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Control Design and Validation of Gait Analysis with the Robogait Mobile Robotic Platform
(Springer Nature Switzerland, 2025-09-03)
GUFFANTI MARTÍNEZ, DIEGO ANDRES
;
Alberto Brunete
;
Miguel Hernando Gutierrez
;
David Álvarez
;
GUTIÉRREZ SUQUILLO, NELSON RAMIRO
The integration of mobile robotic platforms with depth sensors could led to a major advance in human gait analysis. However, the lack of dedicated technologies designed specifically for corridor-based gait analysis limits the availability of comprehensive tools to accurately and efficiently capture and analyze gait data in this specific context. In this study, control algorithms for person following and lane keeping of a mobile robotic platform named Robogait were applied and validated experimentally. The validity of using an Azure Kinect sensor for gait analysis was also examined using gait data collected from 10 participants and comparing its accuracy in gait signals and gait parameters with respect to a Vicon photogrammetric system. Results in controller design demonstrated a path following error of only 0.0446 m was measured on average, with a maximum deviation of 0.1420 m. The person tracking presented slight oscillations, however it did not affect the performance of the system in the gait analysis. An RMSE error of 12.68 was obtained for knee flex./ext., 5.54 for hip flex./ext., and just 0.06 m for the inter-ankle distance. Regarding gait descriptors analyzed, the Azure Kinect system provides reliable gait event measurements, though some discrepancies exist compared to Vicon. This study validates the use of the Azure Kinect sensor in gait analysis with mobile platforms. This offers a low-cost solution in real environments such as hospital corridors, contrary to in-lab gait analysis where the influence of equipment and the controlled environment could alter the gait pattern. The robot setup errors were comparable to static treadmill systems and similar to those of Vicon systems, which highlights its potential in clinical and rehabilitation applications.
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Estimation of Gaps Associated with Risk Factors in the Total Cost of Construction Investments
(Springer Nature Switzerland, 2025)
Silvia Dotres Zúñiga
;
Norma Sanchez Paz
;
Gregorio Garciandia Mirón
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Juan Marco Roja Molina
;
Libys Martha Zúñiga-Igarza
In construction investments, the total cost of investment is a quantitative estimate of the probable cost in which it is difficult to minimize the gaps associated with risk factors. The objective of the research is to estimate the gaps associated with risk factors in the total cost to reduce the aforementioned gaps. As results, a complex process was obtained in instrumental matters, from the approach of probabilistic scenarios that entails the need to decide the way in which probabilities are going to be expressed. The conclusions were given from decision-making perspectives of the probabilities of gaps occurring through sensitivity analysis that studies the impact they have on a given dependent variable and the variations that this causes in any of the independent variables that make up the problem studied. The estimation of the size and importance of the magnitude of the risk was also determined, for which the level and degree of sensitivity of the impact of the breaches was set. In this research, the methods of scientific research were used, such as modelling; measurement; and the Monte Carlo Simulator [SMC].
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Mathematical Model of an Inverted Pendulum with Two Degrees of Rotation
(Springer Nature Switzerland, 2025)
MOSQUERA MENA, MARCELO EFRÉN
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FREIRE CARRERA, FAUSTO RODRIGO
The mathematical modeling and control of the inverted pendulum is a fairly extended case study due to the nonlinearity of the system, its inherent instability in the equilibrium position and sensitivity to external disturbances. Numerous variations of this problem exist, as well as approaches for obtaining the model and the design of control strategies. This work proposes the derivation of the mathematical model for a variant of the inverted pendulum capable of rotating about two axes, mounted at the end of a five-bar mechanism. The approach involves certain simplifications and a strategy to decompose the mechanism into decoupled subsystems, resulting in a linearized mathematical model for a subsystem corresponding to each possible rotation of the inverted pendulum.
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Wearable Technology, Privacy Issues
(Springer International Publishing, 2018)
SAA PORTILLA, PABLO ANDRES
;
Sergio Lujan-Mora
;
Oswaldo Moscoso-Zea
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Continuous Speech Recognition and Identification of the Speaker System
(Springer International Publishing, 2018)
GUFFANTI MARTINEZ, DIEGO ANDRES
;
Danilo Martínez
;
José Paladines
;
Andrea Sarmiento
Currently speech recognition and speaker identification based on a biometric parameter such as voice have been treated as two different worlds and in the market there are no integrated applications of these systems. The design of a system could mean a great contribution to the development of personalized commands, in the area of home automation and robotics, thanks to the availability of the message and the identification of the speaker. Therefore, the development of an integrated biometric voice system is proposed, based on a single voice sample for the identification of the speaker and the message. We use GOOGLE SPEECH API, as a voice text translation tool, and Mel Frequency Cepstral Coefficients or MFCCs extracted from voice signal to identify speakers voice. Functional tests were carried with 50 randomly users, in the end of the study results show 96.4% efficiency in identification, demonstrating efficiency using MFCCs in speaker’s automatic recognition and verifying the use of GOOGLE SPEECH API as a fast, accurate and robust translation tool.
