Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018最新文献

{"title":"Frequency response of IPMC actuators: physical characterization and identification for control","authors":"Miguel Angel Manrique Alonso, J. Prieto, José Emilio Traver Becerra, A. Hunt, S. Hosseinnia, I. T. Balsera, B. M. V. Jara","doi":"10.17979/SPUDC.9788497497565.0717","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.0717","url":null,"abstract":"Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and medicine in a not distance future, which will require a big knowledge in different fields, such as, manufacturing, material characterization and control theory. In this paper, frequency response of several IPMC actuators, cut from the same bulk IPMC sheet with a micro laser etching machine, is analyzed. Specifically, the objective is to 1) characterize each actuator, i.e., determine how cutting affects to the parameters of the physical model of this kind of actuators, and 2) identify a model for each actuator for control purposes. The frequency responses have been obtained experimentally in LabVIEW by attaching a couple of gold electrodes to each IPMC unit and measuring the tip deection by means of a laser distance meter.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121519825","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":"Real time optimization of the sterilization process in a canning industry","authors":"C. Vilas, A. Alonso","doi":"10.17979/spudc.9788497497565.0657","DOIUrl":"https://doi.org/10.17979/spudc.9788497497565.0657","url":null,"abstract":"Sterilization process is aimed to inactivate potentially harmful microorganisms. To that purpose the packaged food is subject to a time/temperature profile. In the canning industry such profiles are chosen based on the experience of the operator. In the presence of perturbations, such as steam supply problems, operators must react and design new profiles which, in most of the cases, are too conservative and/or may lead to the batch rejection, either because of quality or safety reasons. In order to overcome this problem, we propose in this work a model based real time optimization (RTO) strategy. The model, which describes the different relevant aspects of the plant (retort/can temperature, color dynamics, microorganism lethality, energy consumption, etc.) is used to predict the behavior of the system. Plant measurements are taken periodically and, in the event of a perturbation, an optimization procedure is run to compute a new time/temperature profile based on the past measurements.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":" 11","pages":""},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141224300","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":"Modeling of the human vestibular system and integration in a simulator for the study of orientation and balance control","authors":"Á. Canelo, I. T. Balsera, José Emilio Traver Becerra, B. M. V. Jara, Cristina Nuevo Gallardo","doi":"10.17979/SPUDC.9788497497565.0636","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.0636","url":null,"abstract":"Biologically, the vestibular feedback is critical to the ability of human body to balance in different conditions. This paper presents a human-inspired orientation and balance control of a three degree- of-freedom (DOF) simulator that emulates a person sitting in a platform. In accordance with the role in humans, the control is essentially based on the vestibular system (VS), which regulates and stabilizes gaze during head motion, by means of modeling the behavior of the semicircular canals and otoliths in the presence of stimuli, i.e., linear and angular accelerations/velocities derived by the turns experienced by the robot head on the three Cartesian axes. The semicircular canal is used as the angular velocity sensor to perform the postural control of the robot. Simulation results in the MATLAB/Simulink environment are given to show that the orientation of the head in space (roll, pitch and yaw) can be successfully controlled by a proportional-integral-derivative (PID) with noise filter for each DOF.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130809440","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":"Reconocimiento de objetos agarrados con sensorizado híbrido propioceptivo-táctil","authors":"Edison Velasco Sánchez, Brayan Stiven Zapata Impata, Pablo Gil","doi":"10.17979/SPUDC.9788497497565.0224","DOIUrl":"https://doi.org/10.17979/SPUDC.9788497497565.0224","url":null,"abstract":"espanolEste trabajo se presenta una aproximacion hibrida propioceptiva-tactil para reconocer objetos agarrados. La informacion propioceptiva de una mano robotica es usada para estimar la geometria de contacto y asi, distinguir la forma de cada uno de los objetos que estan siendo agarrados. La geometria de contacto viene determinada por los datos articulares de la mano robotica cuando esta lleva a cabo un agarre en configuracion de cierre sobre la superficie del objeto. Ademas, la informacion tactil permite determinar propiedades de rigidez y flexibilidad del objeto agarrado, mejorando el proceso de reconocimiento cuando la geometria de contacto y por lo tanto, la forma de los objetos es similar. El metodo propuesto emplea tecnicas de clasificacion de aprendizaje supervisado para combinar los datos de ambos tipos de sensores e identificar el tipo de objeto con un porcentaje de acierto medio del 95,5% con metrica ‘accuracy’ y 95.3% con F1(F-score) aun en presencia de incertidumbre de medida y ambiguedad. Estas ratios de acierto se han alcanzado experimentando con 7 objetos domesticos y llevando a cabo mas de 3000 agarres. EnglishThis work presents a hybrid proprioceptive-tactile approach to recognize grasped objects. Proprioceptive data of a robotic hand are used to estimate contact geometry and thus, to distinguish the shape of each of the objects that are being grasped. The contact geometry is determined by the joint data of the robotic hand when it carries out a grip in closure grasps configuration on the object surface. In addition, the tactile data allow to robotic hand to determine rigidity and flexibility properties of the grasped object, improving the recognition process when the contact geometry and therefore, the shapes of different objects are similar. The proposed method employs supervised learning classification techniques to combine the data from both types of sensors and identify the type of object with an average success rate of 95,5% (with accuracy) and 95.3% (with F1 or F-score)even in the presence of measurement with uncertainty and ambiguity of pose. These success ratios have been achieved by experimenting with 7 different objects and performing more than 3000 grasps.","PeriodicalId":444871,"journal":{"name":"Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129152090","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}