Browsing by Author "Quintero C."

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Design and control of an unmanned surface vehicle for environmental monitoring applications
(Institute of Electrical and Electronics Engineers Inc., 2017) Villa Ramírez, José Luis; Paez J.; Quintero C.; Yime E.; Cabrera J.; Lindado H.C.
Unmanned Surface Vehicles (USV) have been used in a wide range of applications, in particular in environmental monitoring. In this work we propose the design and control of an USV which is intended to be used for monitoring environmental variables of the main inlet waters located in Cartagena de Indias, Colombia, such as Chambacu, Cabrero and San Lazaro. The paper shows the results obtained in the naval design, focused on the hull design, and the control strategy for unmanned navigability which is tested in simulation. © 2016 IEEE.
Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications
(Institute of Electrical and Electronics Engineers Inc., 2018) Paez J.; Villa Ramírez, José Luis; Cabrera J.; Yime E.; Garcia L.; Wightman P.; Percybrooks W.; Carrillo H.; Quintero C.
Environmental monitoring in inland waters is an important issue for adequate planning and management of this kind of territories. This paper shows the implementation of the concepts and strategies for a boat to follow a pre-established route through waypoints oriented to these water bodies. An extended Kalman filter is used to estimate orientation and position using the readings of an inertial unit fused with a magnetometer and GPS. The strategy shows to be valid in calm conditions, which is sufficient for the mission. © 2018 IEEE.
Kinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory
(Institute of Electrical and Electronics Engineers Inc., 2018) Rodelo M.; Villa Ramírez, José Luis; Duque Pardo, Jorge Eliécer; Yime E.; Garcia L.; Wightman P.; Percybrooks W.; Carrillo H.; Quintero C.
In this paper, a complete kinematic analysis of a planar 3-RRR parallel robot is presented. The position through the direct and inverse kinematics, velocities, jacobians and accelerations were developed using Screw Theory. Likewise, the workspace and singularities analysis is performed to find the smallest set of active joints for which the planar 3-RRR parallel robot remains equilibrated with respect to dexterous workspace, when failure occurs for one arbitrary active joint in a safe region. In order to accomplish this, sensitivity analysis for a classic trajectory and performance indexes for redundant planar 3-RRR parallel robot were obtained and compared with the same generation of non-redundant one, to validate the dexterity and manipulability of the mechanism. The simulation results show the maps of the dexterous workspace which the End-Effector can reach when there is redundant or non-redundant kinematics in the robot. © 2018 IEEE.
Technologies applied in the monitoring and control of the temperature in the Cold Chain
(Institute of Electrical and Electronics Engineers Inc., 2018) Campos Y.; Villa Ramírez, José Luis; Garcia L.; Wightman P.; Percybrooks W.; Carrillo H.; Quintero C.
In this article, an analysis of the technologies applied for the monitoring and control of the temperature of perishable products in the cold chain is presented. Also, a general description of the stages of the process is made from the production, transport, storage, distribution, points of sale and final consumer. The objective of this work is to identify the current technologies trends that can be implemented in a comprehensive way in a cold chain that allow to save costs, significant time and reduce the waste of food in companies. In addition, there is a brief discussion of future work that can be implemented to ensure the quality and safety of food and medicines throughout the cold chain. © 2018 IEEE.
Yet another robot platform for teaching programming: YarpTp
(Institute of Electrical and Electronics Engineers Inc., 2018) Henríquez Núñez, Yuranis; Pedroza K.; Vega K.; Serrano J.E.; Garcia L.; Wightman P.; Percybrooks W.; Carrillo H.; Quintero C.
This paper introduces an implementation of a robot elaborated with Raspberry Pi that accompanies the mentoring of the programming courses given at Universidad Tecnológica de Bolívar as a pedagogic element. This robotic prototype was designed to support the learning of the students who have shortcomings and gaps in knowledges they acquire in their master classes. It describes how it was carried out, as well as important details that append value to the robot. © 2018 IEEE.