This paper describes the observation and analysis of biomorphic, kinematics and stability characteristics in a Colombian inset Coleoptera Scarabaidae in order to provide bioinspired strategies in the development of a legged exploration robot. Some characteristic are presented with the aim to determine a methodology of design and models of biomorphic robots inspired in the scarabaeus
{"title":"Morphology, Kinematics and Stability of a Scarabaeus as Bases for Design of Robots","authors":"N.J. Rodriguez, J. Garzon, J.J. Soriano","doi":"10.1109/CERMA.2006.65","DOIUrl":"https://doi.org/10.1109/CERMA.2006.65","url":null,"abstract":"This paper describes the observation and analysis of biomorphic, kinematics and stability characteristics in a Colombian inset Coleoptera Scarabaidae in order to provide bioinspired strategies in the development of a legged exploration robot. Some characteristic are presented with the aim to determine a methodology of design and models of biomorphic robots inspired in the scarabaeus","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130649006","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. Ortiz-Rodríguez, M. R. Martinez-Blanco, H. Vega-Carrillo
The integration of artificial neural networks and optimization provides a tool for designing robust network parameters and improving their performance. The Taguchi method offers considerable benefits in time and accuracy when is compared with the conventional trial and error neural network design approach. This work is concerned with the robust design of multilayer feedforward neural networks trained by backpropagation algorithm and develops a systematic and experimental strategy which emphasizes simultaneous optimization artificial neural network's parameters optimization under various noise conditions. We make a comparison among this method and conventional training methods. The attention is drawing on the advantages on Taguchi methods which offer potential benefits in evaluating the network behavior
{"title":"Robust Design of Artificial Neural Networks Applying the Taguchi methodology and DoE","authors":"J. Ortiz-Rodríguez, M. R. Martinez-Blanco, H. Vega-Carrillo","doi":"10.1109/CERMA.2006.83","DOIUrl":"https://doi.org/10.1109/CERMA.2006.83","url":null,"abstract":"The integration of artificial neural networks and optimization provides a tool for designing robust network parameters and improving their performance. The Taguchi method offers considerable benefits in time and accuracy when is compared with the conventional trial and error neural network design approach. This work is concerned with the robust design of multilayer feedforward neural networks trained by backpropagation algorithm and develops a systematic and experimental strategy which emphasizes simultaneous optimization artificial neural network's parameters optimization under various noise conditions. We make a comparison among this method and conventional training methods. The attention is drawing on the advantages on Taguchi methods which offer potential benefits in evaluating the network behavior","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132524096","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 car security system that links the user, a starter disable unit and a randomly located device is presented. The last one actuates as a movement detector, and the user can hide it anywhere inside the vehicle, which gives a strong level of security since there is no physical attachment to the car. A prototype has been constructed, using Bluetooth between the non-fixed device and the starter disable unit; the system sends a warning message to the user if any movement is detected via general mobile radio service (GMRS). Test results and some future improvements are commented at the end of this paper
{"title":"Bluetooth/GMRS Car Security System with a Randomly Located Movement Detect Device","authors":"G. Porta, S.M.J.A. Estudillo, A. Sanchez","doi":"10.1109/CERMA.2006.22","DOIUrl":"https://doi.org/10.1109/CERMA.2006.22","url":null,"abstract":"A car security system that links the user, a starter disable unit and a randomly located device is presented. The last one actuates as a movement detector, and the user can hide it anywhere inside the vehicle, which gives a strong level of security since there is no physical attachment to the car. A prototype has been constructed, using Bluetooth between the non-fixed device and the starter disable unit; the system sends a warning message to the user if any movement is detected via general mobile radio service (GMRS). Test results and some future improvements are commented at the end of this paper","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129079305","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}
H.S. Tapia, J. Aragón, D. M. Hernandez, B.B. Garcia
An algorithm for velocimetry working with the individual identification of seeding particles in a flow is developed in this paper. The algorithm is able to find particle pairs by the intensity of the light scattered and the size and shape of the particles. The velocity field of fluids and sediment particles of irregular size and shape and higher density than the fluid were experimentally measured An experimental flume and a particle tracking velocimetry (PTV) system provided with a double pulsed laser and high speed CCD camera was used For image analysis an algorithm presented in this work was able to give sediment velocities for different particle ranges and proved to be a useful and efficient tool for PTV analysis of flows seed with non-spherical and non-uniform tracers
