Christian P. Carvajal

Training of Tannery Processes Through Virtual Reality

This document presents the virtualization of an industrial process focused on the tanning of hides about bovine origin, in order to train and train the operators through a virtual environment that allows the immersion and interaction with the layout of the plant, machinery, operative elements, control and signage, referring to the productive process. The development of the virtual environment is making using computer aided software and the graphic engine Unity 3D, while for the immersion is using the virtual reality devices and hand tracking. The results one concludes obtained from the virtual experience between the operator and the environment, conclude that the proposed system allows to obtain social, economic, productive benefits and avoiding to have occupational risks.

Realism in Audiovisual Stimuli for Phobias Treatments Through Virtual Environments

This article proposes a system of perception of the real world through audiovisual stimulation for the treatment of different types of phobias. The proposed system is made up of various virtual environments which will be selected according to the phobia to be treated, i.e., the user-environment integration depends on the type and degree of the phobia. The interface allows visualize the environment where the patient must comply with a predetermined therapy by the psychotherapist, in which the biometric signals of the patient are feed back in real time through wearables devices. This information is processed in order to ingest directly in the algorithm of the user’s behavior; algorithm that controls the audiovisual stimuli related to the phobia during the interaction of the virtual environment with the user. In addition, the parameters of the biometric signals are displayed graphically/numerically in the virtual environment in order for the patient to control their behavior and face their irrational fear-phobia. The results are validated based on the realism of the virtual environments developed, and the audio-visual stimuli applied to the patient based on the change of the parameters of the biometric signals acquired through wearable devices.

Modeling and Kinematic Nonlinear Control of Aerial Mobile Manipulators

This work proposes a kinematic modeling and a kinematic nonlinear controller for an autonomous aerial mobile manipulator robot that generates saturated reference velocity commands for trajectory tracking problem. In the kinematic modeling is considered through of a quadcopter-inner-loop system to independently track four velocity commands: forward, lateral, up/downward, and heading rate; and arm-inner-loop system to independently track angular velocity commands. Stability and robustness of the complete control system are proved through the Lyapunov method. Finally, simulation results are presented and discussed, which validate the proposed controller.

Robotic Applications in Virtual Environments for Children with Autism

In this paper, it proposes the development of a virtual reality system that works simultaneously with the physical environment, by creating an atmosphere that stimulates the abilities of children with autism spectrum disorder. This system is implemented through a human - machine interface, which has the possibility to simulate and work with functions focused on rehabilitation, so the patient will be involved in assisted therapies based on DSM - 5 protocols. Therefore, multiple environments and applications are presented for the interaction with the physical media to increase the stimulus of the affected one. The results of the application are presented to validate the project using the information collected through the interaction between the developer, therapist and patient.

Construction and analysis of PID, fuzzy and predictive controllers in flow system

This paper presents the construction of a flow station that allows the implementation of different advanced control technique. Furthermore this work focuses on comparing of the performance of traditional PID controllers, Fuzzy logic and predictive MPC when controlling the flow dynamic variable and to analyze the advantages and disadvantages of these control strategies in industrial processes. The characteristics of the controllers are tested both in simulation and experimentation with dedicated software in systems analysis.

An Implementation on Matlab Software for Non-linear Controller Design Based on Linear Algebra for Quadruple Tank Process

This paper is focused on the design of a control algorithm based on linear algebra for multivariable systems and its application to control of a quadruple tank system. In order to design the controller, the system model is approximated by numerical methods and then a system of linear equations are solved by least square to obtain the optimal control actions. The strategy presented in this paper has the advantage of using discrete equations and therefore a direct implementation in most computer-driven systems is feasible. The simulation results developed on Matlab software shows the effective of the proposed method.

SCADA/HMI Systems for Learning Processes of Advanced Control Algorithms

This work focuses on the implementation of interfaces for human machine interaction (HMI) for the control of a three-phase motor within an industrial process, using different softwares with which communication can be established to control, monitor and manipulate the variables Which intervene in an industrial process. For this, a didactic module is built using a programmable logic controller (PLC), touch screen and frequency variator for the control and monitoring of a three-phase motor.

Virtual Training for Industrial Automation Processes Through Pneumatic Controls

This work presents the implementation of virtual environments oriented to managing pneumatic controls applied to industrial processes in order to strengthen training and teaching-learning processes. The implemented application enables the multi-user immersion and interaction with the aim to accomplish predefined tasks to be developed within lab environments and virtualized sceneries for industrial processes. Obtained results show how easy it is to interact with the proposed multi-user environment.

Autonomous and Tele-Operated Navigation of Aerial Manipulator Robots in Digitalized Virtual Environments

This paper presents the implementation of a 3D virtual simulator that allows the analysis of the performance of different autonomous and tele-operated control strategies through the execution of service tasks by an aerial manipulator robot. The simulation environment is development through the digitalization of a real environment by means of 3D mapping with Drones that serves as a scenario to execute the tasks with a robot designed in CAD software. For robot-environment interaction, the Unity 3D graphics engine is used, which exchanges information with MATLAB to close the control loop and allow for feedback to compensate for the error. Finally, the results of the simulation, which validate the proposed control strategies, are presented and discussed.

e-Tourism: Governmental Planning and Management Mechanism

This article proposes the development of a virtual application as a planning and government management tool, focused on the digitization of objects, monuments-buildings, and real environments using 2D and 3D virtualization techniques. The application considers two modes of use: PLANNER for use by managers and planners of offices and technical units linked to tourism; and TOURIST created for travelers, hikers or tourists in general. The first allows recreating new scenes incorporating objects that make it attractive to the tourist recourse, and thus achieve a projected image of the vision of development proposed by the planner; and the second designed to recreate touristic environments and program circuits, provoking a tourist avatar through HTC VIVE, Oculus Rift and GearVR Headsets to make the application available to the largest market segment of virtual reality viewers. In addition, the app allows the interaction of several users in the same scenario to exchange information and experiences of the place.