Browsing by Keyword "Automation"
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Item Automatic Program Repair(2021-07-01) Carver, Jeffrey; Colomo-Palacios, Ricardo; Larrucea, Xabier; Staron, Miroslaw; Tecnalia Research & InnovationFollowing along with the theme of this issue of IEEE Software, this column reports on papers about automatic program repair (APR) from the 35th IEEE/ACM International Conference on Automated Software Engineering (ASE20), the 35th IEEE/ACM International Conference on Automated Software Engineering Workshops (ASEW20), and the 13th IEEE International Conference on Software Testing, Validation and Verification (ICST20). Feedback or suggestions are welcome. In addition, if you try or adopt any of the practices included in the column, please send us and the authors a note about your experiences.Item Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans: A Unified Scheme for Humanoids, Wearable Robots, and Humans(2015-09-10) Torricelli, Diego; Gonzalez-Vargas, Jose; Veneman, Jan F.; Mombaur, Katja; Tsagarakis, Nikos; del-Ama, Antonio J.; Gil-Agudo, Angel; Moreno, Juan C.; Pons, Jose L.; Tecnalia Research & InnovationIn the field of robotics, there is a growing awareness of the importance of benchmarking [1], [2]. Benchmarking not only allows the assessment and comparison of the performance of different technologies but also defines and supports the standardization and regulation processes during their introduction to the market. Its importance has been recently emphasized by the adoption of the technology readiness levels (TRLs) in the Horizon 2020 information and communication technologies by the European Union as an important guideline to assess when a technology can shift from one TRL to the other. The objective of this article is to define the basis of a benchmarking scheme for the assessment of bipedal locomotion that could be applied and shared across different research communities.Item Caracterización de los sistemas de actuación para vehículos altamente automatizados(Universidade da Coruña, Servizo de Publicacións, 2019) Sarabia, Joseba; Matute-Peaspan, José A.; Zubizarreta, AsierLos modelos de simulación son importantes para la investigación y desarrollo de estrategias de decisión y control en vehículos automatizados. Las plataformas de pruebas reales se obtienen generalmente mediante la modificación de vehículos comerciales, donde robots o actuadores electromecánicos son fijados a los elementos de conducción del vehículo como el volante, pedales de freno y aceleración. Diferencias significativas durante el ajuste de las ganancias en el control de alto nivel entre simulaciones y dichas plataformas reales pueden deberse principalmente a un modelo impreciso de los actuadores. En este trabajo, se presenta una revisión del estado del arte sobre técnicas para el control de bajo nivel en diferentes plataformas utilizadas tanto en lo académico como en la industria. Adicionalmente, se muestra la metodología utilizada para el modelado de actuadores realizando pruebas a lazo abierto sobre una plataforma real para pruebas de conducción automatizada. Finalmente, se presenta una comparativa entre el comportamiento de los actuadores modelados y los reales durante un recorrido del vehículo en modo automático ejecutando una ruta predefinida, evidenciando la fiabilidad de los modelos propuestos y la metodología utilizada para su obtención.Item End-effector for automatic shimming of composites(2016-09-27) Antolín-Urbaneja, Juan Carlos; Livinalli, Juan; Puerto, Mildred; Liceaga, Mikel; Rubio, Antonio; San-Román, Angel; Goenaga, Igor; Tecnalia Research & Innovation; ROBOTICA_AUTOMA; FACTORY; INNOV_AIR_MOBIL; FABRIC_INTEL; MAQUINASGaps in composite structures are a risky factor in aeronautical assemblies. For mechanically joined composite components, the geometrical conformance of the part can be problematic due to undesired or unknown re-distribution of loads within a composite component, with these unknowns being potentially destructive. To prevent unnecessary preloading of a metallic structure, and the possibility of cracking and delamination in a composite structure, it is important to measure all gaps and then shim any gaps greater than 127 microns. A strategy to overcome the high relative tolerances for assemblies lies in the automated manufacturing of shims for the gaps previously predicted through the evaluation of their volumes via a simulation tool. This paper deals with the development of a special end-effector prototype to enable the shimming of gaps in composites structures using a pre-processed geometry. The aim of this end-effector is to provide movement to a temperature controlled hot-end in order to generate a solid shim of ABS on the target composite surface. This process is defined according to the trajectories and velocities marked by the 3D printing process using standard G-code. The geometry and material volume to be printed are indicated by the simulated gap volume which is based on previous metrological measurements. The final objective will be to attach this end-effector to an anthropomorphic robot to enable autonomous manufacturing. This work is part of the EU FP7 funded LOCOMACHS project, under grant agreement n◦314003.Item A Review of Shared Control for Automated Vehicles: Theory and Applications(2020-12) Marcano, Mauricio; Diaz, Sergio; Perez, Joshue; Irigoyen, Eloy; CCAMThe last decade has shown an increasing interest on advanced driver assistance systems (ADAS) based on shared control, where automation is continuously supporting the driver at the control level with an adaptive authority. A first look at the literature offers two main research directions: 1) an ongoing effort to advance the theoretical comprehension of shared control, and 2) a diversity of automotive system applications with an increasing number of works in recent years. Yet, a global synthesis on these efforts is not available. To this end, this article covers the complete field of shared control in automated vehicles with an emphasis on these aspects: 1) concept, 2) categories, 3) algorithms, and 4) status of technology. Articles from the literature are classified in theory- and application-oriented contributions. From these, a clear distinction is found between coupled and uncoupled shared control. Also, model-based and model-free algorithms from these two categories are evaluated separately with a focus on systems using the steering wheel as the control interface. Model-based controllers tested by at least one real driver are tabulated to evaluate the performance of such systems. Results show that the inclusion of a driver model helps to reduce the conflicts at the steering. Also, variables such as driver state, driver effort, and safety indicators have a high impact on the calculation of the authority. Concerning the evaluation, driver-in-the-loop simulators are the most common platforms, with few works performed in real vehicles. Implementation in experimental vehicles is expected in the upcoming years.Item Urban Motion Planning Framework Based on N-Bézier Curves Considering Comfort and Safety(2018) Lattarulo, Ray; González, Leonardo; Martí, Enrique; Matute, José; Marcano, Mauricio; Pérez, Joshue; CCAM; Tecnalia Research & InnovationIn last decades, great technology advances have been done related to the automotive sector, especially in Advanced Driver Assistance Systems (ADAS) developed to improve mobility in terms of comfort and safety during driving process; hence, automated driving is presented as an evolution of those systems in the present and upcoming years. The aim of this work is to present a complete framework of motion planning for automated vehicles, considering different constraints with parametric curves for lateral and longitudinal planners. Parametric Bézier curves are used as the core approach for trajectory design in intersections, roundabouts, and lane change maneuvers. Additionally, a speed planner algorithm is presented using the same parametric curve approach, considering comfort and safety. A simulation environment is used for testing the planning method in urban conditions. Finally, tests with the real platform in automated mode have been performed showing goods results.