Examinando por Materia "ROBÓTICA"
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Ítem Una arquitectura para el diseño conceptual de vehículos para exploración subacuática(Universidad EAFIT, 2014-06-11) Vásquez, Rafael E.; Correa, Julio C.; Ramírez-Macías, Juan A.; Taborda, Elkin A.; Zuluaga, Carlos A.; Posada, Norha L.; Londoño, Jorge M.; ECOPETROL, COLCIENCIAS; Universidad Pontificia Bolivariana, sede Medellín; Universidad Nacional de Colombia, sede MedellínPublicación Casos de estudio de realidad virtual y realidad aumentada en educación(Universidad EAFIT, 2013) Herrera Jaramillo, Juan Fernando; Trefftz Gómez, HemuthPublicación Competencias mínimas en pensamiento computacional que debe tener un estudiante aspirante a la media técnica para mejorar su desempeño en la media técnica de las instituciones educativas de la Alianza Futuro Digital Medellín(Universidad EAFIT, 2014) Giraldo Gómez, Leidy Yoana; Lalinde Pulido, Juan GuillermoPublicación Control adapatable inteligente para exoesqueleto de rehabilitación(Universidad EAFIT, 2023) Ortiz Toro, Yarlin Andrea; Quintero Montoya, Olga Lucía; MinCienciasPublicación Desarrollo de un sistema basado en una interfaz cerebro computador para controlar dispositivos mecatrónicos de uso médico orientados a pacientes con discapacidad severa(Universidad EAFIT, 2013) Jiménez Franco, Luis David; Velásquez López, AlejandroPublicación Feasibility of using Monocular Visual SLAM with ROS for robot navigation in warehousesFeasibility of using Monocular Visual SLAM with ROS for robot navigation in warehouses(Universidad EAFIT, 2023) Parada Cuadros, Oswaldo José; Castaño Cano, Davinson; Castaño Cano, DavinsonIn recent years, the use of robots in industrial facilities has become widespread. Particularly, the logistics and inventory management industry has benefited from technological advances, however, the high costs of these technologies prevent many companies from adopting this degree of automation. In this research, we propose the feasibility of using monocular Visual SLAM as an alternative to reduce costs in the localization hardware used for robot navigation in warehouses. For that, we study open source implementations, especially those based on ORB-SLAM2, ROS and Ubuntu. Then, we propose a testing environment compose by a Turtle Bot 2 robot and a location that ensembles some of the characteristics of warehouses. Our analysis shows that it is possible to use monocular Visual SLAM in warehouses, however, we mention some elements in the software and hardware that should be fixed or improved in current implementations in order to robustly and safely operate robots in an indoor storage environment.Publicación Geometry and topology extraction and visualization from scalar and vector fields(Universidad EAFIT, 2013) Congote Calle, John Edgar; Ruíz Salguero, Óscar Eduardo; Posada, Jorge LeónÍtem Inverse kinematics for upper limb compound movement estimation in exoskeleton-assisted rehabilitation(Hindawi Publishing Corp., 2016-05-16) Cortés, Camilo; De los Reyes-Guzmán, Ana; Scorza, Davide; Bertelsen, Álvaro; Carrasco, Eduardo; Gil-Agudo, Ángel; Ruíz-Salguero, Óscar; Flórez, Julián; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAERobot-Assisted Rehabilitation (RAR) is relevant for treating patients affected by nervous system injuries (e.g., stroke and spinal cord injury) -- The accurate estimation of the joint angles of the patient limbs in RAR is critical to assess the patient improvement -- The economical prevalent method to estimate the patient posture in Exoskeleton-based RAR is to approximate the limb joint angles with the ones of the Exoskeleton -- This approximation is rough since their kinematic structures differ -- Motion capture systems (MOCAPs) can improve the estimations, at the expenses of a considerable overload of the therapy setup -- Alternatively, the Extended Inverse Kinematics Posture Estimation (EIKPE) computational method models the limb and Exoskeleton as differing parallel kinematic chains -- EIKPE has been tested with single DOFmovements of the wrist and elbow joints -- This paper presents the assessment of EIKPEwith elbow-shoulder compoundmovements (i.e., object prehension) -- Ground-truth for estimation assessment is obtained from an optical MOCAP (not intended for the treatment stage) -- The assessment shows EIKPE rendering a good numerical approximation of the actual posture during the compoundmovement execution, especially for the shoulder joint angles -- This work opens the horizon for clinical studies with patient groups, Exoskeleton models, and movements types --Ítem Kinematic identification of parallel mechanisms by a divide and conquer strategy(2010) Durango, Sebastián; Restrepo, David; Ruíz, Óscar; Restrepo-Giraldo, John; Achiche, Sofiane; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAEThis paper presents a Divide and Conquer strategy to estimate the kinematic parameters of parallel symmetrical mechanisms -- The Divide and Conquer kinematic identification is designed and performed independently for each leg of the mechanism -- The estimation of the kinematic parameters is performed using the inverse calibration method -- The identification poses are selected optimizing the observability of the kinematic parameters from a Jacobian identification matrix -- With respect to traditional identification methods the main advantages of the proposed Divide and Conquer kinematic identification strategy are: (i) reduction of the kinematic identification computational costs, (ii) improvement of the numerical efficiency of the kinematic identification algorithm and, (iii) improvement of the kinematic identification results -- The contributions of the paper are: (i) The