Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533958
A. Rios, Eusebio E. Hernández, J. Moreno, S. Keshtkar, R. D. L. Garza
In this paper, the analytical kinematic study of a new parallel platform-based walking rehabilitation device is presented. The study includes the derivation of closed-form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. The evaluation of a numerical iterative scheme for the online solution of the forward kinematic problem is also presented. The Jacobian analysis for the manipulator is performed and then used for singularity and sensitivity analysis. In order to verify the formulations, the simulation results of the computation of inverse and forward kinematics for a typical walking trajectory are presented and the accuracy of a numerical solution to the forward kinematic problem is verified.
{"title":"Kinematics Analysis of a New 3DOF Parallel Manipulator as Walking Rehabilitation Device","authors":"A. Rios, Eusebio E. Hernández, J. Moreno, S. Keshtkar, R. D. L. Garza","doi":"10.1109/ICEEE.2018.8533958","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533958","url":null,"abstract":"In this paper, the analytical kinematic study of a new parallel platform-based walking rehabilitation device is presented. The study includes the derivation of closed-form expressions for the inverse Jacobian matrix of the mechanism and its time derivative. The evaluation of a numerical iterative scheme for the online solution of the forward kinematic problem is also presented. The Jacobian analysis for the manipulator is performed and then used for singularity and sensitivity analysis. In order to verify the formulations, the simulation results of the computation of inverse and forward kinematics for a typical walking trajectory are presented and the accuracy of a numerical solution to the forward kinematic problem is verified.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"39 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74309717","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533919
A. Llanas, J. Guillen, E. Cardiel, P. Hernández
Interactive systems have been used to design chemical structures, physical devices, to train the use of surgical instruments, to monitor rehabilitation therapies or to provide educational information through animations. In the present work, an interactive application is proposed for the animated visualization of the functioning of the heart, for educational purposes. A 3D model of the human heart was adopted, and the R-wave of the electrocardiographic signal, registered online, was used to activate the pattern of movement of the model. The animation is displayed in a CAVE system for immersive virtual reality to provide interaction with the user.
{"title":"Development of an Interactive System for the Visualization of a Cardiac Model activated by the R-Wave of ECG in a 3D CAVE","authors":"A. Llanas, J. Guillen, E. Cardiel, P. Hernández","doi":"10.1109/ICEEE.2018.8533919","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533919","url":null,"abstract":"Interactive systems have been used to design chemical structures, physical devices, to train the use of surgical instruments, to monitor rehabilitation therapies or to provide educational information through animations. In the present work, an interactive application is proposed for the animated visualization of the functioning of the heart, for educational purposes. A 3D model of the human heart was adopted, and the R-wave of the electrocardiographic signal, registered online, was used to activate the pattern of movement of the model. The animation is displayed in a CAVE system for immersive virtual reality to provide interaction with the user.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"33 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90810332","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533983
István Selek, E. Ikonen
This paper contributes to the field of Lyapunov stability theory where positive definite radially unbounded functions – which can be interpreted as generalized energy for the system of interest – play a central role. Given a discrete–time LTI system subject to hard constraints, which are affine in state and control variables, upper and lower barriers are developed which bound the fastest possible decay of generalized energy over the set of admissible control policies for which the closed–loop system is asymptotically stable on a compact polyhedral set including the origin. It is shown that the lower barrier is a greatest feasible lower bound of the fastest possible decay of generalized energy over any set of admissible control policies. A simple example is given to illustrate the main results.
{"title":"On the bounds of the fastest admissible decay of generalized energy in controlled LTI systems subject to state and input constraints","authors":"István Selek, E. Ikonen","doi":"10.1109/ICEEE.2018.8533983","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533983","url":null,"abstract":"This paper contributes to the field of Lyapunov stability theory where positive definite radially unbounded functions – which can be interpreted as generalized energy for the system of interest – play a central role. Given a discrete–time LTI system subject to hard constraints, which are affine in state and control variables, upper and lower barriers are developed which bound the fastest possible decay of generalized energy over the set of admissible control policies for which the closed–loop system is asymptotically stable on a compact polyhedral set including the origin. It is shown that the lower barrier is a greatest feasible lower bound of the fastest possible decay of generalized energy over any set of admissible control policies. A simple example is given to illustrate the main results.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"4 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90567881","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533992
J. Maldonado, R. Garrido, Gerardo Castro
This work presents a methodology to teach Mechatronics, Robotics and Automatic Control through a low-cost platform based on a radio control (RC) servo. The approach is described as well as its real-time control through a Proportional Integral plus velocity feedback (PIVF) algorithm endowed with an integrator anti-windup mechanism. Estimation of the servomotor velocity is accomplished by means of a high-pass filter and a Luenberger observer. These experiments prove the potential of the platform for supporting undergraduate level courses in Automatic Control, Mechatronics, and Robotics.
