Presented a Master Thesis about remote environment modelling for off-line robot programming

The student J.C. Camacho presented a work called “3D MODEL DRIVEN DISTANT ASSEMBLY” about remote environment modelling for off-line programming, using computer vision.

He uses structured light and robot parallax to build geometrical models of the objects found. These models are later used to build automatic assembly plans.

Virtual pillars and camera motion are used for  model building.

Virtual pillars and camera motion are used for model building.

This work was developed at the Wise-ShopFloor research group from the Skövde University, wher he worked with J. Cana Quijada, under the tutoring of Abdullah Mohammed.

A remote programming interface was also developped

A remote programming interface was also developped

The project report (3D model driven distant assembly) was written in english and includes an abstract in spanish.


My brother

Miguel Angel

Miguel Angel

Miguel Ángel Gómez de Gabriel died on July, the 27th, 2014.

Was born in Córdoba (Spain) when I was just one and a half years old.

Great father of two little girls, good husband, excellent friend and best brother. Not always well understood.

Life didn’t played fair with him and Death caught him trying to be happy again.

Rest in Peace.

Wall-E Animatronic Robot at a Comic Conference

Last weekend Wall-e showed its last capabilities:

– Head-Arm Gesture control.

– Locomotion control.

– Central controller Wireless communication (raspberry pi based).

– LoL (Lots of LiPo’s)

Esteban and Felix had a very hard work to get all this working together.

People enjoyed watching this expressive character.

Among other things to be done are:

– Minor surgery on its left arm.

– A little brain able to link all its sensors with the locomotion and gesture system.

I’m using this platform as a valuable tool for student Master Thesis. They learn a lot and have a good time. So students are wanted to complete the robot.

… and BTW, If you are in the area and interested on a Show. Let us know!



The PIERO mechanical design available for download

PIERO is a mobile platform for educational purposes. It is modular, layered, open source, arduino controlled and can be programmed under the simulink environment.

If you are interested in the project, visit the PIERO page at: and download the latest CAD files in sketchup format.



How to remote reset your arduino with bluefruit from matlab

I’m using the bluefruit bluetooth adaptor for the arduino controlled mobile robot Piero


Soldering JST PH male socket connectors to the bluefruit modules

This module is very useful for mobile robotics since is allows you to communicate wireless with your arduino and more important: to remote program the arduino.

In order to reprogram your arduino, the module needs (apart from dynamically adapt its uart speed) to invoke the arduino bootloader by resetting the microcontroller. This is done by using the module’s DTR output. This signal is connected to the arduino’s reset line trough a high-pass filter (electrolitic capacitor in series), as described in this tutorial. This hardware handshake signal can be controlled if you are using bluetooth EDR 4.0 or later, so choose your computer adapter carefully.

If you just want to remote resetting your arduino and you are using matlab this is all you have to do is to switch on and off the DTR line (Data Terminal Ready). Assuming that the com port for the bluetooth device is “COM20”, write in the matlab’s console:

s.DataTerminalReady = 'on';
s.DataTerminalReady = 'off';

This way, the arduino receives a short pulse with a duration that depends on the capacitor size. Enough to reset the micro, but short to let your program run.


Goodbye, “Computer Controlled Systems” subject

I have been teaching this subject for 25 years until today, the course 2013-14.

The study programs change and this subject belongs to a program that is no longer alive. I just evaluated the tests of the last course.

This year I had the biggest amount of students I ever had in this subject. This made me change the way I did the laboratory lessons with extra work, but I didn’t care because I’ve had such a nice group students.


I feel a bit sad about it but I’m excited about what’s to come! I’m hungry, and way too foolish.

Computer Controlled Systems 2013-14 by Slidely Slideshow


Thanks to, absolutely all, my students.


Presented Master Thesis about a 3D Printer Color Extruder

Today, Víctor Andueza just presented its Master Thesis for the spanish Industrial Engineering title. He did a great presentation (Soon available in spanish) about a big work developed in the laboratories of the department of Systems Engineering and Automation of the University of Málaga.Vanduezaproject

He designed and built a multifilament ABS color extruder for 3D printing, capable of generating virtually any color based on three primary colors plus black and white. That’s a multidisciplinary work, where analysis, design, implementation and experiments have been done by the student.

Thanks to the tribunal too. They were interested in many aspects and maintained an interesting debate. Victor obtained the maximum qualification. Congratulations.

This work couldn’t have been possible, again without the collaboration of UNO Engineering. Thanks, Alejandro.

More details about this project are going to be published in this blog soon.


Stay tuned

PIERO is almost ready

More laser-cut acrylic components arrived from Ingeniería UNO workshops for the PIERO educational robot.

The finishing is excellent and everything is looking good.

The arduinos Mega are stuck in a post office in Barajas and it’s going to take a while to get them.

So far we have tested the LM298 with the EMG30 and although the encoder resolution is low, a x4 decoding interface is going to be enough for the platform PID speed control.

CAM00165 (1)


Thank you, Alejandro. Great design and accurate manufacturing!

Soon, the fully assembled prototypes.