Unidad Ejecutora Doble Dependencia - Universidad Nacional de San Juan, Facultad de Ingeniería - Consejo Nacional de Investigaciones Científicas y Técnicas

Publicaciones

Publicaciones en revistas, libros y congresos nacionales e internacionales.

Publicaciones 2018


El INAUT, como fruto de sus investigaciones y desarrollos, tiene una producción importante de publicaciones en revistas libros y congresos tanto nacionales como internacionales.


Libro

Teleoperación Bilateral de Robots Moviles

Autores
Santiago, D.;


Resumen:
El tema de la presente tesis doctoral se centra en el área de control automático, más específicamente en los sistemas de teleoperación bilateral de robots móviles.Las principales contribuciones de esta tesis son:1.Algoritmos de control orientados a la teleoperación bilateral estable de robots móviles no-holonómicos terrestres con retardos de comunicación.2.Esquemas de control que mejoran la transparencia de los sistemas de teleoperación.3.Esquemas de teleoperación bilateral de manipuladores móviles no holonómicos terrestres.4.Interfaces hápticas para teleoperación de manipuladores móviles y análisis de los efectos de su uso.5.Esquema de teleoperación bilateral de robots aéreos de tipo cuadricóptero.6.Teoría de teleoperación multipunto en la que la red de teleoperación puede estar constituida por múltiples dispositivos maestros y esclavos, que pueden ser robots móviles, manipuladores, manipuladores móviles o sub-sistemas virtuales automáticos.7.Análisis de estabilidad de los diferentes sistemas propuestos.8.Evaluación del rendimiento y la transparencia de los esquemas propuestos a través de experimentación y simulaciones.9.Herramientas de software de libre acceso enfocadas en el desarrollo rápido y simple de sistemas robóticos para su utilización en el campo académico y educativo.

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Revista Internacional con Referato

Room acoustics: Idealized field and real field considerations

Autores
Accolti, E.; di Sciascio, F.;


Resumen:
How is an acoustically diffuse field defined? To what extent are the equations of diffuse field theory valid? These are the questions addressed in this presentation. The answers are explained through more general theories, in turn explained with figures. The starting point is the idealization of diffuse sound field, from where the basic calculation tools used in architectural acoustics are derived. Then, we go through the physical-mathematical models of wave theory and ray theory assuming diffuse field simplifications and analyze the scope of diffuse field models. Wave models and ray models are presented in a simple format with visual support and reference to the underlying mathematical models. The criteria used to define a diffuse field in frequency domain as well as in temporal domain are analyzed. Finally, we present a review of several state of the art tools used to address the real cases when diffuse field cannot be assumed.

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P+d Plus Sliding Mode Control for Bilateral Teleoperation of a Mobile Robot

Autores
Salinas, L.; Santiago, D.; Slawiñski, E.; Mut, V.;Danilo Chavez ;Paulo Leica ;Oscar Camacho ;


Resumen:
This paper proposes a control scheme based on combining a PD-like structure and a sliding mode control (SMC) applied to mobile robot bilateral teleoperation systems, in the face of asymmetric and time-varying delays. The proposal includes on the remote site both a P+d control and a SMC strategy in such a way that the advantages of both methods are exploited. The system stability is analyzed using Lyapunov-Krasovskii functionals and a delay-dependent stability criteria is obtained using linear-matrix-inequalities (LMI). Finally, the teleoperation system is evaluated through human-in-the-loop experiments to confirm the theoretical results and test the robustness and stability of the proposed control scheme.

