<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> Force feedback is necessary for accurate force control in robotic manipulators, and thus far, wrist force/torque (F/T) sensors have been used. But an important problem arises when only these types of are In a dynamic situation where the manipulator moves either free or constrained space, interaction forces moments at contact point also noncontact ones measured by mentioned sensor. this paper,...

The organoleptic profile of a Virgin Olive Oil is key quality parameter that currently obtained by human sensory panels. development an instrumental technique capable providing information about this quickly and online great interest. This work employed general purpose e-nose, in lab conditions, to predict the level fruity aroma presence defects Oils. raw data provided e-nose were used extract set features fed regressor classifier detect defects. results mean validation error 0.5 units for...

The quality of virgin olive oil obtained in the milling process is directly bound to characteristics olives. Hence, correct classification different incoming batches crucial reach maximum oil. aim this work provide an automatic inspection system, based on computer vision, and classify automatically olives entering process. differentiation between ground tree For purpose, three species have been studied (Picudo, Picual Hojiblanco). samples by picking from or ground. feature vector has basis...

A space-efficient fully parallel stochastic computation architecture is described. It circumvents the main drawback of architectures that have been used up to now: absence a technique adding weighted input signals in parallel.

As robotic systems are becoming more complex, distributed, and integrated, there is the need to build sophisticated frameworks embody intelligence in robot. This paper presents a component-based software architecture for integration of industrial platforms with multisensor where data fusion relevant. The based on an open platform that able fulfill capabilities such as openness, interoperability, adaptability, modularity, addition hardware loop simulator. resulting robot permits easy...

In this work, we present implementation and experiment of the theory dynamic force sensing for robotic manipulators. robot manipulation context, end-effector contact forces may be difficult to measure due tool interference, yet indirect measurement such as from wrist-mounted sensors provide contaminated by inertial distal sensor. order extract exerted robot, it is necessary separate forces. We propose a complete formulation new control strategy based on multi-sensor fusion with three...

The final output of modern processes is significantly influenced by the selection set points process variables, as they fundamentally impact product quality characteristics and performance metrics. This paper proposes a decision support system structure based on models built using fuzzy cognitive maps, an optimization problem that employs these constraints, observer augments allows to implement run-to-run control approach, enabling correct suggested set-point values in case mismatch between...

The presence of minor compounds in virgin olive oils has been proven to play multiple positive roles health protection, encouraging its production. key factors that influence the oil quality are ripening stages and state fruit. For this reason, at mill’s reception yard, fruits visually inspected separated according their external appearance. In way, process parameters can be better adjusted improve quantity and/or oil. This paper presents a proposal automatically determine before being...

In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem using accelerometers close to end-effectors manipulators how it may improve control performance. introduce a new model-based observer approach information from various different sensors. During contact transition, sensors play very important role can overcome many difficulties uncertain models unknown environments, which limit domain application currents robots used without...

This paper presents the current situation and future perspectives on virgin olive oil elaboration process control. Regarding situation, a review of previous research works matter is made. Subsequently, results Spain-wide survey are shown in order to show precise realistic degree automation this area. Finally, authors present, according their opinion, lines control field.

In this work, we present implementation and experiment of the theory dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract contact exerted by end-effector manipulator from those measured wrist sensor, are corrupted inertial forces on end-effector. We propose new control strategy based multisensor with three different sensors— that is, encoders mounted at each joint robot six degrees freedom, an accelerometer— whose goal is obtain suitable...