Change search
Link to record
Permanent link

Direct link
Publications (10 of 181) Show all publications
De la Rosa, J. P., Solis, J., Nakamori, K., Garcia Ricardez, G. A., Håkansson, J., Sørensen, A. S. & Rocha Silva, T. (2024). From Gestures to Behaviours: An Empirical Study on Behaviour-Driven Development Scenarios to Support End-User Programming of Collaborative Robots. In: Lotfi Romdhane, Abdelfattah Mlika, Saïd Zeghloul, Abdelbadia Chaker, Med Amine Laribi (Ed.), Proceedings International Symposium on Robotics and Mechatronics: . Paper presented at 8th IFToMM International Symposium on Robotics and Mechatronics, Djerba, Tunisia, April 17-19, 2024. (pp. 369-381). Springer, 158
Open this publication in new window or tab >>From Gestures to Behaviours: An Empirical Study on Behaviour-Driven Development Scenarios to Support End-User Programming of Collaborative Robots
Show others...
2024 (English)In: Proceedings International Symposium on Robotics and Mechatronics / [ed] Lotfi Romdhane, Abdelfattah Mlika, Saïd Zeghloul, Abdelbadia Chaker, Med Amine Laribi, Springer, 2024, Vol. 158, p. 369-381Conference paper, Published paper (Refereed)
Abstract [en]

In this paper we introduce an end-user programming approach for defining interaction sequences with collaborative robots using gestures. The approach relies on a textual domain-specific language (DSL) to allow end users to specify the expected robot behaviour through Behaviour-Driven Development (BDD) scenarios. To evaluate the feasibility of our approach, we conducted a user study with 12 participants having an entry level in programming. The participants were asked to code a sequence in which the collaborative robot responds to their body gestures by performing a pick-and-place task. The study’s findings indicate that the method is both effective and user-friendly for individuals with limited programming experience, while highlighting opportunities for adopting new end-user development practices. 

Place, publisher, year, edition, pages
Springer, 2024
Series
Mechanisms and Machine Science, ISSN 2211-0984, E-ISSN 2211-0992 ; 158
Keywords
Digital subscriber lines, Microrobots, Multipurpose robots, Robot applications, Robot programming, Social robots, Behavior-driven development, Collaborative robots, Development scenarios, Domain-specific language, Domains specific languages, Empirical studies, End-user programming, End-users, Industry 5.0, Multimodal Interaction, Collaborative robots
National Category
Robotics and automation Computer Sciences
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-102140 (URN)10.1007/978-3-031-59888-3_33 (DOI)2-s2.0-85206092078 (Scopus ID)978-3-031-59887-6 (ISBN)978-3-031-59888-3 (ISBN)
Conference
8th IFToMM International Symposium on Robotics and Mechatronics, Djerba, Tunisia, April 17-19, 2024.
Available from: 2024-11-05 Created: 2024-11-05 Last updated: 2025-02-05Bibliographically approved
Zanol, G. C., Solis, J. & Bergstrand, K.-J. (2024). Intelligent lighting control system for greenhouses with a high proportion of local renewable energy. In: : . Paper presented at European Horticulture Congress, 12-16 May 2024, Bucharest, Romania.
Open this publication in new window or tab >>Intelligent lighting control system for greenhouses with a high proportion of local renewable energy
2024 (English)Conference paper, Oral presentation with published abstract (Refereed)
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering Horticulture
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-100113 (URN)
Conference
European Horticulture Congress, 12-16 May 2024, Bucharest, Romania
Available from: 2024-06-13 Created: 2024-06-13 Last updated: 2024-07-11Bibliographically approved
Tornberg, C., Ei Hafi, L., Uriguen Eljuri, P. M., Yamamoto, M., Garcia Ricardez, G. A., Solis, J. & Taniguchi, T. (2024). Mixed Reality-Based 6D-Pose Annotation System for Robot Manipulation in Retail Environments. In: The proceedings of 2024 IEEE/SICE International Symposium on System Integration (SII): . Paper presented at IEEE/SICE International Symposium on System Integration, Ha Long, Vietnam, January 8-11, 2024. (pp. 1425-1432). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>Mixed Reality-Based 6D-Pose Annotation System for Robot Manipulation in Retail Environments
Show others...
2024 (English)In: The proceedings of 2024 IEEE/SICE International Symposium on System Integration (SII), Institute of Electrical and Electronics Engineers (IEEE), 2024, p. 1425-1432Conference paper, Published paper (Refereed)
Abstract [en]

