4to. Congreso Internacional de Ciencia, Tecnología e Innovación para la Sociedad. Memoria académica

Este volumen acoge la memoria académica de la Cuarta edición del Congreso Internacional de Ciencia, Tecnología e Innovación para la Sociedad, CITIS 2017, desarrollado entre el 29 de noviembre y el 1 de diciembre de 2017 y organizado por la Universidad Politécnica Salesiana (UPS) en su sede de Guayaquil. El Congreso ofreció un espacio para la presentación, difusión e intercambio de importantes investigaciones nacionales e internacionales ante la comunidad universitaria que se dio cita en el encuentro. El uso de herramientas tecnológicas para la gestión de los trabajos de investigación como la plataforma Open Conference Systems y la web de presentación del Congreso http://citis.blog.ups.edu.ec/, hicieron de CITIS 2017 un verdadero referente entre los congresos que se desarrollaron en el país. La preocupación de nuestra Universidad, de presentar espacios que ayuden a generar nuevos y mejores cambios en la dimensión humana y social de nuestro entorno, hace que se persiga en cada edición del evento la presentación de trabajos con calidad creciente en cuanto a su producción científica. Quienes estuvimos al frente de la organización, dejamos plasmado en estas memorias académicas el intenso y prolífico trabajo de los días de realización del Congreso Internacional de Ciencia, Tecnología e Innovación para la Sociedad al alcance de todos y todas

Mapping for stable bilateral teleoperation of manipulators considering time delays

Teleoperation of manipulators has allowed extending the human skills to several areas, where the commands generated by a human operator on the leader robot are followed by a remote robot. For this purpose, position-position tracking requires a mapping given the mismatch between robot workspaces. This paper compares a pair of functions for mapping the haptic device commands to handle a remote robot, considering non-identical workspaces and a classic P+d control scheme. As part of the theoretical analysis, a Lyapunov-Krasovskii-based stability analysis is developed in steps, allowing us for determining the boundedness of velocities and coordination errors. Subsequently, the performance of the teleoperation system is compared using two mapping functions. To achieve a fair comparison of results, a test protocol is developed, where different levels of haptic device damping, time delays, and workspace scales are used to evaluate the time to complete the task and the average coordination errors. Based on the results, the mapping function influences the calculation of force feedback, stability of the system, and performance metrics. During a pick-and-place task, a reduction in coordination error is observed when the linear function is chosen, while the time to complete the task is lower when a non-linear function is considered.</p

Evaluation of Path Planning with Force Feedback for Bilateral Teleoperation of Unmanned Rotorcraft Systems

The intervention of a human operator in tasks performed by aerial robots is relevant when the objectives require decisions that an online controller could not take adequately. In this regard, several path planning methods with haptic feedback have been proposed as teleoperation support, and their results have been outstanding in keeping the vehicle collision-free. However, from the teleoperator’s point of view, objective and subjective measurements are relevant to determine the influence that algorithms and data feedback project on the human immersed in the control of the vehicle. This work considers three types of strategies that involve visual feedback support, force feedback, and a three-dimensional path planning algorithm for bilateral teleoperation of aerial vehicles. All strategies are evaluated considering aspects such as success rate of executions, time required to complete the task, average velocity coordination error, kinetic energy of the haptic device, situation of awareness, and mental load. The results obtained show relevant differences between strategies, summarised in a table showing the advantages and drawbacks of one versus the other.Fil: Chicaiza Claudio, Fernando Alfonso. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Salinas, Lucio Rafael. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. University of Bristol; Reino UnidoFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Visual feedback framework for rehabilitation of stroke patients

The article describes an alternative for the rehabilitation of upper and lower limbs using visual feedback to treat the sequelae of stroke. The Framework contains three-dimensional scenarios which require patient immersion in an intuitive exercise routine supervised by the attending therapist, who further corroborates visually the progress of the recovery. This work is also supported by a DTW algorithm. The algorithm is based on the collection of data through tracking sensors and the identification of the exercise patterns performed by the patient. The delivering of a satisfactory response in case the exercise is completed correctly will support the evaluation of the therapist in the advance of the therapy. The experimental results show the execution of the exercises proposed with different users in order to validate the usability of the framework. Keywords: Stroke rehabilitation, Kinect v2, DTW algorithm, Unity, Matla

Design and Analysis of an Input–Output Linearization-Based Trajectory Tracking Controller for Skid-Steering Mobile Robots

This manuscript presents a control law based on the kinematic control concept and the input–output linearization approach. More specifically, the given approach has the structure of a two-loop controller. A rigorous closed-loop system analysis is presented by using known theory on perturbed systems. By assuming that the desired velocity in the body frame is persistently exciting, the uniform bound of the tracking error in earth coordinates is ensured. A simulation study using practical mobile robot parameters shows the viability of the introduced approach. In addition, two known trajectory tracking controllers are simulated in order to compare the performance of the proposed technique. Better tracking accuracy is obtained with the proposed control approach, even if uncertainties in the knowledge of the friction coefficients are presented

Virtual environment application that complements the treatment of dyslexia (VEATD) in children

The educational disorders that children present at an early age can cause them to not fully develop throughout their lives. In this research work a 3D virtual system that allows the child who has been diagnosed with dyslexia to complement the exercises performed in a conventional therapy is described. To achieve this an application was developed, the app consists of two games (each with three levels of difficulty), and that are part of the rehabilitation program. In each of these games virtual objects are combined with auditory messages to provide the user with an immersive experience, and to train more than one sense at a time. In the first game task, the activity asks the children to correctly locate the syllables that compose a word and for the second activity the children will listen to a word, after the games asks the children to select the correct word. This tool has been tested by a group of children (eight), with ages ranging from 8 to 12 years old, whose development can be supervised at home by their parents, since it is an intuitive and easy to use interface. The results obtained are stored in a database and in this way the medical specialist can monitor the progress of the child throughout his treatment. For the validation of this proposal the SUS usability test was used. © Springer Nature Switzerland AG 2020