XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)最新文献

{"title":"Modelado y verificación mediante lógica lineal temporal de un grupo de dos ascensores con sistema de control de destino","authors":"Manuel Toscano Moreno, A. Arregui, Anthony Mandow, Alfonso García-Cerezo","doi":"10.17979/SPUDC.9788497497169.617","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.617","url":null,"abstract":"espanolLos grupos de ascensores con sistema de preseleccion de destino persiguen la reduccion del tiempo de espera en edificios de mediana y gran altura como hoteles o bloques de oficinas. En este tipo de sistemas, los pasajeros se dirigen al ascensor de acuerdo con el destino que hayan indicado en un panel exterior. El presente trabajo aborda la verificacion del control de ascensores con preseleccion de destino mediante la aplicacion de una herramienta software basada en logica temporal lineal (LTL). En particular, se ha definido tanto el modelo del sistema como la especificaciones LTL mediante la herramienta de codigo abierto Spin. Como caso de estudio, se ha implementado el modelo de un grupo de dos ascensores en un edificio de cuatro plantas con paneles de preseleccion de destino en cada planta. El articulo ofrece resultados preliminares de simulaciones y verificaciones para un conjunto de formulas LTL definidas especificamente para este sistema. EnglishDestination dispatch systems for group control of elevators aim to reduce the waiting and displacement time with respect to conventional control systems in mid and high rise buildings such as hotels or office blocks. In these systems, passengers are directed to cars according to their destinations. The present work addresses verification of the destination control system for an elevator group by using a software tool based on linear temporal logic (LTL). In particular, both the system model and the LTL specifications have been defined using the open source tool Spin. As a case study, the model of a group of two elevators has been implemented in a four-story building with destination preselection panels in each plant. The article offers preliminary results of simulations and verifications for a set of LTL formulas defined specifically for this system.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124554981","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Diseño de una pinza subactuada híbrida soft-rigid con sensores hápticos para interacción física robot-humano","authors":"J. M. Gómez-de-Gabriel, Juan M. Gandarías, Trinidad Sánchez Montoya, F. Martín, Alfonso García-Cerezo, A. J. Muñoz-Ramírez","doi":"10.17979/SPUDC.9788497497169.795","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.795","url":null,"abstract":"espanolLas manos roboticas sub-actuadas poseen una gran adaptabilidad que les permite el agarre de objetos de diferentes formas y tamanos. Por otro lado, el desarrollo de robots blandos (soft robotics) para la interaccion fisica segura con personas constituye un importante campo de desarrollo de la robotica de los ultimos anos. Sin embargo, es difficil encontrar trabajos que integren ambos conceptos. En este articulo se presenta el desarrollo de una pinza con dedos rigidos y rigido-flexible de dos grados de libertad, sub-actuados. En este ultimo, ademas, se incorpora un sensor tactil de alta resolucion que permite al robot disponer de la informacion relativa de las distribuciones de presion durante el agarre. Ademas, se presentan y comparan los resultados del comportamiento de dos dedos hibridos con superficies flexibles de distintos materiales en terminos de flexibilidad y distribucion de presiones cuando se agarra el brazo de una persona por la muneca. EnglishUnderactuated robotic hands or grippers is one of the greatest achievements in robotic manipulation of the last years due to the adaptability to grasp objects with different shape, size and stiffness. On the other hand, the development of soft robots for intrinsically safe physical Human-Robot Interaction (pHRI) has also become one of the most important topics in robotics in the last decade. However, it is hard to find works that integrates both concept in one gripper. In this work, a new gripper with two underactuated fingers and one flexible is presented. Furtheremore, the flexible finger integrates a high-resolution tactile sensor, so that the robot have the information of pressure distributions while grasping an object. Furtheremore, two different flexible fingers made of different materials are compared in terms of flexibility and pressure distribution when grasping a human forearm","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122513812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Las ventajas del IoT en el diseño de laboratorios remotos: myGATEWAY","authors":"Marco Antonio Otero Sánchez, María Reyes Sánchez-Herrera, Andrés Manuel Mejías Borrero, José Manuel Andújar-Márquez","doi":"10.17979/SPUDC.9788497497169.294","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.294","url":null,"abstract":"espanolEn la epoca del internet de las cosas se ha vuelto relativamente simple controlar desde cualquier localizacion, a traves de nuestros dispositivos smart, cualquier electrodomestico de nuestra vivienda, o la iluminacion o el acondicionamiento de aire, entre otros. Aunque con reservas, esa revolucion esta llegando tambien a las industrias. Sin embargo, en el ambito de la educacion, todavia parece realmente complicado hacer accesibles desde internet los laboratorios, a pesar de las ventajas que esto reportaria. Para superar esas dificultades, se presenta en este articulo un dispositivo que