Robotic tEchnologies for the Manipulation of cOmplex DeformablE Linear objects

Resultado final

The CAD platform interface documentation and software will be released

This deliverable will report the system performance from the point of view of the impact Imp1 Imp2 and Imp3 measured through periodic measurements and surveys carried out at different project development stages

Stakeholder analysis and mapping

A report on the stakeholder analysis, dissemination and communication activities tailored to each group.

Intermediate exploitation plan

An updated plan on management procedures and channels for exploitation and protection of the project results

Interactive perception

A technical report or a publication on interactive perception in deformable linear objects handling

Robotic platforms

A description of the robotic platforms for the evaluation of the scenarios envisaged in the project

Force/tactile and pressure/proximity sensors

These deliverables include hardware software and technical documentation of the sensory system components

Planner architecture

A technical report describing both the architecture and the data exchanged between the different components.

Preliminary exploitation plan

Preliminary plan on management procedures and channels for exploitation and protection of the project results.

Final exploitation plan

An updated plan on management procedures and channels for exploitation and protection of the project results including business plans for the project SMEs and guidelines for the market expansion

First assessment of system performance

This deliverable will report the system performance from the point of view of the impact Imp1, Imp2 and Imp3 measured through periodic measurements and surveys carried out at different project development stages.

Risk assessments, safety requirements and measures

The evaluation of potential risks for the considered use cases will be detailed and the definition of the safety requirements will be provided in this deliverable. The safety measures to be introduced in the User Interface and in the robotic platform will be detailed.

Third assessment of system performance

Cable grasping

A technical document or a publication reporting the cable grasping strategy

Initial data management plan

Initial plan on the management of the project data.

Final data management plan

Final plan on the management of the project data

Intermediate data management plan

Intermediate plan on the management of the project data.

Dissemination and communication plan

Initial plan on the dissemination and communication activities (M6); First update (M24); second update (M42).

Project website

The REMODEL website will be set up. The structure and the contents are detailed in section 2.2.

Report on the dissemination activities and materials

Visual identity, promotion materials, engagement with stakeholders, media activity, technical dissemination.

Publicaciones

Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

Autores: De Gregorio, Daniele; Zanella, Riccardo; Palli, Gianluca; Di Stefano, Luigi
Publicado en: Edición 1, 2020
Editor: IEEE

An Approach based on Machine Vision for the identification and shape estima-tion of deformable linear objects

Autores: Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra (TAU), Jose A. Perez Garcia (UVIGO).
Publicado en: Mechatronics, 2023, ISSN 0957-4158
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.mechatron-ics.2023.103085

Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands

Autores: Roberto Meattini; Davide Chiaravalli; Gianluca Palli; Claudio Melchiorri
Publicado en: IEEE Robotics and Automation Letters, Edición 3, 2021, Página(s) 5517 - 5524, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3078658

Optical Force/Tactile Sensors for Robotic Applications

Autores: Marco Costanzo and Salvatore Pirozzi
Publicado en: IEEE Instrumentation & Measurement MagazineSpecial Edición on “Optical measurements”, 2021, ISSN 1094-6969
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mim.2021.9491003

Deformable Linear Objects 3D Shape Estimation and Tracking From Multiple 2D Views

Autores: Alessio Caporali, Kevin Galassi, Gianluca Palli
Publicado en: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3273518

Proximity Sensor for Thin Wire Recognition and Manipulation

Autores: Andrea Cirillo, Gianluca Laudante, Salvatore Pirozzi
Publicado en: This article belongs to the Special Edición State-of-Art in Sensors for Robotic Applications, 2021, ISSN 2075-1702
Editor: MDPI
DOI: 10.3390/machines9090188

Effective Deployment of CNNs for 3DoF Pose Estimation and Grasping in Industrial Settings

Autores: Daniele De Gregorio; Riccardo Zanella; Gianluca Palli; Luigi Di Stefano
Publicado en: 25th International Conference on Pattern Recognition, ICPR 2020, Edición 3, 2021, ISSN 1051-4651
Editor: IEEE
DOI: 10.1109/icpr48806.2021.9411912

Robot Learning-Based Pipeline for Autonomous Reshaping of a Deformable Linear Object in Cluttered Backgrounds

