Claudio Urrea

the University of Santiago, Chile

In this paper the development of a neural controller implemented in a five Degrees Of Freedom (DOF) redundant robot is presented. The design of the control law considers the robotic system inverse model, including the performance of the actuators for the five joints, obtained through a feedforward neural network with backpropagation learning algori...

This work seeks to contribute to the study of techniques for level control considering a nonlinear plant model. To achieve this goal, different approaches are applied to classical control techniques and their results are analyzed. Fuzzy Logic Control (FLC), Artificial Neural Network (ANN), Adaptive Neuro-Fuzzy Inference System (ANFIS), Model Predic...

This article presents the performance analysis and comparison of turbo codes for several interleavers with short blockchains. According to the symmetry concept, turbo codes consist of two symmetric convolutional codes preceded by an interleaver. Some interleavers can be described by symmetric 3 × 3 generator matrices, whereas others are represented...

Nowadays, underactuated systems are present in diverse fields of application. However, their mathematical modeling of underactuated revolute planar robots and the design of their control systems have not been thoroughly researched. Consequently, this paper presents both the generalized dynamic model and the design of a new control strategy for n-li...

With the development of the Wireless Sensor Network, positioning has taken on a relevant role, either because of the low costs of the technology or because of the ease of implementation. As far as we know, the application of positioning control strategies has not been deeply developed. The present investigation compares three control strategies app...

Given the widespread use of the Kalman filter in robotics, an increasing number of researchers devote themselves to its study and application. This work underscores the importance of this filter while analyzing the modifications made to the same to improve its performance and reduce its deficiencies in some fields and presenting some of its applica...

This paper presents the design and implementation of four control strategies applied to a real underactuated manipulator robot with 3-DOF (Degrees of Freedom). Additionally, an original methodology for controlled oscillatory compensations is designed and implemented to mitigate the effect of a passive joint on the overall performance of this manipu...

This paper presents the design of an interleaver for short Parallel Turbo Codes (PTC) with short block lengths in the order of 64, 128, and 256 bits. In particular, the objective is to design an interleaver that generates decorrelation in the external input information to parallel recursive convolutional encoders, with sufficient data propagation t...

This work presents an optimal point-to-point trajectory planning method based on fourth degree polynomials to reduce the energy consumption of a redundant planar robot in the XY plane. The contribution of this study focuses on the development of a two-level nested optimization algorithm, which manages to optimize three elements: the Optimal Weighti...

This work addresses the design and implementation of a wireless connection for the remote control of the joints of a redundant 3-DoF manipulator robot. To this end, low-cost devices able to establish master/slave connections are used as closed control loops to calculate both control in the master device and actuation in the slave devices. To test t...

The use of Software-Defined Networking (SDN) in the communications of the Industrial Internet of Things (IIoT) demands more comprehensive solutions than those developed to date. The lack of an SDN solution applicable in diverse IIoT scenarios is the problem addressed in this article. The main cause of this problem is the lack of integration of a se...

We propose a novel algorithm for the navigation of agents based on reinforcement learning, using boredomas an element of intrinsic motivation. Improvements obtained with the inclusion of this element over classicstrategies are shown through simulations. Boredom is modeled through a chaotic element that generates conditionsfor the creation of routes...

Due to its widespread application in the robotics field, the Kalman filter has received increased attention from researchers. This work reviews some of the modifications conducted on to this algorithm over the last years. Problems such as the consistency, convergence, and accuracy of the filter are also dealt with. Sixty years after its creation, t...

This article presents the design of a parameter identification model for industrial manipulator robots. This model includes the dynamics of servomotor-type actuators and therefore is formulated based on acceleration, speed, position and voltage applied to the actuator. In this way, calculating the torque of a joint during motion to estimate paramet...

CEREMONIA DE POSTGRADO SELECCIÓN DE LAS PRINCIPALES ACTIVIDADES Y LOGROS DE POSTGRADO 2020

This article presents the design and validation of a regression model for the identification of dynamic parameters in manipulator robots. The model exhibits implementation advantages as it is based on the acquisition of position, speed and voltage data from the actuator in each joint rather than on the calculation of acceleration and torque. Actuat...

