9), Philadelphia, PA, USA, 10-12, July 2019.

2019, 18th European Control Conference (ECC), EUCA � pages 3261-3266 (ISBN 978-3-907144-01-5), Napoli - Italy, 25-28 June 2019.

2019, 18th European Control Conference (ECC), EUCA � pages 1103-1109 (ISBN 978-3-907144-01-5), Napoli - Italy, 25-28 June 2019.

2017 IEEE 56th Conference on Decision and Control (CDC), pages 5050-5055 (ISBN 978-1-5090-2872-6), Melbourne, Australia, 12-15 December 2017.

Time delay compensation based on Smith Predictor in multiagent formation control A.Gonzalez, M.A.

IFAC 2017 World Congress, International Federation on Automatic Control � pages 11963-11969, Toulouse, July 9-14, 2017.

IEEE International Conference on Robotics and Automation (ICRA), IEEE � pages 1321-1327 (ISBN 978-1-5090-4632-4/17), Singapore, May 29 - June 3, 2017.

IEEE 55th Conference on Decision and Control (CDC), pages 3511-3517 (ISBN 978-1-5090-1836-9/16), Las Vegas, USA, 12-14 December 2016.

American Control Conference (ACC), pages 5697-5702 (ISBN 978-1-4673-8681-4), Boston - USA, 6-8 July 2016 9.

American Control Conference (ACC), pages 1968-1974 (ISBN 978-1-4673-8681-4), Boston - USA, 6-8 July 2016.

International Conference Modeling and Simulation in Engineering Economics and Management (MS 2016), LNBIP 254 � pages 195-204 (ISSN 1865-1348), Teruel -

2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE� pages 5248-5254 (ISBN 978-1-4673-8025-6/16), Stockholm, Sweden, 16-21 May 2016.

Power distribution in coupled multiple-coil inductors for induction heating appliances F.

2015 IEEE Industry Applications Society Annual Meeting, pages 18-22 (DOI: 10.1109/IAS.2015.7356818), Addison, TX USA, Canada, 18-22 October 2015 13.

A new model of electromechanical relays for predicting the motion and electromagnetic dynamics E.

2015 IEEE Industry Applications Society Annual Meeting, pages 1-8 (DOI: 10.1109/IAS.2015.7356805), Addison, TX USA, Canada, 18-22 October 2015.

Elastic hand contour matching in NIR images with a novel shape descriptor parametrization A.

IEEE International Conference on Computer as a Tool (EUROCON 2015), pages 1- 6 (d.o.i.

Induction heating appliance with a mobile double-coil inductor F.

2014 IEEE Industry Applications Society Annual Meeting, pages 1-7 (DOI: DOI:10.1109/IAS.2014.6978365), Vancouver, Canada, 5-9 October 2014.

Zavlanos 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), IEEE� pages 357- 362� (ISBN: 978-1-4799-6933-3), Chicago, USA,14-18 September 2014.

Mezouar European Control Conference (ecc�14), IEEE� pages 1881-1887 (ISBN: 978-3-9524269-2-0), Strasbourg, France, 24-27 June 2014.

Thermal modeling, analysis and control using an electrical analogy E.

Automation (MED�14), IEEE� pages 505-510 (ISBN: 978-1-4799-5899-3), Palermo, Italy, 16-19 June 2014.

Sagues American Control Conference (ACC�14), IEEE� pages 3862-3867 (ISBN: 978-1-4799-3273-3, ISSN: 0743-1619), Portland -Oregon, USA, 4-6 June 2014.

Martinez American Control Conference (ACC�14), IEEE� pages 5127-5132� (ISBN: 978-1-4799-3273-3, ISSN: 0743-1619), Portland -Oregon, USA, 4-6 June 2014.

Sagues 52nd IEEE Conference on Decision and Control, IEEE� pages 5403-5408� (ISBN: 978-1-4673-5716-6/13), Florence, Italy, 10-13 December 2013 23.

Llorente 52nd IEEE Conference on Decision and Control, IEEE� pages 6055-6060� (ISBN: 978-1-4673-5716-6/13), Florence, Italy, 10-13 December 2013.

