A5009110214- Dynamics and Control of Mechanical Systems
- Vibration and Dynamic Analysis
- Modular Robots and Swarm Intelligence
- Astronomical Observations and Instrumentation
- Robotics and Automated Systems
- Soft Robotics and Applications
- Robot Manipulation and Learning
- Astronomy and Astrophysical Research
- Robotic Mechanisms and Dynamics
- Higher Education and Sustainability
- Social Sciences and Policies
- Advanced Sensor and Energy Harvesting Materials
- Health and Medical Education
- Robotic Path Planning Algorithms
- Astro and Planetary Science
- Dielectric materials and actuators
- Cultural and Mythological Studies
- Control Systems in Engineering
- Advanced Materials and Mechanics
- Bladed Disk Vibration Dynamics
- Mechanical stress and fatigue analysis
- Supply Chain and Inventory Management
- Science, Technology, and Education in Latin America
- Teaching and Learning Programming
- Planetary Science and Exploration
University of Castilla-La Mancha
2006-2024
Gemini South Observatory
2022-2024
Universidad Tecnológica de El Salvador
2022
Center for Advanced Aerospace Technologies
2022
Hospital General Universitario de Ciudad Real
2017
Universität der Bundeswehr München
2016
Instituto Politécnico Nacional
2008
Mexican Social Security Institute
1996
A new method to control single-link lightweight flexible manipulators in the presence of payload changes is proposed. Undoubtedly, this kind structures nowadays one most challenging and attractive research areas, being remarkable its application aerospace industry, among others. One interesting features design presented here that overshoot controlled system independent tip mass. This allows a constant safety zone be delimited for any given placement task arm, load carried, thereby making it...
Abstract The Gemini South telescope is now equipped with a new high-resolution spectrograph called the High-resolution Optical SpecTrograph (GHOST). This instrument provides high-efficiency, spectra covering 347–1060 nm in single exposure of either one or two targets simultaneously, along precision radial velocity spectroscopy utilizing an internal calibration source. It can operate at spectral element resolving power 76,000 56,000, and reach signal-to-noise ratio ∼5 1 hr on V ∼ 20.8 mag...
This work presents a proof of concept for an end-to-end process the agile design, control and programming robots. The user selects set abilities desired robot, system automatically generates robot structure con
This article deals with feedforward control of very lightweight, flexible robotic arms. In particular, we develop a new, objective method designing trajectory that can be used as modified input, to cancel tip vibrations during robot manoeuvres. takes into account the constraints found in real actuators (DC-motors), such maximum torque motor supply, and also those due mechanical limits link, like deflection before reaching elastic limit link. The parameters internal are derived from design...
Deadbeat-direct torque and flux control (DB-DTFC) has been emerged as a high performance digital law for induction machines permanent magnet machines. Its key attributes are excellent dynamic performance, the use of only one single over wide torque/speed range direct applicability to overmodulation strategies. This paper extends prior research by presenting implementation DB-DTFC synchronous reluctance (SynRMs). In addition, minimizing SynRM losses each switching period is proposed....
This paper proposes some new nonlinear dynamic models for single-link flexible manipulators that experience large deflections. These are developed under the assumption of a very lightweight arm with all its mass concentrated at tip. Two proposed validated experimentally. The first them is typical linear model. second one model exhibits advantages being simple while accurate too. Compared previously defined models, which based on finite elements numerical techniques, our described by ordinary...
Accurate trajectory tracking is a paramount objective when mobile robot must perform complicated tasks. In high-speed movements, time delays appear reaching the desired position and orientation, as well overshoots in changes of which prevent execution some One aspects that most influences performance control system actuators wheels. It usually implements PID controllers that, case low-cost robots, do not yield good owing to friction nonlinearity, hardware delay saturation. We propose...
Proprioception is a necessary skill in robots and especially complicated soft robots. It commonly achieved by adding an external complement to the robotic structure that acts as sensor. In this work, we present approach which material itself (a cationic network hydrogel) serves curvature sensor pneumatic bending actuator. The experiments carried out validate use of resistive strain capacity our hydrogel proprioceptive We believe sensing capacity, together with high stretchability...
Multifunctional materials, such as those with several self-x properties, enable new designs and applications of soft robots. The CN-Hydrogel material incorporates these which have been used separately in previous works for the development sensors actuators. In this work we use all capabilities together to achieve modularity, controllability, durability bending pneumatic particular, self-adhesion modular design fabrication, self-sensing a closed loop control scheme self-healing damage repair....
The current evolutionary trends in soft robotics try to exploit the capacities of smart materials achieve compact designs with embodied intelligence. In this way, number elements that compose robot can be reduced, as material cover different aspects (e.g., structure and sensorization) all one. This work follows tendency presents a custom-designed hydrogel exhibits two features, self-healing ionic conductivity, used build pneumatic actuator. capability provides actuator's ability self-repair...
The Gemini South telescope is now equipped with a new high-resolution spectrograph called GHOST (the High-resolution Optical SpecTrograph). This instrument provides high-efficiency, spectra covering 347-1060 nm in single exposure of either one or two targets simultaneously, along precision radial velocity spectroscopy utilizing an internal calibration source. It can operate at spectral element resolving power 76000 56000, and reach SNR$\sim$5 1hr on V$\sim$20.8 mag target median site seeing,...
This communication presents an application for the use of ontologies in generation robot structures. The ontology developed this app relies on IEEE Standard Ontologies Robotics and Automation (ORA) it incorporates a set concepts, relations axioms that link robotic skills with structural parts needed their realization. user can select base configuration and/or desired should be able to perform. Then, evaluates returns abstract structure carry out requested skills. final implementation...