This paper reviews a theory of robot motion planning and elaborates an application in which neural networks are used to take decisions regarding the orientation of a robot in its search for a destination target.The Simulink is used as a tool to implement the concepts. The neural networks allow obtaining a model of inverse dynamic, indeed the mathematical model of robot. The test was realized with different types of trajectories to validate the methodology proposed. A servosystem was adjusted optimally by the implementation of an heuristic technic.
{"title":"Following of Trayectories for a Mobile Robot Using Neural Networks","authors":"M. Lopez, S. Acevedo, L.H. Rios","doi":"10.1109/CERMA.2008.69","DOIUrl":"https://doi.org/10.1109/CERMA.2008.69","url":null,"abstract":"This paper reviews a theory of robot motion planning and elaborates an application in which neural networks are used to take decisions regarding the orientation of a robot in its search for a destination target.The Simulink is used as a tool to implement the concepts. The neural networks allow obtaining a model of inverse dynamic, indeed the mathematical model of robot. The test was realized with different types of trajectories to validate the methodology proposed. A servosystem was adjusted optimally by the implementation of an heuristic technic.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"170 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":"126066591","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. Calvo-Manzano, G. Cuevas, J. Mejía, T. San Feliu, A. Sánchez
Nowadays, the information technology outsourcing is having a fast growth worldwide. However, according to recent studies, 20 to 25 percent of large IT acquisition projects fail within two years and 50 percent fail within five years. CMMI-ACQ is a model that provides guidance to organizations on the acquisition of software products and related services. This paper addresses an implementation sequence of the processes areas at maturity level 2. To achieve this objective, graphs theory is used to represent the existing dependencies among CMMI-ACQ processes areas, in order to find strongly connected cluster and cyclic processes areas. These clusters using formal criteria have helped to determine the implementation sequences of the acquisition processes areas at maturity level 2.
{"title":"CMMI-ACQ: A Formal Implementation Sequences of the Processes Areas at Maturity Level 2","authors":"J. Calvo-Manzano, G. Cuevas, J. Mejía, T. San Feliu, A. Sánchez","doi":"10.1109/CERMA.2008.55","DOIUrl":"https://doi.org/10.1109/CERMA.2008.55","url":null,"abstract":"Nowadays, the information technology outsourcing is having a fast growth worldwide. However, according to recent studies, 20 to 25 percent of large IT acquisition projects fail within two years and 50 percent fail within five years. CMMI-ACQ is a model that provides guidance to organizations on the acquisition of software products and related services. This paper addresses an implementation sequence of the processes areas at maturity level 2. To achieve this objective, graphs theory is used to represent the existing dependencies among CMMI-ACQ processes areas, in order to find strongly connected cluster and cyclic processes areas. These clusters using formal criteria have helped to determine the implementation sequences of the acquisition processes areas at maturity level 2.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"36 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":"128443882","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}
Power line communication (PLC) offers a convenient and inexpensive medium for data transmission, however this technology still face a difficult challenge: the channel modeling. Although enormous effort has been devoted to determining accurate channel models for the power line, so far, there is not a widely accepted model in the PLC community. In this survey we present recent development and open research issues on PLC channel modeling. The discussion is focused on the modeling of indoor PLC, and in particular, on its transfer function. Then, we discuss the most representative indoor PLC modeling approaches that we found in the recent literature.
{"title":"Survey on Indoor Power Line Communication Channel Modeling","authors":"Gerardo Laguna, Ricardo Barrón","doi":"10.1109/CERMA.2008.23","DOIUrl":"https://doi.org/10.1109/CERMA.2008.23","url":null,"abstract":"Power line communication (PLC) offers a convenient and inexpensive medium for data transmission, however this technology still face a difficult challenge: the channel modeling. Although enormous effort has been devoted to determining accurate channel models for the power line, so far, there is not a widely accepted model in the PLC community. In this survey we present recent development and open research issues on PLC channel modeling. The discussion is focused on the modeling of indoor PLC, and in particular, on its transfer function. Then, we discuss the most representative indoor PLC modeling approaches that we found in the recent literature.","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":"129833792","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. Aquino-Santos, V. Rangel-Licea, A. González-Potes, L.A. Villaseor-Gonzalez, M. Garcia-Ruiz, A. Edwards-Block, S. Sandoval-Carrillo
This paper provides a comparative analysis of wireless broadband mesh and multi-hop networks. This analysis focuses on synchronization and centralized and distributed scheduling in wireless broadband mesh networks. In addition, it also describes the additional addressing and connection definition that applies to multi-hop relay systems. The comparative analysis is made on the basis of conceptual flow diagrams.