In this work, a study of the water level control of an inverted conical tank system is presented. This type of tank has highly nonlinear mathematical and dynamic characteristics. Four control strategies are designed, applied, and compared, namely classical Proportional–Integral–Derivative (PID), Gain Scheduling (GS), Internal Model Control (IMC), a...

This paper presents the design and implementation of a strategy for protecting trajectory data that will be executed by industrial robots working under hostile operating conditions. Specifically, the Controller Area Network protocol is used to send information about trajectories between two terminals: the controller and the robot. To prevent the ad...

This work presents a system and method to improve transmission quality in smart meter networks that use Modbus-RTU. Energy management systems in industries, buildings and urban infrastructure use smart meters interconnected in a network. These systems can demand a great quantity of interconnected devices, which sets down increasing requirements to...

CEREMONIA DE POSTGRADO: SELECCIÓN DE LAS PRINCIPALES ACTIVIDADES Y LOGROS DE POSTGRADO 2020

This work presents the results of the design, simulation, and implementation of a virtual vehicle. Such a process employs the Unity videogame platform and the ML-Agents library in the field of Machine Learning. The virtual vehicle is implemented in Unity considering mechanisms that represent accurately the dynamics of a real automobile, such as mot...

This paper presents the results of the design, simulation, and implementation of a virtual vehicle. Such a process employs the Unity videogame platform and its Machine Learning-Agents library. The virtual vehicle is implemented in Unity considering mechanisms that represent accurately the dynamics of a real automobile, such as motor torque curve, s...

In this article, we present the design and implementation of different control strategies for the position of a 2-Degree-of-Freedom (DoF) robotic arm, namely gain scheduling per trenches, gain scheduling by interpolation, adaptive control, and fuzzy logic. The first link of this robot is driven by an Alternating Current Brushless Permanent Magnet M...

This article presents the implementation of a learning environment for the teaching of control systems. This environment integrates physical equipment and simulation, monitoring, and control through a network. A software platform based on ROS (Robotic Operating System) grants access to the system through intranet and Internet, facilitating the inte...

In this article, we propose a new scheme for a fuzzy logic controller, which includes acceleration as one of its linguistic variables, as opposed to other techniques and approaches that have been developed and reported in the literature. This method is used for controlling the tracking of the trajectory followed by the joints of a 2-DoF manipulator...

This paper describes the design, implementation and evaluation of a telerobotic system for manipulating a 4DoF robot in real time using the Kinect sensor. The Kinect sensor captures hand gestures and transmits them via Wi-Fi, using an ESP8266 module, to an Arduino Mega board that control two rotational joint and two linear joint. Among the results,...

Data transmission at the industry level encounters problems due to different factors such as noise and electromagnetic interference. This project presents an application for the control of a 3-DOF fault-tolerant robot through the implementation of an encoder and a Hamming decoder (7.4). Data transmission is conducted using a wireless system with XB...

In this paper, a graphics simulator that allows for characterizing the kinematic and dynamic behavior of redundant planar manipulator robots is presented. This graphics simulator is implemented using the Solidworks software and the SimMechanics Toolbox of MATLAB/Simulink. To calculate the inverse kinematics of this type of robot, an algorithm based...

This paper presents the development of a convolutional code application for error detection and correction in a communication system. This application is based on an industrial protocol and aims at reconstructing data damaged during transmission. The Controller Area Network (CAN) protocol is used, which is widely used in the automobile industry, as...

This study involved the development of an expert system for the pre-diagnosis of hypertension, diabetes mellitus type 2 and metabolic syndrome. The expert system has been developed using web technologies, PHP, Apache and MySQL with CLIPS tool; the expert system includes three algorithms designed by the authors, one for each disease. The objective o...

This article presents the development and implementation of a monitoring system for patients with chronic hypertension. Technological advances in wireless communication are increasingly used today to send and receive information through smartphones. This also applies to devices for measuring blood pressure, which can be efficiently integrated with...

