Revista Iberoamericana de Automática e Informática - Vol 18, No 1 (2021)
Tabla de contenidos
Presentación
Nota de Redacción
Tutoriales
- Modelado y control automático en destilación por membranas solar: fundamentos y propuestas para su desarrollo tecnológico
- Control de trayectorias basado en álgebra lineal
Artículos
- Optimización dinámica basada en Fourier. Aplicación al proceso de biodiesel
- Modelado y control con compensación de fricción de un sistema pendubot
- El exoesqueleto de rehabilitación de la marcha ALICE: análisis dinámico y evaluación del sistema de control utilizando cuaternios de Hamilton
- Cinemática de un manipulador configurable por medio de la teoría de tornillos
- Sistema automatizado para monitorear el uso de equipos de protección personal en la industria de la construcción
- Fusión de neuroimágenes de PET/CT utilizando un esquema basado en Wavelet y la transformada discreta de Haar
- Transporte multi-AGV de una carga: estado del arte y propuesta centralizada
URI permanente para esta colecciónhttps://riunet.upv.es/handle/10251/160114
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Item type: Artículo , Access status: Abierto , Transporte multi-AGV de una carga: estado del arte y propuesta centralizada(Universitat Politècnica de València, 2020-12-23) Espinosa, F.; Santos, C.; Sierra-García, J. E.; Junta de Castilla y León[EN] An automatic guided vehicle is a battery powered fully automated industrial transport system. These vehicles are widely used in the industrial sector to substitute manual forklifts and conveyors. The challenge of using AGVs as transport agents in industrial environments goes through providing them with enough intelligence to develop collaborative tasks. Among these collaborative tasks the multi-AGV transport of one object is differentiated from the multi-object multi-AGV transport. This work presents the state of art of cooperative transport solutions of one object between several AGVs. The theoretical fundaments are revised and several proposals for its resolution are classified and described. Finally, an own proposal of one-object multi-AGV transport with omnidirectional AGVs based on centralized remote control is presented.Item type: Artículo , Access status: Abierto , Fusión de neuroimágenes de PET/CT utilizando un esquema basado en Wavelet y la transformada discreta de Haar(Universitat Politècnica de València, 2020-12-23) Orellana, A.; Rodríguez, R.; Yanes, D.; Valdés-Sosa, P.[EN] In neurosciences, imaging techniques are used to diagnose diseases and assist in surgical interventions to determine the exact location and size of a tumor. International research has used different techniques for the fusion of Positron Emission Tomography and Computed Tomography because it allows us to observe metabolic functions in correlation with anatomical structures. From the study of these techniques and algorithms a software was developed that performs the fusion of neuroimaging, using the fusion scheme based on Wavelet. Bicubic interpolation was used to correct the images. As a discrete Wavelet transform, Haar's was used. An evaluation of the quality of the resulting images was performed, obtaining 512 × 512 × 24 bit resolution images and a signal-to-noise ratio with values greater than 18. It was verified by histograms that the merged image contains more information than the input images independent.Item type: Artículo , Access status: Abierto , Sistema automatizado para monitorear el uso de equipos de protección personal en la industria de la construcción(Universitat Politècnica de València, 2020-12-23) Massiris, M.; Fernández, J. A.; Bajo, J.; Delrieux, C.; European Regional Development Fund; Junta de Extremadura; Universidad Nacional del Sur, Argentina[EN] We present a novel computer vision system which generates automated indicators of proper use of personal protective equipment(PPE) of great importance in the construction industry, specifically the use of safety helmet and high visibility vest. The system is built on a neural network architecture that works on digital images. First, the OpenPose network is used for the detection of anthropometric points of the visualized workers. These points are used next to automatically segment regions of interest (ROI) located about a worker’s head and trunk. On these ROIs, a neuronal classifier estimates the presence or absence of each PPE of interest. Obtained results in moving videos from drones or artphones show that our system is fully capable of carrying out a complete evaluation of usage indicators of these two PPEs without human intervention, with the main purpose of preventing potentially dangerous incidents in the workplace.Item type: Artículo , Access status: Abierto , Cinemática de un manipulador configurable por medio de la teoría de tornillos(Universitat Politècnica de València, 2020-12-23) Gallardo-Alvarado, J.; Tinajero-Campo, J. H.; Sánchez-Rodríguez, Á.[EN] This paper addresses the kinematic analysis of a redundant parallel manipulator with a configurable platform equipped with two end-effectors. The closure equations of the position analysis generate a system of quadratic equations which is solved by applying the Newton-homotopy method. Subsequently, the instantaneous kinematics of the robot is solved by resorting to the theory of screws. The efficiency of the method is such that the calculation of passive joint rates of the robot is not required form the determination of the input-outputn equation of velocity of the parallel manipulator. Numerical examples are compared with the outcome of a commercial software demonstrating the approach correctness.Item type: Artículo , Access status: Abierto , El exoesqueleto de rehabilitación de la marcha ALICE: análisis dinámico y evaluación del sistema de control utilizando cuaternios de Hamilton(Universitat Politècnica de València, 2020-12-23) Cardona, M.; Serrano, F.; Martín, J. A.; Rausell, E.; Saltaren, R.; García-Cena, C.; Universidad Politécnica de Madrid[EN] A robotic exoskeleton is an electromechanical device that can be worn by a person to increase its physical capacity, to assist locomotion or for gait rehabilitation processes. In the case of