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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Tibau Font, Albert;

    En aquesta memòria es presenta el treball de disseny i implementació d’una interfície lúdica musical que s’ha desenvolupat per al robot CASPER (Cognitive Assistive Social PEt Robot), un autòmat d’assistència cognitiva creat per facilitar l’aprenentatge i millorar la capacitat de socialització de nens amb Desordre de l’Espectre Autista. Es mostra tant la part hardware com software que compon el robot, que ha estat desenvolupat en llenguatge Arduino, molt similar al C++. S’han programat dos diferents modalitats de joc: un amb l’objectiu de guiar el nen per reproduir una melodia predeterminada i l’altre que li permetrà d’una manera lliure crear-ne una de pròpia. Aquests han estat desenvolupats amb l’objectiu de treure el màxim profit del hardware amb el qual ja comptava CASPER: s’ha fet ús de quatre servomotors Dynamixel i de dos microcontroladors Arduino (un màster i un esclau, comunicats entre ells mitjançant protocol I2C). A més, s’han implementat al robot sensors tàctils, leds i un altaveu, que aporten al projecte un aspecte més lúdic. La música servirà d’intermediari entre el robot i el nen, i alhora podria suposar un punt de contacte inicial entre el terapeuta i el pacient, el qual generalment sol ignorar o fins i tot rebutjar la comunicació humana.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2018
    License: CC BY NC ND
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2018
      License: CC BY NC ND
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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  • image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Authors: Saumell i Portillo, Arnau;

    Com podem aconseguir una caracterització densa d'un objecte altament deformable per a la manipulació robòtica utilitzant la percepció visual? L'espai d'estats de dimensió infinita que defineixen els objectes deformables fa que aquesta tasca sigui extremadament difícil. A més, a causa de la naturalesa d'aquests objectes, tractar amb auto-ocultacions es converteix en un important segon desafiament. La freqüència i complexitat d'aquestes augmenten amb el grau de deformabilitat de l'objecte. Per tant, és crucial tractar-les adequadament. Aquesta tesi proposa un mètode que, mitjançant l'ús de la percepció visual (imatges RGB), (1) proporciona una representació densa agnòstica a tasques d'una classe d'objecte, (2) permet generalitzar aquesta representació a través de diferents instàncies de la mateixa categoria d'objecte i (3) proporciona una mesura de confiança en l'assignació de correspondències entre diferents imatges. En aquest cas particular, l'enfocament està en la manipulació de roba, més específicament en la manipulació de diferents instàncies de samarretes. Per això, aquest treball també proporciona una metodologia per a la generació aleatòria de diferents tipus de samarretes. No obstant, tot el marc definit es podria generalitzar a qualsevol altre tipus d'objecte deformable. ¿Cómo podemos lograr una caracterización densa de un objeto altamente deformable para la manipulación robótica utilizando la percepción visual? El espacio de estados de dimensión infinita que definen a los objetos deformables hace que esta tarea sea extremadamente difícil. Además, debido a la naturaleza de estos objetos, tratar con autoocultaciones se convierte en un importante segundo desafío. Su frecuencia y complejidad aumentan con el grado de deformabilidad del objeto. Por lo tanto, es crucial tratarlas adecuadamente. Esta tesis propone un método que, mediante el uso de la percepción visual (imágenes RGB), (1) proporciona una representación densa agnóstica a tareas de una clase de objeto, (2) permite generalizar dicha representación a través de diferentes instancias de la misma categoría de objeto, y (3) proporciona una medida de confianza en la assignación de correspondencias entre distintas imágenes. En este caso en particular, el enfoque está en la manipulación de ropa, más específicamente en la manipulación de diferentes instancias de camisetas. Es por ello que este trabajo también proporciona una metodología para randomizar la generación de distintos tipos de ellas. Sin embargo, todo el marco definido se podría generalizar a cualquier otro tipo de objeto deformable. How can we achieve a dense characterization of a highly deformable object for robotic manipulation using visual perception? The infinite dimensional state space of deformable objects makes this task extremely difficult. Moreover, due to the nature of these objects, dealing with self-occlusions becomes a second major challenge. Their frequency and complexity increase with the degree of deformability of the object. Thus, it is crucial to properly deal with them. This thesis proposes a method that, by using visual perception (RGB images), (1) provides a task-agnostic dense representation of an object class, (2) enables to generalize such a representation across different instances of the same object category, and (3) provides a measure of confidence on pixelwise correspondence matching. In this particular case, the focus is on cloth manipulation, more specifically on instances of upper-body clothes. As a result, this work also provides a pipeline to generate a simulated dataset of randomized instances within this object category. However, the whole framework could be generalized to any other deformable object class. Outgoing

