@conference {270, title = {Improving local symmetry estimations in rgb-d images by fiting superquadrics}, booktitle = {XXXVII Jornadas de Autom{\'a}tica}, year = {2016}, month = {09/2016}, address = {Madrid (Spain)}, isbn = { 978-84-617-4298-1}, author = {Fornas, David and Sanz, Pedro J. and Porta, Josep M. and THomas, Federico} } @conference {182, title = {Autonomous Intervention on an Underwater Panel mockup by using Visually-Guided Manipulation Techniques}, booktitle = {19th IFAC World Congress}, year = {2014}, month = {08/2014}, address = {Cape Town (South Africa)}, author = {Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J. and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l} } @conference {187, title = {Avances recientes en manipulaci{\'o}n subacu{\'a}tica en el subproyecto GRASPER}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Javier P{\'e}rez and Sales, J. and Garc{\'\i}a, Juan Carlos and Fornas, David and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {194, title = {Casos de uso y mejoras de un robot humanoide de bajo coste}, booktitle = {XXXV Jornadas de Autom{\'a}tica}, year = {2014}, month = {09/2014}, address = {Valencia, Spain}, author = {Garc{\'\i}a, Juan Carlos and Felip, J. and Veiga, Carlos and Sanz, Pedro J.} } @conference {188, title = {Configuraci{\'o}n y ejecuci{\'o}n de benchmarks de intervenci{\'o}n rob{\'o}tica submarina en UWSim mediante herramientas Web}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Javier P{\'e}rez and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Sanz, Pedro J.} } @conference {189, title = {Desarrollo de un sensor subacu{\'a}tico ultras{\'o}nico y RF para posicionamiento en tareas de manipulaci{\'o}n rob{\'o}tica}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Centelles, Diego and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Fornas, David and Sanz, Pedro J.} } @conference {186, title = {Improving autonomous underwater grasp specification using primitive shape fitting in point clouds}, booktitle = {Seventeenth International Conference of the Catalan Association of Artificial Intelligence (CCIA 2014)}, year = {2014}, month = {10/2014}, publisher = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, organization = {IOS Press (Frontiers in Artificial Intelligence and Applications)}, address = {Barcelona (Spain)}, abstract = {
This paper presents a research in progress towards autonomous under-
water robot manipulation. Current research in underwater robotics intends to increase the autonomy of intervention operations that require physical interaction.\ Autonomous grasping is still a very challenging skill, especially in underwater environments, with highly unstructured scenarios, limited availability of sensors and\ adverse conditions that affect the robot perception and control systems in various\ degrees. To tackle those issues, we propose the use of vision and segmentation\ techniques that aim to improve the specification of grasping operations on underwater primitive shaped objects. Several sources of stereo information are used to\ gather 3D information in order to obtain a model of the object. Using a RANSAC\ primitive shape recognition algorithm, the model parameters are estimated and a\ set of feasible grasps are computed. This approach is validated in simulation and\ the quality of different 3D reconstructions from both real and virtual scenarios is\ analyzed.
}, keywords = {grasp specification, point cloud, RANSAC, shape fitting, underwater autonomous grasping, UWSim underwater realistic simulator}, isbn = {978-1-61499-451-0 (print) | 978-1-61499-452-7 (online)}, doi = {10.3233/978-1-61499-452-7-45}, author = {Fornas, David and Sales, J. and Pe{\~n}alver, Antonio and Javier P{\'e}rez and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J.} } @inbook {183, title = {Robotic Manipulation within the Underwater Mission Planning context: A Use Case for Benchmarking}, booktitle = {Motion and Operation Planning of Robotics System: Background and Practical Approaches}, year = {2014}, pages = {483-510}, abstract = {


}, issn = {978-3-319-14705-5}, author = {Javier P{\'e}rez and Sales, J. and Pe{\~n}alver, Antonio and Fern{\'a}ndez, Jos{\'e} Javier and Sanz, Pedro J. and Garc{\'\i}a, Juan Carlos and Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fornas, David} } @conference {190, title = {Survey on Progressive Image Compression and Transmission and its application in Underwater Intervention Missions}, booktitle = {XX Jornadas de Autom{\'a}tica 2014}, year = {2014}, month = {09/2014}, author = {Moscoso, E. and Mar{\'\i}n, Ra{\'u}l and Sales, J. and Sanz, Pedro J.} } @conference {181, title = {Web-based configuration tool for benchmarking of simulated intervention autonomous underwater vehicles}, booktitle = {IEEE International Conference on Autonomous Robot Systems and Competitions {\textendash} ROB{\'O}TICA 2014}, year = {2014}, month = {05/2014}, address = {Espinho (Portugal)}, abstract = {

