William Pérez-Cantillo, Diofanor Acevedo-Correa, Diego F. Tirado-Armesto, Luis Alberto Gallo-García, P. M. Montero-Castillo
The sodium salt of lactic acid is a natural acid produced by bacteria in the fermented foods which are rich in this component. It is produced by fermentation of sugars from some products such as corn or beets. Both lactic acid and lactates are used as preservatives, mainly against yeasts and fungi. It is also used to increase the stability of antioxidants, and to prevent loss of water from various products. The objective of this research was to determine the effectiveness of sodium lactate on the inhibition of Clostridium sporogenes in fish sausages, extending their life and reducing microbial growth. Two different formulations were made; F(A) preserved with nitrites, F(B), preserved with sodium lactate and a control sample without preservative. A positive control SPS agar inoculated with Clostridium sporogenes at different dilutions were also carried out, finally they took incubation in candle jar at 37°C for 48 h. It was found that the use of sodium lactate 2% controlled growth of spores of Clostridium reducing sulfite in 48 hours in the solutions prepared as is the use of nitrites, these being a promising alternative to replace the use of nitrite in products type sausage meat.
{"title":"Evaluación del lactato de sodio como sustituto de los nitritos convencionales en las salchichas del pez sable","authors":"William Pérez-Cantillo, Diofanor Acevedo-Correa, Diego F. Tirado-Armesto, Luis Alberto Gallo-García, P. M. Montero-Castillo","doi":"10.22430/22565337.193","DOIUrl":"https://doi.org/10.22430/22565337.193","url":null,"abstract":"The sodium salt of lactic acid is a natural acid produced by bacteria in the fermented foods which are rich in this component. It is produced by fermentation of sugars from some products such as corn or beets. Both lactic acid and lactates are used as preservatives, mainly against yeasts and fungi. It is also used to increase the stability of antioxidants, and to prevent loss of water from various products. The objective of this research was to determine the effectiveness of sodium lactate on the inhibition of Clostridium sporogenes in fish sausages, extending their life and reducing microbial growth. Two different formulations were made; F(A) preserved with nitrites, F(B), preserved with sodium lactate and a control sample without preservative. A positive control SPS agar inoculated with Clostridium sporogenes at different dilutions were also carried out, finally they took incubation in candle jar at 37°C for 48 h. It was found that the use of sodium lactate 2% controlled growth of spores of Clostridium reducing sulfite in 48 hours in the solutions prepared as is the use of nitrites, these being a promising alternative to replace the use of nitrite in products type sausage meat.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"117-124"},"PeriodicalIF":0.0,"publicationDate":"2015-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68484336","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. Torres-Osorio, Jainer E. Aranzazu-Osorio, María V. Carbonell-Padrino
We present the results of the study of the effect on germination and seed water absorption on soybean exposed to homogeneous magnetic field of 125 and 300 mT during 10, 20, and 60 minutes, using as magnetic sources an electromagnet with cylindrical cores (homogeneity of 98%) and a set of toroidal magnets (homogeneity of 88%). The results showed better response in using the electromagnet that provides greater homogeneity. In the germination was determined that the mean germination time (MGT) and times necessary to germinate 10%, 25%, 50%, and 75% significantly decreased relative to control, for treatments 125 mT-10 min and 300 mT-10 min. For the water absorption was observed that in treatments expressed better response in germination show a tendency to increase the capacity of water absorption during the first 6 hours after seeding, however no significant differences in the absorption with respect to the control were recorded.