The design and implementation stages of a redundant robotized manipulator with six Degrees Of Freedom (DOF), controlled with visual feedback by means of computational software, is presented. The various disciplines involved in the design and implementation of the manipulator robot are highlighted in their electric as well as mechanical aspects. The...

In this work, a method for detecting and correcting errors in Modbus-RTU communications is designed, implemented, and assessed in a smart metering application. This is a low-cost solution for improving communication quality in conventional Modbus-RTU architectures with copper fieldbus. It consists of introducing error detection and correction devic...

The design and implementation of a robot manipulator with 6 Degrees Of Freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user t...

This paper deals with the design, implementation and assessment of an error tolerant industrial communications based on master/slave architecture applied to a 3 DOF manipulator robot. Algorithms for implementing communication between coding and decoding systems based on Hamming code (7.4) are developed. Communication tests are conducted using the P...

The design and implementation of a graphical user interface (GUI) for the control and operation of a biped robot is presented. This GUI allows establishing communication between the user, the robot and a computer (controller) so that the robot can perform bipedal walking without the need to introduce commands that are not user-friendly. The develop...

La invención corresponde a un sistema robotizado consistente en un robot SCARA (Selective Compliant Assembly Robot Arm o Selective Compliant Articulated Robot Arm) y su método de control para tolerancia a fallas. El robot manipulador con redundancia, rotacional y prismática (combinadas), logra ser tolerante a fallas al consistir en un manipulador r...

The design, construction and programming of a mobile robot controlled by means of artificial vision, capable of recognizing, grabbing and moving specific objects in a completely autonomous way is presented, together with the conceptual and theoretical-practical grounds for the work. A mechanically robust robot is built and a system is designed, all...

The objective of this paper is to show the method for developing, implementing and evaluating the algorithms of a Hamming (7,4) coder and decoder to carry out the data protection of an industrial communication based on the Modbus protocol. The operation tests of the coder and decoder were carried out independently. The operation of the communicatio...

In this chapter, different types of trajectory control and planning algorithms for mobile robots in static environments are analyzed and assessed. To this end, a mobile robot is made to plan and follow a route between two arbitrary points in an autonomous way. This work goes in depth into the discrete space techniques and those based on search tree...

The results and comparison of controller performance based on fuzzy logic and neural networks with the purpose of improving the performance of PID controllers currently used in servomotors is presented. The performance comparisons will be made with no load and with load (consisting of a robotic type rotational link). The results show that as the nu...

This paper describes a 4DoF SCARA manipulator robot that is controlled by hand gestures using the SDK of the Kinect v2 sensor. A controller system is proposed that facilitates the inclusion of people with physical disabilities in industrial work environments. The entire system was evaluated in a specific sequence controller remotely by a person sta...

In this work, the performance of two algorithms that allow a mobile robot to guide itself as it explores its surroundings is studied. For that purpose, the performance of harmonic potential fields and A* algorithms is considered. The algorithm offering the best service to a real mobile robot in its future implementation is selected based on test re...

This study discusses the design and assessment of different parameter identification meth- ods applied to robot systems, such as least squares, extended Kalman filter, Adaptive Lin- ear Neuron (Adaline) neural networks, Hopfield recurrent neural networks and genetic al- gorithms. First, the characteristics of the methods above mentioned are describ...

The main objective of this paper is to evaluate the technical aspects of the different controllers (PID, MPC and Neural) for the performance of an aircraft's behavior in relation to the longitudinal equations investigated. For this purpose, the behavior of these controllers was developed in a simulator to compare the performance of each one and to...

The results of new experiments on the detection and description of images for an EKF-SLAM monocular application are employed in order to obtain a dispersed set of features without related data association problems. By means of different detectors/descriptors, the number of features observed and the ability to observe the same feature in various cap...

Background Air pollution has a direct influence on health. Aim To determine the association between particulate matter and contaminant gas concentrations in the environment with the number of consultations for respiratory diseases in emergency rooms in Metropolitan Santiago, Chile. Material and Methods During five years, the daily number emergenc...

