Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997708
G. Dolecek
This paper introduces a multistage comb structure with a decreased complexity and an increased aliasing attenuation compared to the existing systems. The complexity and aliasing rejection of the proposed design are measured by the number of adders per output sample (APOS) and the minimum folding band attenuation (MFA), respectively. The comparisons with the recent decimation structures proposed in the literature demonstrated that this design provides higher minimum folding band attenuation while requiring fewer APOS.
{"title":"Multistage Decimation Filter with Decreased Complexity and Improved Aliasing Rejection","authors":"G. Dolecek","doi":"10.1109/CONCAPAN48024.2022.9997708","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997708","url":null,"abstract":"This paper introduces a multistage comb structure with a decreased complexity and an increased aliasing attenuation compared to the existing systems. The complexity and aliasing rejection of the proposed design are measured by the number of adders per output sample (APOS) and the minimum folding band attenuation (MFA), respectively. The comparisons with the recent decimation structures proposed in the literature demonstrated that this design provides higher minimum folding band attenuation while requiring fewer APOS.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114923885","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997676
Abigail Melendez Hernandez, Alicia Maria Reyes Duke
The human being is inquisitive by nature, it is an instinct that drives us to discover the environment that surrounds us, especially those that humanity cannot access, like the ocean, creating the need to implement submersible technologies. This research studies underwater thrusters, as they are one of the main components of submersible technology. The study presents three different thrusters designed in SolidWorks, these are subjected to flow studies, geometry analysis and were manufactured in a 3D printer. Through the different elements that helps prevent water filtration inside the system, the thrusters can operate smoothly underwater. The propeller with the better flow velocity and pressure resistance is made in a pocket NC which is a 5-axis milling machine.
{"title":"Study, design and manufacture of different propellers as paddle wheel, ducted and torpedo for underwater thrusters applying NC and additive technology","authors":"Abigail Melendez Hernandez, Alicia Maria Reyes Duke","doi":"10.1109/CONCAPAN48024.2022.9997676","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997676","url":null,"abstract":"The human being is inquisitive by nature, it is an instinct that drives us to discover the environment that surrounds us, especially those that humanity cannot access, like the ocean, creating the need to implement submersible technologies. This research studies underwater thrusters, as they are one of the main components of submersible technology. The study presents three different thrusters designed in SolidWorks, these are subjected to flow studies, geometry analysis and were manufactured in a 3D printer. Through the different elements that helps prevent water filtration inside the system, the thrusters can operate smoothly underwater. The propeller with the better flow velocity and pressure resistance is made in a pocket NC which is a 5-axis milling machine.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116613661","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997755
Ednita González, Danilo Cáceres-Hernández
Currently, Panama has projects to monitor endangered species such as the jaguar; for which they have been mainly using camera traps. These projects generate a large number of images that exceed, more often than not, the manpower capacity to label them. A faster way to do the tagging labor is to use new technologies associated with computer vision, which can reduce the time it takes to check whether or not a jaguar exists among the captured images. In this article, an algorithm has been developed using Matlab to perform image processing and recognition of jaguars based on background subtraction and the characteristic shape of jaguar spots. The algorithm achieves a high degree of precision of 80% and an accuracy rate of 79%, demonstrating that positive results can be obtained using computer vision for camera trap image analysis.
{"title":"Non-Invasive Monitoring: Panthera Onca Recognition Based on Image Processing","authors":"Ednita González, Danilo Cáceres-Hernández","doi":"10.1109/CONCAPAN48024.2022.9997755","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997755","url":null,"abstract":"Currently, Panama has projects to monitor endangered species such as the jaguar; for which they have been mainly using camera traps. These projects generate a large number of images that exceed, more often than not, the manpower capacity to label them. A faster way to do the tagging labor is to use new technologies associated with computer vision, which can reduce the time it takes to check whether or not a jaguar exists among the captured images. In this article, an algorithm has been developed using Matlab to perform image processing and recognition of jaguars based on background subtraction and the characteristic shape of jaguar spots. The algorithm achieves a high degree of precision of 80% and an accuracy rate of 79%, demonstrating that positive results can be obtained using computer vision for camera trap image analysis.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129552307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997619
Franklin Orlando Jorge Rivera
The volumes of water in the reservoirs constitute the main raw material in hydroelectric power plants, being components of great relevance in the energy matrix of the region, for which the study of these is of complete relevance. This document exposes the process for determining water volumes from the analysis of the number of pixels of water from satellite images (specifically of the Synthetic Aperture Radar type) during a period of the last four years on the reservoirs of El Salvador. The resources used correspond mainly to images of the Sentinel-1 satellite constellation available on the Google Earth Engine platform and data collected by the Transactions Unit of El Salvador.