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Incorporating the Cultural and Decisions Factors in Multi-objective Optimization of Air Conditioning Conduit Design Process
(Springer International Publishing, 2017-06-23)
CORDOVES GARCIA, ALEXIS
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José Arzola-Ruiz
;
Umer Asgher
Various engineering designs are multi-objective as they contain more than one design goal to be optimized. These design goals theoretically inflict differing requirements on the technical performance of system design. To analyze the trade-offs amongst conflicting design’s multi-objectives and to explore respective design options, an optimization problem with multi objectives has been mathematically modeled in this paper. In the present work, multi-objective optimization of air conditioning conduits and nets design is formulated. The design factors also consider the cultural as well as quantifiable, subjective ergonomics constraints and control decision-making factors. The cultural constraints, such as geographical, historical, sociological, and organizational constraints that determine the efficiency of the design of these nets are also incorporated in the objective function. This is reproduced during the option of filtration and selection from the solutions population generated at the locals and other levels, in which influences of cultural factor and of the decisions making factors are reflected in the subjective preferences.
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Using Adaptive Integration of Variables Algorithm for Analysis and Optimization of 2D Irregular Nesting Problem
(Springer International Publishing, 2019-06-12)
José Arzola-Ruiz
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Arlys Michel Lastre Aleaga
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CORDOVES GARCIA, ALEXIS
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Umer Asgher
En este artículo se propone una nueva técnica evolutiva que utiliza un algoritmo de optimización para problemas de anidamiento de formas irregulares en 2D, aplicado a procesos de corte de materiales como el corte de láminas irregulares y formas geométricas complejas. Esta técnica es adaptativa y mejora los resultados del proceso de corte y su optimización en comparación con otros métodos descritos en la literatura previa. La formalización y el modelado matemático se basan en la metodología de integración CAD/CAPP/CAM/CAP para piezas bidimensionales irregulares producidas mediante una optimización multinivel con restricciones de componente y la distribución binivel del proceso de corte en láminas. La decisión de selección y las soluciones finales utilizan un algoritmo adaptativo basado en la modificación dinámica de los objetivos durante la distribución de las piezas y utilizando la población obtenida para la elaboración de las trayectorias de corte del dispositivo de corte. Este procedimiento define un nuevo enfoque para la optimización binivel de configuraciones geométricas iterativas de piezas poligonales crecientes, utilizando el caso particular del método de Integración de Variables, denominado algoritmo de Exploración de una Función de Códigos Variables. Como resultado final, se deduce un nuevo esquema de integración de fabricación óptima que incluye la interacción hombre-máquina como componente.
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Structural and Functional Characterization of Autophosphorylation in Bacterial Histidine Kinases
(Springer US, 2019-11-10)
Laura Miguel-Romero
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MIDEROS MORA, MARÍA CRISTINA
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Alberto Marina
;
Patricia Casino
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Evaluation and Prediction of the Financial and Management Indicators in SME’S with the Use of Artificial Neural Net
(Springer International Publishing, 2019-06-02)
Ives Torriente
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Arlys Lastre
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Clemencia Carrera
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Karla Quishpe
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Paulina Morales
En este trabajo, procedemos al estudio y análisis de un modelo que facilita la evaluación y predicción de indicadores financieros y de gestión de pymes. El modelo se basa en el uso de Redes Neuronales Artificiales (RNA) como herramienta de minería de datos que, con base en los estados financieros, contribuye a la evaluación y previsión de indicadores de liquidez, endeudamiento, rendimiento, eficiencia y rentabilidad, siguiendo el sistema DuPont. El objetivo del trabajo es evaluar y prever la situación financiera de las pymes para una adecuada toma de decisiones de gestión en las organizaciones. El modelo se centra en dos fases interrelacionadas: la fase de estimación-diagnóstico y la fase de previsión. Las conclusiones muestran la viabilidad predictiva del uso de redes neuronales para indicadores financieros.
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Educational Training System for University Students at Initial Levels Through Coaching Strategies and Student Mentoring
(Springer International Publishing, 2019-06-02)
Ives Torriente
;
Rosa Inés Carrión
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FERNANDEZ TORRES, ELENA
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Paulina Morales
;
Gardenia Silva

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