This article presents the development of a dynamic optimization method for controller tuning. This is proposed because most traditional tuning methods for complex coupled dynamic models are based on experience, and thus lacking accuracy. The case study is a Mobile Manipulator that consists of an anthropomorphic manipulator and a differential mobile platform. The system model has a trajectory generator that includes the coupled kinematic model, the Jacobian model, the coupled dynamic model, and a Proportional-Derivative plus controller. The tuning of the model is obtained by solving an optimization problem, using the Differential Evolution algorithm. This optimization approach allows to minimize simultaneously the energy consumption and the error on the trajectory tracking by the end effector. A novel strategy is applied to formulate the objective function, including constant weights for balancing the minimization effect. The objective is to avoid an energy consumption equal to zero that represents an error condition of no motion. The results of the case study and its statistical analysis are presented. The best result was modeled in Solidworks R and simulated in Matlab R. This model was exported to Simscape Multibody TM of Matlab, and its simulation produced satisfactory results, suggesting that the proposed optimization method can be a useful tool to solve real engineering problems.

Virtual Reality (VR) offers an alternative to complement physical or neurological rehabilitation based on the efficacy of Gamification as a technique to get compromised, enjoy, and turn treatment periods less annoying through an immersive task. This work presents the design of a VR environment and takes into a count three levels of presence: self-presence, physical, and social. Thirteen healthy participants performed a traditional balance session with a wobble board through a parachute game. The direction of the fall is controlled with the inclination of a wobble board platform instrumented with a Gyroscope, electrocardiography (ECG), electrodermal activity (EDA), and respiratory rate (RESP) signals are simultaneously recorded. These psychophysiological responses of the Autonomous Nervous System (SNA) are contrasted with a standardized emotional self-report questionnaire to gather information about the experience and was filled out by the participant with the eye selection of the Oculus Rift device. The integrated Unity-Matlab system stored and processed some of the extraction data of 15 characteristics associated with the biosignals and three emotional levels, In addition to proposing a severe game as a solution to problems of conventional methodology such as low attention, monotonous and predictable sessions, combining computerized simulation and innovative technologies for more pleasant recovery therapy.

This paper develops a simulation of a small electrical network (Microgid) that integrates renewable energies, the model of the micro network is made up of a solar energy source, a wind energy source, an energy storage element, a non-renewable source such as a diesel generator. The model of the microgrid represent a non-interconnected area from the electrical network in Colombia. The non-interconnected areas sometimes depend on unreliable connections to the grid integration of renewable energies could be the best option to guarantee energy in these sectors and allow generating projects with social impact. A possible solution to this deficit of energy is to supplement the production of energy with renewable energy plants from resources as sun or wind. The simulated model allowed to study the effects of the network in island mode and in interconnected mode, showing the imbalances that can be obtained by integrating renewable energies and storage systems. It is verified that with an inclusion of more than 30% of power in renewable energies there is the possibility of having load imbalances, which affect the frequency and cause instability in the network. It also verifies how a control system can regulate the load balance but must interact with the other energy sources.

A mobile manipulator is a mobile platform with a mounted serial manipulator. A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. These systems combine the advantages of mobile platforms and robotic arms, and reduce their disadvantages. For example, a mobile manipulator has larger working space when it has a mobile platform, as it offers more functionality during operation. For the previously mentioned in this work will be shown the implementation in the robotic simulation software Webots, a mobile manipulator that allows to determine its operation in a virtual environment

This paper explores a information model for a small electrical network (Microgid) that integrates renewable energies based in standard protocols. The information model of the micro network will be made up of a solar energy source, a wind energy source, an energy storage element, a non-renewable source such as a diesel generator. Each of the renewable sources is modelling based on the logical nodes of the IEC 61850-4-2, IEC 61850-7-420, IEC 61400-25-2 standards. The objective of this definition is select: logical nodes, variables and commands, required to achieve coordinated control. This interchange of information is required to develop more complex algorithm of distributed control resources. A control architecture based and structured in these standards will to allow interoperability between the controllers of the power sources of the network, regardless of who develops and manufactures the device. This work is intended to ensure that information can be exchanged to control the load flows in the electric network that integrates renewable energies. All communications between controllers will be based on these protocols that allow the exchange of information over ethernet networks for critical process.