curriculum vitae - Robotics and Embedded Systems - Technische ...

Contact
CURRICULUM VITAE
Emmanuel Carlos Dean León Ph.D.
• Email: dean@in.tum.de, edean76@gmail.com.
• Phone:
– Office: +49 (89) 289 18130.
– Office: +49 (89) 289 18148.
Current Position
• Guest Researcher:
– Technische Universität München. Fakultät für Informatik. Robotics and Embedded
Systems. October/2009 - present. http://www6.in.tum.de/Main/WebHome.
∗ Address: Boltzmannstr. 3, 85748 Garching b. München, Germany.
∗ Office: +49 (89) 289 18140, Fax +49(89) 289 17591.
Earlier Positions
• Research Lecturer:
– Division of Postgraduate Studies at The Professional Interdisciplinary Unit in Engineering
and Advanced Technologies of the National Polytechnic Institute (UPIITA-
IPN). 2006 - 2009. www.upiita.ipn.mx.
∗ Address: Av. Instituto Politécnico Nacional No. 2580, Colonia Barrio la Laguna
Ticomán, Delegación Gustavo A. Madero, CP. 07340 Mexico City, Mexico.
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∗ Office: +52 (55) 57296000 ext. 56881.
• Maintenance Engineer:
– OTIS, Elevators S.A. de C.V.: Engineering Coordination. April 1999 - June 2000.
Education
∗ Adress: Abedules #75, C.P. 06430, México City, México.
∗ Office: +52 53 26 53 00.
• Ph. D. (Electrical Engineering, Option on Mechatronics). The Research and
Advanced Studies Center of the National Polytechnic Institute (CINVESTAV -IPN).
– Thesis: Uncalibrated Visual Servoing of Constrained Robot Systems in Unknown
Environments: Visual and force sensor fusion.
– Directors:
∗ Dr. Vicente Parra Vega. Full professor at The Research and Advanced Studies
Center of theNational Polytechnic Institute (CINVESTAV -SALTILLO). Saltillo,
Coahuila, México. vparra@cinvestav.mx.
∗ Dr. Arturo Espinosa Romero. Full professor at Faculty of Mathematics of
Autonomous University of Yucatan (FMAT-UADY). Mérida, Yucatán, México.
eromero@uady.mx.
• M. Sc. (Electrical Engineering, Option on Mechatronics). The Research and
Advanced Studies Center of the National Polytechnic Institute (CINVESTAV -IPN).
– Thesis: Uncalibrated Image-Based Control for Robot Manipulators with Parametric
Uncertainties.
– Directors:
∗ Dr. Vicente Parra Vega. Full professor at The Research and Advanced Studies
Center of theNational Polytechnic Institute (CINVESTAV -SALTILLO). Saltillo,
Coahuila, México. vparra@cinvestav.mx.
∗ Dr. Arturo Espinosa Romero. Full professor at Faculty of Mathematics of
Autonomous University of Yucatan (FMAT-UADY). Mérida, Yucatán, México.
eromero@uady.mx.
• B. Eng. (Industrial Robotics). Superior School of Mechanical and Electrical Engineering
(ESIME-IPN). www.esimeazc.ipn.mx
– Thesis: Automatic electrostatic precipitator used to reduce the pollution.
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Awards
• Arturo Rosenblueth Award 2006. This is a prestigious price in Mexico and is considered
for award, on an annual basis, to the best doctoral thesis submitted to the CINVESTAV in
the Technology and Engineering Sciences area. CINVESTAV is one of the most important
and renowned postgraduate and research institutions in Mexico which proves that with
adequate support provided to a leading institution, Mexico can have worldwide reliable
research and educational centers. OECD (Organization for Economic Co-operation and
Development). www.cinvestav.mx.
Research Interest
• Robotics:
– Dynamiccontrolswithindustrialapplications, robust/adaptivecontrols, HumanRobot
Interaction (HRI) and Human Robot Cooperation (HRC), real time sensor fusion.
• Visual Servoing:
– Vision-based control of robot manipulators, closed-loop control of dynamical robot
systems based on real-time vision system.
• Computer Vision:
– 3D object recognition and reconstruction, environment reconstruction and navigation.