formalization of the inverse calibration method as the Divide and Conquer strategy for the kinematic identification of parallel symmetrical mechanisms and, (ii) a new kinematic identification protocol based on the Divide and Conquer strategy -- As an application of the proposed kinematic identification protocol the identification of a planar 5R symmetrical mechanism is simulated -- The performance of the calibrated mechanism is evaluated by updating the kinematic model with the estimated parameters and developing simulationsPublicación La robótica como una herramienta para facilitar el aprendizaje y desarrollo de las competencias STEM en los integrantes del equipo de robótica Pólux de la Institución Educativa Juan Nepomuceno Cadavid (Itagüí-Antioquia)(Universidad EAFIT, 2017) Rivadeneira Ojeda, Paula Andrea; Lalinde Pulido, Juan GuillermoLack of practical applications from secondary level contents in Colombian education causes research for an alternative teaching tool such as educational robotics, motivating students to get a meaningful learning of STEM (Science, Technology, Engineering and Math) concepts -- The present work aims to develop STEM competences (Computational Thinking, Collaboration and Computational Programming Practice) besides improving academic performance for a group of students belonging to the Robotics Group Polux on the IE Juan Nepomuceno Cadavid using 3 didactical units (Learning with LEGO MindStorms, Learning with Starlogo and Learning with Transmedia), the results were positive in Computational Programming Practice -- The interest of students for subjects that generate economic development occurs due to the creation of new learning environments and teaching methods as educational robotics -- Robotics generates a logical and mathematical thinking based on collaborative workÍtem Medición de distancias por medio de visión robótica(Universidad EAFIT, 2008) Peláez Uribe, Juan Sebastián; Díaz Torres, Adalberto GabrielÍtem Optimización de manipulabilidad y consumo eléctrico mediante el Algoritmo heurístico de Kalman en manipuladores seriales(Universidad EAFIT, 2014-05-20) Ramírez Henao, Juan Camilo; Duque Muñoz, LeonardoÍtem Reconversión del sistema de control de un robot tipo Scara(Universidad EAFIT, 2008) Flórez Escobar, Jaime Andrés; Mark Bailey, Andrew; Ruíz Gil, AlejandroÍtem Robotic research platform for image-guided surgery assistance(ACTA Press, 2013-02) Cortes, Camilo A.; Barandiaran, Iñigo; Ruíz, Óscar E.; De Mauro, Alessandro; Universidad EAFIT. Departamento de Ingeniería Mecánica; Laboratorio CAD/CAM/CAEIn the context of surgery, it is very common to face challenging scenarios during the preoperative plan implementation -- The surgical technique’s complexity, the human anatomical variability and the occurrence of unexpected situations generate issues for the intervention’s goals achievement -- To support the surgeon, robotic systems are being integrated to the operating room -- However, current commercial solutions are specialized for a particular technique or medical application, being difficult to integrate with other systems -- Thus, versatile and modular systems are needed to conduct several procedures and to help solving the problems that surgeons face -- This article aims to describe the implementation of a robotic research platform prototype that allows novel applications in the field of imageguided surgery -- In particular, this research is focused on the topics of medical image acquisition during surgery, patient registration and surgical/medical equipment operation -- In this paper, we address the implementation of the general purpose teleoperation and path following modes of the platform, which constitute the base of future developments -- Also, we discuss relevant aspects of the system, as well as future directions and application fields to investigatePublicación SimSLAM 2D : howards benchmarking of planar-viewVisual-SLAM Methods(Universidad EAFIT, 2020) Castaño Cano, Davinson; Rodríguez Vásquez, Juan Felipe; Castaño Cano, Davinson; Proyecto internoPublicación Slam y Groundtruth usando marcadores(Universidad EAFIT, 2024) Escobar Acevedo, Julián; Castaño Cano, Davinson; Universidad EAFITThe present thesis project focuses on the comparison of a visual SLAM method based on ArUco markers, using these markers for both the generation of the ground truth and the execution of SLAM. The research is carried out in the environment of EAFIT University. A marker is placed on top of the robot and a panoramic camera covering the entire area where the robot is located is used for the ground truth method. For the SLAM method, a camera located on the robot is used. During the experiments, markers are distributed around the perimeter of the study site. The camera integrated into the robot allows the detection of the perimeter markers. Initially, a map of the area is created using the ROS working environment, which is compared with real measurements for validation. Subsequently, the location of the robot is determined using both methods mentioned. The obtained data are compared to analyze the variance, as well as the mean squared error (MSE), root mean squared error (RMSE), and mean absolute error (MAE). Finally, conclusions are drawn about the effectiveness of implementing this visual SLAM method either as ground truth or on the robot itself. This study contributes to the advancement in understanding and applying simultaneous localization and mapping techniques in robotic environments using ArUco markers.Ítem Trajectory generation from motion capture for a planar biped robot in swing phase(Universidad EAFIT, 2015-08-03) Bravo, Diego A.; Rengifo R., Carlos F.; Universidad del Cauca; Universidad del Cauca