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Your search keyword '"Carmona, Manuel"' showing total 5 results
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5 results on '"Carmona, Manuel"'

1. A Reactive performance-based Shared Control Framework for Assistive Robotic Manipulators

Author

Ruiz-Ruiz, Francisco J., Urdiales, Cristina, Fernández-Carmona, Manuel, and Gómez-de-Gabriel, Jesús M.

Subjects
Computer Science - Robotics
Abstract

In Physical Human--Robot Interaction (pHRI) grippers, humans and robots may contribute simultaneously to actions, so it is necessary to determine how to combine their commands. Control may be swapped from one to the other within certain limits, or input commands may be combined according to some criteria. The Assist-As-Needed (AAN) paradigm focuses on this second approach, as the controller is expected to provide the minimum required assistance to users. Some AAN systems rely on predicting human intention to adjust actions. However, if prediction is too hard, reactive AAN systems may weigh input commands into an emergent one. This paper proposes a novel AAN reactive control system for a robot gripper where input commands are weighted by their respective local performances. Thus, rather than minimizing tracking errors or differences to expected velocities, humans receive more help depending on their needs. The system has been tested using a gripper attached to a sensitive robot arm, which provides evaluation parameters. Tests consisted of completing an on-air planar path with both arms. After the robot gripped a person's forearm, the path and current position of the robot were displayed on a screen to provide feedback to the human. The proposed control has been compared to results without assistance and to impedance control for benchmarking. A statistical analysis of the results proves that global performance improved and tracking errors decreased for ten volunteers with the proposed controller. Besides, unlike impedance control, the proposed one does not significantly affect exerted forces, command variation, or disagreement, measured as the angular difference between human and output command. Results support that the proposed control scheme fits the AAN paradigm, although future work will require further tests for more complex environments and tasks.

Published
2023

2. Embodied Learning for Well-Being, Self-Awareness, and Stress Regulation: A Randomized Trial with Engineering Students Using a Mixed-Method Approach

Author

Rodríguez-Jiménez, Rosa-María, Carmona, Manuel, García-Merino, Sonia, Díaz-Ureña, Germán, and Lara Bercial, Pedro J.

Abstract

The continuous changes in our society require adapted training that encompasses both technical and competency knowledge. There is a high level of demand, especially in areas such as engineering, which can affect the mental health of students, producing high levels of stress and psychological distress, hindering self-efficacy and academic performance. Embodied learning working on self-awareness, stress reduction and self-knowledge can help to generate healthier environments. Creative therapies can be a tool to promote the prevention of health problems in this group of the population. In particular, Dance Movement Therapy has demonstrated its effectiveness in improving health in clinical and non-clinical settings. In this work, a body awareness program based on Dance Movement Therapy is developed and implemented in engineering students. Through a mixed pre-post methodology, its impact is evaluated and analyzed in an experimental group of engineering students. Psychometric tests, physiological variables and reflective diaries are used as data sources. The results show that the experimental group, compared with the control group, increased their levels of body awareness and connectedness, well-being and life satisfaction and reduced their stress levels. The results were supported by cortisol measures. Likewise, the students acknowledged having increased their levels of self-awareness and self-knowledge and considered the inclusion of these bodily approaches in higher education to be necessary.

Published
2022

3. A Rationale for Teacher Change from a Bodyfulness Paradigm: An Experience in Higher Education

Author

Rodríguez-Jiménez, Rosa-María and Carmona, Manuel

Abstract

This article presents an exploratory and interpretative study on the development of self-reflection and self-knowledge in university teachers by an embodied experience. Dance Movement Therapy and Body-Mind Centering share the fundamentals of the paradigm of embodied cognition through a first-person full-body experience. Using these principles, a training program was designed and implemented in a cohort of 22 university teachers. The article offers details of the program and the adaptations necessary to carry it out in a higher-education context. The results of the qualitative analysis that was conducted suggested that the transformative learning paradigm could be useful to explain the process carried out by the participants. With the necessary limitations, the incorporation of awareness and attentive participation in bodily states and actions manifests as a transformative element in the teacher. The participants, despite initial resistance, see possibilities for applying this knowledge in their teaching practice.

