Design, Simulation, and Control of a Hexapod Robot in Simscape Multibody

In this chapter, we present the design, simulation, and control of a hexapod robot using tools available in MATLAB software. In addition, we design and implement a dynamic model (using the Simscape Multibody™ toolbox) as well as a three-dimensional model of the robot, using Virtual Reality Modeling Language (VRML), that help to visualize the robot’s walking sequence. This three-dimensional model is interconnected with the Simscape Multibody™ blocks using MATLAB’s virtual reality blocks. Apart from this, and following specific requirements, we design and implement a Proportional–Integral–Derivative controller in order to obtain a pre-established displacement for the robot that, thanks to the developed computer simulations, proved to be satisfactory. Special emphasis is put in obtaining a modular representation of the dynamic model of the studied robot because it will permit to design more sophisticated nonlinear controllers in future works, allowing a good dynamic behavior of the robot in front of environmental perturbations, an issue that will become evident through computer simulations of its displacement

Virtual Instrument for the Analysis of Vibrations in Rotary Machines

In this chapter, the implementation of a “Virtual Instrument” developed in MATLAB/Simulink® that allows the analysis of the measurement of mechanical vibrations in rotating machines is presented. To accomplish this, we identified the main rotating machines used in industry, the parameters that can be relevant when an analysis of vibration is made, the typical vibration frequency spectra of certain electrical and mechanical failures, the most common regulations employed by the industry with respect to vibration levels in rotating machinery, the tools that are used for vibration analysis, and tools for developing MATLAB software that includes features for storing and managing data from a database, also allowing an analysis and diagnosis of vibration in rotating machines

Eduardo Barrón : escultor 1858-1911 : [Casa de Cultura de Zamora, del 20 de junio al 21 de julio de 1985]

Copia digital. Valladolid : Junta de Castilla y León. Consejería de Cultura y Turismo, 2009-201

Design and Implementation of Intelligent Agent Training Systems for Virtual Vehicles

This paper presents the results of the design, simulation, and implementation of a virtual vehicle. Such a process employs the Unity videogame platform and its Machine Learning-Agents library. The virtual vehicle is implemented in Unity considering mechanisms that represent accurately the dynamics of a real automobile, such as motor torque curve, suspension system, differential, and anti-roll bar, among others. Intelligent agents are designed and implemented to drive the virtual automobile, and they are trained using imitation or reinforcement. In the former method, learning by imitation, a human expert interacts with an intelligent agent through a control interface that simulates a real vehicle; in this way, the human expert receives motion signals and has stereoscopic vision, among other capabilities. In learning by reinforcement, a reward function that stimulates the intelligent agent to exert a soft control over the virtual automobile is designed. In the training stage, the intelligent agents are introduced into a scenario that simulates a four-lane highway. In the test stage, instead, they are located in unknown roads created based on random spline curves. Finally, graphs of the telemetric variables are presented, which are obtained from the automobile dynamics when the vehicle is controlled by the intelligent agents and their human counterpart, both in the training and the test track

Integrating ROS and IoT in a Virtual Laboratory for Control System Engineering

This article presents the implementation of a learning environment for the teaching of control systems. This environment integrates physical equipment and simulation, monitoring, and control through a network. A software platform based on ROS (Robotic Operating System) grants access to the system through intranet and Internet, facilitating the integration of new test equipment. The environment developed can be used in didactic experiences both inside and outside the classroom, enhancing the learning of four main study topics: modeling, analysis, parameter estimation, and controller design

Proceedings of the 10th International

ABSTRACT Developing tools is presented to evaluate the experiencing of knowledge-building processes in simulation environments of manipulator robots by students in a course on Foundations of Industrial Robotics (FIR) in engineering, starting from the design and implementation of a graphic simulation setting of real robotized manipulators at the Departamento de Ingeniería Eléctrica of the Universidad de Santiago de Chile (DIE-UdeSantiago). In general, in this work inductive learning and learning through guided discovery by the students is given preference, ensuring the design and experiencing of a set of didactic situations that allow the students to build their own knowledge. That is why cognitive theories of teaching and learning are considered, requiring -by the student-greater activity of an intellectual character and sharpening their sensory characteristics. Within this context, the errors made during this learning process are seen as an important factor in the knowledge-building process, because making mistakes invites the students to become motivated and to try different solution alternatives. Therefore, some of the learning situations that should be evaluated are the following: Integration of different areas of knowledge, since robotics is a multidisciplinary science. Operations with manipulable objects, favoring going from abstract to concrete. Appropriation of graphic language as if it were mathematical language. Operation and control of different variables in a synchronic manner. Development of systemic thought. Building and testing the students' own knowledge acquisition strategies through pedagogical orientation. The settings in which the design and implementation of a graphic simulation environment of real robotized manipulators allow the students to build knowledge (innovation to be implemented) will be evaluated, are presented. These environments are related preferentially with teaching and learning processes. The specific aspects to be evaluated, which are derived from the definition of the impact dimensions or sub-dimensions are pointed out. The kinds of study, approach, design, stages, participants and procedures to be used to evaluate the impact of the innovation that will be implemented are described. The techniques and instruments for measuring the impact level of that innovation are adapted and specified. The main results that the students are expected to achieve after taking a course on FIR are described, and the conclusions of this work are given