Autores: Riccardo Zanella; Gianluca Palli
Publicado en: IEEE Access, Vol 9, Pp 138296-138306 (2021), Edición 5, 2021, ISSN 2169-3536
Editor: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3118209

Point Cloud Registration With Object-Centric Alignment

Autores: Bare Luka Zagar; Ekim Yurtsever; Arne Peters; Alois C. Knoll
Publicado en: Crossref, Edición 21693536, 2022, ISSN 2169-3536
Editor: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2022.3191352

A Weakly Super-vised Semi-Automatic Image Labeling Approach for Deformable Linear Objects

Autores: Alessio Caporali; Matteo Pantano; Lucas Janisch; Daniel Regulin; Gianluca Palli; Dongheui Lee
Publicado en: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2023.3234799

Extrinsic Calibration of an Eye-In-Hand 2D LiDAR Sensor in Unstructured Environments Using ICP

Autores: Arne Peters, Adam Schmidt, Alois C. Knoll
Publicado en: IEEE Robotics and Automation Letters, Edición 5/2, 2020, Página(s) 929-936, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.2965878

Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Autores: L Biagiotti, R Meattini, D Chiaravalli, G Palli, C Melchiorri
Publicado en: IEEE Transactions on Robotics, 2023, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3258669

Simulative Evaluation of a Joint-Cartesian Hybrid Motion Mapping for Robot Hands Based on Spatial In-Hand Information

Autores: R Meattini, D Chiaravalli, G Palli, C Melchiorri
Publicado en: Frontiers in Robotics and AI, 2022
Editor: Frontiers
DOI: 10.3389/frobt.2022.878364

Tactile sensor data interpretation for estimation of wire features

Autores: Andrea Cirillo, Gianluca Laudante, Salvatore Pirozzi
Publicado en: MDPI Electronics, 2021, ISSN 2079-9292
Editor: MDPI
DOI: 10.3390/electronics10121458

Vision-Based Robotic Solution for Wire Insertion with an Assigned Label Orientation

Autores: Pasquale Cirillo, Gianluca Laudante, Salvatore Pirozzi
Publicado en: IEEE Access, 2021, Página(s) 102278-102289, ISSN 2169-3536
Editor: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3098472

Tell Me, What Do You See?—Interpretable Classification of Wiring Harness Branches with Deep Neural Networks

Autores: Piotr Kicki; Michal Bednarek; Paweł Lembicz; Grzegorz Mierzwiak; Amadeusz Szymko; Marek Kraft; Krzysztof Walas
Publicado en: Sensors (Basel, Switzerland), Edición 14248220, 2021, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21134327

sEMG-Based Human-in-the-Loop Control of Elbow Assistive Robots for Physical Tasks and Muscle Strength Training

Autores: Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri
Publicado en: IEEE Robotics and Automation Letters, Edición 5/4, 2020, Página(s) 5795-5802, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2020.3010741

CAD-Based Robot Programming Solution for Wire Harness Manufacturing in Aeronautic Sector

Autores: Javier González Huarte, Maite Ortiz de Zarate, and Aitor Ibarguren
Publicado en: Robotics, 2023, ISSN 2218-6581
Editor: MDPI
DOI: 10.3390/robotics12050130

RT-DLO: Real-Time Deformable Linear Objects Instance Segmentation

Autores: Alessio Caporali; Kevin Galassi; Bare Luka Žagar; Riccardo Zanella; Gianluca Palli; Alois C Knoll
Publicado en: IEEE Transac-tions on Industrial Informatics, 2023, ISSN 1551-3203
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tii.2023.3245641

A Safe and Energy Efficient Robotic System for Industrial Automatic Tests on Domestic Appliances: Problem Statement and Proof of Concept

Autores: Wendwosen Bellete Bedada, Rawan Kalawoun, Ismayil Ahmadli, Gianluca Palli
Publicado en: Procedia Manufacturing, Edición 51, 2020, Página(s) 454-461, ISSN 2351-9789
Editor: Elsevier
DOI: 10.1016/j.promfg.2020.10.064

Extending the motion planning framework—MoveIt with advanced manipulation functions for industrial applications

Autores: Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra,Jose A. Perez Garcia
Publicado en: Robotics and Com-puter-Integrated Manufacturing, 2023, ISSN 0736-5845
Editor: Pergamon Press Ltd.
DOI: 10.1016/j.rcim.2023.102559