    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao UPCommons. Portal de...arrow_drop_down
    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao UPCommons. Portal de...arrow_drop_down
      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Navarrete Fernández, Irene;

    Aquest projecte descriu el procés seguit per al desenvolupament d'un robot manipulador de tipus braç articulat. Aquest documenta l'anàlisi de l'estat de l’art i l’estudi de les diferents solucions existents al mercat, seguit de l'enginyeria de concepte realitzada per definir i justificar la solució adoptada i, finalment, l'enginyeria de desenvolupament que exposa el disseny final i la problemàtica sorgida. El contingut de cadascuna d'aquestes parts es divideix en tres blocs principals: mecànica, hardward i software del robot. Per completar la seva documentació, també s'aporten tots els càlculs, plànols, esquemes, codi font de programació, fitxes tècniques dels components, manual d'ús i anàlisi de costos.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2013
    License: CC BY NC SA
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2013
      License: CC BY NC SA
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Rodríguez Martínez, Miguel Angel;

    Este proyecto de fin de carrera tiene como objetivo la creación de una infraestructura tanto física como de software que facilite y economice la investigación robótica sobre el aprendizaje cognitivo. Además, del desarrollo de herramientas de software que simplifiquen el uso de sonido en investigación robótica. Para ello, se ha diseñado y construido un robot. La estructura del mismo ha sido elaborada usando software de diseños 3D para poder ser generada a través de impresoras 3D. El fin de esta decisión recae en poder facilitar su reproducción por todos aquellos que así lo deseen. Por otro lado, el hardware usado es el más económico posible a excepción de aquellos componentes que tienen un especial interés para su investigación como posible hardware dentro del mundo de la robótica. El diseño en general está inspirado en las teorías de robótica social y cognitiva, siguiendo a su vez el principio de economía en el diseño. A nivel de software, se ha desarrollado una serie de herramientas que permiten simular entornos virtuales sonoros y procesar los sonidos generados internamente por una computadora. Además, se ha creado un software para el aprendizaje robótico no supervisado, basándose en modelos matemáticos que se aproximan al funcionamiento cerebral del ser humano. Por último, se ha realizado un experimento a modo de entrenamiento de la estructura de aprendizaje para evaluar si era posible con la infraestructura software creada, y como sistema de evaluación el de la efectividad de las teorías aplicadas, poder reconocer el tono emocional en el que alguien está hablando independientemente del idioma usado. Como resultado, se ha obtenido un robot completo con los elementos esenciales que permiten la investigación en aprendizaje robótico en robots físicos. Siendo además este robot de un precio de fabricación bajo y modular. Asimismo, en la parte de software se han extraído un conjunto de gráficas que muestran el rendimiento y la eficiencia de los modelos y software creados. Como conclusión, se puede subrayar que se ha conseguido un sistema con el potencial de detectar los tonos emocionales de los hablantes con una exactitud notable aunque sería necesario un mayor desarrollo y optimización para una mejor precisión. Peer Reviewed

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2016
    License: CC BY NC ND
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2016
      License: CC BY NC ND
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Seguin, Corentin;