permite integrar como servicio en la nube cualquier experiencia didactica o de investigacion, sea de la naturaleza que sea y que use cualquier protocolo de comunicaciones entre los distintos dispositivos que la componen. Su instalacion y configuracion son simples e intuitivas, por lo que la persona que lo ponga en marcha no tendra que ser especialista en comunicaciones. El dispositivo es parte de un sistema mayor denominado ENLARGE. EnglishIn the time of the internet of things, the control of any household appliance through a smart device is relatively easy. With significative challenges, that revolution is reaching the industries. However, in the field of education, it still seems really complicated to make the laboratories accessible from the Internet. To achieve it, this paper presents a device that allows any didactic or research experience to be integrated as a cloud service, whatever its nature and which uses any communication protocol between the different devices involved. Its installation and configuration are simple and intuitive, so the person who sets it up will not have to be a communications expert. The device is part of a larger system called ENLARGE.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"90 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134156296","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modelización, simulación y evaluación técnico-económica de una turbina de mar","authors":"D. Lillo, M. S. Peñas, Segundo Esteban San Román, R. Lopez, M. Guijarro","doi":"10.17979/SPUDC.9788497497169.024","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.024","url":null,"abstract":"espanolEn este trabajo se presenta un estudio sobre la energia electrica extraible mediante una turbina de mar. Se ha desarrollado un modelo operacional de la turbina marina para determinar el diametro optimo de la misma a partir de una evaluacion tecnico economica. El objetivo es conseguir la potencia y energia maximas que se pueden obtener con la turbina. Se utilizaron formulas empiricas para definir las curvas caracteristicas de la turbina. En la segunda parte de este trabajo se estimaron los costes, analizando las posibles curvas de potencia y posibles lugares de instalacion para determinar en que situaciones se consigue el mayor beneficio economico. EnglishIn this work, a study of the electric energy that can be obtained from a sea turbine is presented. An operational model of the marine turbine has been developed to determine the optimum diameter of the turbine based on an economic and technical evaluation. The maximum power and energy that can be obtained with the turbine is obtained. Empirical formulas were used to define the characteristic curves of the turbine. In the second part, this work analyzes all the possible marine turbine power curves and locations to determine in which situations the greatest economic benefit is achieved. The cost of this type of installation is calculated.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132821058","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Aprendizaje de sensorizado de entornos IoT mediante BeagleBone","authors":"Alejandro Millan Del Rio, J. A. Andrades, María del Carmen Cuéllar, Bruno Fernandes, F. Silva, José-Luis Casteleiro-Roca, Isaías García Rodríguez, Héctor Alaiz Moretón","doi":"10.17979/SPUDC.9788497497169.302","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.302","url":null,"abstract":"espanolEl presente trabajo aborda la utilizacion del microordenador BeagleBone Black como opcion alternativa a las extendidas soluciones Arduino y RaspBerry PI como recursos de aprendizaje a realizar un proyecto de sensorizado en entornos IoT. En el trabajo se presentan dos montajes sencillos como pruebas de concepto formativas de cara a demostrar la viabilidad de BeagleBone Black para sensorizado. Ademas, se presenta una comparativa de las diversas soluciones existentes en el mercado. EnglishThe present work is oriented to the exploitation of the microcomputer called BeagleBone Black, and its use for learning purposes like an alternative to famous Arduino and RaspBerry PI. The work will present two basics implementations in order to demonstrate the feasibility of this solution for sensorized a domestic IoT environment. In addition. a comparison of the various existing solutions in the market is addressed.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131753623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Framework for motion prediction of vehicles in a simulation environment","authors":"Juan Felipe Medina Lee, Vinicius Trentin, J. Villagrá","doi":"10.17979/SPUDC.9788497497169.520","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.520","url":null,"abstract":"Efficient testing and validation of software components for highly automate vehicles is one of the key challenges to be solved for their massive deployment. The number of driving situation and environment variables makes validation almost intractable with real vehicles in open roads, and the testing reproducibility can only be achieved via simulation. This manuscript presents a framework and preliminary results for motion prediction of vehicles in a simulation environment that is being currently developed by the AUTOPIA Program.