In this paper, we investigate the coupling of two different cognitive modules, within the framework of embodied cognition. On one hand, an artificial agent is let to interact with its environment in order to learn the prediction of multi-modal sensory situations. The agent, makes use of a forward model as a basic cognitive tool. The trained system learns to successfully predict a multi-modal sensory representation of obstacles, formed by visual and tactile stimuli. On the other hand we synthesize a Bayesian controller to produce an obstacle avoidance behaviour. Using a real robot, the trained forward model and the Bayesian controller are coupled to solve a low-level task. The forward model is fed a covert motor command. When the covert motor command produces a collision-free sensory prediction the motor command is executed. When this is not the case, the Bayesian controller produces a motor command providing a collision free sensory situation by means of probabilistic reasoning. Experiments show that the coupling allows the robot to safely navigate among obstacles in its environment.
{"title":"Cognitive Hybrid Control of an Autonomous Agent","authors":"B. Lara, J. Hermosillo","doi":"10.1109/CERMA.2008.20","DOIUrl":"https://doi.org/10.1109/CERMA.2008.20","url":null,"abstract":"In this paper, we investigate the coupling of two different cognitive modules, within the framework of embodied cognition. On one hand, an artificial agent is let to interact with its environment in order to learn the prediction of multi-modal sensory situations. The agent, makes use of a forward model as a basic cognitive tool. The trained system learns to successfully predict a multi-modal sensory representation of obstacles, formed by visual and tactile stimuli. On the other hand we synthesize a Bayesian controller to produce an obstacle avoidance behaviour. Using a real robot, the trained forward model and the Bayesian controller are coupled to solve a low-level task. The forward model is fed a covert motor command. When the covert motor command produces a collision-free sensory prediction the motor command is executed. When this is not the case, the Bayesian controller produces a motor command providing a collision free sensory situation by means of probabilistic reasoning. Experiments show that the coupling allows the robot to safely navigate among obstacles in its environment.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115537855","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}
G. Castellanos-Domínguez, A. Orozco-Gutierrez, E. G. Suarez
A methodology for feature extraction using adaptive filter banks in automatic identification case where the brain zone is presented. Proposed filter banks track in more accurate way any change of parameters using Teager algorithm for energy calculation. Automatic threshold selection is applied for adaptive varying filters. The classification results are compared with fixed filter banks and good results are obtained.
{"title":"Feature Extraction for MER Signals Using Adaptive Filter Banks","authors":"G. Castellanos-Domínguez, A. Orozco-Gutierrez, E. G. Suarez","doi":"10.1109/CERMA.2008.95","DOIUrl":"https://doi.org/10.1109/CERMA.2008.95","url":null,"abstract":"A methodology for feature extraction using adaptive filter banks in automatic identification case where the brain zone is presented. Proposed filter banks track in more accurate way any change of parameters using Teager algorithm for energy calculation. Automatic threshold selection is applied for adaptive varying filters. The classification results are compared with fixed filter banks and good results are obtained.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116168091","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 a robust control system over the induction motor based on the Hinfin and loop shaping procedure. It has a set of simples steps to design the linear control law, the model used is the rotor-flux oriented coordinated system and is linearized by the Taylor's series. Finally the output feedback controller test shows the performance of the drive in presence of disturbances.
{"title":"Speed Control of Induction Motor Using Robust Control with LSDP","authors":"S. Acevedo, E. Giraldo, D. Giraldo","doi":"10.1109/CERMA.2008.73","DOIUrl":"https://doi.org/10.1109/CERMA.2008.73","url":null,"abstract":"This paper presents a robust control system over the induction motor based on the Hinfin and loop shaping procedure. It has a set of simples steps to design the linear control law, the model used is the rotor-flux oriented coordinated system and is linearized by the Taylor's series. Finally the output feedback controller test shows the performance of the drive in presence of disturbances.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116204285","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 a self-adaptive bacteria swarm optimization algorithm, and its application in a suite of optimization benchmark problems, where the self-adaptive algorithm outperformed in most cases the non adaptive version. The algorithm follows a methodology that uses some concepts included in the evolution strategies for the parameter control, allowing the algorithm to select online the best parameter set.
