This paper describes the construction of a differential mobile robot using a brushless DC motor coupled to each wheel. Considering that commercial controllers of brushless motors are expensive and they control only velocity, not position; we design and built 3-phase bridges, with N-mosfets, within a electronic circuitry to drive brushless motors. A PWM control scheme and the outputs of the optical encoder and Hall sensor of the motor are used to implement a closed-loop velocity and position control. The real time control of the two traction wheels runs on a 68HCS12 microcontroller and the mobile robot accepts commands using an standard RS232 serial connection. The hardware design and software of this robot is available online
{"title":"Control of Position/Velocity in a Mobile Robot Using DC Brushless Motors","authors":"L. Romero, A. Concha","doi":"10.1109/CERMA.2006.29","DOIUrl":"https://doi.org/10.1109/CERMA.2006.29","url":null,"abstract":"This paper describes the construction of a differential mobile robot using a brushless DC motor coupled to each wheel. Considering that commercial controllers of brushless motors are expensive and they control only velocity, not position; we design and built 3-phase bridges, with N-mosfets, within a electronic circuitry to drive brushless motors. A PWM control scheme and the outputs of the optical encoder and Hall sensor of the motor are used to implement a closed-loop velocity and position control. The real time control of the two traction wheels runs on a 68HCS12 microcontroller and the mobile robot accepts commands using an standard RS232 serial connection. The hardware design and software of this robot is available online","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"98 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":"114861624","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 Ibarra, Luis Alberto Gutiérrez Díaz de León
This work presents a real time distributed concurrency control scheme where consistency is relaxed to let reading tasks to run as well as concurrent writing tasks. The algorithm reduces the possibility of deadline missing by increasing the level of concurrency in systems where the proportion for read operations is greater than for write operations. The proposed algorithm is a variant for an existent concurrency control algorithm which is faster in the sense that low time responses are offered by the new algorithm
{"title":"A Relaxed Temporal Consistency Approach for Real-Time Concurrency Control","authors":"Alejandro Ibarra, Luis Alberto Gutiérrez Díaz de León","doi":"10.1109/CERMA.2006.10","DOIUrl":"https://doi.org/10.1109/CERMA.2006.10","url":null,"abstract":"This work presents a real time distributed concurrency control scheme where consistency is relaxed to let reading tasks to run as well as concurrent writing tasks. The algorithm reduces the possibility of deadline missing by increasing the level of concurrency in systems where the proportion for read operations is greater than for write operations. The proposed algorithm is a variant for an existent concurrency control algorithm which is faster in the sense that low time responses are offered by the new algorithm","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"137 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":"130774465","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}
Michelle Berger, Servio Lima, Alexandros Manoussakis, Juan Pulgarin, Benicio Sanchez
The performance of wireless ad hoc networks is impacted significantly by the way TCP reacts to lost packets. TCP was designed specifically for wired, reliable networks; thus, any packet loss is attributed to congestion in the network. This assumption does not hold in wireless networks as most packet loss is due to link failure. In our research we analyzed several implementations of TCP, including TCP Vegas, TCP with ELFN, and SACK TCP, by measuring throughput, retransmissions, and duplicate acknowledgements through simulation with ns-2. We discovered that TCP throughput is related to the number of hops in the path, and thus depends on the performance of the underlying routing protocol, which was DSR in our research
{"title":"A Performance Comparison of TCP Protocols over Mobile Ad Hoc Wireless Networks","authors":"Michelle Berger, Servio Lima, Alexandros Manoussakis, Juan Pulgarin, Benicio Sanchez","doi":"10.1109/CERMA.2006.9","DOIUrl":"https://doi.org/10.1109/CERMA.2006.9","url":null,"abstract":"The performance of wireless ad hoc networks is impacted significantly by the way TCP reacts to lost packets. TCP was designed specifically for wired, reliable networks; thus, any packet loss is attributed to congestion in the network. This assumption does not hold in wireless networks as most packet loss is due to link failure. In our research we analyzed several implementations of TCP, including TCP Vegas, TCP with ELFN, and SACK TCP, by measuring throughput, retransmissions, and duplicate acknowledgements through simulation with ns-2. We discovered that TCP throughput is related to the number of hops in the path, and thus depends on the performance of the underlying routing protocol, which was DSR in our research","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"55 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":"129751902","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}
Nowadays, technologies are attempting to increase systems speed beyond the limits imposed by the capacity of the systems themselves. That is the case of finite state machines where improving the iteration bound is critical for reaching the desired performance. A good solution to improve them is to parallelize the finite state machines in order to improve their speed. In this paper we propose a methodology that makes use of the Z transform, better known as an important tool for discrete time system characterization. The proposed algorithm, starts from the canonical description of the finite state machine and generates the parallel version of the finite state machine with the desired level of parallelism while preserving its original behavior
