arXiv subjects

Juan Sandoval

Publications and source records attributed to Juan Sandoval.

4 recordsLinked to original sources

arXiv2024

Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

This paper presents a new design of CADEL, a cable-driven elbow-assisting device, with light weighting and control improvements. The new device design is appropriate to be more portable and user-oriented solution, presenting additional facilities with respect to the original design. One of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic spread. Specific attention has been devoted to design main mechatronic components by developing specific kinematics models. The design process includes an implementation of specific control hardware and software. The kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental tests. An evaluation from original design highlights the proposed improvements mainly in terms of comfort, portability and user-oriented operation.

cs.RO↗

arXiv2023

Emulating On-Orbit Interactions Using Forward Dynamics Based Cartesian Motion

On-orbit operations such as servicing and assembly are considered a priority for the future space industry. Ground-based facilities that emulate on-orbit interactions are key tools for developing and testing space technology. This paper presents a control framework to emulate on-orbit operations using on-ground robotic manipulators. It combines Virtual Forward Dynamics Models (VFDM) for Cartesian motion control of robotic manipulators with an Orbital Dynamics Simulator (ODS) based on the Clohessy Wiltshire (CW) Model. The VFDM-based Inverse Kinematics (IK) solver is known to have better motion tracking, path accuracy, and solver convergency than traditional IK solvers. Thus, it provides a stable Cartesian motion for manipulators based on orbit emulations, even at singular or near singular configurations. The framework is tested at the ZeroG-Lab robotic facility of the SnT by emulating two scenarios: free-floating satellite motion and free-floating interaction (collision). Results show fidelity between the simulated motion commanded by the ODS and the one executed by the robot-mounted mockups.

cs.RO↗

arXiv2022

Evaluation of Position and Velocity Based Forward Dynamics Compliance Control (FDCC) for Robotic Interactions in Position Controlled Robots

In robotic manipulation, end-effector compliance is an essential precondition for performing contact-rich tasks, such as machining, assembly, and human-robot interaction. Most robotic arms are position-controlled stiff systems at a hardware level. Thus, adding compliance becomes essential. Compliance in those systems has been recently achieved using Forward dynamics compliance control (FDCC), which, owing to its virtual forward dynamics model, can be implemented on both position and velocity-controlled robots. This paper evaluates the choice of control interface (and hence the control domain), which, although considered trivial, is essential due to differences in their characteristics. In some cases, the choice is restricted to the available hardware interface. However, given the option to choose, the velocity-based control interface makes a better candidate for compliance control because of smoother compliant behaviour, reduced interaction forces, and work done. To prove these points, in this paper FDCC is evaluated on the UR10e six-DOF manipulator with velocity and position control modes. The evaluation is based on force-control benchmarking metrics using 3D-printed artefacts. Real experiments favour the choice of velocity control over position control.

cs.RO↗

arXiv2017

ASB1 differential methylation in ischaemic cardiomyopathy. Relationship with left ventricular performance in end stage heart failure patients

Aims: Ischaemic cardiomyopathy (ICM) leads to impaired contraction and ventricular dysfunction causing high rates of morbidity and mortality. Epigenomics allows the identification of epigenetic signatures in human diseases. We analyse the differential epigenetic patterns of ASB gene family in ICM patients and relate these alterations to their haemodynamic and functional status. Methods and Results: Epigenomic analysis was carried out using 16 left ventricular (LV) tissue samples, 8 from ICM patients undergoing heart transplantation and 8 from control (CNT) subjects without cardiac disease. We increased the sample size up to 13 ICM and 10 CNT for RNA-sequencing and to 14 ICM for pyrosequencing analyses. We found a hypermethylated profile (cg11189868) in the ASB1 gene that showed a differential methylation of 0.26 beta difference, P < 0.05. This result was validated by pyrosequencing technique (0.23 beta difference, P < 0.05). Notably, the methylation pattern was strongly related to LV ejection fraction (r = -0.849, P = 0.008) stroke volume (r = -0.929, P = 0.001) and end-systolic and diastolic LV diameters (r = -0.743, P = 0.035 for both). ASB1 showed a down regulation in mRNA levels (-1.2 fold, P < 0.05). Conclusion: Our findings link a specific ASB1 methylation pattern to LV structure and performance in end-stage ICM, opening new therapeutic opportunities and providing new insights regarding which is the functionally relevant genome in the ischemic failing myocardium. Keywords: ischaemic cardiomyopathy; epigenomics; heart failure; left ventricular dysfunction; stroke volume; ASB1.

q-bio.GN↗