Published
2021

4. Ariel: Enabling planetary science across light-years

Author

Tinetti, Giovanna, Eccleston, Paul, Haswell, Carole, Lagage, Pierre-Olivier, Leconte, Jérémy, Lüftinger, Theresa, Micela, Giusi, Min, Michel, Pilbratt, Göran, Puig, Ludovic, Swain, Mark, Testi, Leonardo, Turrini, Diego, Vandenbussche, Bart, Osorio, Maria Rosa Zapatero, Aret, Anna, Beaulieu, Jean-Philippe, Buchhave, Lars, Ferus, Martin, Griffin, Matt, Guedel, Manuel, Hartogh, Paul, Machado, Pedro, Malaguti, Giuseppe, Pallé, Enric, Rataj, Mirek, Ray, Tom, Ribas, Ignasi, Szabó, Robert, Tan, Jonathan, Werner, Stephanie, Ratti, Francesco, Scharmberg, Carsten, Salvignol, Jean-Christophe, Boudin, Nathalie, Halain, Jean-Philippe, Haag, Martin, Crouzet, Pierre-Elie, Kohley, Ralf, Symonds, Kate, Renk, Florian, Caldwell, Andrew, Abreu, Manuel, Alonso, Gustavo, Amiaux, Jerome, Berthé, Michel, Bishop, Georgia, Bowles, Neil, Carmona, Manuel, Coffey, Deirdre, Colomé, Josep, Crook, Martin, Désjonqueres, Lucile, Díaz, José J., Drummond, Rachel, Focardi, Mauro, Gómez, Jose M., Holmes, Warren, Krijger, Matthijs, Kovacs, Zsolt, Hunt, Tom, Machado, Richardo, Morgante, Gianluca, Ollivier, Marc, Ottensamer, Roland, Pace, Emanuele, Pagano, Teresa, Pascale, Enzo, Pearson, Chris, Pedersen, Søren Møller, Pniel, Moshe, Roose, Stéphane, Savini, Giorgio, Stamper, Richard, Szirovicza, Peter, Szoke, Janos, Tosh, Ian, Vilardell, Francesc, Barstow, Joanna, Borsato, Luca, Casewell, Sarah, Changeat, Quentin, Charnay, Benjamin, Civiš, Svatopluk, Foresto, Vincent Coudé du, Coustenis, Athena, Cowan, Nicolas, Danielski, Camilla, Demangeon, Olivier, Drossart, Pierre, Edwards, Billy N., Gilli, Gabriella, Encrenaz, Therese, Kiss, Csaba, Kokori, Anastasia, Ikoma, Masahiro, Morales, Juan Carlos, Mendonça, João, Moneti, Andrea, Mugnai, Lorenzo, Muñoz, Antonio García, Helled, Ravit, Kama, Mihkel, Miguel, Yamila, Nikolaou, Nikos, Pagano, Isabella, Panic, Olja, Rengel, Miriam, Rickman, Hans, Rocchetto, Marco, Sarkar, Subhajit, Selsis, Franck, Tennyson, Jonathan, Tsiaras, Angelos, Venot, Olivia, Vida, Krisztián, Waldmann, Ingo P., Yurchenko, Sergey, Szabó, Gyula, Zellem, Rob, Al-Refaie, Ahmed, Alvarez, Javier Perez, Anisman, Lara, Arhancet, Axel, Ateca, Jaume, Baeyens, Robin, Barnes, John R., Bell, Taylor, Benatti, Serena, Biazzo, Katia, Błęcka, Maria, Bonomo, Aldo Stefano, Bosch, José, Bossini, Diego, Bourgalais, Jeremy, Brienza, Daniele, Brucalassi, Anna, Bruno, Giovanni, Caines, Hamish, Calcutt, Simon, Campante, Tiago, Canestrari, Rodolfo, Cann, Nick, Casali, Giada, Casas, Albert, Cassone, Giuseppe, Cara, Christophe, Carone, Ludmila, Carrasco, Nathalie, Chioetto, Paolo, Cortecchia, Fausto, Czupalla, Markus, Chubb, Katy L., Ciaravella, Angela, Claret, Antonio, Claudi, Riccardo, Codella, Claudio, Comas, Maya