Resolución en tiempo real del problema cinemático directo del robot paralelo 3PRS mediante redes neuronales RBF

Castellano: En este trabajo se presenta una solución en tiempo real al Problema Cinemático Directo(DKP) del robot paralelo 3-PRS haciendo uso de una Red Neuronal Artificial (RNA). Este problema consiste en determinar la posición del efector en función de los actuadores del robot. Esto implica resolver un sistema de ecuaciones no lineales sin solución analítica. Generalmente, se hace uso de métodos numéricos que obtienen un gran grado de precisión pero que implican un coste comunicacional muy alto. En este trabajo se hará uso de las redes neuronales de Función de Base Radial (RBF) para resolver el DKP disminuyendo el tiempo de ejecución y reduciendo el coste computacional.English: The work here proposed present a real-time solution for the Forward Kinematics Problem (FKP) of the parallel robot 3-PRS using an Artificial Neural Network (ANN). The problem of determining the position of the effector depending on the position of the robot actuators implies the resolution of a non linear equation system without an analytic solution. Generally, is solved using numerical methods which obtain high precision but at high computational cost. For this purpose Radial Based Functions (RBF) neural networks will be used in order to solve the FKP reducing the computational time an therefore the computational cost.Euskera: Gradu amaierako lan honetan 3-PRS errobotaren problema zinematiko zuzenari (DKP), denbora errealean irtenbide bat bilatzen diogu, neurona-sare artifizialaren (ANN) bitartez. Arazo honen mamia errobotaren eragingailuarekin eralazio zuzena duen efektorearen posizioa zehaztean datza. Honetarako erantzun analitikorik gabeko ekuazio ez-lineal sistema bat ebatzi behar da. Normalean zenbaki metodo batzuk erabiltzen dira horretarako, zehazpen altuko erantzunak lortuz, baina gastu konputazional oso altu baten truke. Lan honetan oinarri erradialeko funtzioen neuronal-sareak erabiliko dira errobotaren arazo zinematiko zuzena ebazteko, exekuzio denbora eta kostu konputazionala murriztuz

Resolución en tiempo real del problema cinemático directo del robot paralelo 3PRS mediante redes neuronales RBF

Castellano: En este trabajo se presenta una solución en tiempo real al Problema Cinemático Directo(DKP) del robot paralelo 3-PRS haciendo uso de una Red Neuronal Artificial (RNA). Este problema consiste en determinar la posición del efector en función de los actuadores del robot. Esto implica resolver un sistema de ecuaciones no lineales sin solución analítica. Generalmente, se hace uso de métodos numéricos que obtienen un gran grado de precisión pero que implican un coste comunicacional muy alto. En este trabajo se hará uso de las redes neuronales de Función de Base Radial (RBF) para resolver el DKP disminuyendo el tiempo de ejecución y reduciendo el coste computacional.English: The work here proposed present a real-time solution for the Forward Kinematics Problem (FKP) of the parallel robot 3-PRS using an Artificial Neural Network (ANN). The problem of determining the position of the effector depending on the position of the robot actuators implies the resolution of a non linear equation system without an analytic solution. Generally, is solved using numerical methods which obtain high precision but at high computational cost. For this purpose Radial Based Functions (RBF) neural networks will be used in order to solve the FKP reducing the computational time an therefore the computational cost.Euskera: Gradu amaierako lan honetan 3-PRS errobotaren problema zinematiko zuzenari (DKP), denbora errealean irtenbide bat bilatzen diogu, neurona-sare artifizialaren (ANN) bitartez. Arazo honen mamia errobotaren eragingailuarekin eralazio zuzena duen efektorearen posizioa zehaztean datza. Honetarako erantzun analitikorik gabeko ekuazio ez-lineal sistema bat ebatzi behar da. Normalean zenbaki metodo batzuk erabiltzen dira horretarako, zehazpen altuko erantzunak lortuz, baina gastu konputazional oso altu baten truke. Lan honetan oinarri erradialeko funtzioen neuronal-sareak erabiliko dira errobotaren arazo zinematiko zuzena ebazteko, exekuzio denbora eta kostu konputazionala murriztuz

