GED

URI permanente para esta colecciónhttp://hdl.handle.net/11634/9639

Examinar

Mostrando 1 - 20 de 32

Desarrollo de una Interfaz Multiplataforma para el Control Basado en API NAOqi del Robot Pepper
(2023-08-29) Amaya, Sindy Paola; Vanegas Barbosa, Yineth Valentina; Aguilera Gil, Valeria Victoria; Rincon Caballero, Diana Alexandra; Niño Vargas, Santiago; Pinzón Farfán, Maria Alejandra; Palacios Pardo, Jorge Ivan; Castaño Ortiz, Daniel Fernando; Romero Velásquez, Juan Esteban; Mahecha Pérez, Heidy Nicoll; http://scienti.colciencias.gov.co:8081/c vlac/visualizador/generarCurriculoCv.d o?cod_rh=0000796425; https://scholar.google.es/citations?hl= es&authuser=2&user=Gg2sofAAAAAJ; https://orcid.org/0000-0002-1714-1593
Social robots are intended to be used for people with no special digital skills. However, some social robots such as Pepper require programming of specific software environments including Choreographe and Naoqi, making some typical tasks like shifting and communication difficult. We propose here the development of an APK and multiplatform programs (on Linux, Android & Windows) for the interface of control on real time of Pepper robot by means of an integration of Naoqi, ROS, Linux and Windows´s programs, and Android software layers. To achieve this, movement and speech functions of Naoqi API are packet on nodes and services of ROS; these ones will publish and retrieve data on Android APK through web service. Common scenarios for the robot, including conversational and choreographic exercises, are constructed to validate correctness of the software programmed, ROS architecture setup and the characteristics of robot’s responsibility. Finally, replication of built - in behaviors like greetings, body language, shifting and entertainment routines is performed by untrained users through the developed interface.
Una revisión sobre la evolución de la robótica móvil
(2021-06-24) Guarnizo Marin, Jose Guillermo; Bautista Díaz, Daniela; Sierra Torres, Juan Sebastián; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000855847; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=000169250; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001845144; https://scholar.google.com/citations?hl=es&user=_mObTPkAAAAJ; https://scholar.google.es/citations?user=9QLPvywAAAAJ&hl=es; https://scholar.google.com/citations?user=YpZiIJoAAAAJ&hl=es; https://scienti.minciencias.gov.co/gruplac/jsp/visualiza/visualizagr.jsp?nro=00000000002964; https://scienti.minciencias.gov.co/gruplac/jsp/visualiza/visualizagr.jsp?nro=00000000000825; https://orcid.org/0000-0002-8401-4949; https://orcid.org/0000-0002-9400-1551; https://orcid.org/0000-0002-9195-1172
UR3 modelo cinemático inverso
(2021-06-16) Páez Ramírez, David; Romero Camacho, Juan Pablo; Guarnizo Marin, José Guillermo; Universidad Santo Tomas; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001693094; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001770194; http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000855847; https://scholar.google.es/citations?user=LVv7OicAAAAJ&hl=es; https://scholar.google.es/citations?user=KRORlFQAAAAJ&hl=es&authuser=4; https://scholar.google.com/citations?hl=es&user=_mObTPkAAAAJ; https://orcid.org/0000-0002-9220-8532; https://orcid.org/0000-0002-8174-820X; https://orcid.org/0000-0002-8401-4949
The following document presents the investigation and calculation of the inverse kinematic model of the UR3 industrial manipulator by means of a geometric method, subsequently simulation is carried out through a communication between Python and CoppeliaSim, so that it can be verified that by means of the direct and inverse kinematic model you can find the final positions or the angle values respectively
Diseño y desarrollo de software para el manejo integral de personal administrativo: control de asistencia, liquidación y pago de nómina. Estudiantes: registro académico, control de asistencia y control de pago mensual de pensiones de la institución nuevo Colegio Lusadi Ltda.
