Design and Implementation of a Flexible Robot

This robot has low natural frequencies of vibration. Insights into the problems of designing joint and link flexibility are discussed. The robot has three flexible rotary actuators and two flexible, interchangeable links, and is controlled by three independent processors on a VMEbus. Results from experiments on the control of residual vibration for different types of robot motion are presented. Impulse prefiltering and slowly accelerating moves are compared and shown to be effective at reducing residual vibration.

Design and Control of a Closed-Loop Brushless Torque Actuator

This report explores the design and control issues associated with a brushless actuator capable of achieving extremely high torque accuracy. Models of several different motor - sensor configurations were studied to determine dynamic characteristics. A reaction torque sensor fixed to the motor stator was implemented to decouple the transmission dynamics from the sensor. This resulted in a compact actuator with higher bandwidth and precision than could be obtained with an inline or joint sensor. Testing demonstrated that closed-loop torque accuracy was within 0.1%, and the mechanical bandwidth approached 300 Hz.

Design and Control of an Anthropomorphic Robotic Finger with Multi-point Tactile Sensation

The goal of this research is to develop the prototype of a tactile sensing platform for anthropomorphic manipulation research. We investigate this problem through the fabrication and simple control of a planar 2-DOF robotic finger inspired by anatomic consistency, self-containment, and adaptability. The robot is equipped with a tactile sensor array based on optical transducer technology whereby localized changes in light intensity within an illuminated foam substrate correspond to the distribution and magnitude of forces applied to the sensor surface plane. The integration of tactile perception is a key component in realizing robotic systems which organically interact with the world. Such natural behavior is characterized by compliant performance that can initiate internal, and respond to external, force application in a dynamic environment. However, most of the current manipulators that support some form of haptic feedback either solely derive proprioceptive sensation or only limit tactile sensors to the mechanical fingertips. These constraints are due to the technological challenges involved in high resolution, multi-point tactile perception. In this work, however, we take the opposite approach, emphasizing the role of full-finger tactile feedback in the refinement of manual capabilities. To this end, we propose and implement a control framework for sensorimotor coordination analogous to infant-level grasping and fixturing reflexes. This thesis details the mechanisms used to achieve these sensory, actuation, and control objectives, along with the design philosophies and biological influences behind them. The results of behavioral experiments with a simple tactilely-modulated control scheme are also described. The hope is to integrate the modular finger into an %engineered analog of the human hand with a complete haptic system.

Assembly Design and Evaluation in an Augmented Reality Environment

The technologies and methodologies of assembly design and evaluation in the early design stage are highly significant to product development. This paper looks at a promising technology to mix real components (e.g. physical prototypes, assembly tools, machines, etc.) with virtual components to create an Augmented Reality (AR) interface for assembly process evaluation. The goal of this paper is to clarify the methodologies and enabling technologies of how to establish an AR assembly simulation and evaluation environment. The architecture of an AR assembly system is proposed and the important functional modules including AR environment set-up, design for assembly (DFA) analysis and AR assembly sequence planning in an AR environment are discussed in detail.

Anàlisi, disseny i implementació de la nova web del trampolí tecnològic de la UdG

Creació d’un portal web amb informació sobre el Trampolí Tecnològic de la UdG (activitats, ofertes, etc.), i disseny d'una intranet que permeti al trampolí gestionar les diferents funcions que s'hi duen a terme (gestió dels diferents gestors de projectes, projectes que es tutelen, emprenedors i inversors que intervenen, ajudes que es poden rebre, etc.)

eCAT-Listening : Design and psychometric properties of a computerized adaptive test on English Listening

Resumen tomado de la publicaci??n

Utilització de proves d'autoavaluació en una intranet docent

En aquest treball s’analitza quin ha estat l’ús de les proves d’autoavaluació accessibles a la plataforma docent de la Universitat de Girona per part d’un total de quatre-cents setanta estudiants matriculats en tres assignatures dels estudis d’Enginyeria Tècnica Agrícola, especialitats Indústries Agràries i Alimentàries i Explotacions Agropecuàries, de l’Escola Politècnica Superior al llarg dels darrers cinc cursos acadèmics. Les proves d’autoavaluació plantejades eren del tipus resposta tancada i la seva resposta era voluntària ja que la realització de les proves no intervenia en el còmput de la qualificació final de l’assignatura. De tota manera, en les activitats d’avaluació de les diferents assignatures, que consistien fonamentalment en exàmens parcials i finals, hi havia una part de qüestions amb un format similar al de les preguntes disponibles en la plataforma docent. S’ha observat que els alumnes que responien les proves d’autoavaluació es presentaven més als exàmens i aprovaven més les assignatures que els que no accedien a la intranet docent per a respondre les qüestions disponibles. Malgrat això, hi ha un nombre important d’alumnes que no realitzaven aquestes proves, probablement perquè no puntuaven per a la qualificació final de les assignatures

Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

Computer-mediated communication and time pressure induce higher cardiovascular responses in the preparatory and execution phases of cooperative tasks

Resumen tomado de la publicaci??n

Lecture on cable design and manufacture

example for web site

Introduction to Game Design and Development

This is the introductory lecture to COMP3218. We introduce ourselves, cover the philosophy of the course, the structure and assessment process, and lead an initial game design exercise.

The City Passing by the River. The San Francisco River Canalization and Construction of Avenida Jiménez de Quesada in Bogota at the Beginning of the 20th Century

The document refers to the San Francisco river canalization and subsequent construction of the Avenida Jiménez de Quesada. Understanding that the project was ascribed to the modernizing policy of the time, the investigation identifies the different stages in the canalization process, and shows its relations with the spatial structure of the city and the local conditions that developed on the river surroundings. The financing of the project through the “property increase duty” permits an illustration of the progress of canalization and construction of the Jiménez Avenue process, providing a less technical and more social meaning to the sequence in which the project executed. Consequently, the document approaches the shaping dynamics of Bogotá´s spatial structure at the beginning of the XX century.