Papers by Julian Colorado
Bioengineering
Stroke is a leading cause of disability and death worldwide, with a prevalence of 200 millions of... more Stroke is a leading cause of disability and death worldwide, with a prevalence of 200 millions of cases worldwide. Motor disability is presented in 80% of patients. In this context, physical rehabilitation plays a fundamental role for gradually recovery of mobility. In this work, we designed a robotic hand exoskeleton to support rehabilitation of patients after a stroke episode. The system acquires electromyographic (EMG) signals in the forearm, and automatically estimates the movement intention for five gestures. Subsequently, we developed a predictive adaptive control of the exoskeleton to compensate for three different levels of muscle fatigue during the rehabilitation therapy exercises. The proposed system could be used to assist the rehabilitation therapy of the patients by providing a repetitive, intense, and adaptive assistance.
Frontiers in Plant Science, Dec 20, 2022
Frontiers in Plant Science
The OMICAS alliance is part of the Colombian government’s Scientific Ecosystem, established betwe... more The OMICAS alliance is part of the Colombian government’s Scientific Ecosystem, established between 2017-2018 to promote world-class research, technological advancement and improved competency of higher education across the nation. Since the program’s kick-off, OMICAS has focused on consolidating and validating a multi-scale, multi-institutional, multi-disciplinary strategy and infrastructure to advance discoveries in plant science and the development of new technological solutions for improving agricultural productivity and sustainability. The strategy and methods described in this article, involve the characterization of different crop models, using high-throughput, real-time phenotyping technologies as well as experimental tissue characterization at different levels of the omics hierarchy and under contrasting conditions, to elucidate epigenome-, genome-, proteome- and metabolome-phenome relationships. The massive data sets are used to derive in-silico models, methods and tools t...
2018 International Conference on Unmanned Aircraft Systems (ICUAS), 2018
SN Applied Sciences, 2020
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics, 2019
Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics, 2019
DYNA, 2017
El internet de las cosas, también conocido como IoT por sus siglas en inglés (Internet of Things)... more El internet de las cosas, también conocido como IoT por sus siglas en inglés (Internet of Things), es un nuevo paradigma tecnológico que permite la interconexión de objetos (las cosas), servicios y/o personas por medio de internet. IoT introduce nuevas herramientas que enriquecen el trabajo en diferentes sectores industriales. Este artículo presenta un estudio del trabajo desarrollado en todo el mundo en tecnologías con base en el concepto de IoT en el marco de la industria del cuidado de la salud, incluyendo métodos, estadísticas y casos de éxito. En la última sección, se discute sobre el trabajo realizado en este ámbito en el contexto colombiano, incluyendo aplicaciones exitosas y proyectos que se encuentran en desarrollo.
International Journal of Sustainable Development and Planning, 2018
Journal of Sensor and Actuator Networks, 2017
This paper presents a novel system based on the Internet of Things (IoT) to Human Activity Recogn... more This paper presents a novel system based on the Internet of Things (IoT) to Human Activity Recognition (HAR) by monitoring vital signs remotely. We use machine learning algorithms to determine the activity done within four pre-established categories (lie, sit, walk and jog). Meanwhile, it is able to give feedback during and after the activity is performed, using a remote monitoring component with remote visualization and programmable alarms. This system was successfully implemented with a 95.83% success ratio.
2016 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2016
Lecture Notes in Networks and Systems, 2017
Around 8 to 10 million Ton of rice are required in the following years to be able to supply the d... more Around 8 to 10 million Ton of rice are required in the following years to be able to supply the demand of the overall population. Analysis and monitoring of rice crops becomes nowadays very important issue for farmers, for ensuring a rice production level to cope this demand. This paper presents simulation results of an algorithm that allows to plan and create 2D maps using the technique of image mosaicking with multiple geo-referenced aerial images (multispectral images in the scope of the project). The planning algorithm is called Image Capture algorithm. It takes into account the area the UAV has to cover, the camera configuration, and the state of the UAV in order to define where to take the pictures to build the mosaic. The algorithm presented in this paper was developed in ROS (Indigo) and simulated in Gazebo. The results of this first approach to the 2D mapping of a rice crop allows to see that using the proposed algorithm, it is possible to automate the process of acquiring the pictures for creating the mosaic, ensuring that all the area of interest is covered. By using this algorithm, pictures will be acquired only in specific areas. Therefore, keeping the storage capacity on-board, under control.
