Curriculum vitae. June 2011

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Curriculum vitae

June 2011 Name: Jorge Barrio

Date of Birth: 7th of March 1975

Birthplace: Barcelona (Spain) Nacionality: Spanish Address: C/ Guadalix 888 Urb. Balcon del Tajo 28380 Colmenar de Oreja‐Madrid Telephone +34691550275 E‐Mail: [email protected]

Brief

Biography

Jorge Barrio, was born in 1975 at Barcelona. He received his Electronics engineering degree from Universitat Ramón Llull, Barcelona in 2000. He obtained his Ph.D (Cum Laude) in Robotics and Automation with the European Mention from the Universidad Politécnica de Madrid in 2011. After several years working in the private sector, in 2004 he started to work as a researcher on UPM. He has been working in several research projects related to control algorithm, haptic interfaces and

telerrobotics systems. One of the most relevant projects carried out was EU project

IMMERSENCE, wherein a multifinger haptic interface was designed and developed. Currently, he is also involved in the EFDA project, Goal Oriented Training for Remote Handling, working in the

designing of Master/Slave architectures for its application in the Upper Port Plug. Research

interests topics are: Control, Robotics and Haptics interfaces.

Education

2005‐2011 Ph.D on Automation and Robotics, at the Universidad Politecnica de Madrid. Ph.D Thesis entitled “Control Architecture for Multifinger Haptic Devices Applied to Advanced Manipulation”.

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Knowledgement

areas:

Robotics: Control architectures Haptic interfaces Teleoperated systems Bilateral control architectures, Master‐Slave Mechatronics

Hardware used for implementing control algorithms:

CompactRio and PXI control system of National instruments.

Virtex‐5 of Xilinx.

DSP of Texas Instrument, serie C2000.

Design of electronic boards:

Altium protel

Simulation of systems and control algorithms:

MATLAB and simulink Maple Programing languages: C / C++. LabView Real‐time operating system, vxWorks

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Professional

Experience:

2003 – Act Researcher in the department of Automation and Robotics of the

Universidad Politecnica de Madrid, faculty of Industrial Engineering.

During all these years, I have been involved in several research projects focused on the control of robotics system and haptic interfaces. The most significant projects has been:

 Nowadays, I am involved in the EFDA project, Goal Oriented Training

for Remote Handling. The project’s goal is the designing of

telerrobotics control architectures and algorithms for the Fusion

facility of ITER. We are currently working on developing the most

suitable Master/Slave architectures for its application in the Upper

Port Plug.

 IMMERSENCE project, funded by the UE. In this project, a new

multifinger haptic interface was designed (see figure 1), which

allows the grasping and manipulation of virtual or remote objects by using two fingers (thumb and index). This new haptic device displays

force vectors to the each finger when a collision remotely or

virtually occurs. As a result of my work in this project, I recently obtained my PhD, the thesis is entitled “Control Architecture for

Multifinger Haptic Devices Applied to Advanced Manipulation” and

describes all the work carried out in the project.

o In this project, I was the main responsible of designing the

control architecture and the control algorithms

implemented in the haptic interface, although I was also fully involved in the designing and developing of the virtual scenarios and all the experiments carried out.  I was also working in another line of work, which was focused on the development of an open control architecture for a Kraft telerrobotic system. This control architecture allowed designing and testing our own control algorithms to a commercial telerrobotic platform, see figure 2.  ROBMAT project, funded by the Spanish Government (CICYT). In this project, a modular robot for collaborative manipulation was designed. My contribution to this project was in the design and development of the control architecture, it was characterized by its reduced size.

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and labyrinth solvers.

2000 ‐ 2003 Consultant in Arthur Andersen and Grupo INDRA

Working in different technological projects focused on applications for

companies in the telecommunication and banking sectors.

Figure 1. Multifinger haptic interface, designed as a result of my PhD thesis

Figure 2. a)Master and b) Slave devices from Kraft Telerrobotics. This system is working with an open control

architecture for designing and testing our own control algorithms.