{"title":"Self–Adaptive Bacteria Swarm for Optimization","authors":"M. Muoz, J. Lopez, E. Caicedo","doi":"10.1109/CERMA.2008.97","DOIUrl":"https://doi.org/10.1109/CERMA.2008.97","url":null,"abstract":"This paper presents a self-adaptive bacteria swarm optimization algorithm, and its application in a suite of optimization benchmark problems, where the self-adaptive algorithm outperformed in most cases the non adaptive version. The algorithm follows a methodology that uses some concepts included in the evolution strategies for the parameter control, allowing the algorithm to select online the best parameter set.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127439601","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}
R. Posada-Gómez, J. J. Enriquez-Rodriguez, G. Alor-Hernández, A. Martínez-Sibaja
The universal serial bus (USB) has become the most popular communication interface among personal computers and embedded devices because of its ease of use, low cost, data bandwidth and availability in most computing systems. Microchippsilas PIC 18Fx550 microcontroller has an embedded USB controller that allows rapid development of USB enabled devices. This paper presents a system for bidirectional communication between a personal computer and an embedded device using a PIC 18F2550 microcontroller in USB bulk transfer mode. A comparison between three different drivers for host application was done to determine the advantages of each one. Finally, a case of study for a remote home lighting control system is presented.
{"title":"USB Bulk Transfers between a PC and a PIC Microcontroller for Embedded Applications","authors":"R. Posada-Gómez, J. J. Enriquez-Rodriguez, G. Alor-Hernández, A. Martínez-Sibaja","doi":"10.1109/CERMA.2008.21","DOIUrl":"https://doi.org/10.1109/CERMA.2008.21","url":null,"abstract":"The universal serial bus (USB) has become the most popular communication interface among personal computers and embedded devices because of its ease of use, low cost, data bandwidth and availability in most computing systems. Microchippsilas PIC 18Fx550 microcontroller has an embedded USB controller that allows rapid development of USB enabled devices. This paper presents a system for bidirectional communication between a personal computer and an embedded device using a PIC 18F2550 microcontroller in USB bulk transfer mode. A comparison between three different drivers for host application was done to determine the advantages of each one. Finally, a case of study for a remote home lighting control system is presented.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126359614","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 any business, security in the form of access control is of great importance. This paper outlines an algorithm which can be used for user verification. The system consists of an application which uses a haptic device to capture behavioral biometric features. A fuzzy logic controller then acts as the decision-making or user verification module. The algorithm can initially be used for applications such as online verification or access control to sensitive data. The results to date have been very promising.
{"title":"A Haptic and Fuzzy Logic Controller for Biometric User Verification","authors":"A. Kanneh, Z. Sakr","doi":"10.1109/CERMA.2008.57","DOIUrl":"https://doi.org/10.1109/CERMA.2008.57","url":null,"abstract":"In any business, security in the form of access control is of great importance. This paper outlines an algorithm which can be used for user verification. The system consists of an application which uses a haptic device to capture behavioral biometric features. A fuzzy logic controller then acts as the decision-making or user verification module. The algorithm can initially be used for applications such as online verification or access control to sensitive data. The results to date have been very promising.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126256770","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}
L. Barrera, V.A.A. Baltazar, F.D.F. Marban, U.G. Ibarra
This simulator shows the idea of the personnelpsilas training with the use of the operation panel of the collective transport system METROpsilas train. With the object of use the teaching of this operation based on a digital visualization system and a computational simulation that will provide reality to the events that the operator can control. The utility of this simulator is that when we have the interaction between several senses with an object in common, the understanding of the system will be easier.
{"title":"Simulation of the Operation Panel from a Collective Transport System METRO's Train with Virtual Reality","authors":"L. Barrera, V.A.A. Baltazar, F.D.F. Marban, U.G. Ibarra","doi":"10.1109/CERMA.2008.90","DOIUrl":"https://doi.org/10.1109/CERMA.2008.90","url":null,"abstract":"This simulator shows the idea of the personnelpsilas training with the use of the operation panel of the collective transport system METROpsilas train. With the object of use the teaching of this operation based on a digital visualization system and a computational simulation that will provide reality to the events that the operator can control. The utility of this simulator is that when we have the interaction between several senses with an object in common, the understanding of the system will be easier.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134216661","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.R. Guzman-Sepulveda, R. de Jesus Romero-Troncoso
This work has as objective to show the design process and implementation of three-degrees of freedom mechanical arm, controlled by a digital system, described under VHDL, and implemented into a FPGA (field programmable gate array). The digital system for control is designed through the interconnection of circuits and functional blocks. The FPGA terminals are used to control the sequences of three stepper motors and this way to achieve the movement of the three-degrees of freedom arm, the interface stage among the control and the motors, is developed with a power electronic circuit based on transistors. This design proposal is a didactic model that seeks to illustrate the stages of the design and, mainly, the digital system for control the movements of the mechanical arm. For this case,the mechanical design of the arm does not depend on a specific trajectory, it is a free trajectory and user can decide, trough the FPGA interface, the mechanical arm movement. The mechanical arm proposal does not have the capacity to exercise big forces, not to lift big weight, but rather it seeks to be an easy construction model and accessible for everyone, since it can be built until with recycled material, just as it was made in this case, for educational purposes.
