Browsing by Author "Calle Siguencia, John Ignacio"

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Desarrollo de un sistema de control centralizado aplicado a la marcha bípeda de un exoesqueleto robótico de extremidades inferiores
(Universidad de Cuenca, 2025-05-05) Garcia Reino, Sebastian Alejandro; Minchala Ávila, Luis Ismael; Calle Siguencia, John Ignacio
The development of robotic exoskeletons has experienced remarkable progress in recent years, beco-ming a key technology for the assistance and rehabilitation of people with reduced mobility. However, one of the main challenges remains ensuring a stable and natural bipedal gait. This requires the design of robust and accurate control algorithms, as well as the efficient integration of sensors and actuators for real-time estimation and control. In this work, a centralized nonlinear model predictive control (NMPC) system was simulated and validated. Multibody modeling in Simulink was used to represent the exos-keleton’s dynamics. Additionally, experimental validation of inertial sensors designed by the Research Group on Electronics and Control at the University of Cuenca was carried out. The results show that the NMPC controller significantly outperforms the PID controller in tracking the hip and knee joint references, achieving lower values for mean squared error (MSE), mean absolute error (MAE), and cumulative error metrics (IAE and ISE). Notably, NMPC demonstrated greater adaptability to temporal variations in the gait cycle, maintaining high accuracy even under demanding conditions, which highlights its potential for future applications in real-world environments.
Modelling of solar thermal energy for household use in equatorial latitude by using the F-chart model
(RE&PQJ, 2021) Zalamea León, Esteban Felipe; Calle Siguencia, John Ignacio; Peláez Samaniego, Manuel Raúl; Barragán Escandón, Edgar Antonio; Astudillo Flores, Mateo Ismael
The Andean Equatorial Region, due to its geographic location, shows great potential for using solar energy. Solar thermal energy is of interest in the residential sector in Ecuador and other Andean countries as a method to avoid fossil- derived fuels consumption. However, previous learnings of the operation of solar water heating systems in other latitudes cannot be used in the conditions of Ecuador. Thus, the performance of the solar thermal energy systems in this geographic region deserves further study that consider typical high levels of cloudiness and fast climate oscillations. The objective of this work was to investigate the effect of the orientation of solar thermal plates on their energy efficiency and model the behaviour of these systems to predict their operation under Equatorial Andean climate conditions. For the F-Chart calibration different slopes angles were used, according to the typical roofs slopes in Cuenca, Ecuador. Results showed a monthly solar fraction, contributed by an evacuated tube collector is 26% higher than the flat plate collectors. The results also depict that, in the conditions of Cuenca, the greater solar water heating occurs when the collector is inclined 14° and facing towards the south. These findings can be used to predict the best operational conditions for using solar thermal energy collectors to produce hot water in the residential sector under equatorial highland altitude conditions.