J. A. Rosas-Flores, J. A. Cruz-Maya, J. A. Flores-Campos
This paper describes a methodology to construct a linear model of a double pneumatic cylinder. The in and out airflow is regulated by two on/off solenoid valves. The proposed methodology simplifies the handling of the two on/off solenoid valves by using a nonlinear relation between the on/off times of the valves and a single continuous control input. This relation represents an open loop control that gives a linear input/output response with maximum speed, and with reduced dead-band. Numerical simulations are given in order to validate the proposed methodology.
{"title":"Linear Dynamic Model of an On/Off Actuated Pneumatic Cylinder: An Optimization Approach","authors":"J. A. Rosas-Flores, J. A. Cruz-Maya, J. A. Flores-Campos","doi":"10.1109/CERMA.2010.70","DOIUrl":"https://doi.org/10.1109/CERMA.2010.70","url":null,"abstract":"This paper describes a methodology to construct a linear model of a double pneumatic cylinder. The in and out airflow is regulated by two on/off solenoid valves. The proposed methodology simplifies the handling of the two on/off solenoid valves by using a nonlinear relation between the on/off times of the valves and a single continuous control input. This relation represents an open loop control that gives a linear input/output response with maximum speed, and with reduced dead-band. Numerical simulations are given in order to validate the proposed methodology.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116347788","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.
{"title":"A New Nonlinear PI/PID Controller for Quadrotor Posture Regulation","authors":"Salvador González-Vázquez, J. Moreno–Valenzuela","doi":"10.1109/CERMA.2010.78","DOIUrl":"https://doi.org/10.1109/CERMA.2010.78","url":null,"abstract":"Based on the classic scheme of proportional , integral and derivative (PID) control, we present the design of a nonlinear controller, which aims to regulate the posture (position and orientation) of a 6 d.o.f. (degrees of freedom) aerial vehicle called Quadrotor. In particular, the Quadrotor horizontal position is controlled by PI actions, while the Quadrotor orientation and vertical position are controlled by PID algorithms. The controller shows robustness to aircraft systems effects, such as Coriolis forces and aerodynamic drag, although only the effect of gravitational forces is compensated. The controller performance is verified by numerical tests.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128048706","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Evolutionary algorithms are a very common technique on computational intelligence field. Some algorithms need a huge amount of memory, making them not so trivial to apply on embedded systems. In this work a profile-based approach is proposed and applied in an evolutionary algorithm with some characteristics that allow its use on embedded systems: the micro-GA. The main goal is to improve the execution time compared to other software algorithms obtaining also an acceptable design time. The results presents comparisons between implementations and discussions about soft-processor features influence on this type of algorithm.
{"title":"A Profile-Based Method for Hardware/Software Co-design Applied in Evolutionary Robotics Using Reconfigurable Computing","authors":"M. A. Dias, D. Sales, F. Osório","doi":"10.1109/CERMA.2010.59","DOIUrl":"https://doi.org/10.1109/CERMA.2010.59","url":null,"abstract":"Evolutionary algorithms are a very common technique on computational intelligence field. Some algorithms need a huge amount of memory, making them not so trivial to apply on embedded systems. In this work a profile-based approach is proposed and applied in an evolutionary algorithm with some characteristics that allow its use on embedded systems: the micro-GA. The main goal is to improve the execution time compared to other software algorithms obtaining also an acceptable design time. The results presents comparisons between implementations and discussions about soft-processor features influence on this type of algorithm.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121633423","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. T. Tello-Martínez, O. Starostenko, V. Alarcón-Aquino, W. Hernandez
The modeling and performance analysis of two novel approaches for motion prediction of objects in a limited sequence of images is presented in this paper. Particularly, these proposed approaches are based on linear or quadratic splines and on circular-queue vector correspondence. They use two basic motion detection techniques also proposed by authors that provide object tracing by its representation by envelope or by mass center grid. The performance and efficiency of the proposed motion prediction approaches are evaluated applying several simulated kinematics experiments either with constant velocity and accelerated motion, or with parabolic and circular motion.
{"title":"Modeling Motion Prediction Techniques: Linear and Quadratic Splines vs Circular-Queue Vector Approach","authors":"J. T. Tello-Martínez, O. Starostenko, V. Alarcón-Aquino, W. Hernandez","doi":"10.1109/CERMA.2010.49","DOIUrl":"https://doi.org/10.1109/CERMA.2010.49","url":null,"abstract":"The modeling and performance analysis of two novel approaches for motion prediction of objects in a limited sequence of images is presented in this paper. Particularly, these proposed approaches are based on linear or quadratic splines and on circular-queue vector correspondence. They use two basic motion detection techniques also proposed by authors that provide object tracing by its representation by envelope or by mass center grid. The performance and efficiency of the proposed motion prediction approaches are evaluated applying several simulated kinematics experiments either with constant velocity and accelerated motion, or with parabolic and circular motion.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130806972","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
E. Guzman Ramirez, S. Alvarado, M. A. Ramírez, Luis Rosario
This work describes a hardware architecture implementation of the morphological associative memories (MAM) using reconfigurable hardware devices such as FPGA (Field Programmable Gates Arrays) and its applications in pattern recognition systems. Both learning and recognition processes of the MAM are implemented by means of a parallel architecture using VHSIC Hardware Description Language, obtaining high speed of processing. The performance of the modeled architecture was evaluated when Morphological Hetero associative Memories (MHM) in both max and min types are used. Our proposal was tested to signal recognitions, for this purpose, it was necessary to implement an acquisition and memory systems.