(2016) Rodríguez Pérez, Juan Sebastián; Vásquez Fierro, Luis Fernando
The institution Nuevo Colegio Lusadi Ltda. Dedicated to the training of students, in the pre-kindergarten, kindergarten, transition, primary and basic secondary grades, currently has 2 headquarters (headquarters A and headquarters B) and an academic population composed of 23 teachers , 550 students at all levels and 7 employees, this leads to the integral management of staff information becoming increasingly complex. Currently the administrative processes that are carried out are the following: 1. Attendance control for teachers and administrators. 2. Settlement and payroll. 3. Student attendance control. 4. Record of notes. Currently all these activities are managed and developed manually, so there is a constant saturation of work in the administrative field this can be evidenced: at the time of settlement and payroll in terms of information collection, data processing , the risk in the accuracy of the results, in the same way, there are similar situations in the academic part regarding the registration, control and delivery of notes in the reports to parents, the attendance control manual when entering school , the control of monthly payments, among others. Due to the growth that the institution has and taking into account its vision and projection, its managers have seen the need to improve, guarantee and manage the integral information of the institution, with a view to optimizing processes, making them more user-friendly with the development of the work of human resources, ensuring the transparency and accuracy of the data. Taking into account the previous perspective, the problem to be solved focuses on the need to provide a solution in a technological context, starting from electronic engineering and computer science to organize, manage and control the relevant information for the administrative and academic activity of the Institution. Nuevo Colegio Lusadi Ltda. With this, the problem can be posed in terms of: how, through the appropriate use of technological tools based on electronics and computers, the development of the administrative and academic processes of the new lusithic university search can be provided resource optimization?
Modelo cinemático inverso para robot móvil diferencial Pioneer utilizando software Coppelia.
Pineda González:, Alonso; Sanchez Orozco, Diego Alejandro; Guarnizo Marín:, José Guillermo; https://scholar.google.es/citations?hl=es&authuser=1&user=1l31jYwAAAAJ; https://scholar.google.es/citations?view_op=list_works&hl=es&authuser=1&user= ypbKfWwAAAAJ; https://scholar.google.com/citations?hl=es&user=_mObTPkAAAAJ; https://orcid.org/0000-0003-2880-6869; https://orcid.org/0000-0002-2158-2076; https://orcid.org/0000-0002-8401-4949
In this video describes the design of a circular path of a simulated Pioneer 3 Robot in the CoppeliaSim integrated development environment, based on the inverse kinematics model for differential mobile robots. The CoppeliaSim software is frequently used in engineering due to its ease of describing and behaving in robots without the need for their physical presence, giving its platform the possibility of simulating real robots for different applications such as tracking and path planning and validating programmed behavior transferring them to the real robot [1] [2]. In mobile robotics, the inverse kinematic model allows describing the movement of the autonomous vehicle, looking for the values of its actuators based on a desired path. This model can be studied from any type of robot, with the use of differential traction wheels being one of the most studied for its simplicity, facilitating its use in everyday environments such as warehouses, offices, houses, among others [3]. The navigation system implemented in this video for the Pioneer 3 Robot is based on the inverse kinematic model of the propulsion system that determines the model from the configuration of the actuators that allow the robot to move freely in an environment, due to the fact that It works on a two-wheel robot with differential traction where its direction and trajectory are given by the difference in the speeds of said wheels independently, giving the robot traction and direction [4]. For this work, physical parameters of the robot were obtained such as the size of the wheels and the distance between them, the current position of the vehicle was also calculated in a two-dimensional coordinate system. The path sought is circular in nature, the points x, y being represented in a circle, with these parameters and knowing the equations of the kinematic model, the linear and angular velocity of the robot can be obtained. The path was programmed using Python.