{"title":"Look-Back Technique to Generate Multistep Finite State Machines","authors":"M. Ramos, G.A. Veloz, R.M.E. Guzman","doi":"10.1109/CERMA.2006.116","DOIUrl":"https://doi.org/10.1109/CERMA.2006.116","url":null,"abstract":"Nowadays, technologies are attempting to increase systems speed beyond the limits imposed by the capacity of the systems themselves. That is the case of finite state machines where improving the iteration bound is critical for reaching the desired performance. A good solution to improve them is to parallelize the finite state machines in order to improve their speed. In this paper we propose a methodology that makes use of the Z transform, better known as an important tool for discrete time system characterization. The proposed algorithm, starts from the canonical description of the finite state machine and generates the parallel version of the finite state machine with the desired level of parallelism while preserving its original behavior","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":"125530645","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}
Decreased milk production and reduced milk quality is associated with mastitis (disease of dairy cattle) and adulteration with agents such as the water. The dairy industry has been damaged, thus a variety of diagnostic tests are frequently used to evaluate milk quality on dairy farms. Electrical conductivity (EC) of milk has been introduced as an indicator trait for mastitis and as a method to measure the volume of water mixed into the milk. Therefore, the objectives of the designed system are to determine the percentage of water into the milk and posteriorly to adjust it for predicting the presence of mastitis. In general, the equipment is constituted by a sensor (designed and characterized in the Institute) which measures the EC of the liquid by electrolysis, and a heating system by RF for compensating the effect of temperature (the conductivity and the temperature have an unavoidable relationship. For liquids, this relationship is no linear)
{"title":"Design and Construction of a System for Measuring the Concentration of Water in Milk","authors":"V. Alonso, M. Minor","doi":"10.1109/CERMA.2006.33","DOIUrl":"https://doi.org/10.1109/CERMA.2006.33","url":null,"abstract":"Decreased milk production and reduced milk quality is associated with mastitis (disease of dairy cattle) and adulteration with agents such as the water. The dairy industry has been damaged, thus a variety of diagnostic tests are frequently used to evaluate milk quality on dairy farms. Electrical conductivity (EC) of milk has been introduced as an indicator trait for mastitis and as a method to measure the volume of water mixed into the milk. Therefore, the objectives of the designed system are to determine the percentage of water into the milk and posteriorly to adjust it for predicting the presence of mastitis. In general, the equipment is constituted by a sensor (designed and characterized in the Institute) which measures the EC of the liquid by electrolysis, and a heating system by RF for compensating the effect of temperature (the conductivity and the temperature have an unavoidable relationship. For liquids, this relationship is no linear)","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"84 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":"121915983","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}
Different from other engineering areas, the level of reuse in software engineering is very low. Also, developing large-scale applications which involve thousands of software elements such as classes and thousands of interactions among them is a complex and error-prone task. Industry currently lacks modelling practices and modelling tool support to tackle these issues. Model driven development (MDD) has emerged as an approach to diminishing software development complexity. We claim that models alone are not enough to tackle low reuse and complexity. Our contribution is a multilevel modelling development (MMD) framework whereby models are defined at different abstraction levels. A modelling level is constructed out by assembling software elements defined at the adjacent lower-level. MMD effectively diminish development complexity and facilitates large-scale reuse
{"title":"Multilevel Modelling Software Development","authors":"H. Duran-Limon","doi":"10.1109/CERMA.2006.66","DOIUrl":"https://doi.org/10.1109/CERMA.2006.66","url":null,"abstract":"Different from other engineering areas, the level of reuse in software engineering is very low. Also, developing large-scale applications which involve thousands of software elements such as classes and thousands of interactions among them is a complex and error-prone task. Industry currently lacks modelling practices and modelling tool support to tackle these issues. Model driven development (MDD) has emerged as an approach to diminishing software development complexity. We claim that models alone are not enough to tackle low reuse and complexity. Our contribution is a multilevel modelling development (MMD) framework whereby models are defined at different abstraction levels. A modelling level is constructed out by assembling software elements defined at the adjacent lower-level. MMD effectively diminish development complexity and facilitates large-scale reuse","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"80 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":"122633189","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 numerical optimization of turbomachinery blade shapes, using artificial neural network. This model takes into account the parameters of operation of the turbine (mass flow, direction of the flor and velocity angular). For the networks, the Levenberg-Marquardt learning algorithm, the hyperbolic tangent sigmoid transfer-function and the linear transfer-function were used. The best fitting training data set was obtained with three neurons in the hidden layer, which made it possible to predict efficiency with accuracy at least as good as that of the theoretical error, over the whole theoretical range. On the validation data set, simulations and theoretical data test were in good agreement (r2>0.99). The developed model can be used for the prediction of the efficiency in short simulation time
