Revista Iberoamericana de Automática e Informática industrial - Vol 22, No 4 (2025)

Tabla de contenidos



Presentación

  • Presentación


Nota de redacción

  • Nota de redacción


Artículos

  • Sensor virtual inteligente para la inspección de calidad en sistemas robóticos de dispensación de adhesivos
  • Controlador por aprendizaje reforzado para un péndulo con rueda inercial experimental
  • Desarrollo y control de un dispositivo robótico rehabilitador de dedos
  • Control-oriented modeling of a Skywalker X8 unmanned aerial vehicle


Mujeres en automática

  • Girls in Control


URI permanente para esta colecciónhttps://riunet.upv.es/handle/10251/227706

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  • Miniatura
    Item type: Otros , Access status: Abierto ,
    Presentation
    (2025-09-29) Andújar, José Manuel
  • Miniatura
    Item type: Otros , Access status: Abierto ,
    Editorial Note
    (2025-09-29) Calvo Rolle, José Luis
  • Miniatura
    Item type: Artículo , Access status: Abierto ,
    Sensor virtual inteligente para la inspección de calidad en sistemas robóticos de dispensación de adhesivos
    (Universitat Politècnica de València, 2025-07-10) Rodríguez-Magdalena, Alfredo; Díaz, Ignacio; Enguita, Jose María
    [EN] The automation of production processes entails the elimination of direct human supervision, requiring the development of systems capable of autonomously assessing quality in real time. In this context, an intelligent inspection system is proposed for monitoring adhesive dispensing in a luminaire assembly process. The system is based on the observation that non-Newtonian fluids, such as those used in these processes, exhibit complex dynamics influenced by rheology, gravity, and application geometry, potentially leading to unstable behaviors and irregular deposition that compromise efficiency. The proposed solution employs a 3D laser profilometry system integrated into a robotic cell, where a manipulator arm moves the luminaire chassis beneath an adhesive dispensing valve. From the profiles acquired during the process, representative features are extracted through feature engineering and/or dimensionality reduction techniques. These are used as input to a supervised classifier designed to evaluate, in real time, whether the dispensing is being performed correctly. Overall, the work presents a scalable and practical solution for flexible manufacturing environments, aimed at autonomous quality inspection in robotic assembly processes.
  • Miniatura
    Item type: Artículo , Access status: Abierto ,
    Controlador por aprendizaje reforzado para un péndulo con rueda inercial experimental
    (Universitat Politècnica de València, 2025-06-20) Concha-Sánchez, Antonio; Jiménez-Hernández, Brandom J.; Thenozhi, Suresh; Jiménez-Betancourt, Ramón; Gadi, Suresh K.
    [EN] In this article, the stabilization control of an inverted pendulum with an inertia wheel is addressed through the design of twocontrol approaches. On one hand, a conventional controller based on the LQR is implemented, and on the other, a non-conventionalalternative is proposed using a RL-based controller. The mechanical design, mathematical modeling, and parameter identificationof a low-cost experimental platform developed to validate the controllers are presented. Additionally, a state observer is designedusing the Sylvester method to estimate the velocities of the pendulum and the wheel, which are necessary for both controllers. TheRL controller employs an actor-critic agent trained with the DDPG algorithm based on the system s mathematical model. Finally,the performance of both controllers is compared through experimental results, demonstrating that the RL controller achieves lowersteady-state error, while the LQR exhibits better transient response.
  • Miniatura
    Item type: Artículo , Access status: Abierto ,
    Desarrollo y control de un dispositivo robótico rehabilitador de dedos
    (Universitat Politècnica de València, 2025-07-10) Jiménez, Carolina; López, Francisco; Casals, Alicia; Niño, Paola; Avilés, Oscar; Aguirre, Itzel
    [EN] Diseases such as rheumatism can limit finger mobility, preventing affected people from performing their daily activities properly and requiring motor rehabilitation. This work presents an active therapy device to improve such mobility through customized trajectories, adapted to the morphology and stiffness of each finger (except the thumb). Unlike exoskeletons, which do not fit well to misaligned fingers or consider individual variations, this end-effector type design supports only the fingertip, allowing specific three-dimensional movements. Anatomical variability and different levels of stiffness resulting from trauma justify a customized approach, where both the applied force and trajectory vary for each user. A fuzzy logic-based control system allows the calculation of the appropriate torque to guide the finger movement during therapy, contributing to a safer, more effective rehabilitation tailored to the conditions of everyone.
  • Miniatura
    Item type: Artículo , Access status: Abierto ,
    Control-oriented modeling of a Skywalker X8 unmanned aerial vehicle
    (Universitat Politècnica de València, 2025-07-11) Palacio-Hurtado, Antonio; Sierra-García, Jesus Enrique; Santos, Matilde
    [EN] The utility of unmanned aerial vehicles (UAVs) is evident, as shown by their multiple applications in various fields. Among these, fixed-wing drones are receiving increasing interest due to some of their advantages over the more well-known rotary UAVs, such as that they are faster and more suitable for long-distance flights and for covering large areas, and they are more energy efficient. However, they can be unstable and require robust controllers for their operation. For the design of the control, it is essential to have mathematical and computational models of these complex and non-linear systems. In this work, the development of a dynamic model of a fixed-wing UAV, the Skywalker X8, is presented, as well as its simulation. The non-linear dynamic model obtained describes the behavior of the UAV in a realistic and complete way, taking into account that, as it does not have a tail, the aerodynamic surfaces of the UAV can behave as ailerons (antisymmetric deflection) or as elevators (symmetric deflection). The absence of a tail and the size of the UAV make it possible to separate longitudinal and lateral movements while maintaining their partial coupling. The inputs for the lateral model are the aileron deflection angle and the airspeed, while for the longitudinal model the propulsive force and the elevator deflection angle have been considered as inputs. To validate the UAV model, several simulations of realistic manoeuvres have been carried out.
  • Miniatura
    Item type: Otros , Access status: Abierto ,
    Girls in Control
    (2025-09-29) Castilla, María del Mar; Hoyo, Ángeles