2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)最新文献

{"title":"Methodology for Identification, Modeling and Control of a Robot's Locomotion Motors","authors":"G. Rivera, Nelson David Muñoz Ceballos, Henry Mauricio Vásquez Carvajal","doi":"10.1109/CIIMA50553.2020.9290301","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290301","url":null,"abstract":"A methodology for the identification, modeling and control of the locomotion motors of a mobile robot is presented. The vehicle is based on the lego kit mindstorms EV3 and is programmed in matlab's simulink. A nonparametric system identification method was applied using the matlab systems identification toolbox, in order to obtain the model in continuous time of each motor, selecting a First Order Plus Dead Time (FOPDT) structure. Classical controllers P, PI, and PID (Z-N tuned) are designed and compared with performance metrics. The PID controller show better performance.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114987285","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}

{"title":"Bouncing ball trajectory tracking using sliding mode control: a hybrid approach","authors":"Luz A. Vega, C. Santos, C. Borras, J. A. Flórez, R. Alzate","doi":"10.1109/CIIMA50553.2020.9290176","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290176","url":null,"abstract":"This paper presents a hybrid control strategy based on programmable automatons, where height control a bouncing ball system using sliding modes is studied as a case of application in impact systems. Without loss of generality, hybrid mathematical modeling of the bouncing ball system in an ideal environment is obtained as the interaction between a continuous domain and a discrete domain. Additionally, to guarantee the trajectory tracking, a sliding mode control law on-line is redesigned after each impact. Finally, to soften the unwanted effect caused by discontinuous control named chattering, and reducing tracking error. Simulation results are obtained using the numerical tool MATLAB ® to validate the hybrid methodology proposed.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115325676","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}

{"title":"Diseño de un vehículo tipo rover no tripulado para la siembra, fumigación y transporte de productos agricolas en terrenos irregulares","authors":"Guillermo A. Carrasquilla, Heider A. Carvajal, José D. Bohórquez, Sebastián Roa Prada","doi":"10.1109/ciima50553.2020.9290181","DOIUrl":"https://doi.org/10.1109/ciima50553.2020.9290181","url":null,"abstract":"Este proyecto consiste en el modelado, construcción y control de un vehículo tipo “Rocker Bogie”, el cual funcionará como robot cooperativo para la ayuda en el proceso del cultivo a los campesinos y contará con tres modos de trabajo, el transporte seguro de cultivos a través de terrenos irregulares, fumigación del cultivo en las respectivas zonas y la siembra de las semillas en el terreno. En este proyecto se realizará el modelo dinámico de un vehículo tipo “Rocker Bogie” el cual es un sistema de suspensión basado en los rovers o astromóviles que han sido enviados a Marte. Dicho modelo se comprobará mediante la construcción del vehículo teniendo en cuenta los parámetros previamente seleccionados. Palabras clave-Robot, Agricultura, Transporte, Fumigación y Siembra. Abstract- This project consists of the modeling, construction and control of a vehicle type “Rocker Bogie”, which will function as a cooperative robot to assist in the process of cultivation to farmers and will have three ways of working, the safe transport of crops through uneven terrain, fumigation of the crop in the respective areas and the planting of seeds in the field. This project will make the dynamic model of a “Rocker Bogie” type vehicle which is a suspension system based on the rovers or astromobiles that have been sent to Mars. This model shall be checked by the construction of the vehicle taking into account the previously selected parameters.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128558393","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}

{"title":"Design and Implementation of a GPIO-assisted Sliding Mode Controller Embedded in a Digital Electronics Board to Test Electromechanical Devices","authors":"Y. A. Berrio-Ortega, M. C. Giraldo-Caicedo, M. A. Polochè-Arango, H. Coral-Enriquez","doi":"10.1109/CIIMA50553.2020.9290300","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290300","url":null,"abstract":"This work proposes the design, manufacturing and implementation of a robust digital electronic board, with capabilities to embed control algorithms for validating in testbeds with DC motors. The goal of the proposed electronic board is to create a software/hardware platform to implement/validate control strategies. In this case, the capabilities of the board were checked through the implementation of a Generalized Proportional Integral Observer (GPIO) based Sliding Mode Controller (SMC). First, the control architecture was simulated to create the structure of the algorithm, and second the simulated algorithm was transcribed to the 32-bits microcontroller language (CPU board), then the algorithm was validated and tested with two DC motors: a geared motor and a conventional motor. Finally, the simulation and experimental results are presented.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134375824","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}

{"title":"Key Aspects in the design of silicone/graphene-based strain sensors for structural monitoring","authors":"Jorge Peña-Consuegra, Useche V. Jairo, M. Pagnola","doi":"10.1109/CIIMA50553.2020.9290292","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290292","url":null,"abstract":"The graphene as a material used in engineering applications has been on the rise in the last decade due to being a material with interesting electrical and structural properties. This possibility offers a very wide range of technological applications. Among the potential fields of application is in the development of new sensors for structural applications. Recently the combination of graphene with cross-linked polysilicones has been proposed. This compound has interesting electrical and visco-elastic properties that have allowed the development of highly sensitive pressure and strain sensors. For this reason, their use as strain sensors in structures through structural health monitoring systems opens up an interesting field of research. The aim of this work is to study the mechanical behavior, and the characteristics required of graphene / polysicone-based sensors to be applied effectively in structural health monitoring systems.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115074415","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}

