Laboratori d'Automatització i Robòtica, Universitat de Lleida
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26/02/2024 - Using TPU as support material


Test of TPU (white) as support material for a PLA (blue) piece.
Best results when designing a solid TPU support piece than when using TPU as support material.
First Lego League a l'Escola Politècnica Superior de la UdL

>> 02/03/2024 - First Lego League a l'Escola Politècnica Superior de la UdL (Campus d'Igualada)

>> 24/02/2024 - First Lego League a l'Escola Politècnica Superior de la UdL (Campus de Cappont)

Més informació a: https://www.firstlegoleague.udl.cat/
05/02/2024 - Featuring a video that is inspiring some robotic work

Dance Battle: Robot vs Human vs Alien
31/01/2024 - Work in progress
22/01/2024 - Featuring the robot ALOHA created by Google and Stanford University
Wow... !
18/01/2024 - Gestionar la firma electrónica en Chrome
Pasos a seguir:
  • Acceder a Configuración
  • Privacidad y seguridad
  • Seguridad
  • Gestionar certificados
  • 15/01/2024 - Work in progress
    08/01/2024 - Featuring a new scientific advance: Student of Games
    Student of Games: A unified learning algorithm for both perfect and imperfect information games. Science Advances, November 2023.
    Student of Games achieves strong empirical performance in large perfect and imperfect information games (chess, Go,...).
    Student of Games is a general-purpose algorithm that combines guided search, self-play learning, and game-theoretic reasoning.
    21/12/2023 - New version (5.1) of the SLAMICP-Library


    This new version 5.1 of the SLAMICP-Library optimizes the "point_to_plane" ICP matching by avoiding to compute the normals of the reference map in each iteration.

    There is also a specific function to compute the normals (red arrows) of a point cloud (blue points).
    19/12/2023 - On the news
    UdL: El Laboratori de Robòtica desenvolupa un sistema de navegació per a robots mòbils

    EPS: Robots mòbils per lliurar petits paquets en edificis de vàries plantes

    Diario Segre: Desarrollan un robot que puede coger ascensores para llegar a su destino

    Diari Segre: Desenvolupen un robot que pot agafar ascensors per arribar al seu destí

    Lleida TV: informatius Notícies Lleida - migdia, robots carters a la UdL
    ...
    14/12/2023 - Works in progress


    30/11/2023 - La movilidad (en coche eléctrico) sigue cambiando
    A Better Route Planner, un fantástico planificador de movilidad con coche eléctrico que permite programar una ruta en función del coche y del estado de la batería. Planifica las paradas de carga durante el viaje. Disponible como WEB y APP.
    Chargemap, un localizador de cargadores. Disponible como WEB y APP.
    OPENCHARGEMAP, un localizador de cargadores. Disponible como WEB y APP.
    ELECTROMAPS, un localizador de cargadores. Disponible como WEB y APP.
    16/11/2023 - Featuring: shadowmap (visualizes sunlight and shadow on an interactive 3D map)
    10/11/2023 - Vídeos YouTube interessants
  • Dron-Taxi volador de dues places sense pilot (2 min): https://youtu.be/d8oahA2p0sg
  • World Robot Conference 2023 China (30 min): https://youtu.be/b4lPfaNf4ks
  • Vehicle tipus moto amb dues rodes omnidireccionals (16 min): https://youtu.be/TDbwSwzWJxU
  • Tot el que es pot fer amb rodes omnidireccionals (17 min): https://youtu.be/byUo4EagXu0
  • Axis Progression Chord by the The Axis Of Awesome (6 min): https://youtu.be/oOlDewpCfZQ
  • 30/10/2023 - Work in progress with new electronic designs [ ]
    28/10/2023 - New Scientific paper published by the Laboratory
    Path Planning of a Mobile Delivery Robot Operating in a Multi-Story Building Based on a Predefined Navigation Tree, Sensors 2023, 23, 8795.

