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Author M. Diaz; Dennys Paillacho; C. Angulo; O. Torres; J. Gonzálalez; J. Albo Canals
Title A Week-long Study on Robot-Visitors Spatial Relationships during Guidance in a Sciences Museum Type Conference Article
Year 2014 Publication ACM/IEEE International Conference on Human-Robot Interaction Abbreviated Journal
Volume Issue Pages 152-153
Keywords social human-robot interaction, spatial relationships, proxemics behavior
Abstract In order to observe spatial relationships in social human- robot interactions, a field trial was carried out within the CosmoCaixa Science Museum in Barcelona. The follow me episodes studied showed that the space configurations formed by guide and visitors walking together did not always fit the robot social affordances and navigation requirements to perform the guidance successfully, thus additional commu- nication prompts are considered to regulate effectively the walking together and follow me behaviors.
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Notes Approved no
Call Number cidis @ cidis @ Serial 29
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Author Dennis G. Romero, Anselmo Frizera N., & Teodiano Freire B.
Title Reconocimiento en-línea de acciones humanas basado en patrones de RWE aplicado en ventanas dinámicas de momentos invariantes. Type Journal Article
Year 2014 Publication Revista Iberoamericana de Automática e Informática industrial 00 (2014) Abbreviated Journal
Volume Vol. 11 Issue Pages pp. 202-211
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Call Number cidis @ cidis @ Serial 220
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Author Dennys Paillacho, Nayeth Solórzano, Michael Arce, María Plues & Edwin Eras
Title Advanced metrics to evaluate autistic children's attention and emotions from facial characteristics using a human robot-game interface Type Conference Article
Year 2023 Publication Communications in Computer and Information Science. 11th Conferencia Ecuatoriana de Tecnologías de la Información y Comunicación (TICEC 2023) Cuenca 18-20 Octubre 2023 Abbreviated Journal
Volume Vol. 1885 CCIS Issue Pages 234 - 247
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ISSN 18650929 ISBN 978-303145437-0 Medium
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Notes Approved no
Call Number cidis @ cidis @ Serial 221
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Author Wilton Agila; Victor M. Huilcapi
Title Lógica borrosa para la estimación de estados críticos de una pila de combustible PEM Type Conference Article
Year 2014 Publication Reconocimientos de Patrones, Control Inteligente y Comunicaciones (MACH 2014) Abbreviated Journal
Volume 5 Issue Pages
Keywords Caracterización de pilas de combustible PEM, estado de inundación y deshidratación de la membrana polimérica, árbol de decisión borroso, control, lógica difusa
Abstract La determinación en tiempo real de los estados críticos de operación de la pila de combustible de membrana intercambio protónico (siglas en ingles, PEM) es uno de los principales retos para los sistemas de control de pilas de combustible PEM. En este trabajo, se presenta el desarrollo e implementación de un método no invasivo de bajo coste basado en técnicas de decisión borrosa que permite estimar los estados críticos de operación de la pila de combustible PEM. La estimación se realiza mediante perturbaciones al estado de operación de la pila y el análisis posterior de la evolución temporal del voltaje generado por la pila. La implementación de esta técnica de estimulación-percepción de estado de la pila de combustible para la detección de estados críticos constituye una novedad y un paso hacia el control autónomo en óptimas condiciones de la operación de las pilas de combustible PEM.
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Publisher Universidad de Cuenca Place of Publication (up) Editor
Language Español Summary Language Español Original Title
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Call Number cidis @ cidis @ Serial 31
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Author Ortiz J.; Londono J.; Novillo F.; Ampuno A.; Chávez M.
