Examinando por Materia "Robotics"
Mostrando 1 - 20 de 23
Resultados por página
Opciones de ordenación
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 MedellínÍtem Casos de estudio de realidad virtual y realidad aumentada en educación(Universidad EAFIT, 2013) Herrera Jaramillo, Juan Fernando; Trefftz Gómez, HemuthÍtem 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 GuillermoEn la actualidad se considera que todos los estudiantes al culminar la básica secundaria y continuar con su educación superior, deben desarrollar las competencias del siglo 21, permitiendo a los estudiantes colaborar, comunicarse, solucionar problemas y tener un pensamiento crítico; dentro de este tipo de habilidades se encuentra el Pensamiento Computacional -- Esta investigación busca establecer cuáles son las competencias en Pensamiento Computacional que requieren los estudiantes para ingresar a la media técnica en informática, con el fin de mejorar su desempeño, elaborando una propuesta de inclusión en el currículo de la educación básica primaria y básica secundaria, para las Instituciones Educativas de la Alianza Futuro Digital Medellín; lo anterior se apoya en la investigación descriptiva y documental, haciendo una revisión bibliográfica de diferentes currículos en Pensamiento Computacional o Ciencias de la Computación para K12, donde se establecen los componentes de Pensamiento Computacional: programación, diseño de algoritmos, análisis y solución de problemas, datos/información, abstracción, colaboración/comunicación, impactos sociales y éticos, modelado, lógica matemática, internet, creatividad, modularización, descomposición, simulación, diseño web y robótica, para luego ser comparados con las competencias desarrolladas en las áreas de ciencias naturales, tecnología e informática, matemáticas y lengua castellana, tomadas de los lineamientos curriculares del Ministerio de Educación Nacional, determinando el estado actual de las competencias de Pensamiento Computacional en el país; se pretende, además, plantear una propuesta de inclusión de estas competencias en el currículo, a través de Proyectos Educativos TransversalesÍtem Conceptos básicos de robótica y programación(Universidad EAFIT, 2021) Patiño-Orozco, Agustín; Jaramillo-Escobar, Ana María; Meneses-Olarte, Diana; Fernández-Restrepo, Alejandro; Aristizábal-Mejía, Maria Fernanda; Universidad EAFITMiniserie audiovisual con explicaciones sobre conceptos básicos de robótica y programación; ¿Qué es un algoritmo?, ¿qué son los sensores de las máquinas?, ¿qué son los actuadores en un robot?, ¿qué es un diagrama de flujo?, ¿qué son las variables en programación?, ¿qué son los operadores en programación?, ¿qué son los condicionales en programación?, ¿qué son los ciclos en programación?Ítem Control and parameter estimation of a mini-helicopter robot using rapid prototyping tools(World Scientific and Engineering Academy and Society (WSEAS) Press, 2006-01-01) Vélez S., C.M.; Agudelo, A.; Universidad EAFIT. Escuela de Ciencias; Modelado MatemáticoThis paper shows the control and parameter estimation of a mini-helicopter robot using a rapid prototyping environment based on Matlab/Simulink. The parameter estimation task is facilitated by the availability of a block-based visual simulation model and its integration in a general Matlab environment, with the feasibility of use of many other tools. The environment is integrated by modules which use common Matlab tools (ground control station, linearization, parameter estimation, heuristic identification) and own modules developed specifically for simulation, state estimation and multirate control. An example is presented in a software-in-the-loop context, showing all possibilities of the software environment including supervisory, estimation, linearization, and control tasks.