http://hdl.handle.net/10016/11850 2013-05-24T06:59:43Z 2013-05-24T06:59:43Z Monje, Concepción Vinagre, Blas Feliu, Vicente YangQuan, Chen http://hdl.handle.net/10016/12777 2012-04-10T12:12:08Z 2007-12-31T23:00:00Z

Title: Tuning and auto-tuning of fractional order controllers for industry applications Author(s): Monje, Concepción; Vinagre, Blas; Feliu, Vicente; YangQuan, Chen Abstract: This paper deals with the design of fractional order PI²Dμ controllers, in which the orders of the integral and derivative parts, λ and μ, respectively, are fractional. The purpose is to take advantage of the introduction of these two parameters and fulfill additional specifications of design, ensuring a robust performance of the controlled system with respect to gain variations and noise. A method for tuning the PI²Dμ controller is proposed in this paper to fulfill five different design specifications. Experimental results show that the requirements are totally met for the platform to be controlled. Besides, this paper proposes an auto-tuning method for this kind of controller. Specifications of gain crossover frequency and phase margin are fulfilled, together with the iso-damping property of the time response of the system. Experimental results are given to illustrate the effectiveness of this method.

2007-12-31T23:00:00Z Jardón, Alberto Gil, Ángel M. Peña, Ana I. de la Monje, Concepción Balaguer, Carlos http://hdl.handle.net/10016/9825 2011-12-22T08:45:34Z 2010-12-31T23:00:00Z

Title: Usability assessment of ASIBOT: a portable robot to aid patients with spinal cord injury Author(s): Jardón, Alberto; Gil, Ángel M.; Peña, Ana I. de la; Monje, Concepción; Balaguer, Carlos Abstract: The usability concept refers to aspects related to the use of products that are closely linked to the user's degree of satisfaction. Our goal is to present a functional evaluation methodology for assessing the usability of sophisticated technical aids, such as a portable robot for helping disabled patients with severe spinal cord injuries. The specific manipulator used for this task is ASIBOT, a personal assistance robot totally developed by RoboticsLab at the University Carlos III of Madrid. Our purpose is also to improve some aspects of the manipulator according to the user's perception. For our case study, a population of six patients with spinal cord injury is considered. These patients have been suffering spinal cord injuries for a period of time longer than 1 year before the tests are carried out. The methodology followed for the information gathering is based on the Quebec User Evaluation of Satisfaction with assistive Technology (QUEST). Different daily functions, such as drinking, brushing one's teeth and washing one's face, are considered to assess the user's perception when using ASIBOT as a technical aid. The human factor in this procedure is the main base to establish the specific needs and tools to make the end product more suitable and usable.

2010-12-31T23:00:00Z Jardón, Alberto Giménez, Antonio Correal, Raúl Martínez, Santiago Balaguer, Carlos http://hdl.handle.net/10016/9822 2011-12-19T16:04:09Z 2008-03-31T22:00:00Z

Title: ASIBOT: Robot Portátil de Asistencia a Discapacitados. Concepto, Arquitectura de Control y Evaluación Clínica Author(s): Jardón, Alberto; Giménez, Antonio; Correal, Raúl; Martínez, Santiago; Balaguer, Carlos Abstract: Hasta ahora la tecnología usada en los hogares se ha caracterizado por basarse en elementos estáticos, es decir, electrodomésticos tradicionales tales como lavavajillas, lavadoras, hornos, etc. fijos en un determinado lugar del entorno durante todo su periodo de funcionamiento. Recientemente se han añadido los entornos domóticos, que introducen control por computador de determinados servicios como luces, alarmas, climatización. En este artículo se presenta el siguiente paso en la introducción de nuevas tecnologías en una vivienda. El concepto fundamental es introducir “electrodomésticos móviles” en las casas, es decir, robots. El robot ASIBOT es un “electrodoméstico” móvil, diferente a los robots móviles tradicionales, que puede moverse a través de conectores situados en cualquier punto de la casa, desarrollando diferentes tareas cotidianas de asistencia a personas discapacitadas, como ayuda a comer, beber, aseo personal, manipulación de objetos, etc. Además, en este artículo se presentan los resultados de los ensayos clínicos efectuados con pacientes reales en la realización de AVDs (Actividades de la Vida Diaria) en el Hospital Nacional de Parapléjicos de Toledo. Description: 12 págs, 9 figs.

2008-03-31T22:00:00Z