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(MARGOT) Monocular Camera-Based Robot Grasping Strategy for Metallic Objects / Almagro, Carlos Veiga (CERN ; Jaume I U., Castellon) ; Orrego, Renato Andrés Muñoz (CERN ; Madrid U.) ; González, Álvaro García (CERN) ; Matheson, Eloise (CERN) ; Prades, Raúl Marín (Jaume I U., Castellon) ; Di Castro, Mario (CERN) ; Pérez, Manuel Ferre (Madrid U.)
Robotic handling of objects is not always a trivial assignment, even in teleoperation where, in most cases, this might lead to stressful labor for operators. To reduce the task difficulty, supervised motions could be performed in safe scenarios to reduce the workload in these non-critical steps by using machine learning and computer vision techniques. [...]
2023 - 27 p. - Published in : Sensors 23 (2023) 5344 Fulltext: PDF;

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(91)

Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios / Almagro, Carlos Veiga (CERN ; Jaume I U., Castellon) ; Lunghi, Giacomo (CERN ; Jaume I U., Castellon) ; Castro, Mario Di (CERN) ; Beltran, Diego Centelles (Jaume I U., Castellon) ; Prades, Raúl Marín (Jaume I U., Castellon) ; Masi, Alessandro (CERN) ; Sanz, Pedro J (Jaume I U., Castellon)
The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans. However, currently available robotic systems lack that level of usability which would allow inexperienced operators to accomplish complex tasks. [...]
2020 - 30 p. - Published in : Appl. Sciences 10 (2020) 6144 Fulltext: PDF;

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(64)

Monocular Robust Depth Estimation Vision System for Robotic Tasks Interventions in Metallic Targets / Veiga Almagro, Carlos (CERN) ; Di Castro, Mario (CERN ; Madrid, Polytechnic U.) ; Lunghi, Giacomo (CERN ; Jaume I U., Castellon) ; Marín Prades, Raúl (CERN ; Jaume I U., Castellon) ; Sanz Valero, Pedro José (Jaume I U., Castellon) ; Pérez, Manuel Ferre (Madrid, Polytechnic U.) ; Masi, Alessandro (CERN)
Robotic interventions in hazardous scenarios need to pay special attention to safety, as in most cases it is necessary to have an expert operator in the loop. Moreover, the use of a multi-modal Human-Robot Interface allows the user to interact with the robot using manual control in critical steps, as well as semi-autonomous behaviours in more secure scenarios, by using, for example, object tracking and recognition techniques. [...]
2019 - Published in : Sensors 19 (2019) 3220 Fulltext from publisher: PDF;

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(59)

MiniCERNBot Educational Platform: Antimatter Factory Mock-up Missions for Problem-Solving STEM Learning / Garcés, Josep Marín (CERN) ; Veiga Almagro, Carlos (CERN ; Jaume I U., Castellon) ; Lunghi, Giacomo (Jaume I U., Castellon) ; Di Castro, Mario (CERN) ; Buonocore, Luca Rosario (CERN) ; Prades, Raúl Marín (Jaume I U., Castellon) ; Masi, Alessandro (CERN)
Mechatronics and robotics appeared particularly effective in students’ education, allowing them to create non-traditional solutions in STEM disciplines, which have a direct impact and interaction with the world surrounding them. This paper presents the current state of the MiniCERNBot Educational Robotic platform for high-school and university students. [...]
2021 - 12 p. - Published in : Sensors 21 (2021) 1398 Fulltext from publisher: PDF;

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(16)

Object Detection and 6D Pose Estimation for Precise Robotic Manipulation in Unstructured Environments / di Castro, Mario (CERN ; UPM-CSIC) ; Camarero Vera, Jorge (CERN) ; Ferre, Manuel (UPM-CSIC) ; Masi, Alessandro (CERN)
2020 - 11 p. - Published in : 10.1007/978-3-030-11292-9_20
In : The 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Madrid, Spain, 26 - 28 Jul 2017, pp.392-403

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(16)

Mixed Reality Human–Robot Interface With Adaptive Communications Congestion Control for the Teleoperation of Mobile Redundant Manipulators in Hazardous Environments / Szczurek, Krzysztof Adam (CERN ; Jaume I U., Castellon) ; Prades, Raul Marin (Jaume I U., Castellon) ; Matheson, Eloise (CERN) ; Rodriguez-Nogueira, Jose (CERN) ; Castro, Mario Di (CERN)
2022 - 35 p. - Published in : IEEE Access 10 (2022) 87182-87216 Fulltext: PDF;

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(14)

Design development and implementation of an irradiation station at the neutron time-of-flight facility at CERN / n_TOF Collaboration
A new parasitic, mixed-field, neutron-dominated irradiation station has been recently commissioned at the European Laboratory for Particle Physics (CERN). The station is installed in the Neutron Time-Of-Flight (n_TOF) facility, taking advantage of the secondary radiation produced by the neutron spallation target. [...]
arXiv:2202.12809.- 2022-10-03 - 49 p. - Published in : Phys. Rev. Accel. Beams 25 (2022) 103001 Fulltext: 2202.12809 - PDF; Publication - PDF;

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(12)

Adaptive Radiation Survey Using an Autonomous Robot Executing LiDAR Scans in the Large Hadron Collider / Gamper, Hannes (CERN ; JKU, Linz) ; Forkel, David (CERN ; Jaume I U.) ; Rosales, Alejandro Díaz (CERN ; Delft Tech. U.) ; Garai, Jorge Playán (CERN) ; Almagro, Carlos Veiga (CERN ; Jaume I U.) ; Buonocore, Luca Rosario (CERN) ; Matheson, Eloise (CERN) ; Di Castro, Mario (CERN)
At CERN, radiation surveys of equipment and beam lines are important for safety and analysis throughout the accelerator complex. Radiation measurements are highly dependent on the distance between the sensor and the radiation source. [...]
2023 - Published in : Springer Proceedings in Advanced Robotics 27 (2023) 295-303
In : 20th International Symposium on Robotics Research (ISRR 2022), Geneva, Switzerland, 25 - 30 Sep 2022, pp.295-303

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(11)

Visual control through narrow passages for an omnidirectional wheeled robot / Morra, Damiano (Naples U.) ; Cervera, Enric (Jaume I U., Castellon) ; Buonocore, Luca Rosario (CERN) ; Cacace, Jonathan (Naples U.) ; Ruggiero, Fabio (Naples U.) ; Lippiello, Vincenzo (Naples U.) ; Castro, Mario Di (CERN)
Robotic systems are gradually replacing human intervention in dangerous facilities to improve human safety and prevent risky situations. In this domain, our work addresses the problem of autonomous crossing narrow passages in a semi-structured (i.e., partially-known) environment. [...]
2022 - 6 p. - Published in : 10.1109/MED54222.2022.9837221

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A Multidimensional RSSI Based Framework for Autonomous Relay Robots in Harsh Environments / Di Castro, Mario (CERN) ; Lunghi, Giacomo (CERN) ; Masi, Alessandro (CERN) ; Ferre, Manuel (Madrid, Polytechnic U.) ; Prades, Raul Marin (Jaume I U., Castellon)
Robotic tele-operation is essential for many dangerous applications, like inspection and manipulation in human hazardous environments. Also, the current state of the art in robotic tele-operation shows the necessity to increase distance between the operator and the robot, while maintaining safety of the operation. [...]
2019 - 6 p. - Published in : 10.1109/irc.2019.00035
In : 3rd IEEE International Conference on Robotic Computing (IRC 2019), Naples, Italy, 25 - 27 Feb 2019, pp.183-188

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