Varela Aldas, José
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Varela Aldas, José
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Ambato
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josevarela@uti.edu.ec
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57192546163

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Modelling and control of a mobile manipulator for trajectory tracking

2018 , Varela Aldas, José , Andaluz V.H. , Chicaiza F.A.

This article presents the mathematical modelling of a mobile manipulator robot to describe its kinematic and dynamic behaviour; the kinematic model is used to design a control law that allows the autonomous tracking of trajectories in structured spaces; while the dynamic model is used to compensate for speed errors in the robot. Additionally, the stability of the proposed control systems is demonstrated, and finally, simulation and experimentation tests are carried out to validate the proper functioning of the controllers. © 2018 IEEE.

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Teleoperation of a mobile manipulator with feedback forces for evasion of obstacles [Teleoperación de un manipulador móvil con retroalimentación de fuerzas para evasión de obstáculos]

2019 , Andaluz V.H. , Varela Aldas, José , Chicaiza F.A. , Quevedo W.X. , Ruales, María Belén

This work develops the teleoperation of a mobile manipulator using a kinematic and dynamic control. In addition, the operator receives feedback forces through a haptic device to evade obstacles. The experiments were performed in a local wireless communication network and using the AKASHA robot. The results show an adequate following of the references of control, speed errors are corrected with minimum communication delays. © 2019, Associacao Iberica de Sistemas e Tecnologias de Informacao. All rights reserved.

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Dynamics of a Unicycle-Type Wheeled Mobile Manipulator Robot

2020 , Varela Aldas, José , Chicaiza, F.A. , Andaluz V.H.

Mathematical modeling is widely used in robotics to display behaviors and design control algorithms; the dynamic model of a robot describes the movements considering the action of internal and external forces of the system. This paper presents the dynamics of a unicycle mobile manipulator robot using the Euler-Lagrange proposal and conditioning the model to obtain the output velocities in the robot from the desired velocities. Additionally, the dynamic model is complemented by the identification of parameters using experimental data obtained from the AKASHA robot. The results present the signals applied in the identification, the values of the dynamic constants are found and the validation data which indicate a correct performance of the proposal are graphically shown. © 2020, Springer Nature Switzerland AG.

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Mobile Manipulator for Hospital Care Using Firebase

2022 , Varela Aldas, José , Buele, Jorge , Guerrero-Núñez S , Andaluz V.H.

The COVID-19 pandemic has shown that the use of the technology in medicine is no longer a luxury, but a necessity. The use of the robotics in the treatment of diseases and physical therapies is limited in Latin America due to the high acquisition and maintenance costs. This document proposes the design, development, and evaluation of a robotic system for the guided monitoring of patients, through remote control using a mobile application. Within the methodology, four phases were proposed: planning, design, development, and evaluation. The 3D design is done using the Tinkercad software, which facilitates the construction of the pieces using 3D printing technology. The ESP32 board is the main element that receives the signals from the sensors and controls the actions of the actuators through the orders received from Firebase. For the development of the application, App inventor is used, building a friendly and easy-to-use interface. To validate this proposal, experimental tests were carried out with two patients in a medical center. In addition, a parameter compliance questionnaire was applied to the robot, obtaining a score of 92.6%, and the mobile application obtained 72.5% in the usability test. All this confirms an efficient care proposal, with a reduced investment. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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Temperature Control of an Electric Through Virtual Hardware in the Loop Technique

2022 , Mollocana J.D. , Jorque B.S. , Varela Aldas, José , Andaluz V.H.

This article presents the design of PID, fuzzy and MPC control algorithms for the temperature process of an electric oven with the objective of comparing operational and economic indexes. The controllers are implemented using the hardware in the loop technique that considers the virtualization of the process in the Unity 3D graphics engine. The development of the virtual environment incorporates 3D models that resemble a real environment of the brick manufacturing process, allowing the immersion and interaction of the user with the environment, in order to perform monitoring and control tasks of the industrial process. For the virtualization of the industrial process, it is considered to obtaining a mathematical model that represents the dynamics of the temperature plant. Finally, the experimental results achieved through the implementation of the hardware in the loop technique are presented, and a comparison of the controllers is performed in terms of power consumption, controller performance by visualizing the behavior of the temperature system and the evolution of the control errors. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Open-Access Platform for the Simulation of Aerial Robotic Manipulators

2024 , Varela Aldas, José , Recalde, Luis F. , Guevara B.S. , Andaluz V.H. , Gandolfo D.C.