Creación de software educativo para estudiantes con rasgos de trastorno por déficit de atención e hiperactividad a niños entre los 7 y 10 años del Nuevo Colegio Lusadi ubicado en el barrio Lucero medio de Bogotá
(2017) Martínez Castro, Brian Mauricio; Sarmiento Márquez, Luis Reinaldo; Quintero Peña, Carlos Andrés
In the following degree work, the aim is to respond to a problem that occurs in the New Lusadi School located in the Lucero Medio neighborhood of southern Bogotá, in which there is no resources to provide specialized education to children with deficit disorder of attention between the ages of 7 and 10 years for which an investigation is deployed that will trigger the development of software that can help this population in particular to improve their academic situation and learning models. In the following pages you will find a software proposal to solve this problem presented in the institution, and the process that should have been carried out to obtain successful results towards the proposed goal will be shown step by step, all of this starting from the investigations and exhaustive study of everything related to attention deficit disorder, explaining its causes, symptoms and treatment later, taking into account the humanistic foundation, always highlighting the importance of the person in the project, as well as the development of the project from the previous studies with help of an education professional to choose the population of students with traits of the disorder, also going through the initial stage of data collection and tests to observe the academic state in which the students were, as well as the steps for the design of the software starting for its attractive graphic environment for children the development the activities, the specific location of each of the program icons for ease of use. Finally, some recommendations are made where the requirements that the teams that are going to execute the software must have are shown and the qualitative and quantitative results of this work are shown, thus demonstrating its functionality and successful development, summarizing the different opinions of both teachers. as students and giving high importance to their recommendations for a future software update.
Sistema de Seguridad de Acceso Para las Opciones de la Aplicación de Captación de la Plataforma Web del Banco Av Villas
(2017) Salamanca Gallo, Carlos Andrés; Cruz Rojas, Diego Abelardo; Perez Gordillo, Fabian Eduardo; Universidad Santo Tomás; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001516111; https://scholar.google.com/citations?hl=es&user=vLN4fMAAAAAJ; https://orcid.org/0000-0002-2746-8733
In the last decade, information technology has established itself as a solid concept in relation to new digital tools that provide support to different industries and sectors of the economy. To strengthen this concept in terms of systematizing and digitizing information, adversities typical of this advance have also arisen and with greater emphasis on those companies that have integrated the entire nature of their business into digital platforms. In order to take care of a resource as important as information, security strategies arise at the internal and external level of a company, which seek to limit access for those who relate to the information1. Different companies have implemented these new tools, and Banks are a clear example of adaptation to new technological environments, since the different operations and processes carried out in these companies are currently working from the digital environment, saving time and resources in the relationship between the Bank and the Client. Banco AV Villas is a financial company, a member of the AVAL group, which engages in financial operations with money from shareholders and customers2. This company is characterized by being at the forefront of new technological developments, seeking to innovate and improve the different products and services it offers. For this, it is important for the Bank to have a specific area that is in charge of all matters related to information technology, for this reason the Vice Presidency of Operations and Technology is established, which focuses on all those projects of a technological level , dividing the work topics into areas such as Development Management, which is oriented towards generating software developments based on financial business operations. Within these operations is the Funding area, which is directed to all financial processes related to those products and / or services that the Bank calls liabilities. These processes are related to the money stored by the bank, which clients deliver to either a savings account, an AFC account or a CDT. This area has a management that works together for the execution and support of those technological projects that provide benefit to the business in the operations of Capture, said support is provided by the Directorate of Capture Projects, which is made up of four Support areas for the operation, which are 3: i) The Bach area, in charge of operations such as consolidation of movement and control of operations that are executed offline, when the Bank ends its daily operations. ii) The Virtual Channels area, which is responsible for the execution of software projects that mainly involve electronic channels for individuals, additionally manages the technical relationship with the ATH provider and related projects. iii) The Channels area that is responsible for the execution of projects that mainly involve face-to-face channels (offices) and collections. Finally iv) The Networks area that is responsible for the execution of software projects that mainly involve electronic channels for legal entities, expansion of electronic channels for natural persons through new technologies such as Transfer and CNB, Agreements and manages the technical relationship with financial networks such as ACH, PSE, Redeban, VISA among others. The focus of this project is to provide support to the management of Catchment projects, in the design and implementation of an access security system for the Catchment application options, through the development of software on the Z / OS and ASP platforms. net, for this, special emphasis is placed on areas related to the programming line. This knowledge has already been worked on from the academic field at the Santo Tomás University in the Faculty of Electronic Engineering and the project is also a good opportunity to strengthen the presence of electronic engineers within the financial sector and to emphasize the humanistic field by having as one of the fundamental aspects the saving of resources, avoiding the waste of materials and supplies in security processes thanks to the implementation of digital tools with the application of electronic engineering.