Benchmarking is nowadays an issue on robotic
research platforms, due to the fact that it is not easy to reproduce
previous experiments and knowing in detail in which real condi-
tions other algorithms have been performed. Having a web-based
tool to configure and execute benchmarks opens the door to new
opportunities as the design of virtual tele-laboratories that permit
the implementation of new algorithms using specific and detailed
constraints. This is fundamental for designing benchmarks that
allow the experiments to be made in a more scientific manner,
taking into account that these experiments should be able to be
reproduced again by other people under the same circumstances.
In the context of underwater interventions with semi-autonomous
robots, the situation gets even more interesting. Experiments
performed by other researchers normally do not include the
whole set of real conditions such as visibility or even water
currents data that would allow the best scientific procedure.
Underwater interventions and specially those performed on real
sea scenarios are expensive, difficult to perform and reproduce.
The contribution of this work is an online configuration tool for
benchmarking using UWSim simulator which can provide an
enormous help for this particular scenario, as will be shown in
this paper.

}, isbn = {978-1-4799-4254-1}, author = {Javier P{\'e}rez and Sales, J. and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {149, title = {Benchmarking on UWSim, an open source tool for developing and evaluating underwater robots experiments}, booktitle = {Workshop on Human Robot Interaction (HRI), 2013 IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}13)}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, author = {Javier P{\'e}rez and Sales, Jorge and Prats, Mario and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J.} } @conference {179, title = {Primitive shape fitting in point clouds for enabling autonomous underwater grasping}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girona (Spain)}, abstract = {

Autonomous grasping of unknown objects by a
robot is a highly challenging skill that is receiving increasing
attention in the last years, and is still more challenging in
underwater environments, with highly unstructured scenarios,
limited availability of sensors and adverse conditions that affect
the robot perception and control systems. This paper describes
an approach for increase the autonomy of grasping operations
on underwater primitive shaped objects from floating vehicles,
in particular cylinder shaped objects like an amphora. Various
sources of stereo information are used to gather 3D information in
order to obtain a model of the object. Using a RANSAC primitive
shape recognition algorithm the model parameters are obtained
and a set of feasible grasps are computed. Then the user specifies
the best one or it is specified using analytical constraints. This
approach is tested with the UWSim simulator.

}, keywords = {autonomous grasping, point cloud, RANSAC, shape fitting, underwater}, isbn = {978-84-616-5764-3}, author = {Fornas, David and Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J.} } @conference {148, title = {Recent Progress in HRI for Underwater Robotic Intervention}, booktitle = {Workshop on Human Robot Interaction (HRI), 2013 IEEE International Conference on Robotics and Automation (ICRA{\textquoteright}13)}, year = {2013}, month = {05/2013}, address = {Karlsruhe, Germany}, author = {Garc{\'\i}a, Juan Carlos and Pe{\~n}alver, Antonio and Prats, Mario and Sanz, Pedro J.} } @conference {180, title = {Semi-autonomous grasping approach of unknown objects in underwater environments combining structured light and a virtual simulation environment}, booktitle = {5TH MARTECH International Workshop On Marine Technology}, year = {2013}, month = {10/2013}, address = {Girnoa (Spain)}, abstract = {

Many scientific and industrial works that take place
underwater are increasingly demanding for technology to allow
their autonomous execution. Autonomous grasping of unknown
objects by a robotic arm is a task that is being highly studied by
researchers in the last years. This is a really difficult task in itself,
but the problem is bigger if the grasp is done in underwater
environments, where the sensors that can be installed in the arm,
decrease their performance drastically. This paper describes an
approach for semi-autonomous grasping of underwater unknown
objects using a robotic arm. To achieve this purpose, a scan of the
scene is performed using a structured laser beam attached to the
forearm of the manipulator. At the same time, a digital video
camera is used to capture the scene. The laser stripes are
triangulated to obtain a 3D point cloud. The entire process is
shown inside an underwater simulator, acting in this case as a
virtual representation of the real environment. This virtual
representation allows the user to specify the grasp, to see how the
grasp will be executed, and to monitor the final process in real
time. To validate the good performance of the proposed
approach, several grasping experiments with two different objects
have been performed in water tank conditions with a real I-AUV
system.

