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Jorge Alvarez Tello; Mireya Zapata; Dennys Paillacho |
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Title |
Kinematic optimization of a robot head movements for the evaluation of human-robot interaction in social robotics. |
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Conference Article |
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2019 |
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10th International Conference on Applied Human Factors and Ergonomics and the Affiliated Conferences (AHFE 2019), Washington D.C.; United States. Advances in Intelligent Systems and Computing |
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975 |
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108-118 |
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This paper presents the simplification of the head movements from
the analysis of the biomechanical parameters of the head and neck at the
mechanical and structural level through CAD modeling and construction with
additive printing in ABS/PLA to implement non-verbal communication strategies and establish behavior patterns in the social interaction. This is using in the
denominated MASHI (Multipurpose Assistant robot for Social Human-robot
Interaction) experimental robotic telepresence platform, implemented by a
display with a fish-eye camera along with the mechanical mechanism, which
permits 4 degrees of freedom (DoF). In the development of mathematicalmechanical modeling for the kinematics codification that governs the robot and
the autonomy of movement, we have the Pitch, Roll, and Yaw movements, and
the combination of all of them to establish an active communication through
telepresence. For the computational implementation, it will be show the rotational matrix to describe the movement. |
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yes |
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gtsi @ user @ |
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108 |
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Author |
Wilton Agila; Gomer Rubio; Francisco Vidal; B. Lima |
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Title |
Real time Qualitative Model for estimate Water content in PEM Fuel Cell |
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Conference Article |
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2019 |
Publication |
8th International Conference on Renewable Energy Research and Applications (ICRERA 2019); Brasov, Rumania |
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455-459 |
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To maintain optimum performance of the electrical
response of a fuel cell, a real time identification of the
malfunction situations is required. Critical fuel cell states depend,
among others, on the variable demand of electric load and are
directly related to the membrane hydration level. The real time
perception of relevant states in the PEM fuel cell states space, is
still a challenge for the PEM fuel cell control systems. Current
work presents the design and implementation of a methodology
based upon fuzzy decision techniques that allows real time
characterization of the dehydration and flooding states of a PEM
fuel cell. Real time state estimation is accomplished through a
perturbation-perception process on the PEM fuel cell and further
on voltage oscillation analysis. The real time implementation of
the perturbation-perception algorithm to detect PEM fuel cell
critical states is a novelty and a step forwards the control of the
PEM fuel cell to reach and maintain optimal performance. |
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109 |
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Author |
G.A. Rubio; Wilton Agila |
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Title |
Sustainable Energy: A Strategic View of Fuel Cells |
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Conference Article |
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2019 |
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8th International Conference on Renewable Energy Research and Applications (ICRERA 2019); Brasov, Rumania |
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239-243 |
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Based on the model of the proton exchange fuel cell in a strategic context,
this document develops the issue of energy as one of the pillars to achieve the
sustainability of our planet, considering the future scenarios up to the year 2060 of the
situation energy, hydrogen as a strategic vector and the contribution of the fuel cell in
solving the serious problems of environmental pollution and economic inequity that
humanity faces; for its application in the energy generation, telecommunications and
vehicle manufacturing industries. |
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G.A. Rubio; Wilton Agila |
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Title |
Transients analysis in Proton Exchange Membrane Fuel Cells: A critical review |
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Conference Article |
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2019 |
Publication |
8th International Conference on Renewable Energy Research and Applications (ICRERA 2019); Brasov, Rumania |
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249-252 |
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When a proton exchange fuel cell operates it produces in addition to electrical
energy, heat and water as sub products, which impact on the performance of the cell. This
paper analyzes the issue of transients and proposes a model that describes the dynamic
operation of the fuel cell. The model considers the transients produced by electrochemical
reactions, by flow water and by heat transfer. Two-phase flow transients result in
increased the parasitic power losses and thermal transients may result in flooding or dryout of the GDL and membrane, understanding transient behavior is critical for reliable
and predictable performance from the cell. |
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gtsi @ user @ |
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111 |
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