Advances in Automation and Robotics Research

Name: Advances in Automation and Robotics Research | Proceedings of the 2nd Latin American Congress on Automation and Robotics, Cali, Colombia 2019
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Proceedings of the 2nd Latin American Congress on Automation and Robotics, Cali, Colombia 2019

Alexánder Martínez Héctor A. Moreno Isela G. Carrera Alexandre Campos José Baca(Herausgeber*in)

Springer (Verlag)

1. Auflage

Erschienen am 29. Januar 2020

IX, 268 Seiten

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978-3-030-40309-6 (ISBN)

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Inhalt

Intro
Preface
Contents
Industrial Robots Migration Towards Industry 4.0 Components
1 Introduction
2 Industry 4.0 Components
2.1 Reference Architecture Model for Industry 4.0
2.2 Details of the Asset Administration Shell
2.3 Industry 4.0 Compliant Communication
3 Migration of Industrial Robots Towards Industry 4.0 Components
3.1 Design and Implement the ICT Architecture
3.2 Configure Communication with OPC UA
3.3 Populate the Information Model with Companion Specifications
3.4 Additional Information and Services
4 Application Scenario
5 Conclusions
References
Automation of a Test Bench for Aluminum Anodizing
Abstract
1 Introduction
2 Mechanical Design
3 Temperature Control System
4 Current Control System
4.1 Quantitative Feedback Control (QFT)
5 Experimental Validation
6 Conclusion
References
Towards Automatic UAV Path Planning in Agriculture Oversight Activities
1 Introduction
2 Methodology
2.1 Crop Features Identification
2.2 Way-Points Generation and Georeferencing Process
3 Results
4 Conclusions and Future Work
References
Computer Vision for Recognition of Fruit Maturity in Amazonian Palms Using an UAV
Abstract
1 Introduction
2 Materials and Methods
3 Results and Discussion
3.1 Preprocessing Stage
3.2 Processing Stage
3.3 Feature Extraction
3.4 Classification Process Based on Machine Learning
4 Conclusions
Graphical Optimization for a Parallel Robot Rotation Based on Platform Initial Orientation
1 Introduction
2 Concepts and Tools
2.1 Robot 6-SPS
2.2 Workspace
2.3 Mapping
3 Maximization Based on Initial Platform Orientation
3.1 Tool Reorientation
4 Method Application
4.1 Task 1
4.2 Task 2
5 Conclusion
References
CNut Gathering Robot. Design, Implementation and Mathematical Characterization
Abstract
1 Introduction
2 Mechanical Design
2.1 Locomotion Mechanism
2.2 Collection Mechanism
2.3 Robot's Design and Construction
3 Electronic Design
3.1 Power Supply
3.2 H Bridge DC Motor Drive
3.3 Speed Control
3.4 Steering Drive Relations
3.5 Electronic Improvements
4 Communications
4.1 Bluetooth Serial Controller App Configuration
5 Robot Mathematical Characterization
5.1 Forward Kinematics
5.2 Inverse Kinematics
5.3 Jacobian for Velocity Analysis
6 Conclusions
References
Static Force Analysis of a Variable Geometry Legged Wheel
1 Introduction
2 RSRR HeIse Wheel
3 Static Force Analysis
4 Conclusions
References
Kinematic Analysis of a Lower Limb Rehabilitation Robot
1 Introduction
2 Position Analysis
3 Velocity Analysis
4 Conclusions
References
Overwatch-M System: Implementation of Bayesian Statistics for Assessment of Sensorimotor Control
1 Introduction
2 Bayesian Theory and Mixed Reality
3 Overwatch-M System
3.1 Basic Sensorimotor Tests via Mixed Reality
3.2 Bayesian Statistics for Sensorimotor Control
4 Implementation of Bayesian Theory
4.1 Main Function
4.2 Struct per Node
4.3 Posterior Model
4.4 Maximum A Posteriori
5 Experimental Results
6 Conclusions and Future Work
References
Deep Neural Network-Inspired Approach for Human Gesture-Triggered Control Actions Applied to Unmanned Aircraft Systems
1 Introduction
1.1 Related Work
1.2 Solutions Based on Tracking with Depth Cameras
1.3 Main Contributions
2 Problem Formulation
2.1 Assumptions
2.2 UAS Model
3 Real-Time Implementation
3.1 Motion Capture System
3.2 Natural User Interface (NUI)
3.3 UAS Control
4 Experimental Results
4.1 Testing Discrete Commands
4.2 Testing Continuous Commands
5 Conclusions
5.1 Future Research Directions
References
Design and Simulation Analysis of a Modular Aerial System
1 Introduction
2 Modular Aerial System (MAS)
3 MAS Module
3.1 Navigation Principle
4 Simulation Analysis
4.1 Dynamic Analysis
4.2 Finite Element Analysis
5 Conclusions
References
