A. Rodríguez-León, M. Cruz-Chávez, Rafael Rivera-López, É. Ávila-Melgar, Fredy Juárez-Pérez, M. Cruz-Rosales
In this work is defined a scheme of two stages for sending population segments of one Parallel Genetic Algorithm (PGA) to the nodes of an experimental grid called “Tarántula miniGrid”. The technique used to link the clusters and to configure the Tarántula mini Grid is described and the effects of latency in the communications between these clusters and the behavior of the speedup are discussed. The PGA is used for solving instances of the Vehicle Routing Problem with Time Windows (VRPTW). Results of this approach show that this communication scheme increases the efficiency of PGA in a grid environment and produces greater exploration and exploitation of the solution space of VRPTW.
{"title":"A Communication Scheme for an Experimental Grid in the Resolution of VRPTW Using an Evolutionary Algorithm","authors":"A. Rodríguez-León, M. Cruz-Chávez, Rafael Rivera-López, É. Ávila-Melgar, Fredy Juárez-Pérez, M. Cruz-Rosales","doi":"10.1109/CERMA.2010.8","DOIUrl":"https://doi.org/10.1109/CERMA.2010.8","url":null,"abstract":"In this work is defined a scheme of two stages for sending population segments of one Parallel Genetic Algorithm (PGA) to the nodes of an experimental grid called “Tarántula miniGrid”. The technique used to link the clusters and to configure the Tarántula mini Grid is described and the effects of latency in the communications between these clusters and the behavior of the speedup are discussed. The PGA is used for solving instances of the Vehicle Routing Problem with Time Windows (VRPTW). Results of this approach show that this communication scheme increases the efficiency of PGA in a grid environment and produces greater exploration and exploitation of the solution space of VRPTW.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"61 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":"122110576","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}
This paper presents the applications of the Wavelet Transform (WT) for analyzing fast transient signals originated from fault events in power grids with presence of power electronics-based controllers and its protective devices. The study cases included emphasizes the wavelets ability to discriminate signals originated by the fault events from those injected by power controllers, like the TCSC and its associated protection, the MOV, and determine location and electrical distance of the fault to a reference point. The simulation and analysis are carried out cooperatively mean between PSCAD and MATLAB.
{"title":"Fault Detection in Electrical Grid on Power Electronic Controllers Environment Based on Wavelet Transform","authors":"E. Reyes-Archundia, E. Moreno-Goytia","doi":"10.1109/CERMA.2010.71","DOIUrl":"https://doi.org/10.1109/CERMA.2010.71","url":null,"abstract":"This paper presents the applications of the Wavelet Transform (WT) for analyzing fast transient signals originated from fault events in power grids with presence of power electronics-based controllers and its protective devices. The study cases included emphasizes the wavelets ability to discriminate signals originated by the fault events from those injected by power controllers, like the TCSC and its associated protection, the MOV, and determine location and electrical distance of the fault to a reference point. The simulation and analysis are carried out cooperatively mean between PSCAD and MATLAB.","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":"125707295","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}
In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted up to the image space and modeled with the lagrangian formalism by formulating the kinematic and potential energy in the image space. The resulting motion equation has the same structure as that obtained in the joint space using the lagrangian modeling [1], and therefore inheriting the passivity property. Control schemes based on the passivity of the motion equation are then designed for visual servoing. Simulation and experiment results are included.
{"title":"Dynamic Visual Servoing of Robot Manipulators Based on Passivity","authors":"A. L. Rodríguez, Yu Tang","doi":"10.1109/CERMA.2010.110","DOIUrl":"https://doi.org/10.1109/CERMA.2010.110","url":null,"abstract":"In this paper the servo problem in a 3-D robot manipulator based only on the visual measurements by following the dynamic visual servoing approach with a fixed camera configuration is considered. To model the whole visual servoing system, we consider the robot in an image space, reconstructed from the perspective projection of the robot space in the image plane. The manipulator dynamics is lifted up to the image space and modeled with the lagrangian formalism by formulating the kinematic and potential energy in the image space. The resulting motion equation has the same structure as that obtained in the joint space using the lagrangian modeling [1], and therefore inheriting the passivity property. Control schemes based on the passivity of the motion equation are then designed for visual servoing. Simulation and experiment results are included.","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":"114198585","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}
Ma. del Carmen Espino-Gudino, V. Rodríguez-Hernández
The accreditation and usefulness of ICTs within education are one of the purposes of this research. This paper presents a study of free and open technology effectiveness. New tools of technologies will impact not only in education but also in social, economic and political aspects. LMS based on SCORM have unlimited possibilities. It is proposed herein that such a method must perform a thorough evaluation of the primary problem that is the adaption of methodology of QSOS plus the usability metrics ISO/IEC-9126 [1]-[4]. These investigators have set out to compare technological options available. This study aims to explore the expectations of the teachers and students. The virtual education possibilities with the general-purpose free and open source is one most useful alternative in education. With fewer inversions, it is possible to offer quality education using the last-technology like Moodle3D because of its potential in general-purpose free and open source.
