Browsing by Keyword "Analytical Chemistry"
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Item 3D convolutional neural networks initialized from pretrained 2D convolutional neural networks for classification of industrial parts(2021-02-04) Merino, Ibon; Azpiazu, Jon; Remazeilles, Anthony; Sierra, Basilio; ROBOTICA_FLEX; Medical TechnologiesDeep learning methods have been successfully applied to image processing, mainly using 2D vision sensors. Recently, the rise of depth cameras and other similar 3D sensors has opened the field for new perception techniques. Nevertheless, 3D convolutional neural networks perform slightly worse than other 3D deep learning methods, and even worse than their 2D version. In this paper, we propose to improve 3D deep learning results by transferring the pretrained weights learned in 2D networks to their corresponding 3D version. Using an industrial object recognition context, we have analyzed different combinations of 3D convolutional networks (VGG16, ResNet, Inception ResNet, and EfficientNet), comparing the recognition accuracy. The highest accuracy is obtained with EfficientNetB0 using extrusion with an accuracy of 0.9217, which gives comparable results to state-of-the art methods. We also observed that the transfer approach enabled to improve the accuracy of the Inception ResNet 3D version up to 18% with respect to the score of the 3D approach alone.Item Analysing Edge Computing Devices for the Deployment of Embedded AI(2023-12) Garcia-Perez, Asier; Miñón, Raúl; Torre-Bastida, Ana I.; Zulueta-Guerrero, Ekaitz; HPAIn recent years, more and more devices are connected to the network, generating an overwhelming amount of data. This term that is booming today is known as the Internet of Things. In order to deal with these data close to the source, the term Edge Computing arises. The main objective is to address the limitations of cloud processing and satisfy the growing demand for applications and services that require low latency, greater efficiency and real-time response capabilities. Furthermore, it is essential to underscore the intrinsic connection between artificial intelligence and edge computing within the context of our study. This integral relationship not only addresses the challenges posed by data proliferation but also propels a transformative wave of innovation, shaping a new era of data processing capabilities at the network’s edge. Edge devices can perform real-time data analysis and make autonomous decisions without relying on constant connectivity to the cloud. This article aims at analysing and comparing Edge Computing devices when artificial intelligence algorithms are deployed on them. To this end, a detailed experiment involving various edge devices, models and metrics is conducted. In addition, we will observe how artificial intelligence accelerators such as Tensor Processing Unit behave. This analysis seeks to respond to the choice of a device that best suits the necessary AI requirements. As a summary, in general terms, the Jetson Nano provides the best performance when only CPU is used. Nevertheless the utilisation of a TPU drastically enhances the results.Item Analysis of the Refined Mean-Field Approximation for the 802.11 Protocol Model(2022-11) Ispizua, Begoña; Doncel, Josu; IAMean-field approximation is a method to investigate the behavior of stochastic models formed by a large number of interacting objects. A new approximation was recently established, i.e., the refined mean-field approximation, and its high accuracy when the number of objects is small has been shown. In this work, we consider the model of the 802.11 protocol, which is a discrete-time model and show how the refined mean-field approximation can be adapted to this model. Our results confirm the accuracy of the refined mean-field approximation when the model with N objects is in discrete time.Item Biosensing strategies based on enzymatic reactions and nanoparticles(2018-04-21) Díez-Buitrago, Beatriz; Briz, Nerea; Liz-Marzán, Luis M.; Pavlov, Valeri; Tecnalia Research & Innovation; SGEnzymes are pivotal elements in bioanalysis due to their specificity and extremely high catalytic activity. The sensitivity of bioanalytical assays depends mainly on the capacity of an observer to detect the product(s) of a biocatalytic reaction. Both natural and artificial compounds have been traditionally used to evaluate enzymatic activities. The drawbacks of chromogenic and fluorogenic organic enzymatic substrates are their high cost and low stability, resulting in high background signals. We review here state of the art assays in the detection of enzymatic activities using recent advances in nanoscience. Novel methods based on the use of nanoparticles lead to increased sensitivity and decreased costs for bioanalysis based on enzymes as recognition elements and signal amplifiers in Enzyme-Linked Immunosorbent Assays (ELISA). Novel approaches toward the detection of enzymatic activities are based on biocatalytic synthesis, modulation, etching, and aggregation