Fernando A. Chicaiza

Unity3D-MatLab Simulator in Real Time for Robotics Applications

This paper presents the implementation of a new 3D simulator applied to the area of robotics. The simulator allows to analyze the performance of different schemes of autonomous and/or tele-operated control in structured environments, partially structured and unstructured. For robot-environment interaction is considered virtual reality software Unity3D, this software exchanges information with MATLAB to execute different control algorithms proposed through the use of shared memory. The exchange of information in real time between the two software is essential because the advanced control algorithms require a feedback from the robot-environment interaction to close the control loop, while the simulated robot updates its kinematic and dynamic parameters depending on controllability variables calculated by MATLAB. Finally, the 3D simulator is evaluated by implementing an autonomous control scheme to solve the problem of path following of a 6DOF robot arm, also the results obtained by implementing the tele-operation scheme for said robot are presented.

Transparency of a Bilateral Tele-Operation Scheme of a Mobile Manipulator Robot

This work presents the design of a bilateral tele-operation system for a mobile manipulator robot, allowing a human operator to perform complex tasks in remote environments. In the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. In the local site an environment of augmented reality developed in Unity3D is implemented, which through input devices recreates the sensations that the human would feel if he were in the remote site, for which is considered the senses of sight, touch and hearing. These senses help the human operator to “transmit” their ability and experience to the robot to perform a task. Finally, experimental results are reported to verify the performance of the proposed system.

Nonlinear Controller of Quadcopters for Agricultural Monitoring

This work presents the construction and control of an autonomous quadcopter for applications of agriculture monitoring. Mainly the navigation system is based on a Field Programmable Gate Array, FPGA, Stabilization Target and a Global Positioning System, GPS, to solve different motion problems of a mobile robot. Also, this paper shows the development of a Human Machine Interface, HMI, between the ground station and the quadcopter. The HMI allows interaction both for simulation and/or experimentally of agricultural monitoring applications through control strategies tele-operated and autonomous flight. Finally, the performance of the proposed controller is shown through real experiments.

Immersive Industrial Process Environment from a P&ID Diagram

This work presents the development of an interactive and intuitive three-dimensional Human Machine Interface, based on Virtual Reality, which emulates the operation of an industrial plant and contains a two-dimensional Human Machine Interface for control and monitoring a process of one or more variables, applying the concept of user immersion in the virtual environment. The application is performed by using Computer Aided Design software and a graphics engine. Furthermore, experimental results are presented and discussed to validate the proposed system applied to a real process of a plant.

Unity3D Virtual Animation of Robots with Coupled and Uncoupled Mechanism

This paper presents the development of the animation of robots in virtual reality environments, whose mechanisms can be coupled -the movement relies on mechanical principles-; and uncoupled mechanisms, i.e., the degrees of freedom are controlled independently via a control unit. Additionally, the present phases to transfer the design of a robot developed in a CAD tool to a virtual simulation environment without being lost the physical characteristics of the original design are showed, for which it is considered the various types of motions that the robot can perform depending on the design. Finally, shows the results obtained from the simulation of motion of a robot hexapod 18DOF and Theo Jansen mechanism.

Modeling Dynamic of the Human-Wheelchair System Applied to NMPC

This paper presents the development of algorithm nonlinear predictive controller based on the model, NMPC, trajectory tracking applied to a wheelchair. Also it illustrated the kinematic and dynamic modeling of human-wheelchair system is considered in which the deviation of the center of gravity of the system due to postural problems of man, limb amputations, or obesity user. In NMPC they considered restrictions on control measures, as well as in the states of the system. The results show that the movements of the wheelchair converge to the desired trajectory in accordance with the provisions of the theoretical design; with analysis times NMPC calculation algorithm concludes that the controller can be implemented in real time.

Construction of a quadcopter for autonomous and teleoperated navigation

This work presents the construction and autonomous and tele-operated control of a miniature quadcopter for applications in confined spaces, more specifically in corridors, both indoor and outdoor. Furthermore, the development of a Human Machine Interface that simulates the behavior of the UAV to different control strategies, and performs two-way communication between the ground station and the quadcopter is presents. Finally, real experiments results are presented and discussed, which validate the construction of the UAV and the proposed controller.

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.

Real–Time Virtual Reality Visualizer for Unmanned Aerial Vehicles

The visualization of tele-operated and autonomous executions in the field becomes difficult if the real environments are located in remote areas or present potential dangers for visualizing clients. This work proposes an application based on virtual reality to recreate in real time the execution tasks of a UAV, which is operated remotely or autonomously on a real environment. To achieve a third level of immersion, the reconstruction of the real environment where the field tests are executed is considered, offering the possibility of knowing the real scenario where the tests are executed. The consideration of using commercial UAV development kits is taken into account to obtain internal information, as well as to control the drone from client devices. The results presented validate the unification of 3D models and the reconstruction of the environment, as well as the consumption of vehicle information and climate parameters.

Virtual Reality-Based Memory Assistant for the Elderly

Older adults experience several diseases related to the habits of their daily lives, many times resulting in cognitive problems when they reach ages that overcome eighty years. This work presents the development of an application aimed at older adults, integrating scenarios in virtual reality to facilitate the immersion of people with signs of memory loss. Through the application, various tasks related to daily activities, professions, face recognition and weekend games are proposed, all evaluated to show scores at the end of the activities. As a result, the work presents real experiments executed to validate the proposal, showing first and third person views within several built virtual environments.