J. I. Vasquez-Gomez, Cecilia Gomez-Castaneda, Enrique Muñoz de Cote, J. Herrera-Lozada
Unmanned aerial vehicle coverage is a fast growing area, given that it has several applications such as precision agriculture, mapping, surveillance, etc. In order to cover a terrain, it is necessary to calculate the path that an unmanned aerial vehicle (UAV) has to follow. In this paper, we propose a method that calculates the path that minimizes the energy consumption under wind conditions. Unlike previous work that only estimates the path that minimizes the number of flight lines, we have tested the model in simulation and in real experiments obtaining promising results. In some cases, the lowest energy path does not follow the direction of the wind, this contrasts with the well-known flight recommendations, but achieves the target of reducing energy.
{"title":"Multirotor UAV Coverage Planning under Wind Conditions","authors":"J. I. Vasquez-Gomez, Cecilia Gomez-Castaneda, Enrique Muñoz de Cote, J. Herrera-Lozada","doi":"10.1109/ICMEAE.2016.015","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.015","url":null,"abstract":"Unmanned aerial vehicle coverage is a fast growing area, given that it has several applications such as precision agriculture, mapping, surveillance, etc. In order to cover a terrain, it is necessary to calculate the path that an unmanned aerial vehicle (UAV) has to follow. In this paper, we propose a method that calculates the path that minimizes the energy consumption under wind conditions. Unlike previous work that only estimates the path that minimizes the number of flight lines, we have tested the model in simulation and in real experiments obtaining promising results. In some cases, the lowest energy path does not follow the direction of the wind, this contrasts with the well-known flight recommendations, but achieves the target of reducing energy.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116946280","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. A. Vallejo-Alarcón, M. Velasco-Villa, R. Castro-Linares
In this paper, a control strategy to overcome the perturbation problem in quadcopters, primarily in simultaneous flight, using a smoothly saturated error correction, is presented. The quadcopter dynamic model is reduced through feedback linearization. Then is designed an integral-backstepping-like controller, where the error correction actions are limited using a smooth function. Numeric simulation results are carried out to evaluate the proposed control law, showing an adequate behavior under a bounded nonvanishing perturbation.
{"title":"Quadcopter Smooth-Saturated Robust Backstepping Control","authors":"M. A. Vallejo-Alarcón, M. Velasco-Villa, R. Castro-Linares","doi":"10.1109/ICMEAE.2016.013","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.013","url":null,"abstract":"In this paper, a control strategy to overcome the perturbation problem in quadcopters, primarily in simultaneous flight, using a smoothly saturated error correction, is presented. The quadcopter dynamic model is reduced through feedback linearization. Then is designed an integral-backstepping-like controller, where the error correction actions are limited using a smooth function. Numeric simulation results are carried out to evaluate the proposed control law, showing an adequate behavior under a bounded nonvanishing perturbation.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116595288","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}
N. Ruiz-Hidalgo, A. Blanco-Ortega, A. Abúndez-Pliego, J. Colín-Ocampo, M. Arias-Montiel
This paper proposes a new configuration of a 3 DOF parallel robot which uses revolute and spherical joints. It also presents the inverse kinematic model and proposes a PID-type controller with tracking to asymptotically track a desired reference trajectory. This 3 DOF parallel robot can be utilized as a motion simulator or ankle rehabilitator robot. Some simulations were performed with the virtual prototype in MD ADAMS software to verify the performance of the PID-type controller. Finally, preliminary experimental tests using a physical prototype are presented as well.
