INVESTIGACIÓN

@article{Hernandez-Rodriguez2016,

title = {A photometric sampling method for facial shape recovery},

author = {Hernandez-Rodriguez, Felipe and Castelan, Mario },

url = {http://link.springer.com/article/10.1007%2Fs00138-016-0755-9},

year  = {2016},

date = {2016-04-01},

journal = {Machine Vision and Applications},

volume = {27},

number = {4},

pages = {483-497},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Mart\`{i}nez-Gonz\'{a}lez2016,

title = {Vision based persistent localization of a humanoid robot for locomotion Tasks},

author = {Martinez-Gonzalez, Pablo and Castelan, Mario and Arechavaleta, Gustavo },

url = {https://drive.google.com/file/d/0B-7dVUdTjeJUNGdXd0N6UWRvdk0/view},

year  = {2016},

date = {2016-03-26},

journal = {International Journal of Applied Mathematics and Computer Science},

volume = {26},

number = {3},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{7437237,

title = {Dense Correspondence using Local Regions with Affine Transformations},

author = {Reyes, Alfredo and Lopez-Juarez, Ismael},

doi = {10.1109/TLA.2016.7437237},

issn = {1548-0992},

year  = {2016},

date = {2016-02-01},

journal = {IEEE Latin America Transactions},

volume = {14},

number = {2},

pages = {893-898},

abstract = {The development of a virtual environments is desirable in many engineering applications for several reasons. For example, it can reduce the number of dangerous operations during the virtual inspection of mines, pipes for gas, water and sewer to inspect its current condition and identify possible failures. The proposal in this paper is an alternative solution to this problem obtaining a virtual image through the reconstruction of the inner pipe for assessment and fault detection. The proposed method employs regions with affine transformations used as dense correspondence, which are calculated through local correspondences, such as the detector/descriptor SIFT (Scale-invariant feature transform). The SIFT is required to obtain the position and orientation of the camera in the captured positions to get the structure of the scene through correspondences and to create a 3D reconstruction.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Delfin2016,

title = {Visual Servo Walking Control for Humanoids with Finite-time Convergence and Smooth Robot Velocities},

author = {Delfin, Josafat and Becerra, Hector M and Arechavaleta, Gustavo },

url = {http://www.tandfonline.com/doi/abs/10.1080/00207179.2015.1129558},

doi = {http://dx.doi.org/10.1080/00207179.2015.1129558},

issn = {1366-5820},

year  = {2016},

date = {2016-01-10},

journal = {International Journal of Control},

volume = {89},

number = {7},

pages = {1342-1358},

abstract = {In this paper, we address the problem of humanoid locomotion guided from information of a monocular camera. The goal of the robot is to reach a desired location defined in terms of a target image, i.e., a positioning task. The proposed approach allows us to introduce a desired time to complete the positioning task, which is advantageous in contrast to the classical exponential convergence. In particular, finite-time convergence is achieved while generating smooth robot velocities and considering the omnidirectional waking capability of the robot. In addition, we propose a hierarchical task-based control scheme, which can simultaneously handle the visual positioning and the obstacle avoidance tasks without affecting the desired time of convergence. The controller is able to activate or inactivate the obstacle avoidance task without generating discontinuous velocity references while the humanoid is walking. Stability of the closed loop for the two task-based control is demonstrated theoretically even during the transitions between the tasks. The proposed approach is generic in the sense that different visual control schemes are supported. We evaluate a homography-based visual servoing for position-based and image-based modalities, as well as for eye-in-hand and eye-to-hand configurations. The experimental evaluation is performed with the humanoid robot NAO.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Rios-Cabrera2016,

title = {Robotic GMAW online learning: issues and experiments},

author = {Rios-Cabrera, Reyes and Morales-Diaz, America B. and Aviles-Vi\~{n}as, Jaime F and Lopez-Juarez, Ismael },