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Modeling and path-following control of a wheelchair in human-shared environments

Autores
Herrera, D.; Roberti, F.; Carelli, R.;Victor Andaluz ;José Varela ;Jessica Ortiz ;Paúl Canseco ;


Resumen:
This work presents the kinematic and dynamic modeling of a human–wheelchair system which considers that its center of mass is not located in the middle of the wheel's axle. Furthermore, a novel motion controller is presented for a human–wheelchair system, which is capable of performing positioning and path-following tasks in human-shared environments. This controller design is based on two cascaded subsystems: a kinematic controller, and a dynamic controller that compensates the dynamics of the human–wheelchair system. Additionally, an algorithm based on fuzzy-logic is proposed and incorporated in the aforementioned path-following control for pedestrian collision avoidance. This methodology considers to quantify heuristics social rules to make a balance between modulating velocity or direction during the avoidance. Three di®erent interference cases, commonly found during walking events, are tested in a structured scenario. The experimental results demonstrate that the system is capable of overcomingmany usual interference situations with human obstacles. A good performance of the path-following control is also verified.

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Admittance Controller with Spatial Modulation for Assisted Locomotion using a Smart Walker

Autores
Mario F. Jiménez ; Monllor, M.; Frizera Neto, A.; Freire Bastos, T.; Roberti, F.; Carelli, R.;


Resumen:
Smart Walkers are robotic devices that may be used to improve the stability in people with lower limb weakness or poor balance. Such devices may also offer support for cognitive disabilities and for people that cannot safely use conventional walkers. This paper presents an admittance controller that generates haptic signals to induce the tracking of a predetermined path. During use, when deviating from such path, the method proposed here varies the damping parameter of an admittance controller by means of a spatial modulation technique, resulting in a haptic feedback, which is perceived by the user as a difficult locomotion in wrong direction. The UFES’s Smart Walker uses a multimodal cognitive interaction composed by a haptic feedback, and a visual interface with two LEDs to indicate the correct/desired direction when necessary. The controller was validated in two experiments. The first one consisted of following a predetermined path composed of straight segments. The second experiment consisted of finding a predetermined path starting from a position outside of such path. When haptic feedback was used, the kinematic estimation error was around 0.3 (±0.13) m and the force applied to move the walker was approximately 5 kgf . When the multimodal interaction was performed with the haptic and visual interfaces, the kinematic estimation error decreased to 0.16 (±0.03) m, and the force applied dropped to around 1 kgf , which can be seen as an important improvement on assisted locomotion.

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Multi-objective control for cooperative payload transport with rotorcraft UAVs

Autores
Gimenez, J.; Gandolfo, D.; Salinas, L.; Rosales, C.; Carelli, R.;


Resumen:
A novel kinematic formation controller based on null-space theory is proposed to transport a cable-suspended payload with two rotorcraft UAVs considering collision avoidance, wind perturbations, and properly distribution of the load weight. An accurate 6-DoF nonlinear dynamic model of a helicopter and models for flexible cables and payload are included to test the proposal in a realistic scenario. System stability is demonstrated using Lyapunov theory and several simulation results show the good performance of the approach.

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Iterated Conditional Modes to solve Simultaneous Localization and Mapping in Markov Random Fields context

Autores
Gimenez, J.; Amicarelli, A.; Toibero, M.; di Sciascio, F.; Carelli, R.;


Resumen:
This paper models the complex simultaneous localization and mapping (SLAM) problem through a very flexible Markov random field and then solves it by using the iterated conditional modes algorithm. Markovian models allow to incorporate: any motion model; any observation model regardless of the type of sensor being chosen; prior information of the map through a map model; maps of diverse natures; sensor fusion weighted according to the accuracy. On the other hand, the iterated conditional modes algorithm is a probabilistic optimizer widely used for image processing which has not yet been used to solve the SLAM problem. This iterative solver has theoretical convergence regardless of the Markov random field chosen to model. Its initialization can be performed on-line and im- proved by parallel iterations whenever deemed appropriate. It can be used as a post-processing methodology if it is initialized with es- timates obtained from another SLAM solver. The applied methodology can be easily implemented in other versions of the SLAM prob- lem, such as the multi-robot version or the SLAM with dynamic environment. Simulations and real experiments show the flexibility and the excellent results of this proposal.

