CURRICULUM VITAE. Emmanuel Carlos Dean León Ph.D.

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1 CURRICULUM VITAE Emmanuel Carlos Dean León Ph.D. Contact Phone: Office: +49 (89) Office: +49 (89) Current Position Guest Researcher: Technische Universität München. Fakultät für Informatik. Robotics and Embedded Systems. October/ present. Address: Boltzmannstr. 3, Garching b. München, Germany. Office: +49 (89) , Fax +49(89) 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) Address: Av. Instituto Politécnico Nacional No. 2580, Colonia Barrio la Laguna Ticomán, Delegación Gustavo A. Madero, CP Mexico City, Mexico. 1

2 Office: +52 (55) ext Maintenance Engineer: OTIS, Elevators S.A. de C.V.: Engineering Coordination. April June Education Adress: Abedules #75, C.P , México City, México. Office: 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 the National 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 the National 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). Thesis: Automatic electrostatic precipitator used to reduce the pollution. 2

3 Awards Arturo Rosenblueth Award 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). Research Interest Robotics: Dynamic controls with industrial applications, robust/adaptive controls, Human Robot 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 IEEE Transactions on Systems, Man, and Cybernetics Part B 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). 3

4 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: 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, 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. 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. 4

5 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 Gutiérrez Mondragón Miguel Ángel, Mendoza Gallegos Darío, 3D Visual-servoing for the Mitsubishi RV-M1 Robot. since January 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 González González Leonel, A mobile robot s prototype for home use Dávila Hernández Gustavo, Esquivel Ruiz Julio Cesar, Fierros Álvarez Javier, Visual servoing for interception of multiple objects Calderón Duana Ricardo, Flores Osante Ricardo, Image based control for a 3DoF planar robot to control the pose of different objects Julio Cesar Vargas Reyes, 3DOF portable angular robot for didactic purposes Machado Andrés Baglietto, 3D Visual reconstruction using a 3DoF robot Ornelas García Nestor, Design, Construction and implementation of a real time CNC routing machine García Guzmán Miguel Ángel, Fuentes Martínez José Ángel, Vigueras Aguilar illiana, Optimization and update of a Industrial CNC Machine (Matsura machine 1981) Matus Vázquez Carlos, Guerrero Santiago Luis Felipe, Design, construction and implementation of a force sensor for a two finger robot end-effector Vargas Reyes Juilio César, Portable 3 DoF didactic robot Altamirano Gómez Gerardo, Cante Zapote Mauricio Alberto, Marín Sánchez Haydeé Hannali, Linux-RTAI Open architecture for the robot Mitsubishi RV-M López Flores Alberto Israel, Monge Ruiz Héctor Guillermo, Dynamic 3D modeler for industrial robots in Java 3D Martínez Montes Luis Oscar, Ledezma Garrido Guillermo, Visual Control of an autonomous vehicle with fixed environment Navarro Díaz Octavio, Simulator of tropical environment conditions for ground analysis Martínez Soto José Santiago, Hernández Pale Juan Abelardo, Supervision of methane and electric fan control for an underground mine Santos Martínez Marco Arturo, Pérez Ramírez Marco Antonio, Open architecture experimental station for industrial robot manipulators García Ramírez David Leonardo, Feeding system for upper-body handicapped people

6 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 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 , Hardcover. ISBN: November 15, International Conferences: 1. Robot Motion Planning for Multiple Moving Objects Interception with constant acceleration. J. A. Flores-Campos, E.C. Dean-León, C. Palacios-Montufar, VII Congreso Internacional sobre Innovación y Desarrollo Tecnológico CIINDET October, Cuernavaca, Morelos, Mexico Global Uncalibrated Visual Servoing for Constrained Robots Working on Uncalibrated Environments. E.C. Dean-León, V. Parra-Vega, A. Espinosa-Romero, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October, Beijin, China 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) June, Portland, Oregon 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, June, Espoo, Finland 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, July, Praga, Czech. Rep Visual Servoing for Constrained Robots: A New Complete Theoretical Framework and 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) July, Monterrey, California, USA

7 7. Experimental Study on Image-based Position-Force Adaptive Visual Servoing for Constrained 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) July - 01 August, Niagara Falls, Ontario, Canada 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) August, Shaw Conference Centre, Edmonton, Alberta, Canada 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 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, and J.D Fierro-Rojas, Proc. of the 2nd IEEE International Conference on Industrial Informatics, INDIN 04, June, Berlin, Germany 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, 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, 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) October. 3-5, Asahikawa, Hokkaido, Japan 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 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) October, Morelos, México 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 de Robótica, Robotics Mexican Association(COMROB) October. EIME, Universidad Autónoma de Coahuila, Torreón, Coahuila, México

8 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, Dynamic Visual Servoing of Constrained Robot Arms. Second Robotics and Motion Planning Workshop 2008 (ROMOV08). CIMAT Guanajuato, guanajuato, Mexico, February Uncalibrated Visual Servoing for Constrained Robots in Unknown Environments 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. ( ) Abstract: Implementation of teleoperated robots. Software and hardware design for operation, control and supervision of a teleoperated system via Internet II. The system is integrated by two industrial robots and two haptic devices. Resource: CONACyT CUDI2 ( ) 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. ( ) 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: Y. Personal Contribution: Design and construction of the 2 DoF planar robot. Implement the realtime Linux-OS to control the robot. Design and implementation of libraries for 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:

9 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 a realtime open architecture controller for the Mitsubishi RV-M1 robot and design a trajectory generator to intercept multiple objects within a flexible manufacture cell. Resource: IPN SIP project number: Personal Contribution: Design and implementation of an open architecture controller for the Mitsubishi RV-M1 robot in Linux-RTAI SO. Implementation of a realtime path 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: 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). 9

10 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. 10