{"title":"Particle Tracking Velocimetry (PTV) Algorithm for Non-uniform and Non-spherical Particles","authors":"H.S. Tapia, J. Aragón, D. M. Hernandez, B.B. Garcia","doi":"10.1109/CERMA.2006.118","DOIUrl":"https://doi.org/10.1109/CERMA.2006.118","url":null,"abstract":"An algorithm for velocimetry working with the individual identification of seeding particles in a flow is developed in this paper. The algorithm is able to find particle pairs by the intensity of the light scattered and the size and shape of the particles. The velocity field of fluids and sediment particles of irregular size and shape and higher density than the fluid were experimentally measured An experimental flume and a particle tracking velocimetry (PTV) system provided with a double pulsed laser and high speed CCD camera was used For image analysis an algorithm presented in this work was able to give sediment velocities for different particle ranges and proved to be a useful and efficient tool for PTV analysis of flows seed with non-spherical and non-uniform tracers","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125459583","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 procedure focused to the fully-symbolic noise analysis of continuous-time active filters consisting of operational transconductance amplifiers (OTAs) and capacitors is introduced. The proposed procedure is carried out by modeling each OTA by its nullor-based noise model. In this way, the total output noise density is evaluated by solving a linear system of equations. An illustrative example is described to show the usefulness of the proposed procedure to derive expressions for the fully-symbolic total output noise density. Finally, the derived expression is compared with Hspice noise simulations, which are in good agreement
{"title":"Symbolic Noise Analysis in Gm-C Filters","authors":"C. Sánchez-López, E. Tlelo-Cuautle","doi":"10.1109/CERMA.2006.88","DOIUrl":"https://doi.org/10.1109/CERMA.2006.88","url":null,"abstract":"A procedure focused to the fully-symbolic noise analysis of continuous-time active filters consisting of operational transconductance amplifiers (OTAs) and capacitors is introduced. The proposed procedure is carried out by modeling each OTA by its nullor-based noise model. In this way, the total output noise density is evaluated by solving a linear system of equations. An illustrative example is described to show the usefulness of the proposed procedure to derive expressions for the fully-symbolic total output noise density. Finally, the derived expression is compared with Hspice noise simulations, which are in good agreement","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126744182","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}
Rubén Lagunas-Jiménez, Guillermo Fernández-Anaya, J. Carlos Martínez-García
In this paper a procedure is used to tuner two degrees of freedom controllers (PID-ISA) raised as a multiobjective optimization problem (MOP), applying the multiobjective genetic algorithm NSGA-II (MOGA NSGA-II). The objective functions are deployed considering, setpoint response, load disturbances, measurement noises and robustness to model uncertainty
{"title":"Tuning of Two-Degrees-of-Freedom PID Controllers via the Multiobjective Genetic Algorithm NSGA-II","authors":"Rubén Lagunas-Jiménez, Guillermo Fernández-Anaya, J. Carlos Martínez-García","doi":"10.1109/CERMA.2006.94","DOIUrl":"https://doi.org/10.1109/CERMA.2006.94","url":null,"abstract":"In this paper a procedure is used to tuner two degrees of freedom controllers (PID-ISA) raised as a multiobjective optimization problem (MOP), applying the multiobjective genetic algorithm NSGA-II (MOGA NSGA-II). The objective functions are deployed considering, setpoint response, load disturbances, measurement noises and robustness to model uncertainty","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"8 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126245744","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. López-Martín, C. Yáñez-Márquez, A. Gutiérrez-Tornés
The most common application of software metrics is to develop models that predict the effort that will be required to complete certain stages of a software development. There are two main stages for using an estimation model (1) it must be determined whether the model is adequate to describe the observed (actual) data, that is, the model adequacy checking; if it resulted adequate then (2) the estimation model is validated in its environment using new data. In this paper, an investigation aimed to compare personal fuzzy logic systems (FLS) with linear regression is presented. The evaluation criteria is based upon ANOVA of MRE and MER, as well as MURE, MMER and pred(25). Ninety-nine programs were developed by eighteen programmers. From these programs four FLS are generated for estimating the effort of sixty programs developed by a group of ten developers. Results show that a FLS can be used as an alternative for estimating the development effort at personal level
{"title":"Fuzzy Logic Systems for Software Development Effort Estimation Based Upon Clustering of Programs Segmented by Personal Practices","authors":"C. López-Martín, C. Yáñez-Márquez, A. Gutiérrez-Tornés","doi":"10.1109/CERMA.2006.114","DOIUrl":"https://doi.org/10.1109/CERMA.2006.114","url":null,"abstract":"The most common application of software metrics is to develop models that predict the effort that will be required to complete certain stages of a software development. There are two main stages for using an estimation model (1) it must be determined whether the model is adequate to describe the observed (actual) data, that is, the model adequacy checking; if it resulted adequate then (2) the estimation model is validated in its environment using new data. In this paper, an investigation aimed to compare personal fuzzy logic systems (FLS) with linear regression is presented. The evaluation criteria is based upon ANOVA of MRE and MER, as well as MURE, MMER and pred(25). Ninety-nine programs were developed by eighteen programmers. From these programs four FLS are generated for estimating the effort of sixty programs developed by a group of ten developers. Results show that a FLS can be used as an alternative for estimating the development effort at personal level","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114180036","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.U. Garbus, Í. Aguirre, R. C. Sanchez, O.R. Pureco