The design and implementation of a graphical user interface (GUI) for the control and operation of a biped robot is presented. This GUI allows establishing communication between the user, the robot and a computer (controller) so that the robot can perform bipedal walking without the need to introduce commands that are not user friendly. The develop...

This work presents the development, assessment and comparison of four techniques for identifying dynamic parameters in an industrial redundant manipulator robot with 5 degrees of freedom. Based on the Lagrange–Euler formulation, a linear model of the robot with unknown parameters is obtained. Then, these parameters are identified using the followin...

The nonlinear behavior and the high performance requirement are the main problems that appear in the design of manipulator robots and their controllers. For that reason, the simulation, real-time execution and comparison of the performance of controllers applied to a robot with three degrees of freedom are presented. Five controllers are prepared t...

The results of new experiments on the detection and description of images for an EKF-SLAM monocular application are employed in order to obtain a dispersed set of features without related data association problems. By means of different detectors/descriptors, the number of features observed and the ability to observe the same feature in various cap...

The design, construction and programming of a mobile robot controlled by means of artificial vision, capable of recognizing, grabbing and moving specific objects in a completely autonomous way is presented, together with the conceptual and theoretical-practical grounds for the work. A mechanically robust robot is built and a system is designed, all...

The development of a computational tool for the recognition of numerical characters already segmented from Chilean license plates, located in semi-controlled scenarios, is presented. Two algorithms are highlighted: one for the Fine Segmentation of the Characters through the K-Means algorithm and a system of fuzzy logic; and a second one for the rec...

The design and implementation of a robot manipulator with 6 degrees of freedom (DOF), which constitutes a physical platform on which a variety of control techniques can be tested and studied, are presented. The robot has mechanical, electronic and control systems, and the intuitive graphic interface designed and implemented for it allows the user t...

A technical evaluation of the sensing, communication and software system for the development and implementation of a remote monitoring system for an electric golf cart is presented. According to the vehicle's characteristics and the user's needs, the technical and economic aspects are combined in the best possible way, thereby implementing its moni...

The design and implementation stages of a redundant robotized manipulator with six Degrees Of Freedom (DOF), controlled with visual feedback by means of computational software, is presented. The various disciplines involved in the design and implementation of the manipulator robot are highlighted in their electric as well as mechanical aspects. The...

This study discusses the design and assessment of different parameter identification methods applied to robot systems, such as least squares, extended Kalman filter, Adaptive Linear Neuron (Adaline) neural networks, Hopfield recurrent neural networks and genetic algorithms. First, the characteristics of the methods above mentioned are described. Se...

In this chapter, we present the design, simulation, and control of a hexapod robot using tools available in MATLAB software. In addition, we design and implement a dynamic model (using the Simscape Multibody™ toolbox) as well as a three-dimensional model of the robot, using Virtual Reality Modeling Language (VRML), that help to visualize the robot’...

In this chapter, the implementation of a “Virtual Instrument” developed in MATLAB/Simulink® that allows the analysis of the measurement of mechanical vibrations in rotating machines is presented. To accomplish this, we identified the main rotating machines used in industry, the parameters that can be relevant when an analysis of vibration is made,...

Modbus-RTU is currently one of the most widely-used industrial communications protocols. Modbus-RTU is an old protocol - it was developed in 1979 - and has certain limitations with regard to modern automation and control systems. One of the major limitations is that the protocol does not have any mechanisms for ensuring the integrity of transmitted...

The simulation tools are the foundation for the design of robot systems, for the application of robots in complex environments and for the development of new control strategies and algorithms. Because of this, the design, simulation and comparison of the performance of controllers applied to a redundant robot with five degrees of freedom (DOF) are...

The design and implementation of an error detection and correction scheme in a MODBUS-RTU network based on the Reed- Solomon code is presented. The transmission of the parity bits is made respecting the parameters of the MODBUS protocol, so the bus can be used by common devices without the error detection/correction scheme. The error detection-corr...