    This paper presents a solution to the problem of planning the path of a mobile robot that must transport and deliver small packages inside a multi-story building. This solution combines spatial and operational information, such as the location of origin and destination points and how to interact with elevators.

    YouTube Video: Path Planning for a multi-story mobile robot
    27/10/2023 - Work in progress with new electronic designs [ ]
    19-21/10/2023 - 2a Fira MAKER Lleida
    2a Fira MAKER Lleida: Organitzada per diverses associacions i entitats lleidatanes per difondre el món de les impressores 3D i la realitat virtual a Lleida.

    Vine a veure'ns al nostre stand del Mercat del Pla el divendres 20 i el dissabte 21 (pel matí).
    17/10/2023 - Copy a Matlab matrix in Word
    Sharing our Matlab functions: matrix2WordTable.m and matrix2WordEq.m

    >> matrix2WordTable(M);

    This function copies the matlab matrix M into a Word document (through the clipboard):
    1) Create an space for the table in word. 2) Call this function. 3) Click over Word. 4) Wait until the whole matrix has been copied (do not change the focus from Word).
    Function also avialable at Fileexchange.

    >> matrix2WordEq(M);

    This function copies the matlab matrix M into a Word equation (through the clipboard):
    1) Create an empty equation in word. 2) Call this function. 3) Click over the Word equation. 4) Wait until the whole matrix has been copied (do not change the focus from Word).
    Function also avialable at Fileexchange.
    16/10/2023 - Featuring: autodraw
    autodraw
    It uses machine learning to pair manual draws with drawings from its database.
    It is free and web based (smartphone, tablet, laptop, desktop, etc.)
    It is an evolution of quickdraw, an online game developed by Google that challenges players to draw a picture.
    10/10/2023 - New Scientific paper published by the Laboratory
    Remote Control Device to Drive the Arm Gestures of an Assistant Humanoid Robot, Applied Sciences 2023, 13, 11115.

    This work presents a remote control device designed to drive the arm gestures of an assistant humanoid mobile robot.

    YouTube Video: APR-02 Remote gesture control
    04/10/2023 - getfigure.m (version 6.0)
    Sharing our Matlab function getfigure.m (version 6.0) to copy axis, lines and images from another figure.

    The first call to this function adds a new getfigure menu (in the current figure) and a second call deletes the getfigure menu:

    >> getfigure

    Also available at File Exchange as: getfigure
    25/09/2023 - Cómo copiar una tabla desde excel a word (y sobrevirir al intento)
    1 - Seleccionar la tabla en excel y ajustar el número deseado de decimales de las celdas

    2 - Copiar la tabla desde excel [Ctrl + C]
    3 - Copiar la tabla en el documento word Vinculando y Manteniendo el formato de origen [Opciones de pegado]
    4 - Ajustar la tabla al ancho disponible
    Así queda (más o menos) la tabla en word (con los vínculos resaltados)

    En este momento los datos de la tabla están vinculados a su origen en Excel

    Parar eliminar éste vínculo hay que hacer dos pasos más...
    5 - Seleccionar ahora toda la tabla (en el word) y copiarla de nuevo [Ctrl + C]

    6 - Pegarla de nuevo en el documento word (en su posición definitiva) Manteniendo el formato de origen (M)
    Así queda (más o menos) la nueva tabla (sin vínculos) en word

    7 - Finalmente, eliminar la tabla intermedia previa (la que tiene los vínculos activos)
    14/09/2023 - Work in progress with the SLAMICP library [ ]
    12/09/2023 - New making of video ( 😄 ): the APR-02 mobile robot (trying) taking the elevator

    New YouTube Video (making of): APR-02 Elevator project (Bloopers and Fails)

    YouTube Video (the final result): The APR-02 mobile robot taking the elevator
    07/09/2023 - Work in progress with a customized 3D printer Creality CR-10 S5 [ ]
    05/07/2023 - dijkstra.m (version 1.0)
    Sharing our Matlab function dijkstra.m ( also available at FileExchange )