{"title":"Efecto del campo magnético estático homogéneo en la germinación y absorción de agua en semillas de soja","authors":"J. Torres-Osorio, Jainer E. Aranzazu-Osorio, María V. Carbonell-Padrino","doi":"10.22430/22565337.189","DOIUrl":"https://doi.org/10.22430/22565337.189","url":null,"abstract":"We present the results of the study of the effect on germination and seed water absorption on soybean exposed to homogeneous magnetic field of 125 and 300 mT during 10, 20, and 60 minutes, using as magnetic sources an electromagnet with cylindrical cores (homogeneity of 98%) and a set of toroidal magnets (homogeneity of 88%). The results showed better response in using the electromagnet that provides greater homogeneity. In the germination was determined that the mean germination time (MGT) and times necessary to germinate 10%, 25%, 50%, and 75% significantly decreased relative to control, for treatments 125 mT-10 min and 300 mT-10 min. For the water absorption was observed that in treatments expressed better response in germination show a tendency to increase the capacity of water absorption during the first 6 hours after seeding, however no significant differences in the absorption with respect to the control were recorded.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"11-20"},"PeriodicalIF":0.0,"publicationDate":"2015-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68483760","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. Trejos-Grisales, C. Ramos-Paja, A. Saavedra-Montes
Modeling and simulation of photovoltaic (PV) systems are open research areas since I-V and P-V curves are commonly required to analyze the performance of PV installations. To obtain such curves commercial software packages can be used, however the connection type and size of the PV array may cause large simulation times. To overcome such an issue several techniques based on analyzing the inflection points have been proposed to model the PV array with the aim of reconstruct accurately the required electrical curves. However, such analysis has been applied only for series-parallel (SP) configuration, which is just one alternative to connect PV arrays among several other regular or irregular options. Therefore, a more general approach is needed. This paper presents an approach to obtain the characteristics curves for any PV array, regular or irregular, by extending the inflection points analysis. Then, the calculation of the PV array electrical curves is simplified by using equivalent circuits within the intervals defined by the inflection points. Such a procedure is based on defining which modules become active due to the behavior of the bypass diodes. Finally, the proposed approach enables to analyze any PV array without requiring long electrical simulations. The solution was validated by means of simulation results obtained in Matlab®.
{"title":"Equivalent circuits for simulating irregular PV arrays under partial shading conditions","authors":"L. Trejos-Grisales, C. Ramos-Paja, A. Saavedra-Montes","doi":"10.22430/22565337.187","DOIUrl":"https://doi.org/10.22430/22565337.187","url":null,"abstract":"Modeling and simulation of photovoltaic (PV) systems are open research areas since I-V and P-V curves are commonly required to analyze the performance of PV installations. To obtain such curves commercial software packages can be used, however the connection type and size of the PV array may cause large simulation times. To overcome such an issue several techniques based on analyzing the inflection points have been proposed to model the PV array with the aim of reconstruct accurately the required electrical curves. However, such analysis has been applied only for series-parallel (SP) configuration, which is just one alternative to connect PV arrays among several other regular or irregular options. Therefore, a more general approach is needed. This paper presents an approach to obtain the characteristics curves for any PV array, regular or irregular, by extending the inflection points analysis. Then, the calculation of the PV array electrical curves is simplified by using equivalent circuits within the intervals defined by the inflection points. Such a procedure is based on defining which modules become active due to the behavior of the bypass diodes. Finally, the proposed approach enables to analyze any PV array without requiring long electrical simulations. The solution was validated by means of simulation results obtained in Matlab®.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"10 1","pages":"57-69"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68483531","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}
La tribología es la ciencia que estudia fenómenos de superficie tales como fricción, desgaste, y lubricación. Es un campo multidisciplinar que incluye áreas como la ciencia y tecnología de materiales, ciencia y tecnologías químicas, biología y biomedicina y una variedad de áreas temáticas tales como diseño, mecánica de sólidos, mecánica de fluidos, termodinámica, lubricación, metalurgia, entre otras.
{"title":"Tribología: pasado, presente y futuro","authors":"J. Marín, A. Betancur","doi":"10.22430/22565337.195","DOIUrl":"https://doi.org/10.22430/22565337.195","url":null,"abstract":"La tribología es la ciencia que estudia fenómenos de superficie tales como fricción, desgaste, y lubricación. Es un campo multidisciplinar que incluye áreas como la ciencia y tecnología de materiales, ciencia y tecnologías químicas, biología y biomedicina y una variedad de áreas temáticas tales como diseño, mecánica de sólidos, mecánica de fluidos, termodinámica, lubricación, metalurgia, entre otras.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"9-10"},"PeriodicalIF":0.0,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68484596","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}
Andrés F. Betancur-Pérez, J. J. Granada-Torres, Neil Guerrero-González
The continuous growth in data demand is leading research to bring to light an efficient network using fiber optics and radioelectric spectrum. The next generation of networks will be the result of a convergence between the optical and wireless domain with the purpose to gather all of their virtues in a vast telecommunications network more resilient and more simplified. Colombia will not be marginalized of these advances because actually has deployed optical fiber in most of the country and therefore they must be informed of current progress in terms of new generation of telecommunications networks and guide in a better way the legal guidelines of the Ministry of ICT (Information and Communications Technology) to bring great benefits to the regulation of internal telecommunications network, concerning what was decreed about the immovable of horizontal property. In this paper, research advances are reflected concerning optical fiber transmission, including the new paradigm of hybrid fiber optic networks with wireless networks that will simplify the global telecommunications network. The elastic networks of the future suggest that internal telecommunications networks will be smaller, simple, and versatile, which will facilitate competition between communication service providers, avoiding the monopoly of spaces within horizontal property buildings.
