Diego González

Oak Ridge Associated Universities

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Mikel Armendia

Tekniker

Andrés San-Millán

Catholic University of Colombia

J. Alexandra Hakala

National Energy Technology Laboratory

Mark McKoy

Government of the United States of America

Bruno Santamaria

Tekniker

Abhash Kumar

National Energy Technology Laboratory

Scott Beautz

MacKenzie Mark‐Moser

National Energy Technology Laboratory

Dustin Crandall

National Energy Technology Laboratory

Javier García

University of Puerto Rico-Mayaguez

Cooperative Institutions

Tekniker

National Energy Technology Laboratory

Karlsruhe Institute of Technology

University of the Basque Country

GMV Innovating Solutions (Spain)

Embry–Riddle Aeronautical University

United States Department of Energy

Centre for Automation and Robotics

Universidad Politécnica de Madrid

Ente Vasco de la Energía

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Learning of the Object Oriented Paradigm Through Interactive Video-Games Development

Diego González Meritxell Monguillot Hernando Pablo San Segundo Rubén González Crespo Carlos Platero Dueñas

The Object Orientation Paradigm (OOP) is more than Object Oriented languages. Learning the syntax of a language as C++ or Java is a relatively easy task compared with the understanding of the principles of OO Modeling and Design (OOD), which require a high ability of abstract reasoning. Moreover, it is not enough to teach the artifacts of Computer Aided Software Engineering (CASE) as the Unified Modeling Language (UML) if those principles are not properly understood. We wanted to engage the students in a motivating framework, so both the principles of OOD are properly acquired and put in practice with CASE and programming tools.

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Application of a MBSE Approach to Improve the Dynamic Performance of a Scara Robot

Diego González Javier Orlando Pinzón-Arenas Olivier Schmidt Mikel Armendia

Model Based System Engineering (MBSE) allows an optimized development of new mechatronic systems and/or functionalities. In this paper a MBSE approach is proposed where two control functionalities are applied to improve the dynamic performance of a Scara Robot. Acceleration feedback is used to increase vibration damping capacity and Iterative Learning Control is applied to reduce path errors. A simulation model combining Scara Robot mechanics, developed in Simcenter Amesim™ software from Siemens Digital Industries Software, and control loops, developed in Simulink, has been used to implement and evaluate the functionalities. Finally, both algorithms were implemented in a real Scara robot that was previously adapted to be controlled by a FAGOR CNC.

SCARA

Iterative Learning Control

10.1109/etfa46521.2020.9211966

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Machine Developing a Transferable Framework for CO2-Stimulated Geothermal Energy Enhancement: A Case Study

Guoxiang Liu Abhash Kumar Scott Beautz MacKenzie Mark‐Moser Luciane Cunha

10.2172/2483901

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Visual Servoing and Impedance Control in Robotic Manipulators for On-Orbit Servicing

Javier García Andrés San-Millán J. Estremera Bruno Santamaria Diego González

This paper presents a controller for a robotic manipulator for spacecraft docking operations oriented to on-orbit servicing. The proposed controller combines visual and force/torque feedback in order to complete the approach and contact phases of the docking. Visual servoing is used not only for guiding the end-effector during the approach phase, but also to maintain the end-effector probe correctly aligned during the contact phase. During the contact phase, an impedance controller generates the compliant behavior needed to minimize the peak forces that could result in a failed docking. The proposed controller has been tested experimentally in a hardware-in-the-loop robotic test-bench showing that in this ground-testing environment docking can be completed successfully for a set of initial conditions (relative speed of the spacecraft).