Robot manipulation in retail environments is a challenging task due to the need for large amounts of annotated data for accurate 6D-pose estimation of items. Onsite data collection, additional manual annotation, and model fine-tuning are often required when deploying robots in new environments, as varying lighting conditions, clutter, and occlusions can significantly diminish performance. Therefore, we propose a system to annotate the 6D pose of items using mixed reality (MR) to enhance the robustness of robot manipulation in retail environments. Our main contribution is a system that can display 6D-pose estimation results of a trained model from multiple perspectives in MR, and enable onsite (re-)annotation of incorrectly inferred item poses using hand gestures. The proposed system is compared to a PC-based annotation system using a mouse and the robot camera’s point cloud in an extensive quantitative experiment. Our experimental results indicate that MR can increase the accuracy of pose annotation, especially by reducing position errors.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2024
Keywords
Mammals, Annotation systems, Data collection, Fine tuning, Large amounts, Lighting conditions, Manual annotation, Mixed reality, Pose-estimation, Robot manipulation, Varying lighting, Mixed reality
National Category
Robotics and automation
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-99148 (URN)10.1109/SII58957.2024.10417443 (DOI)2-s2.0-85186266074 (Scopus ID)979-8-3503-1208-9 (ISBN)979-8-3503-1207-2 (ISBN)
Conference
IEEE/SICE International Symposium on System Integration, Ha Long, Vietnam, January 8-11, 2024.
Available from: 2024-04-03 Created: 2024-04-03 Last updated: 2025-02-09Bibliographically approved
Solis, J., Nakamori, K., Garcia Ricardez, G. A. & Håkansson, J. (2023). Body gesture recognition for collaborative robots. In: Abstract Booklet of the 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science: . Paper presented at The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science,Tokyo, Japan, November 5-10, 2023. (pp. 61-62). International Federation for the Promotion of Mechanism and Machine Science
Open this publication in new window or tab >>Body gesture recognition for collaborative robots
2023 (English)In: Abstract Booklet of the 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, International Federation for the Promotion of Mechanism and Machine Science , 2023, p. 61-62Conference paper, Oral presentation with published abstract (Refereed)
Place, publisher, year, edition, pages
International Federation for the Promotion of Mechanism and Machine Science, 2023
National Category
Human Computer Interaction
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-97365 (URN)
Conference
The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science,Tokyo, Japan, November 5-10, 2023.
Available from: 2023-11-12 Created: 2023-11-12 Last updated: 2024-03-18Bibliographically approved
Solis, J., Bergstrand, K.-J., Egyna, D., Andersson, I. M., Nilsson, M., Zanol, G. C. & Burman, S.-P. (2023). System Integration of an Intelligent Lighting Control System for Greenhouses with a High Proportion of Local Renewable Energy. In: 2023 IEEE/SICE International Symposium on System Integration (SII): . Paper presented at 2023 IEEE/SICE International Symposium on System Integration, SII 2023. 17-20 January 2023, Atlanta, GA, USA. IEEE
Open this publication in new window or tab >>System Integration of an Intelligent Lighting Control System for Greenhouses with a High Proportion of Local Renewable Energy
Show others...
2023 (English)In: 2023 IEEE/SICE International Symposium on System Integration (SII), IEEE, 2023Conference paper, Published paper (Refereed)
Abstract [en]

Our research aims to develop an intelligent control system for optimizing the operation of lighting systems in greenhouses with a high proportion of local renewable energy using adaptive control methods, artificial intelligence algorithms and optimization of built-in lighting control. Through this, lighting systems will be optimized, energy consumption will be minimized and the lighting system will be adapted to be able to handle a larger amount of local renewable energy production. Due to the level of complexity, in this paper, we have focused to integrate a climate controlled greenhouse and the solar energy system. In particular, their respective components were selected and integrated by means of a distributed control architecture. As a first approach, the estimation of the solar power production from the solar cell panels was done based on the solar irradiation registered by the solar irradiation sensor embedded in the outdoor climate sensor system from the greenhouse.