{"title":"Water Volume Analysis in Reservoirs from Satellite Images","authors":"Franklin Orlando Jorge Rivera","doi":"10.1109/CONCAPAN48024.2022.9997619","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997619","url":null,"abstract":"The volumes of water in the reservoirs constitute the main raw material in hydroelectric power plants, being components of great relevance in the energy matrix of the region, for which the study of these is of complete relevance. This document exposes the process for determining water volumes from the analysis of the number of pixels of water from satellite images (specifically of the Synthetic Aperture Radar type) during a period of the last four years on the reservoirs of El Salvador. The resources used correspond mainly to images of the Sentinel-1 satellite constellation available on the Google Earth Engine platform and data collected by the Transactions Unit of El Salvador.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128334554","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997761
Cesar Noe Villatoro-Funez, J. L. Ordoñez-Ávila, M. Cardona
Water pollution is an issue of high importance due to its direct impact on the lives of humans, animals and ecosystems. Water quality monitoring systems are implemented throughout the world to help prevent this problem, consisting mainly of stations with a system of sensors for the measurement of water quality parameters in real time. However, to cover the entire area of a large body of water, it is necessary to implement multiple stations, which is expensive and inefficient. This paper proposes the development of an aquatic surface robot capable of performing long duration missions autonomously and incorporating a sensor system to measure water quality parameters, thus facilitating the collection of data and making it easier to reach locations in a more practical way.
{"title":"Design of a Unmanned Surface Robot for Lakes Monitoring","authors":"Cesar Noe Villatoro-Funez, J. L. Ordoñez-Ávila, M. Cardona","doi":"10.1109/CONCAPAN48024.2022.9997761","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997761","url":null,"abstract":"Water pollution is an issue of high importance due to its direct impact on the lives of humans, animals and ecosystems. Water quality monitoring systems are implemented throughout the world to help prevent this problem, consisting mainly of stations with a system of sensors for the measurement of water quality parameters in real time. However, to cover the entire area of a large body of water, it is necessary to implement multiple stations, which is expensive and inefficient. This paper proposes the development of an aquatic surface robot capable of performing long duration missions autonomously and incorporating a sensor system to measure water quality parameters, thus facilitating the collection of data and making it easier to reach locations in a more practical way.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129674648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997629
Carolina Del-Valle-Soto, Leonardo J. Valdivia, Fabiola Cortes-Chavez, R. Velázquez
Technological adaptations in homes allow older people to continue living in their homes, remaining in their environment. A better quality of life is achieved, tending to reduce accidents within the home. This study analyzes the impact of a wireless system to improve the life quality at home on the feeling of well-being in the elderly. This perception is analyzed by measuring health variables such as body temperature, sleep rhythm sensors, heart rate, and breathing frequency. We statistically analyze the real impact on the sensation of men and women and their perception of safety against accidents and on the improvement of their quality day by day. We obtain that this feeling of well-being is more significant in women than in men and only on certain days of the week. Finally, we present statistics of the most stable vital signs under the presence of the wireless network in the person’s home.
{"title":"Smart-home technology and its impact on the elderly health","authors":"Carolina Del-Valle-Soto, Leonardo J. Valdivia, Fabiola Cortes-Chavez, R. Velázquez","doi":"10.1109/CONCAPAN48024.2022.9997629","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997629","url":null,"abstract":"Technological adaptations in homes allow older people to continue living in their homes, remaining in their environment. A better quality of life is achieved, tending to reduce accidents within the home. This study analyzes the impact of a wireless system to improve the life quality at home on the feeling of well-being in the elderly. This perception is analyzed by measuring health variables such as body temperature, sleep rhythm sensors, heart rate, and breathing frequency. We statistically analyze the real impact on the sensation of men and women and their perception of safety against accidents and on the improvement of their quality day by day. We obtain that this feeling of well-being is more significant in women than in men and only on certain days of the week. Finally, we present statistics of the most stable vital signs under the presence of the wireless network in the person’s home.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131928128","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997606
I. K. Ángeles-Pérez, G. Martínez-Reyes, R. Iracheta-Cortez, L.A Otamendi-Cruz, J. D. L. Cruz-Soto, E. Dueñas-Reyes
In this paper is presented a comparison among one physical weather station, called CERTE, and two virtual weather stations, called Merra-2 and Era-5, for analyzing the impact of wind resource of the site in the annual energy production (AEP) as well as in the economic feasibility of wind farms. Physical and virtual weather stations are located in the site La Ventosa, City of Juchitan de Zaragoza, Oaxaca, México. The wind resource data obtained from CERTE, Merra-2 and Era-5 weather stations is analyzed to describe, first, the site wind class and then, to show some relevant statistical parameters for comparisons among weather stations such as the average wind speed profile at different heights, the prevailing wind direction through the wind rose plot, the wind distribution plots and their fits through Weibull functions. The proper wind turbine for the site La Ventosa is selected according to the wind data provided by CERTE due to this weather station is considered as the most accurate and reliable due to its measuring instruments meet the requirements of IEC 61400-1 standard and thus, it has the quality for being considered a good basis of comparisons with other weather stations. The annual energy production (AEP) for each station is obtained through the wind turbine power curve and Weibull parameters, k and c. Finally, an economic analysis is developed to determine if the site is financially viable for the installation of a wind farms.