    A single-function implementation of Dijkstra's algorithm for shorter path finding in a directed matrix-graph
    Didactic reference at: Dijkstra's algorithm explained, https://youtu.be/bZkzH5x0SKU
    % Matrix-Graph example G
    % G(a,b)=z defines a directional link (with a weight z) from the node a to b
    G = [0     1     0     0     0     0     0;
         0     0     1     0     0    10     0;
         2     0     0     1     0     0     0;
         0     0     2     0     1     0     0;
         0     0     0     2     0     1     0;
         0     0     0     0     2     0     1;
         0     0     0     0     0     2     0];
    initialNode = 1;
    finalNode   = 7; 
    [best_route,cost,M] = dijkstra(G,initialNode,finalNode)
    best_route =
         1     2     3     4     5     6     7
    cost =
         6
    % Interpretation of the columns of the Dijkstra matrix M
    % Node number | best previous node | cumulated path lenght or cost | node visited
    M =
         1     0     0     1
         2     1     1     1
         3     2     2     1
         4     3     3     1
         5     4     4     1
         6     5     5     1
         7     6     6     1
    
    04/09/2023 - Avenç en Bateries
    Featured Scientific paper: Monolithically-stacked thin-film solid-state batteries, Communications chemistry 2023 (June, 2023).
  • This study present a design of monolithically-stacked thin-film cells that has the potential to increase the power of Li-ion batteries ten-fold..

    Article periodístic que explica la investigació: Creen una bateria que es carrega en només un minut i dura moltíssim més, MónPlaneta (Setembre 2023).
  • 03/09/2023 - Rècord de temperatura mínima a Lleida

    Diari Segre: Primera nit tòrrida a Lleida, amb una mínima de 25,2 ºC
    01/08/2023 - New Scientific paper published by the Laboratory
    SLAMICP Library: Accelerating Obstacle Detection in Mobile Robot Navigation via Outlier Monitoring following ICP Localization, Sensors 2023, 23, 6089.

    This work proposes to speed up the obstacle detection process by directly monitoring outliers (discrepant points between the LIDAR scans and the full map) spotted after Iterative Closest Point (ICP) matching instead of spending time performing an isolated task to re-analyze the LIDAR scans to detect those discrepancies.

    This paper features the SLAMICP Library: a Free and Open Source library that we developped to implement ICP matching returning the outliers detected and other internal matching parameters during mobile robot navigation.

    Point Cloud application example of the SLAMICP Library
    Mobile robot following a planned trajectory: the blue dots depict the 2D map of the facility; the dotted cyan points depict the planned trajectory and the green arrow the final position and orientation that must be achieved by the mobile robot; the solid olive line depict the real trajectory followed by the mobile robot and the brown arrow depit ist current position and orientation; the red points are the outliers detected after ICP matching that (in this case) reveal one side of an obstacle placed in the corridor.
    26/07/2023 - Open Special Issue "LIDAR Applications in Mobile Robots"
    Opening a Special Issue



    This Special Issue LIDAR Applications in Mobile Robots belongs to the section "Sensors and Robotics" of the journal Sensors
    18/07/2023 - Featuring 2015 "Space Oddity" from the Space Station
    YouTube: Astronaut Chris Hadfield performing 'Space Oddity' (David Bowie) in the Space Station (2015)

    (Amazing Song) x (Amazing Feautre) = Amazing2 · e ( t - 2015 )
    17/07/2023 - Featuring a 3D printing YouTube Video
    YouTube: 3D-Print Sea Harrier Jet | RC Fuselage Assembly

    Amazing 3D printing application.
    14/07/2023 - Featuring a Robotic YouTube Video
    YouTube: Open-Vocabulary 3D Scene Graph for Autonomous Indoor Navigation

