Ponce, Hiram
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Ponce, Hiram
Official Name
Ponce Espinosa, Hiram Eredín
Alternative Name
hponce
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ORCID
Scopus Author ID
54911890000
Researcher ID
K-7593-2019

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Multibody dynamics for human-like locomotion

2020 , Acevedo, Mario , Ponce, Hiram

Multibody dynamics has been a fundamental tool for modeling, simulation and design of human-like locomotion systems. Either in the prosthetic and orthotics sector to develop devices for improvement or restoration of mobility, or as in the simulation, design, and optimization of humanoid robots. A lot of research and development has been done in these challenging areas where new mechanisms and improvements in dynamics are always welcome. The dynamic balancing of mechanisms (force and moment balancing at the fixed base) is an area that, along with multibody dynamics, can help to improve the design of human-like locomotion systems. In this chapter, the application of a force-balanced mechanism is proposed as a leg to be part of a biped robot. Stability is analyzed through the application of learning approaches based on an artificial intelligence, namely artificial hydrocarbon networks. Modeling and results from multibody dynamics simulation are presented. © 2020 Elsevier Inc. All rights reserved.

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Design and Equilibrium Control of a Force-Balanced One-Leg Mechanism

2018 , Ponce, Hiram , Acevedo, Mario

The problem of equilibrium is critical for planning, control, and analysis of legged robot. Control algorithms for legged robots use the equilibrium criteria to avoid falls. The computational efficiency of the equilibrium tests is critical. To comply with this it is necessary to calculate the horizontal momentum rotation for every moment. For arbitrary contact geometries, more complex and computationally-expensive techniques are required. On the other hand designing equilibrium controllers for legged robots is a challenging problem. Nonlinear or more complex control systems have to be designed, complicating the computational cost and demanding robust actuators. In this paper, we propose a force-balanced mechanism as a building element for the synthesis of legged robots that can be easily balance controlled. The mechanism has two degrees of freedom, in opposition to the more traditional one degree of freedom linkages generally used as legs in robotics. This facilitates the efficient use of the “projection of the center of mass” criterion with the aid of a counter rotating inertia, reducing the number of calculations required by the control algorithm. Different experiments to balance the mechanism and to track unstable set-point positions have been done. Proportional error controllers with different strategies as well as learning approaches, based on an artificial intelligence method namely artificial hydrocarbon networks, have been used. Dynamic simulations results are reported. Videos of experiments will be available at: https://sites.google.com/up.edu.mx/smart-robotic-legs/. © 2018, Springer Nature Switzerland AG.

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Development of an Electric Powered Assisted Cycle with a Heart Rate Sensor Control System

2023 , García Cedillo, Roberto , Martínez López, Diego , Martínez Quintana, Eduardo , Pérez Guerra, Andrea , Sánchez Henkel Moreno, Juan Pablo , Vega Hernández, José Manuel , Moya-Albor, Ernesto , Ponce, Hiram , Brieva, Jorge

In this paper, we present the development of an intelligent bicycle which will be able to help the user achieve a more efficient exercise routine via the control of a DC motor. This project was developed in several stages, from the approach of the system's functions to the components that would conform to it in order to achieve a detailed concept that can meet the requirements correctly. The sector of the population that motivated the realization of this project and to whom it is mainly directed are all those who cycle in Mexico City and find their routines inefficient. Through the use of this bicycle, which has a heart rate measurement system, it is possible to monitor it to regulate the intensity of the exercise. It will be made possible by incorporating a motor that is activated as soon as it detects an elevated heart rate, which may mean that the user requires assistance or has to stop the exercise altogether. The results provide evidence that assisting the user does indeed help reduce overexertion. © 2023 IEEE.

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Design of an automated hive for bee proliferation and crop betterment

2017 , Lopez Tagle, Eduardo , Siqueiros, Eduardo , Ponce, Hiram

Apiculture has been a method for harvesting honey and helping crop proliferation, nonetheless late climate changes have affected bee population. Having an automated hive as a tool for beekeepers would help to increase and protect current bee population guaranteeing crop proliferation needed for human consumption. In this paper, we propose an electronic beehive that recollect honey automatically, regulate the temperature of the inner hive and distribute food for bees. Preliminary results showed the control and automation of the proposed system as well as the prototype implementation, concluding that the automated beehive might be able to improve bee proliferation and crop betterment in an automated way. © 2017 IEEE.

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