Place, publisher, year, edition, pages
IEEE, 2023
Series
EEE/SICE International Symposium on System Integration, ISSN 2474-2317, E-ISSN 2474-2325
Keywords
Adaptive control systems, Distributed parameter control systems, Energy utilization, Irradiation, Lighting, Lighting fixtures, Solar cells, Solar energy, Solar radiation, Adaptive control methods, Artificial intelligence algorithms, Intelligent lightings, Lighting controls, Lighting systems, Local renewable, Renewable energies, Renewable energy using, Solar irradiation, System integration, Greenhouses
National Category
Energy Engineering Energy Systems
Research subject
Biology; Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-93967 (URN)10.1109/SII55687.2023.10039148 (DOI)2-s2.0-85149145572 (Scopus ID)979-8-3503-9868-7 (ISBN)979-8-3503-9869-4 (ISBN)
Conference
2023 IEEE/SICE International Symposium on System Integration, SII 2023. 17-20 January 2023, Atlanta, GA, USA
Available from: 2023-03-20 Created: 2023-03-20 Last updated: 2023-03-20Bibliographically approved
Garcia Ricardez, G. A., Törnberg, C., El Hafi, L., Solis, J. & Taniguchi, T. (2023). Toward safe and efficient human-robot teams: Mixed reality-based robot motion and safety index visualization. In: Abstract Booklet of the 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science: . Paper presented at The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science,Tokyo, Japan, November 5-10, 2023. (pp. 53-54). International Federation for the Promotion of Mechanism and Machine Science
Open this publication in new window or tab >>Toward safe and efficient human-robot teams: Mixed reality-based robot motion and safety index visualization
Show others...
2023 (English)In: Abstract Booklet of the 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science, International Federation for the Promotion of Mechanism and Machine Science , 2023, p. 53-54Conference paper, Oral presentation with published abstract (Refereed)
Place, publisher, year, edition, pages
International Federation for the Promotion of Mechanism and Machine Science, 2023
National Category
Robotics and automation
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kau:diva-97364 (URN)
Conference
The 16th World Congress of the International Federation for the Promotion of Mechanism and Machine Science,Tokyo, Japan, November 5-10, 2023.
Available from: 2023-11-12 Created: 2023-11-12 Last updated: 2025-02-09Bibliographically approved
Solis, J., Råberg, A., Andre, J. & Nilsson, M. (2021). Analyzing the effect of snow in PV regulator response in a PV solar park. In: 9th International Conference on Smart Grid, icSmartGrid 2021: . Paper presented at 9th International Conference on Smart Grid, icSmartGrid 2021, 29 June 2021 through 1 July 2021 (pp. 72-75). IEEE
Open this publication in new window or tab >>Analyzing the effect of snow in PV regulator response in a PV solar park
2021 (English)In: 9th International Conference on Smart Grid, icSmartGrid 2021, IEEE, 2021, p. 72-75Conference paper, Published paper (Refereed)
Abstract [en]

In the Nordic countries, the snow in the solar panels affects considerably the solar energy production and the detection of its effects can be an issue due to the outdoor climate conditions. Our research aims to develop intelligent control systems for photovoltaic systems that adapts after variable environmental conditions. One of these conditions is the presence of snow or other form of pollution. In this paper, we focus to investigate whether it is possible to detect snow on a solar panel (off-grid) without using additional external sensors as well to investigate how snow affects the efficiency, current and power on a grid-connected solar panel. For this purpose, a set of experiments were proposed and carried out in a PV solar park. © 2021 IEEE.