Sagues 2013 IEEE International Conference on Systems Man and Cybernetics, IEEE� pages 589-594� (ISBN: 978-1-4799-0652-9/13), Manchester, UK, 13-16 October 2013.

10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), INSTIC� pages 377-384� (ISBN: 978-989-8565-70-9), Reykjav�k-Iceland, 29-31 July 2013.

American Control Conference (ACC), IEEE � pages 6323-6329 (ISBN: 978-1-4799-0176-0), Washington DC, USA, 17-19 June 2013.

American Control Conference (ACC), IEEE � pages 6562-6567� (ISBN: 978-1-4799-0176-0), Washington DC, USA, 17-19 June 2013.

Automation, pages 88-93� (ISBN: 978-1-4799-0995-7), Platanias-Chania � Greece, 25-28 June 2013.

2013 IEEE International Conference on Robotics and Automation � ICRA 2013, pages 2710-2715, (ISBN-978-1-4673-5642-8), Karlsruhe � Germany, May 6-10, 2013.

Vision, IEEE � pages 329-334, (ISBN: 978-1-4673-1872-3 ), Guangzhou, China , 5-7 December 2012.

IECON 2012 � 38th Annual Conference on IEEE Industrial Electronics Society, IEEE� pages 3244- 3249� (ISBN: 978-1-4673-2420-5 ), Montreal, Canada, 25-28 October 2012 34.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), pages 5341- 5346� (ISBN: 978-1-4673-1735-1), Vilamoura, Algarbe, Portugal, 7-12 October 2012 35.

American Control Conference (ACC�12), pages 32-37 � (ISBN 978-1-4673-2102-0), Montreal, Canada, 27-29 June 2012.

World Automation Congress (WAC 2012), pages 01-06, (1569520825), ISBN: 978-1-4673-4497-5, 24-28 June 2012.

Rodriguez 9th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2012), pages 242-248, Rome, Italy, 28-31 July 2012.

Sagues 50th IEEE Conference on Decision and Control and European Control Conference 2011, pages 4152-4157, Orlando USA, 12-15 December 2011.

Sagues 50th IEEE Conference on Decision and Control and European Control Conference 2011, pages 4296-4301, Orlando USA, 12-15 December 2011.

Sagues 50th IEEE Conference on Decision and Control and European Control Conference 2011, pages 2750-2755, Orlando USA, 12-15 December 2011.

Sagues American Control Conference (ACC'11), pages 5450-5455, San Francisco-USA, June 29 - July 1, 2011.

Augmented reality based intelligent interactive e.learning platform H.

Sag��s 3rd International Conference on Agents and Artificial Intelligence, ICAART 2011, INSTICC, pages 343-348 (ISBN 978-989-8425-40-9), Rome- Italy, 28-30 January 2011.

A novel tutor-guided platform for Interactive augmented reality learning H.

Sag��s Proceedings of the 3rd International Conference on Computer Supported Education, CSEDU 2011, pages 88-93 (ISBN 978-989-8425-49-2), Noordwijkerhout, The Netherlands, 6-8 May 2011.

Wheeled mobile robots navigation from a visual memory using wide field of view cameras H.M.

Sagues Industry Application Society Annual Meeting (IAS�10), IEEE pages 1-6 (ISBN: 978-1-4244-6394-7), Houston � USA, 3-7 October 2010.

Pose-Estimation-Based visual servoing for Differential-Drive robots using de 1D trifocal tensor H.

Fast pose estimation for visual navigation using homographies E.

SURF features for efficient robot localization with omnidirectional images A.C.

Using direct methods to obtain motion from 3d lines J.J.

Motion and structure from significant segments in man made environments C.

Active sensing strategies with non-contact compliant motions for constraint based recognition C.

Active sensing using proximity sensors for object recognition and localization L.

Non-contact compliant robot motions:Dynamic behaviour and applications to feature localization L.

Conference on Intelligent Robts and Systems (IROS�11), pages 27-32, San Francisco � Ca, USA, September 26th, 2011 Demo: Video1, Video2 6.

Sag��s Workshop: Network Robot Systems: human concepts of space and activity, integration and applications, pages 104-110 IEEE/RSJ Int.