本文介绍了一个物理气象站(CERTE)与两个虚拟气象站(Merra-2和Era-5)之间的比较，以分析站点的风力资源对年能源生产(AEP)的影响以及风电场的经济可行性。物理和虚拟气象站位于墨西哥瓦哈卡州Juchitan de Zaragoza市La Ventosa。对CERTE、Merra-2和Era-5气象站的风资源数据进行分析，首先描述站点风的级别，然后给出气象站间比较的相关统计参数，如不同高度的平均风速廓线、通过风玫瑰图表示的盛行风向、通过威布尔函数表示的风分布图及其拟合。根据CERTE提供的风力数据选择适合La Ventosa站点的风力涡轮机，因为该气象站的测量仪器符合IEC 61400-1标准的要求，因此被认为是最准确和可靠的，因此具有与其他气象站进行比较的良好基础。通过风力涡轮机功率曲线和威布尔参数k和c，获得每个站点的年发电量(AEP)。最后，进行经济分析，以确定该站点在经济上是否适合安装风电场。
{"title":"Comparison of wind resource among physical and virtual weather stations for analyzing the economic feasibility of wind farms","authors":"I. K. Ángeles-Pérez, G. Martínez-Reyes, R. Iracheta-Cortez, L.A Otamendi-Cruz, J. D. L. Cruz-Soto, E. Dueñas-Reyes","doi":"10.1109/CONCAPAN48024.2022.9997606","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997606","url":null,"abstract":"In this paper is presented a comparison among one physical weather station, called CERTE, and two virtual weather stations, called Merra-2 and Era-5, for analyzing the impact of wind resource of the site in the annual energy production (AEP) as well as in the economic feasibility of wind farms. Physical and virtual weather stations are located in the site La Ventosa, City of Juchitan de Zaragoza, Oaxaca, México. The wind resource data obtained from CERTE, Merra-2 and Era-5 weather stations is analyzed to describe, first, the site wind class and then, to show some relevant statistical parameters for comparisons among weather stations such as the average wind speed profile at different heights, the prevailing wind direction through the wind rose plot, the wind distribution plots and their fits through Weibull functions. The proper wind turbine for the site La Ventosa is selected according to the wind data provided by CERTE due to this weather station is considered as the most accurate and reliable due to its measuring instruments meet the requirements of IEC 61400-1 standard and thus, it has the quality for being considered a good basis of comparisons with other weather stations. The annual energy production (AEP) for each station is obtained through the wind turbine power curve and Weibull parameters, k and c. Finally, an economic analysis is developed to determine if the site is financially viable for the installation of a wind farms.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"283 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134367096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997721
I. Rojas-Hernandez
In 2018, the Instituto Costarricense de Electricidad (ICE, Costa Rican Electricity Company) acquired one hundred electric vehicles. Along with this fleet, one hundred and ten chargers were installed across the whole country; at ICE’s own facilities. To control and monitor energy consumption by car at each charger, and to calculate its energy efficiency per kilometer on the road, an Open Charge Point Protocol (OCPP v1.6) central system was deployed. The implemented server uses tools like HTML, CSS, JSP, MySQL, JavaScript, and Maven. Version 1.6 was selected because is the most common OCPP version currently available, so most devices would be able to operate with this central system. Test scenarios were created to implement a development stage, and later, interoperability scenarios were deployed in an operational stage with different devices available.