{"title":"Redes elásticas del futuro: beneficios para la red interna de telecomunicaciones de Colombia","authors":"Andrés F. Betancur-Pérez, J. J. Granada-Torres, Neil Guerrero-González","doi":"10.22430/22565337.222","DOIUrl":"https://doi.org/10.22430/22565337.222","url":null,"abstract":"The continuous growth in data demand is leading research to bring to light an efficient network using fiber optics and radioelectric spectrum. The next generation of networks will be the result of a convergence between the optical and wireless domain with the purpose to gather all of their virtues in a vast telecommunications network more resilient and more simplified. Colombia will not be marginalized of these advances because actually has deployed optical fiber in most of the country and therefore they must be informed of current progress in terms of new generation of telecommunications networks and guide in a better way the legal guidelines of the Ministry of ICT (Information and Communications Technology) to bring great benefits to the regulation of internal telecommunications network, concerning what was decreed about the immovable of horizontal property. In this paper, research advances are reflected concerning optical fiber transmission, including the new paradigm of hybrid fiber optic networks with wireless networks that will simplify the global telecommunications network. The elastic networks of the future suggest that internal telecommunications networks will be smaller, simple, and versatile, which will facilitate competition between communication service providers, avoiding the monopoly of spaces within horizontal property buildings.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"125-136"},"PeriodicalIF":0.0,"publicationDate":"2015-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68486940","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. Zuluaga-Ríos, M. Álvarez-López, A. Orozco-Gutierrez
Heart rate variability (HRV) has received considerable attention for many years, since it provides a quantitative marker for examining the sinus rhythm modulated by the autonomic nervous system (ANS). The ANS plays an important role in clinical and physiological fields. HRV analysis can be performed by computing several time and frequency domain measurements. However, the computation of such measurements can be affected by the presence of artifacts or ectopic beats in the electrocardiogram (ECG) recording. This is particularly true for ECG recordings from Holter monitors. The aim of this work was to study the performance of several robust Kalman filters for artifact correction in Inter-beat (RR) interval time series. For our experiments, two data sets were used: the first data set included 10 RR interval time series from a realistic RR interval time series generator. The second database contains 10 sets of RR interval series from five healthy patients and five patients suffering from congestive heart failure. The standard deviation of the RR interval was computed over the filtered signals. Results were compared with a state of the art processing software, showing similar values and behavior. In addition, the proposed methods offer satisfactory results in contrast to standard Kalman filtering.
{"title":"A comparison of robust Kalman filtering methods for artifact correction in heart rate variability analysis","authors":"C. Zuluaga-Ríos, M. Álvarez-López, A. Orozco-Gutierrez","doi":"10.22430/22565337.213","DOIUrl":"https://doi.org/10.22430/22565337.213","url":null,"abstract":"Heart rate variability (HRV) has received considerable attention for many years, since it provides a quantitative marker for examining the sinus rhythm modulated by the autonomic nervous system (ANS). The ANS plays an important role in clinical and physiological fields. HRV analysis can be performed by computing several time and frequency domain measurements. However, the computation of such measurements can be affected by the presence of artifacts or ectopic beats in the electrocardiogram (ECG) recording. This is particularly true for ECG recordings from Holter monitors. The aim of this work was to study the performance of several robust Kalman filters for artifact correction in Inter-beat (RR) interval time series. For our experiments, two data sets were used: the first data set included 10 RR interval time series from a realistic RR interval time series generator. The second database contains 10 sets of RR interval series from five healthy patients and five patients suffering from congestive heart failure. The standard deviation of the RR interval was computed over the filtered signals. Results were compared with a state of the art processing software, showing similar values and behavior. In addition, the proposed methods offer satisfactory results in contrast to standard Kalman filtering.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"25-35"},"PeriodicalIF":0.0,"publicationDate":"2015-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68486733","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}
Javier E. González-Barajas, Cristian Velandia-Cárdenas, Johann Nieto-Camacho
Quantification of the instantaneous heart rate is based on the detection of the R wave of the electrocardiographic signal. This process requires the implementation of strategies for real-time filtering for the time of occurrence of each R wave. Various mathematical techniques have been implemented for the detection of the R wave and these require digital systems with high performance computing. At present, there are opportunities to implement filtering strategies in low-cost devices in real time. The principal goal of this paper is to present the results obtained by implementing a real-time digital filter for the detection of the R wave of the ECG signal. The implemented strategy is based on the averaging and derived filters theory, which have been implemented on an ARM programmable device and open hardware. The filtering system provides a binary signal indicating the occurrence of the R wave and is input to a system for quantifying the instantaneous heart rate. The results in this paper are the basis for the implementation of a system for the quantification of heart rate in real time, which is presented the step of detecting R-wave.