Ariadne+: Deep Learning-based Augmented Framework for the Instance Segmentation of Wires

Autores: Alessio Caporali; Riccardo Zanella; Daniele De Gregorio; Gianluca Palli
Publicado en: IEEE Transactions on Industrial Informatics, 2022, ISSN 1551-3203
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tii.2022.3154477

New model-based manipulation technique for reshaping deformable linear objects

Autores: Alaa Khalifa; Gianluca Palli
Publicado en: The International Journal of Advanced Manufacturing Technology, Edición 6, 2022, Página(s) 3575–3583
Editor: Springer
DOI: 10.1007/s00170-021-08107-x

Combining Unsupervised Muscle Co-Contraction Estimation With Bio-Feedback Allows Augmented Kinesthetic Teaching

Autores: Roberto Meattini; Davide Chiaravalli; Luigi Biagiotti; Gianluca Palli; Claudio Melchiorri
Publicado en: IEEE Robotics and Automation Letters, Edición 4, 2021, Página(s) 6180 - 6187, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2021.3092269

Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Autores: Alaa Khalifa; Gianluca Palli
Publicado en: Journal of Computational and Nonlinear Dynamics, Edición 4, 2021
Editor: ASME
DOI: 10.48550/arxiv.2108.08935

Beyond the Baseline: 3D Reconstruction of Tiny Objects With Si ngle Camera Ste reo R obot

Autores: Daniele De Gregorio; Matteo Poggi; Pierluigi Zama Ramirez; Gianluca Palli; Stefano Mattoccia; Luigi Di Stefano
Publicado en: IEEE Access, Edición 4, 2021, ISSN 2169-3536
Editor: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2021.3108626

Tactile Sensors for Parallel Grippers: Design and Characterization.

Autores: Andrea Cirillo; Marco Costanzo; Gianluca Laudante; Salvatore Pirozzi
Publicado en: Sensors, Vol 21, Iss 1915, p 1915 (2021), Edición 5, 2021, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051915

Tactile Sensors for Parallel Grippers: Design and Characterization

Autores: Andrea Cirillo, Marco Costanzo, Gianluca Laudante, Salvatore Pirozzi
Publicado en: Sensors, Edición 21/5, 2021, Página(s) 1915, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s21051915

Stability and Convergence Analysis of 3D Feature-Based Visual Servoing

Autores: Marco Costanzo; Giuseppe De Maria; Ciro Natale; Antonio Russo
Publicado en: IEEE Ro-botics and Automation Letters, Edición 23773766, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2022.3211154

sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Autores: Roberto Meattini; Alessandra Bernardini; Gianluca Palli; Claudio Melchiorri
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3193247

Human to Robot Hand Motion Mapping Methods: Review and Classification

Autores: Roberto Meattini; Raúl Suárez; Gianluca Palli; Claudio Melchiorri
Publicado en: Crossref, Edición 3, 2022, ISSN 1552-3098
Editor: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2022.3205510

FASTDLO: Fast Deformable Linear Objects Instance Segmentation

Autores: Caporali, A., Galassi, K., Zanella, R., Palli, G.
Publicado en: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3189791

A Method for Understanding and Digitizing Manipulation Activities using Programming by Demonstration in Robotic Applications

Autores: Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra (TAU), Jose A. Perez Garcia (UVIGO).
Publicado en: Robotics and Autonomous Systems, 2023, ISSN 0921-8890
Editor: Elsevier BV
DOI: 10.1016/j.robot.2023.104556

New Metrics for Industrial Depth Sensors Evaluation for Precise Robotic Applications

Autores: Cop, Konrad P.; Peters, Arne; Žagar, Bare L; Hettegger, Daniel; Knoll, Alois C
Publicado en: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Editor: IEEE
DOI: 10.1109/iros51168.2021.9636322

An Intelligent System for Human Intent and Environment Detection Through Tactile Data

Autores: Laudante Gianluca; Pirozzi Salvatore
Publicado en: 6th International Con-ference on System-Integrated Intelligence. Intelligent, flexible and connected systems in products and production, Edición 3, 2022
Editor: Springe
DOI: 10.1007/978-3-031-16281-7_47

An approach for the bimanual manipulation of a deformable linear object using a dual-arm industrial robot : cable routing use case