    Incoming

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
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    image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
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      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Ramírez Gómez, Aitor;

    The goal of this project is to develop a system able to control the balance of a par- allel platform robot. The project includes 1) the Gough-Stewart parallel robot, created and assembled at IRI 's lab; 2) 6 Dynamixel rotary actuators, to move the platform; 3) and Arduino® UNO electronic board, to control the rotary actuators and to process data provided by 4) an inertia measurement unit MPU-6050 sensor. In this project it is described how the communication between the devices and the electronic board, which acts as the master, is established. It is speci ed what kind, and how, the communication is performed between each device in order to send and receive data. As the controller is implemented on Arduino®, the programming language required is Processing. Given the dimensions of the prototype, the project is not focused on the analysis of the involved forces, but in its kinematics. Therefore, this work also details the algebraic ma- nipulations needed to set the di erent con gurations that the platform demands according to the kinematics of the parallel robot. This project has been developed at Institut de Robòtica i Informàtica Industrial (IRI, CSIC-UPC) and presented at Universitat Politècnica de Catalunya in order to achieve the Industrial Enginyeering Degree title. Peer Reviewed

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
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    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2017
    License: CC BY NC ND
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2017
      License: CC BY NC ND
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    Authors: Zelada Villalobos, Cesar Antonio;

    El presente trabajo tiene el objetivo de impulsar las energías renovables, en concreto, energía fotovoltaica como fuente principal o complementaria de abastecimiento eléctrico, combinado con la domótica y el IoT (Internet of Things) llevando a cabo una gestión eficiente de la misma y el control a disposición del usuario para su confort. A pesar de la inversión económica inicial que requiere esta tecnología, la amortización de esta se verá reflejada en el ahorro anual que supone gracias a la nueva ley de autoconsumo RD (Real Decreto) 244/2019 y todas sus modificaciones. Para el control y la gestión de energía obtenida de las placas solares se propone una unidad de monitorización del sistema a modo de microcontrolador, que se encargará de obtener parámetros como la temperatura exterior e interior de la vivienda, el nivel de iluminación para realizar acciones de ahorro, el estado de las baterías, la potencia consumida, el nivel de irradiancia y producción energética de los paneles, además de la señalización de distintas alarmas. Los elementos que forman parte de la domótica se comunicarán vía Wi-Fi con la unidad principal y la información obtenida será almacenada en una base de datos la cual se podrá consultar a través de una aplicación móvil y/u ordenador. El usuario podrá desde la misma activar y desactivar funciones y actuadores además de tener a su disposición datos como el consumo energético que se está produciendo a tiempo real. Aquest treball té com a objectiu impulsar les energies renovables, en concret, energia fotovoltaica com a font principal o complementària de subministrament elèctric, combinat amb la domòtica i l’IoT (Internet of Things) duent a terme una gestió eficient de la mateixa i el control a disposició de l’usuari pel seu confort. Tot i la inversió econòmica inicial que requereix aquesta tecnologia, l’amortització d’aquesta es veurà reflectida a l’estalvi anual que suposa gràcies a la nova llei d’autoconsum RD (Reial Decret) 244/2019 i totes les seves modificacions. Per al control i la gestió d'energia obtinguda de les plaques solars es proposa una unitat de monitorització del sistema com a microcontrolador, que s'encarregarà d'obtenir paràmetres com la temperatura exterior i interior de l'habitatge, el nivell d'il·luminació per realitzar accions d'estalvi, l'estat de les bateries, la potència consumida, el nivell d'irradiància i producció energètica dels panells, a més de la senyalització de diferents alarmes. Els elements que formen part de la domòtica es comunicaran via Wi-Fi amb la unitat principal i la informació obtinguda serà emmagatzemada en una base de dades la qual es podrà consultar per mitjà d’una aplicació mòbil i/o ordinador. L'usuari podrà des d'aquesta, activar i desactivar funcions i actuadors, a més de tenir a la seva disposició dades com el consum energètic que s'està produint a temps real. The present work has the objective of promoting renewable energies, specifically, photovoltaic energy as the main or complementary source of electricity supply, combined with home automation and IoT (Internet of Things), carrying out efficient management and control to the user for their comfort. Despite the initial economic investment that this technology requires, the amortization of this will be reflected in the annual savings that it supposes thanks to the new self-consumption law RD (Royal Decree) 244/2019 and all its modifications. For the control and management of the energy obtained from the solar panels, a system monitoring unit is proposed as a microcontroller, which will be in charge of obtaining parameters such as the exterior and interior temperature of the house, the lighting level to carry out actions of savings, the status of the batteries, the power consumed, the irradiance level and energy production of the panels, as well as the signaling of different alarms. The elements that are part of the home automation will communicate via Wi-Fi with the main unit and the information obtained will be stored in a database which can be consulted through a mobile application and/or computer. The user will be able to activate and deactivate functions and actuators from there, as well as having at his disposal data such as the energy consumption that is taking place in real time. Objectius de Desenvolupament Sostenible::7 - Energia Assequible i No Contaminant