• Virtual reality:
– Haptic interfaces, active mechanisms for physical man-machine bilateral interaction.
Scientific Services
• Reviewer
– Journals:
∗ Special Issue on Mechatronics of the Journal: Computation and Systems 2008.
∗ IEEE Transactions on Systems, Man, and Cybernetics Part B 2007.
– Conferences:
∗ IEEE International Conference on Robotics and Biomimetics
∗ (ROBIO 2008).
∗ IEEE International Conference on Robotics and Automation. (ICRA 2008).
∗ The First Students of Computer Science Encounter. (E2C2 2007).
∗ IEEE International Conference on Intelligent Robots and Systems. (IROS 2007).
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• Professional Memberships:
– National Researchers System (SNI). The object of the SNI is to promote and to
strengthen the quality of the scientific and technological investigation, and the innovation
in Mexico. This is carried out through a periodic and strict evaluation of the
investigators attached to this system.
– IEEE member: 41618485.
• Master Thesis Jury:
– M.Sc. Gabriel Galicia Aceves, Diseño y construcción de un banco de desarrollo
en técnicas de micro-ensamble e integración del control servovisual fuzzy de posicionamiento.
CINVESTAV. June, 2007.
Teaching
• Courses Developed: (Master Courses at Postgraduate Studies Division, The
Professional Interdisciplinary Unit in Engineering and Advanced Technologies
UPIITA).
– Real Time Programing and Applications.
– Visual Servoing Control.
• Course Instructor: (B. Eng at Mechatronic Section, The Professional Interdisciplinary
Unit in Engineering and Advanced Technologies UPIITA).
– Design of Mechatronics Devices. Class hours: 144.
– Introduction to Robotics. Class hours: 432.
– Advanced Robotics. Class hours: 576.
• Course Instructor: (Master Courses at Postgraduate Studies Division, The
Professional Interdisciplinary Unit in Engineering and Advanced Technologies
UPIITA).
– Advanced Real Time Programming. Class hours 108.
– Introduction to Programming. Class hours: 40.
• Short Courses:
– First International Course of Applied Robotics. Subject: Modeling and simulation
of physical systems. National Center of Educational Actualization in Mechatronics
CNAD. www.cnad.edu.mx. Class hours: 18.
– UADY. Modeling and simulation of robotic systems: Denavith-Hartenberg and Euler-
Lagrange methodologies. Faculty of Mathematics, Mérida, Yucatán, México.Class
hours 5.
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Thesis Supervision
• B. Eng. Thesis: (The Professional Interdisciplinary Unit in Engineering and
Advanced Technologies UPIITA)
1. Alarcón Martínez Sinuhé, Bonilla Véliz Santiago, García Rojas Gabriel Eduardo,
Morales Salgado Benito, Analysis and modeling of a 18DOF android robot. since
January 2009.
2. Gutiérrez Mondragón Miguel Ángel, Mendoza Gallegos Darío, 3D Visual-servoing for
the Mitsubishi RV-M1 Robot. since January 2009.
3. Crisóstomo Álvarez Rogelio Adrián, Delgado León Alejandro, Romero Pérez Carlos
Roberto, Design and implementation of an open architecture for the A465 Robot with
a virtual visualization. since January 2009.
4. González González Leonel, A mobile robot’s prototype for home use. 2009.
5. Dávila Hernández Gustavo, Esquivel Ruiz Julio Cesar, Fierros Álvarez Javier, Visual
servoing for interception of multiple objects. 2009.
6. Calderón Duana Ricardo, Flores Osante Ricardo, Image based control for a 3DoF
planar robot to control the pose of different objects. 2009.
7. Julio Cesar Vargas Reyes, 3DOF portable angular robot for didactic purposes. 2008.
8. Machado Andrés Baglietto, 3D Visual reconstruction using a 3DoF robot. 2008.
9. Ornelas García Nestor, Design, Construction and implementation of a real time CNC
routing machine. 2008.
10. García Guzmán Miguel Ángel, Fuentes Martínez José Ángel, Vigueras Aguilar illiana,
Optimization and update of a Industrial CNC Machine (Matsura machine 1981). 2008.