}, keywords = {3D reconstruction, Intervention AUV, semiautonomous grasping, underwater recovery}, isbn = {978-84-616-5764-3}, author = {Pe{\~n}alver, Antonio and Prats, Mario and Fern{\'a}ndez, Jos{\'e} Javier and Sales, J.} } @conference {101, title = {Proposal of a REST-Based Architecture Server to Control a Robot}, booktitle = {Sixth International Conference on Innovative Mobile and Internet Services in Ubiquitous Computing}, year = {2012}, month = {07/2012}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Palermo}, isbn = {978-1-4673-1328-5}, author = {Esteller, Roger and Cervera, Enric and del Pobil, Angel P. and Mar{\'\i}n, Ra{\'u}l} } @conference {99, title = {A Test-Bed Internet Based Architecture Proposal for Benchmarking of Visual servoing Techniques}, booktitle = {Sixth International Conference on Innovative Mobile and Internet Services in Ubiquitous computing}, year = {2012}, month = {07/2012}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Palermo}, keywords = {Benchmark testing, benchmarking, Cameras, Computer architecture, Internet, MATLAB, REST, robotics, system architecture, Visual servoing}, isbn = {978-1-4673-1328-5}, author = {Esteller, Roger and del Pobil, Angel P. and Cervera, Enric and Mar{\'\i}n, Ra{\'u}l} } @conference {103, title = {ARIEL: Advanced radiofrequency indoor environment localization: Smoke conditions positioning}, booktitle = {Performance Control in Wireless Sensor Networks (IEEE International Conference on Distributed Comput.}, year = {2011}, month = {06/2011}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Barcelona}, abstract = {

Indoor sensor location is a complex task. In normal circumstances laser meters, ultrasonic meters or even image processing may be used to estimate the position of a given node at a particular moment. Indoor localization in low-visibility conditions due to smoke is one of the goals that has been studied within the EU GUARDIANS project (http://vision.eng.shu.ac.uk/mmvlwiki/index.php/GUARDIANS). When the density of the smoke grows beyond the 25\%, optical sensors such as laser and cameras are not efficient anymore. In these scenarios other sensors must be studied, such as sonar, radar or radiofrequency signals. In this paper we describe the ARIEL method, which uses ZigBee and Wifi signals combinations to localize a mobile sensor in a building such as a warehouse, office or campus. Moreover, the system presents a high intensity LED panel that can be activated via ZigBee in order to have a fine grained localization to get into doors and other points of interest. In addition, a digital compass and a RFID reader are used as a help to the above. Fingerprinting methods are an alternative to accurate localization of mobile sensors and actuators in indoor environments, which learn a radio map for a given scenario and use this information for calculating the position of a given node. In fact, when using other conventional methods in complex scenarios that may present irregular geometries and materials, fingerprinting techniques can be a very good alternative. Moreover, although they need a previous training of a knowledge database for each scenario, once this is done the method runs in a quite stable and accurate manner without needing any sophisticated hardware.

}, keywords = {Circuits, Communication, Components, Computing \& Processing (Hardware/Software), Devices \& Systems, Networking \& Broadcasting, Signal Processing \& Analysis}, isbn = {978-1-4577-0511-3}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l} } @conference {105, title = {Development of a person-following shopping cart assistance robot}, booktitle = {Assistance robots for the elderly (European Robotics Forum 2011)}, year = {2011}, month = {04-2011}, address = {V{\"a}ster{\r a}s (Sweden}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Cervera, Enric and Oliver, Gabriel} } @conference {108, title = {Ambient Intelligence for Elder People Applications: state of the art}, booktitle = {II Jornadas de Mayores y Nuevas Tecnolog{\'\i}as}, year = {2010}, month = {04/2010}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n}, isbn = {978-84-8021- 854-2}, author = {Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente and Sales, Jorge and Javier P{\'e}rez and Nu{\~n}ez, Manuela} } @conference {107, title = {Elderly Robotic Assistant: Person-Following Shopping Cart}, booktitle = {II Jornadas de Mayores y Nuevas Tecnolog{\'\i}as}, year = {2010}, month = {04/2010}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n}, isbn = {978-84-8021-854-2}, author = {Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Mart{\'\i}, Jose Vicente} } @conference {111, title = {Localization of networker mobile sensors and actuators in low- visibility condition}, booktitle = {Robotics for Risky Interventions and Environmental Surveillance (RISE)}, year = {2010}, month = {01/2010}, publisher = {Sheffield Hallam University}, organization = {Sheffield Hallam University}, address = {Sheffield}, abstract = {

Localization of networked mobile sensors and actuators is an active research field. One traditional approach in order to localize a mobile node has been the use of laser sensors. In some special circumstances, like a smoky environment, the use of this type of optical sensor is not a good solution. The use of radio and ultrasound signals can be used as a feasible alternative to node localization. Within the context of the EU GUARDIANS Project (Group of Unmanned Assistant Robots Deployed In Aggregative Navigation supported by Scent detection) one essential aspect is having a simple localization method of a firefighter followed by a squad of robots, that allows tracking their instant position in the space related to the base station. The authors of this paper have been developing hardware devices capable of obtaining relative positions among them and the firefighter, and have studied several networking protocols that can be useful in those situations, using wireless links provided by Wi-Fi cards of the mobile nodes, as well as the sonar sensors and radio synchronization signals.

