Juan S. Cely G.

Juan S. Cely G.

juan.cely@urjc.es
Departamental III - Room D115
Escuela de Ingeniería de Fuenlabrada
Universidad Rey Juan Carlos
Camino del Molino Nº5 . 28942 - Fuenlabrada - Madrid, España
Juan S. Cely G. I am an Assistant Professor at the Rey Juan Carlos University. I currently teach subjects such as Fundamentals of Programming, Mechatronics, and Robot Modeling and Simulation. On other occasions he has taught subjects as Control Engineering and Computer Science Fundamentals.

I have a tens articles published in JCR indexed magazines, in addition to having 2 Patents. My research interests lie on Geometric Control for Robot Navigation, Nonlinear Control for Aerial and Underwater Robots, and Underactuated Robotics.

I hold a Ph.D. in Automation and Robotics with Cum Laude Distinction by the Universidad Politécnica de Madrid, in addition a M.Sc. in Automation and Robotics by the same university and a Bachelor of Mechatronics Engineering by the Nueva Granada Military University in Bogotá, Colombia.



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News

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Last Publications

Refereed Journal/Magazine Articles
  1. J. S. Cely, R. Saltaren, G. Portilla, O. Yakrangi, y A. Rodriguez-Barroso, «Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Con- ception and Control of Underwater Robots», Sensors, vol. 19, n.o 17, p. 3631, ene. 2019, doi: 10.3390/s19173631.
  2. J. S. Cely, M. Á. Pérez Bayas, M. Carpio, C. E. García Cena, A. Sintov, y R. Saltaren, «Control Strategy of an Underactuated Underwater Drone-Shape Robot for Grasping Tasks», Sensors, vol. 22, n.o 22, Art. n.o 22, ene. 2022, doi: 10.3390/s22228828.
  3. M. Á. Pérez Bayas, J. Cely, A. Sintov, C. E. García Cena, y R. Saltaren, «Method to Develop Legs for Underwater Robots: From Multibody Dynamics with Experimental Data to Mechatronic Implementation», Sensors, vol. 22, n.o 21, Art. n.o 21, ene. 2022, doi: 10.3390/s22218462.
  4. M. Carpio et al., «A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers», Robotics, vol. 10, n.o 4, Art. n.o 4, dic. 2021, doi: 10.3390/robotics10040111.
  5. G. Portilla, R. Saltarén, A. R. Barroso, J. Cely, y O. Yakrangi, «A Sensor Based on a Spherical Parallel Mechanism for the Measurement of Fluid Velocity: Experimental Development», IEEE Access, vol. 7, pp. 16145-16154, 2019, doi: 10.1109/ACCESS.2019.2892819.
  6. G. Portilla, R. Saltarén, F. Montero de Espinosa, A. R. Barroso, J. Cely, y O. Yakrangi, «Dynamic Walk- ing of a Legged Robot in Underwater Environments», Sensors, vol. 19, n.o 16, p. 3588, ene. 2019, doi: 10.3390/s19163588.
  7. A. Rodriguez-Barroso, R. Saltaren, G. A. Portilla, J. S. Cely, y O. Yakrangi, «Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis», Sensors, vol. 19, n.o 15, p. 3403, ene. 2019, doi: 10.3390/s19153403.
  8. A. Rodriguez-Barroso, R. Saltaren, G. A. Portilla, J. S. Cely, y M. Carpio, «Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator», Sensors, vol. 18, n.o 9, p. 2765, sep. 2018, doi: 10.3390/s18092765.
  9. R. Saltarén, G. Portilla, A. R. Barroso, y J. Cely, «A Sensor Based on a Spherical Parallel Mechanism for the Measurement of Fluid Velocity: Physical Modelling and Computational Analysis», Sensors, vol. 18, n.o 9, p. 2867, sep. 2018, doi: 10.3390/s18092867.
  10. O. Yakrangi et al., «An Intelligent Algorithm for Decision Making System and Control of the GEMMA Guide Paradigm Using the Fuzzy Petri Nets Approach», Electronics, vol. 10, n.o 4, Art. n.o 4, ene. 2021, doi: 10.3390/electronics10040489.
Refereed Conference Articles
  1. M. A. Carpio-Alemán et al., «Collision and Tension Analysis of Cable-Driven Parallel Robot for Positioning and Orientation», en 2018 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC), nov. 2018, pp. 1-6. doi: 10.1109/ROPEC.2018.8661464.
  2. A. R. Barroso, R. Saltaren, G. Portilla, J. S. Cely, y M. Carpio, «Smooth Path Planner for Dynamic Simulators Based on Cable-Driven Parallel Robots», en 2018 International Conference on Smart Systems and Technologies (SST), oct. 2018, pp. 145-150. doi: 10.1109/SST.2018.8564635.
  3. J. S. Cely G. y O. Rubiano, «Identificación, modelado y control de un motor DC sensado con un tacogener- ador», presentado en Second International Conference on Advanced Mechatronics, Design, and Manufacturing Technology - AMDM 2014, 2014, pp. 289-294.
  4. O. Rubiano, R. Castillo, C. Hurtado, y J. Cely, «Estrategia para la auto reconfiguración para el sistema robótico modular - MECABOT», presentado en Second International Conference on Advanced Mechatronics, Design, and Manufacturing Technology - AMDM 2014, 2014, pp. 109-114.
Patents
  1. P. R. J. Saltaren, C. C. E. Garcia, S. C. G. Juan, y F. J. M. Angosto, «Sistema de generación y transmisión de potencia mecánica para accionamiento de actuadores hidráulicos remotos», ES2884499A1, 10th December 2021. [Online]. Available on: Link
  2. P. R. J. Saltaren, G. J. S. Cely, B. A. Rodriguez, T. G. A. Portilla, y O. Yakrangi, «Sistema subacuatico para labores de acuicultura», ES2729816B2, 25th June 2021. [Online]. Available on: Link