Autores: Pablo Malvido Fresnillo; Saigopal Vasudevan; Wael M. Mohammed
Publicado en: 5th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 24 – 26 May 2022, Edición 1, 2022
Editor: IEEE
DOI: 10.1109/icps51978.2022.9816981

A Low Cost Tactile Sensor for Large Surfaces Based on Deformable Skin with Embedded IMU

Autores: Yuki Iwamoto, Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Koji Shibuya, Claudio Melchiorri
Publicado en: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Página(s) 501-506, ISBN 978-1-7281-6389-5
Editor: IEEE
DOI: 10.1109/icps48405.2020.9274737

Robotic Wires Manipulation for Switchgear Cabling and Wiring Harness Manufacturing

Autores: Kevin Galassi, Gianluca Palli
Publicado en: 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 2021
Editor: IEEE
DOI: 10.1109/icps49255.2021.9468128

Validating DLO Models from Shape Observation

Autores: Gianluca Palli, Salvatore Pirozzi
Publicado en: 2021
Editor: IEEE/ASME
DOI: 10.1109/aim46487.2021.9517570

A Cyber-Physical System for Clothes Detection, Manipulation and Washing Machine Loading

Autores: Alessio Caporali; Wendwosen Bellete Bedada; Gianluca Palli
Publicado en: 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), Edición 4, 2021, ISBN 978-1-7281-6207-2
Editor: IEEE
DOI: 10.1109/icps49255.2021.9468189

Mapping Finger Motions on Anthropomorphic Robotic Hands: Two Realizations of a Hybrid Joint-Cartesian Approach Based on Spatial In-Hand Information

Autores: Roberto Meattini, Davide Chiaravalli, Gianluca Palli, Claudio Melchiorri
Publicado en: 2021
Editor: Springer
DOI: 10.1007/978-3-030-96359-0_6

Combining Vision and Tactile Data for Cable Grasping

Autores: Alessio Caporali; Kevin Galassi; Gianluca Laudante; Gianluca Palli; Salvatore Pirozzi
Publicado en: AIM, Edición 2, 2021
Editor: IEEE/ASME
DOI: 10.1109/aim46487.2021.9517447

Auto-generated Wires Dataset for Semantic Segmentation with Domain-Independence

Autores: Zanella, R., Caporali, A., Tadaka, K., De Gregorio, D., Palli, G.
Publicado en: 2021
Editor: IEEE
DOI: 10.1109/icccr49711.2021.9349395

Graphical visualization of contact forces and hand movements during in-hand manipulation

Autores: Raúl Suárez, Andrés Montaño
Publicado en: 27th Annual Conference of the IEEE Industrial Electronics Society, 2022
Editor: IEEE
DOI: 10.1109/etfa52439.2022.9921664

Training an Under-actuated Gripper for Grasping Shallow Objects Using Reinforcement Learning

Autores: Wael M. Mohammed, Miroslaw Nejman, Fernando Castano, Jose L. Martinez Lastra, Stanislaw Strzelczak, Alberto Villalonga
Publicado en: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Página(s) 493-498, ISBN 978-1-7281-6389-5
Editor: IEEE
DOI: 10.1109/icps48405.2020.9274727

Towards the automation of wire harness manufacturing: a robotic manipulator with sensorized fingers

Autores: Andrea Govoni, Gianluca Laudante, Michele Mirto, Ciro Natale, Salvatore Pirozzi
Publicado en: 2023 9th International Conference on Control, Decision and Infor-mation Technolo-gies (CoDIT), 2023
Editor: IEEE

3D DLO Shape Detection and Grasp Planning from Multiple 2D Views

Autores: Alessio Caporali; Kevin Galassi; Gianluca Palli
Publicado en: AIM, Edición 10, 2021
Editor: IEEE/ASME
DOI: 10.1109/aim46487.2021.9517655

Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

Autores: Pablo Malvido Fresnillo; Saigopal Vasudevan; Wael M. Mohammed; Jose L. Martinez Lastra; Gianluca Laudante; Salvatore Pirozzi; Kevin Galassi; Gianluca Palli
Publicado en: ICPS, Edición 1, 2021
Editor: IEEE
DOI: 10.1109/icps49255.2021.9468151

DLOFTBs – Fast Tracking of Deformable Linear Objects with B-splines

Autores: Piotr Kicki, Amadeusz Szymko, Krzysztof Walas
Publicado en: IEEE International Conference on Robotics and Automation (ICRA), 2023
Editor: IEEE
DOI: 10.1109/icra48891.2023.10160437