Implementación de los sistemas de detección de incendio e intrusión en el proyecto Banco De La República sucursal Tunja e implementación del sistema de CCTV en el edificio de g4s - calle 26
(2012) Valbuena Castaño, Carlos Alberto; Calderón, Juan Manuel
The growing need of human beings to prevent risky situations of any kind has caused the accelerated progression of technological devices in security systems. Aiming at maximizing protection, in recent years electronic security systems have been developed to a large extent, focusing the use of electronic elements on tasks previously carried out by personnel. As a primary step, it is necessary to carry out an analysis of the site in order to recognize what risks may arise at the site in question and what aspects must be protected. In this way, it is concluded that certain places have a greater or lesser need for protection, that is, the implementation of a certain system in a bank is not necessarily similar compared to the system implemented in a business building. Consequently, a design faithful to the infrastructure of the referenced site must be carried out, taking into account standards and technical recommendations consistent with an optimal level of quality. It is of utmost importance to bear in mind that the quality of the devices to be used greatly influences the quality of the system to be implemented, that is, if a system is implemented with certified devices, there will be a higher level of security than that implemented with devices of little renown. This monograph will deal with the topics related to the management, installation and start-up of fire, intrusion and CCTV detection systems from the project manager's perspective. In the first instance, a review of the company G4S Technology Colombia S.A. is presented. mentioning the different fields of action of the same, as well as the important projects managed, concluding with an organization chart of the company. Then a schedule of the activities carried out by the practicing engineer is presented, followed by a mention of the functions in the position. The definition of the systems installed in the projects in question continues, explaining in the process each one of the systems installed first at a general level and then specifically for the respective projects. Finally, an analysis of what is inferred by the practicing engineer in the internship process is presented.
Gestión y análisis de la comunicación bluetooth de una UNIPRO II ó FLECS para una unidad de cementación de pozos
(2020-09-09) Castillo Sicua, Lorena Patricia
Halliburton L.A. (Latin America) is one of the world's largest providers of products and services to the energy industry, this company provides services to the oil and gas industry, involving itself in the deposit, the location of hydrocarbons, management of geological data. , the drilling and evaluation of the formation of wells, their construction and completion, the optimization of production and even resource recovery, among other activities. Halliburton L.A. It has 4 main bases throughout the country and an administrative service point in Bogotá. Halliburton L.A. It is comprised of 13 product and service lines or PSL's that operate in two divisions: Drilling and Evaluation and Completion and Production. The PSL's are primarily responsible for strategy, Technological development, process development, human development and the allocation of capital; The cementing PSL is in charge of offering engineering solutions to prepare the well to receive cement. Cementation is the process by which the pores, in a sediment or rock, are partially or totally filled by substances and chemicals. One of the most important effects of cementation is the lithification of the sediment, which contributes to closing its porosity. The main objectives of cementing in the oil area are to unite, support and secure the casing that builds the well, also seals and isolates each production area, the cement lining protects the water and gas producing area from corrosion and stabilizes the hole. In the cementing process one of the most important in the oil industry and one of the most developed processes in Halliburton L.A. a flaw was seen with respect to the management of information and communication between devices and machinery of the line; A feasible solution was proposed to this shortcoming that optimizes the process and is described in the body of this document. Next, a process to control and transmit information on variables such as density, pressure, flow, chemical composition of substances, etc. will be explained. via bluetooth from a cementing unit to a control point. Halliburton L.A. has a commitment to safety in each of its activities, therefore, it intends to minimize the impact on the environment, control risks for employees, for external contractors and works to maintain safe work practices at all times. For this reason, it is chosen to improve a process that made a contribution to all these approaches.