    Open-vocabulary scene understanding aims to localize and recognize unseen categories beyond the annotated label space.
    10/07/2023 - Curs d'impressió 3D a la Universitat d'Estiu 2023 de la UdL
    Títol del curs de la Universitat d'Estiu: Impressió 3D: Tècniques i Materials
    Adreçat a: estudiants universitaris de qualsevol titulació (reconegut amb 2 crèdits ECTS) i professorat universitari i no universitari
    Objectiu: treballar el concepte d'impressió 3D en l'àmbits domèstic, professional i industrial (descripció del curs)
    Dates: del 10 al 14 de juliol de 2023 (de 9.00 a 11.00 i de 11.30 a 13.30)
    05/07/2023 - Procediment per comprovar i reparar els arxius de sistema de Windows 11
    En cas de que durant l'arrencada o al crear un fitxer nou Windows 11 tardi més del normal es pot fer servir SFC (System File Checker - comprovador i reparador dels arxius del sistema):

    1. Obrir un CMD (consola o finestra de comandes) com administrador
    2. Executar el SFC, teclejant a la consola: sfc /scannow
    3. Esperar a que el procés de comprovació acabi
    Exemple mostrant com fer-ho
    05/07/2023 - Truc per utilitzar diverses versions de Word, Excel,...
    Al registre, seleccionar per cada versió d'office l'aplicació (Word, Excel,...); a Options afegir DWORD (32-bit) amb el nom NoRereg i posar-li 1

    Exemple mostrant com fer-ho

    Es pot fer directament des de cmd: Reg.exe add "HKCU\Software\Microsoft\Office\12.0\Word\Options" /v "NoRereg" /t REG_DWORD /d "1" /f
    03/07/2023 - Curs d'impressió 3D al Campus Jove Itinera 2023
    Curs Cancel·lat
    01/07/2023 - New Scientific paper published by the Laboratory
    A Procedure for Taking a Remotely Controlled Elevator with an Autonomous Mobile Robot Based on 2D LIDAR, Sensors 2023, 23, 6841.

    This work proposes a procedure to take a remotely controlled elevator with an autonomous mobile robot based on 2D LIDAR.

    YouTube Video: The APR-02 mobile robot taking the elevator

    YouTube (😄 making of) Video: APR-02 Elevator project (Bloopers and Fails)
    01/07/2023 - New Scientific paper published by the Laboratory
    Phasor-Like Interpretation of the Angular Velocity of the Wheels of Omnidirectional Mobile Robots, Machines 2023, 11, 698.

    This work proposes a new Phasor-Like notation that simplifies the design and control of omnidirectional mobile robots using omni and mecanum wheels.
    19/05/2023 - Highlighting LLaMA (the open source Artificial Intelligence of Meta)
    Introducing LLaMA (Large Language Model Meta AI): A foundational, 65-billion-parameter large language model
    Paper at arxiv.org: LLaMA: Open and Efficient Foundation Language Models
    Other related research papers at: https://ai.facebook.com/research/

    Xataka: Qué es LLaMA, cómo funciona y qué sabemos de la inteligencia artificial de Meta

    Computer vision: Advancing the state of the art in computer vision with self-supervised Transformers and 10x more efficient training
    Paper on DINO: Emerging Properties in Self-Supervised Vision Transformers (code)
    Paper on PWAS: Semi-Supervised Learning of Visual Features by Non-Parametrically Predicting View Assignments with Support Samples (code)
    05/05/2023 - COVID-19 is no longer a global healt emergency
    WHO says COVID-19 is no longer a global health emergency

    The WHO Director-General Tedros Adhanom Ghebreyesus said: “Yesterday, the emergency committee met for the 15th time and recommended to me that I declare an end to the public health emergency of international concern. I have accepted that advice.”