In this paper the design and implementation of an embedded control system, using DSCs (Digital Signal Controller) devices of dsPIC type, applied on a four DOF (Degrees Of Freedom) robotic manipulator OWI-535 model is presented. The mathematical model of manipulator is elaborated obtaining joint trajectories to achieve the tracking of a test Cartesi...

The design and implementation of an embedded control system using DSC (Digital Signal Controller) devices of the dsPIC type, applied on a four-DOF (Degrees Of Freedom) model OWI-535 robotic manipulator is presented. A control structure based on a Master/Slave configuration between two dsPIC30F4013 through the SPI (Serial Peripheral Interface) protoc...

A method is presented for estimating the position of rotational and prismatic joints of a novel SCARA-type fault-tolerant redundant manipulator using inertial sensors (accelerometers and gyroscopes). The estimation is based on the integration of the different sensors by means of the modified AUKF algorithm. The results of the evaluation of this int...

This paper deals with the design of control laws to industrial cooperative robotics. The main goal is to design and compare the behavior of different control structure in order to get an effective coordination of two manipulators. It is assumed that both manipulators have the same dynamical and a master slave strategy is used. For both master and s...

Modeling, control and implementation of a real redundant robot with five Degrees Of Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the c...

This article addresses the problem of trajectory tracking in crops by a weed sprayer mobile robot (WSMR). This problem arises because to fumigate, the robot must follow a predefined path and avoid any obstacles it may encounter. To achieve both trajectory tracking and obstacle avoidance, a control scheme based on different behaviours is proposed, w...

La presente invención se refiere a un método y sistema para el Control en Lazo Cerrado de servomotores de modelismo analógicos empleando realimentación de posición mediante potenciómetros y procesamiento del Error.

A new methodology is proposed for the design and implementation of three-dimensional simulations of manipulator robots, in individual as well as cooperative tasks, using several programming and 3D-design tools. To obtain easily the dynamic-mathematical models of movement for the represented systems, regardless of the kind of manipulator robot to be...

Evaluation of the performance of three controllers: adaptive PID, model reference adaptive controller, and fuzzy controller, is presented, applied to a mobile robot for autonomous path tracking in a crop. Different tests are run in a simulation environment in order to compare the same trajectory performed under each of those controllers. The tests...

This work, the development process of multimedia material and the benefits it provides for active, collaborative and interactive learning of Industrial Robotics is described. Through the development of extremely intuitive learning materials that are simple to use, thanks to their strong multimedia component, it provides excellent learning tools for...

This paper describes the process that enabled the assessment of experiencing knowledge construction processes in simulation research on robotic manipulators by students in a course of Foundations of Industrial Robotics in engineering, based on design and implementation of a simulation environment of actual robotic manipulators. In general, this res...

This paper shows the development of an expert system for the selection of materials to be used in the construction of the main structure of a crane-like device for transporting persons with physical disabilities. The proposed method includes a stage in which the theory of the characteristics of the materials was used and another one that involves s...

La presente invención describe un método de diseño e implementación de un simulador gráfico para robots industriales redundantes de N Grados de Libertad (GDL) que contempla la utilización de herramientas de software, como por ejemplo: MatLab/Simulink, desarrollada por MathWorks, y MathType, desarrollada por Design Science, logrando modelos cinemáti...

Se describe un sistema y método para la detección y corrección de errores que utiliza los algoritmos tradicionales de codificación/decodificación Reed-Solomon, separa los símbolos de mensaje de los símbolos de paridad y los envía al canal de comunicaciones ajustándolos a las ventanas de tiempo definidas en el protocolo MODBUS-RTU, permitiendo de es...

In this paper a new dynamic model for analogic servomotors is proposed. Then, an analytical model is initially developed, after which, through computer simulations the obtained theoretical results are validated. Those results are contrasted, with practical implementations, by employing a real analog servo motor. This new model can capture the dynam...

This paper presents the design of a BCH encoder (7,4,1) and BCH decoder (7,4,1) with Radial Basis Neural Network as error correction technique for fault tolerant systems, applied in digital communications. The neural network model is exported to Matlab Simulink to test different scenarios, to achieve results equivalent to those described by the BCH...