Diseño del sistema de instrumentación y control para una bancada de transferencia de muestras de crudo de alta presión
(2020-09-09) Salamanca Gallo, Henry Alberto
This document contains the development of an electronic engineering project focused on the area of industrial control and instrumentation for the hydrocarbon industry in Colombia. The oil sector is a highly competitive sector due to the high standards of quality, industrial safety and environmental responsibility with which oil extraction, production, transportation and refining operations must be carried out, even more so in difficult times in which production The high levels of this energy resource make its price a factor against one of the fastest growing industries in the world. The oil industry is highly interdisciplinary due to its large number of processes and techniques to develop activities around oil; This project covers only one part of the large activity in the sector dedicated to the transportation of hydrocarbons, where the problem is discussed in detail and information is provided about the process of extraction and transportation of crude in Colombia for the Halliburton company. Here we find in detail the development of an instrumentation and control system to transfer high-pressure crude oil samples from initial storage mechanisms called samplers to suitable cylinders for the transportation of crude oil; This operation is characterized by presenting a high risk to the safety of the people who carry it out due to the high pressure generated in the components to transfer the crude. A special emphasis is placed on how, through the design of this system, the imminent risk for the people in charge of this operation is reduced, all from an engineering development that relates several disciplines such as the study of fluid mechanics, nature and behavior of the valuable hydrocarbon and the application of electronic engineering, control techniques and industrial instrumentation as an optimization method for this process. This also ensures that the raw material, that is, crude from its extraction, processing, marketing and sale, will maintain the quality that both Halliburton and the end customer desire. This document also contemplates the total development of the project from its approach to obtaining results, showing each of the development stages and processes necessary to make the design a valid model in the hydrocarbon industry.
Implementación y análisis de desempeño de la solución de tecnología Riverbed con dispositivos Steelhead en una red WAN mediante una prueba de concepto
(2020-09-09) Suárez Galindo, Diana Carolina
In this monograph, the development of a business internship degree project focused on the analysis of performance and operation through a Proof of Concept of a Technology Solution belonging to the Riverbed Manufacturer was recorded, from which the optimization was carried out of a WAN network through the implementation of devices called Steelhead in a company in the construction sector called GECOLSA, at the Bogotá and Barranquilla headquarters. This company is focused on supplying technology for companies in the Construction, Mining, Power Generation, Petroleum, Agricultural and Industrial sectors in Colombia. In the first place, different topics related to the project are made known; The main problem, three similar success cases in which this Technology Solution was used, the reason why it was carried out, the proposed goals that directed the way to reach the main objective, its viability and its humanistic foundation, since in Not only did technical factors intervene in the development of the project, its implementation had a humanistic impact, from two points of view, both from who carried out the work and from who was affected by it. In a second instance, the theoretical framework is presented in which the conceptual references of the work are explained: an overview of Network 1 International, the company in which the internship process was carried out, a description of the Riverbed Manufacturer, the operation of Steelhead equipment and finally a general idea of what it is and how to perform a Proof of Concept or also called a Riverbed Demo. Within this framework, the hypothesis with the variables that intervened in the development of the project and a list of words with their respective meaning that were of utmost importance to achieve a greater understanding of the explanation of the operation of the Technological Solution can be observed. Subsequently, the methodology used and the work schedule are exposed. The methodology specifically describes the configuration and installation steps of the Steelhead equipment to start the test and fully satisfy GECOLSA's requirements. Once these issues were addressed, the results obtained from the Demo were recorded in the two headquarters of the company in Bogotá and the respective headquarters in Barranquilla, at the IBM headquarters no specific results were described but the optimized traffic that passed through the channel was mentioned since it was not a headquarters as such of the company, but nevertheless some GECOLSA applications were found on the servers that resided there. Finally, the conclusions are presented in which it will be corroborated whether the objectives were achieved satisfactorily or not, among other aspects.