11. Matus Vázquez Carlos, Guerrero Santiago Luis Felipe, Design, construction and implementation
of a force sensor for a two finger robot end-effector. 2008.
12. Vargas Reyes Juilio César, Portable 3 DoF didactic robot. 2008.
13. Altamirano Gómez Gerardo, Cante Zapote Mauricio Alberto, Marín Sánchez Haydeé
Hannali, Linux-RTAI Open architecture for the robot Mitsubishi RV-M1. 2008.
14. López Flores Alberto Israel, Monge Ruiz Héctor Guillermo, Dynamic 3D modeler for
industrial robots in Java 3D. 2007.
15. Martínez Montes Luis Oscar, Ledezma Garrido Guillermo, Visual Control of an autonomous
vehicle with fixed environment. 2007.
16. Navarro Díaz Octavio, Simulator of tropical environment conditions for ground analysis.
2007.
17. Martínez Soto José Santiago, Hernández Pale Juan Abelardo, Supervision of methane
and electric fan control for an underground mine. 2007.
18. Santos Martínez Marco Arturo, Pérez Ramírez Marco Antonio, Open architecture
experimental station for industrial robot manipulators. 2007.
19. García Ramírez David Leonardo, Feeding system for upper-body handicapped people.
2009
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Publications
• Journals:
1. Visual Servoing for Constrained Planar Robots Subject to Complex Friction, E.C.
Dean-León, V. Parra-Vega, A. Espinosa-Romero, on the IEEE/ASME Transactions
on Mechatronics. Vol 11, No. 4, August Issue, August 2006.
• Book chapters:
1. Orthogonalization Principle for Dynamic Visual Servoing of Constrained Robot Manipulators.
V. Parra-Vega, E.C Dean-León, Advances in Robot Control From Everyday
Physics to Human-Like Movements, Kawamura, Sadao; Svinin, Mikhail (Eds.)
2007, pp. 83-107, Hardcover. ISBN: 3-540-37346-2. November 15, 2006.
• International Conferences:
1. RobotMotionPlanning forMultiple Moving Objects Interception withconstant acceleration.
J. A. Flores-Campos, E.C. Dean-León, C. Palacios-Montufar, VIICongreso
Internacional sobre Innovación y Desarrollo Tecnológico CIINDET 2009. 7-9 October,
Cuernavaca, Morelos, Mexico. 2009.
2. GlobalUncalibratedVisual ServoingforConstrainedRobotsWorkingonUncalibrated
Environments. E.C. Dean-León, V. Parra-Vega, A. Espinosa-Romero, IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS) 2006. 09-15 October,
Beijin, China. 2006.
3. An Adaptive Neural Network Controller for Visual Tracking of Constrained Robot
Manipulators, V. Parra-Vega, R. García-Rodriguez, E.C. Dean-León and F. Ruiz-
Sanchez, American Control Conference (ACC) 2005. 8-10 June, Portland, Oregon.
2005.
4. Experimental Results of Image-based Adaptive Visual Servoing of 2D Robots under
Jacobian and Dynamic Friction Uncertainties, L. García, E.C. Dean-León, V.
Parra-Vega, and A.Espinosa-Romero, Proc. of the 6th International Symposium on
Computational Intelligence in Robotics and Automation (CIRA) 2005, 27-30 June,
Espoo, Finland. 2005.
5. Adaptive Visual Servoing for Constrained Robots under Jacobian, Joint Dynamic
and Contact Viscous Friction Uncertainties, E.C. Dean-León, V. Parra-Vega, A.
Espinosa-Romero, and L. García, Proc. of the 16th International Federation of Automatic
Control: WORLD CONGRESS (IFAC) 2005, 03-08 July, Praga, Czech. Rep.
2005.
6. Visual ServoingforConstrainedRobots: ANewCompleteTheoretical Frameworkand
its Experimental Validation, E.C. Dean-León, V. Parra-Vega, A. Espinosa-Romero,
and L. García, Proc. of the IEEE/ASME International Conference on Advanced
Intelligent Mechatronics (AIM) 2005. 24-28 July, 2005. Monterrey, California, USA.