{"title":"A Methodology to Teach Mechatronics through Building a Hands-on Platform","authors":"J. Maldonado, R. Garrido, Gerardo Castro","doi":"10.1109/ICEEE.2018.8533992","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533992","url":null,"abstract":"This work presents a methodology to teach Mechatronics, Robotics and Automatic Control through a low-cost platform based on a radio control (RC) servo. The approach is described as well as its real-time control through a Proportional Integral plus velocity feedback (PIVF) algorithm endowed with an integrator anti-windup mechanism. Estimation of the servomotor velocity is accomplished by means of a high-pass filter and a Luenberger observer. These experiments prove the potential of the platform for supporting undergraduate level courses in Automatic Control, Mechatronics, and Robotics.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"8 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83476216","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533938
Alejandra Hernandez, A. Poznyak
Here we present two numerical procedures for the identification of Hamiltonian systems, applying the Lagragian and Hamiltonian formalism. The property of First Integrals and their characteristics are used to treats the identification as stabilization. The derivative of first integrals is realized by a super-twist differentiator. The convergence of this numerical procedure and its implementation for two dimensional models are presented.
{"title":"Parametric Estimation in Hamiltonian Systems","authors":"Alejandra Hernandez, A. Poznyak","doi":"10.1109/ICEEE.2018.8533938","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533938","url":null,"abstract":"Here we present two numerical procedures for the identification of Hamiltonian systems, applying the Lagragian and Hamiltonian formalism. The property of First Integrals and their characteristics are used to treats the identification as stabilization. The derivative of first integrals is realized by a super-twist differentiator. The convergence of this numerical procedure and its implementation for two dimensional models are presented.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"16 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78828258","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}
Pub Date : 2018-09-01DOI: 10.1109/iceee.2018.8533960
Rubén Alejandro Garrido Moctezuma
PhD: Computer Department. Université de Technologie de Compiègne, France / November 1993 / Honorable Mention Masters: Diplome d’Etudes Approfondies. Institut Politecnique de Grenoble, Francia / Junio de 1990 M.SC: Department of Electrical Engineering / Automatic Control, CINVESTAV / November 1987 Bachelor Degree: Higher School of Mechanical and Electrical Engineering (ESIME-IPN) / October 1983. He is currently a Titular Research at the Automatic Control Department, CINVESTAV, México. His research interests include: Adaptive control / Control of robot manipulators / Visual servoing / Servomechanisms / System identification
{"title":"CCE 2018 Tutorial","authors":"Rubén Alejandro Garrido Moctezuma","doi":"10.1109/iceee.2018.8533960","DOIUrl":"https://doi.org/10.1109/iceee.2018.8533960","url":null,"abstract":"PhD: Computer Department. Université de Technologie de Compiègne, France / November 1993 / Honorable Mention Masters: Diplome d’Etudes Approfondies. Institut Politecnique de Grenoble, Francia / Junio de 1990 M.SC: Department of Electrical Engineering / Automatic Control, CINVESTAV / November 1987 Bachelor Degree: Higher School of Mechanical and Electrical Engineering (ESIME-IPN) / October 1983. He is currently a Titular Research at the Automatic Control Department, CINVESTAV, México. His research interests include: Adaptive control / Control of robot manipulators / Visual servoing / Servomechanisms / System identification","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"6 1-4","pages":"i-i"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72571791","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533994
S. Karthick, J. J. Rios-Ramirez, S. Velumani
Formamidinium lead iodide (FAPbI3) is a promising and low-cost alternative absorber material in the organic-inorganic perovskites solar cells area. Recently, the theoretical study has been widely used to understand the mechanism behind the structural and phase change in the perovskite crystal structure. In this work, we systematically performed the first principle density functional theory calculations (DFT) using van der Waals (vdW) interaction (Tkatchenko–Scheffler scheme, TS) for 12 possible orientations of organic Formamidinium (FA) cation use as basis of xy, yz, xz plane (each plane has 4 possible orientation) in the cubic cage in order to investigate the structural behavior of FAPbI3 perovskites. Here, the theoretically obtained calculation result shows a similar trend in the lattice parameters, distribution of the electron density difference (EDD), total energy, unit cell volume and the displacement of iodide atoms for all possible 12 orientations of FA cation.