rehabilitation exoskeletons, the control system is required to be smooth and capable to match accurately with the patients’ evolution in order to optimize the eciency of their recovery, this implies the design of robust and precise controllers. In this paper, kinematic analysis, dynamic analysis and control system evaluation for ALICE rehabilitation exoskeleton is presented. Among the control techniques used are: the PD controller, adaptive PD, and the sliding mode controller. In addition, a stability analysis using the Lyapunov criterion is performed. To test the performance of the controllers, gait data obtained by the ONCE School of Physiotherapy in Madrid, which correspond to healthy people and people with multiple sclerosis, are used. MATLAB as simulation software and programming language is used.Item type: Artículo , Access status: Abierto , Modelado y control con compensación de fricción de un sistema pendubot(Universitat Politècnica de València, 2020-12-23) Soto, I.; Campa, R.; Sánchez-Mazuca, S.[EN] The pendubot is a two degree of freedom mechanical underactuated system that is used as an educational and research platform in the areas of robotics and control. It is considered as an underactuated system because it has only one control input. Although several control laws have been applied to stabilize the pendubot, most of them neglect the effects of friction. In this article, the analysis is different, since it is considered a pendubot system in which the actuated joint has a significant amount of friction that cannot be neglected. First, we review some of the existing friction models in the literature, including one that was recently proposed by the authors. Then we describe the implementation of some stabilization controllers that compensate for the effects of friction. Finally, an exhaustive comparison of the presented friction compensators is made to improve the performance of a real pendubot system.Item type: Artículo , Access status: Abierto , Optimización dinámica basada en Fourier. Aplicación al proceso de biodiesel(Universitat Politècnica de València, 2020-12-23) Pantano, M. N.; Fernández, M. C.; Rodríguez, L.; Scaglia, G. J.E.; Consejo Nacional para Investigaciones Científicas y Tecnológicas, Costa Rica[EN] This work presents a novel methodology for the dynamic optimization of the biodiesel production process from vegetable oils in discontinuous mode. The proposed methodology has the particularity of using the Fourier series for the parameterization of the control action, and evolutionary algorithms for the optimization of parameters. The main advantages of this strategy are, on the one hand, that the profiles obtained are smooth, that is, continuous and differentiable, therefore they can be directly implemented in real systems, without the need to filter or soften the control signal; on the other hand, a minimum amount of parameters is required for optimization, avoiding over-parameterization, which can decrease the quality of the response. The proposed algorithms have been evaluated through simulations, obtaining very satisfactory results compared to those published in the literature.Item type: Artículo , Access status: Abierto , Planificación de trayectorias en sistemas multirobot utilizando redes de Petri. Resultados y problemas abiertos(Universitat Politècnica de València, 2020-12-23) Mahulea, C.; González, R.; Montijano, E.; Silva, M.; European Regional Development Fund; Office of Naval Research; Agencia Estatal de Investigación[EN] This paper presents a trajectory planning approach in multirobot systems based on Petri net models. This type of models is very useful for high-level specifications since, in this case, the classical planning methods (potential functions, RRT algorithms, RRT*) cannot be used being dicult to determine a priori the sequence of configurations for each robot. This work presents the formal definition of the Robot Motion Petri net t hat i s obtained from a partition of the environment in cells. Using the s tructure of the Petri net, in case of specifications defined as Boolean or Linear Temporal Logic (LTL) formulas, dierent optimization problems are presented that can be used to obtain trajectories for robots. The main advantage of models based on Petri nets is their scalability with respect to the number of robots. This makes it possible to reciently solve planning problems with a large number of robots. In the second part of the paper, some extensions and new results for distributed planning in unknown environments and with partial communications between robots are presented.Item type: Artículo , Access status: Abierto , Modelado y control de la producción de microalgas en fotobiorreactores industriales(Universitat Politècnica de València, 2020-12-23) Guzmán, J. L.; Acién, Francisco Gabriel; Berenguel, M.; European Commission; Agencia Estatal de Investigación[EN] This manuscript presents a general overview of the microalgae production process from a modelling and control perspective. First, the main advantages and the potential of these microorganisms are motivated, describing the dierent type of reactors used for their cultivation. Afterwards, the process dynamics, which is very complex and variable due to diary and annual changes on ambient conditions, is analyzed and the main balance equations to describe the system behaviour are introduced. Then, dierent biological and structural models validated in industrial plants will be presented. Subsequently, the existing control problems in these systems are described, introducing a wide set of control algorithms that have been experimentally evaluated in industrial reactors. Finally, the most relevant aspects discussed along the paper are summarized.Item type: Artículo , Access status: Abierto , Nota de Redacción(Universitat Politècnica de València, 2020-12-23) Editorial RIAI, Equipo[ES] Nota de redacción del Vol.18, nº1 de la Revista Iberoamericana de Automática e Informática Industrial.Item type: Artículo , Access status: Abierto , Presentación(Universitat Politècnica de València, 2020-12-23) Balaguer, Carlos[ES] Presentación del Vol. 18, nº1 de la Revista Iberoamericana de Automática e Informática Industrial.