5 research outputs found
Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project
This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framework
Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project
Los resúmenes se publicarán e imprimirán en la revista Instrumentation Viewpoint: ISSN: 1886-4864 y se incluirán en los materiales de la conferencia. Los artículos completos se publicarán electrónicamente como actas de la conferencia.This paper presents an overview of coordinated project MISSION-SICUVA, and the results achieved at its recent completion. A prototype of UUV has been built with an orientation to oceanographic research and test of new control algorithms. It consist of an underwater vehicle towing a surface buoy, with applications such as monitoring water quality, high resolution bathymetry of the seabed and its map projection. New biological inspired navigation algorithms have been implemented using a comprehensive component based development framewo
Comprehensive framework for the development of control and navigation systems of autonomous underwater vehicles: the mission-sicuva project
This paper presents an overview of coordinated project MISSION-SICUVA,
and the results achieved at its recent completion. A prototype of UUV has been built
with an orientation to oceanographic research and test of new control algorithms.
It consist of an underwater vehicle towing a surface buoy, with applications such
as monitoring water quality, high resolution bathymetry of the seabed and its map
projection. New biological inspired navigation algorithms have been implemented
using a comprehensive component based development framework.Peer Reviewe
Manos Robóticas Antropomórficas: una revisión
This paper presents a review on main topic regarding to anthropomorphic robotic hands developed in the last years, taking into account the more important mechatronics designs submit on the literature, and making a comparison between them. The next chapters deepen on level of anthropomorphism and dexterity in advanced actuated hands and upper limbs prostheses, as well as a brief overview on issues such as grasping, transmission mechanisms, sensory and actuator system, and also a short introduction on under-actuated robotic hands is reported.Este artículo presenta una revisión de los principales desarrollos que se han hecho en los últimos años en manos robóticas antropomórficas. Las primeras secciones tratan temas como el grado de antropomorfismo y de destreza en las manos robóticas más avanzadas, incluyendo una comparación entre ellas. También se abordan temas como la capacidad de agarre de los efectores finales, los mecanismos de trasmisión, el sistema actuador y sensórico, así como una breve introducción al tema de manos robóticas sub-actuadas. Dirección de correspondencia: Carrera 11 # 101-80, Bogotá (Colombia)
Fall prevention strategy for an active orthotic system
Dissertação de mestrado integrado em Engenharia Biomédica (especialização em Eletrónica Médica)Todos os anos, são reportadas cerca de 684,000 quedas fatais e 37.3 milhões de quedas não
fatais que requerem atenção médica, afetando principalmente a população idosa. Assim, é necessário
identificar eficientemente indivíduos com alto risco de queda, a partir da população alvo idosa, e prepará los para superar perturbações da marcha inesperadas. Uma estratégia de prevenção de queda capaz de
eficientemente e atempadamente detetar e contrariar os eventos de perdas de equilíbrio (PDE) mais
frequentes pode reduzir o risco de queda. Como slips foram identificados como a causa mais prevalente
de quedas, estes eventos devem ser abordados como foco principal da estratégia. No entanto, há falta
de estratégias de prevenção de quedas por slip.
Esta dissertação tem como objetivo o design de uma estratégia de prevenção de quedas de slips
baseada na conceção das etapas de atuação e deteção. A estratégia de atuação foi delineada com base
na resposta biomecânica humana a slips, onde o joelho da perna perturbada (leading) apresenta um
papel proeminente para contrariar LOBs induzidas por slips. Quando uma slip é detetada, a estratégia
destaca uma ortótese de joelho que providencia um torque assisstivo para prevenir a queda. A estratégia
de deteção considerou as propriedades atrativas dos controladores Central Pattern Generator (CPG) para
prever parâmetros da marcha. Algoritmos baseados em threshold monitorizam o erro de previsão do
CPG, que aumenta após uma perturbação inesperada na marcha, para a deteção de slips. O ângulo do
joelho e a velocidade angular da canela foram selecionados como os parâmetros de monitorização da
marcha. Um protocolo experimental concebido para provocar perturbações de slip a sujeitos humanos
permitiu a recolha de dados destas variáveis para posteriormente validar o algoritmo de deteção de
perturbações.
Algoritmos CPG foram capazes de produzir aproximações aceitáveis dos sinais de marcha em
estado estacionário do ângulo do joelho e da velocidade angular da canela com sucesso. Além disso, o
algoritmo de threshold adaptativo detetou LOBs induzidas por slips eficientemente. A melhor performance
global foi obtida usando este algoritmo para monitorizar o ângulo do joelho, que detetou quase 80%
(78.261%) do total de perturbações com um tempo médio de deteção (TMD) de 250 ms. Além disso,
uma média de 0.652 falsas perturbações foram detetadas por cada perturbação corretamente
identificada. Estes resultados sugerem uma performance aceitável de deteção de perturbações do
algoritmo, de acordo com os requisitos especificados para a deteção.Every year, an estimated 684,000 fatal falls and 37.3 million non-fatal falls requiring medical
attention are reported, mostly affecting the older population. Thus, it is necessary to effectively screen
high fall risk individuals from targeted elderly populations and prepare them to successfully overcome
unexpected gait perturbations. A fall prevention strategy capable of effectively and timely detect and
counteract the most frequent loss of balance (LOB) events may reduce the fall risk. Since slips were
identified as the main contributors to falls, these events should be addressed as a main focus of the
strategy. Nonetheless, there is a lack of slip-induced fall prevention strategies.
This dissertation aims the design of a slip-related fall prevention strategy based on the conception
of an actuation and a detection stage. The actuation strategy was delineated based on the human
biomechanical reactions to slips, where the perturbed (leading) leg’s knee joint presents a prominent role
to counteract slip-induced LOBs. Thereby, upon the detection of a slip, this strategy highlighted a knee
orthotic device that provides an assistive torque to prevent the falls. The detection strategy considered
the attractive properties of biological-inspired Central Pattern Generator (CPG) controllers to predict gait
parameters. Threshold-based algorithms monitored the CPG’s prediction error produced, which increases
upon an unexpected gait perturbation, to perform slip detection. The knee angle and shank angular
velocity were selected as the monitoring gait parameters. An experimental protocol designed to provoke
slip perturbations to human subjects allowed to collect data from these variables to further validate the
perturbation detection algorithm.
CPG algorithms were able to successfully produce acceptable estimations of the knee angle and
shank angular velocity signals during steady-state walking. Furthermore, an adaptive threshold algorithm
effectively detected slip-induced LOBs. The best overall performance was obtained using this algorithm
to monitor the knee angle from the perturbed leg, which detected almost 80% (78.261%) of the total
perturbations with a mean detection time (MDT) of 250 ms. In addition, a mean of 0.652 false
perturbations were detected for each correct perturbation identified. These results suggest an acceptable
perturbation detection performance of the algorithm implemented in light of the detection requirements
specified