Article
Chemistry, Analytical
Gerardo C. Velez-Lopez, Hector Vazquez-Leal, Luis Hernandez-Martinez, Arturo Sarmiento-Reyes, Gerardo Diaz-Arango, Jesus Huerta-Chua, Hector D. Rico-Aniles, Victor M. Jimenez-Fernandez
Summary: This paper presents a novel collision-free path homotopy-based path-planning algorithm for planar robotic arms and validates its versatility and capacity through case studies. The algorithm shows fast CPU time and low memory consumption.
Article
Multidisciplinary Sciences
Irene Yang, Jonathan D. Gammell, David W. Murray, Stephen J. Mellon
Summary: This study aimed to develop a reliable and efficient tool for assessing bearing dislocation risk. A novel robotics dislocation analysis tool was developed by modifying a robotics software package and using a robotics path planning algorithm. The results of this tool showed excellent agreement with the mechanical rig, indicating its reliability and validity.
SCIENTIFIC REPORTS
(2022)
Article
Computer Science, Artificial Intelligence
James P. Bailey, Alex Nash, Craig A. Tovey, Sven Koenig
Summary: This article investigates the relationship between grid paths and true shortest paths in discretized 2D environments, providing empirical results for different vertex connectivities. The study demonstrates that the difference in length between shortest grid paths and true shortest paths decreases as the vertex connectivity increases.
ARTIFICIAL INTELLIGENCE
(2021)
Article
Chemistry, Analytical
Hao Ge, Zhanfeng Ying, Zhihua Chen, Wei Zu, Chunzheng Liu, Yicong Jin
Summary: In this paper, an improved A* algorithm considering energy consumption is proposed for path planning of spherical robots. The algorithm aims to minimize both the energy consumption and path length of the robot. The effectiveness of the algorithm is verified through simulation analysis.
Article
Robotics
Jinyuan Liu, Minglei Fu, Andong Liu, Wenan Zhang, Bo Chen
Summary: This paper introduces the concept of path homotopy in path planning and proposes a homotopy invariant based on convex dissection to encode homotopy path classes between any two points. It also presents an optimal path planning algorithm called CDT-RRT* and demonstrates through experiments that its performance is comparable to state-of-the-art path planning algorithms.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Florent Lamiraux, Joseph Mirabel
Summary: This article introduces a software platform called humanoid path planner tailored for prehensile manipulation planning. The platform uses a constraint graph to model manipulation planning and extends the RRT algorithm to solve a variety of problems. It also provides replicable experimental results through a Docker image for readers to download and run on their own.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Mathematics, Applied
Taylor Brysiewicz, Jose Israel Rodriguez, Frank Sottile, Thomas Yahl
Summary: The study introduces a method for solving systems of polynomial equations using recursive decomposition, particularly for systems with imprimitive Galois groups. It presents a recursive algorithm for computing complex isolated solutions for decomposable sparse systems, showing evidence of its efficiency.
NUMERICAL ALGORITHMS
(2021)
Article
Robotics
Jiahui Luo, Zhigang Wu, Xiaoming Xu, Yanghui Chen, Zizhe Liu, Li Ming
Summary: This paper proposes a general approach for static modeling of tensegrity robots with rigid bodies of arbitrary shapes. By introducing additional variables and using the homotopy continuation method, the forward statics problem can be efficiently solved. Simulation results and hardware experiments validate the accuracy and feasibility of this approach.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
James McMahon, Erion Plaku
Summary: This letter addresses the issue of data collection involving an AUV inspecting multiple goals while staying within communication range of a moving USV. The proposed planner takes into consideration AUV dynamics and obstacles to generate collision-free trajectories aimed at increasing the sum of rewards. By combining discrete search and sampling-based motion planning, effective navigation and communication maintenance in complex 3D environments are achieved.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Computer Science, Artificial Intelligence
Manh Duong Phung, Quang Phuc Ha
Summary: This paper introduces a new algorithm named SPSO for UAV path planning, and demonstrates its superiority over other optimization algorithms in various scenarios through comparative experiments.
APPLIED SOFT COMPUTING
(2021)
Article
Chemistry, Multidisciplinary
Josias G. Batista, Geraldo L. B. Ramalho, Marcelo A. Torres, Anderson L. Oliveira, Daniel S. Ferreira
Summary: This paper presents a trajectory planning method called topological path planning (TPP) for addressing collision issues in robotic manipulators. Through experiments, TPP is proven to be a collision-free, deterministic, and predictable route planning method, outperforming the probabilistic roadmap method (PRM) and TPP* in industrial robotic applications.
APPLIED SCIENCES-BASEL
(2023)
Article
Robotics
Alberto Favaro, Alice Segato, Federico Muretti, Elena De Momi
Summary: The study presents a three-dimensional path planner for neurosurgical applications, which balances obstacle avoidance, reduction of insertion length, and fine-tuning of pathways to meet multiple optimization objectives.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Computer Science, Artificial Intelligence
Seth McCammon, Geoffrey A. Hollinger
Summary: The paper introduces two novel algorithms for information space topological planning, namely hierarchical hotspot information gathering and Topology-Aware Self Organizing Maps. These algorithms leverage topological features of the information field to plan maximally informative paths for a robot, demonstrating competitive or superior performance compared to methods that do not exploit these features, while reducing computation time.