url = {http://dx.doi.org/10.1007/s00170-016-8618-0},

doi = {10.1007/s00170-016-8618-0},

issn = {1433-3015},

year  = {2016},

date = {2016-01-01},

journal = {The International Journal of Advanced Manufacturing Technology},

volume = {87},

number = {5},

pages = {2113--2134},

abstract = {This paper presents three main contributions: (i) an experimental analysis of variables, using well-defined statistical patterns applied to the main parameters of the welding process. (ii) An on-line/off-line learning and testing method, showing that robots can acquire a useful knowledge base without human intervention to learn and reproduce bead geometries. And finally, (iii) an on-line testing analysis including penetration of the bead, that is used to train an artificial neural network (ANN). For the experiments, an optic camera was used in order to measure bead geometry (width and height). Also real-time computer vision algorithms were implemented to extract training patterns. The proposal was carried out using an industrial KUKA robot and a GMAW type machine inside a manufacturing cell. We present expermental analysis that show different issues and solutions to build an industrial adaptive system for the robotics welding process.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Aviles-Vi\~{n}as2016b,

title = {On-line learning of welding bead geometry in industrial robots},

author = {Aviles-Vi\~{n}as, Jaime F and Rios-Cabrera, Reyes and Lopez-Juarez, Ismael },

url = {http://dx.doi.org/10.1007/s00170-015-7422-6},

doi = {10.1007/s00170-015-7422-6},

issn = {1433-3015},

year  = {2016},

date = {2016-01-01},

journal = {The International Journal of Advanced Manufacturing Technology},

volume = {83},

number = {1},

pages = {217--231},

abstract = {In this paper, we propose an architecture based on an artificial neural network (ANN), to learn welding skills automatically in industrial robots. With the aid of an optic camera and a laser-based sensor, the bead geometry (width and height) is measured. We propose a real-time computer vision algorithm to extract training patterns in order to acquire knowledge to later predict specific geometries. The proposal is implemented and tested in an industrial KUKA KR16 robot and a GMAW type machine within a manufacturing cell. Several data analysis are described as well as off-line and on-line training, learning strategies, and testing experimentation. It is demonstrated during our experiments that, after learning the skill, the robot is able to produce the requested bead geometry even without any knowledge about the welding parameters such as arc voltage and current. We implemented an on-line learning test, where the whole experiments and learning process take only about 4 min. Using this knowledge later, we obtained up to 95 % accuracy in prediction.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{maldonado2016robotic,

title = {Robotic Visual Tracking of Relevant Cues in Underwater Environments with Poor Visibility Conditions},

author = {Maldonado-Ramirez, Alejandro and Torres-Mendez, Luz Abril},

url = {https://www.hindawi.com/journals/js/2016/4265042/},

year  = {2016},

date = {2016-01-01},

journal = {Journal of Sensors},

volume = {2016},

publisher = {Hindawi Publishing Corporation},

abstract = {Using visual sensors for detecting regions of interest in underwater environments is fundamental for many robotic applications. Particularly, for an autonomous exploration task, an underwater vehicle must be guided towards features that are of interest. If the relevant features can be seen from the distance, then smooth control movements of the vehicle are feasible in order to position itself close enough with the final goal of gathering visual quality images. However, it is a challenging task for a robotic system to achieve stable tracking of the same regions since marine environments are unstructured and highly dynamic and usually have poor visibility. In this paper, a framework that robustly detects and tracks regions of interest in real time is presented. We use the chromatic channels of a perceptual uniform color space to detect relevant regions and adapt a visual attention scheme to underwater scenes. For the tracking, we associate with each relevant point superpixel descriptors which are invariant to changes in illumination and shape. The field experiment results have demonstrated that our approach is robust when tested on different visibility conditions and depths in underwater explorations.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{S\'{a}nchezEscobedo2016111,

title = {Statistical 3D face shape estimation from occluding contours},

author = {S\'{a}nchez-Escobedo, Dalila and Castelan, Mario and Smith, William A P},