{"title":"Comparative Analysis of Wireless Broadband Mesh and Multi-hop Networks","authors":"R. Aquino-Santos, V. Rangel-Licea, A. González-Potes, L.A. Villaseor-Gonzalez, M. Garcia-Ruiz, A. Edwards-Block, S. Sandoval-Carrillo","doi":"10.1109/CERMA.2008.25","DOIUrl":"https://doi.org/10.1109/CERMA.2008.25","url":null,"abstract":"This paper provides a comparative analysis of wireless broadband mesh and multi-hop networks. This analysis focuses on synchronization and centralized and distributed scheduling in wireless broadband mesh networks. In addition, it also describes the additional addressing and connection definition that applies to multi-hop relay systems. The comparative analysis is made on the basis of conceptual flow diagrams.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"5 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":"131557810","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}
When it is necessary to analyze a personpsilas face, whether it is for recognizing pathologies, emotions, or states of mind, it becomes necessary to obtain a maximum of information of the facial characteristics that especially reflect these aspects. These characteristics are principally, the mouth, eyes and eyebrows. The start of the analytic process, once the face and the facial feature to be analyzed have been divided into segments, consists in applying an algorithm to said feature for the detection of its edges. The most used edges algorithms are; SUSAN, Canny, Sobel, and Roberts, among others. These algorithms function excellently when the edges are fairly well defined, but in the case of faces in color, where the transitions are not clearly marked, and when there are many imperfections and shadings, the above mentioned algorithms generate incomplete contours in a great number of cases, leading to errors in high level analysis. This article presents a new methodology based on the Canny algorithm which allows us to obtain the edges of the mouth with much greater information than the other above mentioned algorithms, which makes it more adequate for the originally stated objective. The method has been tested detecting the outline contour of the mouth and using the databases of facial images, ldquoMMI facial expression database compiled by M. Pantic & M. F. Valstar" and "A.M. Martinez and R. Benavente. The AR face database. CVC technical report #24, June 1998".
当有必要分析一个人的面部时，无论是为了识别病理、情绪还是精神状态，都有必要获得最大限度的面部特征信息，特别是反映这些方面的信息。这些特征主要是嘴、眼睛和眉毛。分析过程的开始，一旦人脸和待分析的面部特征被划分成几个部分，就包括对所述特征应用一种算法来检测其边缘。最常用的边缘算法有;苏珊、坎尼、索贝尔和罗伯茨等等。这些算法在边缘定义良好的情况下表现出色，但在彩色人脸的情况下，过渡没有明确标记，并且有许多缺陷和阴影时，上述算法在很多情况下会产生不完整的轮廓，导致高级分析错误。本文提出了一种基于Canny算法的新方法，该方法使我们能够获得比上述其他算法更多的信息的嘴的边缘，这使得它更适合最初规定的目标。该方法已经通过检测嘴的轮廓和面部图像数据库进行了测试，ldquoMMI面部表情数据库由M. Pantic & M. F. Valstar和A.M. Martinez and R. Benavente编译。AR人脸数据库。CVC技术报告#24,1998年6月”。
{"title":"An Improved Method for Facial Features Extraction in Images","authors":"R. Contreras, O. Starostenko, L.F. Pulido","doi":"10.1109/CERMA.2008.8","DOIUrl":"https://doi.org/10.1109/CERMA.2008.8","url":null,"abstract":"When it is necessary to analyze a personpsilas face, whether it is for recognizing pathologies, emotions, or states of mind, it becomes necessary to obtain a maximum of information of the facial characteristics that especially reflect these aspects. These characteristics are principally, the mouth, eyes and eyebrows. The start of the analytic process, once the face and the facial feature to be analyzed have been divided into segments, consists in applying an algorithm to said feature for the detection of its edges. The most used edges algorithms are; SUSAN, Canny, Sobel, and Roberts, among others. These algorithms function excellently when the edges are fairly well defined, but in the case of faces in color, where the transitions are not clearly marked, and when there are many imperfections and shadings, the above mentioned algorithms generate incomplete contours in a great number of cases, leading to errors in high level analysis. This article presents a new methodology based on the Canny algorithm which allows us to obtain the edges of the mouth with much greater information than the other above mentioned algorithms, which makes it more adequate for the originally stated objective. The method has been tested detecting the outline contour of the mouth and using the databases of facial images, ldquoMMI facial expression database compiled by M. Pantic & M. F. Valstar\" and \"A.M. Martinez and R. Benavente. The AR face database. CVC technical report #24, June 1998\".","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"29 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":"132402479","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. Rodríguez-Reséndiz, E. Rivas-Araiza, G. Herrera-Ruiz
