Search results for "INGENIERIA DE SISTEMAS Y AUTOMATICA"
showing 10 items of 17 documents
Advanced teleoperation and control system for industrial robots based on augmented virtuality and haptic feedback
2021
[EN] There are some industrial tasks that are still mainly performed manually by human workers due to their complexity, which is the case of surface treatment operations (such as sanding, deburring, finishing, grinding, polishing, etc.) used to repair defects. This work develops an advanced teleoperation and control system for industrial robots in order to assist the human operator to perform the mentioned tasks. On the one hand, the controlled robotic system provides strength and accuracy, holding the tool, keeping the right tool orientation and guaranteeing a smooth approach to the workpiece. On the other hand, the advanced teleoperation provides security and comfort to the user when perf…
Teleoperation of industrial robot manipulators based on augmented reality
2020
[EN] This research develops a novel teleoperation for robot manipulators based on augmented reality. The proposed interface is equipped with full capabilities in order to replace the classical teach pendant of the robot for carrying out teleoperation tasks. The proposed interface is based on an augmented reality headset for projecting computer-generated graphics onto the real environment and a gamepad to interact with the computer-generated graphics and provide robot commands. In order to demonstrate the benefits of the proposed method, several usability tests were conducted using a 6R industrial robot manipulator in order to compare the proposed interface and the conventional teach pendant…
Clothoid-Based Three-Dimensional Curve for Attitude Planning
2019
Interest in flying robots, also known as unmanned aerial vehicles (UAVs), has grown during last years in both military and civil fields [1, 2]. The same happens to autonomous underwater vehicles (AUVs) [3]. These vehicles, UAVs and AUVs, offer a wide variety of possible applications and challenges, such as control, guidance or navigation [2, 3]. In this sense, heading and attitude control in UAVs is very important [4], particularly relevant in airplanes (fixed-wing flying vehicles), because they are strongly non-linear, coupled, and tend to be underactuated systems with non-holonomic constraints. Hence, designing a good attitude controller is a difficult task [5, 6, 7, 8, 9], where stabilit…
Real-time estimation of plasma insulin concentration from continuous glucose monitor measurements
2015
Continuous glucose monitors can measure interstitial glucose concentration in real time for closed-loop glucose control systems, known as artificial pancreas. These control systems use an insulin feedback to maintain plasma glucose concentration within a narrow and safe range, and thus to avoid health complications. As it is not possible to measure plasma insulin concentration in real time, insulin models have been used in literature to estimate them. Nevertheless, the significant interand intra-patient variability of insulin absorption jeopardizes the accuracy of these estimations. In order to reduce these limitations, our objective is to perform a real-time estimation of plasma insulin co…
Extensive Assessment of Blood Glucose Monitoring During Postprandial Period and Its Impact on Closed-Loop Performance.
2017
[EN] Background: Closed-loop (CL) systems aims to outperform usual treatments in blood glucose control and continuous glucose monitors (CGM) are a key component in such systems. Meals represents one of the main disturbances in blood glucose control, and postprandial period (PP) is a challenging situation for both CL system and CGM accuracy. Methods: We performed an extensive analysis of sensor¿s performance by numerical accuracy and precision during PP, as well as its influence in blood glucose control under CL therapy. Results: During PP the mean absolute relative difference (MARD) for both sensors presented lower accuracy in the hypoglycemic range (19.4 ± 12.8%) than in other ranges (12.2…
Monitoring multidimensional phenomena with a multicriteria composite performance interval approach
2021
[EN] In the last two decades, the construction of composite indicators to measure and compare multidimensional phenomena in a broad spectrum of domains has increased considerably. Different methodological approaches are used to summarise huge datasets of information in a single figure. This paper proposes a new approach that consists in computing a multicriteria composite performance interval based on different aggregation rules. The suggested approach provides an additional layer of information as the performance interval displays a lower bound from a non-compensability perspective, and an upper bound allowing for full-compensability. The outstanding features of this proposal are: 1) a dis…
Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles
2021
[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…
Probabilistic Self-Localization and Mapping - An Asynchronous Multirate Approach
2008
[EN] In this paper, we present a set of robust and efficient algorithms with O(N) cost for the solution of the Simultaneous Localization And Mapping (SLAM) problem of a mobile robot. First, we introduce a novel object detection method, which is mainly based on multiple line fitting method for landmark detection with regular constrained angles. Second, a line-based pose estimation method is proposed, based on LeastSquares (LS). This method performs the matching of lines, providing the global pose estimation under assumption of known Data-Association. Finally, we extend the FastSLAM (FActored Solution To SLAM) algorithm for mobile robot self-localisation and mapping by considering the asynchr…
Estimation of recombinant protein production in Pichia pastoris base don a constraint-based model
2012
[EN] A previously validated constraint based model and possibilistic MFA have been used to design a simple estimator of protein production rate in Pichia pastoris cultures. A structured model of the yeast P. pastoris metabolism is used to predict the balance of key energetic equivalents such as ATP from available measurements, mainly substrate consumption, gases exchange rates and biomass specific growth. It has been shown that ATP flux can be related to biomass growth and protein productivity specific rates by linear regression. Cross-validation has been applied for robust parameter fitting on the basis of chemostat, steady-state experimental conditions. In this way, protein estimation can…
Data Acquisition System for the Characterization of Biomechanical and Ergonomic Thresholds in Driving Vehicles
2020
Directive (EU) 2015/653 on driving licenses has involved the modification of different codes that must appear on driver&rsquo