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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 |
Byron Lima; Ricardo Cajo; Victor Huilcapi; Wilton Agila |
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Title |
Modeling and comparative study of linear and nonlinear controllers for rotary inverted pendulum |
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Conference Article |
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2017 |
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Journal of Physics: Conference Series |
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783 |
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The rotary inverted pendulum (RIP) is a problem difficult to control, several studies have been conducted where different control techniques have been applied. Literature reports that, although problem is nonlinear, classical PID controllers presents appropriate performances when applied to the system. In this paper, a comparative study of the performances of linear and nonlinear PID structures is carried out. The control algorithms are evaluated in the RIP system, using indices of performance and power consumption, which allow the categorization of control strategies according to their performance. This article also presents the modeling system, which has been estimated some of the parameters involved in the RIP system, using computer-aided design tools (CAD) and experimental methods or techniques proposed by several authors attended. The results indicate a better performance of the nonlinear controller with an increase in the robustness and faster response than the linear controller |
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English |
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gtsi @ user @ |
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69 |
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Author |
Patricia L. Suarez; Angel D. Sappa; Boris X. Vintimilla |
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Title |
Adaptive Harris Corners Detector Evaluated with Cross-Spectral Images |
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Conference Article |
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2018 |
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International Conference on Information Technology & Systems (ICITS 2018). ICITS 2018. Advances in Intelligent Systems and Computing |
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721 |
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This paper proposes a novel approach to use cross-spectral
images to achieve a better performance with the proposed Adaptive Harris
corner detector comparing its obtained results with those achieved
with images of the visible spectra. The images of urban, field, old-building
and country category were used for the experiments, given the variety of
the textures present in these images, with which the complexity of the
proposal is much more challenging for its verification. It is a new scope,
which means improving the detection of characteristic points using crossspectral
images (NIR, G, B) and applying pruning techniques, the combination
of channels for this fusion is the one that generates the largest
variance based on the intensity of the merged pixels, therefore, it is that
which maximizes the entropy in the resulting Cross-spectral images.
Harris is one of the most widely used corner detection algorithm, so
any improvement in its efficiency is an important contribution in the
field of computer vision. The experiments conclude that the inclusion of
a (NIR) channel in the image as a result of the combination of the spectra,
greatly improves the corner detection due to better entropy of the
resulting image after the fusion, Therefore the fusion process applied to
the images improves the results obtained in subsequent processes such as
identification of objects or patterns, classification and/or segmentation. |
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gtsi @ user @ |
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84 |
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Author |
Cristhian A. Aguilera; Xaver Soria; Angel D. Sappa; Ricardo Toledo |
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Title |
RGBN Multispectral Images: a Novel Color Restoration Approach |
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Conference Article |
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2017 |
Publication |
15th International Conference on Practical Applications of Agents and Multi-Agent Systems |
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619 |
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155-163 |
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cidis @ cidis @ |
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59 |
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