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Research Projects

The research projects detailed here have been developed by the ARVC laboratory, and in some case in colaboration with other research groups and enterprises.

Research Projects

HYREBOT

Title: Hybrid Robots and Multisensory Reconstruction for Applications in Lattice Structures (HyReBot)

Funded by: Ministerio de Ciencia e Innovación

Duration: 09/2021 - 08/2024

Description:

The use of reticular structures, which are composed of a number of beams or bars closely intertwined, is widespread nowadays in the construction of all types of fastening and support components for different infrastructures. They are especially indicated in metal bridges but also in roofs of hangars and spacious industrial buildings. They are generally formed by a set of highly interlinked and interconnected bars, joined together by nodes (either rigid or articulated), forming a three-dimensional structural mesh. The execution of both inspection and maintenance tasks on this type of reticular structures is especially challenging owing to (a) the access problems because of the high interconnection of the bars through the nodes and (b) the complexity of going through paths that permit moving from one starting point to a target point while traversing these structural nodes.

Aerial vehicles have been considered along the past few years as a possible solution to automate these inspection and maintenance tasks on reticular three-dimensional structures. However, the high complexity of such structures (often including narrow gaps between nodes and bars and with a strongly heterogeneous distribution) limits the use of this type of aerial vehicles, since they could not enter the different internal locations of the structure that are not easily accessible. Another of the limitations of this type of vehicles is their limited manipulation capacity while they are in the air.
 
The present research project focuses on this field. The project will explore the possibility of using robotic units that can move along these reticular structures in such a way that they can navigate through them with 6 degrees of freedom and traverse the reticular nodes present in them, regardless of their arrangement, layout and 3D configuration of the mesh. To address these inspection and / or maintenance tasks, this research project proposes the analysis, design and implementation of hybrid robots. They will consist of simple modules with few degrees of freedom, either with serial or parallel structure, designed in such a way that, when combined into hybrid robots, they can effectively navigate through these reticular structures despite all the challenging issues they present. In addition to analyzing these robots in depth, both from the kinematic and dynamic point of view, we propose to analyze and demonstrate their ability to navigate through such reticular workspaces, negotiating any possible arrangement of reticular nodes present in such structures.
 
Finally, it is essential to have a sufficiently precise model of the reticular structure in which these modular robots have to operate and to estimate efficiently their position and orientation in this environment. Considering the experience of the members of the research team in previous projects, the present project also proposes performing the reconstruction of these environments (three-dimensional grid structures), based on the fusion of the information provided by both range and visual sensors in a 360o field of perception around the robot. To achieve this objective, deep learning techniques will be used to efficiently process the high amount of data provided by the sensors.

This work is part of the project PID2020-116418RB-I00 funded by MCIN/AEI/10.13039/501100011033.

Keywords: Hybrid robots, visual perception, sensor fusion, reticular structures

Head Researcher: L. Payá, O. Reinoso

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PROMETEO2021

Title: HACIA UNA MAYOR INTEGRACIÓN DE ROBOTS INTELIGENTES EN LA SOCIEDAD: NAVEGAR, RECONOCER Y MANIPULAR

Funded by: GENERALITAT VALENCIANA

Duration: 01/2021 - 12/2024

Description:

Head Researcher: Oscar Reinoso

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RETIC

Title: Planificación de movimientos robóticos en estructuras metálicas

Funded by: Universidad Miguel Hernández de Elche

Duration: 01/01/2021 - 31/12/2022

Description:

Head Researcher: Oscar Reinoso Garcia

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ModRet

Title: Reconocimiento y creación de modelos de estructuras reticulares (ModRet)

Funded by: Universidad Miguel Hernández de Elche

Duration: 2 años

Description:

Head Researcher: L. Payá

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GV_2021_ADAPTYP2

Title: Diseño y estudio de reguladores de par computado para atravesar singularidades en robots paralelos

Funded by: CONSELLERIA DE INNOVACIÓN, UNIVERSIDADES, CIENCIA Y SOCIEDAD DIGITAL, Generalitat Valenciana

Duration: 01/01/2021-31/12/2021

Description:

Keywords: robot paralelo, singularidad, control de par computado

Head Researcher: Adrián Peidró

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EMERG2020

Title: RECONSTRUCTION OF SCENES FROM OMNIDIRECTIONAL CAMERAS USING VISUAL APPEARANCE AND DEEP LEARNING TECHNIQUES.

Funded by: Generalitat Valenciana

Duration: 01/2020 - 12/2020

Description:


Most of the existing algorithms that solve mapping and location problems stop working properly when the robot operates in an unstructured, complex and changing environment or when the robot can move with more than three degrees of freedom (DOF). ). In response to this challenge, the main research line of this project proposes the improvement and development of new mechanisms that allow efficient, robust and precise modeling of environments using vision systems. Specifically, the use of omnidirectional vision systems is proposed due to the large amount of information they provide at a relatively low cost. However, the use of these vision systems makes it necessary to consider the challenges of working with the images provided by this type of camera. In this sense, it is proposed to study in depth descriptors based on global appearance and make use of Deep Learning techniques.
The development of this project is developed through various objectives such as the analysis of the present algorithms for creating maps and location, comparison of the present global appearance algorithms and also, developing new location algorithms and / or appearance descriptors global based on Deep Learning. In order to improve the integration of the mobile robot in real work environments (Industry 4.0), in which they interact with people, characteristics that make it compatible with human perception will be incorporated into the map.