of nanoparticles under physiological conditions.Item Can Shared Control Improve Overtaking Performance? Combining Human and Automation Strengths for a Safer Maneuver(2022-12) Marcano, Mauricio; Tango, Fabio; Sarabia, Joseba; Chiesa, Silvia; Pérez, Joshué; Díaz, Sergio; CCAMThe Shared Control (SC) cooperation scheme, where the driver and automated driving system control the vehicle together, has been gaining attention through the years as a promising option to improve road safety. As a result, advanced interaction methods can be investigated to enhance user experience, acceptance, and trust. Under this perspective, not only the development of algorithms and system applications are needed, but it is also essential to evaluate the system with real drivers, assess its impact on road safety, and understand how drivers accept and are willing to use this technology. In this sense, the contribution of this work is to conduct an experimental study to evaluate if a previously developed shared control system can improve overtaking performance on roads with oncoming traffic. The evaluation is performed in a Driver-in-the-Loop (DiL) simulator with 13 real drivers. The system based on SC is compared against a vehicle with conventional SAE-L2 functionalities. The evaluation includes both objective and subjective assessments. Results show that SC proved to be the best solution for assisting the driver during overtaking in terms of safety and acceptance. The SC’s longer and smoother control transitions provide benefits to cooperative driving. The System Usability Scale (SUS) and the System Acceptance Scale (SAS) questionnaire show that the SC system was perceived as better in terms of usability, usefulness, and satisfaction.Item CdS quantum dots generated in-situ for fluorometric determination of thrombin activity(2019-09-01) Saa, Laura; Díez-Buitrago, Beatriz; Briz, Nerea; Pavlov, Valeri; Tecnalia Research & Innovation; SGA method is presented for sensitive determination of thrombin activity. It is based on (a) the interaction between fibrinogen after activation with thrombin, and (b) an enzymatic amplification step consisting of in-situ growth of CdS quantum dots (QDs). Fibrinogen is immobilized on the surface of the wells of a microplate and then incubated with a mixture of biotinylated fibrinogen and thrombin. Thrombin activates immobilized fibrinogen and free biotinylated fibrinogen. This leads to the formation of insoluble biotinylated fibrin that remains bound on the surface of the wells. Afterwards, the samples are incubated with avidin-labeled alkaline phosphatase (ALP) which binds to biotinylated fibrin. ALP hydrolyzes the substrate p-nitrophenyl phosphate (pNPP) under formation of phosphate ions which stabilize CdS QDs that are grown in-situ from cadmium(II) and sulfide. The generation of fibrin is correlated with the activity of thrombin. Increased thrombin concentration results in increased fluorescence that can be measured at excitation/emission wavelengths of 300/510 nm. The introduction of such an amplification step (the enzyme-triggered growth of QDs) allows for the quantification of thrombin in the picomolar concentration range, with a linear response up to 2.5 pM and a detection limit of 0.05 pM. The method was applied to the determination of thrombin activity in human plasma and of the thrombin inhibitor argatroban. [Figure not available: see fulltext.]Item Chlorosulfonation of polystyrene substrates for bioanalytical assays: Distribution of activated groups at the surface(2012) Del Prado, Anselmo; Briz, Nerea; Navarro, Rodrigo; Pérez, Mónica; Gallardo, Alberto; Reinecke, Helmut; SGIn this work the activation of transparent PS substrates by chlorosulfonation is described and their distribution in the subsurface region is analyzed. For this purpose XPS, FTIR-ATR and colorimetry have been used. It is shown that the electrophilic aromatic substitution of polystyrene in pure chlorosulfonic acid is extremely quick with complete surface coverage by chlorosulfonic groups achieved after only a 10 minute reaction time at -10 °C. It is further demonstrated that the reaction is very surface selective and that even after reaction times as long as 3 hours, the modification is limited to a layer with a thickness of less than one micron. The activated PS substrates can be further functionalized in a second step with carboxylic groups. Due to the excellent optical transparency that the samples maintain upon modification, the modified systems were successfully probed for use in ELISA assays.Item Collaboration-Centred Cities through Urban Apps Based on Open and User-Generated Data(2016-07-01) Aguilera, Unai; López-de-Ipiña, Diego; Pérez-Velasco, Jorge; Tecnalia Research & InnovationThis paper describes the IES Cities platform conceived to streamline the development of urban apps that combine heterogeneous datasets provided by diverse entities, namely, government, citizens, sensor infrastructure and other information data sources. This work pursues the challenge of achieving