Oscar Arteaga

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.

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.

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.

Characteristics of Magnetorheological Fluids Applied to Prosthesis for Lower Limbs with Active Damping

The presence of people with amputations makes imminent the necessity of devices that replace the limb in both the aesthetic and functional, for which we propose the design and control of a robotic prosthesis with active damping using Magnetoreological Fluids (MRF) that are a new type of intelligent materials that have been characterized obtaining a shear yield stress of 41,65 kPa applying a controlled magnetic field of 0,8 T with a temperature of 20 °C, in order to have the active damping in the prosthesis will be necessary the use of a Magnetoreological (MR) damper which underwent to a dynamic damping behavior test reflecting 250 N as the maximum damping force. Control with Magnetorheological technology allows to have an instantaneous response in function of the signals obtained from the sensors, so that the patients could have a natural gait.

Mobile Robotic Table with Artificial Intelligence Applied to the Separate and Classified Positioning of Objects for Computer-Integrated Manufacturing

The article is about the construction of a robotic table for the separation and classification of objects for computer integrated manufacturing, consisting of a surface with gears distributed in modules with two gears each for x and y respectively, which allow the displacement of objects and their classification. The computer vision algorithms used to determine the position of the object are detailed. In addition, the Kd, Ki, Kp constants are auto tuned through a neural network to locate and track the objects transported. The design and construction features as well as the mechanical and electronic system are integrated into a mechatronic system. Finally, for the operation of the robotic table was tested with objects of different weights, the results showed the usefulness of the separation and classification system for the tracking of preset trajectories.

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.

Virtual Rehabilitation System for Fine Motor Skills Using a Functional Hand Orthosis

This article describes a virtual rehabilitation system with work and entertainment environments to treat fine motor injuries through an active orthosis. The system was developed in the Unity 3D graphic engine, which allows the patient greater immersion in the rehabilitation process through proposed activities; to identify the movement performed, the Myo armband is used, a device capable of receiving and sending the signals obtained to a mathematical algorithm which will classify these signals and activate the physical hand orthosis completing the desired movement. The benefits of the system is the optimization of resources, infrastructure and personnel, since the therapy will be assisted by the same virtual environment, in addition it allows selecting the virtual environment and the activity to be carried out according to the disability present in the patient. The results show the correct functioning of the system performed.

Teaching-Learning Process through VR Applied to Automotive Engineering

This article proposes the implementation of a virtual tool applied to the field of Automotive Engineering, with the aim of strengthening the processes of teaching-learning, so that the student can achieve meaningful learning. The system consists of the implementation of a virtual automotive laboratory, in which you can take guided classes, specific practices and evaluations in the automotive field, allowing greater immersion and interaction during the teaching-learning process in order to optimize resources, materials, infrastructure, time, among other benefits. The system allows to select the working environment and the level of difficulty during the teaching-learning process. At the end of the article we present the results of a usability test of the proposed tool, applied to teachers and students, in order to feed back the application.