Diseño de alertas para herramienta Fuelsender en software Fleetsap de la compañía SCI
(2020-09-09) Castillo Cortes, Andrea Natalia
At present, technology is constituted as a fundamental tool for great advances in the world; companies always in search of innovation and efficiency in their businesses, use of technology in areas where it improves the quality of their processes. The companies that provide transportation services are not alien to the use of technological tools and the monitoring of their fleet of vehicles is one of the most important objectives to evaluate when developing technological applications for use by the company. SCI SURAMERICA is one of the companies that provides solutions to transport companies interested in the continuous monitoring of their vehicle fleet; In this area, SCI offers a wide portfolio of products and services such as GPS monitoring and fuel consumption monitoring that allows each of the client companies to have greater control and consequently improve their internal processes. Based on the corporate purpose of the company, the practice carried out at SCI to focus the project on meeting one of the client's needs, the request made to SCI was the creation of a complementary tool that would allow knowing the status of the fuel level in the tank of a vehicle. The importance lies in the fact that clients need to know details about this state and with the information provided to determine the cause of the variations according to their established criteria. The development of the project was based on one of the products offered by SCI. GPS1 is a device that allows to determine the location of a vehicle and once, this device can send additional information about the general condition of the vehicle; It is here, where an accessory added to the GPS comes into play, which is a fuel sensor capable of emitting a voltage signal according to the level of fuel in the tank, thanks to this sensor it is possible to capture information in order to build a history the behavior of fuel level and, in the same way, determine alerts for it. This Work presents the proposal and development of the project carried out through the work of business internship in the position of Help Desk in the company SCI SURAMERICA.SAS2, with the title of: “ALERT DESIGN FOR FUELSENDER TOOL IN THE COMPANY'S FLEETSAP SOFTWARE SCI ”, the document mentions the thematic axes used in the development of the project, as well as its future implications, possible uses and improvements to the development. Finally, in this work, products and services of SCI SURAMERICA S.A.S. will be mentioned. as well as tools used in the development of its software, for reasons of confidentiality of the company, detailed mentions of information will be avoided.
Infografía – resultados convocatoria 833 de 2018 de Colciencias (Minciencias)
(2020-09-10) González Gil, Eduardo; Corchuelo Rodriguez, Camilo Alejandro; Ostos Ortiz, Olga Lucia; http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001448002; http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001526494; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000260010; https://scholar.google.es/citations?user=4tERbJwAAAAJ&hl=es; https://scholar.google.com/citations?user=yCBpLUsAAAAJ&hl=es; https://scholar.google.com/citations?user=M8jyWq8AAAAJ&hl=no; https://orcid.org/0000-0002-5489-6602; https://orcid.org/0000-0002-7692-1020; http://orcid.org/0000-0002-6477-9872
Optimización de trayectorias mediante algoritmos bio-inspirados aplicado a robots móviles con percepción local
(2019-08) Guarnizo Marin, José Guillermo; Calderon Chavez, Juan Manuel; http://scienti.colciencias.gov.co:8081 /cvlac/visualizador/generarCurriculo Cv.do?cod_rh=0000855847; http://scienti.colciencias.gov.co:8081 /cvlac/visualizador/generarCurriculo Cv.do?cod_rh=0000380938; https://scholar.google.com/citations? hl=es&user=_mObTPkAAAAJ; https://scholar.google.com/citations? user=095RddUAAAAJ&hl=en; https://orcid.org/0000-0002-8401-4949; https://orcid.org/0000-0002-4471- 3980
In mobile robotics applications, path planning is a critical point, since the selection of the wrong path can lead to problems that affect the performance of the robot behavior such as loss of time, unnecessary energy expenditure, damage to the robot, among others. Likewise, in the field of service robotics, it is sought that the robot adapts to environments where it must interact with people unfamiliar with robotics topics, so it is intended that the robot be autonomous in its perception and processing of the information, since the addition of external sensors can pose a problem for the end user and discourage the use of this type of solution. For this the architectures with local perception are more suitable, this refers to the fact that the robot will have its own sensors to obtain information from the environment where it interacts. In social robotics, the mobile robot must move through previously known places, so it is possible that the robot can obtain prior information about the environment through maps, as well as using localization tools such as odometry. However, it is necessary to use techniques that allow you to obtain an optimal route in the face of different possible trajectories, as well as avoid obstacles or find a solution to unexpected inconveniences, such as the appearance of blockages in the previously obtained trajectory. In the following research project proposal, the use of bio-inspired techniques is proposed in order to design optimal trajectories for mobile robots with local perception. This implies that although the robot may have a map of the environment where it must move, it must have its own sensors for location purposes. Likewise, the robot must evade obstacles and plan a new path in case of problems in the work environment.