{"title":"Design and Control of a Novel 3-DOF Parallel Robot","authors":"N. Ruiz-Hidalgo, A. Blanco-Ortega, A. Abúndez-Pliego, J. Colín-Ocampo, M. Arias-Montiel","doi":"10.1109/ICMEAE.2016.021","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.021","url":null,"abstract":"This paper proposes a new configuration of a 3 DOF parallel robot which uses revolute and spherical joints. It also presents the inverse kinematic model and proposes a PID-type controller with tracking to asymptotically track a desired reference trajectory. This 3 DOF parallel robot can be utilized as a motion simulator or ankle rehabilitator robot. Some simulations were performed with the virtual prototype in MD ADAMS software to verify the performance of the PID-type controller. Finally, preliminary experimental tests using a physical prototype are presented as well.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126240399","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}
Eduardo Hernández-Márquez, R. Silva-Ortigoza, Shi-Hai Dong, Víctor Hugo García-Rodríguez, G. Saldaña-González, M. Marcelino-Aranda
This paper presents for the first time, the modeling and simulation of a bidirectional DC/DC Buck-Boost converter-DC motor system. This configuration allows the motor shaft to rotate in both directions. The mathematical model is obtained by applying the Kirchhoff's laws in each of the operating modes of the system, whereas the simulation results are obtained using Matlab-Simulink. The results show the validation of the mathematical model of the system under study.
{"title":"A New DC/DC Buck-Boost Converter-DC Motor System: Modeling and Simulation","authors":"Eduardo Hernández-Márquez, R. Silva-Ortigoza, Shi-Hai Dong, Víctor Hugo García-Rodríguez, G. Saldaña-González, M. Marcelino-Aranda","doi":"10.1109/ICMEAE.2016.027","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.027","url":null,"abstract":"This paper presents for the first time, the modeling and simulation of a bidirectional DC/DC Buck-Boost converter-DC motor system. This configuration allows the motor shaft to rotate in both directions. The mathematical model is obtained by applying the Kirchhoff's laws in each of the operating modes of the system, whereas the simulation results are obtained using Matlab-Simulink. The results show the validation of the mathematical model of the system under study.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"94 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122258300","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}
L. Hernández-González, G. Avalos-Arzate, Edgardo Nezahuatl Huerta, Martha Hernandez-Cuellar
The design, modeling, and experimental results of buck-symmetric as proposed for wireless power system are presented in this paper. The systems is based on complementary activate of two Buck converters operating to 500 kHz, by energize a resonant circuit tuned to 100 kHz. The converter arises from a proposal of wireless power transmission for efficient charging of bank-ultracapacitor. The appropriate design of buck-symmetric allow the shaping of sinusoidal signals in a resonant circuit, the simulation and experimental results allow to validate the proposed converter and its power scaling for applications in electric vehicles in the future.
{"title":"Proposal of Buck-Symmetric for Energization of Wireless Power System","authors":"L. Hernández-González, G. Avalos-Arzate, Edgardo Nezahuatl Huerta, Martha Hernandez-Cuellar","doi":"10.1109/ICMEAE.2016.034","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.034","url":null,"abstract":"The design, modeling, and experimental results of buck-symmetric as proposed for wireless power system are presented in this paper. The systems is based on complementary activate of two Buck converters operating to 500 kHz, by energize a resonant circuit tuned to 100 kHz. The converter arises from a proposal of wireless power transmission for efficient charging of bank-ultracapacitor. The appropriate design of buck-symmetric allow the shaping of sinusoidal signals in a resonant circuit, the simulation and experimental results allow to validate the proposed converter and its power scaling for applications in electric vehicles in the future.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130001309","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}
L. Gama-Moreno, A. Corralejo, A. Ramírez-Molina, J. A. Torres-Rangel, C. Martinez-Hernandez, M. Juárez
Water supply has become a big problem over the past few years, due to overpopulation, climate change, and deterioration of pipes which can cause major problems, such as water leakage. The real problem is not (in most cases) the size of the leak, but the time it takes to detect it. In this paper, an implementation of a system to monitor the water tanks is presented. The system is called InteRface for Monitoring wAter tanks (IRMA) consists of 1) instrumentation system based on an ultrasonic sensor installed in the water tank bound to an Arduino device. This is connected to 2) the application service that receives and manages the measurements of the water tank levels. In order to advice 3) the mobile user interface over any mobile device, giving the user control everywhere and every time over the GSM network. IRMA is focused on automating the control of water tanks, such as monitoring and filling.