This paper describes an analysis method for achieving control torque and speed with vector control for induction motors. An indirect field-oriented output feedback motor controller is presented; it is suitable for low-cost applications. A current model control is used to sense back electromotive force (back-EMF) by means of an analog to digital converter (ADC); its simulation and filtering are discussed. A Current model is the core of this work, but other system modules are analyzed such the proportional-integrative (PI) controller, the space vector with pulse width modulation (SVPWM), and others. Their implementations on a digital signal processor (DSP) along with the electrical power stage are shown. The cascaded structure of the controller allows performing a constructive tuning procedure for position and speed control loop.
{"title":"Indirect Field Oriented Control of an Induction Motor Sensing DC-link Current","authors":"J. Rodríguez-Reséndiz, E. Rivas-Araiza, G. Herrera-Ruiz","doi":"10.1109/CERMA.2008.46","DOIUrl":"https://doi.org/10.1109/CERMA.2008.46","url":null,"abstract":"This paper describes an analysis method for achieving control torque and speed with vector control for induction motors. An indirect field-oriented output feedback motor controller is presented; it is suitable for low-cost applications. A current model control is used to sense back electromotive force (back-EMF) by means of an analog to digital converter (ADC); its simulation and filtering are discussed. A Current model is the core of this work, but other system modules are analyzed such the proportional-integrative (PI) controller, the space vector with pulse width modulation (SVPWM), and others. Their implementations on a digital signal processor (DSP) along with the electrical power stage are shown. The cascaded structure of the controller allows performing a constructive tuning procedure for position and speed control loop.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"163 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":"123783548","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. Lopez-Perez, P. Sánchez-Sánchez, A. Michua-Camarillo, F. Reyes‐Cortes, J.G. Cebada-Reyes
The main objective of this paper is to control the position of a robot manipulator by means of the implementation of a new control scheme based on the combination of hyperbolic trigonometrical functions. In order to accomplish the control we used the method of shaping energy; and by means of the Lyapunovpsilas theory its stability is demonstrated formally. It is important to compare the functionality of the proposed controller, for this reason is compared with the simple PD controller, this analysis is made based on the performance index having solved the norm L2.
{"title":"A New Control Structure for Robot Manipulators Based on the Trigonometric Functions Sech+Sinh","authors":"E. Lopez-Perez, P. Sánchez-Sánchez, A. Michua-Camarillo, F. Reyes‐Cortes, J.G. Cebada-Reyes","doi":"10.1109/CERMA.2008.102","DOIUrl":"https://doi.org/10.1109/CERMA.2008.102","url":null,"abstract":"The main objective of this paper is to control the position of a robot manipulator by means of the implementation of a new control scheme based on the combination of hyperbolic trigonometrical functions. In order to accomplish the control we used the method of shaping energy; and by means of the Lyapunovpsilas theory its stability is demonstrated formally. It is important to compare the functionality of the proposed controller, for this reason is compared with the simple PD controller, this analysis is made based on the performance index having solved the norm L2.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"21 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":"115613285","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}
The use of new wireless mobile technologies in nuclear power plants is growing fast. The WLAN technology based on the IEEE 802.11 standard has a very promising future for its use in nuclear power plants due to features like mobility, reliability, security, scalability and compatibility with other communication networks technologies. However, wireless technology may exhibit greater vulnerability to the nuclear power plant EMI/RFI environment than existing instrumentation and control systems. This paper gives an analysis of the most relevant wireless technologies currently available that can be implemented in nuclear power plants. Also, this work identifies nuclear regulatory guidelines, wireless networks standards, electromagnetic and radio-frequency interference standards. In addition, experiences of the successful implementation of wireless technologies in nuclear power plants, are presented.