Projects

  • Development of a modular robot with innate response behaviors DPI2014-57220-C2-1P
  • Design, construction and control of equipment for modular underwater robots S2018 / NM7-4331 RoboCity 2030-III-CM
  • UNDERWATER HYBRID LEGGED ROBOT FOR RESEARCH ON KINEMATICS, DYNAMICS AND CONTROL DURING THE LOCOMOTION ON THE SEABED - LEGSUB PGC2018-095939-B-I00
  • Study of Human Integration through sensor integration (Force - EMG - Artificial Vision - Brain Interface Computer)

Education

  • 2017– 2022:
    Ph.D. in Automation and Robotics, CAR UPM-CSIC, Universidad Politecnica de Madrid, Spain
    Doctoral thesis: "Control of an underactuated underwater robot using geometric algebra"
    Grade: SOBRESALIENTE CUM LAUDE


  • 2016–2017:
    M.Sc. in Automation and Robotics, CAR UPM-CSIC, Universidad Politecnica de Madrid, Spain
    Master thesis: "Design and Implementation of the Internal architecture of an modular robot for underwater grasping tasks."
    Courses: Dynamic and Control of Robots, Robots Kinematics, Design of Robots, Guided and Navigation of Robots.


  • 2008–2015:
    B. Eng. in Mechatronics Engineering, Davinci Research Group, Universidad Militar Nueva Granada, Colombia
    Thesis: "Design and Simulation of a self balancing mobile platform for the transport of an average person."
    Courses: Mechatronics Systems Models, Linear Control, Robotics, Advanced Topics of Control, Mechatronic Design, Artificial Intelligence.

Code

  • GRMI LegSub CAN Module: A ROS package to manage the communication between motors using CAN BUS.
  • UDrobot: Mobile Underwater Robot (MUR): Differents packages for simulation and control a Modular Underwater Robot design by Robotics and Intelligent Machines Research Group.
  • GRMI_underwater_drone: A modular, fully and light library for connecting GRMI's robots to internet using AWS (Amazon Web Service), typed in Python and Arduino.

Talks, Shows & Tutorials

May the force be with you . . .

Juan S. Cely G.

Thank You Mario, But Our Princess is in Another Castle.

Juan S. Cely G.

Yes, Yes, Yes.

Juan S. Cely G.
Last updated nov-2023.