A Multi-Objective Genetic Algorithm Approach for Path Planning of an Underwater Vehicle Manipulator
1 Introduction
2 Kinematic Model
3 Performance Criteria
3.1 Manipulability Analysis
3.2 Smoothness
4 Problem Formulation
4.1 Path Design
4.2 NSGA-II Parameters
5 Result Analysis
6 Conclusion
References
A Collaborative Vacuum Tool for Humans and Robots
1 Introduction
2 Design Criteria
3 Prototype
4 Test and Results
4.1 Robot
4.2 Ergonomic Test
4.3 Human-Robot Test
5 Conclusions
References
Designing an Interface for Trajectory Programming in Industrial Robots Using Augmented Reality
1 Introduction
2 Methodology
3 Data Analysis and Results
4 Conclusions
References
Modeling and Antibalance Control of a Birail Crane
1 Introduction
2 System Modeling
3 Design and Implementation of the Prototype
4 Controller and State Observer Design
5 Analysis and Results
6 Conclusions
References
Sensorless Control of an Induction Motor with Common Source Multilevel Converter
Abstract
1 Introduction
2 The Multilevel Converter and Its Control
2.1 Line Voltages and THD
2.2 Algorithm for the Determination of Line Voltages
2.3 Sensorless Control
3 Performance Tests
3.1 Line Voltages and THD Value
3.2 Line Voltages and THD
3.3 Controller Design
3.4 Sensorless Control Validation
4 Conclusions
References
Application of the Watershed Segmentation Method in the Separation and Identification of Individual Leaves in Potato Crops
Abstract
1 Introduction
2 Detection Method
2.1 Background Removal
2.2 Segmentation by Using the Watershed Algorithm
2.2.1 Steps to Guide Segmentation
2.3 Classification of Segments
2.3.1 Relationship Between Axes
2.3.2 Perimeter of the Image
2.3.3 Centroid
2.3.4 Segment Area
2.3.5 Convex Envelope Area
2.3.6 Fourier Analysis
2.3.7 Neural Network Training
2.4 Hole Detection
3 Results and Analysis
4 Conclusions
References
Assessment of Different Approaches to Model the Thermal Behavior of a Passive Building via System Identification Process
1 Introduction
2 Modeling the Thermal Behavior of the Building
3 System Identification Modeling Procedure
4 Results Analysis and Discussion
4.1 Comparison of the Identified Models
4.2 Candidate Model and Validation Data
5 Conclusion and Future Work
References
A Fast Solution to the Dual Arm Robotic Sequencing Problem
1 Introduction
2 RoboTSP for Dual Arm Manipulation
2.1 Proposed Algorithm
2.2 Complexity Analysis
3 Experiments
3.1 Whole-Body IK Solver for the SDA10F Robot
3.2 Planning and Task Execution Times
4 Conclusions
References
mHealth System for the Early Detection of Infectious Diseases Using Biomedical Signals
1 Introduction
2 Design and Functionality of the mHealth System
2.1 Biomedical Sensor Kit
2.2 Data Manager APP
2.3 Online DB
2.4 Microservices Software Architecture
3 Application Design and Operation
4 Results
5 Conclusions and Further Research Lines
References
Wearable Tracking Modules Based on Magnetic Fields
1 Introduction
2 Derivation of Jacobian Matrix Method
3 Implementation of Jacobian Approximation
4 Wearable Magnetic Tracking Module
5 Experimental Results
5.1 Positioning Elbow at Different Constant Angles
5.2 Varying Elbow's Angle at Low and High Frequency
6 Conclusions
References
Design of an Inclusive Early Warning System. Case of Basin of Pacora River, Panama
1 Introduction
2 Design Strategies
2.1 Hydraulic Analysis
2.2 Instrumentation and Diffusion Platform
2.3 Socioeconomic Analysis
3 System Components
3.1 Monitoring Subsystems (MOSU)
3.2 Subsystem of Diffusion (SUDI)
3.3 Inclusive Subsystem (SUIN)
4 System Characteristics
5 Discussion
6 Conclusions
References
Design, Implementation and Characterization of a Low-Cost Stair-Climbing and Obstacle Dodging Robot for Emergency Situations
Abstract
1 Introduction
2 Continuous Track vs. Wheels
3 Chasis
4 Slider Cranck Mechanism
5 Robot Mathematical Characterization
5.1 Forward Kinematics
5.2 Inverse Kinematics
5.3 Jacobian for Velocity Analysis
6 Motion
7 Conclusions
References
Dynamics and Preview Control of a Robotics Bicycle
1 Introduction
2 Robotic Bicycle
2.1 Kinematic Model
3 Dynamic Model of Robotic Bicycle
3.1 CAD Model
4 Preview Control System
5 Experimental Results
6 Conclusion
References
Design of a Low-Cost Ball and Plate Prototype for Control Education
1 Introduction
2 Modelling
3 Prototype Design
4 PID Controller by Allocated Poles
5 Results
References
Author Index

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