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Bounded memory probabilistic mapping of out-of-structure objects in fruit crops environments

Autores
Gimenez, J.; Tosetti, S.; Salinas, L.; Carelli, R.;


Resumen:
Spatial awareness and memory are key factors for a robot to evolve in semi-structured and dynamic environments as those found in agriculture, and particularly in fruit crops where the trees are regularly distributed. This paper proposes a probabilistic method for mapping out-of-structure objects (weeds, workers, machines, fallen branches, etc) using a Kernel density estimator. The methodology has theoretical and practical advantages over the well-known occupancy grid map estimator such as optimization of storage resources, online update, high resolution, and straightforward adaptability to dynamic environments. An example application would be a control scheme through which a robot is able to perform cautious navigation in areas with high probability of finding obstacles. Simulations and experiments show that large extensions can be online mapped with few data and high spatial resolution.

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Identification and adaptive PID Control of a hexacopter UAV based on neural networks

Autores
Rosales, C.; Soria, C.; Rossomando, F.;


Resumen:
In this paper, a novel adaptive PID controller for trajectory‐tracking tasks is proposed. It is implemented in discrete time over a hexacopter, and it takes into consideration the unmanned aerial vehicles (UAVs) nonlinear model. The PID controller is developed following an adaptive neural technique, and its stability is verified by the Lyapunov discrete theory. Besides, the neural identification of the dynamic model of the UAV is presented to backpropagate output errors to adjust PID gains with the purpose of reducing the control errors. The validation of the proposed algorithm is performed through experimental results with a hexacopter.

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Congreso Nacional con Referato

Respuesta dinámica para salas de música no amplificada

Autores
Accolti, E.; di Sciascio, F.;


Resumen:
Desde los inicios de la acústica de salas como una rama científica de la acústica los investigadores del área han desarrollado descriptores acústicos mesurables que puedan estar correlacionados con las características constructivas de las salas. En los últimos 120 años se han ido desarrollando dos grandes grupos de descriptores, por un lado, los descriptores objetivos que se pueden determinar mediante mediciones físicas acústicas tales como el nivel sonoro y, por otro lado, los descriptores subjetivos que reflejan la percepción de cada sujeto y se pueden determinar mediante encuestas o mediciones fisiológicas. Los descriptores objetivos se pueden relacionar con aspectos arquitectónicos de las salas y los descriptores subjetivos son los que más fielmente reflejan la calidad acústica. Por esa razón, la búsqueda de descriptores objetivos que se relacionen con los parámetros subjetivos permite comprender mejor cómo los elementos del diseño arquitectónico influyen en la percepción del sonido y, a su vez, en la calidad acústica de la sala. Pätynen y Lokki (2016) han estudiaron perceptualmente, mediante encuestas en laboratorio, la influencia de seis salas de concierto en la percepción de contrastes dinámicos. Para este fin usaron un pasaje del movimiento II de la Sinfonía N. 8 de Brukner (el pasaje se compone de los compases 41-43 seguidos por los compases 53-55) y simularon digitalmente el comportamiento de las salas. Esto les permitió, mediante comparación pareada de los estímulos, encontrar la relación entre la percepción del rango dinámico de la sala y el contraste de otros parámetros subjetivos cómo la sonoridad, la reverberancia, el ancho aparente del escenario, el brillo y el balance de bajos entre otros. Además, encontraron que hay una gran relación entre los resultados subjetivos y la calidad acústica de estas salas de concierto. También estudiaron la relación con parámetros objetivos existentes sin encontrar una relación significativa. En el presente proyecto se estudian posibles descriptores objetivos que puedan tener relación con este descriptor subjetivo estudiado por Pätynen, J., y Lokki. Se presenta el estado de avance de este proyecto incluyendo algunos resultados preliminares que avalan la hipótesis de que existan descriptores objetivos relacionados con la percepción de los contrastes dinámicos de salas para música no amplificada.

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Controladores servovisuales para un UAV en el seguimiento de líneas de cultivo

Autores
Sarapura, J.; Roberti, F.; Sebastián, J.; Carelli, R.;


Resumen:

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