}, isbn = {978-84387-3181}, author = {Sales, Jorge and El-Habbal, M. and Mar{\'\i}n, Ra{\'u}l and Witkowski, U. and Cervera, Enric and Nomdedeu, Leonardo and R{\"u}ckert, U.} } @conference {109, title = {Pattern Recognition Comparative Analysis applied to Fingerprint Indoor Mobile Sensors Localization}, booktitle = {10th IEEE International Conference on computer and Information Technology (CIT 2010)}, year = {2010}, month = {06/2010}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Bradford (UK)}, abstract = {

Location\ Fingerprinting\ methods are an alternative\ to\ accurate\ localization\ of\ mobilesensors\ and actuators inindoor\ environments, which learn a radio map for a given scenario and use this information for recognizing the position of a given node at a particular moment. In fact, when using other conventional methods in complex scenarios that may present irregular geometries and materials,\ fingerprinting\ techniques can be a very good alternative. Moreover, although they need a previous training of a knowledge database for each scenario, once this is done the method runs in a quite stable and accurate manner without needing any sophisticated hardware. In this paper we present a comparation between the CC2431 Texas Instruments Location Engine and two\ patternrecognition\ methods\ appliedtofingerprintinglocalization\ in several\ indoor\ scenarios in our university. Results show that this kind of technique is very interesting for known environments such as warehouses, universities and so on.

}, keywords = {Fingerprint, Location, RSSI, Transmitter, ZigBee}, isbn = {978-0-7695-4108-2}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l} } @conference {110, title = {Remote and in-situ multirobot interaction for firefighters interventions under smoke conditions}, booktitle = {Second IFAC Symposium on Telematics Applications (TA 2010)}, year = {2010}, month = {10/2010}, publisher = {2010 Editura Politechnica}, organization = {2010 Editura Politechnica}, address = {Timisoara (Rumania)}, abstract = {

This paper describes a real-world demonstration that involves two kinds of human-robot interaction: (1) In-situ interaction between a team of robots and a firefighter, and (2) the interaction between a remote operator and the whole system from a base station. The team of robots can provide the firefighter with environmental information to support and enhance its operation in situations where smoke can be present. First of all, the paper describes the overall system, focusing on the devices that are used, and the hardware/software architecture. Then, the paper explains the in-situ human-system interaction which is the way the firefighter interacts with the robot team, by obtaining the information directly to its helmet and by setting up a firefighter following behaviour using both laser and sonar/radio techniques. After that, the paper describes the way the whole system can be monitored and controlled remotely via a base station.

}, doi = {10.3182/20101005-4-RO-2018.00036}, author = {Nagash, A and Saez-Pons, J and Penders, J and Gancet, J. and Motard, E. and Nomdedeu, Leonardo and Sales, Jorge and Cervera, Enric and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and Sebasti{\`a}, R.} } @conference {112, title = {TDoA indoor Localization within the EU GUARDIANS project}, booktitle = { II Workshop de Rob{\'o}tica (ROBOT{\textquoteright}2009)}, year = {2009}, month = {11/2009}, address = {Barcelona, Universitat Polit{\`e}cnica de Catalunya}, author = {Sales, Jorge and El-Habbal, M. and Mar{\'\i}n, Ra{\'u}l and Witkowski, U. and Cervera, Enric and R{\"u}ckert, U.} } @conference {114, title = {Agent at Play: Off-the-shelf Software for Practical Multi-robot Applications}, booktitle = {2008 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2008}, month = {09/2008}, publisher = {IEEE Computer Society}, organization = {IEEE Computer Society}, address = {Niza (Francia)}, abstract = {

A practical solution based on multi-agent protocols for the development of real-world multi-robot applications is presented. FIPA standard protocols implemented by the JADE library provide the standard functionality for a number of tasks. Robot behaviors are built upon the player middleware. Such components provide off-the-shelf tools which allow a straightforward implementation of indoor localization and navigation tasks for a team of mobile robots. Such integration combines proven mobile robot algorithms with a distributed infrastructure, and extends the capabilities from a robot alone to a whole team of robots, thus allowing the development of cooperative applications. As a proof of concept, an auction-like goal assignment task is presented: the robot team is given a goal, and each robot proposes an estimated cost for achieving it, then the best proposal is selected. Most of the control flow is automated by the standard interaction protocols. Experimental evaluation demonstrates the advantages of combining both frameworks, for a practical yet sound development of multi-robot applications.

