Jorge S. Sánchez

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.

Virtual Reality System for Training in Automotive Mechanics

This article describes a virtual training system for recognition and assembly of automotive components is proposed. The system consists of a virtual reality environment developed with Unity 3D graphics engine, the same one that allows the user to have greater immersion in the teaching-learning process in order to optimize materials, infrastructure, time resources, among other benefits. The proposed system allows the user to select the work environment and the level of difficulty during the training process. The experimental results show the efficiency of the system generated by the man-machine interaction oriented to develop skills in the area of automotive mechanical.

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.

Virtual Reality Integration with Force Feedback in Upper Limb Rehabilitation

In this article, it presents an alternative rehabilitation system for upper extremity fine motor skills by using haptic devices implemented in a virtual reality interface. The proposed rehabilitation system develops 3D shapes and textures observed in virtual reality environments, interaction with environments generate specific rehabilitation exercises for conditions in patients to treat their conditions in the upper extremities; the system presents different rehabilitation environments focused on the use of virtual reality. The system is implemented through bilateral Unity3D software interaction with the Novint Falcon device further Oculus Rift and Leap motion is used for total immersion of the patient with the development of virtual reality. The patient performs a path, based in a rehabilitation entertainment brought about by the displacement and force feedback paths, which are based on physiotherapist’s exercises. Developed experimental results show the efficiency of the system, which generates the human interaction-machine, oriented to develop the human ability.

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.

Bilateral Control of a Robotic Arm Through Brain Signals

This work presents the design of a bilateral teleoperation system for a robotic arm, allowing people with upper limb impairments to move and manipulate objects through brain signals. The person receives visual feedback from the remote site, and it sends position commands and movement velocity to the slave. The desired velocity of the end-effector is considered as a function of the disregard of the person to move the robotic arm. Additionally, the singular configuration prevention through the systems manipulability control is considered. Finally, the simulation results are reported to verify the performance of the proposed system.

Assistance System for Rehabilitation and Valuation of Motor Skills

This article proposes a non-invasive system to stimulate the rehabilitation of motor skills, both of the upper limbs and lower limbs. The system contemplates two ambiances for human-computer interaction, depending on the type of motor deficiency that the patient possesses, i.e., for patients with chronic injuries, an augmented reality environment is considered, while virtual reality environments are used in people with minor injuries. In the cases mentioned, the interface allows visualizing both the routine of movements performed by the patient and the actual movement executed by him. This information is relevant for the purpose of (i) stimulating the patient during the execution of rehabilitation, and (ii) evaluation of the movements made so that the therapist can diagnose the progress of the patient’s rehabilitation process. The visual environment developed for this type of rehabilitation provides a systematic application in which the user first analyzes and generates the necessary movements in order to complete the defined task. The results show the efficiency of the system generated by the human-computer interaction oriented to the development of motor skills.

Teaching Process for Children with Autism in Virtual Reality Environments

This paper presents the implementation of 3D virtual environments applied to the teaching-learning process for children with autism. The virtual system implemented allows real-time bilateral interaction between the user and the virtual environment in order to stimulate the abilities of children with autism spectrum disorder. The implemented system has multiple environments and applications for interaction with the physical medium in order to increase the stimulus of the affected. The results show the benefit and usability of the implementation of virtual environments to the processes of teaching learning of children with autism.