Article
Engineering, Marine
Jiannan Zhu, Yixin Yang, Yuwei Cheng
Summary: This study presents a fully autonomous water surface cleaning robot, SMURF, which achieves high-efficiency water surface cleaning without human operation. Experimental results show that SMURF works well in various types of water bodies and achieves much higher efficiency than traditional methods.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Robotics
Janine Hoelscher, Mengyu Fu, Inbar Fried, Maxwell Emerson, Tayfun Efe Ertop, Margaret Rox, Alan Kuntz, Jason A. Akulian, Robert J. Webster, Ron Alterovitz
Summary: The study introduces a new sampling-based planning method for a steerable needle lung robot, which has the capability to accurately reach targets in most regions of the lung. The new strategy allows faster performance, reaching targets more efficiently and arriving at lower-risk paths in a shorter time compared to existing techniques.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Materials Science, Multidisciplinary
Ricardo Jimenez, Mario Moreno, Alfonso Torres, Pedro Rosales, Maria T. Sanz, Roberto Ambrosio
PHYSICA STATUS SOLIDI A-APPLICATIONS AND MATERIALS SCIENCE
(2018)
Article
Chemistry, Analytical
Luis C. Alvarez-Simon, Emmanuel Gomez-Ramirez, Maria Teresa Sanz-Pascual
Article
Chemistry, Analytical
Javier Alejandro Martinez-Nieto, Nicolas Medrano-Marques, Maria Teresa Sanz-Pascual, Belen Calvo-Lopez
Article
Engineering, Electrical & Electronic
Paulina Mariana Maya-Hernandez, Belen Calvo-Lopez, Maria Teresa Sanz-Pascual
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2019)
Article
Computer Science, Information Systems
Paulina Maya, Belen Calvo, Maria Teresa Sanz-Pascual, Javier Osorio
Article
Energy & Fuels
Hector Eduardo De Cos-Cholula, Gerardo Ulises Diaz-Arango, Luis Hernandez-Martinez, Hector Vazquez-Leal, Arturo Sarmiento-Reyes, Maria Teresa Sanz-Pascual, Agustin Leobardo Herrera-May, Roberto Castaneda-Sheissa
Article
Engineering, Electrical & Electronic
O. J. Cinco-Izquierdo, C. A. de la Cruz-Blas, M. T. Sanz-Pascual
Summary: In this paper, a novel pseudo-differential low-transconductance amplifier based on the bootstrapping technique is proposed. The transconductor is implemented using two voltage follower topologies as amplifiers, and their outputs are connected to both terminals of a resistor to bootstrap the voltages and increase the equivalent resistance value. This design achieves a very low transconductance without the need for large passive components. The experimental results show that the tunable transconductance of the amplifier is in the range of tens of nA/V, with a total harmonic distortion lower than -40dB at 350mVpp@1kHz. The power consumption of the amplifier is 4 mu W under a 1.8V supply voltage.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Engineering, Electrical & Electronic
J. Perez-Bailon, M. T. Sanz-Pascual, B. Calvo, N. Medrano
Summary: In this letter, a fully integrated configurable front-end for Impedance Spectroscopy (IS) is introduced. The circuit features fully differential in-phase and quadrature channels and provides high performance, compact topology, and low noise.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Chemistry, Multidisciplinary
Fredy Montalvo-Galicia, Maria Teresa Sanz-Pascual, Pedro Rosales-Quintero, Mario Moreno-Moreno
Summary: A novel method is proposed to extract the parameters of the double-diode model of solar cells using the current-voltage characteristics under illumination and in the dark. The method adjusts the parameters through curve fitting, accurately predicts the maximum power point, and provides physically meaningful parameters that reflect the performance of photovoltaic devices. Experimental validation is conducted using in-house solar cells, and the method can be further applied to other types of p-n junction-based photovoltaic devices.
Proceedings Paper
Engineering, Electrical & Electronic
F. Montalvo-Galicia, M. T. Sanz-Pascual, P. Rosales-Quintero, M. Moreno-Moreno
Summary: A parameter extraction method for the two-diode model of solar cells based on the I-V characteristic is proposed, which is implemented in Octave and shows better accuracy in predicting the maximum power point of solar cells compared to other existing methods.
2022 IEEE 65TH INTERNATIONAL MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS (MWSCAS 2022)
(2022)
Proceedings Paper
Computer Science, Information Systems
E. Barros, O. J. Cinco-Izquierdo, M. T. Sanz-Pascual
Summary: This paper presents a first-order low-pass filter with tunable cut-off frequency and programmable gain, designed with a super-source follower transconductor and a current steering second stage. The circuit has low power consumption and is suitable for applications with various frequencies and gains.
2021 IEEE INTERNATIONAL MIDWEST SYMPOSIUM ON CIRCUITS AND SYSTEMS (MWSCAS)
(2021)
Article
Computer Science, Information Systems
Javier A. Martinez-Nieto, Maria Teresa Sanz-Pascual, N. Medrano, Belen Calvo Lopez, Diego Antolin Canada
Proceedings Paper
Engineering, Electrical & Electronic
M. Yerena-Mora, O. J. Cinco-Izquierdo, M. T. Sanz-Pascual, B. Calvo-Lopez, A. Marquez
2019 26TH IEEE INTERNATIONAL CONFERENCE ON ELECTRONICS, CIRCUITS AND SYSTEMS (ICECS)
(2019)
Proceedings Paper
Engineering, Electrical & Electronic
A. Martinez-Nieto, N. Medrano, M. T. Sanz-Pascual, B. Calvo
2018 IEEE 9TH LATIN AMERICAN SYMPOSIUM ON CIRCUITS & SYSTEMS (LASCAS)
(2018)