Garcia, Cracchiolo, Gianluca, Cubillos, Patricio, Da Peppo, Vania, Decin, Leen, Dejabrun, Clemence, Delgado-Mena, Elisa, Di Giorgio, Anna, Diolaiti, Emiliano, Dorn, Caroline, Doublier, Vanessa, Doumayrou, Eric, Dransfield, Georgina, Dumaye, Luc, Dunford, Emma, Escobar, Antonio Jimenez, Van Eylen, Vincent, Farina, Maria, Fedele, Davide, Fernández, Alejandro, Fleury, Benjamin, Fonte, Sergio, Fontignie, Jean, Fossati, Luca, Funke, Bernd, Galy, Camille, Garai, Zoltán, García, Andrés, García-Rigo, Alberto, Garufi, Antonio, Sacco, Giuseppe Germano, Giacobbe, Paolo, Gómez, Alejandro, Gonzalez, Arturo, Gonzalez-Galindo, Francisco, Grassi, Davide, Griffith, Caitlin, Guarcello, Mario Giuseppe, Goujon, Audrey, Gressier, Amélie, Grzegorczyk, Aleksandra, Guillot, Tristan, Guilluy, Gloria, Hargrave, Peter, Hellin, Marie-Laure, Herrero, Enrique, Hills, Matt, Horeau, Benoit, Ito, Yuichi, Jessen, Niels Christian, Kabath, Petr, Kálmán, Szilárd, Kawashima, Yui, Kimura, Tadahiro, Knížek, Antonín, Kreidberg, Laura, Kruid, Ronald, Kruijssen, Diederik J. M., Kubelík, Petr, Lara, Luisa, Lebonnois, Sebastien, Lee, David, Lefevre, Maxence, Lichtenberg, Tim, Locci, Daniele, Lombini, Matteo, Lopez, Alejandro Sanchez, Lorenzani, Andrea, MacDonald, Ryan, Magrini, Laura, Maldonado, Jesus, Marcq, Emmanuel, Migliorini, Alessandra, Modirrousta-Galian, Darius, Molaverdikhani, Karan, Molinari, Sergio, Mollière, Paul, Moreau, Vincent, Morello, Giuseppe, Morinaud, Gilles, Morvan, Mario, Moses, Julianne I., Mouzali, Salima, Nakhjiri, Nariman, Naponiello, Luca, Narita, Norio, Nascimbeni, Valerio, Nikolaou, Athanasia, Noce, Vladimiro, Oliva, Fabrizio, Palladino, Pietro, Papageorgiou, Andreas, Parmentier, Vivien, Peres, Giovanni, Pérez, Javier, Perez-Hoyos, Santiago, Perger, Manuel, Pestellini, Cesare Cecchi, Petralia, Antonino, Philippon, Anne, Piccialli, Arianna, Pignatari, Marco, Piotto, Giampaolo, Podio, Linda, Polenta, Gianluca, Preti, Giampaolo, Pribulla, Theodor, Puertas, Manuel Lopez, Rainer, Monica, Reess, Jean-Michel, Rimmer, Paul, Robert, Séverine, Rosich, Albert, Rossi, Loic, Rust, Duncan, Saleh, Ayman, Sanna, Nicoletta, Schisano, Eugenio, Schreiber, Laura, Schwartz, Victor, Scippa, Antonio, Seli, Bálint, Shibata, Sho, Simpson, Caroline, Shorttle, Oliver, Skaf, N., Skup, Konrad, Sobiecki, Mateusz, Sousa, Sergio, Sozzetti, Alessandro, Šponer, Judit, Steiger, Lukas, Tanga, Paolo, Tackley, Paul, Taylor, Jake, Tecza, Matthias, Terenzi, Luca, Tremblin, Pascal, Tozzi, Andrea, Triaud, Amaury, Trompet, Loïc, Tsai, Shang-Min, Tsantaki, Maria, Valencia, Diana, Vandaele, Ann Carine, Van der Swaelmen, Mathieu, Vardan, Adibekyan, Vasisht, Gautam, Vazan, Allona, Del Vecchio, Ciro, Waltham, Dave, Wawer, Piotr, Widemann, Thomas, Wolkenberg, Paulina, Yip, Gordon Hou, Yung, Yuk, Zilinskas, Mantas, Zingales, Tiziano, and Zuppella, Paola