{"title":"A Good Technology Proposal for the Education","authors":"Ma. del Carmen Espino-Gudino, V. Rodríguez-Hernández","doi":"10.1109/CERMA.2010.25","DOIUrl":"https://doi.org/10.1109/CERMA.2010.25","url":null,"abstract":"The accreditation and usefulness of ICTs within education are one of the purposes of this research. This paper presents a study of free and open technology effectiveness. New tools of technologies will impact not only in education but also in social, economic and political aspects. LMS based on SCORM have unlimited possibilities. It is proposed herein that such a method must perform a thorough evaluation of the primary problem that is the adaption of methodology of QSOS plus the usability metrics ISO/IEC-9126 [1]-[4]. These investigators have set out to compare technological options available. This study aims to explore the expectations of the teachers and students. The virtual education possibilities with the general-purpose free and open source is one most useful alternative in education. With fewer inversions, it is possible to offer quality education using the last-technology like Moodle3D because of its potential in general-purpose free and open source.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"20 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":"114741512","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}
Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, O. Dominguez-Ramirez
This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof the passivity and stability results, the control strategy is evaluated in a experimental platform, in our case the PHANToM premium 1.0 haptic device [4].
{"title":"Robust Passive Computed Torque Control Applied to Haptic Human-Machine Interaction Systems","authors":"Edgar R. Ponce-de-Leon-Sanchez, Itzel Trejo-Mota, O. Dominguez-Ramirez","doi":"10.1109/CERMA.2010.126","DOIUrl":"https://doi.org/10.1109/CERMA.2010.126","url":null,"abstract":"This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking in its workspace. With the purpose to proof the passivity and stability results, the control strategy is evaluated in a experimental platform, in our case the PHANToM premium 1.0 haptic device [4].","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"26 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":"117198021","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}
C. Zepeda, A. Marin, S. Arzola, Mario Rossainz, M. Galindo
We present an overview of an implementation of p-stable semantics, since we consider that this semantics can be a formal approach useful in the fields of Electronics, Robotics, or Automotive Mechanics.
{"title":"The p-Stable Semantics Applied to ICT Systems","authors":"C. Zepeda, A. Marin, S. Arzola, Mario Rossainz, M. Galindo","doi":"10.1109/CERMA.2010.100","DOIUrl":"https://doi.org/10.1109/CERMA.2010.100","url":null,"abstract":"We present an overview of an implementation of p-stable semantics, since we consider that this semantics can be a formal approach useful in the fields of Electronics, Robotics, or Automotive Mechanics.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"42 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":"123004229","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. Galan-Hernandez, V. Alarcón-Aquino, O. Starostenko, J. Ramírez-Cortés
Wavelet foveated compression can be used in real-time video processing frameworks for reducing the communication overhead. However, each wavelet can yields into different results on compression ratio. Classic foveation filters also applies cutoff frequencies over the region of interest (ROI). A comparative analysis has then been performed showing the different error rate for different cutoff frequency windows that preserves the ROI coefficients intact against windows that apply cutoffs over the ROI. Simulation results show that with wavelet-based foveated compression high ratio of compression can be achieved while keeping high quality over the designed ROI.
{"title":"Wavelet-Based Foveated Compression Algorithm for Real-Time Video Processing","authors":"J. Galan-Hernandez, V. Alarcón-Aquino, O. Starostenko, J. Ramírez-Cortés","doi":"10.1109/CERMA.2010.52","DOIUrl":"https://doi.org/10.1109/CERMA.2010.52","url":null,"abstract":"Wavelet foveated compression can be used in real-time video processing frameworks for reducing the communication overhead. However, each wavelet can yields into different results on compression ratio. Classic foveation filters also applies cutoff frequencies over the region of interest (ROI). A comparative analysis has then been performed showing the different error rate for different cutoff frequency windows that preserves the ROI coefficients intact against windows that apply cutoffs over the ROI. Simulation results show that with wavelet-based foveated compression high ratio of compression can be achieved while keeping high quality over the designed ROI.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"126 1 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":"124669038","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}
Gutierrez Diaz de Leon Luis Alberto, F. Alberto, Gutierrez Diaz de Leon Carlos Adrian
This work consider the scheduling of periodic tasks or processes with real-time constraints in a distributed environment. Each task must be executed meeting deadlines, precedence relationships and resources constraints. The problem of scheduling tasks on a distributed environment can be viewed as a problem of assigning processes to the processors but keeping the schedulability in local environments. Thus, the problem can be divided in two phases: the first phase is assigning processes to processors and the second is to schedule assigned processes in each processor in the distributed environment. This paper focuses in the first phase. It introduces a heuristic mechanism for assigning processes in a distributed environment with real-time constraints. The heuristic mechanism has two alternative ways to perform: one takes into account the utilization factor and the other considers period. The performance of both alternatives proposed is evaluated via simulation on a high performance-computing platform.
