Robotics, Automation and Non-Destructive Evaluation, Apr 22, 2022
Dual-arm industrial robot is an upcoming technique; many industries started developing dualarm ro... more Dual-arm industrial robot is an upcoming technique; many industries started developing dualarm robots for the future. Dual-arm robot can be used in complex assembling and efficient than two separate robots. Most of the pick and place Dual-arm robots operate by using two arms individually. This research work is done to make the robot smart to pick and place object by either one or two arms based on its size. This paper shows the modeling and simulation of a Dual Arm robot that can identify and pick objects in front of it by object detection program in python. If object size is less than 100mm, robot use one arm, if size is more than 100mm two arms are used together. The forward and inverse kinematic calculation of the robot is done in MATLAB and Simulation of robot is done is V-Rep. The resulting simulation is obtained by forming communication between all three nodes Python, MATLAB and V-Rep.
International Journal of Mechanical Engineering and Robotics Research
For the construction of a piece using additive manufacturing technology, there are several method... more For the construction of a piece using additive manufacturing technology, there are several methods of toolpath planning, which affect the quality and quantity of material deposited. In this document, we take an approach to commonly used patterns, and propose two path planning techniques based on contour-parallel and Hilbert curves, applying a smoothing process on them. To evaluate these methods, the areas of overfilling, underfilling and external filling are quantified; as well as the length of the deposited material, the travel moves and the estimated time in the printing process. A comparison is presented with the trajectories offered by a commercial software. The planning and quantization method has been implemented in MATLAB and evaluated on diverse geometries to be filled. Index Terms-additive manufacturing, continuous fill pattern, contour-parallel, Hilbert curve, toolpath planning Within paths based on parametric movements, there are contour-parallel tool paths, which depend directly on the geometry to be filled [12]. These contours reduce their dimension with respect to the geometrical center of 542
Architecture of a Spatial Disorientation Platform and Serious Game
Journal of Physics: Conference Series, 2021
In recent years there have been several applications for the study of stabilometric mainly in the... more In recent years there have been several applications for the study of stabilometric mainly in the analysis of disorder, using mechanical structures of one or two degrees of freedom. An architecture of a stabilometric platform is proposed, which can acquire data through a virtual environment, in this case, a Snowboarding environment, since this sport provides greater balance, increases flexibility and strength in the muscles, and strengthens the lower limbs since it can have a displacement movement in one direction. Thanks to this environment, an architecture is proposed to execute several applications, focused on balance rehabilitation. As a result of this proposal, mathematical models were made by applying the Euler Lagrangian theory, and architecture was obtained that can acquire data in real-time, allowing to visualize this data through a sensor, which shows the position of the person with its respective movement. Also, with the implementation of the Self-Assessment Manikin (SAM)...
Experimental results to compare the effects of presence and challenge modulation on immersive virtual environments
This database contains the results of an experiment were healthy subjects played 5 trials of a re... more This database contains the results of an experiment were healthy subjects played 5 trials of a rehabilitation-based VR game, to experience either difficulty variations or presence variations.Colected results are demogrpahic information, emotional emotions after each trial and electrophysiological signals during all 5 trials.
Results to compare the effects of presence and challenge modulation on immersive virtual environments
This database contains the results of an experiment were healthy subjects played 5 trials of a re... more This database contains the results of an experiment were healthy subjects played 5 trials of a rehabilitation-based VR game, to experience either difficulty variations or presence variations.Colected results are demogrpahic information, emotional emotions after each trial and electrophysiological signals during all 5 trials.
A simplified method for online extraction of skin conductance features: A pilot study on an immersive virtual-reality-based motor task
2020 42nd Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC), 2020
There is a growing body of literature that recognizes the importance of Skin Conductance (SC) for... more There is a growing body of literature that recognizes the importance of Skin Conductance (SC) for assessing changes in emotional states, such as engagement to learning tasks, and its importance to estimate possible drawbacks affecting overall performance. To date, most of the commonly used methods for SC signal analysis, i.e. detecting its phasic and tonic components and thus extracting informative features, are either too simple and unreliable or too complex and thus inaccessible and inflexible, as well as unable to perform online analyses. The current work proposes a simplified but clear and effective algorithm based on a Machine State to search for expected behaviors in the well-defined morphology of the signal. Eleven (11) features were correctly extracted from 79 healthy subjects during an experimental setup for immersive virtual rehabilitation (balance study case). The method was also successfully applied as a tool to identify significant changes in the subjective psychophysiological response to different experimental conditions. These results point toward a potential role in virtual rehabilitation applications by getting real-time feedback in human-in-the-loop approaches.
