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2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)最新文献

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On the Implementation of a Robotic Welding Process Using 3D Simulation Environment 利用三维仿真环境实现机器人焊接过程
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.71
I. Davila-Rios, L. Torres-Treviño, I. López-Juárez
{"title":"On the Implementation of a Robotic Welding Process Using 3D Simulation Environment","authors":"I. Davila-Rios, L. Torres-Treviño, I. López-Juárez","doi":"10.1109/CERMA.2008.71","DOIUrl":"https://doi.org/10.1109/CERMA.2008.71","url":null,"abstract":"This paper presents the simulation of an automated welding process based on an industrial robot KUKA KR16. The main objective is to integrate all devices needed to perform the simulation using Delmia V5 robotics and to avoid any possible mistake when implementing of the real workcell; for example, with physical dimensions, possible collisions, path planning, etc. The feasibility in the implementation can be determined trough 3D simulation of a manufacturing workcell to perform tasks type MIG welding.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122676446","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}
引用次数: 8
Cooperative Multi-robot Box-Pushing in a Cluttered Environment 混乱环境下多机器人协同推箱
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.49
E. F. Parra-González, J. G. Ramírez-Torres
{"title":"Cooperative Multi-robot Box-Pushing in a Cluttered Environment","authors":"E. F. Parra-González, J. G. Ramírez-Torres","doi":"10.1109/CERMA.2008.49","DOIUrl":"https://doi.org/10.1109/CERMA.2008.49","url":null,"abstract":"The multi-Robot box-pushing problem in cluttered environments has demonstrated to be a very complex problem with multiple practical applications. In this document we present a new strategy to solve it, inspired in the wavefront algorithm which it also includes some pertinent modifications to obtain trajectories that facilitate the box displacement for non-holonomic mobile robots. The proposed method obtains its benefits by the reduction of route distances, reducing the direction changes in the routes, and by searching the best pushing points for robots.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132228749","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}
引用次数: 5
Built-In Hardware for Analog Circuitry Testing 内置硬件模拟电路测试
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.7
M. Assaf, M. Fathi
{"title":"Built-In Hardware for Analog Circuitry Testing","authors":"M. Assaf, M. Fathi","doi":"10.1109/CERMA.2008.7","DOIUrl":"https://doi.org/10.1109/CERMA.2008.7","url":null,"abstract":"Testing analog circuits is a challenging endeavor. The subject paper investigates the oscillation-based built-in self-test (OBIST) technique for testing the analog circuits. An analog circuit-testing environment based on the OBIST method is considered and implemented.Experimental results show that OBIST is a promising testing method for analog circuits which neither requires a stimulus generator nor a complex result analyzer.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115721213","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}
引用次数: 8
Proposal for a Remote Surgery System Based on Wireless Communications, Electromyography and Robotics 基于无线通信、肌电图和机器人技术的远程手术系统设计
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.19
Javier E Gonzalez Villarruel, B.T. Corona
{"title":"Proposal for a Remote Surgery System Based on Wireless Communications, Electromyography and Robotics","authors":"Javier E Gonzalez Villarruel, B.T. Corona","doi":"10.1109/CERMA.2008.19","DOIUrl":"https://doi.org/10.1109/CERMA.2008.19","url":null,"abstract":"Advances in wireless communication, electromyography and robotics have allowed to foresee advanced medical services as distance surgery. Demand on distance services as surgery to remote locations will help to provide hospitals with the abilities of experienced surgeon that will not need to move. Using advanced communication networks and dedicated robotic systems, highly skilled physicians in collaboration with local general physicians will be able to diagnose diseases, monitor vital signals, heal injuries, place prosthesis and conduct remote surgery in real time, at different locations. This paper presents then a 2 degrees of freedom robotic arm controlled at distance intended to remote surgery. The system use a basic robotic arm, surface electromyographic signals electronic processed as base band signals for a wireless communication system for remote control.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115005402","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}
引用次数: 8
Branch and Bound Hybrid Algorithm to Determine the Exact or Approximate Solution of the 0/1 Knapsack Problem with One Parameter 确定单参数0/1背包问题精确或近似解的分支定界混合算法
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.44
J. C. Zavala-Díaz, M. Cruz-Chávez, M. Cruz-Rosales, J. Frausto-Solís
{"title":"Branch and Bound Hybrid Algorithm to Determine the Exact or Approximate Solution of the 0/1 Knapsack Problem with One Parameter","authors":"J. C. Zavala-Díaz, M. Cruz-Chávez, M. Cruz-Rosales, J. Frausto-Solís","doi":"10.1109/CERMA.2008.44","DOIUrl":"https://doi.org/10.1109/CERMA.2008.44","url":null,"abstract":"In this paper, the Zavala-Cruz algorithm is presented to solve the knapsack problem with one parameter. The foundation of the algorithm is shown; it is based largely on the algorithm of Horowitz-Sahni, with the lower and upper bounds taken from Dantzig, and the artifices of simulated annealing used to in order to escape of the local optimums. The Zavala-Cruz algorithm defines the search space and the rules to branch and prune, with which avoids the backtracking and this accelerates quicker the convergence to an exact or approximate solution. The Zavala-Cruz algorithm determines the exact solution for all the uncorrelated instances and for some of the weakly correlated instances. It also determines the approximate solution for the strongly correlated instances. These solutions were obtained along the whole parameter, including the transition phase, where the most complex instances are found, and where in some cases the instances are not computable. For each instance and for each value of the parameter, a multiple of n2 was used in order to branch and prune, obtaining convergence with kn2 iterations in all cases.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124816240","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}