Optimización de la toma de decisiones para la gestión de tareas del robot Pepper dentro de un entorno doméstico
(2019-08) Amaya, Sindy Paola; Rojas, Armando Mateus; https://scienti.colciencias.gov.c o/cvlac/visualizador/generarCur riculoCv.do?cod_rh=00007964 25; https://scienti.colciencias.gov.c o/cvlac/visualizador/generarCur riculoCv.do?cod_rh=00006806 30; https://scholar.google.es/citations?hl=es&authuse r=2&user=Gg2sofAAAAAJ; https://scholar.google.es/citations?hl=es&pli=1& user=1az5o_IAAAAJ; https://orcid.org/0000-0002- 1714-1593; https://orcid.org/0000-0002- 2399-4859
In this proposal, the process for the implementation of an algorithm based on game theory for optimal decision-making in a domestic environment, with high uncertainty and using the Pepper robotic platform, is proposed within the structure of the humanorobot interaction process ( HRI). This arises from the need to solve problems presented in the development and implementation of solutions after the participation of the GED group in the @home league of RoboCup version 2019, as well as improving the performance of task management in robotics that is presented in several of the projects within the research group and in general, in any project where a robotic platform is involved. Among the interests are: determining scenarios and tasks that frame a real situation of the use of the Pepper robot in a domestic environment. Model the reception, assignment and execution dynamics of tasks from the perspective of game theory, as well as define a performance index to validate and evaluate the system, and design and implement an algorithm for optimal decision-making in a domestic environment. of human-robot interaction using the Pepper robot. With this project, the GED research group seeks to achieve different objectives, including counting the goals defined in the framework of the SINFONÍA alliance of which the Santo Tomás University is part; giving continuity to the topic related to social robotics, specifically the HRI, and through this topic strengthening the research lines of the GED group, robotics and computational intelligence. Likewise, it impacts on the teaching exercise and contributes to the curriculum of the Electronic Engineering program.
Inclusión de la lengua Wayuunaiki en el reconocimiento de comandos de voz del robot social Pepper empleando la metodología de transformación de modelos
(2019-08) Rojas, Armando Mateus; Amaya, Sindy Paola; https://scienti.colciencias.gov.c o/cvlac/visualizador/generarCur riculoCv.do?cod_rh=00006806 30; https://scienti.colciencias.gov.c o/cvlac/visualizador/generarCur riculoCv.do?cod_rh=00007964 25; https://scholar.google.es/citations?hl=es&pli=%201&user=1az5o_IAAAAJ%20-%201714-1593%20https://scholar.google.es/citations?hl=es&auth%20user=2&user=Gg2sofAAAAAJ; https://orcid.org/0000-0002-2399-4859; https://orcid.org/0000-0002- 1714-1593
The present proposal seeks to provide the Pepper social robot, which the Santo Tomás University has, with the recognition capacity for voice commands in the Wayuunaiki language. In this way, the use of more advanced social robotics functions such as assistance and service will be allowed. Likewise, through the expected results and products, the aim is to reduce the technological gap in the Wayuu community by providing new capabilities to the Kailumá project of the Santo Tomás University. The voice recognition tools available are based on technologies that require a large amount of previous data along with a training process for these tools. This means that the language support by these tools is given for languages such as Spanish and English, but not for languages with few speakers, as is the case of Colombian indigenous languages. Therefore, a solution to this problem is proposed by using model transformation chains. For this, voice commands in the Wayuunaiki language are modeled, which will be the input of the transformation chain; thus, it is required to configure, train and model a speech recognition tool that will serve as the output of the transformation chain. The generation of such models arises from the analysis of the predefined set of voice commands for social robotics for a domestic service environment. The transformation chain will be implemented as a ROS node to be enabled in the Pepper robot
Herramienta para reconocimiento de objetos para la plataforma robótica pepper
(2019-08) Pérez Gordillo, Fabian Eduardo; Camacho Poveda, Edgar Camilo; http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001630084; http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001516111; https://scholar.google.com/citations?user=vncSAb0AAAA; https://scholar.google.com/citations?user=tJG988kAAAAJ; https://orcid.org/0000-0002-2746-8733; https://orcid.org/0000-0002-6084-2512
The Robotics Study and Development Group - GED of the Faculty of Electronic Engineering is developing a macro-project in Social Robotics using the Pepper robotic platform as a service robot, in daily environments for men and women, so that this have basic skills to carry out common tasks that improve human well-being. Framed within this objective, this proposal aims to develop a group of useful software tools for the execution of tasks on the Pepper robotic platform that include: tools for object recognition, tools for the construction of the DataSet, the definition of categories and classes for training and that also integrate additional functionality to provide object-specific information.
