This research focuses on the development of flexible robot prototypes capable of robust terrestrial exploration. The development of such mechanisms is important, on the one hand, to enhance remote sensing capabilities during emergency situations, and on the other hand, to investigate new forms of mobility. In this paper, the design and implementation of an inchworm-like modular robot prototype are described. This prototype was developed to perform exploration tasks of unknown environments with obstacles and walls
{"title":"An Inchworm-Like Robot Prototype for Robust Exploration","authors":"E.A. Avila, A. M. Meléndez, M. Falfán","doi":"10.1109/CERMA.2006.13","DOIUrl":"https://doi.org/10.1109/CERMA.2006.13","url":null,"abstract":"This research focuses on the development of flexible robot prototypes capable of robust terrestrial exploration. The development of such mechanisms is important, on the one hand, to enhance remote sensing capabilities during emergency situations, and on the other hand, to investigate new forms of mobility. In this paper, the design and implementation of an inchworm-like modular robot prototype are described. This prototype was developed to perform exploration tasks of unknown environments with obstacles and walls","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"213 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":"116416057","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}
Hybrid electric vehicles, HEV, are an attractive opportunity to use new energy sources in road transportation, not only to minimize fuel consumption but also to reduce air pollution. Efforts are being made to improve the HEV electrical subsystems, such as electric motors, power converters, electronic controllers, energy management units, batteries, and the more important: the system-level integration and optimization. In this paper the authors present the design of a propulsion drive for an hybrid electric vehicle (HEV). Mathematical models of the subsystems are presented and an optimized vector control strategy is applied to the induction motor drive. Propulsion system is simulated in virtual test bedcopy program and several results are presented in different operation modes, including braking regeneration
{"title":"Design and Control of the Propulsion System of a Series Hybrid Electric Vehicle","authors":"P. Caratozzolo, M. Canseco","doi":"10.1109/CERMA.2006.111","DOIUrl":"https://doi.org/10.1109/CERMA.2006.111","url":null,"abstract":"Hybrid electric vehicles, HEV, are an attractive opportunity to use new energy sources in road transportation, not only to minimize fuel consumption but also to reduce air pollution. Efforts are being made to improve the HEV electrical subsystems, such as electric motors, power converters, electronic controllers, energy management units, batteries, and the more important: the system-level integration and optimization. In this paper the authors present the design of a propulsion drive for an hybrid electric vehicle (HEV). Mathematical models of the subsystems are presented and an optimized vector control strategy is applied to the induction motor drive. Propulsion system is simulated in virtual test bedcopy program and several results are presented in different operation modes, including braking regeneration","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"105 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":"117048143","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.A. Santos, A. Edwards, O. Álvarez, A. González, A. Verduzco
This paper presents a geographic routing algorithm (GERA) for wireless sensor network. We developed and simulated GERA in OPNET and evaluated it in terms of end to end delay and routing load, two of the most important variables concerning dense wireless sensor networks. We employed GERA to simulate volcanic hazards in the area of the Colima Volcano, Mexico's most active volcano
{"title":"A Geographic Routing Algorithm for Wireless Sensor Networks","authors":"R.A. Santos, A. Edwards, O. Álvarez, A. González, A. Verduzco","doi":"10.1109/CERMA.2006.4","DOIUrl":"https://doi.org/10.1109/CERMA.2006.4","url":null,"abstract":"This paper presents a geographic routing algorithm (GERA) for wireless sensor network. We developed and simulated GERA in OPNET and evaluated it in terms of end to end delay and routing load, two of the most important variables concerning dense wireless sensor networks. We employed GERA to simulate volcanic hazards in the area of the Colima Volcano, Mexico's most active volcano","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"5 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":"117071658","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}
From the last decade, intelligent virtual environments (IVEs) have become a quite popular tool for applying computer science to education. The intelligence of the systems generated using IVEs usually falls on the denominated pedagogical virtual agent. Pedagogical virtual agents have characteristics that allow to increase the computer's ability to engage and motivate students along their learning process. In this paper, a human groups (teams) training strategy is presented, supporting one of its stages by the use of a pedagogical virtual agent playing the role of team leader