2005.
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7. Experimental StudyonImage-basedPosition-ForceAdaptiveVisual Servoing forConstrained
Robots under Jacobian and Dynamic Friction Uncertainties, E.C. Dean-
León, V. Parra-Vega, A. Espinosa-Romero, and L. García, Proc. of the IEEE International
Conference on Mechatronics and Automation (ICMA) 05. 29 July - 01
August, Niagara Falls, Ontario, Canada. 2005.
8. Uncalibrated Image-based Position-Force Adaptive Visual Servoing for Constrained
Robots under Dynamic Friction Uncertainties, E.C. Dean-León, V. Parra-Vega, A.
Espinosa-Romero, and L. García, Proc. of the IEEE/RSJ International Conference
on Intelligent Robots and Systems (IROS). 02-06 August, Shaw Conference Centre,
Edmonton, Alberta, Canada. 2005.
9. Visual Servoing for Constrained Robots in an Unknown Environment: A New Complete
Theoretical Framework and its Experimental Validation, E.C. Dean-León, V.
Parra-Vega, A. Espinosa-Romero, Proc. of the 36th International Symposium on
Robotics (ISR). 29 November – 01 December, Keidanren Kaikan, Tokio, Japan. 2005.
10. Dynamical Image-based PID Uncalibrated Visual Servoing with Fixed Camera for
Tracking of Planar Robots with a Heuristical Predictor. E.C Dean-León, V. Parra-
Vega, A.Espinosa-Romero, andJ.DFierro-Rojas,Proc. ofthe2ndIEEEInternational
Conference on Industrial Informatics, INDIN 04, 24-26 June, Berlin, Germany. 2004.
11. Image-based Adaptive Position-Force Control for Robot Manipulators under Jacobian
Uncertainty, E.C. Dean-León, V. Parra-Vega, and A.Espinosa-Romero, International
Symposium on Robotics and Automation (ISRA), 25-27, August, Querétaro,
México, 2004.
12. Image-based Visual/Force/Position Control under Parametric Uncertainties of Camera
and Robot Arm, E.C. Dean-León, V. Parra-Vega, and A. Espinosa-Romero,
Proc. of the International Conference on Electrical and Electronics Engineering and
X Conference on Electrical Engineering (ICEEE/CIE), September, Acapulco, Guerrero,
México, 2004.
13. Adaptive Predictor-Based Sliding PID Uncalibrated Visual Servoing with Uncertain
Jacobian for Dynamic Tracking of Robots, J.D. Fierro-Rojas, E.C. Dean-León, V.
Parra-Vega, and A. Espinosa-Romero, Proc. of the 4th International Conference on
Advanced Mechatronics (ICAM) 2004. October. 3-5, Asahikawa, Hokkaido, Japan.
2004.
14. Algebraic on-line identifier for visual servoing of robot manipulators, E.C. Dean-
León, H. Sira-Ramirez, V. Parra-Vega, International Symposium on Robotics and
Automation (ISRA), September, México 2002.
• Other Conferences:
1. Experimental Study on a Fast Tracking and Smooth Constrained Motion Controller
for Robot Arms, E.C. Dean-León, V. Parra-Vega and L. García, Congreso Anual
de la Asociación de México de Control Automático (AMCA) 2005. 19-21 October,
Morelos, México. 2005.
2. Control Visual de un Sistema de Extracción para Hornos Giratorios: Servo Control
Visual. M. Sandoval, A. Espinosa-Romero, E.C Dean-León, L.A. Muñoz, Congreso
Mexicano deRobótica, RoboticsMexican Association(COMROB) 2004. 7-8October.
EIME, Universidad Autónoma de Coahuila, Torreón, Coahuila, México. 2004.
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Invited Sessions
1. Visual Orthogonalization Principle for Constrained Robots. The Second Inter-Academic
Encounter of Research Projects. Tecnológico de Monterrey, Campus Estado de México,
Estado de México, April 30, 2008.
2. Dynamic Visual Servoing of Constrained Robot Arms. Second Robotics and Motion Planning
Workshop 2008 (ROMOV08). CIMAT Guanajuato, guanajuato, Mexico, February
12-15 2008.
