Oscar F.S. Avilés

Dynamic traffic light controller using machine vision and optimization algorithms

This paper presents a fuzzy traffic controller that in an autonomous, centralized and optimal way, manages traffic flow in a group of intersections. The system obtains information from a network of cameras and through machine vision algorithms can detect the number of vehicles in each of the roads. Using this information, the fuzzy system selects the sequence of phases that optimize traffic flow globally. To evaluate the performance of the controller, a scenario was developed where it was possible to simulate through artificially created videos two adjacent intersections. System performance was compared versus fixed time controllers as they are currently the most used in the city of Bogota. As a control variable it was used the average waiting time of each vehicle. The results show that the system performance increases by about 20% over situations with heavy traffic conditions and that the controller is able to adapt smoothly to different flow changes.

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.

Electronic Architecture for a Mobile Manipulator

A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.

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.

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.

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.

Mechanism for Anthropomorphic Finger

The research project started with the need to found a viable solution to replace the upper extremities with artificial extremities, which have been affected by explosives such as land mines. For that purpose, it was essential the appliance of the design in the field of medicine for the construction of the anthropomorphic prosthesis. In order to do so, the concepts of biomechanics of the hand, as well as the types of handgrip were explored. According to the above, the concept of bar analysis was addressed, identifying the mechanism of WATT type II and applying the design for the transmission of the movement in the proximal and medial phalanges of the middle, index and thumb fingers. Nevertheless, for the movement of the distal phalange, a mechanism of four simple bars was used, anchored to one of the pieces of the medial phalange.