Keywords: Deep learning, scene reconstruction, localization, omnidirectional vision

Head Researcher: M. Ballesta

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Creación de modelos jerárquicos y localización robusta de robots móviles en entornos sociales

Title: Creación de modelos jerárquicos y localización robusta de robots móviles en entornos sociales

Funded by: Generalitat Valenciana

Duration: 01/01/2019 a 31/12/2020

Description:

  • Línea A: Creación de mapas híbridos métrico-topológicos, incrementalmente, a partir de la apariencia global de un conjunto de escenas.
  • Línea B: Construcción de modelos de un entorno que permitan localización con 6 grados de libertad a partir de información visual.

Keywords: Robot móvil; visión omnidireccional; Mapa híbrido; localización jerárquica; entornos sociales

Head Researcher: L. Payá

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Map Building by Means of Appearance Visual Systems for Robot Navigation

Title: Map Building by Means of Appearance Visual Systems for Robot Navigation

Funded by: CICYT Ministerio de Ciencia e Innovación

Duration: 01/01/2017 al 31/12/2019

Description:

Keywords: Mobile robots, autonomous navigation, computer vision, omnidirectional systems

Head Researcher: L. Payá, O. Reinoso

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BinaryRobot

Title: Diseño y desarrollo de un robot de estructura híbrida con actuadores hidráulicos de operación binaria

Funded by: Generalitat Valenciana

Duration: Del 01/01/2018 al 31/12/2019

Description:

Keywords: robot trepador, operación binaria

Head Researcher: M. Ballesta

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NAVICOM

Title: Robotic Navigation in Dynamic Environments by means of Compact Maps with Global Appearance Visual Information

Funded by: CICYT Ministerio de Ciencia e Innovación

Duration: 01/09/2014 al 31/05/2017

Description:

Keywords: Mobile Robots, Visual Maps, Topological and Compact Navigation, Visual SLAM

Head Researcher: A. Gil, O. Reinoso

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Localización y Creación de Mapas Visuales para Navegación de Robots con 6 GDL

Title: Localización y Creación de Mapas Visuales para Navegación de Robots con 6 GDL

Funded by: Generalitat Valenciana

Duration: Enero 2015 - Dic 2016

Description:

Keywords: Visual SLAM applied to 6DOF robotics

Head Researcher: L.M. Jiménez

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Topological mapping using the global appearance of a set of images

Title: Topological mapping using the global appearance of a set of images

Funded by: Generalitat Valenciana

Duration: 01/01/2015 - 31/12/2016

Description:

Keywords: Omnidirectional vision, global appearance, topological map, hierarchical localization

Head Researcher: L. Payá

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VISCOBOT II

Title: Integrated Exploration of Enviroments by means of Cooperative Robots in order to build 3D Visual and Topological Maps intended for 6 DOF Navigation

Funded by: CICYT Ministerio de Ciencia e Innovación

Duration: 01/01/2011 al 31/12/2013

Description:

Keywords: Robotics, Visual SLAM, Cooperative Exploration

Head Researcher: O. Reinoso

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VISCOBOT: Percepction

Title: Cooperative Mobile Visual Perception Systems as support for tasks performed by means Robot Networks

Funded by: CICYT Ministerio de Ciencia e Innovación

Duration: 1/10/2007 - 30/09/2010

Description:

Keywords: Robots Cooperativos, SLAM visual, Exploración cooperativa, Reconstrucción basada en apariencia

Head Researcher: O. Reinoso

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Cooperative Robotics

Title: Collaborative Teleoperation Tools. Application to cooperative robot control

Funded by: CICYT Ministerio de Educación y Ciencia

Duration: 12/2004 - 11/2007

Description:

Keywords: cooperative robots, collaborative control, teleoperation

Head Researcher: O. Reinoso

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Aidico-DISCO

Title: Study and analysis of disc-based cutting of natural stone by means monitoring the process

Funded by: Generalitat Valenciana

Duration: 1/1/2004 - 31/12/2005

Keywords: Stone Cutting

Head Researcher: O. Reinoso


ATTEND

Title: Modelling of Virtual enviroments for training in teleoperated systems for dynamic enviroments

Funded by: CICYT Ministerio de Educación y Ciencia

Duration: 28/12/2001 - 27/12/2004

Description:

Keywords: Teleoperation, robotics, learning, haptics, visual control

Head Researcher: O. Reinoso

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AYILTH

Title: Multiaxial test system fort area yield improvement in the fabrication of leather, enhancing leather characteristics and diminishing enviromental impact

Funded by: U.E.CRAFT- Programa GROWTH

Duration: 8/2001 - 7/2003

Description:

Keywords: Test, leather manufacturing

Head Researcher: L.M. Jiménez

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TREPA: Palmtree Climbing Teleoperated Robot

