Unidad Ejecutora Doble Dependencia - Universidad Nacional de San Juan, Facultad de Ingeniería - Consejo Nacional de Investigaciones Científicas y Técnicas

Publicaciones

Publicaciones en revistas, libros y congresos nacionales e internacionales.

Publicaciones 2017


El INAUT, como fruto de sus investigaciones y desarrollos, tiene una producción importante de publicaciones en revistas libros y congresos tanto nacionales como internacionales.


Revista Internacional con Referato

Stable Path Following Control for a Quadrotor Helicopter Considering Energy Consumption

Autores
Gandolfo, D.; Salinas, L.; Santos Brandao, A.; Toibero, M.;


Resumen:
A substantial interest in aerial robots has grown in recent years. However, the energetic cost of flying is one of the key challenges nowadays. Rotorcrafts are heavier-than-air flying machines that use lift generated by one or several rotors (vertically oriented propellers) and because of this they spend a large proportion of their available energy to maintain their own weight in the air. In this paper, this concept is used to evaluate the relationship between navigation speed and energy consumption in a miniature quadrotor helicopter which travels over a desired path. A novel path following controller is proposed in which the speed of the rotorcraft is a dynamic profile that varies with the geometric requirements of the desired path. The stability of the control law is proved using the Lyapunov theory. Experimental results using a real quadrotor show the good performance of the proposed controller and the percentages of involved energy are quantified using a model of a lithium polymer battery that was previously identified.

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Control of bidirectional physical human–robot interaction based on the human intention

Autores
Leica, P.; Roberti, F.; Monllor, M.; Toibero, M.; Carelli, R.;


Resumen:
This paper presents a control strategy for human– robot interaction with physical contact, recognizing the human intention to control themovement of a non-holonomic mobile robot. The human intention is modeled by mechanical impedance, sensing the human-desired force intensity and the human-desired force direction to guide the robot through unstructured environments. Robot dynamics is included to improve the interaction performance. Stability analysis of the proposed control system is proved by using Lyapunov theory. Real experiments of the human–robot interaction show the performance of the proposed controllers.

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Human interaction dynamics for its use in mobile robotics: Impedance control for leader-follower formation

Autores
Herrera, D.; Roberti, F.; Toibero, M.; Carelli, R.;


Resumen:
A complete characterization of the behavior in human-robot interactions (HRI) includes both: the behavior dynamics and the control laws that characterizes how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedance control that allows to establish a dynamic relation between social forces and the motion error. For this, it is presented a scheme to identify the impedance based on fictitious social forces, which are described by distance-based potential fields. As part of the validation procedure, it is presented an experimental comparison to select the better of two different fictitious force structures. The criteria are determined by two qualities: least impedance errors during the validation procedure and least parameter variance during the recursive estimation procedure. Finally, with the best fictitious force and its identified impedance, it is designed an impedance control for a mobile robot Pioneer 3AT, which is programmed to follow a human in a structured scenario. According with the results, and, under the hypothesis that moving like humans will be acceptable by humans, it is believed that the proposed control improves the social acceptance of the robot for this kind of interaction.

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Muscular synergy classification and myoelectric control using high-order cross-cumulants

Autores
Orosco, E.; di Sciascio, F.;


Resumen:
High-order statistics (HOS) are well suited for describing non-Gaussian random processes. These techniques are increasingly being employed in myoelectric research, on both time and frequency domain techniques. This work presents HOS-based techniques using only HOS time domain features to classify myoelectric signals. The auto-, cross- and full- (joint) third-order cumulants are evaluated as EMG-signal feature vectors to be compared between them. Four surface EMG signals were processed for classify motions from the upper limbs. Synergy among channels is characterized by the features in both auto and cross modes, and their incidences for classifying five or six movements are analyzed. In contrast to the third-order auto-cumulants, it had been verified that the third-order cross-cumulants have the same classification rate by working with five or six movements. A myoelectric control scheme and its experimental application were executed with normal and disabled subjects, reaching a classification rates of 90%, in average. Accuracy in online experiments was similar to the off-line classification rate.

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Generating Sound Stimuli with Given Emergence Level and Low Frequency Content by Mixing Recordings

Autores
Accolti, E.; Miyara, F.; di Sciascio, F.;


Resumen:
Noise annoyance and other effects of noise are reasonably correlated with A-weighted sound levels. Currently, the influence of low-frequency content and of sound emergence level (i.e. the sound level difference between total noise and residual noise) on effects of noise are being assessed in laboratories using stimuli based on recordings. Standards intended for regulations often include penalties depending on these factors. The difference between C- and A-weighted sound levels is frequently used as a descriptor of low frequency content. This work proposes a method to optimize the search and combination of a subset of audio files from a large set of noise sources recordings in order to achieve an environmental noise stimulus with previously specified values of factors (i) sound emergence level, (ii) C- A-weighted levels difference, (iii) A-weighted equivalent continuous sound level and (iv) duration of stimulus. The method is implemented, and one hundred stimuli are generated following a full factorial experimental design varying these four factors. The resulting stimuli show small differences between specified and measured values. The mean difference for factors i-iii is 0.46 dB and the maximum is 2.3 dB.

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Congreso Internacional con Referato

The acoustics of the concert hall Auditorio Juan Victoria from San Juan, Argentina

Autores
Accolti, E.; Alamino Naranjo, E.; Alonso Frank, A.; Kuchen, E.; Arballo, B.;


Resumen:
The Auditorio Juan Victoria is a concert hall inside the cultural center of the same name, opened in 1970 in San Juan province, Argentina. The audience area is rectangular with a seating capacity of 976 people. The stage is fan shaped in which 80 musicians seated with their instruments and a choir of 90 singers standing can be accommodated. The hall is 22 m wide, 40 m long and 10 m high. The hall is equipped with a pipe organ with 44 ranks and 3565 pipes. In this article, the acoustic quality of the hall is assessed by a questionnaire and acoustic parameters are measured using the state of the art methods, including ISO 3382-1 parameters and subjective evaluation. Results are compared with subjective and objective data from other similar halls and recommended values from literature.

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Analysis of lightweight acoustic reflectors

Autores
Miyara, F.; Pasch, V.; Accolti, E.;


Resumen:
Halls for music performance frequently require the design of acoustic reflectors to redirect the sound waves toward the audience. In order to get adequate reflecting properties the usual criterion is that the surface density be no less than 20 kg/m2. However, this may prove too heavy in certain cases, so other possible solutions must be studied. In this paper, light-weight reflectors, such as medium density fibreboard or plywood panels clamped at their boundaries, where structural rigidity replaces mass at the low frequency end, have been investigated. A compliance model is compared with the mass model showing that the structure is suitable.

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