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Most

relevant

publications

Journal articles  P. Garcia‐Robledo, J. Ortego, M. Ferre, J. Barrio, and M.A. Sanchez‐Uran. Segmentation of bimanual virtual object manipulation tasks using multifinger haptic interfaces. Instrumentation and Measurement, IEEE Transactions on, 60(1):69‐80, 2011.  R. Wirz, R. Marin, M. Ferre, J. Barrio, J.M. Claver, and J. Ortego. Bidirectional transport protocol for teleoperated robots. Industrial Electronics, IEEE Transactions on, 56(9):3772‐ 3781, sep. 2009.  Christos Giachritsis, Jorge Barrio, Manuel Ferre and Alan Wing. Unimanual and Bimanual Weight Perception of Virtual Objects with a new Multi‐finger Haptic Interface. Brain Research Bulletin. Accepted for its publication. Book chapters  Sandra Hirche, Manuel Ferre, Jordi Barrio, Claudio Melchiorri, and Martin Buss. Bilateral control architectures for telerobotics. In Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, and Carlos Balaguer, editors, Advances in Telerobotics, volume 31 of Springer Tracts in Advanced Robotics, pages 163‐176. Springer Berlin / Heidelberg, 2007.  Manuel Ferre, Jordi Barrio, Claudio Melchiorri, Juan Bogado, Pedro Castedo, and Juan Ibarra. Experimental results on bilateral control using an industrial telemanipulator. In Manuel Ferre, Martin Buss, Rafael Aracil, Claudio Melchiorri, and Carlos Balaguer, editors, Advances in Telerobotics, volume 31 of Springer Tracts in Advanced Robotics, pages 177‐ 190. Springer Berlin / Heidelberg, 2007. Conference proceedings  Raul Wirz, Pablo Cerrada, Jorge Barrio, Manuel Ferre, Marta Ayestaran. Software Architecture for a Multimodal Platform Applied to Cooperative Manipulation Tasks. Virtual Reality International Conference ‐ VRIC 2011.  P. Garcia‐Borras, P. Garcia‐Robledo, J. Barrio, M. Ferre, and R. Aracil. Technofusion remote handling laboratory: Contributions to nuclear fusion facilities maintenance tasks. In Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on, pages 1‐6, 2010.  C.D. Giachritsis, P. Garcia‐Robledo, J. Barrio, A.M. Wing, and M. Ferre. Unimanual, bimanual and bilateral weight perception of virtual objects in the MasterFinger‐2 environment. In RO‐MAN, 2010 IEEE, pages 513‐519, 2010.  Manuel Ferre, Ignacio Galiana, Jorge Barrio, Pablo García‐Robledo, Antonio Giménez, and Javier López. Two‐hand virtual object manipulation based on networked architecture. In

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 P. Garcia‐Robledo, J. Ortego, J. Barrio, I. Galiana, M. Ferre, and R. Aracil. Multifinger haptic interface for bimanual manipulation of virtual objects. In Haptic Audio visual Environments and Games, 2009. HAVE 2009. IEEE International Workshop on, pages 30‐35, 2009.  Mary Monroy, Pablo Garcia‐Robledo, Manuel Ferre, Jorge Barrio, and Javier Ortego. Advanced virtual manipulation based on modular haptic devices. In Proc. of the 9th International Symposium on Robot Control (SYROCO'09), 2009.  C. Giachritsis, J. Barrio, M. Ferre, A. Wing, and J. Ortego. Evaluation of weight perception during unimanual and bimanual manipulation of virtual objects. In EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint, pages 629‐634, 2009.  M. Monroy, M. Ferre, J. Barrio, V. Eslava, and I. Galiana. Sensorized thimble for haptics applications. In Mechatronics, 2009. ICM 2009. IEEE International Conference on, pages 1‐ 6, 2009.  P. Garcia‐Robledo, P. Garcia‐Borras, J. Barrio, M. Fere, and R. Aracil. Teleoperation platform for multimodal experimentation. In Mechatronics, 2009. ICM 2009. IEEE International Conference on, pages 1‐6, 2009.  Jorge Barrio, Manuel Ferre, María Oyarzábal, Alexandre Campos, and Mary Monroy. MasterFinger: a multifinger haptic interfaces for collaborative environments. In Proc. of the PEACH Industry Envent, 2008.  Raul Wirz, Manuel Ferre, Raul Marín, Jorge Barrio, José Claver, and Javier Ortego. Eficient transport protocol for networked haptics applications. In Manuel Ferre, editor, Haptics: Perception, Devices and Scenarios, volume 5024 of Lecture Notes in Computer Science, pages 3‐12. Springer Berlin / Heidelberg, 2008.  Mary Monroy, Maria Oyarzabal, Manuel Ferre, Alexandre Campos, and Jorge Barrio. Masterfinger: Multi‐finger haptic interface for collaborative environments. In Manuel Ferre, editor, Haptics: Perception, Devices and Scenarios, volume 5024 of Lecture Notes in Computer Science, pages 411‐419. Springer Berlin / Heidelberg, 2008.  María Oyarzabal, Manuel Ferre, Salvador Cobos, Mary Monroy, Jordi Barrio, and Javier Ortego. Multi‐finger haptic interface for collaborative tasks in virtual environments. In Julie Jacko, editor, Human‐Computer Interaction. Interaction Platforms and Techniques, volume 4551 of Lecture Notes in Computer Science, pages 673‐680. Springer Berlin / Heidelberg, 2007.  M. Oyarzábal, M. Ferre, S. Cobos, M. Monroy, J. Barrio, and J. Ortego. Interfaz háptica multidedo para la exploración táctil de objetos. In II International Congress on Domotics, Robotics and Remote‐Assistance for All ‐ DRT4ALL 2007, March 2007.  J. Barrio, J.M. Azorin, R. Aracil, M. Ferre, J.M. Sabater, and N.M. Garcia. Experimental bilateral control by state convergence. In Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on, pages 1127‐1132, 2006.  Carlos Gonzalez, Manuel Ferre, Roque Saltaren, Jordi Barrio, Rafael Aracil, and Juan Ibarra. Ergonomic and mathematical approach to wire driven parallel haptic interfaces. In EuroHaptics 2006, pages 581‐584, jul 2006.