International Journal of Advanced Robotic Systems, 2015
This paper describes the development of an aerial system applied for the terrain mapping and geo-... more This paper describes the development of an aerial system applied for the terrain mapping and geo-detection of explosive landmine-like objects. In practice in Colombia, a large percentage of the anti-personnel mines that still remain across the country are hand-crafted and partially exposed on the terrain's surface so that they can be triggered. This scenario facilitates the use of a vision-based approach for the detection of these artifacts. Our goal is to integrate computer vision algorithms within a low-cost UAV robot suited for the Colombian scenario. The aerial system enables: (i) terrain mapping based on a visual stitching method to generate a mosaic image of the covered terrain, and (ii) the visual detection of landmine-like objects in real-time. Despite the hardware drawbacks and the camera limitations of the used UAV, we demonstrate that our low-cost platform could be used as a complementary tool for demining missions in Colombia. After briefly reviewing the state of the...
The work presented in this regards the design of a bat-like micro aerial vehicle with actuated mo... more The work presented in this regards the design of a bat-like micro aerial vehicle with actuated morphing wings. NiTi shape memory alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. Our objective is twofold. Firstly, we have implemented a control architecture that allows an accurate and fast SMA actuation. This control makes use of the electrical resistance measurements of SMAs to adjust morphing wing motions. Secondly, we aim at exploring the effects of SMA-driven wing modulation on both lift and drag production. Results have shown a lift force increment of 45% and a drag reduction of 40% compared to a fixed-wing approach.
Control of underactuated mechanical systems is currently one of the most active fields in researc... more Control of underactuated mechanical systems is currently one of the most active fields in research due to the diverse applications of these systems in real-life. The aim of this article is focused on the application of nonlinear control techniques for underactuated systems and the virtual simulation of their dynamics behavior. The main contribution of this research is related with the applications of balancing controllers designed with linearization techniques, and including swing-up control using energy based methods for two of the most typical underactuated systems used for testing nonlinear control: The cart-pole and the rotating pendulum systems. The second contribution relies in the development of a virtual laboratory for testing this algorithms and also with a great feature included; the platform is not tied to specific embedded controllers, the users can proof their own control techniques, adding control equations using a graphical user interface developed for that purpose. Finally, the analytical results will be validated via numerical solutions implemented on Matlab-Simulink toolbox, comparing the controllers and the simulation capabilities through several test cases.
Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics, 2014
Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by mean... more Bat wings contain dozens of joints that enable the animal to perform aggressive maneuvers by means of changing the wing shape during flight. There is evidence that the inertial forces produced by their wings during flapping have a key role in the attitude movements of the animal, i.e. aerial rotations. In fact, bats efficiently generate net body forces to manoeuvre by taking advantage of their large wing-to-body mass ratio. In this paper, the following question is formulated: Could a Micro Aerial Vehicle (MAV) inspired by the biomechanics of bats take advantage of the morphing-wings aimed at increasing net body forces? Using BaTboT, a novel bat-like MAV with highly articulated wings actuated by shape memory alloy actuators, our goal is to quantify the effects of different wing modulation patterns on the generation of net body forces. Experiments are carried out to confirm the important physical role that changing the wing shape enables: the contraction time of the wings (upstroke) should be faster than the extension time (downstroke), taking about 37.5% of the wingbeat period. This modulation pattern has enabled a lift force increment of 22% (from L = 0.92N to L = 1.12N), abrupt drag reduction (from D = 0.22N to D = 0.11N) and also an increase of net body forces (F net) about 28% compared to those wing modulation patterns defined with equal periods for contraction/extension. These findings can be useful for accurate dynamics modelling and efficient design of flight controllers applied to morphing-wing micro aerial vehicles.
Smart Actuation and Sensing Systems - Recent Advances and Future Challenges, 2012
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Papers by Julian Colorado