Title Determinación de Invariantes en Grandes Centros de Datos basados en Topología Fat-Tree Type Journal Article
Year 2015 Publication Revista Politécnica Abbreviated Journal
Volume Vol. 35 Issue Pages pp. 91-96
Keywords Invariantes de red, topologías, Fat-tree, simulación, emulación
Abstract Durante los últimos años ha existido un fuerte incremento en el acceso a internet, causando que los centros de datos ( DC) deban adaptar dinámicamente su infraestructura de red de cara a enfrentar posibles problemas de congestión, la cual no siempre se da de forma oportuna. Ante esto, nuevas topologías de red se han propuesto en los últimos años, como una forma de brindar mejores condiciones para el manejo de tráfico interno, sin embargo es común que para el estudio de estas mejoras, se necesite recrear el comportamiento de un verdadero DC en modelos de simulación/emulación. Por lo tanto se vuelve esencial validar dichos modelos, de cara a obtener resultados coherentes con la realidad. Esta validación es posible por medio de la identificación de ciertas propiedades que se deducen a partir de las variables y los parámetros que describen la red, y que se mantienen en las topologías de los DC para diversos escenarios y/o configuraciones. Estas propiedades, conocidas como invariantes, son una expresión del funcionamiento de la red en ambientes reales, como por ejemplo la ruta más larga entre dos nodos o el número de enlaces mínimo que deben fallar antes de una pérdida de conectividad en alguno de los nodos de la red. En el presente trabajo se realiza la identificación, formulación y comprobación de dos invariantes para la topología Fat-Tree, utilizando como software emulador a mininet. Las conclusiones muestran resultados concordantes entre lo analítico y lo práctico.
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Corporate Author Thesis
Publisher Escuela Politécnica Nacional Place of Publication (up) Editor
Language Español Summary Language Español Original Title
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Area Expedition Conference
Notes Approved no
Call Number cidis @ cidis @ Serial 32
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Author Dennys Paillacho; F. Novillo; W. Agila.; V. Huilcapi
Title Impacto de las redes de comunicaciones en los Sistemas Robóticos de Control Type Journal Article
Year 2015 Publication Revista Politécnica Abbreviated Journal
Volume Vol. 35 Issue Pages pp. 97-102
Keywords Ethernet, CAN, Swichted Ethernet, Sistemas de control en red, Ciclo de comunicación, Control de ajuste de trayectoria
Abstract El análisis de incidencia que tienen las redes de comunicaciones sobre el comportamiento de los sistemas robóticos de control en red muestra grandes dificultades cuando se quieren hacer evaluaciones de tipo analítico. Por tal razón, en este trabajo un análisis que utiliza una aproximación basada en simulación es propuesto, de manera que el comportamiento temporal y espacial de un sistema robótico de control en red pueda ser evaluado. Para tal efecto, se propone un entorno de validación mediante el cual una red de comunicaciones permita distribuir mensajes de control entre el controlador principal y los controladores remotos ubicados en cada articulación angular del robot manipulador planar. Las interacciones entre los componentes del sistema han sido modeladas mediante un sistema de capas. Dicho modelo es llevado a un entorno de simulación con la finalidad de analizar el impacto de distintos parámetros de comunicaciones (i.e. tipo de red, tasa de datos y tamaño de datos) sobre el ciclo de comunicación y el error de seguimiento de trayectoria en un sistema robótico.
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Corporate Author Thesis
Publisher Escuela Politécnica Nacional Place of Publication (up) Editor
Language Español Summary Language Español Original Title
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Notes Approved no
Call Number cidis @ cidis @ Serial 33
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Author Marta Diaz; Dennys Paillacho; Cecilio Angulo
Title Evaluating Group-Robot Interaction in Crowded Public Spaces: A Week-Long Exploratory Study in the Wild with a Humanoid Robot Guiding Visitors Through a Science Museum. Type Journal Article
Year 2015 Publication International Journal of Humanoid Robotics Abbreviated Journal
Volume Vol. 12 Issue Pages
Keywords Group-robot interaction; robotic-guide; social navigation; space management; spatial formations; group walking behavior; crowd behavior
Abstract This paper describes an exploratory study on group interaction with a robot-guide in an open large-scale busy environment. For an entire week a humanoid robot was deployed in the popular Cosmocaixa Science Museum in Barcelona and guided hundreds of people through the museum facilities. The main goal of this experience is to study in the wild the episodes of the robot guiding visitors to a requested destination focusing on the group behavior during displacement. The walking behavior follow-me and the face to face communication in a populated environment are analyzed in terms of guide- visitors interaction, grouping patterns and spatial formations. Results from observational data show that the space configurations spontaneously formed by the robot guide and visitors walking together did not always meet the robot communicative and navigational requirements for successful guidance. Therefore additional verbal and nonverbal prompts must be considered to regulate effectively the walking together and follow-me behaviors. Finally, we discuss lessons learned and recommendations for robot’s spatial behavior in dense crowded scenarios.
