Curriculum vitae. June 2011

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1 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 Colmenar de Oreja Madrid Telephone E Mail: Brief Biography Jorge Barrio, was born in 1975 at Barcelona. He received his Electronics engineering degree from Universitat Ramón Llull, Barcelona in He obtained his Ph.D (Cum Laude) in Robotics and Automation with the European Mention from the Universidad Politécnica de Madrid in 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 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 Degree in Electronics Engineering from Enginyeria La Salle Universitat Ramón Llull (Barcelona)

2 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

3 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. Additionally, I give support to the students of my faculty in the development of mechatronic robots for a contest organized in the university, called Cibertech. The robots developed are linetrackers

4 and labyrinth solvers 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.

5 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, 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): , sep 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 Springer Berlin / Heidelberg, 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 Springer Berlin / Heidelberg, 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 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), st International Conference on, pages 1 6, 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 , Manuel Ferre, Ignacio Galiana, Jorge Barrio, Pablo García Robledo, Antonio Giménez, and Javier López. Two hand virtual object manipulation based on networked architecture. In Astrid Kappers, Jan van Erp, Wouter Bergmann Tiest, and Frans van der Helm, editors, Haptics: Generating and Perceiving Tangible Sensations, volume 6192 of Lecture Notes in Computer Science, pages Springer Berlin / Heidelberg, 2010.

6 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, HAVE IEEE International Workshop on, pages 30 35, 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), 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 Third Joint, pages , M. Monroy, M. Ferre, J. Barrio, V. Eslava, and I. Galiana. Sensorized thimble for haptics applications. In Mechatronics, ICM IEEE International Conference on, pages 1 6, P. Garcia Robledo, P. Garcia Borras, J. Barrio, M. Fere, and R. Aracil. Teleoperation platform for multimodal experimentation. In Mechatronics, ICM IEEE International Conference on, pages 1 6, 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, 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 Springer Berlin / Heidelberg, 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 Springer Berlin / Heidelberg, 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 Springer Berlin / Heidelberg, 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 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 , 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 , jul 2006.

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