Guerrero Workshop: Vision in Action: Efficient strategies for cognitive agents in complex environments, pages 1-10 10th European Conference on Computer Vision (ECCV'08), Marseille - France, October 12-18, 2008 10.

Topological and metric robot localization through computer vision techniques A.C.

Workshop.- From features to actions: unifying perspectives in computational and robot vision, pages 79-85 IEEE International Conference on Robotics and Automation, Rome - Italy, 2007 11.

Door detection in images integrating appearance and shape cues A.C.

Hierarchical localization by matching vertical lines in omnidirectional images A.C.

Llorente Seminario Anual de Autom�tica, Electr�nica e Instrumentaci�n - Bilbao, 7-9 Julio 2010 3.

Sag��s Seminario Anual de Autom�tica, Electr�nica e Instrumentaci�n - Bilbao, 7-9 Julio 2010 4.

Llorente Seminario Anual de Autom�tica, Electr�nica e Instrumentaci�n - Legan�s- Madrid, 1-3 Julio 2009 5.

control en l�nea de sistemas inciertos mediante m�ltiples sensores independientes.

Llorente Seminario Anual de Autom�tica, Electr�nica e Instrumentaci�n - Legan�s- Madrid, 1-3 Julio 2009 6.

Dise�o de controladores robustos en sistemas con incertidumbre en el sensor D.

Bueno Seminario Anual de Autom�tica, Electr�nica e Instrumentaci�n - Cartagena-Espa�a, 8-11 Septiembre 2008 7.

Control visual basado en geometr�a epipolar para robots m�viles G.

Correcci�n visual de un robot m�vil con homograf�as R.

Aplicaci�n al Modelado de un Robot con Sensores de Proximetr�a L.

Sag��s Seminario Anual de Autom�tica y Electr�nica, pages 44-49, 1996.

Sag��s Seminario Anual de Autom�tica y Electr�nica, pages 196-202, 1996.

Seguimiento de objetos en movimiento con visi�n m�vil en un robot J.R.

Sag��s Cuarto Congreso de la Asociaci�n Espa�ola de Rob�tica (AER-ATP), pages 93-99, 1995.

Percepci�n con visi�n m�vil en rob�tica

Control de esfuerzos con un robot Puma 560: Aplicaciones industriales C.

Montano 3er Congreso de la Asociaci�n Espa�ola de Rob�tica(AER), pages 371-377, 1993.

Control de movimiento de un robot PUMA 560 basado en sensores de proximetr�a J.

Sag��s Segundo Congreso de la Asociaci�n Espa�ola de Rob�tica (AER), pages 37-43, 1991.

Primer Congreso de la Asociaci�n Espa�ola de Rob�tica, pages 367-375, 1989.

En la agricultura se busca una reducción de costes y de impacto ambiental, mejor sostenibilidad y un incremento de la calidad y el rendimiento del cultivo.

El objetivo principal de esta tesis doctoral es lograr la combinación de aprendizaje automático y tecnologías de sensórica no invasiva para la estimación de importantes características agronómicas, fisiológicas y cuantitativas en agricultura y viticultura digital.

El segundo objetivo fue la aplicación de métodos combinados de aprendizaje automático sobre imágenes térmicas adquiridas bajo condiciones de campo para la monitorización en continuo del estado hidrico del viriedo, que se trata en el Capítulo 4.

Se pueden encontrar muy pocos trabajos que traten sobre el uso de imagen hiperespectral en campo, debido a las dificultades que esta configuración puede presentar, como una iluminación natural e irregular, o la localización a priori desconocida de las muestras en la escena.

Por esta razón, gran parte de los esfuerzos dedicados en el periodo de investigación y desarrollo de esta tesis se han dedicado superar el reto de llevar una cámara hiperespectral a campo para la medición en continuo del viñedo, superando los inconvenientes a los que hay que enfrentarse en el nuevo escenario y diseñando aplicaciones útiles para viticultura digital.

Los resultados del trabajo de investigación llevado a cabo en esta tesis doctoral, publicados en varios articulas científicos, demuestran que las técnicas de inteligencia artificial pueden sacar provecho de datos vegetativos capturados a través de tecnologías de sensórica no invasiva, para caracterizar parámetros clave del cultivo.

Sistemas de visión artificial en robótica industrial

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