{"title":"Use of Supercomputing towards the Generation of a Process Execution Plan in Distributed Real-Time Systems","authors":"Gutierrez Diaz de Leon Luis Alberto, F. Alberto, Gutierrez Diaz de Leon Carlos Adrian","doi":"10.1109/CERMA.2010.97","DOIUrl":"https://doi.org/10.1109/CERMA.2010.97","url":null,"abstract":"This work consider the scheduling of periodic tasks or processes with real-time constraints in a distributed environment. Each task must be executed meeting deadlines, precedence relationships and resources constraints. The problem of scheduling tasks on a distributed environment can be viewed as a problem of assigning processes to the processors but keeping the schedulability in local environments. Thus, the problem can be divided in two phases: the first phase is assigning processes to processors and the second is to schedule assigned processes in each processor in the distributed environment. This paper focuses in the first phase. It introduces a heuristic mechanism for assigning processes in a distributed environment with real-time constraints. The heuristic mechanism has two alternative ways to perform: one takes into account the utilization factor and the other considers period. The performance of both alternatives proposed is evaluated via simulation on a high performance-computing platform.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"44 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":"127927935","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. Lugo-González, L. Hernández-Gómez, R. Ponce-Reynoso, A. T. Velázquez-Sánchez, G. Urriolagoitia-Sosa, E. A. Merchán-Cruz, J. Ramírez-Gordillo
This paper present the analysis of the manipulation of some parameters to improve the performance of genetic algorithm based planar mechanism synthesis, such as the mutation and crossover probability and the population size, applied to a specific case of dimensional optimization, to obtain the best results for a group of design variables that achieve the best performance in the design of planar mechanisms, whose evaluation is expressed by means of an objective function that has to meet certain restrictions or requirements to minimize the error between the desired and generated trajectory of the coupler link, since the objective of path generation is to find the mechanism that properly describes the desired curve in shape, size, orientation and position. Two examples are given for illustration, for which the mentioned parameters are manipulated to see the effects of these on the final result for the minimization of the error and the value of variables involved in the dimensions of the links and the motion angles.
{"title":"Performance Optimization of GA Based Planar Mechanism Synthesis","authors":"E. Lugo-González, L. Hernández-Gómez, R. Ponce-Reynoso, A. T. Velázquez-Sánchez, G. Urriolagoitia-Sosa, E. A. Merchán-Cruz, J. Ramírez-Gordillo","doi":"10.1109/CERMA.2010.26","DOIUrl":"https://doi.org/10.1109/CERMA.2010.26","url":null,"abstract":"This paper present the analysis of the manipulation of some parameters to improve the performance of genetic algorithm based planar mechanism synthesis, such as the mutation and crossover probability and the population size, applied to a specific case of dimensional optimization, to obtain the best results for a group of design variables that achieve the best performance in the design of planar mechanisms, whose evaluation is expressed by means of an objective function that has to meet certain restrictions or requirements to minimize the error between the desired and generated trajectory of the coupler link, since the objective of path generation is to find the mechanism that properly describes the desired curve in shape, size, orientation and position. Two examples are given for illustration, for which the mentioned parameters are manipulated to see the effects of these on the final result for the minimization of the error and the value of variables involved in the dimensions of the links and the motion angles.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"31 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":"127986331","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}
This paper presents the analysis and simulation of a three-phase voltage-source inverter. The inverter is driven using space vector modulation and it has a dead time of 2 ?s. During this simulation, power losses on the power electronic switches are calculated and used on a thermal model. The thermal conduction equation was solved to predict the temperature distribution. The finite element numerical method was used to solve the thermal conduction equation. A C code finite element thermal model was programmed.
{"title":"A 2D Finite Element Thermal Model of a Three-Phase-Inverter Heat Sink","authors":"R. I. Ovando, F. Ramirez, C. Hernández, M. Arjona","doi":"10.1109/CERMA.2010.141","DOIUrl":"https://doi.org/10.1109/CERMA.2010.141","url":null,"abstract":"This paper presents the analysis and simulation of a three-phase voltage-source inverter. The inverter is driven using space vector modulation and it has a dead time of 2 ?s. During this simulation, power losses on the power electronic switches are calculated and used on a thermal model. The thermal conduction equation was solved to predict the temperature distribution. The finite element numerical method was used to solve the thermal conduction equation. A C code finite element thermal model was programmed.","PeriodicalId":119218,"journal":{"name":"2010 IEEE Electronics, Robotics and Automotive Mechanics Conference","volume":"39 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":"115612374","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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