Ángel Flores Abad

Monitoring of Cardiac Arrhythmia Patterns by Adaptive Analysis

In this paper, a study and development of a monitoring adaptive system based on dynamic quadratic neural unit are presented. The system is trained with a recurrent learning method, sample-by-sample in real time. This model will help to the prediction of possible cardiac arrhythmias in patients between 23 to 89 years old, age range of the electrocardiogram signals obtained from the Massachusetts Institute of Technology-Beth Israel Hospital arrhythmia database. By means of the implementation of this adaptive monitoring system the model is capable of processing heart rate signals in real time and to recognize patterns that predict cardiac arrhythmias up to 1 second ahead. The Dynamic Quadratic Neural Unit in real time has demonstrated presenting greater efficiency and precision comparing with multilayer perceptron-type neural networks for pattern classification and prediction; in addition, this architecture has demonstrated in developed research, to be superior to other different type of adaptive architectures.

High resolution position estimation from hall effect sensor

This paper provides an alternative method for high resolution position estimation of a BLDC motor by obtaining pulses from the hall effect sensor. This method proposes to use a fast processing time in order to achieve the best performance. In the document the development of the methodology is shown for obtaining the high resolution position. The problem is the low resolution and it is due to the hall effect sensor that only provides maximum 12 rising and falling edges in the three sensors, thus the position comes to be 12 pulses per revolution. The method is demonstrated through a simulation using the considerations for fast processing.

Interaction Control Based on Position/Velocity Control by Means of Disturbance Observer

In the typical industrial applications, the object grasping or manipulation is usually implemented on industrial robots. However, the correct object manipulation also implies to avoid damages. On the other hand, interaction is an action which is influenced by other actions between two or more entities. In this paper an alternative method for interaction control, which is a combination of velocity and position controllers based on disturbance observer (DOB) is presented. The proposed control strategy is a velocity control while the gripper is moving without contact with the environment. When an object is reached, the DOB detects the contact force and the control strategy switches to position control, the switching is commanded by a torque threshold compared with the estimated torque. The control strategy is verified by numerical simulation considering an object with predefined stiffness.