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    Authors: Quintana Aguasca, Èric;

    Esta tesis presenta una implementación para el seguimiento de objetos por computador usando YOLO y un filtro Kalman. El sistema permite detecciones hechas con YOLO para un objeto concreto en una secuencia de video y con el filtro de Kalman modelar y seguir la posición y trayectoria de dicho objeto entre las distintas imágenes de la secuencia. El detector YOLO se utiliza para inicializar y como función de mesura del filtro de Kalman. Con el filtro de Kalman, el movimiento de los objetos entre las imágenes es seguido. Finalmente, el sistema se testea con distintas secuencias de vídeo. Cada secuencia tiene solo un objeto a seguir, con distintos problemas posibles para el seguimiento de objetos con visión por computador. Aquesta tesis presenta una implementació pel seguiment d'objectes per computador utilitzant YOLO i un filtre de Kalman. El sistema permet deteccions fetes amb YOLO per a un objecte concret en una seqüència de vídeo, i amb el filtre de Kalman es modela i es segueix la posició i trajectòria de l'objecte entre les diferents imatges de la seqüència. El detector YOLO s'utilitza per inicialitzar i com a funció de mesura del filtre de Kalman. Amb el filtre de Kalman, el moviment dels objectes entre les imatges és seguit. Finalment, el sistema es testeja amb diferents seqüències de vídeo. Cada seqüència té només un objecte per seguir, amb diferents problemes possibles pel seguiment d'objectes amb visió per computador. This thesis presents an implementation for tracking by detection using YOLO and Kalman filter. This system allows detections with YOLO for a concrete object in a video sequence, then the Kalman filter models the motion and tracks the positions of the objects along the sequence. The YOLO detection would be used to initialize the tracking and as the measurement function of the Kalman Filter. With the Kalman Filter, the motion of the object between frames is estimated, tracking its trajectory. Finally, the system is tested with different datasets with different objects to track. Every dataset has just one target and each one regards a possible problem of visual object tracking.

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    Authors: Morlans Fuster, Eduard;

