Doutorado em Engenharia Elétrica
URI Permanente para esta coleção
Nível: Doutorado
Ano de início:
Conceito atual na CAPES:
Ato normativo:
Periodicidade de seleção:
Área(s) de concentração:
Url do curso:
Navegar
Navegando Doutorado em Engenharia Elétrica por Autor "Alsina, Pablo Javier"
Agora exibindo 1 - 3 de 3
Resultados por página
Opções de Ordenação
- ItemDevelopment of a Mixed Reality Environment for the Rehabilitation of People with Impaired Mobility Using Gait Support Strategies(Universidade Federal do Espírito Santo, 2024-04-22) Machado, Fabiana Santos Vieira; Díaz, Camilo Arturo Rodríguez; https://orcid.org/0000-0001-9657-5076; http://lattes.cnpq.br/2410092083336272; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; http://lattes.cnpq.br/8928890008799265; https://orcid.org/0000-0003-0996-8651; http://lattes.cnpq.br/2705690076290294; Lima, Eduardo Rocon de; https://orcid.org/0000-0001-9618-2176; http://lattes.cnpq.br/6623746131086816; Alsina, Pablo Javier; https://orcid.org/0000-0002-2882-5237; http://lattes.cnpq.br/3653597363789712; Hernández, Mario Fernando Jiménez; https://orcid.org/0000-0003-0965-277X; http://lattes.cnpq.br/6078067029625341; Mello, Ricardo Carminati de; https://orcid.org/0000-0003-0420-4273; http://lattes.cnpq.br/1569638571582691Mobility significantly impacts quality of life, yet various health conditions can hinder it. These challenges are not limited to disease or injury-related impairments but also extend to age-related physical, cognitive, and sensory function losses. Smart Walkers and rehabilitation robotics offer solutions to improve functional capabilities and tailor therapy to individual needs, and in conjunction with Mixed Reality (MR), can also enhance motivation. This Doctoral Thesis aims to integrate advanced human-robot interfaces withMixed Reality to develop effective rehabilitation strategies. The UFES vWalker, a novel robotic assistance device introduced in this thesis, utilizes sensor interfaces to translate users' movement intentions into safe navigation. Integrated into an MR system, it combines virtual and physical environments and sensors, offering multimodal sensory feedback and enhanced human-robotenvironment interaction. The initial experiment with the MR system integrated haptic and visual feedback. Haptic feedback simulated an impedance tunnel to aid movement along the path, while visual feedback displayed the path in the virtual environment. Users with visual feedback completed tasks faster than those with only haptic feedback. The following experiment introduced a multimodal feedback system to assist visually impaired individuals in navigation. It included two main feedback systems: audio cues to guide users and vibration alerts for virtual obstacles. To prevent volunteers from viewing the virtual environment, visual feedback from the Oculus Quest headset, was disabled, creating a virtual blindfold. Three control strategies were used, each one designed for people with different residual mobility and cognitive capabilities. The strategies that offer more and less autonomy were more successful among volunteers, and exhibited similar mental, and physical demand. In the last experiment, a virtual obstacle avoidance strategy was introduced, utilizing a virtual laser sensor. This approach allowed users to move freely until an obstacle was detected, upon which the controller assists in navigating around it. Moreover, an interface was created to offer visual feedback on the key elements of the developed strategy. The volunteers found the MR system enjoyable, realistic, and encountered minimal confusion or difficulty during the experiment. Also, volunteers who received no introductory explanation about the interface were mostly able to infer their purpose. Therefore, it is clear that MR systems can provide considerable benefits to users who use rehabilitation assistance devices.
- ItemModelagem e compensação da dinâmica de robôs móveis e sua aplicação em controle de formação(Universidade Federal do Espírito Santo, 2009-03-06) Martins, Felipe Nascimento; Bastos Filho, Teodiano Freire; Carelli, Ricardo; Sarcinelli Filho, Mário; Fardin, Jussara Farias; Alsina, Pablo Javier; Amaral, Paulo Farias Santos; Dynnikov, Vladimir IvanovitchA new dynamic modeling approach for unicycle-like mobile robots is proposed, which is applied in the design of controllers for this type of robot. The dynamic model thus generated accepts linear and angular velocities as inputs, which is usual in commercial robots. Some of its properties are studied and proved, and are then used in the design of adaptive controllers that compensate for the robot dynamics while tracking a desired trajectory, following a leader or being part of a group in formation control problems. The Lyapunov theory is used on the stability analysis of the equilibrium in every case. A robustness analysis considering possible parameter variation and non-modeled disturbance is also performed. The influence of the dynamic compensation is studied, and its importance is illustrated by a performance index measured for both simulation and experimentation. Three formation control strategies with dynamic compensation are presented: one is a decentralized leader-follower control, and the other two are centralized virtual structure control. A Multi-Layer Scheme for formation control is here presented using one of the centralized formation control strategies. Such scheme is flexible in the sense that each part of the formation control problem is solved by an independent module. The proposed formation controller is capable of making the robots achieve a fixed desired formation, and to follow a desired formation having time-varying position and shape. The influence of the dynamic compensation on this formation control scheme is analyzed and illustrated through both simulation and experimental results.
- ItemUm sistema autônomo para navegação de cadeiras de rodas robóticas orientadas a pessoas com deficiência motora severa(Universidade Federal do Espírito Santo, 2009-08-05) Celeste, Wanderley Cardoso; Sarcinelli Filho, Mário; Carelli, Ricardo; Bastos Filho, Teodiano Freire; Ferreira, Edson de Paula; Salles, Jose Leandro Félix; Alsina, Pablo Javier; Amaral, Paulo Farias SantosThis dissertation proposes a solution to the problem met by people with severe motordiseases, which have full incapacity of moving around by themselves, but keep intact their cognitive abilities. Such a solution is a navigating system for a Robotic Wheelchair, which consists of a control system, a reference generating system and a supervisory system. The control system comprises a set of kinematic controllers to execute speci c tasks, besides a dynamic compensation controller capable to adapt itself in the presence of structured uncertainties and being robust to unstructured uncertainties. The robust adaptive dynamic compensator is based on a dynamic model of the robotic wheelchair carrying a user seated. Speci c tasks are accomplished by the reference generator based on a user command and vehicle information. User commands establish poses of interest to be reached by the robotic wheelchair after following a safe route. To split a general task in speci c ones is the strategy here adopted to reduce the complexity of the navigating system, which should also take care of the safety and comfort of the user. The supervisory system is responsible for an adequate coordination of the kinematic controllers, in addition to perform a sequence of speci c tasks. Simulation and experimentation results show the good performance of the system, even when submitted to changes caused by a user on board the vehicle and by external e ects.