Hernán González Acuña

Autonomous University of Bucaramanga | UNAB · Mechatronics engineering program

En este artículo se describe el diseño e implementación de una plataforma robótica que permita la validación de algoritmos para el control de formación de robots móviles y la distribución de tareas. Inicialmente se presenta la selección del sistema de locomoción y sensores que tendrá el robot móvil, así como la descripción del sistema de visión que...

El programa de Ingeniería Mecatrónica adscrito a la Facultad de Ingeniería de la Universidad Autónoma de Bucaramanga, concibe dentro de su plan de estudios un grupo de cursos que conforman el núcleo integrador, dentro del cual se desarrolla un proyecto integrador. El núcleo integrador se orienta a la creación de competencias profesionales (i.e rela...

En este trabajo se presenta una recopilación de 50 trabajos científicos sobre el estado del arte en ingeniería mecatrónica. Esta compilación se realizó utilizando la base de datos bibliográficos Scopus y fue limitada a los trabajos publicados en revistas científicas durante los últimos 5 años. La metodología de exploración se fundamenta en las pala...

The paper presents the methodology for the design of two control strategies, LQG (Linear-Quadratic- Gaussian Control) and DMPC (Discrete Time Model Predictive Control), for speed control in a steam turbine coupled to separately excited DC generator. The dynamics of the system is represented by a linear model in which the model parameters are calcul...

The "digital Michelangelo project" was a seminal computer vision project in the early 2000's that pushed the capabilities of acquisition systems and involved multiple people from diverse fields, many of whom are now leaders in industry and academia. Reviewing this project with modern eyes provides us with the opportunity to reflect on several issue...

This paper proposes a methodology of Mechatronics design applied to the concept of a service robot to clean storage tanks. In some cases the cleaning process is done manually, but in tall oil tanks, workers need scaffolding or cranes. The principal, most popular cleaning method used is sandblasting, but it can give the workers health problems like...

This article presents a CAD design and analysis of the dynamics of a mass damper, used to reduce amplitude of vibrations in a high building. The mass damper dissipates the energy of earthquakes or strong winds on the top, thus avoiding structure damage, and preventing collapse.

This chapter describes a Mechatronics Design methodology applied to the design of a mobile robot to climb vertical surfaces. The first part of this chapter reviews different ways to adhere to vertical surfaces and shows some examples developed by different research groups. The second part presents the stages of Mechatronics design methodology used...

This chapter describes a Mechatronics Design methodology applied to the design of a mobile robot to climb vertical surfaces. The first part of this chapter reviews different ways to adhere to vertical surfaces and shows some examples developed by different research groups. The second part presents the stages of Mechatronics design methodology used...

One solution for trajectory tracking in a non-holonomic vehicle, like a mobile robot, is proposed in this chapter. Using the boundary values, a desired route is converted into a polynomial using a point-to-point algorithm. With the properties of Differential Flatness, the system is driven along this route, finding the necessary input values so that...

This paper proposes a methodology of Mechatronics design applied to the concept of a service robot to clean storage tanks. Through this methodology, the system static analysis is done first, followed by dynamic analysis, and finally robot design. In some cases the cleaning process is done manually, but in tall oil tanks, workers need scaffolding or...

This paper presents the conceptual design and simulation of a rotational parallel robot. This robot is used to reproduce movement; the robot workspace, inverse kinematic study and a simulation of the system in a trajectory were analyzed. Computational tools were used to resolve equations, create a virtual design and conduct simulation in the concep...

This paper proposes a methodology of Mechatronics design applied to the concept of a service robot to clean storage tanks. In some cases the cleaning process is done manually, but in tall oil tanks, workers need scaffolding or cranes. The principal, most popular cleaning method used is sandblasting, but it can give the workers health problems like...

Flexible Manufacturing Systems (FMS), in which the use of Automatically Guided Vehicles (AGVs) is typical, are a growing trend in many industrial scenarios. A novel, distributed, algorithmic approach to the execution control of activities (work-center oriented) is introduced in this paper, as is, in an integrated way, transportation (AGV oriented)...

This paper contains the development of identification with the black box method and PID control of the lifting process (on the Y axis) of a model Quadrotor GAUI 330X, l The process involves developing a speed control loop angular of the motor and the sensor used was a CNZ1120 with its respective voltage-frequency converter. it is applied nonparamet...

En este artículo se presenta una demostración de los mapas auto organizados de Kohonen's también llamados SOM. Así mismo es realizado un estudio del funcionamiento de los mapas de kohonen en una y dos dimensiones y las características de este tipo de redes que trabajan de forma similar al cerebro humano. Finalmente, son detalladas las característic...

Resumen En este artículo se presenta una demostración de los mapas auto organizados de Kohonen's también llamados SOM. Así mismo es realizado un estudio del funcionamiento de los mapas de kohonen en una y dos dimensiones y las características de este tipo de redes que trabajan de forma similar al cerebro humano. Finalmente, son detalladas las carac...

In control systems, the model dynamics of linear systems is the principal and most important phase of a project, but when working with dynamic of non-linear systems obtain the model becomes a very complex task can be used techniques of system identification. This article show the use of one technique for identification and modeling of dynamic linea...

Manufacturing systems are undergoing a noticeable evolution due to an intense technological progress in industrial robotics. Serial production has evolved into the concept of Flexible Manufacturing Systems (FMS), which encapsulate processes in automated equipment that are capable of executing several different operations, that before were performed...

Manufacturing systems are undergoing a noticeable evolution due to an intense technological progress in industrial robotics. Serial production has evolved into the concept of Flexible Manufacturing Systems (FMS), which encapsulate processes in automated equipment that are capable of executing several different operations, that before were performed...