Real-Time Instance Segmentation of Pedestrians using Transfer Learning

Autores: Bare Luka Žagar; Tobias Preintner; Alois C. Knoll; Ekim Yurtsever
Publicado en: 2022 27th International Conference on Automation and Computing (ICAC), 2022, ISBN 978-1-6654-9807-4
Editor: IEEE
DOI: 10.1109/icac55051.2022.9911121

Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface

Autores: Linda Feenstra; Umberto Scarcia; Riccardo Zanella; Roberto Meattini; Davide Chiaravalli; Gianluca Palli; Claudio Melchiorri
Publicado en: 2021 20th International Conference on Advanced Robotics (ICAR), 2022
Editor: IEEE
DOI: 10.1109/icar53236.2021.9659420

Cable Detection and Manipulation for DLO-in-Hole Assembly Tasks

Autores: Alessio Caporali, Kevin Galassi, Gianluca Palli
Publicado en: 5th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 24 – 26 May 2022, 2022
Editor: IEEE
DOI: 10.1109/icps51978.2022.9817006

An Approach for Modeling Grasping Configuration Using Ontology-based Taxonomy

Autores: Wael M. Mohammed, Pablo Malvido Fresnillo, Saigopal Vasudevan, Ziga Gosar, Jose L. Martinez Lastra
Publicado en: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Página(s) 507-513, ISBN 978-1-7281-6389-5
Editor: IEEE
DOI: 10.1109/icps48405.2020.9274760

Wire Grasping by Using Proximity and Tactile Sensors

Autores: Cirillo Andrea; Laudante Gianluca; Pirozzi Salvatore
Publicado en: 5th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS), 24 – 26 May 2022, Edición 2, 2022
Editor: IEEE
DOI: 10.1109/ICPS51978.2022.9816936

Copy and Paste Augmentation for Deformable Wiring Harness Bags Segmentation

Autores: Bare Luka Žagar, Alessio Caporali, Amadeusz Szymko, Piotr Kicki, Krzysztof Walas, Gianluca Palli, Alois C Knoll
Publicado en: 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2023
Editor: IEEE
DOI: 10.1109/aim46323.2023.10196168

Pointcloud-based Identification of Optimal Grasping Poses for Cloth-like Deformable Objects

Autores: Alessio Caporali, Gianluca Palli
Publicado en: 2020 25th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), 2020, Página(s) 581-586, ISBN 978-1-7281-8956-7
Editor: IEEE
DOI: 10.1109/etfa46521.2020.9211879

sEMG-based Regression of Hand Kinematics with Temporal Convolutional Networks on a Low-Power Edge Microcontroller

Autores: Marcello Zanghieri, Simone Benatti, Alessio Burrello, Victor Javier Kartsch Morinigo, Roberto Meattini, Gianluca Palli, Claudio Melchiorri, Luca Benini
Publicado en: 2021 IEEE International Conference on Omni-Layer Intelligent Systems (COINS), 2021
Editor: IEEE
DOI: 10.1109/coins51742.2021.9524188

Model-based Manipulation of Deformable Linear Objects by Multivariate Dynamic Splines

Autores: Gianluca Palli
Publicado en: 2020 IEEE Conference on Industrial Cyberphysical Systems (ICPS), 2020, Página(s) 520-525, ISBN 978-1-7281-6389-5
Editor: IEEE
DOI: 10.1109/icps48405.2020.9274730

Deep Learning and OcTree-GPU-Based ICP for Efficient 6D Model Registration of Large Objects

Autores: Ismayil Ahmadli, Wendwosen B. Bedada, Gianluca Palli
Publicado en: Human-Friendly Robotics 2021. Springer Proceedings in Advanced Robotics, 2022
Editor: Springer, Cham
DOI: 10.1007/978-3-030-96359-0_3

FASTDLO: Towards Real-Time Perception of Deformable Linear Objects

Autores: Caporali, Alessio; Palli, Gianluca; Galassi, Kevin
Publicado en: Fourth Italian Conference on Robotics and Intelligent Machines, Edición 1, 2022, ISBN 9788894580532
Editor: Zenodo
DOI: 10.5281/zenodo.7531208

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