{"title":"Implementación de filtro digital en tiempo real para detección de la onda R","authors":"Javier E. González-Barajas, Cristian Velandia-Cárdenas, Johann Nieto-Camacho","doi":"10.22430/22565337.217","DOIUrl":"https://doi.org/10.22430/22565337.217","url":null,"abstract":"Quantification of the instantaneous heart rate is based on the detection of the R wave of the electrocardiographic signal. This process requires the implementation of strategies for real-time filtering for the time of occurrence of each R wave. Various mathematical techniques have been implemented for the detection of the R wave and these require digital systems with high performance computing. At present, there are opportunities to implement filtering strategies in low-cost devices in real time. The principal goal of this paper is to present the results obtained by implementing a real-time digital filter for the detection of the R wave of the ECG signal. The implemented strategy is based on the averaging and derived filters theory, which have been implemented on an ARM programmable device and open hardware. The filtering system provides a binary signal indicating the occurrence of the R wave and is input to a system for quantifying the instantaneous heart rate. The results in this paper are the basis for the implementation of a system for the quantification of heart rate in real time, which is presented the step of detecting R-wave.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"75-86"},"PeriodicalIF":0.0,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68486744","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}
Robust repetitive control problems for uncertain linear systems have been considered by different approaches. This article proposes the use of Repetitive Control and Generalized Proportional Integral (GPI) Control in a complementary fashion. The conditioning and coupling of these techniques has been done in a time discrete context. Repetitive control is a control technique, based on the internal model principle, which yields perfect asymptotic tracking and rejection of periodic signals. On the other hand, GPI control is established as a robust linear control system design technique that is able to reject structured time polynomial additive perturbation, in particular, parameter uncertainty that can be locally approximated by time polynomial signal. GPI control provides a suitable stability and robustness conditions for the proper Repetitive Control operation. A stability analysis is presented under the frequency response framework using plant samples for different parameter uncertainty conditions. We carry out some comparative stability analysis with other complementary control approaches that has been effective for this kind of task, enhancing a better robustness and an improved performance for the GPI case. Illustrative simulation examples are presented which validate the proposed approach.
{"title":"Control GPI-repetitivo para sistemas lineales con incertidumbre/variación en los parámetros","authors":"John Cortés-Romero, Germán A. Ramos-Fuentes","doi":"10.22430/22565337.214","DOIUrl":"https://doi.org/10.22430/22565337.214","url":null,"abstract":"Robust repetitive control problems for uncertain linear systems have been considered by different approaches. This article proposes the use of Repetitive Control and Generalized Proportional Integral (GPI) Control in a complementary fashion. The conditioning and coupling of these techniques has been done in a time discrete context. Repetitive control is a control technique, based on the internal model principle, which yields perfect asymptotic tracking and rejection of periodic signals. On the other hand, GPI control is established as a robust linear control system design technique that is able to reject structured time polynomial additive perturbation, in particular, parameter uncertainty that can be locally approximated by time polynomial signal. GPI control provides a suitable stability and robustness conditions for the proper Repetitive Control operation. A stability analysis is presented under the frequency response framework using plant samples for different parameter uncertainty conditions. We carry out some comparative stability analysis with other complementary control approaches that has been effective for this kind of task, enhancing a better robustness and an improved performance for the GPI case. Illustrative simulation examples are presented which validate the proposed approach.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"13-24"},"PeriodicalIF":0.0,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68486473","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}
Juan F. Monsalve-Posada, Alexander Arias-Londoño, Juan G. Mejía-Arango
The growing use of Ethernet networks on the industrial automation pyramid has led many companies to develop new devices to operate in requirements of this level, nowadays it is called Industrial Ethernet network, on the market there are various sensors and actuators to industrial scale equipped with this technology, many of these devices are very expensive. In this paper, the performance of two wireless networks is evaluated, the first network has conventional Ethernet devices, and the second network has Industrial Ethernet devices. For the process we vary four parameters such as distance, number of bytes, the signal to noise ratio, and the packet error rate, and then we measure delays and compare with metric statistics results, Box Plot graphs were used for the analysis. Finally, we conclude that under the parameters and conditions tested, wireless networks can serve as a communication system in control applications with allowable delays of up to 50 ms, in addition, the results show a better performance of Industrial Ethernet networks over conventional networks, with differences in the RTT of milliseconds. Therefore, it is recommended to establish what risk is for the process to control these delays to determine if the equipment conventional applies, since under certain features like humidity and temperature can operate properly for a considerable time and at lower cost than devices to Industrial Ethernet.