引用次数: 2
Optimal Determination of K Constant of Ridge Regression Using a Simple Genetic Algorithm 用简单遗传算法确定岭回归K常数
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.77
R.J. Praga-Alejo, L.M. Torres-Trevio, M.R. Pia-Monarrez
{"title":"Optimal Determination of K Constant of Ridge Regression Using a Simple Genetic Algorithm","authors":"R.J. Praga-Alejo, L.M. Torres-Trevio, M.R. Pia-Monarrez","doi":"10.1109/CERMA.2008.77","DOIUrl":"https://doi.org/10.1109/CERMA.2008.77","url":null,"abstract":"In the present work, the optimal determination of the constant k of ridge regression (RR) model was developed, since this method of regression permit to reduce the multicollinearity problem and it is a one advantage that takes the ridge regression model over ordinary least square (OLS). The optimal constant k was developed by some technique derived from intelligent systems (genetic algorithm) and some statistics techniques. In this paper we present a comparison between these two methodologies for finding the optimal constant k since this constant givesless variance, giving stability to the estimate coefficients and reduce the multicollinearity problem. The results analyzed by the statistical methods, showed that MSR and R2 have very good performance but theVIF's are greater than genetic algorithm (GA) and theGA reduces the VIF's but reduces R2 and increment the MSR.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123276525","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}
引用次数: 9
Design & Development of a Virtual Pet 虚拟宠物的设计与开发
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.88
Romero Herrera Rodolfo, Francisco J. Gallegos Funes, Laura Méndez Segundo, rromeroh
{"title":"Design & Development of a Virtual Pet","authors":"Romero Herrera Rodolfo, Francisco J. Gallegos Funes, Laura Méndez Segundo, rromeroh","doi":"10.1109/CERMA.2008.88","DOIUrl":"https://doi.org/10.1109/CERMA.2008.88","url":null,"abstract":"This paper presents the design and development of a virtual pet, as well as the results obtained after its implementation. The described pet takes part of an artificial life system which includes affective computing, evolutionary computing, artificial neural networks, cellular automata and three dimensional modelled and animation. All of these allow the origin of an animated pet, whose emotional capacities, reproduction, learning and coexistence are unfolded on a three-dimensional environment, inside of a system which, in addition, provides an interface to the user for interpreting the petpsilas owner role, providing him the necessary cares for the petpsilas survival.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123527485","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}
引用次数: 0
Nonlinear Control of the Airship Cruise Flight Phase with Dynamical Decoupling 基于动力解耦的飞艇巡航飞行相位非线性控制
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.53
L. Solaque, Z. Pinzón, M. Duque
{"title":"Nonlinear Control of the Airship Cruise Flight Phase with Dynamical Decoupling","authors":"L. Solaque, Z. Pinzón, M. Duque","doi":"10.1109/CERMA.2008.53","DOIUrl":"https://doi.org/10.1109/CERMA.2008.53","url":null,"abstract":"Robotic lighter-than-air vehicles (type of unanimated air vehicle UAV), provide a promissory strategic platform for the transport, exploration and surveillance. This paper presents an approach to the control of a small sized airship in cruise flight phase; specifically, non-linear control by extended linearization is considered. In order to make this control, a study of the dynamic model and some hypothesis for its reduction are presented. These reduced models enable to develop the control laws and the stabilization of the aerodynamic speed, altitude and heading of the airship. A technique of dynamical decoupling is considered in order to have a more stable altitude when the airship turns. Tests in simulation were made.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124198274","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}
引用次数: 18
Property of Images in Bayer Formats in the Digital Processing of Images 拜耳格式图像在图像数字处理中的特性
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.9
C. Ramirez, F.J. Mora Mas, J. Enseat
{"title":"Property of Images in Bayer Formats in the Digital Processing of Images","authors":"C. Ramirez, F.J. Mora Mas, J. Enseat","doi":"10.1109/CERMA.2008.9","DOIUrl":"https://doi.org/10.1109/CERMA.2008.9","url":null,"abstract":"The aim of this work is to show the computational cost of implementing an conversion algorithm of Bayer format to RGB format by the method of bilinear interpolation, taking into consideration the correlation. This study demonstrates that in some applications the converter is not necessary, as in the case of real time tracking of different species, particularly in the subtraction and blurring of images. In the tracking of animals, timing can be critical.","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126445288","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}
引用次数: 3
Steady State Performance Analysis of a VSC-Based HVDC Converter Stations Using PSCAD/EMTDC 基于PSCAD/EMTDC的vsc直流换流站稳态性能分析
2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08) Pub Date : 2008-09-30 DOI: 10.1109/CERMA.2008.104
E. Vasquez-Mortera, E. Moreno-Goytia
{"title":"Steady State Performance Analysis of a VSC-Based HVDC Converter Stations Using PSCAD/EMTDC","authors":"E. Vasquez-Mortera, E. Moreno-Goytia","doi":"10.1109/CERMA.2008.104","DOIUrl":"https://doi.org/10.1109/CERMA.2008.104","url":null,"abstract":"This paper presents a steady state performance analysis carried out to study the behavior of a two VSC-based operating as a single-input single output HVDC link. The digital model of the HVDC link has been implemented and evaluated using PSCAD/EMTDC. The emphasis of this research work has been focused on evaluating the transference of active power from the rectifying station to the inverting station as well as the influence of the modulation index over the total harmonic distortion (THD).","PeriodicalId":126172,"journal":{"name":"2008 Electronics, Robotics and Automotive Mechanics Conference (CERMA '08)","volume":"166 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2008-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128226264","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}
引用次数: 0
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