{"title":"Pedagogical Virtual Agents to Support Training of Human Groups","authors":"R. Aguilar, A. Antonio, R. Imbert","doi":"10.1109/CERMA.2006.73","DOIUrl":"https://doi.org/10.1109/CERMA.2006.73","url":null,"abstract":"From the last decade, intelligent virtual environments (IVEs) have become a quite popular tool for applying computer science to education. The intelligence of the systems generated using IVEs usually falls on the denominated pedagogical virtual agent. Pedagogical virtual agents have characteristics that allow to increase the computer's ability to engage and motivate students along their learning process. In this paper, a human groups (teams) training strategy is presented, supporting one of its stages by the use of a pedagogical virtual agent playing the role of team leader","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"46 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":"117266477","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}
With the increase of the use of Internet and wireless mobile devices, the digital information needs to be send and received efficiently in low bit rates in order to exploit the bandwidth. At low bit rates it is almost impossible to generate errors or artifacts in images. In order to solve that problem, researchers are trying to design and build lossy image coders which can preserve important features of images. With this approach the features of an image that are very important to perception and recognition are preserved even at low bit rates. In this paper a revision of some works that propose feature preserving image compression (FPIC) algorithms are presented. Finally a new methodology to obtain FPIC is presented
{"title":"Feature Preserving Image Compression: A Survey","authors":"O. Villegas, R. P. Elías, V. Sánchez","doi":"10.1109/CERMA.2006.51","DOIUrl":"https://doi.org/10.1109/CERMA.2006.51","url":null,"abstract":"With the increase of the use of Internet and wireless mobile devices, the digital information needs to be send and received efficiently in low bit rates in order to exploit the bandwidth. At low bit rates it is almost impossible to generate errors or artifacts in images. In order to solve that problem, researchers are trying to design and build lossy image coders which can preserve important features of images. With this approach the features of an image that are very important to perception and recognition are preserved even at low bit rates. In this paper a revision of some works that propose feature preserving image compression (FPIC) algorithms are presented. Finally a new methodology to obtain FPIC is presented","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"40 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":"121681535","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}
We present a simulation and partial experimental results in visual servo control of an underactuated system with a dynamic feedback controller from an uncalibrated camera. We incorporate a richer sensing, such as vision, into traditional feedback control schemes
{"title":"Vision Based Control of an Underactuated System Using a Reduced Observer","authors":"E. S. Espinoza-Quesada, L. Ramos-Velasco","doi":"10.1109/CERMA.2006.99","DOIUrl":"https://doi.org/10.1109/CERMA.2006.99","url":null,"abstract":"We present a simulation and partial experimental results in visual servo control of an underactuated system with a dynamic feedback controller from an uncalibrated camera. We incorporate a richer sensing, such as vision, into traditional feedback control schemes","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"63 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":"122815016","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 neural model to predict the compressive strength of building blocks using lightweight raw materials cured up to 28 days. The combination of raw materials is crucial to develop low cost building blocks with specific properties and acceptable mechanical strength. The model avoids testing a new mixture of building materials and provides new alternatives to design new components at low cost
{"title":"Compressive Strength Prediction of Building Blocks from Lightweight Raw Materials: A Neural Network Approach","authors":"D. Acevedo, T. Torres, Z.L.Y. Gomez","doi":"10.1109/CERMA.2006.27","DOIUrl":"https://doi.org/10.1109/CERMA.2006.27","url":null,"abstract":"This paper presents a neural model to predict the compressive strength of building blocks using lightweight raw materials cured up to 28 days. The combination of raw materials is crucial to develop low cost building blocks with specific properties and acceptable mechanical strength. The model avoids testing a new mixture of building materials and provides new alternatives to design new components at low cost","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"8 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":"115322028","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}
