Cecilia Garcia

Clinical, physical, sperm and hormonal data in 251 adults operated on for cryptorchidism in childhood.

Objective To determine the clinical, physical, sperm and hormonal status during adulthood in cryptorchid patients operated on during childhood, and to assess these variables according to the age at surgery and preoperative testicular position.

ROAD: domestic assistant and rehabilitation robot

This study introduces the concept design and analysis of a robotic system for the assistance and rehabilitation of disabled people. Based on the statistical data of the most common types of disabilities in Spain and other industrialized countries, the different tasks that the device must be able to perform have been determined. In this study, different robots for rehabilitation and assistance previously introduced have been reviewed. This survey is focused on those robots that assist with gait, balance and standing up. The structure of the ROAD robot presents various advantages over these robots, we discuss some of them. The performance of the proposed architecture is analyzed when it performs the sit to stand activity.

Stability analysis for a teleoperation system with time delay and force feedback

The stability analysis of a two-degree-of freedom teleoperation system, considering the remote station as a non-linear system, is presented. The non-linearity arises in the remote robots model. Force and position data are backfed from the local to the remote station. The time delay between both stations is fixed and known. A model of the human operator is incorporated into the dynamics of the local station, while a model of the environment is incorporated into the dynamics of the remote station. The analysis, based on operator theory, ensures that system signals remain within a small bounded region. The validity of the theoretical results are verified by simulation.

Concepción, Desarrollo y Avances en el Control de Navegación de Robots Submarinos Paralelos: El Robot Remo-I

El robot REMO I es un vehiculo submarino operado remotamente (ROV), que tiene como cuerpo principal, una estructura paralela de Stewart – Gough, que le permite variar su geometria para realizar maniobras de navegacion con gran flexibilidad con solo modificar la orientacion y el desplazamiento de un unico impulsor situado en la parte trasera. Como consecuencia, el robot puede describir trayectorias complejas para llegar a lugares de dificil acceso dentro del agua. En este trabajo se presenta una breve descripcion mecanica del REMO I, su sistema de instrumentacion y control, y las estrategias a utilizar para la arquitectura de control que se emplea en el control de lastrado y la navegacion.

Bilateral adaptative control by state of convergence in teleoperation systems

This paper presents the design and application of an adaptative control method for a bilateral system of teleoperation. The scheme and control of algorithm have been formulated in the state space following a control technique of the master and the slave state convergence. Based on the mentioned control scheme, gains on the control loop in order to obtain a stable bilateral system with the desired force reflection have been adjusted through an adaptative method. The validation of the method for the designed control has been done through a master-slave experimental system of 1 degree of freedom.

Sistema de Control Bilateral Adaptativo por Convergencia de Estados en Teleoperación

This paper presents the design and application of a adaptative control method for a bilateral of teleoperation system. The scheme and control algorithm has been formulated in the space of states following a control technique through State Convergence of master and slave. On this scheme control has been adjusted through the adaptative method the gain the of control loops to obtain a stable bilateral system with the wanted reflection of forces. The validation of the control method designed has been carried out with an experimental system master-slave of one degrade of freedom.

Stability analysis of teleoperation system by state convergence with variable time delay

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

BASE MOLECULE DESIGN AND SIMULATION OF MODULAR ROBOT ROBMAT

Abstract This article presents the design of the base molecule for the RobMAT modular robot and the simulation tool MAVES (Modular Agents Virtual Environment Simulator). The base molecule is formed by 3 link atoms, 2-foot accessories and 2 joint atoms with 3 d.o.f. With the developed simulator, it is possible to analyse the kinematics morphology and dynamics behaviour of different configurations. MAVES tool allows evaluating control algorithms in order to minimize some parameters. Denavit-Hartenberg method is applied to calculate the kinematics of the base molecule and from thereon study the singular configuration of the modular robot.

Experiences in the development of a teleoperated parallel robot for aerial line maintenance

This paper presents the teleoperation of a parallel robot based on the Stewart-Gough platform. The robot is an experimental prototype capable of sliding along electrical lines in order to carry out different inspection and maintenance tasks. The paper also describes the kinematic equations of the parallel robot and their solution. The teleoperation of the prototype took place in a testing bank developed in the laboratory and containing the basic elements of electrical lines. The operator who performs the task uses a six degrees-of-freedom master-arm with force reflection, which also has an image-viewing system providing the operator with stereoscopic vision and allowing him/her to calibrate the information of the local station simulator with the real environment through the blending of images. The paper also presents the results of the laboratory experiments of the robot sliding along a line.

Desarrollo de un Interfaz de Realidad Virtual para los Robots Multiagentes Smart

This article presents the multi-agent robotic system SMART. This system is integrated by different kind of software and / or hardware agent, so it can be classified as heterogeneous. Additionally, it is presented the development of a virtual reality interface through which a human user can acts on the system if it is necessary, otherwise the system operates autonomously. Also, this interface implements a different features aimed to achieve the performance of the whole system. The interface allows to reproduce the real scene and provides the user with information in real time what happens in reality. Because of heterogeneous system, communication between agents is made using different communication technologies (TCP / IP, WiFi and Bluetooth), therefore it was necessary to design a specific communication protocol that is described in this article.