Title: Climbing robot for plamtree and cilyndrical structures maintenance

Funded by: CICYT Ministerio de Educación y Ciencia

Duration: 1/1/2000 - 31/12/2001

Description:

Keywords: Teleoperation, robotics, learning, haptics, visual control

Head Researcher: O. Reinoso

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Teleoperated Robot Control

Title: Automatic Learning systems in control architectures for Teleoperation

Funded by: CICYT Ministerio de Educación y Ciencia

Duration: 11/1998 - 12/2000

Description:

Keywords: Teleoperation, robotics, learning, computer vision

Head Researcher: O. Reinoso

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Robot application for automatic finishing of plastic inyection products

Title: Automatic Finishing System

Funded by: IMPIVA - en colaboración con INESCOOP

Duration: 9/1998 - 9/1999

Description:

Keywords: Robotics

Head Researcher: O. Reinoso

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Subpixel Image Procesing

Title: Subpixel techniques for border Detection

Funded by: Generalitat Valenciana

Duration: 1/1/1999 - 31/12/1999

Description:

Keywords: Computer vision, Subpixel

Head Researcher: O. Reinoso

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AI_GAMMAPATIA

Title: Análisis inicial d herramientas de IA para la predicción de la malignización de las gammapatías de significado incierto a mieloma múltiple u otras patologías linfoproliferativas

Funded by: Generalitat Valenciana

Duration: 01/01/2023 - 31/12/2023

Description:

Head Researcher: L. Payá

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Technical Assistance

abionica1.20T

Title: Desarrollo de algoritmos de detección y seguimiento de marcas visuales artificiales para la navegación de drones en tareas de inspección de grandes terrenos

Funded by: ABIONICA SOLUTIONS S.L.

Duration: 11/2020 - 04/2021

Head Researcher: A. Gil

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abionica1.21T

Title: Empleo de algoritmos para conciencia situacional en vuelo mediante visión artificial

Funded by: Abionica Solutions S.L.

Duration: 05/2021 - 11/2021

Head Researcher: A. Gil

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ACN2020

Title: Aplicación de sistemas de visión artificial para el desarrollo de entornos de realidad aumentada y análisis estadístico de datos metrológicos

Funded by: AUTOMATICA Y CONTROL NUMÉRICO, S.L.

Duration: 2020

Head Researcher: O. Reinoso

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PiesCuadrados

Title: Contrato para el desarrollo de un software para la detección y medición de los diferentes tonos de piel

Funded by: PIES CUADRADOS LEATHER S.L.

Duration: 2019 - 2020

Head Researcher: O. Reinoso

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QBot

Title: Contrato de desarrollo de software

Funded by: Q-BOT LIMITED

Duration: 2016

Head Researcher: O. Reinoso

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IXION1

Title: Contrato para la realización de los trabajos de desarrollo experimental que forman parte del Proyecto presentado al Plan Avanza2 de título "iCOPILOT Asistente inteligente a la conducción"

Funded by: IXION INDUSTRY AND AEROSPACE, S.L.

Duration: 2014

Head Researcher: O. Reinoso

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IXION2

Title: Contrato para la realización de los trabajos de desarrollo experimental que forman parte del proyecto presentado al Plan Avanza2 de título "SUPVERT Vehículo Autónomo Aéreo para Inspección de estructuras Verticales"

Funded by: IXION INDUSTRY AND AEROSPACE S.L.

Duration: 2014

Head Researcher: O. Reinoso

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GRASS: Artificial Grass Pavements

Title: Criteria generation for the development of damping bases applied to artificial grass floorings

Funded by: Euro Grass 2002 S.L.

Duration: 2009

Head Researcher: O. Reinoso


Essay A&CN (I)

Title: Development of an acquisition system for impact absorption and deformation essays covering normative UNE 4158 IN

Funded by: Automatica & Control Numérico (A&CN)

Duration: 1/2007 - 1/2008

Head Researcher: O. Reinoso


Essay A&CN (II)

Title: Analysis and deployment of a Mechanical System or Sporting Pavement covering normative UNE 4158 IN

Funded by: Automática & Control Numérico (A&CN)

Duration: 4/2007 - 1/2008

Head Researcher: O. Reinoso


PICUDO

Title: Computer Vision System for tracking nad recording of Rhynchophorus ferrugineus

Funded by: Ayuntamiento de Elche - Estación PHOENIX

Duration: 4/2006 - 7/2007

Description:

Keywords: Computer Vision, Surveyance

Head Researcher: O. Reinoso


MetaleX

Title: Design and implementation of electronic search system for normative in the metal sector: "Metalex"

Funded by: FEMPA

Duration: 2006 - 2007

Description:

Keywords: metalex, fempa

Head Researcher: D. Ubeda

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Inter-Univesity Collaboration Projects

AutomatL@bs

Title: AutomatL@bs: remote laboratory network for education in Control Theory

Funded by: Red E-Automatica CICYT

Duration: 2007 - 2009

Description:

Keywords: Remote Laboratories, Control Systems, Education on Automation

Head Researcher: O. Reinoso

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