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Publisher International Journal of Humanoid Robotics Place of Publication (up) Editor
Language English Summary Language English Original Title
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Notes Approved no
Call Number cidis @ cidis @ Serial 34
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Author Ricardo Cajo; Wilton Agila
Title Evaluation of algorithms for linear and nonlinear PID control for Twin Rotor MIMO System Type Conference Article
Year 2015 Publication Computer Aided System Engineering (APCASE), 2015 Asia-Pacific Conference on, Quito, 2015 Abbreviated Journal
Volume Issue Pages 214-219
Keywords Twin Rotor MIMO System (TRMS); Proportional-Integral-Derivative (PID); Linear PID Controller; Nonlinear PID Controller; Nonlinear Observer
Abstract In this paper the linear and nonlinear PID control algorithms are analyzed and for a twin rotor MIMO system (TRMS), whose characteristic is not linear with two degrees of freedom and cross-links. The aim of this work is to stabilize the TRMS, to achieve a particular position and follow a trajectory in the shortest time. Mathematical modeling of helicopter model is simulated using MATLAB / Simulink, the two degrees of freedom are controlled both horizontally and vertically through the proposed controllers. Also nonlinear segmented observers for each degree of freedom are designed in order to measure statements required by the nonlinear controller. Followed, a comparative analysis of both algorithms is presented to evaluate their performance in the real TRMS.
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Publisher IEEE Place of Publication (up) Editor
Language English Summary Language English Original Title
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Area Expedition Conference 2015 Asia-Pacific Conference on Computer Aided System Engineering
Notes Approved no
Call Number cidis @ cidis @ Serial 36
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Author Miguel Realpe; Boris X. Vintimilla; L. Vlacic
Title Towards Fault Tolerant Perception for autonomous vehicles: Local Fusion. Type Conference Article
Year 2015 Publication IEEE 7th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Siem Reap, 2015. Abbreviated Journal
Volume Issue Pages 253-258
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Abstract Many robust sensor fusion strategies have been developed in order to reliably detect the surrounding environments of an autonomous vehicle. However, in real situations there is always the possibility that sensors or other components may fail. Thus, internal modules and sensors need to be monitored to ensure their proper function. This paper introduces a general view of a perception architecture designed to detect and classify obstacles in an autonomous vehicle's environment using a fault tolerant framework, whereas elaborates the object detection and local fusion modules proposed in order to achieve the modularity and real-time process required by the system.
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Notes Approved no
Call Number cidis @ cidis @ Serial 37
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Author Dennys Paillacho; Cecilio Angulo; Marta Díaz.
Title An Exploratory Study of Group-Robot Social Interactions in a Cultural Center Type Conference Article
Year 2015 Publication IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, International Conference on, Hamburg, Germany, 2015 Abbreviated Journal
Volume Issue Pages
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Abstract This article describes an exploratory study of social human-robot interaction with the experimental robotic platform MASHI. The experiences were carried out in La B`obila Cultural Center in Barcelona, Spain to study the visitor preferences, characterize the groups and their spatial relationships in this open and unstructured environment. Results showed that visitors prefers to play and dialogue with the robot. Children have the highest interest in interacting with the robot, more than young and adult visitors. Most of the groups consisted of more than 3 visitors, however the size of the groups during interactions was continuously changed. In static situations, the observed spatial relationships denotes a social cohesion in the human-robot interactions.
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Publisher Place of Publication (up) Editor
Language English Summary Language Original Title
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Notes Approved no
Call Number gtsi @ user @ Serial 67
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