{"title":"12 Possible Orientations of organic Formamidinium cation and its structural analysis by First Principles calculations using Van der Waals-Density functional Theory","authors":"S. Karthick, J. J. Rios-Ramirez, S. Velumani","doi":"10.1109/ICEEE.2018.8533994","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533994","url":null,"abstract":"Formamidinium lead iodide (FAPbI3) is a promising and low-cost alternative absorber material in the organic-inorganic perovskites solar cells area. Recently, the theoretical study has been widely used to understand the mechanism behind the structural and phase change in the perovskite crystal structure. In this work, we systematically performed the first principle density functional theory calculations (DFT) using van der Waals (vdW) interaction (Tkatchenko–Scheffler scheme, TS) for 12 possible orientations of organic Formamidinium (FA) cation use as basis of xy, yz, xz plane (each plane has 4 possible orientation) in the cubic cage in order to investigate the structural behavior of FAPbI3 perovskites. Here, the theoretically obtained calculation result shows a similar trend in the lattice parameters, distribution of the electron density difference (EDD), total energy, unit cell volume and the displacement of iodide atoms for all possible 12 orientations of FA cation.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"1 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84279327","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533899
J. Narro-Rios, D. Martinez-Escobar, A. Sanchez-Juarez
Tin Selenide films were deposited by ultrasonic spray pyrolysis (USP) technique onto glass substrates. 1, 1-dimethyl-2- Selenourea and SnCl2 were used as precursors of Se and Sn respectively. The X-ray technique shows that the deposited film is of a crystalline nature, identifying the SnSe compound, SnSe2 and SnO2 crystals. The obtained thin films were annealed at 300°C in an H2 atmosphere for 30 minutes to improve the purity of SnSe material. The XRD of the annealed films shows almost no signs of SnSe2 crystals. The measured value of the energy band gap (Eg) of the deposited SnSe films decreases after annealing treatment, from 1.23 eV to 1.09 eV. Seebeck effect showed p-type electrical conductivity in both films and Hall effect show almost no changes in the density of carrier charges and conductivity after annealing the samples. The fabricated devices show the photovoltaic effect with different values depending on the materials used.
{"title":"Tin Selenide Thin Films Deposited by Ultrasonic Spray Pyrolysis for Photovoltaic Applications","authors":"J. Narro-Rios, D. Martinez-Escobar, A. Sanchez-Juarez","doi":"10.1109/ICEEE.2018.8533899","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533899","url":null,"abstract":"Tin Selenide films were deposited by ultrasonic spray pyrolysis (USP) technique onto glass substrates. 1, 1-dimethyl-2- Selenourea and SnCl2 were used as precursors of Se and Sn respectively. The X-ray technique shows that the deposited film is of a crystalline nature, identifying the SnSe compound, SnSe2 and SnO2 crystals. The obtained thin films were annealed at 300°C in an H2 atmosphere for 30 minutes to improve the purity of SnSe material. The XRD of the annealed films shows almost no signs of SnSe2 crystals. The measured value of the energy band gap (Eg) of the deposited SnSe films decreases after annealing treatment, from 1.23 eV to 1.09 eV. Seebeck effect showed p-type electrical conductivity in both films and Hall effect show almost no changes in the density of carrier charges and conductivity after annealing the samples. The fabricated devices show the photovoltaic effect with different values depending on the materials used.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"1 1","pages":"1-5"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77809893","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}
Pub Date : 2018-09-01DOI: 10.1109/iceee.2018.8533907
{"title":"CCE 2018 Keywords","authors":"","doi":"10.1109/iceee.2018.8533907","DOIUrl":"https://doi.org/10.1109/iceee.2018.8533907","url":null,"abstract":"","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73363166","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}
Pub Date : 2018-09-01DOI: 10.1109/ICEEE.2018.8533986
Luis Juárez, S. Mondié
In this work, we describe a method to compute the Lyapunov matrix of a system with state and input delay when the input is a dynamic predictor-based control law. We observe that this system can be represented in an extended state-space form. The resulting model is a system with multiple distributed time-delays with repeated piecewise kernels. We present a scalar case study involving the Lyapunov matrix construction. The obtained Lyapunov matrix allows us to carry out the stability analysis in the time domain. Finally, some remarks about the dynamic and the simple predictor-based control laws are given.
{"title":"Lyapunov matrices for the stability analysis of a system with state and input delays and dynamic predictor control","authors":"Luis Juárez, S. Mondié","doi":"10.1109/ICEEE.2018.8533986","DOIUrl":"https://doi.org/10.1109/ICEEE.2018.8533986","url":null,"abstract":"In this work, we describe a method to compute the Lyapunov matrix of a system with state and input delay when the input is a dynamic predictor-based control law. We observe that this system can be represented in an extended state-space form. The resulting model is a system with multiple distributed time-delays with repeated piecewise kernels. We present a scalar case study involving the Lyapunov matrix construction. The obtained Lyapunov matrix allows us to carry out the stability analysis in the time domain. Finally, some remarks about the dynamic and the simple predictor-based control laws are given.","PeriodicalId":6924,"journal":{"name":"2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","volume":"49 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73829474","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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