effective citizen collaboration by empowering them to prosume urban data across time. Particularly, this paper focuses on the query mapper; a key component of the IES Cities platform devised to democratize the development of open data-based mobile urban apps. This component allows developers not only to use available data, but also to contribute to existing datasets with the execution of SQL sentences. In addition, the component allows developers to create ad hoc storages for their applications, publishable as new datasets accessible by other consumers. As multiple users could be contributing and using a dataset, our solution also provides a data level permission mechanism to control how the platform manages the access to its datasets. We have evaluated the advantages brought forward by IES Cities from the developers' perspective by describing an exemplary urban app created on top of it. In addition, we include an evaluation of the main functionalities of the query mapper.Item A comparison of different discriminant analysis techniques in a steel industry welding process(2006-01-20) Prats-Montalbán, José M.; Ferrer, Alberto; Malo, J. L.; Gorbeña, J.; MercadoThe present work compares several statistical discriminant analysis techniques applied to a steel industry welding process. Data from 85 variables collected from 18,605 links, classified as Good (18,381), Defective (195) or Bad (29) from laboratory analysis, are available. Process engineers want to find out which variables explain the main differences between the three defined types, so they can implement effective action to reduce the percentage of Defective and Bad links. The approaches used are SIMCA, Global PCA, PLS-DA and Fisher's Linear Discriminant Analysis (LDA). The dataset comprises two kinds of variables, one for the chemical properties of the links, and the other related to the welding process. All the above approaches basically lead to the same results and match the ones derived from the more traditional Fisher s Linear Discriminant Analysis (LDA) technique. The pros and cons of the approaches used are discussed.Item The conformation of chloramphenicol in the ordered and disordered phases(2019-03-15) Meaurio, Emilio; Sanchez-Rexach, Eva; Butron, Amaia; Sarasua, Jose-Ramon; BIOECONOMÍA Y CO2The conformational behavior of chloramphenicol (CHL) in the solid, liquid and vapor phases is revisited here by means of FTIR spectroscopy and QM methods. In the crystalline phase, both the IR analysis and QM computations discard the conformer proposed by Acharya et al. (Acta Cryst., 1979, B35:1360–1363) and support the one proposed by Chatterjee et al. (J. Cryst. Mol. Struct., 1979, 9:295–304), characterized by an intramolecular O–H⋯O hydrogen bond in which the primary hydroxyl group acts as hydrogen bond donor. The conformational behavior of CHL in the liquid and gas phases has been analyzed using QM calculations. The Self-Consistent Reaction Field (SCRF) method with the Onsager solvation model has been used for the initial optimizations in solution, and the lowest energy conformers have been refined using the Solvation Model based on Density (SMD). In solution environment the intramolecular O–H⋯O hydrogen bond in CHL is reversed so that the secondary hydroxyl group acts as hydrogen bond donor. In addition, the dichloroacetamide group folds back further over the phenyl ring to form an intramolecular C–Cl⋯π halogen bond. Two different halogen bonds are actually observed (each one with a different chlorine atom) resulting in two different stable conformers, that can be detected by FTIR spectroscopy due to the conformational sensitivity of the C[dbnd]O group to the conformation of the dichloroacetyl group. Finally, the stability of the conformers with the polarity of the medium is also discussed.Item Continuous quantitative risk management in smart grids using attack defense trees(2020-08-07) Rios, Erkuden; Rego, Angel; Iturbe, Eider; Higuero, Marivi; Larrucea, Xabier; CIBERSEC&DLT; Tecnalia Research & InnovationAlthough the risk assessment discipline has been studied from long ago as a means to support security investment decision-making, no holistic approach exists to continuously and quantitatively analyze cyber risks in scenarios where attacks and defenses may target different parts of Internet of Things (IoT)-based smart grid systems. In this paper, we propose a comprehensive methodology that enables informed decisions on security protection for smart grid systems by the continuous assessment of cyber risks. The solution is based on the use of attack defense trees modelled on the system and computation of the proposed risk attributes that enables an assessment of the system risks by propagating the risk attributes in the tree nodes. The method allows system risk sensitivity analyses to be performed with respect to different attack and defense scenarios, and optimizes security strategies with respect to risk minimization. The methodology proposes the use of standard security and privacy defense taxonomies