As robotic systems are becoming more complex, distributed, and integrated, there is the need to build sophisticated frameworks to embody intelligence in the robot. This paper presents a component-based software architecture for the integration of industrial robotic platforms with multisensor systems where data fusion is relevant. The architecture is based on an open software robotic platform that is able to fulfill capabilities such as openness, interoperability, adaptability, and modularity, with the addition of hardware in the loop simulator. The resulting robot platform permits easy implementation of model- and sensor-based control concepts, proving to be interesting for robotics research. In addition, it allows the integration of standard industrial components. The entire system has been successfully developed, implemented, and demonstrated for robotic tasks, where multiple and different sensors are required.

The organoleptic profile of a Virgin Olive Oil is a key quality parameter that is currently obtained by human sensory panels. The development of an instrumental technique capable of providing information about this profile quickly and online is of great interest. This work employed a general purpose e-nose, in lab conditions, to predict the level of fruity aroma and the presence of defects in Virgin Olive Oils. The raw data provided by the e-nose were used to extract a set of features that fed a regressor to predict the level of fruity aroma and a classifier to detect the presence of defects. The results obtained were a mean validation error of $0.5$ units for the prediction of fruity aroma using lasso regression; and 88% accuracy for the defect detection using logistic regression. Finally, the identification of two out of ten specific sensors of the e-nose that can provide successful results paves the way to the design of low-cost specific electronic noses for this application.

The presence of minor compounds in virgin olive oils has been proven to play multiple positive roles in health protection, encouraging its production. The key factors that influence the oil quality are ripening stages and the state of health of the fruit. For this reason, at the oil mill’s reception yard, fruits are visually inspected and separated according to their external appearance. In this way, the process parameters can be better adjusted to improve the quantity and/or quality of olive oil. This paper presents a proposal to automatically determine the oil quality before being produced from a previous inspection of the incoming fruits. Expert assessment of the fruit conditions guided the image processing. The proposal has been validated through the analysis of 74 batches of olives coming from an oil mill. Best correlation results between the image processing and the analytical data were found in the acidity index, peroxide values, ethyl ester, polyphenols, chlorophylls, and carotenoids.