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ATLAS 2020: The pediatric gait exoskeleton project 20th

ATLAS 2020: The pediatric gait exoskeleton project

20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017

作者： Garcia, E. Sancho, J. Sanz-Merodio, D. Prieto, M. Centre for Automation and Robotics CSIC-UPM La Poveda Madrid28500 Spain Marsi Bionics Ave Punto ES 10 Madrid28500 Spain

ISBN: (纸本)9789813231047

Spinal Muscular Atrophy (SMA) is the second most frequent rare disease in infancy. Life expectancy of these children is relatively short, caused by the deterioration of the respiratory function, which is accelerated by the occurrence of scoliosis. It is hypothesized that maintaining walking would significantly reduce or delay the onset of related complications, improving life expectancy and life quality. However, to date there is no device to help these children ambulate. This paper presents an overview of the ATLAS 2020 project for developing a gait-training wearable exoskeleton for SMA children. Such a device is expected to increase these children's quality of life, achieving a reduction of disability and increased functional independence. Clinical evaluation of the gait exoskeleton for gait training of SMA is described and lessons learnt are finally stated. © 2018 by World Scientific Publishing Co. Pte. Ltd.

关键词： Deterioration

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Design and Robust Performance Evaluation of a Fractional Order PID Controller Applied to a DC Motor

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IEEE/CAA Journal of Automatica Sinica 2017年第2期4卷 304-314页

作者： J.Viola L.Angel J.M.Sebastian Universidad Pontificia Bolivariana Universidad Politecnica de Madrid Centre for Automation and Robotics (CAR) UPM-CSIC

This paper proposes a methodology for the quantitative robustness evaluation of PID controllers employed in a DC motor. The robustness analysis is performed employing a 2~3 factorial experimental design for a fractional order proportional integral and derivative controller(FOPID), integer order proportional integral and derivative controller(IOPID)and the Skogestad internal model control controller(SIMC). The factors assumed in experiment are the presence of random noise,external disturbances in the system input and variable load. As output variables, the experimental design employs the system step response and the controller action. Practical implementation of FOPID and IOPID controllers uses the MATLAB stateflow toolbox and a NI data acquisition system. Results of the robustness analysis show that the FOPID controller has a better performance and robust stability against the experiment factors.

关键词： Factorial experimental design fractional-order PID controller robustness analysis SIMC PID controller

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Result of clinical trials with children with spinal muscular atrophy using the atlas 2020 lower-limb active orthosis 20th

Result of clinical trials with children with spinal muscular...

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20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2017

作者： Sanz-Merodio, Daniel Perez, Manuel Prieto, Manuel Sancho, Juan Garcia, Elena Marsi Bionics SL Alcala de HenaresMadrid28805 Spain Centre for Automation and Robotics CSIC-UPM Arganda del ReyMadrid28500 Spain

ISBN: (纸本)9789813231047

This paper presents the outcomes, challenges and evolution of the active pediatric orthosis ATLAS 2020 throughout the clinical tests performed in the hospital Sant Joan de Deu in Barcelona (Spain) during three months of clinical trials. The test was carried out with 7 children with spinal muscular atrophy (SMA). The test evaluated the safety and performance of the exoskeleton with both psychological and physiological measures. The test was successfully passed. All children within the inclusion criteria walked more than ten meters, comfortably and safely. During the clinical trials, both psychological and technical issues were raised. In this paper, these issues are analyzed in detail. Psychologically it is necessary to prepare the children and perform several previous tests to face the fear of using the device and show them that it is safe. From a technical point of view, it was necessary to develop algorithms for the generation of synthetic trajectories to address the patient’s joint limitations. In addition, strength control techniques were developed to guarantee good support while guaranteeing the safety comfort of these patients that are especially sensitive. In general, it is concluded that the development of an exoskeleton should be focused on a disease in both its mechanical design and its functionality. © 2018 by World Scientific Publishing Co. Pte. Ltd.

关键词： Exoskeleton (robotics)

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Visual Analytics Framework for Condition Monitoring in Cyber-Physical Systems

Visual Analytics Framework for Condition Monitoring in Cyber...

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International Conference on System Theory, Control, and Computing (ICSTCC)

作者： Alberto Villalonga Fernando Castaño Gerardo Beruvides Rodolfo Haber Stanisław Strzelczak Joanna Kossakowska Centre for Automation and Robotics Madrid Spain Centre for Automation and Robotics (UPM-CSIC) Madrid Spain Hitachi Europe GmbH Munich Germany Automotive and Industry Lab Hitachi Europe GmbH Munich Germany Warsaw University of Technology Warsaw Poland Faculty of Production Engineering Warsaw University of Technology Warsaw Poland

One of the biggest challenges facing the factory of the future today is to reduce the time-to-market access and increase through the improvement of competitiveness and efficiency. In order to achieve this target, data analytics in Industrial Cyber-Physical System becomes a feasible option. In this paper, a visual analytics framework for condition monitoring of the machine tool is presented with the aim to manage events and alarms at factory level. The framework is assessed in a particular use case that consists in a multi-threaded cloud-based solution for the global analysis of the behaviour of variables acquired from PLC, CNC and robot manipulator. A human-machine interface is also designed for the real-time visualization of the key performance indicators according to the user's criteria. This tool implemented is a great solution for condition monitoring and decision-making process based on data analytics from simple statistics to complex machine learning methods. The results achieved are part of the vision and implementation of the industrial test bed of “Industry and Society 5.0” platform.