{"title":"An Efficient Morphological Associative Memories Hardware Implementation for Pattern Recognition Applications","authors":"E. Guzman Ramirez, S. Alvarado, M. A. Ramírez, Luis Rosario","doi":"10.1109/CERMA.2010.58","DOIUrl":"https://doi.org/10.1109/CERMA.2010.58","url":null,"abstract":"This work describes a hardware architecture implementation of the morphological associative memories (MAM) using reconfigurable hardware devices such as FPGA (Field Programmable Gates Arrays) and its applications in pattern recognition systems. Both learning and recognition processes of the MAM are implemented by means of a parallel architecture using VHSIC Hardware Description Language, obtaining high speed of processing. The performance of the modeled architecture was evaluated when Morphological Hetero associative Memories (MHM) in both max and min types are used. Our proposal was tested to signal recognitions, for this purpose, it was necessary to implement an acquisition and memory systems.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132632532","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
M. T. Rodriguez-Sahagun, J. B. Mercado-Sanchez, D. López-Mancilla, R. Jaimes-Reátegui, J. H. García-López
In this work, we propose a color image encryption of variable sizes using logistic chaotic map. We considered a process of permutation, followed by a diffusion algorithm. To evaluate this encryption method’s performance, we applied a statistical analysis, and developed histograms of the original and encrypted images. For the correlation analysis, we evaluate the behavior of two adjacent pixels on horizontal, vertical and diagonal directions. We also analyzed the behavior of the algorithm to the most common cryptographic attacks. Numerical simulations and graphic results are presented for image encryption and decryption using MatLab software.
{"title":"Image Encryption Based on Logistic Chaotic Map for Secure Communications","authors":"M. T. Rodriguez-Sahagun, J. B. Mercado-Sanchez, D. López-Mancilla, R. Jaimes-Reátegui, J. H. García-López","doi":"10.1109/CERMA.2010.44","DOIUrl":"https://doi.org/10.1109/CERMA.2010.44","url":null,"abstract":"In this work, we propose a color image encryption of variable sizes using logistic chaotic map. We considered a process of permutation, followed by a diffusion algorithm. To evaluate this encryption method’s performance, we applied a statistical analysis, and developed histograms of the original and encrypted images. For the correlation analysis, we evaluate the behavior of two adjacent pixels on horizontal, vertical and diagonal directions. We also analyzed the behavior of the algorithm to the most common cryptographic attacks. Numerical simulations and graphic results are presented for image encryption and decryption using MatLab software.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133221782","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
J. Soria-Alcaraz, Martín Carpio, H. Terashima-Marín, León Guanajuato
The Educational timetabling problem is a common and hard problem inside every educative institution, this problem tries to coordinate Students, Teachers, Classrooms and Timeslots under certain constrains that dependent in many cases the policies of each educational institution. The idea behind hyper-heuristics is to discover some combination of straightforward heuristics to solve a wide range of problems. This paper presents several strategies to improve a GA-based method that produces general hyper heuristics for the educational timetabling design problem using API-Carpio methodology. The GA uses static-length representation, witch involves the complete encoding of a solution algorithm capable to solve schedule design instances. This hyper-heuristic is achieved by learning and testing phases using real instances from Leon Institute of Technology (LIT) producing encouraging results for most of the instances. Finally we analyze the quality of our hyper-heuristic in the context of real Academic Timetabling Design problem against past Investigations.