    La petjada ecològica és un concepte que resumeix l’impacte de l’activitat humana sobre el medi. Tota activitat humana té un impacte, directe o indirecte, en emissions de diòxid de carboni a la atmosfera, gas d’efecte hivernacle que agreuja la situació de canvi climàtic. En l’actualitat, la societat posa els seus esforços en revertir aquest fenomen que posa en perill la composició, la capacitat de recuperació i la productivitat dels ecosistemes naturals i el mateix desenvolupament econòmic i social, la salut i el benestar de la humanitat. El càlcul de la petjada ecològica s’expressa com un índex que mostra la relació entre la petjada de carboni de l’individu i la fixació de carboni de les hectàrees de terreny que li son assignades. Es tracta d’una eina que ens permet avaluar la sostenibilitat d’un determinat estil de vida. El projecte de disseny i desenvolupament d’un kit pel càlcul de la petjada ecològica a l’habitatge conté el procés de disseny i desenvolupament del producte que ofereix l’empresa ECO2PE, per conscienciar als usuaris de l’impacte mediambiental del seu habitatge i ajudar en el canvi tan necessari cap a una societat més responsable i sostenible. Mitjançant un primer procés de recerca i prototipat, s’ha desenvolupat una solució simple i de baix cost, per mesurar el consum d’aigua i d’energia a l’habitatge a partir de dos dispositius electrònics controlats mitjançant microcontroladors. En una segona fase, s’han dissenyat i fabricat, mitjançant el servei de JLCPCB, plaques de circuit imprès que integren el sistema electrònic de mesura, que compta amb un mòdul Wi-Fi que permet enviar les dades de consum de l’habitatge a una xarxa d’internet de les coses. En una tercera fase, s’ha desenvolupat una aplicació Android per monitoritzar les dades dels sensors i visualitzar el càlcul de la petjada ecològica de l’habitatge. Finalment, el projecte conté la definició del negoci d’ECO2PE, el seu pla de màrqueting i la normativa que aplica al seu kit

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    Authors: Coha Caldentey, Pol;

    T’imagines poder tenir una còpia exactament igual d’un model real, però en format digital? I si a més a més poguessis interactuar amb aquest modificant, copiant, analitzant, aprenent, sense preocupació a que li pogués passar res al model? Doncs, aquest és el que t’ofereix el bessó digital, una de les claus de la indústria 4.0 que està revolucionant el món industrial de la producció i disseny. La tecnologia del bessó digital és una realitat que està transformant el món industrial, gràcies a ella, ara ja es pot tenir una visió més completa i precisa de qualsevol objecte o sistema físic i aprofitar tot el seu potencial per donar-li valor afegit. Tota empresa que vulgui evolucionar i estar a l’avantguarda de la innovació ha de conèixer i implementar el bessó digital. Aquest treball final d’estudis tracta sobre la creació d’un bessó digital o “digital-twin”, que és un model virtual que s’alimenta de dades en temps real i simula el comportament del sistema físic, en aquest cas, el sistema és una línia robotitzada. Aquest es centrarà en el modelatge del bessó digital que imita la línia i a més, inclourà un solució alternativa a les possibles manques que tingui gràcies a l’estudi d’aquesta. Doncs, tot plegat es durà a terme gracies a les diferents plataformes IoT. L’objectiu final del treball és poder crear i visualitzar la línia robotitzada, i posteriorment fer un estudi del seu comportament per aportar diferents solucions a la millora continua d’aquesta i poder veure els diferents beneficis que el bessó digital està aportant a la indústria 4.0. Com que el bessó digital es pot portar a diferents nivells de complexitat, aquest treball de fi d’estudis es fixarà en el conjunt de tota la línia i no individualment. Per tant, és més important la creació del bessó digital que no pas l’estudi d’aquest. Les conclusions que pot donar un bessó digital depenen del tipus i el propòsit d’aquest, doncs, gracies a aquest estudi s’observa com pot influenciar mitjançant dues alternatives diferents un operari i un robot les eficiències i els rendiments de la línia de fabricació en temps real

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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Tibau Font, Albert;