Desarrollo de un algoritmo de navegación autónoma para uavs basado en objetivos dados usando técnicas de aprendizaje por refuerzo profundo
(2019-08) Calderon Chavez, Juan Manuel; Guarnizo Marín, José Guillermo; http://scienti.colciencias.gov.co:8081/cvlac/visualizad or/generarCurriculoCv.do?cod_rh=0000380938; http://scienti.colciencias.gov.co:8081/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000855847; https://scholar.google.com/citations?user=095RddUAAAAJ&hl=en; https://scholar.google.com/citations?hl=es&user=_mObTPkAAAAJ; https://orcid.org/0000-0002-4471-3980; https://orcid.org/0000-0002-8401-4949
Natural disasters and wars are some of the worst events that the humanity has had to face, since in this type of situation it is almost impossible evacuate people in the affected area, causing many more deaths and an impact devastating. Therefore, it is necessary to use autonomous robots that collaborate in the search and rescue of human victims in disaster areas. This project of research proposes the use of deep reinforcement learning techniques or "Deep Reinforcement Lerning - DRL "to provide navigation skills autonomous and adaptation in unknown environments to an unmanned aerial robot. I know proposes the use of visual information as a sensing system for the environment. Given the the environment is unstructured and unknown to the robotic agent will not be built maps nor will any attempt be made to strictly follow a map. Navigation is based on the follow-up and evasion of given objectives, which include people, trees, fire and other objects that are considerably identifiable by visual information in a disaster area.
Aprendizaje por refuerzo para manipulación de objetos con actuador robótico
(2019-08) Camacho Poveda, Edgar Camilo; Pérez Gordillo, Fabian Eduardo; http://scienti.colciencias.gov.co:8081 /cvlac/visualizador/ generarCurriculoCv.do? cod_rh=0001630084; http://scienti.colciencias.gov.co:8081 /cvlac/visualizador/ generarCurriculoCv.do? cod_rh=0001516111; https://scholar.google.com/ citations?user= tJG988kAAAAJ&hl=es; https://scholar.google.com/ citations?user= vncSAb0AAAAJ&hl=es; https://orcid.org/ 0000-0002-6084-2512; https://orcid.org/ 0000-0002-2746-8733
This project will implement a reinforcement learning algorithm for the manipulation of objects by a robotic arm, focused on tasks that a domestic service robot will discuss. It will start from the implementation of the robotic platform, which will have the degrees of freedom and the specific actuator for the manipulation of objects found in everyday situations. Next, the reinforcement learning algorithm will be proposed, starting from the state space that best describes the environment, and the action space that allows tasks to be carried out properly. Likewise, methods that will evaluate the state from direct observation of the environment, such as deep neural networks, will be studied. The training will be carried out mostly in a simulation environment, in order not to jeopardize the physical integrity of the robot in the early stages of learning. At the end of the process, if deemed necessary, the training obtained with the real robot will be refined. Next, the result obtained by the agent in the different tasks learned will be evaluated quantitatively. Finally, it will begin with the implementation of this robotic arm in a prototype of a domestic social robot built entirely by the Santo Tomás University, in order to participate in certificates of social and domestic robotics.
STOx’s 2014 Team description paper
(2020-04-06) Rodríguez, Saith; Rojas, Eyberth; Pérez, Katherin; Lopez, Jorge; Quintero, Carlos; Calderón, Juan Manuel; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001370562; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001370566; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001370569; https://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000380938; https://scholar.google.com/citations?hl=es&user=zwlex7QAAAAJ; https://scienti.minciencias.gov.co/gruplac/jsp/visualiza/visualizagr.jsp?nro=00000000002964; https://orcid.org/0000-0002-8240-760X; https://orcid.org/0000-0003-2061-2701
This paper shows a detail description of the STOx’s team from University of Santo Tom´as in Colombia. We show the design of each major component of the team specifying certain important considerations that were taken into account according to our experience in previous RoboCup events. Additionally, we present the new STOx’s 3rd generation of robots and highlight its characteristics and differences with respect to our previous designs.

Examinar

Envíos recientes