GUFFANTI MARTÍNEZ, DIEGO ANDRES
Preferred name
GUFFANTI MARTÍNEZ, DIEGO ANDRES
Main Affiliation
GISER - Grupo de Investigación en Sistemas Embebidos y Robótica
Web Site
ORCID
0000-0002-1244-291X
Scopus Author ID
57200385407
21 results
Now showing 1 - 10 of 21
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Item type:Publication, Optimizing Electrical Systems Stability: A Novel Lyapunov Framework for Harmonic Reduction and Power Quality Enhancement(IEEE, 2024-08-05); Mohan KolheThis study investigates power quality improvement through a Lyapunov-based harmonic reduction strategy utilizing an Active Hybrid Power Filter (SHAPF). Central to this approach is the application of state feedback to maintain system stability. A practical case study examining the influence of a Nonlinear Load (NLL) on an IEEE 13-bus distribution system validates the proposed methodology. Implemented and scrutinized via Matlab/Simulink, this research encompasses the detailed modeling of the SHAPF, its control strategies, and the analysis of harmonic distortion data. Such an in-depth simulation facilitates a rigorous evaluation of the method in conditions mirroring real-world scenarios, shedding light on its efficacy and applicability. Harnessing the principles of Lyapunov theory alongside advanced control techniques, the objective is to markedly diminish harmonic distortions in power systems, thereby significantly improving power quality and Electrical Compatibility (EC). This contribution highlights a commitment to enhancing the reliability and quality of modern power system engineering through innovative solutions. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, RoboGait: sistema robótico no invasivo para el análisis de la marcha humana(Universitat Politecnica de Valencia, 2023-10-31); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Performance of a Mobile 3D Camera to Evaluate Simulated Pathological Gait in Practical Scenarios(MDPI AG, 2023-08-04); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, The Accuracy of the Microsoft Kinect V2 Sensor for Human Gait Analysis. A Different Approach for Comparison with the Ground Truth(MDPI AG, 2020-08-07); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Editorial: Assistive and service robots for health and home applications (RH3 - Robot Helpers in Health and Home)(Frontiers Media SA, 2024-10-29); Daniel GalanIn Choi et al. (2024), the main trends in assistive technologies for healthcare and home environments were analyzed. In that study, assistive technologies were classified into three major groups: physical aid or mobility devices, sensor and monitoring systems, and assistive robots. In an aging society, with people living longer and a lack of medical personnel, there is undoubtedly a growing interest in the development and commercialization of robotic systems that are able to provide support at healthcare facilities and home environments (Bajones et al., 2018; Keroglou et al., 2023; Silvera-Tawil, 2024). At healthcare facilities, robots improve the diagnosis and treatment of many different diseases (mental and physical), and they help professional staff be more efficient, with more time for patients. At home, they assist to prevent accidents, and they have the potential to perform different household tasks, keep the users active with cognitive and physical activities, and raise alarms if needed. Assistive robots designed for therapeutic purposes have proven useful in reducing agitation of elderly people and stress of caregivers (Kolstad et al., 2020). - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Multivariate System Identification of Differential Drive Robot: Comparison Between State-Space and LSTM-Based ModelsModeling mobile robots is crucial to odometry estimation, control design, and navigation. Classical state-space models (SSMs) have traditionally been used for system identification, while recent advances in deep learning, such as Long Short-Term Memory (LSTM) networks, capture complex nonlinear dependencies. However, few direct comparisons exist between these paradigms. This paper compares two multivariate modeling approaches for a differential drive robot: a classical SSM and an LSTM-based recurrent neural network. Both models predict the robot’s linear (v) and angular (ω) velocities using experimental data from a five-minute navigation sequence. Performance is evaluated in terms of prediction accuracy, odometry estimation, and computational efficiency, with ground-truth odometry obtained via a SLAM-based method in ROS2. Each model was tuned for fair comparison: order selection for the SSM and hyperparameter search for the LSTM. Results show that the best SSM is a second-order model, while the LSTM used seven layers, 30 neurons, and 20-sample sliding windows. The LSTM achieved a FIT of 93.10% for v and 90.95% for ω, with an odometry RMSE of 1.09 m and 0.23 rad, whereas the SSM outperformed it with FIT values of 94.70% and 91.71% and lower RMSE (0.85 m, 0.17 rad). The SSM was also more resource-efficient (0.00257 ms and 1.03 bytes per step) compared to the LSTM (0.0342 ms and 20.49 bytes). The results suggest that SSMs remain a strong option for accurate odometry with low computational demand while encouraging the exploration of hybrid models to improve robustness in complex environments. At the same time, LSTM models demonstrated flexibility through hyperparameter tuning, highlighting their potential for further accuracy improvements with refined configurations. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Continuous Speech Recognition and Identification of the Speaker System(Springer International Publishing, 2018); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Organic zinc sources in broiler production at high altitude under on-top supplementation or total or partial replacement: 1. Effects on performance and zinc excretionFeeding broilers with organic chemical sources of Zn has recently been recommended to improve performance, immune system, carcass yield, and reduce environmental contamination. However, its use under proposed supplementation strategies (i.e., total replacement, partial replacement, on-top) needs further investigation. This study assessed the effect of total replacement, partial replacement, and on-top supplementation strategies to feed organic Zn sources and the effect of two organic chemical forms on performance and Zn excretion in broilers at high altitudes. Twenty-two male Cobb 500-day-old chicks were placed in each of 54 floor pens and raised for up to 42 days under a three-phase feeding program and following the Ecuadorian highland production system. Pens were assigned to one of nine experimental treatments consisting of a basal diet supplemented with 0, 33, and 100 ppm of Zn from ZnSO4 and added or not 40 ppm Zn from Zn proteinate or Zn amino acid complex. A Completely Randomized Block Design was considered, being the block the replication. The Zn concentration of the basal diet was determined. Feed intake, BW, BW gain, feed conversion ratio, and European Production Efficiency Factor were assessed at 21 and 42 days of age, and the Zn excretion was estimated accordingly. Each supplementation strategy was compared with the standard practice (100 ppm Zn as ZnSO4) using contrasts and mixed models, and the interaction with the chemical form was assessed considering the P-values of the ANOVA and the multiple comparisons between the corresponding treatments. The effects of the organic Zn forms and their interactions with the dietary Zn level were assessed considering the responses were linear functions of the organic Zn source, the feed intake, the Zn intake, the Zn supplementation level, and the block, as corresponding. None of the strategies to supplement a Zn organic source, or the organic sources themselves, showed overall detectable effects on performance. However, interactions were observed between the supplementation strategy and the organic Zn source and between the organic source and the dietary Zn levels or the Zn intake. Under the on-top supplementation strategy, the Zn organic sources showed different feed conversion ratios at 21 days. In addition, totally or partially replacing the ZnSO4 with a Zn organic form reduced the Zn excretion. In conclusion, although no overall effect of the supplementation strategies was detected, the assessed organic Zn forms showed different effects on the feed conversion ratio at 21 days. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Organic zinc sources in broiler production at high altitude under on-top supplementation or total or partial replacement: 2. Effects on tibia and blood characteristicsThe use of organic Zn sources has been claimed to reduce the environmental impact of poultry production and improve broiler performance and the quality of products. This study investigated the effects of three organic Zn supplementation strategies (i.e., TRE, total replacement; PRE, partial replacement; OTS, on-top supplementation) on tibia and blood biochemistry characteristics of broilers at high altitudes. Male Cobb 500 chicks were distributed in 54 floor pens (22 birds each) and assigned to nine experimental treatments. Birds were fed mash diets under three feeding phases until 42 days and following the standard Ecuadorian high-altitude production standard practices. The treatments were a basal diet supplemented with three inclusion rates of ZnSO4 and the same diets including or not Zn from one of two organic Zn sources (i.e., ZPR, Zn proteinate; ZAC, Zn amino acid complex). Basal diets were analyzed for Zn concentration. Tibia ash and Zn concentrations and serum biochemistry variables were determined at 21 and 42 days. The strategies to supplement organic Zn were compared with the reference treatment containing 100 ppm Zn as ZnSO4 (the standard practice; STD) using mixed models, being the block (i.e., the replication) as a random factor. The interaction of the strategy with the organic Zn source was assessed with the ANOVA and multiple comparisons. The organic Zn sources were compared considering the feed intake a random factor, and their interaction with the dietary Zn level was assessed using multiple regression. No overall effect of the Zn supplementation strategy was observed other than the reduced Zn concentration at 21 days in TRE birds. At 21 days, PRE and TRE increased the serum protein and phosphorus concentrations, respectively. At that age, TRE also increased insulin concentration, but only in the ZAC-fed birds. However, TRE produced the opposite effect on serum protein at 42 days. At the same age, ZAC-fed birds showed lower serum phosphorus concentration than ZPR-fed ones regardless of the dietary Zn supplementation level or the Zn intake. Also, ZAC under TRE produced no effect on tibia Zn concentration compared to STD, but ZPR increased it. The ZPR increased the tibia Zn concentration when fed under PRE or TRE, but not under OTS. In conclusion, the results showed no adverse effect of PRE or TRE strategies on tibia characteristics. The data indicate likely different effects of PRE and TRE on protein metabolism and a possible negative interaction of the organic Zn with a high Zn content as ZnSO4. - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Comparison of Two System Identification Approaches for a Four-Wheel Differential Robot Based on Velocity Command Execution(MDPI AG, 2025-06-05);
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