    En aquesta memòria es presenta el treball de disseny i implementació d’una interfície lúdica musical que s’ha desenvolupat per al robot CASPER (Cognitive Assistive Social PEt Robot), un autòmat d’assistència cognitiva creat per facilitar l’aprenentatge i millorar la capacitat de socialització de nens amb Desordre de l’Espectre Autista. Es mostra tant la part hardware com software que compon el robot, que ha estat desenvolupat en llenguatge Arduino, molt similar al C++. S’han programat dos diferents modalitats de joc: un amb l’objectiu de guiar el nen per reproduir una melodia predeterminada i l’altre que li permetrà d’una manera lliure crear-ne una de pròpia. Aquests han estat desenvolupats amb l’objectiu de treure el màxim profit del hardware amb el qual ja comptava CASPER: s’ha fet ús de quatre servomotors Dynamixel i de dos microcontroladors Arduino (un màster i un esclau, comunicats entre ells mitjançant protocol I2C). A més, s’han implementat al robot sensors tàctils, leds i un altaveu, que aporten al projecte un aspecte més lúdic. La música servirà d’intermediari entre el robot i el nen, i alhora podria suposar un punt de contacte inicial entre el terapeuta i el pacient, el qual generalment sol ignorar o fins i tot rebutjar la comunicació humana.

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    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2018
    License: CC BY NC ND
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      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2018
      License: CC BY NC ND
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  • image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao
    Authors: Saumell i Portillo, Arnau;

    Com podem aconseguir una caracterització densa d'un objecte altament deformable per a la manipulació robòtica utilitzant la percepció visual? L'espai d'estats de dimensió infinita que defineixen els objectes deformables fa que aquesta tasca sigui extremadament difícil. A més, a causa de la naturalesa d'aquests objectes, tractar amb auto-ocultacions es converteix en un important segon desafiament. La freqüència i complexitat d'aquestes augmenten amb el grau de deformabilitat de l'objecte. Per tant, és crucial tractar-les adequadament. Aquesta tesi proposa un mètode que, mitjançant l'ús de la percepció visual (imatges RGB), (1) proporciona una representació densa agnòstica a tasques d'una classe d'objecte, (2) permet generalitzar aquesta representació a través de diferents instàncies de la mateixa categoria d'objecte i (3) proporciona una mesura de confiança en l'assignació de correspondències entre diferents imatges. En aquest cas particular, l'enfocament està en la manipulació de roba, més específicament en la manipulació de diferents instàncies de samarretes. Per això, aquest treball també proporciona una metodologia per a la generació aleatòria de diferents tipus de samarretes. No obstant, tot el marc definit es podria generalitzar a qualsevol altre tipus d'objecte deformable. ¿Cómo podemos lograr una caracterización densa de un objeto altamente deformable para la manipulación robótica utilizando la percepción visual? El espacio de estados de dimensión infinita que definen a los objetos deformables hace que esta tarea sea extremadamente difícil. Además, debido a la naturaleza de estos objetos, tratar con autoocultaciones se convierte en un importante segundo desafío. Su frecuencia y complejidad aumentan con el grado de deformabilidad del objeto. Por lo tanto, es crucial tratarlas adecuadamente. Esta tesis propone un método que, mediante el uso de la percepción visual (imágenes RGB), (1) proporciona una representación densa agnóstica a tareas de una clase de objeto, (2) permite generalizar dicha representación a través de diferentes instancias de la misma categoría de objeto, y (3) proporciona una medida de confianza en la assignación de correspondencias entre distintas imágenes. En este caso en particular, el enfoque está en la manipulación de ropa, más específicamente en la manipulación de diferentes instancias de camisetas. Es por ello que este trabajo también proporciona una metodología para randomizar la generación de distintos tipos de ellas. Sin embargo, todo el marco definido se podría generalizar a cualquier otro tipo de objeto deformable. How can we achieve a dense characterization of a highly deformable object for robotic manipulation using visual perception? The infinite dimensional state space of deformable objects makes this task extremely difficult. Moreover, due to the nature of these objects, dealing with self-occlusions becomes a second major challenge. Their frequency and complexity increase with the degree of deformability of the object. Thus, it is crucial to properly deal with them. This thesis proposes a method that, by using visual perception (RGB images), (1) provides a task-agnostic dense representation of an object class, (2) enables to generalize such a representation across different instances of the same object category, and (3) provides a measure of confidence on pixelwise correspondence matching. In this particular case, the focus is on cloth manipulation, more specifically on instances of upper-body clothes. As a result, this work also provides a pipeline to generate a simulated dataset of randomized instances within this object category. However, the whole framework could be generalized to any other deformable object class. Outgoing