3. Uncalibrated Visual Servoing for Constrained Robots in Unknown Environments. 2007
Summer School on Image & Robotics (SSIR 2007) Workshop.Jun 25th to July 6th, CIC
IPN Mexico City.
Main Research Projects
1. Multilateral interaction for cooperative robots via Internet II. (2003-2004)
• Abstract: Implementation of teleoperated robots. Software and hardware design for
operation, control andsupervision ofateleoperated system viaInternet II.Thesystem
is integrated by two industrial robots and two haptic devices.
• Resource: CONACyT – CUDI2 (2003-2004)
• Personal Contribution: Design and implementation of control schemes and the communication
protocol for the master robot (Phantom) and the slave robots (CRS A255
and CS A465) using Linux RTAI OS. Linux GUI and C Libraries development for
communication via I2.
2. Real time experimental station for visual servoing of constrained robots. (2004-
2006)
• Abstract: Design and implementation of a 2 DoF planar robot with force sensor
attached to the end-effector to validate visual servoing controllers. Implement a
IEEE1394 fixed camera to retrieve realtime visual information to the control loop.
• Resource: CINVESTAV – CONACyT project number: 47292-Y.
• PersonalContribution: Designandconstructionofthe2DoFplanarrobot. Implement
the realtimeLinux-OS tocontrol therobot. Designandimplementation oflibrariesfor
realtime image acquisition and processing. Implementation of libraries for realtime
force data acquisition. Design and implementation of control schemes for robotic
systems under uncertain holonomic constraints.
3. Visual servoing for mechatronics systems. (2007)
• Project Director: Gastón Hugo Salazar Silva.
• Abstract: Design and implementation of 3D visual servoing for the CRS A465 robot .
• Resource: IPN – SIP project number: 20071430.
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• Contribution: Design and implementation of an open architecture controller for the
CRS A465 robot in Linux-RTAI SO. Design and implementation of libraries for image
acquisition and image processing using IEEE1394 (firewire) cameras. Implementation
of GUI to control PCI sensoray data acquisition boards.
4. Open architecture controller for a industrial robot to intercept multiple objects.
(2008)
• Project Director: Alejandro Flores Campos.
• Abstract: Implement arealtimeopenarchitecturecontroller fortheMitsubishi RV-M1
robot and design a trajectory generator to intercept multiple objects within a flexible
manufacture cell.
• Resource: IPN – SIP project number: 20080384.
• Personal Contribution: Design and implementation of an open architecture controller
for theMitsubishi RV-M1 robotinLinux-RTAI SO. Implementation ofarealtimepath
generator using visual information to intercept multiple objects.
• Products: Open Architecture Controller for the Robot Mitsubishi RV-M1. Patent in
progress.
5. Prototype of open architecture for 3D industrial robots for visual grasping of
multiple objects. (2009)
• Project Director: Emmanuel Carlos Dean León.
• Abstract: Design and Implement a realtime open architecture controller for the CRS
A465 robot in open source to track and intercept multiple moving objects.
• Resource: IPN – SIP project number: 20091304.
• Personal Contribution: Design and implementation of an open architecture controller
for the CRS A265 robot in Linux-RTAI SO. Implementation of a realtime path generator
using visual information to intercept multiple objects. Design and implement
a realtime multiple-objects tracking system.
6. Robust tool tracking for Human-Robot cooperation in assembly lines. (October
2009 – present)
• Project Director: Dr. Giorgio Panin, Ph.D & Prof. Dr.-Ing. Alois Knoll.
• Abstract: The goal of the project can be divided in two main areas: Computer Vision
(Realtime robust tool-tracking with automatic visual tool-detection) and Robotics
(Implementation of the realtime tracker in an industrial Human-Robot-Interaction
set-up).
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Personal Information
• Personal data
– Born: 10/Nov/1976 in Mexico City, México.
– Sex: Male.
– Citizenship: Mexican.
– Marital status: Married
• Languages
– Spanish: native tongue.
– English: fluent.
– Japanese: basic level, NORYOKUSHIKEN level 4.
– German: basic courses and still learning, level A22.
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