Match!
Sergio Dominguez
Technical University of Madrid
15Publications
3H-index
28Citations
Publications 15
Newest
Last.Claudio RossiH-Index: 13
view all 4 authors...
In this work, we present the design, implementation, and testing of an attitude control system based on State Feedback Linearization (FL) of a prototype spherical underwater vehicle. The vehicle is characterized by a manifold design thruster configuration for both locomotion and maneuvering, as well as on a novel pendulum-based passive pitch control mechanism. First, the mechanical design and onboard electronics set up of the spherically shaped hull are introduced. Afterward, a high-fidelity dyn...
Source
#1Ramon Suarez-Fernandez (UPM: Technical University of Madrid)H-Index: 10
#2Zorana Milosevic (UPM: Technical University of Madrid)
Last.Claudio Rossi (UPM: Technical University of Madrid)H-Index: 13
view all 4 authors...
In this paper, we present the results of a series of field trials conducted with an underwater vehicle in the increasingly complex underwater environments of the Kaatiala mine in Finland, the Idrija mine in Slovenia, and the Urgeirica mine in Portugal. These field experiments have been performed to test and validate the motion control systems of the underwater explorer robot (UX-1), which are: a variable ballast system for buoyancy control, a variable pitch system for pitch control, and a propul...
Source
#2Davide GrandeH-Index: 1
Last.Claudio RossiH-Index: 13
view all 6 authors...
2 CitationsSource
Oct 1, 2018 in IROS (Intelligent Robots and Systems)
#1Alfredo Martins (P.PORTO: Polytechnic Institute of Porto)H-Index: 11
#2Jose Miguel Almeida (P.PORTO: Polytechnic Institute of Porto)H-Index: 11
Last.Eduardo Silva (P.PORTO: Polytechnic Institute of Porto)H-Index: 10
view all 18 authors...
This paper describes the UX-l underwater mine exploration robotic system under development in the context of the UNEXMIN project. UNEXMIN is an international innovation action funded under the EU H2020 program, aiming to develop new technologies and services allowing the exploration of flooded underaround mines. The system is comprised by the UX-l robot prototype, launch and recovery system, command and control subsystem and a data management and post-processing computational infrastructure. The...
3 CitationsSource
Oct 1, 2018 in IROS (Intelligent Robots and Systems)
#1Ramon Suarez-Fernandez (UPM: Technical University of Madrid)H-Index: 10
#2E. Andres Parrar (UPM: Technical University of Madrid)
Last.Claudio Rossi (UPM: Technical University of Madrid)H-Index: 13
view all 5 authors...
This paper presents the design, implementation and validation of a novel spherical Autonomous Underwater Vehicle (AUV) prototype, developed for inspection and exploration of flooded mine tunnel networks. The unique mechanical, electrical and hardware design is presented, as well as the development of a theoretical 6 degree-of-freedom (DOF) high-fidelity dynamic model of the system. A series of underwater experiments were carried out in a controlled environment to test the standard motion pattern...
Source
Both three-dimensional (3D) object recognition and pose estimation are open topics in the research community. These tasks are required for a wide range of applications, sometimes separately, sometimes concurrently. Many different algorithms have been presented in the literature to solve these problems separately, and some to solve them jointly. In this paper, an algorithm to solve them simultaneously is introduced. It is based on the definition of a four-dimensional (4D) tensor that gathers and ...
4 CitationsSource
#1Nancy Velasco E (ESPE: Escuela Politécnica del Ejército)H-Index: 1
#2Dario Jose Mendoza Chipantasi (ESPE: Escuela Politécnica del Ejército)H-Index: 1
Last.Sergio Dominguez (UPM: Technical University of Madrid)H-Index: 3
view all 4 authors...
This paper is inspired by detection and identification of Anglo-American playing cards from an image using an entry-level webcam and computer vision. Some authors have been made algorithms for playing card recognition, but the solution of playing card detection and recognition is still in progress. Although one could think of methods, which classify using the upper left and lower right corners of the card where the numbers are, this paper focuses on the novel method. Without reading the card cod...
#1José M. SebastiánH-Index: 12
#2David GarciaH-Index: 3
Last.L. Pari
view all 6 authors...
The present article describes a novel algorithm of planning in order to carry out in an automatic way the dimensional inspection of elements with three-dimensional characteristic and which ones belong to the manufactured pieces, the measurements are obtained with a high precision. The method is considered as generalized from the piece complexity, the points since the measurements must be done and the range of the application of the system is not limited. According to the previously mentioned the...
Source
#1José M. Sebastián (UPM: Technical University of Madrid)H-Index: 12
#2David Garcia (UPM: Technical University of Madrid)H-Index: 3
Last.Sergio Dominguez (UPM: Technical University of Madrid)H-Index: 3
view all 5 authors...
This paper describes a new planning algorithm to perform automatic dimensional inspection of 3D industrial parts using a machine vision system. Our approach makes use of all the information available in the system: model of the machine part to inspect and characteristics of the inspection system obtained in previous calibration stages. The analysis is based on discretizing both the configuration space of the system as well as the geometry of the part. Our method does not limit the range of appli...
1 CitationsSource
#1Jose San Pedro (University of Sheffield)H-Index: 10
#2Sergio Dominguez (UPM: Technical University of Madrid)H-Index: 3
In this paper, we present a visual hash-based video identification system able to work under variable video encoding conditions, a common scenario in network-aware applications, and specifically targeted to the detection of partial appearances of videos. The algorithm extracts video entropy, and based on the resulting series, a set of intervals and frames for each interval are selected. The same exact intervals and frames can be repeatedly extracted for any other variation of the original conten...
7 CitationsSource
12