ROBOT 2017: Third Iberian Robotics Conference: Volume 2

Front Matter ....Pages i-xxiv
Front Matter ....Pages 1-1
 Full Production Plant Automation in Industry Using Cable Robotics with High Load Capacities and Position Accuracy  (David Culla, Jose Gorrotxategi, Mariola Rodríguez, Jean Baptiste Izard, Pierre Ellie Hervé, Jesús Cañada)....Pages 3-14
 Human-Robot Collaboration and Safety Management for Logistics and Manipulation Tasks  (Gi Hyun Lim, Eurico Pedrosa, Filipe Amaral, Ricardo Dias, Artur Pereira, Nuno Lau et al.)....Pages 15-27
 Grasp Quality Measures for Transferring Objects  (Fernando Soler, Abiud Rojas-de-Silva, Raúl Suárez)....Pages 28-39
Front Matter ....Pages 41-41
 Development of a Customized Interface for a Robotic Welding Application at Navantia Shipbuilding Company  (Pedro L. Galindo, Arturo Morgado-Estévez, José Luis Aparicio, Guillermo Bárcena, José Andrés Soto-Núñez, Pedro Chavera et al.)....Pages 43-52
 Towards Automated Welding in Big Shipbuilding Assisted by Programed Robotic Arm Using a Measuring Arm  (Arturo Morgado-Estevez, Pedro L. Galindo, Jose-Luis Aparicio-Rodriguez, Ignacio Diaz-Cano, Carlos Rioja-del-Rio, Jose A. Soto-Nuñez et al.)....Pages 53-63
Front Matter ....Pages 65-65
 Cybersecurity in Autonomous Systems: Hardening ROS Using Encrypted Communications and Semantic Rules  (Jesús Balsa-Comerón, Ángel Manuel Guerrero-Higueras, Francisco Javier Rodríguez-Lera, Camino Fernández-Llamas, Vicente Matellán-Olivera)....Pages 67-78
 Triaxial Sensor Calibration: A Prototype for Accelerometer and Gyroscope Calibration  (P. Bernal-Polo, H. Martínez-Barberá)....Pages 79-90
 Automatic Characterization of Phase Resetting Controllers for Quick Balance Recovery During Biped Locomotion  (Julián Cristiano, Domènec Puig, Miguel Angel García)....Pages 91-101
 Interface Design of Haptic Feedback on Teleoperated System  (Francisco Rodríguez-Sedano, Pere Ponsa, Pablo Blanco-Medina, Luis Miguel Muñoz)....Pages 102-113
Front Matter ....Pages 115-115
 Deep Networks for Human Visual Attention: A Hybrid Model Using Foveal Vision  (Ana Filipa Almeida, Rui Figueiredo, Alexandre Bernardino, José Santos-Victor)....Pages 117-128
 Mixed-Policy Asynchronous Deep Q-Learning  (David Simões, Nuno Lau, Luís Paulo Reis)....Pages 129-140
 Reward-Weighted GMM and Its Application to Action-Selection in Robotized Shoe Dressing  (Adrià Colomé, Sergi Foix, Guillem Alenyà, Carme Torras)....Pages 141-152
 Pose Invariant Object Recognition Using a Bag of Words Approach  (Carlos M. Costa, Armando Sousa, Germano Veiga)....Pages 153-164
 Tactile Sensing and Machine Learning for Human and Object Recognition in Disaster Scenarios  (Juan M. Gandarias, Jesús M. Gómez-de-Gabriel, Alfonso J. García-Cerezo)....Pages 165-175
Front Matter ....Pages 177-177
 Autonomous Localization of Missing Items with Aerial Robots in an Aircraft Factory  (Julio L. Paneque, Arturo Torres-González, J. Ramiro Martínez-de Dios, Juan Ramón Astorga Ramírez, Anibal Ollero)....Pages 179-189
 Wireless Sensor Networks for Urban Information Systems: Preliminary Results of Integration of an Electric Vehicle as a Mobile Node  (J. J. Fernández-Lozano, J. A. Gomez-Ruiz, Miguel Martín-Guzmán, Juan Martín-Ávila, Socarras Bertiz Carlos, A. García-Cerezo)....Pages 190-199
 Design of a Robot-Sensor Network Security Architecture for Monitoring Applications  (Francisco J. Fernández-Jiménez, J. Ramiro Martínez-de Dios)....Pages 200-212
 A Robust Reach Set MPC Scheme for Control of AUVs  (Rui Gomes, Fernando Lobo Pereira)....Pages 213-224
Front Matter ....Pages 225-225
 Obtaining and Monitoring Warehouse 3D Models with Laser Scanner Data  (Antonio Adán, David de la Rubia, Andrés S. Vázquez)....Pages 227-238
 3D Monitoring of Woody Crops Using a Medium-Sized Field Inspection Vehicle  (José M. Bengochea-Guevara, Dionisio Andújar, Francisco L. Sanchez-Sardana, Karla Cantuña, Angela Ribeiro)....Pages 239-250
 A Vision-Based Strategy to Segment and Localize Ancient Symbols Written in Stone  (Jaime Duque-Domingo, P. Javier Herrera, Carlos Cerrada, José A. Cerrada)....Pages 251-260