{"title":"Electric Vehicle Fleet control through OCPP deployment","authors":"I. Rojas-Hernandez","doi":"10.1109/CONCAPAN48024.2022.9997721","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997721","url":null,"abstract":"In 2018, the Instituto Costarricense de Electricidad (ICE, Costa Rican Electricity Company) acquired one hundred electric vehicles. Along with this fleet, one hundred and ten chargers were installed across the whole country; at ICE’s own facilities. To control and monitor energy consumption by car at each charger, and to calculate its energy efficiency per kilometer on the road, an Open Charge Point Protocol (OCPP v1.6) central system was deployed. The implemented server uses tools like HTML, CSS, JSP, MySQL, JavaScript, and Maven. Version 1.6 was selected because is the most common OCPP version currently available, so most devices would be able to operate with this central system. Test scenarios were created to implement a development stage, and later, interoperability scenarios were deployed in an operational stage with different devices available.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133233409","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997702
Luis Ivan Ruiz Flores, Hannia Jazmín Montes Loaeza
In this paper, the requirements, correlations, trends and global comparisons of the topic of Grid Code in energy systems are presented. The Grid Codes or guidelines for electrical systems began to appear in a general way more than 20 years ago around the world, among the grid codes of different countries there are certain common specifications, where they formulate the technical and operational characteristics of the different parties involved; namely, from the generation, transmission, and distribution of electrical energy to guarantee the level of quality of the energy supply that must be delivered to end users. There are many rules and policies in each Grid Code that deal with the process involved in the electrical system, establishing a series of requirements to facilitate flexibility and operational stability, security, and quality of the electrical energy supply. The concept of Grid Code is conceptually described as a technical document that contains the rules that govern the operation, maintenance, and development of the electrical system. This paper shows the typical requirements based on the parameters considered in different regions of the world to have a reliable electrical system in each country under the argument that the systems must comply with the Rule Books. The intention of this work is to show the trends in some countries where Rule Books for Grid Code are applied and compliance with the parameters used globally.
{"title":"Grid Code, Part 2: Electrical Parameterization and Global Comparison in the Energy Sector","authors":"Luis Ivan Ruiz Flores, Hannia Jazmín Montes Loaeza","doi":"10.1109/CONCAPAN48024.2022.9997702","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997702","url":null,"abstract":"In this paper, the requirements, correlations, trends and global comparisons of the topic of Grid Code in energy systems are presented. The Grid Codes or guidelines for electrical systems began to appear in a general way more than 20 years ago around the world, among the grid codes of different countries there are certain common specifications, where they formulate the technical and operational characteristics of the different parties involved; namely, from the generation, transmission, and distribution of electrical energy to guarantee the level of quality of the energy supply that must be delivered to end users. There are many rules and policies in each Grid Code that deal with the process involved in the electrical system, establishing a series of requirements to facilitate flexibility and operational stability, security, and quality of the electrical energy supply. The concept of Grid Code is conceptually described as a technical document that contains the rules that govern the operation, maintenance, and development of the electrical system. This paper shows the typical requirements based on the parameters considered in different regions of the world to have a reliable electrical system in each country under the argument that the systems must comply with the Rule Books. The intention of this work is to show the trends in some countries where Rule Books for Grid Code are applied and compliance with the parameters used globally.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115796337","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-11-09DOI: 10.1109/CONCAPAN48024.2022.9997631
Kleber Vicente, Luis Arcos, P. Cruz, Jackeline Abad, Iván Zambrano
The development of rehabilitation robots today represents a vast field for developing control techniques, mainly in devices intended for the rehabilitation of lower limbs. This article compares three control methodologies using the dynamics of a parallel manipulator type 3UPS + 1RPU to analyze the behavior when following a predefined trajectory. It begins with analyzing the inverse and forward kinematics and the components of the robot dynamics. Then, in the same way, the restrictions and configurations are analyzed to avoid the singularities of the system. Finally, the performance index based on the integral of the squared error is used to compare which controller is more reliable, as well as the energy expenditure of the actuators when performing the prescribed task. All this is under a simulation environment that allows verifying the robot’s behavior.
{"title":"Model-based Control of a 3UPS+1RPU Parallel Robot for Knee Rehabilitation","authors":"Kleber Vicente, Luis Arcos, P. Cruz, Jackeline Abad, Iván Zambrano","doi":"10.1109/CONCAPAN48024.2022.9997631","DOIUrl":"https://doi.org/10.1109/CONCAPAN48024.2022.9997631","url":null,"abstract":"The development of rehabilitation robots today represents a vast field for developing control techniques, mainly in devices intended for the rehabilitation of lower limbs. This article compares three control methodologies using the dynamics of a parallel manipulator type 3UPS + 1RPU to analyze the behavior when following a predefined trajectory. It begins with analyzing the inverse and forward kinematics and the components of the robot dynamics. Then, in the same way, the restrictions and configurations are analyzed to avoid the singularities of the system. Finally, the performance index based on the integral of the squared error is used to compare which controller is more reliable, as well as the energy expenditure of the actuators when performing the prescribed task. All this is under a simulation environment that allows verifying the robot’s behavior.","PeriodicalId":138415,"journal":{"name":"2022 IEEE 40th Central America and Panama Convention (CONCAPAN)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117148793","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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