The control and correct disposal of waste is a global need, promotes recycling and keeps cities c... more The control and correct disposal of waste is a global need, promotes recycling and keeps cities clean. In Bogota, the waste collection system has not made any significant changes during the last years, and although it is not an obsolete system, it is a system that can be optimized. The identification of the type of waste and the disposition of the vehicles fleet according to this classification, allows to obtain a more efficient waste collection system. This paper implements a modification on the NSGA-II multiagent optimization algorithm and the Nash Bargaining, to find the best trajectories that the collection vehicles perform on test points in the city of Bogotá, Colombia.
Prototype of a Human Upper Limb Driven by Pneumatic Muscles
Social Science Research Network, 2019
The following document shows in detail the process of design, construction and operation by apply... more The following document shows in detail the process of design, construction and operation by applying a mechatronic system to an arm operated with pneumatic muscles. The arm has 3 degrees of freedom through which movements of flexion, extension, adduction and abduction are mainly generated, which will be described inside the document. The prototype designed implements a mechanical, electronic development and control interface.
Dynamically Difficulty Adjustment (DDA) has been widely used to preserve engagement in serious and ... more Dynamically Difficulty Adjustment (DDA) has been widely used to preserve engagement in serious and entertaining games, reach better learning, and enhance user performance. A variety of studies suggests that in DDA, task performance (score) rises until hitting a plateau associated with the skill level. However, the sense of engagement is individual and context-dependent, and the effect of DDA on other engagement indicators for immersive virtual environments is still unclear. This study measured objective indicators of engagement while study subjects played an immersive virtual game with DDA to find evidence of dynamic response, similar to game performance. Participants were demanded to perform repetitive upper-limb motions while recording the following indicators: Response Latency as perceptive engagement (elapsed time after sensory stimulus), Exercise Intensity as motion engagement (hand velocity), and psychophysiological responses as emotional engagement (Heart Rate, Skin Conductance, ...
International Journal of Electrical and Computer Engineering (IJECE)
In three-dimensional (3D) printing, due to the geometry of most parts, it is necessary to use ext... more In three-dimensional (3D) printing, due to the geometry of most parts, it is necessary to use extra material to support the manufacturing process. This material must be discarded after printing, so its reduction is essential to minimize manufacturing time and cost. An important parameter that must be defined before starting the printing process is the part orientation, which has repercussions on the quality, deposition path, and post-processing among others. Usually, the user sets up this parameter arbitrarily, so this paper takes advantage of it on optimization techniques and proposes an approximation of the volume be covered by the support material, which depends directly on the angle of the part to be printed and its geometry. Among mono-objectives optimization strategies, this work focuses on five of them. Their performance is compared by two metrics: support volume and execution time. Then, the best result is compared with commercial software.
International Journal of Electrical and Computer Engineering (IJECE), 2021
This paper develops a simulation of a small electrical network (Microgid) that integrates renewab... more This paper develops a simulation of a small electrical network (Microgid) that integrates renewable energies, the model of the micro network is made up of a solar energy source, a wind energy source, an energy storage element, a non-renewable source such as a diesel generator. The model of the microgrid represent a non-interconnected area from the electrical network in Colombia. The non-interconnected areas sometimes depend on unreliable connections to the grid integration of renewable energies could be the best option to guarantee energy in these sectors and allow generating projects with social impact. A possible solution to this deficit of energy is to supplement the production of energy with renewable energy plants from resources as sun or wind. The simulated model allowed to study the effects of the network in island mode and in interconnected mode, showing the imbalances that can be obtained by integrating renewable energies and storage systems. It is verified that with an inc...
This paper is oriented to present the outcome when making measurements in controlled environments... more This paper is oriented to present the outcome when making measurements in controlled environments indoor and outdoor for wireless transmissions using WLAN technology in the 2.4GHz band. From these measurements and using mathematical models existing we made a characterization of indoor and outdoor environments to obtain an equation to calculate the power would come to the receivers based on the losses arising from conditions such as distance and obstacles.
This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper... more This paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and internal-external rotation), elbow (flexion-extension and forearm supination-pronation), and wrist (flexion-extension) joints. In addition, the state of the hand (opened-closed). Finaly a PID controller is applied to the exosuit in order to replicate the movements performed by the arm into a 6 DOF robot arm.
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Papers by Oscar Aviles