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      image/svg+xml Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao Closed Access logo, derived from PLoS Open Access logo. This version with transparent background. http://commons.wikimedia.org/wiki/File:Closed_Access_logo_transparent.svg Jakob Voss, based on art designer at PLoS, modified by Wikipedia users Nina and Beao UPCommons. Portal de...arrow_drop_down
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    Authors: Navarrete Fernández, Irene;

    Aquest projecte descriu el procés seguit per al desenvolupament d'un robot manipulador de tipus braç articulat. Aquest documenta l'anàlisi de l'estat de l’art i l’estudi de les diferents solucions existents al mercat, seguit de l'enginyeria de concepte realitzada per definir i justificar la solució adoptada i, finalment, l'enginyeria de desenvolupament que exposa el disseny final i la problemàtica sorgida. El contingut de cadascuna d'aquestes parts es divideix en tres blocs principals: mecànica, hardward i software del robot. Per completar la seva documentació, també s'aporten tots els càlculs, plànols, esquemes, codi font de programació, fitxes tècniques dels components, manual d'ús i anàlisi de costos.

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    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2013
    License: CC BY NC SA
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      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2013
      License: CC BY NC SA
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Rodríguez Martínez, Miguel Angel;

    Este proyecto de fin de carrera tiene como objetivo la creación de una infraestructura tanto física como de software que facilite y economice la investigación robótica sobre el aprendizaje cognitivo. Además, del desarrollo de herramientas de software que simplifiquen el uso de sonido en investigación robótica. Para ello, se ha diseñado y construido un robot. La estructura del mismo ha sido elaborada usando software de diseños 3D para poder ser generada a través de impresoras 3D. El fin de esta decisión recae en poder facilitar su reproducción por todos aquellos que así lo deseen. Por otro lado, el hardware usado es el más económico posible a excepción de aquellos componentes que tienen un especial interés para su investigación como posible hardware dentro del mundo de la robótica. El diseño en general está inspirado en las teorías de robótica social y cognitiva, siguiendo a su vez el principio de economía en el diseño. A nivel de software, se ha desarrollado una serie de herramientas que permiten simular entornos virtuales sonoros y procesar los sonidos generados internamente por una computadora. Además, se ha creado un software para el aprendizaje robótico no supervisado, basándose en modelos matemáticos que se aproximan al funcionamiento cerebral del ser humano. Por último, se ha realizado un experimento a modo de entrenamiento de la estructura de aprendizaje para evaluar si era posible con la infraestructura software creada, y como sistema de evaluación el de la efectividad de las teorías aplicadas, poder reconocer el tono emocional en el que alguien está hablando independientemente del idioma usado. Como resultado, se ha obtenido un robot completo con los elementos esenciales que permiten la investigación en aprendizaje robótico en robots físicos. Siendo además este robot de un precio de fabricación bajo y modular. Asimismo, en la parte de software se han extraído un conjunto de gráficas que muestran el rendimiento y la eficiencia de los modelos y software creados. Como conclusión, se puede subrayar que se ha conseguido un sistema con el potencial de detectar los tonos emocionales de los hablantes con una exactitud notable aunque sería necesario un mayor desarrollo y optimización para una mejor precisión. Peer Reviewed

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Recolector de Cienci...arrow_drop_down
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    Recolector de Ciencia Abierta, RECOLECTA
    Bachelor thesis . 2016
    License: CC BY NC ND
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      Recolector de Ciencia Abierta, RECOLECTA
      Bachelor thesis . 2016
      License: CC BY NC ND
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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