Front Matter ....Pages 261-261
 euRathlon and ERL Emergency: A Multi-domain Multi-robot Grand Challenge for Search and Rescue Robots  (Alan F. T. Winfield, Marta Palau Franco, Bernd Brueggemann, Ayoze Castro, Gabriele Ferri, Fausto Ferreira et al.)....Pages 263-271
 Autonomous Landing of a Multicopter on a Moving Platform Based on Vision Techniques  (José Joaquín Acevedo, Manuel García, Antidio Viguria, Pablo Ramón, Begoña C. Arrue, Anibal Ollero)....Pages 272-282
 3D Mapping for a Reliable Long-Term Navigation  (Jonathan Ginés, Francisco Martín, Vicente Matellán, Francisco J. Lera, Jesús Balsa)....Pages 283-294
 A Lightweight Navigation System for Mobile Robots  (M. T. Lázaro, G. Grisetti, L. Iocchi, J. P. Fentanes, M. Hanheide)....Pages 295-306
Front Matter ....Pages 307-307
 Bridge Mapping for Inspection Using an UAV Assisted by a Total Station  (Javier Prada Delgado, Pablo Ramon Soria, B. C. Arrue, A. Ollero)....Pages 309-319
 Multi-view Probabilistic Segmentation of Pome Fruit with a Low-Cost RGB-D Camera  (Pablo Ramon Soria, Fouad Sukkar, Wolfram Martens, B. C. Arrue, Robert Fitch)....Pages 320-331
 Vision-Based Deflection Estimation in an Anthropomorphic, Compliant and Lightweight Dual Arm  (Alejandro Suarez, Guillermo Heredia, Anibal Ollero)....Pages 332-344
 3D Navigation for a Mobile Robot  (Jan Škoda, Roman Barták)....Pages 345-356
Front Matter ....Pages 357-357
 Robobo: The Next Generation of Educational Robot  (Francisco Bellas, Martin Naya, Gervasio Varela, Luis Llamas, Moises Bautista, Abraham Prieto et al.)....Pages 359-369
 The ROSIN Education Concept  (Alexander Ferrein, Stefan Schiffer, Stephan Kallweit)....Pages 370-381
 Mobile Robots as a Tool to Teach First Year Engineering Electronics  (Pedro Fonseca, Paulo Pedreiras, Filipe Silva)....Pages 382-393
 Methodology and Results on Teaching Maths Using Mobile Robots  (Paola Ferrarelli, Tamara Lapucci, Luca Iocchi)....Pages 394-406
Front Matter ....Pages 407-407
 Application of Sideslip Estimation Architecture to a Formula Student Prototype  (André Antunes, Carlos Cardeira, Paulo Oliveira)....Pages 409-421
 Torque Vectoring for a Formula Student Prototype  (João Antunes, Carlos Cardeira, Paulo Oliveira)....Pages 422-433
 Path and Velocity Trajectory Selection in an Anticipative Kinodynamic Motion Planner for Autonomous Driving  (Jordi Pérez Talamino, Alberto Sanfeliu)....Pages 434-445
 Deadzone-Quadratic Penalty Function for Predictive Extended Cruise Control with Experimental Validation  (Seyed Amin Sajadi-Alamdari, Holger Voos, Mohamed Darouach)....Pages 446-459
Front Matter ....Pages 461-461
 Comparative Study of Visual Odometry and SLAM Techniques  (Ana Rita Gaspar, Alexandra Nunes, Andry Pinto, Anibal Matos)....Pages 463-474
 Real-Time Deep ConvNet-Based Vehicle Detection Using 3D-LIDAR Reflection Intensity Data  (Alireza Asvadi, Luis Garrote, Cristiano Premebida, Paulo Peixoto, Urbano J. Nunes)....Pages 475-486
 Modeling Traffic Scenes for Intelligent Vehicles Using CNN-Based Detection and Orientation Estimation  (Carlos Guindel, David Martín, José María Armingol)....Pages 487-498
 Complete ROS-based Architecture for Intelligent Vehicles  (Pablo Marin-Plaza, Ahmed Hussein, David Martin, Arturo de la Escalera)....Pages 499-510
Front Matter ....Pages 511-511
 Health 4.0 Oriented to Non-surgical Treatment  (Carles Soler)....Pages 513-523
 Collaborative Robots for Surgical Applications  (Álvaro Bertelsen, Davide Scorza, Camilo Cortés, Jon Oñativia, Álvaro Escudero, Emilio Sánchez et al.)....Pages 524-535
 New Technologies in Surgery  (Alícia Casals, Narcís Sayols, Josep Amat)....Pages 536-547
 Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery  (Carmen López-Casado, Enrique Bauzano, Irene Rivas-Blanco, Víctor F. Muñoz, Juan C. Fraile)....Pages 548-553
Front Matter ....Pages 555-555
 Mechanical Design of a Novel Hand Exoskeleton Driven by Linear Actuators  (Jorge A. Díez, Andrea Blanco, José M. Catalán, Arturo Bertomeu-Motos, Francisco J. Badesa, Nicolás García-Aracil)....Pages 557-568