教育排课问题是每个教育机构内部普遍存在的难题，它试图在一定的约束条件下协调学生、教师、教室和时间，而这些约束条件在很多情况下取决于各个教育机构的政策。超启发式背后的思想是发现一些直接启发式的组合来解决各种各样的问题。本文提出了几种策略来改进基于遗传算法的方法，该方法使用API-Carpio方法为教育排课设计问题产生一般超启发式。该遗传算法采用静态长度表示，这涉及到能够求解调度设计实例的求解算法的完整编码。这种超启发式是通过使用来自Leon Institute of Technology (LIT)的真实实例的学习和测试阶段来实现的，对大多数实例产生了令人鼓舞的结果。最后，结合以往的调查，以实际的课程表设计问题为背景，分析了我们的超启发式算法的质量。
{"title":"Several Strategies to Improve the Performance of Hyperheuristics for Academic Timetabling Design Problem","authors":"J. Soria-Alcaraz, Martín Carpio, H. Terashima-Marín, León Guanajuato","doi":"10.1109/CERMA.2010.23","DOIUrl":"https://doi.org/10.1109/CERMA.2010.23","url":null,"abstract":"The Educational timetabling problem is a common and hard problem inside every educative institution, this problem tries to coordinate Students, Teachers, Classrooms and Timeslots under certain constrains that dependent in many cases the policies of each educational institution. The idea behind hyper-heuristics is to discover some combination of straightforward heuristics to solve a wide range of problems. This paper presents several strategies to improve a GA-based method that produces general hyper heuristics for the educational timetabling design problem using API-Carpio methodology. The GA uses static-length representation, witch involves the complete encoding of a solution algorithm capable to solve schedule design instances. This hyper-heuristic is achieved by learning and testing phases using real instances from Leon Institute of Technology (LIT) producing encouraging results for most of the instances. Finally we analyze the quality of our hyper-heuristic in the context of real Academic Timetabling Design problem against past Investigations.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131696323","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A. Losoya-Leal, S. Camacho-Léon, S. Martínez-Chapa
This paper discusses the design of a CMOS-MEMS diffraction grating for a micro spectrophotometer with application in non-invasive glucose monitoring based on differential near-infrared spectro photometry. There are typically two factors discussed with respect to diffraction gratings: spectral range and optical resolution. An analysis of the tradeoff between these two parameters was performed for the determination of the geometric characteristics of our grating based on the limitations of the CMOS process.
{"title":"Design of a CMOS-MEMS Diffraction Grating for Near-Infrared Spectroscopy of Biomolecules","authors":"A. Losoya-Leal, S. Camacho-Léon, S. Martínez-Chapa","doi":"10.1109/CERMA.2010.86","DOIUrl":"https://doi.org/10.1109/CERMA.2010.86","url":null,"abstract":"This paper discusses the design of a CMOS-MEMS diffraction grating for a micro spectrophotometer with application in non-invasive glucose monitoring based on differential near-infrared spectro photometry. There are typically two factors discussed with respect to diffraction gratings: spectral range and optical resolution. An analysis of the tradeoff between these two parameters was performed for the determination of the geometric characteristics of our grating based on the limitations of the CMOS process.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115705538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Outlier detection, or detection of exceptional data, is a key element for financial databases, because the necessity of fraud prevention. Here, we propose an efficient method for this task which includes an innovative end-user explanation facility. The best design was based on an unsupervised learning schema, which uses an adaptation of the Artificial Neural Network paradigms and the Expert System shells. In our method, the cluster that contains the smaller number of instances is considered as outlier data. The method provides an explanation to the end user about why this cluster is exceptional with regard to the data universe. The proposed method has been tested and compared successfully using well-known academic data, and a real and very large financial database.
{"title":"Outlier Detection with Innovative Explanation Facility over a Very Large Financial Database","authors":"M. Mejía-Lavalle","doi":"10.1109/CERMA.2010.12","DOIUrl":"https://doi.org/10.1109/CERMA.2010.12","url":null,"abstract":"Outlier detection, or detection of exceptional data, is a key element for financial databases, because the necessity of fraud prevention. Here, we propose an efficient method for this task which includes an innovative end-user explanation facility. The best design was based on an unsupervised learning schema, which uses an adaptation of the Artificial Neural Network paradigms and the Expert System shells. In our method, the cluster that contains the smaller number of instances is considered as outlier data. The method provides an explanation to the end user about why this cluster is exceptional with regard to the data universe. The proposed method has been tested and compared successfully using well-known academic data, and a real and very large financial database.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"505 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114430088","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Arturo Moreno-Báez, Gerardo Miramontes-de Leon, C. Sifuentes-Gallardo, Ernesto Garcia-Dominguez, D. Alaniz-Lumbreras, J. Huerta-Ruelas
The use of optical techniques for the measurement and characterization of physical phenomena is of great interest in the scientific and industrial communities. This work shows the implementation of an integrated system for measuring Multi-angle Laser Light Scattering on a Field Programmable Gate Array. The embedded design delivers a compact and highly competitive system. The system is able to display, in real-time, the light intensity from a photo detector array showing in this way the corresponding pattern distribution of the scattered light at 16 sensing points. Some laser light scattering patterns from metallic samples with different roughness are shown.
{"title":"FPGA Implementation of a 16-Channel Lock-In Laser Light Scattering System","authors":"Arturo Moreno-Báez, Gerardo Miramontes-de Leon, C. Sifuentes-Gallardo, Ernesto Garcia-Dominguez, D. Alaniz-Lumbreras, J. Huerta-Ruelas","doi":"10.1109/CERMA.2010.83","DOIUrl":"https://doi.org/10.1109/CERMA.2010.83","url":null,"abstract":"The use of optical techniques for the measurement and characterization of physical phenomena is of great interest in the scientific and industrial communities. This work shows the implementation of an integrated system for measuring Multi-angle Laser Light Scattering on a Field Programmable Gate Array. The embedded design delivers a compact and highly competitive system. The system is able to display, in real-time, the light intensity from a photo detector array showing in this way the corresponding pattern distribution of the scattered light at 16 sensing points. Some laser light scattering patterns from metallic samples with different roughness are shown.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2010-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122135106","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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