}, isbn = {978-1-4244-2058-2}, doi = {10.1109/IROS.2008.4650660}, author = {Cervera, Enric and Sales, Jorge and Nomdedeu, Leonardo and Mar{\'\i}n, Ra{\'u}l and Veysel, Gazi} } @inbook {98, title = {Case Study: Communication Technologies for the integration of Robotic Systems and sensor Networks at Home: Helping Elderly People}, booktitle = {Wearable Robots Biomechatron Exoskeletons}, year = {2008}, pages = {360}, publisher = {John Wiley \& Sons Ltd.}, organization = {John Wiley \& Sons Ltd.}, chapter = {Case Study: Communication Technologies for the integration of Robotic Systems and sensor Networks at Home: Helping Elderly Peopl}, address = {Madrid}, issn = {978-0-470-51294-4}, author = {Mart{\'\i}, Jose Vicente and Mar{\'\i}n, Ra{\'u}l and Fern{\'a}dez, Joseph and Nu{\~n}ez, M. and Rajadell, Olga and Nomdedeu, Leonardo and Sales, Jorge and Agust{\'\i}, Pau and Fabregat, A. and del Pobil, Angel P.} } @conference {117, title = {Efficient Transport Protocol for Internet Remote Control of Devices}, booktitle = {XIX JORNADAS DE PARALELISMO}, year = {2008}, month = {09/2008}, publisher = {Publicacions de la Universitat Jaume I}, organization = {Publicacions de la Universitat Jaume I}, address = {Castell{\'o}n, Universitat Jaume I}, isbn = {978-84-8021-676- 0}, author = {Wirz, Raul and Claver, Jos{\'e} M. and Ferre, Manuel and Mar{\'\i}n, Ra{\'u}l and Sanz, Pedro J. and Barrio, Jorge and Ortego, Javier} } @conference {113, title = {End-to-End Congestion Control Protocols for Robot Swarms using Ad-hoc Wireless Networks}, booktitle = {Robotics for Risky Interventions and Surveillance of the Environment (RISE 2008)}, year = {2008}, month = {01/2008}, address = {Castell{\'o}n, Universitat Jaume I}, isbn = {978-84-8021-645-6}, author = {Wirz, Raul and Sales, Jorge and Mar{\'\i}n, Ra{\'u}l and Cervera, Enric and Witkowski, U. and Mart{\'\i}, Jose Vicente and Nomdedeu, Leonardo} } @conference {115, title = {Improving manipulation capabilities by means of Radio Frequency Identification and Computer Vision}, booktitle = {11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile}, year = {2008}, month = {09/2008}, address = {Coimbra (Portugal)}, abstract = {

The present work shows recent results in the robotic manipulation context, after suitable integration between computer vision and radio frequency identification (RFID). The experimental validation has been carried out in a household environment, by using current manufactured objects, labeled previously, and processed through a RFID reader situated in the robot hand. A camera-in-hand also was used for segmentation and localization of the corresponding objects. The main problems solved in this work are those related with hardware integration between the robot and the RFID system, including the RFID reader, antenna and necessary interfaces. Furthermore, a graphical user interface was developed for displaying the results from visual processing, including both, segmentation and localization of the objects in the scene, visualizing at the same time the corresponding RFID labels associated which each previously identified object. These preliminary results have demonstrated the feasibility and reliability of this system to succeed with localization, identification and handling of daily objects, without predefined models at all, in household environments.


Read More:\ http://www.worldscientific.com/doi/abs/10.1142/9789812835772_0101

}, isbn = {978-981-283-576-5}, author = {Sales, Jorge and Gracia, X. and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Mar{\'\i}n, Ra{\'u}l and Falomir, Zoe} } @conference {116, title = {The UJI Robotics Manufacturing Cell: Web-based architecture and Real-time computer vision}, booktitle = {5th International Conference on Telecommunications, Electronics and Control (TELEC)}, year = {2008}, month = {07/2008}, address = {Santiago de Cuba (Cuba)}, isbn = {978-84-00-08680-0}, author = {Sales, Jorge and Beltr{\'a}n, Reinel and Sanz, Pedro J. and Mar{\'\i}n, Ra{\'u}l and Wirz, Raul and Le{\'o}n, Germ{\'a}n and Claver, Jos{\'e} M.} }