    WHO: Statement on the fifteenth meeting of the International Health Regulations (2005) Emergency Committee regarding the coronavirus disease (COVID-19) pandemic
    30/04/2023 - World population
    India to overtake China as world’s most populous country in April 2023
    India : 1,425,000,000 people
    China: 1,425,000,000 people

    United Nations Population Division: world population prospects
    20/04/2023 - Revision of the Penfield classical homunculus
    Featured Scientific paper: A somato-cognitive action network alternates with effector regions in motor cortex, Nature 2023 (April, 2023).
  • This study revises the Penfield classical homunculus mapped in 1948.

    Articulo periodístico que explica la investigación: Encuentran la región del cerebro donde se ‘funden’ cuerpo y mente, elDiario.es (abril 2023). Una revisión exhaustiva del llamado ‘homúnculo de Penfield’ revela la existencia de una región clave del cerebro que explica la conexión entre los pensamientos y nuestro cuerpo.
  • 12/04/2023 - Destacamos: Digidog
    elEconomista: Así es Digidog: el robot perruno que va a usar la Policía de Nueva York

    La Policía de la ciudad de Nueva York ha invertido 750.000 dólares en comprar dos robots con cuatro patas
    Para que les ayude en situaciones que puedan ser un peligro para las personas.
    23/03/2023 - World Meteorological Day ( + inspiring songs)
    Now we can still act, later, maybe just beggin...
    We wish we were special but we are 🐛
    Let's see what will happen / Aviam què passa ?
    22/03/2023 - COVID-19 mass screening based on a simple olfactory test
    Featured Scientific paper: A machine learning COVID-19 mass screening based on symptoms and a simple olfactory test, Scientific Reports 2022, (Sept, 2022).
  • This study aims to develop a machine learning COVID-19 predictive tool based on symptoms and a simple olfactory test, which consists of identifying the smell of an aromatized hydroalcoholic gel.

    Artículo periodístico que explica la investigación: Desarrollan el primer sistema de cribado de COVID por el olor, LAVANGUARDIA, (Marzo 2023).
  • 21/03/2023 - New Scientific paper published by the Laboratory
    Non-Contact and Non-Intrusive Add-on IoT Device for Wireless Remote Elevator Control, Applied Sciences 2023, 13(6), 3971.

    This work proposes an Internet-of-Things (IoT) device for remote elevator control.
    This device can convert a manually operated elevator into a remote controlled elevator without requiring any intrusive manipulation or wiring connection in the elevator.
    It has been designed as an add-on tool which is placed over the original elevator button panel, using servomotors to press the original buttons.

    Nota de premsa de la UdL: La UdL desenvolupa un dispositiu per utilitzar l'ascensor sense prémer botons (28 març 2023).
    Facebook de la UdL, Web de notícies de l'EPS, Corporació Catalana de Mitjans Audiovisiuals, diari Segre (cat), diario Segre (esp), LaMañana, LAVANGUARDIA, territoris.cat.
    19/03/2023 - Aitona en flor

    Foto de les flors dels pressegurers dels camps d'Aitona (comarca del Segrià, a 21 km de Lleida i a 5 km d'Alcarràs). Tot un espectacle que ens ofereix la natura !
    13/03/2022 - Work in progress with a 4 Wheel Mecanum (Omnidirectional) Mobile Robot (4WMMR) [ ]
    10/03/2022 - Work in progress with a STM32H747XI MCU [ ]
    25/02/2023 - Destaquem: First Lego League 2023
    L'Escola Politècnica Superior de la UdL organitza la First Lego League 2023

    El 25 de febrer a Lleida i el 4 de març a Igualada
    26/01/2023 - Featuring: LIBICP
    LIBICP: C++ Library for Iterative Closest Point Matching

    LIBICP (LIBrary for Iterative Closest Point fitting) is a cross-platform C++ library with MATLAB wrappers for fitting 2d or 3d point clouds with respect to each other.

