Mauricio Mauledoux

Closed-Loop System with Biofeedback for Engagement Control in Virtual Rehabilitation

This paper proposes the methodology to design a closed-loop system to control presence in a virtual rehabilitation setup, as a believed equivalence to therapeutic engagement and an improvement strategy of motor function recovery. This proposal starts with an analogy of adherence, defined by acceptance, participation and fulfillment (these last two indicators of engagement) with presence, measurable by means of subjective questionnaires and real-time biometrics (psychophysiology, biomechanics and task-performance). These objective measurements shape the feedback of a control system composed by a subject-state classifier and a controller based in soft computing to assure higher levels of presence via control rules that modify a virtual reality (VR) structure and code. This also describes the design of a previous open-loop setup that defines the signals that had better reflected emotions and presence states on task performance, after adjust VR variables that are classified by layers in a games design approach.

Genetic Algorithm Optimization for DC Micro Grid Design, a Case of Study

Generation of electric energy through renewable sources remains an important task, due to the increased interest in production of green energy around the world. In the past 20 years, several efforts have been made to optimize network planning, as well as production and operation of power systems in standalone and distributed configurations to guide evolution towards Smart Grids. Optimization of the power grid has been mainly focused on power dispatch, forecasting, and efficient and reliable production and distribution. Such optimization problems present optimal results with the use of conventional tools; however, and despite the incredible advances in that regard, the non-linear and non-convex nature of such an optimization problem require more complex processing techniques. With the aim of providing a tool to calculate micro grid systems, this article shows the development of an optimization algorithm used to calculate the better configuration for a micro grid implementation based on photovoltaic panels and batteries layout.

Sliding Modes for a Manipulator Arm of 4 Degrees of Freedom

The first step in designing a controller for a manipulating arm is to determine its configuration, which means, analyzing the main components that make up the mechanism. A manipulating arm is composed of joints, motors, sensors and other elements, which are linked to conform the different degrees of freedom (generalized coordinates: prismatic, rotational or a combination of both, which is presented as the most unusual), which allow the calculation of the dynamic model implemented to obtain the control specifications [1]. In this paper, the calculation of a controller by sliding modes for a manipulator arm with 4 rotational degrees of freedom will be done, showing the respective results and conclusions at the end.

Adaptive Control for Solar Photovoltaic Tracking System

This paper describes the behavior of adaptive control using the MIT rule for a polar aligned single axis tracking system, it´s for increase the efficiency of solar energy capturing compared to a polar fixed system, where the response of system is analyzed by simulation in Simulink – MATLAB® software. The data input for estimate the energy in the photovoltaic panels is the radiation data, that is obtained by weather station of the CAR (regional autonomous corporation) situated in the zone of study. The objective of the integration between the photovoltaic panel and the mechanics tracking system is to keep the perpendicular sunlight during the day. The MIT adaptive control tries to reduce possible errors, such a sun position data deviations, friction and environmental changes in the conventional solar tracking. This control was designed according to a typical polar aligned single axis tracker.

Process Design for Autonomous Car Mining 1st Prototype “ACM1PT” to Help on Exploration Task on Outdoor Environments

The follow paper explains the process design of the development of a mobile robotic vehicle which main purpose is to aid on task of exploration on the mining sector. The paper shows the whole process from the customer needs through the conceptual sketch to the definitive design. It also describes mathematical considerations for the selection of the motors for locomotion and steering. Followed by mechanical strength simulations in order to choose the right material and finally simulations of the behavior of the robotic vehicle suspension.

Ackerman Model for a Six-Wheeled Robot (ACM1PT)

The article is aimed at presenting the development of a kinematic model for the control of a mobile robot 6 wheel, all with both traction and rotation, the Ackerman model was chosen because the robot will move through paths designed for cars, and as it avoids slipping. Two models of simulation in MATLAB, one in continuous and one discrete space are also presented

Differential Model for a Six-Weeled Robot (ACM1PT)

The article aims to make the description of the process for obtaining a mathematician, kinematic and dynamic model of a six-wheeled robot, in order to obtain a representation that allows simulations of drivers in the following items addressed in different ways the development of differential kinematics robots mostly with castor wheel as a fulcrum.

Linear Control for Full Bridge Phase PWM Rectifier

Rectifiers are widely use in areas of industry and commerce to implement equipment which require to be powered by alternating current (AC) source, so that uncontrolled rectification requires an operational requirement study because they only properly works if the rectifier calculated boundary conditions are ideal and invariant. Therefore the implementation of control strategies should be take into account to generate the desired signal performance in the rectifier. This document shows the implementation of different control techniques on the behavior the sinusoidal current in a single-phase rectifier width modulated pulse and resistive load. Consequently, in this work the development of several control strategies are presented, for behavior analysis of signals in a rectifier with width pulse modulation and resistive load. Additionally, a comparison between the developed controllers is performed in order to get the best behavior available for this applications.

FEA of Bioabsorbable Material to Repair Hand Fractures

Polylactic acid (PLA) is a bioabsorbable polymer that is used in a variety of medical conditions. Complex forms of this material are commonly made for fixation and reconstruction of bone fractures. These bioabsorbable implants have been gaining popularity as an alternative to metal implants to stabilize small fractures due to its metal counterpart, avoiding problems such as bone resorption, additional surgery after fixation, infection and possible new fractures. In this paper are shows a number of finite element analysis that aims to determine the functionality of the plates and screws fixation with bioabsorbable material made from PDLLA copolymers 50/50 and 85/15 PLLA-PGA respectively, for fixing and rebuilding of bone fractures in hand.

Grasping Optimization in a Three Fingers Final Effector

This paper presents the optimization of gripping points of an end effector of three fingers, and this is done by ensuring that the force exerted on the object is minimum. It begins with the design of the gripper has two degrees of freedom (DOF) for each finger. Is performed a brief mathematical description of the kinematics involved in the gripper and with this is determined the work area. With the workspace is determines the points with contact with the object geometry are obtained and these are gripping the possible points of the object. To select which of these points is the best to grab the object, we proceed to evaluate the force exerted on the object by means of the mathematic denominated of Screw. This force should be minimal, avoiding sliding and in turn damage the object. As the contact points are numerous and the evaluating would take quite some time in an algorithm combinational by this reason the optimization algorithm Non-dominated Sorting Genetic Algorithm (NSGA) is implemented.