url = {http://www.sciencedirect.com/science/article/pii/S1077314215001885},

doi = {http://dx.doi.org/10.1016/j.cviu.2015.08.012},

issn = {1077-3142},

year  = {2016},

date = {2016-01-01},

journal = {Computer Vision and Image Understanding},

volume = {142},

pages = {111 - 124},

abstract = {Abstract This paper addresses the problem of 3D face shape approximation from occluding contours, i.e., the boundaries between the facial region and the background. To this end, a linear regression process that models the relationship between a set of 2D occluding contours and a set of 3D vertices is applied onto the corresponding training sets using Partial Least Squares. The result of this step is a regression matrix which is capable of estimating new 3D face point clouds from the out-of-training 2D Cartesian pixel positions of the selected contours. Our approach benefits from the highly correlated spaces spanned by the 3D vertices around the occluding boundaries of a face and their corresponding 2D pixel projections. As a result, the proposed method resembles dense surface shape recovery from missing data. Our technique is evaluated over four scenarios designed to investigate both the influence of the contours included in the training set and the considered number of contours. Qualitative and quantitative experiments demonstrate that using contours outperform the state of the art on the database used in this article. Even using a limited number of contours provides a useful approximation to the 3D face surface.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{journals/asc/VelascoDP16,

title = {Wavenet fuzzy PID controller for nonlinear MIMO systems: Experimental validation on a high-end haptic robotic interface.},

author = {Velasco Ramos, Luis Enrique and Dominguez-Ramirez, Omar Arturo and Parra-Vega, Vicente},

url = {http://dblp.uni-trier.de/db/journals/asc/asc40.html#VelascoDP16},

year  = {2016},

date = {2016-01-01},

journal = {Appl. Soft Comput.},

volume = {40},

pages = {199-205},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Izaguirre-Espinosa2016,

title = {Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation},

author = {Izaguirre-Espinosa, Carlos and Mu\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and G Sanahuja },

url = {http://www.sciencedirect.com/science/article/pii/S0967066116300867},

doi = {http://dx.doi.org/10.1016/j.conengprac.2016.04.016},

issn = {0967-0661},

year  = {2016},

date = {2016-01-01},

journal = {Control Engineering Practice},

volume = {53},

pages = {47 - 56},

abstract = {Quadrotors are Unmanned Aerial Systems (UAS), whose nonlinearities, uncertainties, and unavoidable aerodynamic disturbances stand for a difficult control problem. Additionally, the highly nonlinear coupling between the position and the orientation dynamics exacerbates the underactuation problem when the objective is the position tracking. In this paper, aiming at designing a robust position controller without resolving underactuation, a novel “reactive orientation control” is proposed. The orientation controller is model-free and it is build upon differintegral fractional operators to react to a continuous and bounded additive term that stands for an affine exogenous position controller. Such term indeed becomes an attitude disturbance that is purposely injected to displace the quadrotor towards the desired position of the underactuated coordinates. The closed-loop analysis shows that the norm of the transfer function between the disturbance and the position tracking error is minimized for a stable and robust position regime. Simulations and experimental results are given to discuss the feasibility of the proposed scheme.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ParraVega2016209,

title = {Neurofuzzy self-tuning of the dissipation rate gain for model-free force-position exponential tracking of robots},

author = {Parra-Vega, Vicente and Garc\'{i}a-Rodr\'{i}guez, Rodolfo and Armendariz, Jorge },

url = {http://www.sciencedirect.com/science/article/pii/S0925231215008590},

doi = {https://doi.org/10.1016/j.neucom.2015.06.034},

issn = {0925-2312},

year  = {2016},

date = {2016-01-01},

journal = {Neurocomputing},

volume = {171},

pages = {209 - 219},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{doi:10.1080/00207179.2015.1129558,

title = {Visual servo walking control for humanoids with finite-time convergence and smooth robot velocities},