Place, publisher, year, edition, pages
IEEE, 2021
Keywords
Environmental effect, Experimental methods, Monitoring, PV solar park, Snow detection, Photovoltaic cells, Solar cell arrays, Solar concentrators, Solar energy, Climate condition, Energy productions, Nordic countries, Outdoor climate, Photovoltaic systems, Solar panels, Solar parks, Snow
National Category
Physical Sciences Energy Systems
Research subject
Physics
Identifiers
urn:nbn:se:kau:diva-88818 (URN)10.1109/icSmartGrid52357.2021.9551233 (DOI)2-s2.0-85117370462 (Scopus ID)9781665445313 (ISBN)
Conference
9th International Conference on Smart Grid, icSmartGrid 2021, 29 June 2021 through 1 July 2021
Available from: 2022-02-28 Created: 2022-02-28 Last updated: 2022-03-31Bibliographically approved
Venture, G., Solis, J., Takeda, Y. & Konno, A. (2021). Preface. In: G Venture ; J Solis ; Y Takeda ; A Konno (Ed.), ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMM Symposium. Paper presented at Gathers the proceedings of the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators (ROMANSY), held in Sapporo, Japan, on September 20–24. Springer Science+Business Media B.V.
Open this publication in new window or tab >>Preface
2021 (English)In: ROMANSY 23 - Robot Design, Dynamics and Control: Proceedings of the 23rd CISM IFToMM Symposium / [ed] G Venture ; J Solis ; Y Takeda ; A Konno, Springer Science+Business Media B.V., 2021Conference paper, Published paper (Refereed)
Place, publisher, year, edition, pages
Springer Science+Business Media B.V., 2021
Series
CISM International Centre for Mechanical Sciences. Courses Lectures, ISSN 0254-1971 ; 601
National Category
Mechanical Engineering Robotics and automation
Identifiers
urn:nbn:se:kau:diva-83048 (URN)2-s2.0-85092337220 (Scopus ID)
Conference
Gathers the proceedings of the 23rd CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators (ROMANSY), held in Sapporo, Japan, on September 20–24
Available from: 2021-02-21 Created: 2021-02-21 Last updated: 2025-02-05Bibliographically approved
Solis, J., Karlsson, C., Johansson, S. & Richardsson, K. (2021). Towards the Development of an Automatic UAV-Based Indoor Environmental Monitoring System: Distributed Off-Board Control System for a Micro Aerial Vehicle. Applied Sciences: APPS, 11(5), Article ID 2347.
Open this publication in new window or tab >>Towards the Development of an Automatic UAV-Based Indoor Environmental Monitoring System: Distributed Off-Board Control System for a Micro Aerial Vehicle
2021 (English)In: Applied Sciences: APPS, E-ISSN 1454-5101, Vol. 11, no 5, article id 2347Article in journal (Refereed) Published
Abstract [en]

This research aims to develop an automatic unmanned aerial vehicle (UAV)-based indoor environmental monitoring system for the acquisition of data at a very fine scale to detect rapid changes in environmental features of plants growing in greenhouses. Due to the complexity of the proposed research, in this paper we proposed an off-board distributed control system based on visual input for a micro aerial vehicle (MAV) able to hover, navigate, and fly to a desired target location without considerably affecting the effective flight time. Based on the experimental results, the MAV was able to land on the desired location within a radius of about 10 cm from the center point of the landing pad, with a reduction in the effective flight time of about 28%.

Place, publisher, year, edition, pages
MDPI, 2021
Keywords
micro aerial vehicles, visual-based control, Kalman filter
National Category
Robotics and automation
Research subject
Computer Science
Identifiers
urn:nbn:se:kau:diva-83442 (URN)10.3390/app11052347 (DOI)000627963900001 ()2-s2.0-85102713457 (Scopus ID)
Available from: 2021-03-16 Created: 2021-03-16 Last updated: 2025-02-09Bibliographically approved
Solis, J., Kato, C., Ericsson, J. & Nilsson, M. (2020). Cost benefit analysis for bussiness model in a grid connected pv system with energy storage. In: : . Paper presented at 37th European PV Solar Energy Conference and Exhibition (EU PVSEC) 7-11 September 2020 (pp. 7DV.1.15).
Open this publication in new window or tab >>Cost benefit analysis for bussiness model in a grid connected pv system with energy storage
2020 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Energy storage system is important to use electricity effectively from PV solar cell system. One big problem is how to choose business model for setting of Energy storage system. For effective use of energy from PV solar cell and economical use, it is important to select appropriate parameter for setting and compare their cost. In this study, we aim to understand each setting for Energy storage system and calculate cost for each business model to optimize parameter setting. Three business model we tested in this study was Self consumption, Peak shaving and Peak shifting for 4 seasons. We built the simulator by Matlab and find the best parameter to reduce peak at highest mean hour for each month. From results of simulation and calculation, it is found that Peak shaving is best parameter for most seasons, but calculation method from another approach is needed for more detail discussion

National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kau:diva-80107 (URN)
Conference
37th European PV Solar Energy Conference and Exhibition (EU PVSEC) 7-11 September 2020
Available from: 2020-09-08 Created: 2020-09-08 Last updated: 2020-11-25Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0002-6865-7346

Search in DiVA

Show all publications