Alejandro Zamora-Mendez, C. Perez-Rojas, Sigridt Garcia-Martinez, Hector Villanueva-hernandez
In this paper the automatic diferentiation algorithms are used in the load flow analysis in power systems. This method is a computational tool based on the chain rule to obtain the instantaneous exact derived, besides the function value. The objective of this work is to demonstrate that using automatic differentiation the exact Jacobian is obtained. The method of Newton-Raphson will be used since it provides the exact calculate of the Jacobian, it will be observed that both are the same ones
{"title":"Automatic Differentiation in Power Flow Using ADIFOR","authors":"Alejandro Zamora-Mendez, C. Perez-Rojas, Sigridt Garcia-Martinez, Hector Villanueva-hernandez","doi":"10.1109/CERMA.2006.20","DOIUrl":"https://doi.org/10.1109/CERMA.2006.20","url":null,"abstract":"In this paper the automatic diferentiation algorithms are used in the load flow analysis in power systems. This method is a computational tool based on the chain rule to obtain the instantaneous exact derived, besides the function value. The objective of this work is to demonstrate that using automatic differentiation the exact Jacobian is obtained. The method of Newton-Raphson will be used since it provides the exact calculate of the Jacobian, it will be observed that both are the same ones","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"197 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":"132339410","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 wavelet neural-network for chaotic time series prediction. Wavelet-networks are inspired by both the feed-forward neural network and the theory underlying wavelet decompositions. Wavelet-networks are a class of neural network that take advantage of good localization properties of multiresolution analysis and combine them with the approximation abilities of neural networks. This kind of networks uses wavelets as activation functions in the hidden layer and a type of backpropagation algorithm is used for its learning. Comparisons are made between a wavelet-network and the typical feedforward network trained with the back-propagation algorithm. The results reported in this paper show that wavelet-networks have better prediction properties than its similar back-propagation networks
{"title":"Single-Step Prediction of Chaotic Time Series Using Wavelet-Networks","authors":"E. García-Treviño, V. Alarcón-Aquino","doi":"10.1109/CERMA.2006.86","DOIUrl":"https://doi.org/10.1109/CERMA.2006.86","url":null,"abstract":"This paper presents a wavelet neural-network for chaotic time series prediction. Wavelet-networks are inspired by both the feed-forward neural network and the theory underlying wavelet decompositions. Wavelet-networks are a class of neural network that take advantage of good localization properties of multiresolution analysis and combine them with the approximation abilities of neural networks. This kind of networks uses wavelets as activation functions in the hidden layer and a type of backpropagation algorithm is used for its learning. Comparisons are made between a wavelet-network and the typical feedforward network trained with the back-propagation algorithm. The results reported in this paper show that wavelet-networks have better prediction properties than its similar back-propagation networks","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"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":"131213034","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. Diaz, R. Osorio, M. Ponce, M. Oliver, L. Aguilar, M. Juárez, V. Olivares
The commutation frequency in a sliding mode control (SMC) for DC-DC converter is affected by main voltage and load variations. This problem is undesirable for L and C component design. To maintain a constant-switching frequency under variations in load and main voltage, a constant-frequency limiter based on microcontroller is proposed. This limiter is very simple and must be implemented in any type of microcontroller. Experimental results are showed using a buck converter with sliding mode control sensing the output current
{"title":"Constant-Frecuency Limiter for a Sliding Mode Control","authors":"R. Diaz, R. Osorio, M. Ponce, M. Oliver, L. Aguilar, M. Juárez, V. Olivares","doi":"10.1109/CERMA.2006.107","DOIUrl":"https://doi.org/10.1109/CERMA.2006.107","url":null,"abstract":"The commutation frequency in a sliding mode control (SMC) for DC-DC converter is affected by main voltage and load variations. This problem is undesirable for L and C component design. To maintain a constant-switching frequency under variations in load and main voltage, a constant-frequency limiter based on microcontroller is proposed. This limiter is very simple and must be implemented in any type of microcontroller. Experimental results are showed using a buck converter with sliding mode control sensing the output current","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"1 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":"125255165","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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