Smart Robotic Exoskeleton: Constructing Using 3D Printer Technique for Ankle-Foot Rehabilitation

Patients with spinal cord injury (SCI), stroke, and coronavirus patients must undergo a rehabilitation process involving programmed exercises to regain their ability to perform activities of daily living (ADL). This study focuses on the rehabilitation of the foot-ankle joint to restore ADL through the design and implementation of a rehabilitation exoskeleton with three degrees of freedom (abduction/adduction, inversion/eversion, and plantarflexion/dorsiflexion movements). increase the patients cause worker fatigue, emotional exhaustion, a lack of motivation, and feelings of frustration, all contributing to a decrease in work efficacy and productivity. The robotic exoskeleton was developed to overcome this limitation and support the medical rehabilitation section.   The main goal of this study is to develop a portable exoskeleton that is comfortable, lightweight, and has a range of motion (ROM) compatible with human anatomy to ensure that movements outside of this range are minimized, the anthropometric parameters of a typical human lower foot have been considered. In addition, it's a home-based rehabilitation device which means the exoskeleton can be used in any environment due to its lightweight and small size to accelerate the rehabilitation process and increase patient comfort.  The proposed autonomous exoskeleton structure is designed in Solid Works and constructed with polylactic acid (PLA) plastic, the reason PLA was chosen is its lightweight, available, stiff material, and low cost, using 3D printing technology the exoskeleton was manufacturing. Electromyography (EMG) and angle data were extracted using EMG MyoWare and gyroscope sensors, respectively, to control the exoskeleton. It was evaluated on its own then with 2 normal subjects and 17 patients with stroke, spinal cord injury (SCI), and coronavirus. The limitation that has been faced was that the sessions were limited due to the limited time provided for the study. According to the improvement rate, the exoskeleton has a significant impact on regaining muscle activity and improving the range of motion of foot-ankle joints for the three types of patients. The rate of improvement was 300%, 94%, and 133.3% for coronavirus, SCI, and stoke respectively. These results demonstrate that this exoskeleton can be utilized for physiotherapy exercises

Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

[Resumen] Este artículo presenta el primer robot manipulador aéreo con dos brazos antropomórficos diseñado para aplicarse en tareas de inspección y mantenimiento en entornos industriales de difícil acceso para operarios humanos. El robot consiste en una plataforma aérea multirrotor equipada con dos brazos antropomórficos ultraligeros, así como el sistema de control integrado de la plataforma y los brazos. Una de las principales características del manipulador es la flexibilidad mecánica proporcionada en todas las articulaciones, lo que aumenta la seguridad en las interacciones físicas con el entorno y la protección del propio robot. Para ello se ha introducido un compacto y simple mecanismo de transmisión por muelle entre el eje del servo y el enlace de salida. La estructura en aluminio de los brazos ha sido cuidadosamente diseñada de forma que los actuadores estén aislados frente a cargas radiales y axiales que los puedan dañar. El manipulador desarrollado ha sido validado a través de experimentos en base fija y en pruebas de vuelo en exteriores.Ministerio de Economía y Competitividad; DPI2014-5983-C2-1-

University catalog, 2018-19

Welcome to the University of Missouri 2018-2019 catalog! We are pleased to provide an interactive and searchable catalog online. The catalog is a comprehensive reference for your academic studies. It includes a list of all degree programs offered at MU, including bachelors, masters, specialists, doctorates, minors, certificates, and emphasis areas. It details the university wide requirements, the curricular requirements for each program, and in some cases provides a sample plan of study. The catalog includes a complete listing and description of approved courses. It also provides information on academic policies, contact information for supporting offices, and a complete listing of faculty members. Information in the catalog is current as of May 2018.--Page 17