{"title":"Digital System Control for Three-Degrees of Freedom Mechanical Arm with FPGA","authors":"J.R. Guzman-Sepulveda, R. de Jesus Romero-Troncoso","doi":"10.1109/CERMA.2008.74","DOIUrl":"https://doi.org/10.1109/CERMA.2008.74","url":null,"abstract":"This work has as objective to show the design process and implementation of three-degrees of freedom mechanical arm, controlled by a digital system, described under VHDL, and implemented into a FPGA (field programmable gate array). The digital system for control is designed through the interconnection of circuits and functional blocks. The FPGA terminals are used to control the sequences of three stepper motors and this way to achieve the movement of the three-degrees of freedom arm, the interface stage among the control and the motors, is developed with a power electronic circuit based on transistors. This design proposal is a didactic model that seeks to illustrate the stages of the design and, mainly, the digital system for control the movements of the mechanical arm. For this case,the mechanical design of the arm does not depend on a specific trajectory, it is a free trajectory and user can decide, trough the FPGA interface, the mechanical arm movement. The mechanical arm proposal does not have the capacity to exercise big forces, not to lift big weight, but rather it seeks to be an easy construction model and accessible for everyone, since it can be built until with recycled material, just as it was made in this case, for educational purposes.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"113 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134420366","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}
Our approach to recognize paraphrasing pairs is to make use of lexical relationships as representations of paraphrases. In this paper, we describe a classification process based on logistic regression as the inference mechanism. In this way, the set of features to be analyzed correspond to dependency trees from semantically equivalent paraphrase pairs. The results of the experimentation conducted show how a model constructed around lexical relationships is a plausible alternative for paraphrasing detection.
{"title":"Recognition of Paraphrasing Pairs","authors":"Diego Uribe","doi":"10.1109/CERMA.2008.56","DOIUrl":"https://doi.org/10.1109/CERMA.2008.56","url":null,"abstract":"Our approach to recognize paraphrasing pairs is to make use of lexical relationships as representations of paraphrases. In this paper, we describe a classification process based on logistic regression as the inference mechanism. In this way, the set of features to be analyzed correspond to dependency trees from semantically equivalent paraphrase pairs. The results of the experimentation conducted show how a model constructed around lexical relationships is a plausible alternative for paraphrasing detection.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132476766","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. Leon, G. Sanchez, G. Aguilar, K. Toscano, H. Pérez, M. Nakano
A fingerprint is the visible impression or molded that papillary produces with the papillary crest contact in a surface. It depends on the conditions under which the fingerprint is made, and the support characteristics (plastics or soft matters in due conditions), however, it is an individual characteristic that is used as a main pattern for people identification. In this research the image enhancement is carry out using FFT (Fast Fourier Transform) and Gabor filters, the minutiae extraction approach is done to obtain a characteristic vector which has distance, angle and minutiae coordinates those vectors will be used for training and recognition.
{"title":"Fingerprint Recongnition Using Espatial Minutae Information","authors":"J. Leon, G. Sanchez, G. Aguilar, K. Toscano, H. Pérez, M. Nakano","doi":"10.1109/CERMA.2008.64","DOIUrl":"https://doi.org/10.1109/CERMA.2008.64","url":null,"abstract":"A fingerprint is the visible impression or molded that papillary produces with the papillary crest contact in a surface. It depends on the conditions under which the fingerprint is made, and the support characteristics (plastics or soft matters in due conditions), however, it is an individual characteristic that is used as a main pattern for people identification. In this research the image enhancement is carry out using FFT (Fast Fourier Transform) and Gabor filters, the minutiae extraction approach is done to obtain a characteristic vector which has distance, angle and minutiae coordinates those vectors will be used for training and recognition.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"231 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134089210","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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