关键词： Visual analytics Monitoring Robots Condition monitoring Industries Clouds Machine tools

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SPARKLE e-Learning platform for sustainable precision agriculture 9

SPARKLE e-Learning platform for sustainable precision agricu...

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9th International Conference on Information and Communication Technologies in Agriculture, Food and Environment, HAICTA 2020

作者： Bournaris, Thomas Mattas, Andreas Michailidis, Anastasios Andujar, Dionisio Correia, Manuela de Pascale, Valentina Díaz, Manuela Diezma, Belén Guadagni, Alessandro Karamouzi, Eugenia Karouta, Jeremy Krus, Anne Lombardo, Stefania da Silva, José Rafael Marques Panopoulos, Panagiotis Pérez-Ruiz, Manuel Ribeiro, Angela Tsolis, Dimitrios Valero, Constantino Vieri, Marco Department of Agricultural Economics Aristotle University of Thessaloniki Greece School of Economic Sciences Aristotle University of Thessaloniki Thessaloniki Greece Centre for Automation and Robotics CSIC-UPM Arganda del Rey Madrid Spain MED Mediterranean Institute for Agriculture Environment and Development University of Évora Portugal Laboratorio de Propiedades Físicas y Técnicas Avanzadas en Agroalimentación ETSIAAB Universidad Politécnica de Madrid Madrid Spain DAGRI Department of Agriculture Food Environment and Forest University of Firenze Firenze Italy Departamento de Ingeniería Aeroespacial y Mecánica de Fluidos Universidad de Sevilla Spain Valuedo SRL Firenze Italy Rezos Brands S.A. Patra Greece

European farm sector is currently at a crossroad: embracing the future or staying stuck in old practices. The future is represented by Precision Agriculture (PA), which is a new mind-set approach and a new network of different technologies. For this reason, the farmer of the future, the so-called "agripreneur 4.0", needs a mix of competencies such as agricultural, entrepreneurial, digital and environmental skills. One of the main goals of the SPARKLE project is creating a new e-Learning course for agricultural students, in order to enhance their business-oriented skills and entrepreneurial activity in a smart environment. In this paper the SPARKLE e-Learning Platform for Sustainable Precision Agriculture is presented. Copyright © 2020 for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).

关键词： Precision agriculture

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Reducing thermal energy demand in residential buildings under Spanish climatic conditions: Qualitative control strategies for massive shutter positioning

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建筑模拟（英文版） 2017年第5期10卷 643-661页

作者： Juan Pablo San Martin Maria C. Garcia-Alegre Domingo Guinea Centre for Automation and Robotics Spanish National Research Council (CARCSIC-UPM) Arganda del Rey Madrid 28500 Spain

The effects of dynamic controls on external massive shutter positioning are studied as refurbishment measure to reduce energy demand in residential buildings. This kind of shading device can not only regulate solar radiation, but it also provides additional thermal insulation that reduces heat conduction when closed. Based on their capability for controlling both processes, a comparison of different qualitative shutter positioning control strategies are proposed to minimize thermal energy demand. To this aim, a simulation model based on the constructive characteristics of an experimental building has been developed with TRNSYS. The results show that when more input variables are considered greater thermal demand reduction is achieved. However, the most relevant input variables for reducing thermal demand are solar radiation and real demand of the building. A large reduction in thermal energy demand is also displayed in the comparison between massive shutters, and non-massive blinds, increasing from 23% to 35%. Surprisingly, this improvement can be achieved using simple radiation-based control strategies, whereas the inclusion of heat conduction as control variable only improves the results by 0.2%. Therefore, there is no need to increase the complexity of the shading control of the massive shutters to take advantage of their insulation properties. The thermal energy reduction is comparable to the effect of refurbishment of an ordinary double-glazed window (U=2.46 W/(K·m2)) with high-efficiency triple-xenon glazing (U=0.59 W/(K·m2)).

关键词： shading dynamic control strategies shutters thermal resistance building refurbishment

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A training simulator for teleoperated robots deployed at CERN 15

A training simulator for teleoperated robots deployed at CER...