{"title":"Validation of the Streeter-Phelps Model in Matlab to predict biochemical demand for oxygen DOB and dissolved oxygen OD","authors":"Meléndez Maza, Andy J. Rodríguez-Arías, Harold A. Pasqualino, Jorgelina","doi":"10.1109/CIIMA50553.2020.9290297","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290297","url":null,"abstract":"Summary: The article intended the validation of the Streeter Phelps mathematical model that describes the behavior of dissolved oxygen OD and the biochemical oxygen demand BOD, which includes re- aeration and deoxygenation processes, related to hydromorphodynamic processes and the associated dynamics. The verification of the model was implemented from the application of the adjustment of the equation with the tool of non-linear least squares method, which stablishes a least squares analysis to adjust observations with a model that is nonlinear in n unknown parameters. Correspondingly, this approximates the model by a linear one and refines the parameters by successive iterations. The results associated with the research allowed validating, considering the adjustment of the constants ka and kd of the Streeter - Phelps equation, with experimental data. It presents a good fitting which it is of 0.97. The deficit of determined critical dissolved oxygen occurs approximately at kilometer 30 of the segment studied, in which the lowest concentrations of dissolved oxygen are determined. The behavior of the BOD comprises a removal process with a negative concentration gradient, in which it goes from a concentration at the pour point of 16.67 mg / L to 7.48 mg / L at kilometer 80. Resumen: El artículo contempló la validación del modelo matemático Streeter Phelps que describe el comportamiento del oxígeno disuelto OD y la demanda bioquímica de oxigeno DBO, que tienen en cuenta procesos de reaireación y desoxigenación, relacionados con procesos hidromorfodinámicos y la dinámica asociada. La validación del modelo se llevó a cabo a partir de la aplicación del ajuste de la ecuación con la herramienta el método de mínimos cuadrados no lineales, que forma un análisis de mínimos cuadrados para ajustar observaciones con un modelo que es no lineal en n parámetros desconocidos; que, explicado de otra forma, aproxima el modelo por uno lineal y refina los parámetros por iteraciones sucesivas. Los resultados asociados a la investigación permitieron validar, teniendo en cuenta el ajuste de las constantes ka y kd de la ecuación Streeter - Phelps, con datos experimentales, presenta un buen ajuste, de 0.97. El déficit de oxígeno disuelto crítico determinado se da aproximadamente en el kilómetro 30 del segmento estudiado, en el cual se determinan que existan las menores concentraciones de oxígeno disuelto. El comportamiento de la DBO comprende un proceso de remoción con un gradiente de concentración negativo, en el que pasa de una concentración en el punto de vertimiento de 16.67 mg/L a 7.48 mg/L en el kilómetro 80.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121982393","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}

{"title":"Bibliobrabot: Diseño de un Brazo Robotico Asistente en Biblioteca para Discapacitados en Silla de Ruedas","authors":"Carlos Andrés Cristancho Hernández, Luis Eduardo García González, Luz Alejandra Magre Colorado","doi":"10.1109/CIIMA50553.2020.9290293","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290293","url":null,"abstract":"Libraries require physical adaptation to strengthen inclusion and equal accessibility for all people. This paper presents an assistant robot design focused on wheelchair users who demand library services. It is proposed as an improvement of the bibliographic content location system. This is done by adapting the robot to any classic shelf. The article contains the following analyses to check its efficiency: direct and inverse kinematics; dynamics through Newton-Euler‘s computational method; the workspace; trajectory generation; user interface. Finally, it exposes how the design works and that it can be implemented with an appropriate adaptation of the shelves for a correct disposition of the books. In addition, it proposes future improvements considering some limiting characteristics.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123126207","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}

{"title":"Advanced Control System Design for a Plate Heat Exchanger","authors":"D. M. Vega, Hernando González Acevedo","doi":"10.1109/CIIMA50553.2020.9290306","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290306","url":null,"abstract":"This paper shows the design of two control techniques, the linear quadratic Gaussian (LQG) control and the quantitative feedback theory (QFT) control for the dynamic model of a plate heat exchanger obtained from the principles of heat transfer in fluids. This model is linearized using Taylor series expansions for the three non-linear differential equations of the model. Both controllers are designed in MATLAB to control the temperature of the cold stream output of the heat exchanger, and their performance is compared by three types of analysis: the effect due to the uncertainty in the parameters, the response for a variable set-point, and the performance criteria based on the values of the error indexes.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121732374","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}

{"title":"Internet of Things Applied to Agricultural Irrigation Systems in Pasture Grasses","authors":"M.P. Arrieta, Y. Alarcón, J. L. Villa","doi":"10.1109/CIIMA50553.2020.9290305","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290305","url":null,"abstract":"Irrigation in agricultural systems is responsible for most of the world's fresh water consumption. In this paper, we focus our study on applying the concepts and tools of the Internet of Things (IoT) to irrigation systems for pasture grasses. In this particular case, we study an IoT-based architecture for irrigation systems using weather forecasting, that based on its availability controls the decision of watering. The result of the proof of concept of the proposed architecture shows the potential for water savings, resource optimization, and the challenges of a real and widespread application.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121486938","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}

{"title":"On the improvement of the Backstepping controller: An application on Autonomous Underwater Vehicles","authors":"J. Guerrero","doi":"10.1109/CIIMA50553.2020.9290178","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290178","url":null,"abstract":"In this paper, we propose to improve the nominal Backstepping control design through the addition of a disturbance observer estimator. We apply the proposed method to the trajectory tracking problem of an Autonomous Underwater Vehicle (AUV). Furthermore, we prove the stability of the controller and observer set in closed-loop using the Lyapunov theory. Finally, we demonstrate the robustness and the efficacy of the proposed algorithm through real-time experiments.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114879243","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}