在过去的几年里，由于人口过剩、气候变化和管道老化，供水已经成为一个大问题，这可能会导致诸如漏水等重大问题。真正的问题不在于(在大多数情况下)泄漏的大小，而在于检测泄漏所需的时间。本文介绍了一个水箱监控系统的实现。该系统名为IRMA (InteRface for Monitoring wAter tanks)，由1)仪器系统组成，该系统基于安装在水箱内的超声波传感器，并与Arduino设备绑定。这连接到2)接收和管理水箱液位测量的应用程序服务。为了建议3)在任何移动设备上的移动用户界面，使用户可以随时随地通过GSM网络进行控制。IRMA专注于水箱的自动化控制，如监控和填充。
{"title":"A Design of a Water Tanks Monitoring System Based on Mobile Devices","authors":"L. Gama-Moreno, A. Corralejo, A. Ramírez-Molina, J. A. Torres-Rangel, C. Martinez-Hernandez, M. Juárez","doi":"10.1109/ICMEAE.2016.032","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.032","url":null,"abstract":"Water supply has become a big problem over the past few years, due to overpopulation, climate change, and deterioration of pipes which can cause major problems, such as water leakage. The real problem is not (in most cases) the size of the leak, but the time it takes to detect it. In this paper, an implementation of a system to monitor the water tanks is presented. The system is called InteRface for Monitoring wAter tanks (IRMA) consists of 1) instrumentation system based on an ultrasonic sensor installed in the water tank bound to an Arduino device. This is connected to 2) the application service that receives and manages the measurements of the water tank levels. In order to advice 3) the mobile user interface over any mobile device, giving the user control everywhere and every time over the GSM network. IRMA is focused on automating the control of water tanks, such as monitoring and filling.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128761256","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}
Gabriel Segura Gallardy, Margarita Tecpoyotl Torres
A new necessity in the Mexican commercialization area of sportswear and training equipment was detected. An extremely important aspect of commercialization is to develop a methodology specialized in defining an optimal intellectual property strategy for the protection of uncommon technological developments. The development of the intellectual property strategy is be based on the design of a methodology that utilizes a deductive hypothetical system, to consider every possible option of protection, also the financial possibilities of the inventor's organization comes to consideration to find the optimal commercialization solution.
{"title":"Methodology Definition for Selecting an Intellectual Property Strategy Applied to Untypical Technological Developments","authors":"Gabriel Segura Gallardy, Margarita Tecpoyotl Torres","doi":"10.1109/ICMEAE.2016.033","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.033","url":null,"abstract":"A new necessity in the Mexican commercialization area of sportswear and training equipment was detected. An extremely important aspect of commercialization is to develop a methodology specialized in defining an optimal intellectual property strategy for the protection of uncommon technological developments. The development of the intellectual property strategy is be based on the design of a methodology that utilizes a deductive hypothetical system, to consider every possible option of protection, also the financial possibilities of the inventor's organization comes to consideration to find the optimal commercialization solution.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125311405","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}
David I. Rosas A, Karla I. Velazquez V, Luz C. Olivares F, Adrian Camacho T, I. Williams
A methodology, based on design of experiments, to analyze the quality of estimated disturbances by state observers in mechanical systems is presented. Analysis is carried out indirectly through a control structure with active disturbances rejection, wherein the controller compensates perturbations of the plant through the estimated disturbances by an observer, if they have good quality, the error between the reference signal and the output of the plant will be small. Therefore we use two performance indices, which provide a measure of the steady-state error, to measure the quality of the estimated disturbances. The effectiveness of the methodology is illustrated by its application on a simple pendulum.