from internationally recognized security control families, such as the NIST SP 800-53, which facilitates security certifications. Finally, the paper describes the validation of the methodology carried out in a real smart building energy efficiency application that combines multiple components deployed in cloud and IoT resources. The scenario demonstrates the feasibility of the method to not only perform initial quantitative estimations of system risks but also to continuously keep the risk assessment up to date according to the system conditions during operation.Item Control of the properties of carbon nanotubes synthesized by CVD for application in electrochemical biosensors(2006-01) Bustero, Izaskun; Ainara, García; Isabel, Obieta; Roberto, Muñoz; Inés, Rincón; Amaya, Arteche; PRINTEX; Tecnalia Research & Innovation; TECNOLOGÍAS DE HIDRÓGENO; MercadoInterest in carbon nanotubes (CNT) has grown at a very rapid rate in the last decade. Their interesting physical and chemical properties open attractive possibilities in many application areas. These properties depend on the process conditions during synthesis and on subsequent purification steps. Recent studies have demonstrated that CNT can promote the electron transfer of biomolecules. These exceptional properties make them attractive for use in electrochemical biosensors. Multi walled nanotubes have been synthesized by the Chemical Vapor Deposition (CVD) method using methane as a carbon source and Ni-Al 2O3-SiO2 as the catalyst. The influence of the variation of certain reaction parameters such as feed gas composition, catalyst mass, temperature and reaction time in the yield of the CVD process has been established. In addition, the structural and chemical characteristics of the CNTs have been studied and a purification process to eliminate the catalyst and amorphous carbon has been developed that involves a gaseous oxidative process and acid treatment. The efficiency of the purification step has been determined by analytical techniques. Atomic force microscopy, Raman scattering, thermogravimetric analysis, inductively coupled plasma atomic spectroscopy are the characterization techniques employed in this work.Item Design of a photoelectrochemical lab-on-a-chip immunosensor based on enzymatic production of quantum dots in situ(2022-04-22) Díez-Buitrago, Beatriz; Fernández-San Argimiro, Francisco Javier; Lorenzo, Jaione; Bijelic, Goran; Briz, Nerea; Pavlov, Valeri; Tecnalia Research & Innovation; Biomateriales; Mercado; SGIn this work we report the development and validation of a photoelectrochemical immunosensor on the basis of alkaline phosphatase (ALP)-linked immunoassay for the detection of human serum albumin as a model analyte. In this biosensor, oriented immobilization of capture antibodies on aminated polystyrene was achieved via physical adsorption. After the interaction with the analyte, ALP immobilised on the surface through the sandwich immunoassay catalyses the hydrolysis of sodium thiophosphate (TP) to hydrogen sulphide (H2S) which in the presence of cadmium ions yields CdS quantum dots (QDs). The electrical current is generated in the course of the photoelectrochemical process (PEC) during irradiation of the CdS QDs with a UV LED (365 nm) on home-made screen-printed carbon electrodes modified with a conductive polymer. Reaction time, steps and volumes were optimized for the miniaturization of the process in order to develop a lab-on-a-chip platform. The microfluidic system was designed with optimised parameters to fabricate the immunosensor combining the immunoassay with PEC detection. The final system presents a sensitivity comparable to that of the commercial kit thanks to the signal amplification enabled by the enzymatic growth of CdS QDs in situ. This photoelectrochemical immunosensing strategy potentially opens up a new avenue for the detection of a wide range of analytes of interest due to the universal and effective enzymatic signal amplification method. Moreover, the developed bioanalytical device allows for a great reduction of time and reagents compared to exiting commercial assays, making it suitable for point-of-care applications.Item Determination of methylarginines in human plasma by HPLC with pre-column derivatization using naphthalenedicarboxaldehyde as fluorogenic agent(2002-07) Unceta, Nora; San Vicente, Ana; Goicolea, M. Aranzazu; Sallés, Joan; Barrio, Ramón J.; Tecnalia Research & InnovationA method has been developed for the determination of the main methylated L-arginines, NG-monomethyl-L-arginine (L-NMMA), NG,NG-dimethyl-L-arginine (asymmetric dimethylarginine, L-ADMA) in biological samples. The assay involves precolumn derivatization of methylarginines with naphthalenedicarboxaldehyde and cyanide followed by HPLC with fluorescence detection. The separation of derivatized methylated arginines on a reversed-phase column was achieved in less than 25 min. The SPE procedure developed, based on a cation-exchange resin, permits quantitative determination of analytes at concentrations