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"436 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134452338","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Aplicación de técnicas de agrupamiento a corredores de resistencia para la estimación del umbral de lactato","authors":"Urtats Etxegarai, Eva Portillo Pérez, J. Irazusta, Itziar Cabanes, A. Zubizarreta","doi":"10.17979/SPUDC.9788497497169.071","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.071","url":null,"abstract":"espanolHoy en dia el running es, sin lugar a dudas, uno de los deportes mas populares que se incorpora como habito saludable en la vida cotidiana. Dicha practica deportiva se ve ademas incentivada por la celebracion de multiples competiciones populares, lo que ha favorecido el cada vez mayor interes por mejorar el rendimiento deportivo asi como la seguridad del y la deportista. En este sentido, en la ultima decada se ha extendido enormemente la utilizacion de Relojes Inteligentes para monitorizar variables fisiologicas. Sin embargo, no todas las variables fisiologicas de interes pueden ser monitorizadas, destacando entre ellas el lactato, cuya medida requiere de muestras de sangre. La curva de lactato permite extraer el umbral de lactato, el cual es fundamental a la hora de planificar entrenamientos y conocer el estado del atleta. Por ello, en este trabajo se propone el diseno y desarrollo de un sensor virtual de lactato. Mas concretamente, en este articulo se explora la aplicacion de tecnicas de agrupamiento de deportistas como via hacia una estimacion personalizada del umbral de lactato. EnglishNowadays, running is one of the most popular sports and it is considered a healthy habit in everyday life. This sport practice is also encouraged by the celebration of multiple popular competitions, which are driving a growing interest in improving athletic performance as well as the safety of the runners. In this sense, in the last decade the use of Smart Watches to monitor physiological variables is becoming more and more common. However, not all the physiological variables of interest can be monitored, among them the lactate, whose measurement requires blood sampling. The lactate curve enables to extract the lactate threshold, which is essential for training-load prescription and assessment. In this work the design and development of a virtual lactate sensor is proposed. More specifically, this article analyzes the applicability of grouping techniques as an alternative towards a personalized estimation of the lactate threshold.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130882059","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Duino-based learning (DBL): un proyecto para facilitar el uso de Arduino y MATLAB","authors":"Eneko Lerma, Robert Grino, R. Costa-Castelló, Carlos Sanchis","doi":"10.17979/SPUDC.9788497497169.288","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.288","url":null,"abstract":"espanolEn este trabajo se presenta un conjunto de puntos de partida para llevar a cabo un aprendizaje basado en proyectos, ya que, normalmente, esta metodologia suele ser dificil de implementarla desde cero. Duino-Based Learning (DBL) es un proyecto que ofrece material distribuido libremente para llevar a cabo proyectos de laboratorio mediante MATLAB, Simulink, y Arduino. En el trabajo se muestra como estos materiales han sido aplicados al desarrollo de las practicas de control digital utilizando la planta didactica modulo LJ Technical Systems. EnglishThis paper presents a set of starting points to carry out a project-based learning, since this methodology is usually difficult to implement from scratch. Duino-Based Learning (DBL) is a website where you can find freely redistributable materials to carry out laboratory projects using MATLAB, Simulink, Arduino and low cost plants, such as the LJ Technical Systems module, which has been used in this work.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132209115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Diseño en SolidWorks de plataforma del sistema cardiovascular para ensayo de robots de navegación autónoma","authors":"Cristina Nuevo-Gallardo, José Emilio Traver, Inés Tejado, Javier Prieto-Arranz, M. López, Blas M. Vinagre","doi":"10.17979/SPUDC.9788497497169.544","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497169.544","url":null,"abstract":"espanolEste articulo presenta una plataforma de simulacion del sistema cardiovascular (SCV) disenada en el software de diseno 3D SolidWorks, basada en un modelo hidraulico que describe la dinamica de contraccion del corazon y de la arteria carotida izquierda, asi como el caracter ciclico y autonomo del primero, previamente validado mediante la herramienta Matlab/Simulink. La plataforma disenada en SolidWorks tiene como objetivo el desarrollo de experimentos y ensayos con robots nadadores de pequenas dimensiones, permitiendo emular las condiciones en las que se encontrarian estos robots navegando por el sistema circulatorio humano. EnglishThis article presents an experimental platform of the cardiovascular system (CVS) designed in Solidworks and based on an electric model which describes the contraction dynamics of the heart as well as its cyclic and autonomous caracteristics. Depart from this model, previously generalized to include the dynamics of the left common carotid artery, a hydraulic model was developed emulating the behaviour of the CVS in that zone, been validated by the Matlab/Simulink tool. The designed platform is a representation of this hydraulic model, which objective is to test swimming robots of small dimensions and to allow the simulation of the conditions in which these robots would navigate in the human circulatory system.","PeriodicalId":189601,"journal":{"name":"XL Jornadas de Automática: libro de actas (Ferrol, 4-6 de septiembre de 2019)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129494401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}