Impedance Control

Visual Servoing

Robot end effector

Test bench

Docking (animal)

Contact force

Robot manipulator

10.1109/etfa46521.2020.9211989

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Visual servoing for humanoid grasping and manipulation tasks

Nikolaus Vahrenkamp Sebastian Wieland P. Azad Diego González Tamim Asfour

Using visual feedback to control the movement of the end-effector is a common approach for robust execution of robot movements in real-world scenarios. Over the years several visual servoing algorithms have been developed and implemented for various types of robot hardware. In this paper, we present a hybrid approach which combines visual estimations with kinematically determined orientations to control the movement of a humanoid arm. The approach has been evaluated with the humanoid robot ARMAR III using the stereo system of the active head for perception as well as the torso and arms equipped with five finger hands for actuation. We show how a robust visual perception is used to control complex robots without any hand-eye calibration. Furthermore, the robustness of the system is improved by estimating the hand position in case of failed visual hand tracking due to lightning artifacts or occlusions. The proposed control scheme is based on the fusion of the sensor channels for visual perception, force measurement and motor encoder data. The combination of these different data sources results in a reactive, visually guided control that allows the robot ARMAR-III to execute grasping tasks in a real-world scenario.

Visual Servoing

Robustness

Torso

Active perception

10.1109/ichr.2008.4755985

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Citations (88)

Application of Impedance Control in Robotic Manipulators for Spacecraft On-orbit Servicing

Zenodo (CERN European Organization for Nuclear Research) (2019)

Javier García Bruno Santamaria Andrés San-Millán Diego González J. Estremera

Impedance Control

Orbit (dynamics)

10.5281/zenodo.3557241

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Tuning of Power System Stabilizers using Multiobjective Optimization NSGA II

IEEE Latin America Transactions (2015)

Humberto Verdejo Diego González José Delpiano Cristhian Becker

This article presents the application of the NSGA II genetic algorithm to the tuning parameters of the power system stabilizer. In order to obtain the adjustment needed, three objective functions were proposed to be minimized. Which depend directly on the localization of the real part of eigenvalues of the system under study. By using the search algorithm, a set of feasible solutions are obtained, and then the best is selected according to the parameter combination which satisfy the rigorous criteria related to the dynamic answer of the system. The methodology is applied to two international tests: three machines - nine bus and ten machines -thirty nine bus.

Stabilizer (aeronautics)

10.1109/tla.2015.7332145

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Application of Impedance Control in Robotic Manipulators for Spacecraft On-orbit Servicing

Javier García Diego González Andrés San-Millán Bruno Santamaria J. Estremera

On-orbit satellite servicing is a technology that is expected to transform the space sector in the coming years. Space robotics is a promising approach to refuel, repair, update, and transport satellites on orbit. However, safe and reliable docking with the client satellite, needed as part of most servicing operations, is still considered a challenge. This paper presents an autonomous robot-based approach for this purpose. An impedance control strategy is added to the controller of a conventional robotic manipulator to allow compliant and safe manipulation of a spacecraft docking mechanism. This setup is expected to facilitate autonomous docking and manipulation operations with cooperative and non-cooperative on-orbit serviced satellites. Platform-art ^© , a dynamic test bench for hardware-in-the-loop validation of space GNC technologies is used to test the proposed approach.

Impedance Control

Orbit (dynamics)

10.1109/etfa.2019.8869069

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Citations (13)

On the Implementation of New Technologies for Embedded Hybrid Control

Fernández Ines Zhun Fan Torben Sørensen Diego González

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State-space Coil Modelling in Plasma Magnetic Confinement Devices

MATEC Web of Conferences (2017)

Aitor J. Garrido Izaskun Garrido Diego González Odei Molinuevo Jon Lekube

The need of robust and optimal control schemes is a key factor for the development of future fusion reactors. This paper has dealt with the state-space modelling of the Ultra-Low Iota Super Elongated Stellarator of the UPV/EHU, using a physical lumped parameter equivalent circuit approach. The model obtained has been validated by means of experimental output data showing an excellent matching with the real system. Besides, it has been designed a MPC scheme that has been successfully implemented both in simulation and experimentally using a real-time control platform.

10.1051/matecconf/201712502005

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