Ilka Banfield

Ilka Banfield
Universidad Tecnológica de Panamá | UTP · Facultad de Ingeniería Mecánica

Doctor of Philosophy

About

13
Publications
1,887
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44
Citations
Citations since 2016
4 Research Items
39 Citations
201620172018201920202021202201234567
201620172018201920202021202201234567
201620172018201920202021202201234567
201620172018201920202021202201234567

Publications

Publications (13)
Chapter
Off-line analysis of path tracking of functionally redundant robot manipulators is essential for effective use of industrial robots. The kinematic redundancy of the robot with respect to specific task can be exploited to optimize a desired criterion. Recently, industrial serial robots of 6 DOF are being widely used for a variety of tasks that only...
Chapter
Autonomous mobile robots are being used for disinfection tasks as an alternative to reduce the exposure of cleaning personnel. In this article a new mobile robot manipulator is introduced for disinfection, by means of a fog generator. The robot consists of a differential drive platform and a two degrees of freedom (DoF) arm which is used to handle...
Book
Full-text available
This book gathers the proceedings of the 3rd Latin American Congress on Automation and Robotics, held at Monterrey, Mexico, on November 17–19, 2021. This book presents recent advances in the modeling, design, control, and development of autonomous and robotic systems and explores current exciting applications and future challenges of these technolo...
Chapter
In this work the kinematic redundancy resolution based on Multi-Objective Genetic Algorithm (MOGA) has been exploited to path planning of a underwater vehicle-manipulator system (UVMS). Some objective functions are analyzed with the purpose to achieve the desired evolution of the configuration of the mobile manipulator when the position and orienta...
Article
In this work the authors address the problem of robustness of the classic PI controller implemented in a Hydraulic Servo-Actuator (HSA), by presenting a strategy based on the definition of a linear model of the system and the identification of its parameters for different working points. The variation of these parameters is considered as a measure...
Article
Full-text available
The Elastic Finite Element Method based on the inherent strain theory is used to predict the welding distortion of ship structures. In addition, a method to predict welding distortion of complex structures by using elastic FEM is presented. To evaluate the effectiveness of the proposed method, a typical case of a ship's structure is examined and th...
Article
Full-text available
The authors have developed a remote operate vehicle (ROV) that allow carried out highly risky task, in confined space such as inside of submerged sewers and pipes systems, areas were commercial ROV may not provide good performing. In addition, this ROV is low cost. This paper analyses based on the computational fluid dynamic the hydrodynamic perfor...
Article
Full-text available
In order to achieve automation of the plate forming process by line heating, it is necessary to know in advance the deformation to be obtained under specific heating conditions. Currently, different methods exist to predict deformation, but these are limited to specific applications and most of them depend on the computational capacity so that only...
Conference Paper
Full-text available
Para determinar el comportamiento hidrodinámico del ROV, cuando este utiliza una combinación de motores para realizar cualquiera de sus 6 maniobras (surge, sway, heave, roll, pitch, yaw) fue necesario utilizar un análisis computacional (CFD: computational fluid dynamic) en donde se recurrió a la técnica de múltiples marcos de referencia o MRF (mult...
Conference Paper
An Hybrid Position-Force control scheme for hydraulic actuators is proposed for a Climbing Parallel Robot (CPR) based on a Stewart-Gough mechanism. The hydraulics actuators are modeled, and expressed as state-space variables. The parameter identification is based on experimental data and the box-grey identification procedure, using a minimization p...
Article
Full-text available
This paper presents the teleoperation method of manipulators which have different kinematics with respect of the master robots using bilateral control by state convergence. This method makes a relation between the kinematics of the master and slave robot using a virtual robot. This method allows controlling manipulators which are a part of differen...

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