Subjects
Astrophysics - Instrumentation and Methods for Astrophysics, Astrophysics - Earth and Planetary Astrophysics
Abstract

Ariel, the Atmospheric Remote-sensing Infrared Exoplanet Large-survey, was adopted as the fourth medium-class mission in ESA's Cosmic Vision programme to be launched in 2029. During its 4-year mission, Ariel will study what exoplanets are made of, how they formed and how they evolve, by surveying a diverse sample of about 1000 extrasolar planets, simultaneously in visible and infrared wavelengths. It is the first mission dedicated to measuring the chemical composition and thermal structures of hundreds of transiting exoplanets, enabling planetary science far beyond the boundaries of the Solar System. The payload consists of an off-axis Cassegrain telescope (primary mirror 1100 mm x 730 mm ellipse) and two separate instruments (FGS and AIRS) covering simultaneously 0.5-7.8 micron spectral range. The satellite is best placed into an L2 orbit to maximise the thermal stability and the field of regard. The payload module is passively cooled via a series of V-Groove radiators; the detectors for the AIRS are the only items that require active cooling via an active Ne JT cooler. The Ariel payload is developed by a consortium of more than 50 institutes from 16 ESA countries, which include the UK, France, Italy, Belgium, Poland, Spain, Austria, Denmark, Ireland, Portugal, Czech Republic, Hungary, the Netherlands, Sweden, Norway, Estonia, and a NASA contribution., Comment: Ariel Definition Study Report, 147 pages. Reviewed by ESA Science Advisory Structure in November 2020. Original document available at: https://www.cosmos.esa.int/documents/1783156/3267291/Ariel_RedBook_Nov2020.pdf/

Published
2021

5. Wavelet-based temporal models of human activity for anomaly detection in smart robot-assisted environments

Author

Fernandez-Carmona, Manuel, Mghames, Sariah, and Bellotto, Nicola

Subjects
Computer Science - Artificial Intelligence, Electrical Engineering and Systems Science - Signal Processing, 68T10
Abstract

Abstract. Detecting anomalies in patterns of sensor data is important in many practical applications, including domestic activity monitoring for Active Assisted Living (AAL). How to represent and analyse these patterns, however, remains a challenging task, especially when data is relatively scarce and an explicit model is required to be fine-tuned for specific scenarios. This paper, therefore, presents a new approach for temporal modelling of long-term human activities with smart-home sensors, which is used to detect anomalous situations in a robot-assisted environment. The model is based on wavelet transforms and used to forecast smart sensor data, providing a temporal prior to detect unexpected events in human environments. To this end, a new extension of Hybrid Markov Logic Networks has been developed that merges different anomaly indicators, including activities detected by binary sensors, expert logic rules, and wavelet-based temporal models. The latter in particular allows the inference system to discover deviations from long-term activity patterns, which cannot be detected by simpler frequency-based models. Two new publicly available datasets were collected using several smart-sensors to evaluate the approach in office and domestic scenarios. The experimental results demonstrate the effectiveness of the proposed solutions and their successful deployment in complex human environments, showing their potential for future smart-home and robot integrated services., Comment: 20 pages, 6 figures

Published
2020
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