    By: Andreas Geiger and Philip Lenz and Raquel Urtasun
    Blog: https://autonomousvision.github.io/
    Paper: Are we ready for autonomous driving? The KITTI vision benchmark suite, 2012 IEEE Conf. on Computer Vision and Pattern Recognition
    26/01/2023 - Featuring: Matlab based ICP implementations
    simpleICP: matlab function Iterative Closest Point Matching (also available at FileExchange)
    globalICP: A multi-scan ICP implementation for Matlab
    14/01/2023 - New research group at the UdL
    New research group to face new challenges: Logic, Optimization and Robotics (LOR)
    13/01/2023 - Canvis organitzatius a la UdL
    Després de 31 anys de funcionament, el Departament d'Informàtica i Enginyeria Industrial (DIEI) de la UdL es divideix en dos nous departaments...

    Departament d'Enginyeria Industrial i de l'Edificació (DEIE)
    Departament d'Enginyeria Informàtica i Disseny Digital (DEIDD)

    Llarga durada als nous departaments... !
    12/01/2023 - New Scientific paper published by the Laboratory
    Non-Parametric Calibration of the Inverse Kinematic Matrix of a Three-Wheeled Omnidirectional Mobile Robot Based on Genetic Algorithms, Applied Sciences 2023, 13(2), 1053.

    The application of this non-parametric calibration procedure has provided an average improvement of 82 % in the odometric estimation of the final position and orientation of the mobile robot.
    10/01/2023 - Featuring: NVIDIA Instant NeRF
    Instant NeRF
    Is a (spectacular) neural rendering model that learns a high-resolution 3D scene in seconds and can render images of that scene in a few milliseconds (YouTube demo).
    The model was developed using the NVIDIA CUDA Toolkit and the Tiny CUDA Neural Networks library. Since it’s a lightweight neural network, it can be trained and run on a single NVIDIA GPU, running fastest on cards with NVIDIA Tensor Cores.

    NVIDIA Technical Blog: a tutorial on getting started with Instant NeRF.
    21/12/2022 - Featuring: Arachne 3D printing, Arc Overhangs and Conical Slicing
    YouTube: Arc Overhangs (can) make Supports Obsolete !
    YouTube: Conical Slicing: A different angle of 3D printing
    YouTube: Cura 5 - Arachne Engine (variable line widths)
    21/12/2022 - Featuring: The Future of the Transistor Is Our Future
    Featured from IEEE Spectrum:The Future of the Transistor Is Our Future
    Nothing but better devices can tackle humanity’s growing challenges.
    30/11/2022 - Work in progress with a FLSUN 400
    29/11/2022 - Impresora 3D delta: FLSUN 400
    En 5 palabras: IM PRE SIO NAN TE
    23/11/2022 - Featuring: flapping-wing robot (amazing video demonstration)
    YouTube video: Optimal elastic wing for flapping-wing robots through passive morphing from the Robotics, Vision and Control Group (GRVC) of the University of Seville
    15/11/2022 - World population

    The global population is projected to reach 8,000,000,000 people today !

    United Nations report: World population to reach 8 billion on 15 November 2022
    05/10/2022 - Destaquem: Els robots entren als hospitals
    Article del diari EL PUNT AVUI: Els robots entren als hospitals

    L'article descriu una prova pilot que s'està fent amb el robot Rose, que es una adaptació Neerlandesa del prototipus de robot TIAGo fabricat per l'empresa Pal-Robotics (ubicada a Barcelona).
    El robot entra a les habitacions per comprovar que tothom és al llit i dorm sense problemes.
    Segons s'indica a l'article, el robot utilitza una càmera infraroja per revisar l'habitació i avisar en cas de que la porta estigui tancada, si el pacient es troba caigut al terra o si la barana del llit està abaixada.
    13/09/2022 - Destaquem: Fa un segle que es va posar en funcionament la central de Camarasa
    Article del suplement dominical del Segre: A Camarasa van fer la llum
    La Canadiense va posar en marxa la central de Sossís al 1912, Seròs al 1914, Talarn al 1916 i Camarasa al 1920.
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