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15th International Conference on Informatics in Control, automation and robotics, ICINCO 2018

作者： Saliba, Clare Bugeja, Marvin K. Fabri, Simon G. Di Castro, Mario Mosca, Alessandro Ferre, Manuel Department of Systems and Control Engineering University of Malta Msida Malta Engineering Department EN-STI CERN Geneva Switzerland Centre for Automation and Robotics UPM-CSIC Universidad Politecnica de Madrid Madrid Spain

ISBN: (纸本)9789897583216

This paper presents the design and implementation of a training simulator for the teleoperated robot Telemax. Telemax is used at CERN for inspection and maintenance operations to reduce the exposure of personnel to radiation. The robot is modelled using a robot description format and spawned in the robotic simulator Gazebo. Control schemes are implemented in ROS in order to actuate the robotic arm in both joint-by-joint space and operational-space. Control of the robot base is also modelled. A graphical user interface is used in order to interface with the simulation, and control the robot with the help of live images coming from the robot’s on-board cameras. The resulting simulator was tested by robot operators at CERN and is envisaged to be of great help in the training of new operators, as well as in the testing of robot interventions in new scenarios and environments. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Virtual reality

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Cucumber detection for precision agriculture applications 21

Cucumber detection for precision agriculture applications

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robotics Transforming the Future - 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2018

作者： Fernández, Roemi Aliende, Victor Gonzalez-De-Santos, Pablo Armada, Manuel Surdilovic, Jelena Surdilovic, Dragoljub Centre for Automation and Robotics CAR CSIC-UPM Ctra.Campo Real km 0.2 La Poveda Arganda del Rey Madrid28500 Spain Leibniz-Institut für Agrartechnik und Bioökonomie e.V. ATB Max-Eyth-Alle 100 PotsdamD-14469 Germany Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK Palcalstraße 8-9 Berlin10587 Germany

ISBN: (纸本)9781916449008

The objective of this research was to explore the feasibility of detecting cucumber fruits in field conditions for autonomous robotic harvesting applications. A high resolution colour camera and a time-of-flight camera are proposed as primary sensors for the design of the sensory system. The preliminary detection algorithm includes a pixel-based classifier that labels areas of interest that belong to cucumber fruits and a registration procedure that combines the results of the aforementioned classifier with the range data provided by the time-of-flight camera. The detection algorithm is extremely simple and efficient, and provides a satisfactory discrimination of the cucumbers fruits with respect to the rest of the elements of the scene. Several experimental tests have been carried out in outdoor conditions in order to evaluate and demonstrate the capabilities of the proposed approach. © CLAWAR Association.

关键词： Cameras

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Comparative analysis of control strategies for the reduction of tracking error in CPV systems

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AIP Conference Proceedings 2023年第1期2841卷

作者： Sergio I. Palomino-Resendiz Víctor Cadix-Martín Basil Mohammed Al-Hadithi Diego A. Flores-Hernández Instituto Politécnico Nacional – ESIME-ZAC Departamento de Control y Automatización Mexico City 07738 Mexico Escuela Técnica Superior de Ingeniería y Diseño Industrial Departamento de Ingeniería Eléctrica Automática y Física Aplicada Universidad Politécnica de Madrid Madrid 28012 Spain Intelligent Control Group Universidad Politécnica de Madrid Centre for Automation and Robotics UPM-CSIC Madrid 28006 Spain Instituto Politécnico Nacional – UPIITA Applied Dynamic Systems Laboratory Mexico City 07340 Mexico

In this work, an experimental methodology is shown that allows selecting the best controller alternative to govern a two-axis solar tracking system in trajectory tracking tasks. This, based on the comparison of the performance of different controllers during the tracking of a solar trajectory (obtained offline with the help of a numerical method) using a prototype solar tracking system in a simulation environment. The selection of the controllers is based on the performance reported in the literature and commercially for other alternatives based on parameters such as: tracking error and energy consumption, computational cost, ease of implementation, ease of tuning, among others. However, for the final validation and selection of the controller, a brief analysis of the numerical results obtained during the follow-up tests is provided.

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A Review of Multidimensional Scaling Techniques for RSS-Based WSN Localization

A Review of Multidimensional Scaling Techniques for RSS-Base...

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International Conference on Indoor Positioning and Indoor Navigation (IPIN)

作者： Fernando Seco Antonio R. Jiménez Pekka Peltola Centre for Automation and Robotics (CAR) Spanish Council for Scientific Research (CSIC-UPM) Madrid Spain

Mobile nodes with sensing, computing and communicating capabilities are usually deployed in indoor environments as wireless sensor networks (WSN) for internet-of-things applications. Proper interpretation of the data acquired by these sensor networks requires an estimate of their location. Among the currently existing positioning methods for WSN, multidimensional scaling (MDS) is a computationally efficient technique based on empirical measurement or estimation of the ranges between the nodes. This communication describes and evaluates several versions of MDS localization methods, particularly applied to indoor networks based on transmission of radiofrequency signals and measurement of the received signal strengths (RSS). The positioning accuracy, resistance to measurement noise, and computation times are analyzed and commented within a common framework.

关键词： Wireless sensor networks Mobile nodes Indoor environments Matrix decomposition Minimization Symmetric matrices

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