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}
In this paper the authors consider the sliding mode control (SMC) of a doubly fed induction generator (DFIG), supplying an isolated RL load in a variable speed-constant frequency (VSCF) generation system. It must be reminded that in electric machines the existence of parameter changes, caused by several reasons like winding temperature variation, hysteresis and saturation, is well recognized, but rarely accounted for. For this reason, SMC has been considered. SMC has various attractive features like order reduction, robustness, disturbance rejection, and, sometimes, simple implementation. In this paper, some ideas of SMC applied by Utkin et. al. for controlling the speed or torque of a squirrel-cage induction motor are used to design two families of controllers for regulating amplitude and frequency of the voltage generated by a DFIG. First simulation results are presented as well
{"title":"Two Families of Sliding Mode Controllers for a Doubly-Fed Induction Generator in an Isolated Generation System","authors":"R. Galindo, M. Cotorogea, D. Biel","doi":"10.1109/CERMA.2006.95","DOIUrl":"https://doi.org/10.1109/CERMA.2006.95","url":null,"abstract":"In this paper the authors consider the sliding mode control (SMC) of a doubly fed induction generator (DFIG), supplying an isolated RL load in a variable speed-constant frequency (VSCF) generation system. It must be reminded that in electric machines the existence of parameter changes, caused by several reasons like winding temperature variation, hysteresis and saturation, is well recognized, but rarely accounted for. For this reason, SMC has been considered. SMC has various attractive features like order reduction, robustness, disturbance rejection, and, sometimes, simple implementation. In this paper, some ideas of SMC applied by Utkin et. al. for controlling the speed or torque of a squirrel-cage induction motor are used to design two families of controllers for regulating amplitude and frequency of the voltage generated by a DFIG. First simulation results are presented as well","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":"125659233","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}
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}
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}
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}
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}
O. Sergiyenko, L. Burtseva, M. Bravo-Zanoguera, L. Devia, I. Rendon, V. Tyrsa
The technical vision principle of a mobile robot for working in a complex landscape or on a crosscountry terrain is presented. Issues of principle design, functioning and interaction of units and elements of the system are described. The mathematical tools for processing the signal detection, and also for determination of distances and angular measures are examined. The important parameters are analytically determined: expected accuracy, functioning speed, range of action, and power requirements; concluding with the exploration of possible areas of practical use for this automatic navigation system
{"title":"Mobile Transport Object Control by Technical Vision Means","authors":"O. Sergiyenko, L. Burtseva, M. Bravo-Zanoguera, L. Devia, I. Rendon, V. Tyrsa","doi":"10.1109/CERMA.2006.62","DOIUrl":"https://doi.org/10.1109/CERMA.2006.62","url":null,"abstract":"The technical vision principle of a mobile robot for working in a complex landscape or on a crosscountry terrain is presented. Issues of principle design, functioning and interaction of units and elements of the system are described. The mathematical tools for processing the signal detection, and also for determination of distances and angular measures are examined. The important parameters are analytically determined: expected accuracy, functioning speed, range of action, and power requirements; concluding with the exploration of possible areas of practical use for this automatic navigation system","PeriodicalId":179210,"journal":{"name":"Electronics, Robotics and Automotive Mechanics Conference (CERMA'06)","volume":"74 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":"127797107","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}
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}
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