{"title":"Methodology Based on Design of Experiments to Assess Quality of Estimated Disturbances by State Observers in Mechanical Systems","authors":"David I. Rosas A, Karla I. Velazquez V, Luz C. Olivares F, Adrian Camacho T, I. Williams","doi":"10.1109/ICMEAE.2016.024","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.024","url":null,"abstract":"A methodology, based on design of experiments, to analyze the quality of estimated disturbances by state observers in mechanical systems is presented. Analysis is carried out indirectly through a control structure with active disturbances rejection, wherein the controller compensates perturbations of the plant through the estimated disturbances by an observer, if they have good quality, the error between the reference signal and the output of the plant will be small. Therefore we use two performance indices, which provide a measure of the steady-state error, to measure the quality of the estimated disturbances. The effectiveness of the methodology is illustrated by its application on a simple pendulum.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115101472","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. Orozco-Velazquez, R. Silva-Ortigoza, C. Márquez-Sánchez, José Rafael García-Sánchez, H. Taud, C. Y. Sosa-Cervantes, M. Antonio-Cruz, M. Marcelino-Aranda, F. Carrizosa-Corral
This work presents the design of a wheeled mobile robot (WMR) using an Ackerman configuration. Its design uses the extruded aluminum profile widely used in industry, facilitating the assembly of new robotics projects. The design is carried out using CAD software and shows some of the various benefits of these tools. The environmental impact values for a bar of extruded aluminum profile throughout its lifecycle was calculated and, later, analyzed by using SolidWorks simulationXpress study to improve the sustainability of the WMR design. Additionally, images of both the 3D model and the real prototype are presented.
{"title":"Ackerman Mobile Robot with Arm","authors":"R. A. Orozco-Velazquez, R. Silva-Ortigoza, C. Márquez-Sánchez, José Rafael García-Sánchez, H. Taud, C. Y. Sosa-Cervantes, M. Antonio-Cruz, M. Marcelino-Aranda, F. Carrizosa-Corral","doi":"10.1109/ICMEAE.2016.019","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.019","url":null,"abstract":"This work presents the design of a wheeled mobile robot (WMR) using an Ackerman configuration. Its design uses the extruded aluminum profile widely used in industry, facilitating the assembly of new robotics projects. The design is carried out using CAD software and shows some of the various benefits of these tools. The environmental impact values for a bar of extruded aluminum profile throughout its lifecycle was calculated and, later, analyzed by using SolidWorks simulationXpress study to improve the sustainability of the WMR design. Additionally, images of both the 3D model and the real prototype are presented.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126132473","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}
Angel Juan Sanchez Garcia, Homero Vladimir Rios Figueroa, Guillermo de Jesús Hoyos Rivera, Antonio Marin Hernandez
Given the trend of more complex tasks that robots should perform, we need to design increasingly robust solutions to perform tasks more efficiently and above all, real-time calculations. One of the most important tasks of a mobile robot is navigating through a room avoiding obstacles with which it may collide. Our contribution is to show how to compute efficiently time-to-contact for avoiding collisions in robotic navigation, using Graphics Processor Unit (GPU) and Compute Unified Device Architecture (CUDA). Description of the problem in different size of images and the complexity analysis of sequential and parallel ways are described. Finally, experimental results with synthetic and real images are shown.
{"title":"Estimation of Time-to-Contact for Navigation of Autonomous Robots Using Parallel Processing","authors":"Angel Juan Sanchez Garcia, Homero Vladimir Rios Figueroa, Guillermo de Jesús Hoyos Rivera, Antonio Marin Hernandez","doi":"10.1109/ICMEAE.2016.014","DOIUrl":"https://doi.org/10.1109/ICMEAE.2016.014","url":null,"abstract":"Given the trend of more complex tasks that robots should perform, we need to design increasingly robust solutions to perform tasks more efficiently and above all, real-time calculations. One of the most important tasks of a mobile robot is navigating through a room avoiding obstacles with which it may collide. Our contribution is to show how to compute efficiently time-to-contact for avoiding collisions in robotic navigation, using Graphics Processor Unit (GPU) and Compute Unified Device Architecture (CUDA). Description of the problem in different size of images and the complexity analysis of sequential and parallel ways are described. Finally, experimental results with synthetic and real images are shown.","PeriodicalId":273081,"journal":{"name":"2016 International Conference on Mechatronics, Electronics and Automotive Engineering (ICMEAE)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123057651","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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