Ítem 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, AlejandroEl presente trabajo muestra el proceso de diseño y desarrollo de un sistema basado en una interfaz cerebro-computador destinado a controlar una silla de ruedas eléctrica con el fin de que esta pueda ser utilizada por personas con discapacidad severa, especialmente con tetraplejía, de forma independiente -- Este trabajo hace parte de la segunda fase del proyecto “Evaluación de Interfaces Cerebro-Computador y Realidad Virtual para la Rehabilitación de Pacientes con Tetraplejía” liderado por el Grupo I+D+i en Tecnologías de la Información y las Comunicaciones en colaboración con el Grupo de Investigación en Ingeniería de Diseño (GRID) ambos pertenecientes a la Universidad EAFIT -- En la primera fase del proyecto se logró controlar un sistema Lego® Mindstorm pero sin alcanzar los resultados esperados, ya que el dispositivo no actuaba de acuerdo a la intención del usuario -- Debido a esto, se decidió en primer lugar buscar estrategias para mejorar la concordancia entre la intención del usuario y la acción ejecutada por el dispositivo, y en segundo lugar se planteó controlar ya no un Lego® Mindstorm sino una silla de ruedas eléctrica, agregarle un sistema de seguridad y realizarle una evaluación completa al sistema -- Dichos objetivos fueron alcanzados satisfactoriamente, ya que se logró controlar la silla de ruedas eléctrica mediante una interfaz cerebro-computador de forma confiable, se instaló una sensórica de seguridad y se realizó una evaluación del sistema completo que confirmó la efectividad del sistema desarrolladoÍtem Developing an experimental case in aluminium foils 1100 to determine the maximum angle of formability in a piece by Dieless-SPIF process(IOP PUBLISHING LTD, 2014-01-01) Gabriel, Paramo; Adrian, Benitez; Gabriel, Paramo; Adrian, Benitez; Universidad EAFIT. Departamento de Ingeniería de Producción; Tecnologías para la ProducciónIncremental sheet forming by the method of single point incremental forming Dieless-SPIF, is a widely studied process, experimented and developed in countries with high manufacturing technologies, with friendly costs when the productive configuration in a productivity system is based in small production batches. United states, United kingdom and France lead this type of studies and cases, developing various proof with experimental geometries, different from the national environment such as Colombia, Bolivia, Chile, Ecuador and Peru where this process where discretely studied. Previously mentioned, it pretends develop an experimental case of a particular geometry, identifying the maximum formability angle of material permissible for the forming of a piece in one pass, the analysis of forming limit curve (FLC), with the objective to emphasizes in this innovative method based in CAD-CAM technologies, compare with other analogous process of deformation sheet metal like embossing, take correct decisions about the viability and applicability of this process (Dieless) in a particular industrial piece, which responses to the necessities of productive configurations mentioned and be highly taken like a manufacturing alternative to the other conventional process of forming sheet metal like embossing, for systems with slow batches production. © Published under licence by IOP Publishing Ltd.Ítem Feasibility 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.Ítem 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 simulationsÍtem Kinematic identification of parallel mechanisms by a divide and conquer strategy(INSTICC-INST SYST TECHNOLOGIES INFORMATION CONTROL & COMMUNICATION, 2010-01-01) Durango S.; Externo - Escuela - Ingeniería; Ruiz O.; Restrepo-Giraldo J.; Achiche S.; 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 simulations.Ítem Medición de distancias por medio de visión robótica(Universidad EAFIT, 2008) Peláez Uribe, Juan Sebastián; Díaz Torres, Adalberto GabrielÍtem Observations about an approximate algorithm for the point robot motion planning problem(IEEE Computer Society, 2002-01-01) Trefftz, C.; Trefftz, H.; Universidad EAFIT. Departamento de Ingeniería de Sistemas; I+D+I en Tecnologías de la Información y las ComunicacionesObservations about an approximate parallel algorithm for the point robot motion planning problem are presented. The algorithm solves not only the original problem, but related problems as well. © 2002 IEEE.Ítem 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 Robot validador de la tasa de aseo en la factura de los servicios públicos de EPM con RPA(Universidad EAFIT, 2019) Yate Martínez, Jairo Yesid; Rincón Bermúdez, Rafael DavidÍtem 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 investigateÍtem Robotic research platform for image-guided surgery assistance(2013-01-01) Cortes, C.A.; Barandiaran, I.; Ruiz, O.E.; De Mauro, A.; 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 image-guided 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 investigate.Ítem 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 work