as low as 0.54, 3.42, and 0.75 μg L-1, respectively, i.e. lower than their plasma levels. Recoveries in plasma were over 81% and the inter- and intra-day relative standard deviation values as measures of repeatability were less than 4.5%. This novel and rapid method can be employed in a routine clinical setting.Item Development and validation of a bioanalytical method for the simultaneous determination of heroin, its main metabolites, naloxone and naltrexone by LC-MS/MS in human plasma samples: Application to a clinical trial of oral administration of a heroin/naloxone formulation(2015-10-01) Moreno-Vicente, Raquel; Fernández-Nieva, Zuriñe; Navarro, Arantza; Gascón-Crespí, Irene; Farré-Albaladejo, Magí; Igartua, Manuela; Hernández, Rosa María; Pedraz, José Luis; Desarrollo FarmaceuticoA bioanalytical method using high-performance liquid chromatography-tandem mass spectrometry (LC-MS/MS) was developed and validated for simultaneous quantification of heroin, its main metabolites and naloxone. In addition, naltrexone was detected qualitatively. This method was used to analyse human plasma samples from a clinical trial after oral administration of a heroin/naloxone formulation in healthy volunteers. O-methylcodeine was used as an internal standard. Samples were kept in an ice-bath during their processing to minimize the degradation of heroin. A short methodology based on protein precipitation with methanol was used for sample preparation. After protein precipitation, only the addition of a formic acid solution was needed to elute heroin, 6-monoacetylmorphine, morphine, naloxone and naltrexone. Morphine metabolites were evaporated to dryness and reconstituted in a formic acid solution. Chromatographic separation was achieved at 35. °C on an X-Bridge Phenyl column (150. ×. 4.6. mm, 5. μm) using a gradient elution with a mobile phase of ammonium formate buffer at pH 3.0 and formic acid in acetonitrile. The run time was 8. min. The analytes were monitored using a triple quadrupole mass spectrometer with positive electrospray ionization (ESI+) in multiple reaction monitoring (MRM) mode. The method was found to be linear in a concentration range of 10-2000. ng/mL for M3G and 10-1000. ng/mL for the rest of compounds. Quality controls showed accurate values between -3.6% and 4.0% and intra- and inter-day precisions were below 11.5% for all analytes. The overall recoveries were approximately 100% for all analytes including the internal standard. A rapid, specific, precise and simple method was developed for the determination of heroin, its metabolites, naloxone and naltrexone in human plasma. This method was successfully applied to a clinical trial in 12 healthy volunteers.Item Development of portable CdS QDs screen-printed carbon electrode platform for electrochemiluminescence measurements and bioanalytical applications(2021-04-01) Díez-Buitrago, Beatriz; Saa, Laura; Briz, Nerea; Pavlov, Valeri; Tecnalia Research & Innovation; SGIn this work, a portable and disposable screen-printed electrode-based platform for CdS QDs electrochemiluminescence (ECL) detection is presented. CdS QDs were synthesized in aqueous media and placed on top of carbon electrodes by drop casting. The CdS QDs spherical assemblies consisted of nanoparticles about 4 nm diameters and served as ECL sensitizers to enzymatic assays. The nanoparticles were characterized by optical techniques, TEM and XPS. Besides, the electrode modification process was optimized and further studied by SEM and confocal microscopy. The ECL emission from CdS QDs was triggered with H2O2 as cofactor and enzymatic assays were employed to modulate the CdS QDs ECL signal by blocking the surface or generating H2O2 in situ. Thiol-bearing compounds such as thiocholine generated through the hydrolysis of acetylthiocholine by acetylcholinesterase (AChE) interacted with the surface of CdS QDs thus blocking the ECL. The biosensor showed a linear range up to 5 mU mL−1 and a detection limit of 0.73 mU mL−1 for AChE. Moreover, the inhibition mechanism of the enzyme was studied by using 1,5-bis-(4-allyldimethylammonium-phenyl)pentan-3-one dibromide with a detection limit of 79.22 nM. Furthermore, the natural production of H2O2 from the oxidation of methanol by the action of alcohol oxidase was utilized to carry out the ECL process. This enzymatic assay presented a linear range up to 0.5 mg L−1 and a detection limit of 61.46 μg L−1 for methanol. The reported methodology shows potential applications for the development of sensitive and easy to hand biosensors and was applied to the determination of AChE and methanol in real samples.Item Direct Fabrication of a Copper RTD over a Ceramic-Coated Stainless-Steel Tube by Combination of Magnetron Sputtering and Sol–Gel Techniques(2023-06) Bikarregi, Aitor; Dominguez, Santiago; Brizuela, Marta; López, Alejandra; Suarez-Vega, Ana; Agustín-Sáenz, Cecilia; Presa, Micael; López, Gabriel A.; INGENIERÍA DE SUPERFICIES; VALORIZACIÓN DE RESIDUOSReducing the economic and environmental impact of industrial process