{"title":"Numerical Optimization of the Hydraulic Turbine Runner Blades Applying Neuronal Networks","authors":"J. G. Flores, J. Hernández, G. Urquiza","doi":"10.1109/CERMA.2006.68","DOIUrl":"https://doi.org/10.1109/CERMA.2006.68","url":null,"abstract":"This paper presents numerical optimization of turbomachinery blade shapes, using artificial neural network. This model takes into account the parameters of operation of the turbine (mass flow, direction of the flor and velocity angular). For the networks, the Levenberg-Marquardt learning algorithm, the hyperbolic tangent sigmoid transfer-function and the linear transfer-function were used. The best fitting training data set was obtained with three neurons in the hidden layer, which made it possible to predict efficiency with accuracy at least as good as that of the theoretical error, over the whole theoretical range. On the validation data set, simulations and theoretical data test were in good agreement (r2>0.99). The developed model can be used for the prediction of the efficiency in short simulation time","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"78 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":"117084567","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}
M. Cruz-Chávez, J. Frausto-Solís, Jesús Roberto Cora-Mora
This paper presents a neighborhood generation mechanism for the job shop scheduling problems (JSSP). In order to obtain a feasible neighbor with the generation mechanism, it is only necessary to generate a permutation of an adjacent pair of operations in a scheduling of the JSSP. If there is no slack-time between the adjacent pair of operations that is permuted, then it is proven, through experimentation that the new neighbor (schedule) generated is feasible
{"title":"Experimental Analysis of a Neighborhood Generation Mechanism Applied to Scheduling Problem","authors":"M. Cruz-Chávez, J. Frausto-Solís, Jesús Roberto Cora-Mora","doi":"10.1109/CERMA.2006.112","DOIUrl":"https://doi.org/10.1109/CERMA.2006.112","url":null,"abstract":"This paper presents a neighborhood generation mechanism for the job shop scheduling problems (JSSP). In order to obtain a feasible neighbor with the generation mechanism, it is only necessary to generate a permutation of an adjacent pair of operations in a scheduling of the JSSP. If there is no slack-time between the adjacent pair of operations that is permuted, then it is proven, through experimentation that the new neighbor (schedule) generated is feasible","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"56 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":"121547248","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}
An active rectifier has two control objectives: DC voltage regulation and AC current tracking. These objectives are difficult to achieve when nonlinear loads are connected to the same AC mains or voltage sags occurs. In this paper a switched PI controller to regulate the bus voltage even when voltage sag occurs is presented. Moreover, with the control law proposed, an active rectifier can works as an active filter for source current compensation. Experimental results for a 1 kVA rectifier are presented to verify the proposed control performance
{"title":"Control Improvement in Single-Phase Active Rectifier with Extended Functions","authors":"M. Flota, G. Nunez, J. Lira, R. Alvarez, F. Pazos","doi":"10.1109/CERMA.2006.108","DOIUrl":"https://doi.org/10.1109/CERMA.2006.108","url":null,"abstract":"An active rectifier has two control objectives: DC voltage regulation and AC current tracking. These objectives are difficult to achieve when nonlinear loads are connected to the same AC mains or voltage sags occurs. In this paper a switched PI controller to regulate the bus voltage even when voltage sag occurs is presented. Moreover, with the control law proposed, an active rectifier can works as an active filter for source current compensation. Experimental results for a 1 kVA rectifier are presented to verify the proposed control performance","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"238 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":"116060548","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 novel approach to online, robot-motion planning for multiple 2D moving-objects interception. The proposed approach utilizes the time parametric function of one or more moving objects to generate the multiple interception trajectory. This methodology is efficient for the slow-maneuvering objects with constant acceleration in industrial settings, like objects moving on a conveyor. The multiple interception trajectory allows the end-effector of a robotic arm is oriented to the objects trajectory to avoid impact. The implementation of the proposed technique is illustrated via a simulation example. It consists for the multiple interceptions of two balls moving along well-known parabolic trajectories via an autonomous robot
{"title":"Robot Trajectory Planning for Multiple 2D Moving Objects Interception: a Functional Approach","authors":"J. Campos, S. Romo, O. Ibáñez","doi":"10.1109/CERMA.2006.82","DOIUrl":"https://doi.org/10.1109/CERMA.2006.82","url":null,"abstract":"This paper presents a novel approach to online, robot-motion planning for multiple 2D moving-objects interception. The proposed approach utilizes the time parametric function of one or more moving objects to generate the multiple interception trajectory. This methodology is efficient for the slow-maneuvering objects with constant acceleration in industrial settings, like objects moving on a conveyor. The multiple interception trajectory allows the end-effector of a robotic arm is oriented to the objects trajectory to avoid impact. The implementation of the proposed technique is illustrated via a simulation example. It consists for the multiple interceptions of two balls moving along well-known parabolic trajectories via an autonomous robot","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"50 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":"126442451","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：