author = {Delfin, Josafat and Becerra, Hector M and Arechavaleta, Gustavo},

url = {http://dx.doi.org/10.1080/00207179.2015.1129558},

doi = {10.1080/00207179.2015.1129558},

year  = {2016},

date = {2016-01-01},

journal = {International Journal of Control},

volume = {89},

number = {7},

pages = {1342-1358},

abstract = {ABSTRACTIn this paper, we address the problem of humanoid locomotion guided from information of a monocular camera. The goal of the robot is to reach a desired location defined in terms of a target image, i.e., a positioning task. The proposed approach allows us to introduce a desired time to complete the positioning task, which is advantageous in contrast to the classical exponential convergence. In particular, finite-time convergence is achieved while generating smooth robot velocities and considering the omnidirectional waking capability of the robot. In addition, we propose a hierarchical task-based control scheme, which can simultaneously handle the visual positioning and the obstacle avoidance tasks without affecting the desired time of convergence. The controller is able to activate or inactivate the obstacle avoidance task without generating discontinuous velocity references while the humanoid is walking. Stability of the closed loop for the two task-based control is demonstrated theoretically even during the transitions between the tasks. The proposed approach is generic in the sense that different visual control schemes are supported. We evaluate a homography-based visual servoing for position-based and image-based modalities, as well as for eye-in-hand and eye-to-hand configurations. The experimental evaluation is performed with the humanoid robot NAO.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{7430073,

title = {Reconfiguration Distributed Objects in an Intelligent Manufacturing Cell},

author = {Benitez Perez, H. and Lopez-Juarez, Ismael and Garza-Alanis, P. C. and Rios-Cabrera, Reyes and Duran Chavesti, A.},

doi = {10.1109/TLA.2016.7430073},

issn = {1548-0992},

year  = {2016},

date = {2016-01-01},

journal = {IEEE Latin America Transactions},

volume = {14},

number = {1},

pages = {136-146},

abstract = {A manufacture system with the abilities of easy reconfiguration and highly scalability becomes flexible, dynamic and open to the use of software technologies. To give these abilities to a manufacture cell formed of three industrial robots and two conveyors, a middleware based on the programming standard Common Object Request Broker Architecture (CORA) was developed, thus creating a distributed manufacture cell, allowing us to have a real production with different final products. In order to optimize the production times of the different products to be manufactured, a product scheduler was developed using the algorithm Earlies Deadline First (EDF) and the support algorithm Deferrable Server (DS). Given that failures may occur on any of the specialized modules of the manufacture system, the self reconfiguration of the manufacture system is something very desirable. This article propose an algorithm to solve this problem, the algorithm identifies the failures in relation to the time it takes the system to make a product, then makes a modification on the working speed of the plant elements of the specialized modules.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Cortx00E9sPx00E9rez2016ALM,

title = {A Low-Cost Mirror-Based Active Perception System for Effective Collision Free Underwater Robotic Navigation},

author = {Cortes-Perez, Noel and Torres-Mendez, Luz Abril},

year  = {2016},

date = {2016-01-01},

journal = {2016 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)},

pages = {61-68},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{morales2016biofabricacion,

title = {Biofabricacion de nanoparticulas de metales usando celulas vegetales o extractos de plantas},

author = {Morales-Diaz, America B. and Juarez-Maldonado, Antonio and Morelos-Moreno, Alvaro and Gonzalez-Morales, Susana and Benavides-Mendoza, Adalberto},

year  = {2016},

date = {2016-01-01},

journal = {Revista Mexicana de Ciencias Agr'icolas},

volume = {7},

number = {5},

pages = {1211--1224},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{morales2016merging,

title = {Merging Strategy for Vehicles by Applying Cooperative Tracking Control},

author = {Morales-Diaz, America B. and Nijmeijer, Henk},

issn = {1524-9050},

year  = {2016},

date = {2016-01-01},

journal = {IEEE Transactions on Intelligent Transportation Systems},

volume = {17},

number = {12},

pages = {3423--3433},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}