Recent technological advances have brought increased attention to aerial robotic manipulators (ARMs), particularly in applications that involve physical interactions using tools such as welding and drilling, as well as in the autonomous pickup and transport of objects. However, translating control algorithms into real-world applications for aerial robotic manipulators may prove challenging, given the potential for accidents and the time-consuming nature of experiments; furthermore, the acquisition of aerial robotic manipulators could impose a substantial financial burden on universities, research centers, and companies. Therefore, this work addresses these issues by developing an open access platform to simulate aerial robotic manipulators and test control strategies. The presented simulator is based on the kinematics and dynamics of the Matrice-100 aerial platform equipped with a 3 DOF robotic arm, where the mathematical formulation was developed using the Euler-Lagrange formalism. In addition, optimization techniques were used to perform the parameter identification procedure, ensuring the development of an accurate model for the open-access platform. The simulator platform is built upon the integration of Python, the Robot Operating System (ROS), and Unity 3D. These components collaborate to describe and demonstrate the behavior of the aerial robotic manipulator during the test process of control system algorithms. Simple tests were conducted to validate the open-access simulator platform. The proposed approach ensures the evaluation, testing of control strategies, and the ability to conduct experiments before hardware implementations. Finally, the proposal was published as an open source platform available in the following Code. © 2013 IEEE.

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Monitoring System for Plants Based on a Smart Plant Pot

2022 , Salazar M. , Castillo F. , Andaluz V.H. , Palacios-Navarro G. , Varela Aldas, José

The occupations of the modern world neglect important things like the environment and sustainable development. This work develops a monitoring system for plants, based on a smart plant pot that can be supervised and configured through a mobile application. The electronic design consists of the use of two sensors that constantly send the temperature and humidity of the plant to the mobile application. In addition, a submersible pump provides water to the interior of the plant pot to monitor the condition of the plant. The optimal temperature and humidity settings will depend on the type of plant; these options can be configured remotely. Alerts are sent in the form of notifications or appear on the display of the plant pot when a different status than recommended is detected. Information is reflected locally on the plant pot display as facial expressions. The local operating code is designed so that the facial expression displayed on the screen changes automatically based on the conditions presented on the plant pot. As a result, adequate communication was obtained between the mobile application and all the devices installed in the smart plant pot. Finally, an acceptance test is applied that qualifies this proposal as suitable for domestic use. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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Virtual Control of a Double Effect Evaporator for Teaching-Learning Processes

2021 , Garcés R.J. , Lomas J.F. , Pilatasig J.G. , Andaluz V.H. , Tutasig A.E. , Zambrano A.S. , Varela Aldas, José

This article presents the control and virtualisation of a double effect evaporator plant oriented to teaching-learning processes. A virtual process with similar characteristics to a real one is implemented using CAD tools and the Unity 3D graphic engine, with the aim of simulating the behaviour of an industrial process, specifically, a double effect evaporator; this allows the behaviour of the process to be evaluated and control manoeuvres to be implemented without putting the safety of the operator or the plant at risk. The result is an interactive and immersive virtual environment between the user and the industrial process. The dynamic modelling of the double effect evaporator is incorporated in the virtual environment, so that the virtual animation is similar to a real process. © 2021, Springer Nature Switzerland AG.

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Control of a Security Door Through the Internet of Things

2022 , Toapanta J. , Miranda M. , Andaluz V.H. , Palacios-Navarro G. , Varela Aldas, José

Home security has increased in recent years with the help of technology. Even more, the appearance of the internet of things (IoT) allows it to control and monitor devices from anywhere in the world. This work develops a proposal that alerts the user about the status of a door through a mobile application using low-cost devices. For the electronic design, a magnetic contact sensor has been used that detects if the door is open. An electric lock is also used to control the door with the mobile application from anywhere in the user. The electronic system is based on an ESP32 board that has WiFi communication, this board sends the door status data to the mobile application. The electric lock can be activated in three ways: manually from the door, automatically according to a programmed routine, and remotely using the mobile app. The platform used for the IoT is Firebase, which allows the exchange of information between the local site and the remote site. The tests carried out around the prototype have responded correctly, the installed sensor continuously reports on the status of the door, and the control is executed according to the orders sent through the cloud. In addition, an acceptance test is used that guarantees the correct operation of the proposal. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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Pet Access Control System Using a Mobile Application

2022 , Cuzme C. , Miranda M. , Andaluz V.H. , Palacios-Navarro G. , Varela Aldas, José

This work develops a system consisting of a mobile application and an automatic gate implemented with low-cost technology. The devices are linked to a cloud server through the internet. The design of the system consists of a gate that incorporates a motion sensor to detect the pet, for this a passive infrared sensor is used. The electronic circuit of the gate is based on the ESP32 board. This device sends notifications to monitor when the pet approaches this area. The system consists of two modes, manual and automatic. In manual mode, the user decides to open the gate or not, while in automatic mode the gate opens whenever it detects the pet. On the other hand, the mobile application has been designed to control the operating mode. The application's user interface presents a warning when the presence of the pet is detected and allows the gate to be activated remotely only when it is in manual mode. The cloud platform used is Firebase, this remote database records the latest states of the fields shared by both devices. 3 pets were tested for 1 week to ensure continued system performance. As a result, adequate communication was obtained between the elements installed in the gate and the mobile application. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.

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