may be achieved by the smartisation of different components. In this work, tube smartisation is presented via direct fabrication of a copper (Cu)-based resistive temperature detector (RTD) on their outer surfaces. The testing was carried out between room temperature and 250 °C. For this purpose, copper depositions were studied using mid-frequency (MF) and high-power impulse magnetron sputtering (HiPIMS). Stainless steel tubes with an outside inert ceramic coating were used after giving them a shot blasting treatment. The Cu deposition was performed at around 425 °C to improve adhesion as well as the electrical properties of the sensor. To generate the pattern of the Cu RTD, a photolithography process was carried out. The RTD was then protected from external degradation by a silicon oxide film deposited over it by means of two different techniques: sol–gel dipping technique and reactive magnetron sputtering. For the electrical characterisation of the sensor, an ad hoc test bench was used, based on the internal heating and the external temperature measurement with a thermographic camera. The results confirm the linearity (R2 > 0.999) and repeatability in the electrical properties of the copper RTD (confidence interval < 0.0005).Item Dual arm co-manipulation architecture with enhanced human–robot communication for large part manipulation(2020-10-29) Ibarguren, Aitor; Eimontaite, Iveta; Outón, José Luis; Fletcher, Sarah; ROBOTICA_AUTOMA; ROBOTICA_FLEXThe emergence of collaborative robotics has had a great impact on the development of robotic solutions for cooperative tasks nowadays carried out by humans, especially in industrial environments where robots can act as assistants to operators. Even so, the coordinated manipulation of large parts between robots and humans gives rise to many technical challenges, ranging from the coordination of both robotic arms to the human–robot information exchange. This paper presents a novel architecture for the execution of trajectory driven collaborative tasks, combining impedance control and trajectory coordination in the control loop, as well as adding mechanisms to provide effective robot-to-human feedback for a successful and satisfactory task completion. The obtained results demonstrate the validity of the proposed architecture as well as its suitability for the implementation of collaborative robotic systems.Item Electrotactile Communication via Matrix Electrode Placed on the Torso Using Fast Calibration, and Static vs. Dynamic Encoding(2022-10) Malešević, Jovana; Kostić, Miloš; Jure, Fabricio A.; Spaich, Erika G.; Došen, Strahinja; Ilić, Vojin; Bijelić, Goran; Štrbac, Matija; SGElectrotactile stimulation is a technology that reproducibly elicits tactile sensations and can be used as an alternative channel to communicate information to the user. The presented work is a part of an effort to develop this technology into an unobtrusive communication tool for first responders. In this study, the aim was to compare the success rate (SR) between discriminating stimulation at six spatial locations (static encoding) and recognizing six spatio-temporal patterns where pads are activated sequentially in a predetermined order (dynamic encoding). Additionally, a procedure for a fast amplitude calibration, that includes a semi-automated initialization and an optional manual adjustment, was employed and evaluated. Twenty subjects, including twelve first responders, participated in the study. The electrode comprising the 3 × 2 matrix of pads was placed on the lateral torso. The results showed that high SRs could be achieved for both types of message encoding after a short learning phase; however, the dynamic approach led to a statistically significant improvement in messages recognition (SR of 93.3%), compared to static stimulation (SR of 83.3%). The proposed calibration procedure was also effective since in 83.8% of the cases the subjects did not need to adjust the stimulation amplitude manually.Item Enhanced Flexibility and Reusability through State Machine-Based Architectures for Multisensor Intelligent Robotics(2017-06) Herrero, Héctor; Outón, Jose; Puerto, Mildred; Sallé, Damien; López de Ipiña, Karmele; Tecnalia Research & Innovation; ROBOTICA_FLEX; FACTORYThis paper presents a state machine-based architecture, which enhances the flexibility and reusability of industrial robots, more concretely dual-arm multisensor robots. The proposed architecture, in addition to allowing absolute control of the execution, eases the programming of new applications by increasing the reusability of the developed modules. Through an easy-to-use graphical user interface, operators are able to create, modify, reuse and maintain industrial processes, increasing the flexibility of the cell. Moreover, the proposed approach is applied in a real use case in order to demonstrate its capabilities and feasibility in industrial environments. A comparative analysis is presented for evaluating the presented approach versus traditional robot programming techniques.