{"title":"An Analysis of Implementing Wireless LAN Technology in Nuclear Power Plants","authors":"J. García-Hernández, C. F. Garcia-hernandez","doi":"10.1109/CERMA.2008.29","DOIUrl":"https://doi.org/10.1109/CERMA.2008.29","url":null,"abstract":"The use of new wireless mobile technologies in nuclear power plants is growing fast. The WLAN technology based on the IEEE 802.11 standard has a very promising future for its use in nuclear power plants due to features like mobility, reliability, security, scalability and compatibility with other communication networks technologies. However, wireless technology may exhibit greater vulnerability to the nuclear power plant EMI/RFI environment than existing instrumentation and control systems. This paper gives an analysis of the most relevant wireless technologies currently available that can be implemented in nuclear power plants. Also, this work identifies nuclear regulatory guidelines, wireless networks standards, electromagnetic and radio-frequency interference standards. In addition, experiences of the successful implementation of wireless technologies in nuclear power plants, are presented.","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":"115743511","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 will present the development of a basic goniometric system for control of movements in realtime of a mini humanoid robot. The mini humanoidis Hitec’s Robonova-1 with a total of 16 degrees offreedom. The first prototype only included the degrees in relation with the arm, elbow joint and one shoulder joint. The project is presented in six steps: General description of Robonova; kinematic model of ok human and android arm; mechanical structure; electronic configuration and software interface.
{"title":"Model and Implementation of Master-Slave Basic Goniometric System for Real Time Control of a Mini Humanoid Robot","authors":"J. Arias, L.E.S. Guzman, M. M. Arteche","doi":"10.1109/CERMA.2008.98","DOIUrl":"https://doi.org/10.1109/CERMA.2008.98","url":null,"abstract":"This paper will present the development of a basic goniometric system for control of movements in realtime of a mini humanoid robot. The mini humanoidis Hitec’s Robonova-1 with a total of 16 degrees offreedom. The first prototype only included the degrees in relation with the arm, elbow joint and one shoulder joint. The project is presented in six steps: General description of Robonova; kinematic model of ok human and android arm; mechanical structure; electronic configuration and software interface.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"51 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":"134505077","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}
The general focus of the project is the development of a simple, portable and economically accessible device that permits the limited movement of the inferior extremities on patients with damage on the spinal cord in the lumbar region. The present work is limited to the control system. An electronic dataglove is used as input interface. To develop the controller it was developed as output interface a mechanical model of the inferior extremities, instead of medical experimentation on patients. The controller implemented in a DSP uses a neural network to translate input signals to the outputs. The controller by itself is in open loop configuration. The feedback of the overall system is planned to be done by the patiencepsilas own senses. All the compensations as in fatigue (feedback) are performed by the patient.
{"title":"Development of a System for Independent Ambulation of Patients with Spinal Cord Injury Using a Dataglove and a Biped Robotic Model","authors":"A. G. Blanco, G. Munguia, P. Moreno","doi":"10.1109/CERMA.2008.39","DOIUrl":"https://doi.org/10.1109/CERMA.2008.39","url":null,"abstract":"The general focus of the project is the development of a simple, portable and economically accessible device that permits the limited movement of the inferior extremities on patients with damage on the spinal cord in the lumbar region. The present work is limited to the control system. An electronic dataglove is used as input interface. To develop the controller it was developed as output interface a mechanical model of the inferior extremities, instead of medical experimentation on patients. The controller implemented in a DSP uses a neural network to translate input signals to the outputs. The controller by itself is in open loop configuration. The feedback of the overall system is planned to be done by the patiencepsilas own senses. All the compensations as in fatigue (feedback) are performed by the patient.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"206 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":"132163183","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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