 Robotic Platform with Visual Paradigm to Induce Motor Learning in Healthy Subjects  (Guillermo Asín-Prieto, José E. González, José L. Pons, Juan C. Moreno)....Pages 569-579
 A Protocol Generator Tool for Automatic In-Vitro HPV Robotic Analysis  (Juan Pedro Dominguez-Morales, Angel Jimenez-Fernandez, Saturnino Vicente-Diaz, Alejandro Linares-Barranco, Asuncion Olmo-Sevilla, Antonio Fernandez-Enriquez)....Pages 580-591
Front Matter ....Pages 593-593
 End-Effector Precise Hand-Guiding for Collaborative Robots  (Mohammad Safeea, Richard Bearee, Pedro Neto)....Pages 595-605
 Integrating 3D Reconstruction and Virtual Reality: A New Approach for Immersive Teleoperation  (Francisco Navarro, Javier Fdez, Mario Garzón, Juan Jesús Roldán, Antonio Barrientos)....Pages 606-616
 Enhancement of Industrial Logistic Systems with Semantic 3D Representations for Mobile Manipulators  (César Toscano, Rafael Arrais, Germano Veiga)....Pages 617-628
 Human Intention Recognition in Flexible Robotized Warehouses Based on Markov Decision Processes  (Tomislav Petković, Ivan Marković, Ivan Petrović)....Pages 629-640
Front Matter ....Pages 641-641
 Dynamic Collision Avoidance System for a Manipulator Based on RGB-D Data  (Thadeu Brito, Jose Lima, Pedro Costa, Luis Piardi)....Pages 643-654
 Development of a Dynamic Path for a Toxic Substances Mapping Mobile Robot in Industry Environment  (Luis Piardi, José Lima, Paulo Costa, Thadeu Brito)....Pages 655-667
 Poses Optimisation Methodology for High Redundancy Robotic Systems  (Pedro Tavares, Pedro Costa, Germano Veiga, António Paulo Moreira)....Pages 668-679
 Offline Programming of Collision Free Trajectories for Palletizing Robots  (Ricardo Silva, Luís F. Rocha, Pedro Relvas, Pedro Costa, Manuel F. Silva)....Pages 680-691
Front Matter ....Pages 693-693
 Estimating Objects’ Weight in Precision Grips Using Skin-Like Sensors  (Francisco Azevedo, Joana Carmona, Tiago Paulino, Plinio Moreno)....Pages 695-703
 Kinematic Estimator for Flexible Links in Parallel Robots  (Pablo Bengoa, Asier Zubizarreta, Itziar Cabanes, Aitziber Mancisidor, Charles Pinto)....Pages 704-715
 Tactile-Based In-Hand Object Pose Estimation  (David Álvarez, Máximo A. Roa, Luis Moreno)....Pages 716-728
Front Matter ....Pages 729-729
 Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks  (Jorge De León, Mario Garzón, David Garzón-Ramos, Antonio Barrientos)....Pages 731-742
 A Hybrid ZMP-CPG Based Walk Engine for Biped Robots  (S. Mohammadreza Kasaei, David Simões, Nuno Lau, Artur Pereira)....Pages 743-755
 Modelling, Trajectory Planning and Control of a Quadruped Robot Using Matlab®/Simulink™  (Italo Oliveira, Ramiro Barbosa, Manuel Silva)....Pages 756-767
Front Matter ....Pages 769-769
 Cooperative Perimeter Surveillance Using Bluetooth Framework Under Communication Constraints  (J. M. Aguilar, Pablo Ramon Soria, B. C. Arrue, A. Ollero)....Pages 771-781
 Development of an Adaptable Communication Layer with QoS Capabilities for a Multi-Robot System  (Hannes Harms, Julian Schmiemann, Jan Schattenberg, Ludger Frerichs)....Pages 782-793
 Trajectory Planning Under Time-Constrained Communication  (Yaroslav Marchukov, Luis Montano)....Pages 794-806
 Balancing Packet Delivery to Improve End-to-End Multi-hop Aerial Video Streaming  (Luis Ramos Pinto, Luis Almeida, Anthony Rowe)....Pages 807-819
Front Matter ....Pages 821-821
 Discrete Robot Localization in Tunnels  (Teresa Seco, Carlos Rizzo, Jesús Espelosín, José Luis Villarroel)....Pages 823-834
 Low-Bandwidth Telerobotics in Fading Scenarios  (Samuel Barrios, Natalia Ayuso, Danilo Tardioli, Luis Riazuelo, Alejandro R. Mosteo, Francisco Lera et al.)....Pages 835-848
 Wireless Propagation Characterization of Underground Sewers Towards Autonomous Inspections with Drones  (Carlos Rizzo, Pedro Cavestany, François Chataigner, Marcel Soler, German Moreno, Daniel Serrano et al.)....Pages 849-860
Back Matter ....Pages 861-863