{"title":"Desempeño de redes inalámbricas y redes industriales inalámbricas en procesos de control en tiempo real bajo ambientes industriales","authors":"Juan F. Monsalve-Posada, Alexander Arias-Londoño, Juan G. Mejía-Arango","doi":"10.22430/22565337.215","DOIUrl":"https://doi.org/10.22430/22565337.215","url":null,"abstract":"The growing use of Ethernet networks on the industrial automation pyramid has led many companies to develop new devices to operate in requirements of this level, nowadays it is called Industrial Ethernet network, on the market there are various sensors and actuators to industrial scale equipped with this technology, many of these devices are very expensive. In this paper, the performance of two wireless networks is evaluated, the first network has conventional Ethernet devices, and the second network has Industrial Ethernet devices. For the process we vary four parameters such as distance, number of bytes, the signal to noise ratio, and the packet error rate, and then we measure delays and compare with metric statistics results, Box Plot graphs were used for the analysis. Finally, we conclude that under the parameters and conditions tested, wireless networks can serve as a communication system in control applications with allowable delays of up to 50 ms, in addition, the results show a better performance of Industrial Ethernet networks over conventional networks, with differences in the RTT of milliseconds. Therefore, it is recommended to establish what risk is for the process to control these delays to determine if the equipment conventional applies, since under certain features like humidity and temperature can operate properly for a considerable time and at lower cost than devices to Industrial Ethernet.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"87-99"},"PeriodicalIF":0.0,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68486528","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 topic of interest on unmanned aerial vehicles is determining appropriate paths that allow them to move from an initial position to a target position, ensuring that the path is safe, in other words, that there is no risk of collision. In this article, two techniques of path planning and an obstacle avoidance strategy for quadricopters are presented. Both techniques are functional on three-dimensional environments with static or dynamic obstacles restricted to constant speeds. The techniques work on an environment modeling with planes which generate an artificial potential field. The first technique is based on moving points that connect the initial position to the goal, and then every point moves towards free zones of influence of obstacles along the potential field, which makes unobstructed paths. The second technique uses the concept of safe areas, which is used as a criterion for updating the position of the points. Additionally, a methodology of dynamic obstacles avoidance is proposed, which is to transform the problem of trajectory planning with dynamic obstacles to the case of path planning with static obstacles through a process of analyzing the possibility of a collision. The results show that these techniques overcome the drawbacks of the gradient descent-based algorithms as local minima and unstable oscillations problems.
{"title":"Planeación de trayectorias para cuadricópteros en ambientes dinámicos tridimensionales","authors":"Diego M. Rivera-Pinzón, F. A. Prieto-Ortiz","doi":"10.22430/22565337.221","DOIUrl":"https://doi.org/10.22430/22565337.221","url":null,"abstract":"A topic of interest on unmanned aerial vehicles is determining appropriate paths that allow them to move from an initial position to a target position, ensuring that the path is safe, in other words, that there is no risk of collision. In this article, two techniques of path planning and an obstacle avoidance strategy for quadricopters are presented. Both techniques are functional on three-dimensional environments with static or dynamic obstacles restricted to constant speeds. The techniques work on an environment modeling with planes which generate an artificial potential field. The first technique is based on moving points that connect the initial position to the goal, and then every point moves towards free zones of influence of obstacles along the potential field, which makes unobstructed paths. The second technique uses the concept of safe areas, which is used as a criterion for updating the position of the points. Additionally, a methodology of dynamic obstacles avoidance is proposed, which is to transform the problem of trajectory planning with dynamic obstacles to the case of path planning with static obstacles through a process of analyzing the possibility of a collision. The results show that these techniques overcome the drawbacks of the gradient descent-based algorithms as local minima and unstable oscillations problems.","PeriodicalId":30469,"journal":{"name":"TecnoLogicas","volume":"18 1","pages":"37-50"},"PeriodicalIF":0.0,"publicationDate":"2015-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"68486869","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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