The present work describes the construction of a virtual laboratory that allows its remote access via TCP/IP. Its client server structure allows it to have control in real time of the process in the server and a complete control and supervision from any place through the Internet. For controlling the process, a series of acquisition and distributed control cards which communicate to each other and with computers by means of the RS485 protocol were constructed, the cards have been developed to facilitate laboratory practices of distributed control and virtual instrumentation. The system includes acquisition and control cards, software developed in LabVIEW to monitor the state of the whole system and the application server with ample benefits for processes control
{"title":"Virtual Remote Lab for Control Practic","authors":"R.U. Garbus, Í. Aguirre, R. C. Sanchez, O.R. Pureco","doi":"10.1109/CERMA.2006.125","DOIUrl":"https://doi.org/10.1109/CERMA.2006.125","url":null,"abstract":"The present work describes the construction of a virtual laboratory that allows its remote access via TCP/IP. Its client server structure allows it to have control in real time of the process in the server and a complete control and supervision from any place through the Internet. For controlling the process, a series of acquisition and distributed control cards which communicate to each other and with computers by means of the RS485 protocol were constructed, the cards have been developed to facilitate laboratory practices of distributed control and virtual instrumentation. The system includes acquisition and control cards, software developed in LabVIEW to monitor the state of the whole system and the application server with ample benefits for processes control","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116066273","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}
Karina Toscano, Gabriel Sánchez, M. Nakano, Hector Perez, Makoto Yasuhara
During the last two decade, numerous handwriting character recognition systems have been proposed. Many of them presented their limitation when the handwriting character is cursive type and it has some deformation. However this type of cursive character is easily recognized by the human being. In this paper we research its human ability and apply it to the dynamic handwriting character recognition. In the proposed system, significant knots of each character are extracted using natural spline function named SLALOM and their position is optimized steepest descent method. Using a training set consisting of the sequence of optimal knots, each character model is constructed. Finally the unknown input character is compared with each model of all characters to get the similarity scores. The character model with higher similarity score is considered as the recognized character of the input data. The recognition stage consists in two-steps: classification using global feature and classification using local feature
{"title":"Cursive Character Recognition System","authors":"Karina Toscano, Gabriel Sánchez, M. Nakano, Hector Perez, Makoto Yasuhara","doi":"10.1109/CERMA.2006.32","DOIUrl":"https://doi.org/10.1109/CERMA.2006.32","url":null,"abstract":"During the last two decade, numerous handwriting character recognition systems have been proposed. Many of them presented their limitation when the handwriting character is cursive type and it has some deformation. However this type of cursive character is easily recognized by the human being. In this paper we research its human ability and apply it to the dynamic handwriting character recognition. In the proposed system, significant knots of each character are extracted using natural spline function named SLALOM and their position is optimized steepest descent method. Using a training set consisting of the sequence of optimal knots, each character model is constructed. Finally the unknown input character is compared with each model of all characters to get the similarity scores. The character model with higher similarity score is considered as the recognized character of the input data. The recognition stage consists in two-steps: classification using global feature and classification using local feature","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"296 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133608108","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. Mantilla, H. Perez-Meana, D. Mata, C. Angeles, J. Alvarado, L. Cabrera
This paper presents a system for analysis and recognition of voiced segments in Spanish esophageal speech. It exposes the mathematical fundaments for the voiced speech segments analysis algorithm, based in the formant extraction method as well as the recognition stage through the artificial neural networks. Simulation results are presented for normal and esophageal speech. The system was implemented in a real time processing platform based in a digital signal processor TMS320C5416 of Texas Instruments
{"title":"Analysis and Recognition of Voiced Segments of Esophageal Speech","authors":"A. Mantilla, H. Perez-Meana, D. Mata, C. Angeles, J. Alvarado, L. Cabrera","doi":"10.1109/CERMA.2006.104","DOIUrl":"https://doi.org/10.1109/CERMA.2006.104","url":null,"abstract":"This paper presents a system for analysis and recognition of voiced segments in Spanish esophageal speech. It exposes the mathematical fundaments for the voiced speech segments analysis algorithm, based in the formant extraction method as well as the recognition stage through the artificial neural networks. Simulation results are presented for normal and esophageal speech. The system was implemented in a real time processing platform based in a digital signal processor TMS320C5416 of Texas Instruments","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114976482","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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