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

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Performance Benchmarking of Stochastic and Deterministic Representation Bases with Compressive Sensing in Computerized Tomography Images 基于压缩感知的随机和确定性表示基在计算机断层扫描图像中的性能基准测试
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290294
K. Botina, K. Corredor, S. Duarte, G. Perdomo, J. Domínguez, E. Delahoz
{"title":"Performance Benchmarking of Stochastic and Deterministic Representation Bases with Compressive Sensing in Computerized Tomography Images","authors":"K. Botina, K. Corredor, S. Duarte, G. Perdomo, J. Domínguez, E. Delahoz","doi":"10.1109/CIIMA50553.2020.9290294","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290294","url":null,"abstract":"Computerized tomography is a procedure that emits X-rays rotating around the body, projecting signals to be processed and converted to images. X-rays radiation in people may cause cardiovascular diseases, malformations in prenatal babies, and increasing the development of cancer cells. The tomography device has coded-aperture to block some X-rays and it uses recovery computational techniques to getting a tomographic image from less radiation. One useful technique for such reconstruction is compressive sensing, which can recovery images from sparse signals. Usually, the sparsity of the images is obtained through transforming it into some basis matrix. This work compares from computational models the performance of two representation bases: one deterministic and one stochastic. The tomography images dataset was represented in every one of the bases and compressive sensing was applied to decreasing the information contained in each image. Then we apply the GPSR algorithm to reconstruction. Results showed that: both representation bases combined with compressive sensing reduce the samples number of the image available for its reconstruction without significantly affecting its quality. Also, the stochastic base presented a better performance concerning the Peak Signal to Noise Ratio (PSNR), this is 4.815% higher than the deterministic counterpart. On the other hand, it was identified that the image reconstruction is possible from 50 % or higher of the compression, i.e., the minimal samples percentage required for reconstruction is 50 %. We conclude that the stochastic base outperforms the deterministic equivalent mainly regarding quality image reconstructed while the differences considering the computational time and samples nurmber are not significantly,","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"203 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":"122763267","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
Design and construction of a microwave generation subsystem for the semi-automatic peptide synthesis equipment 半自动多肽合成设备微波产生子系统的设计与构建
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290304
Sergio Andrés Ardila-Gomez, J. Pulido, D. Torres-Dueñas, C. Arizmendi, Deisy Yurley Rodríguez-Sarmiento
{"title":"Design and construction of a microwave generation subsystem for the semi-automatic peptide synthesis equipment","authors":"Sergio Andrés Ardila-Gomez, J. Pulido, D. Torres-Dueñas, C. Arizmendi, Deisy Yurley Rodríguez-Sarmiento","doi":"10.1109/CIIMA50553.2020.9290304","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290304","url":null,"abstract":"Peptides are molecular tools for study in different fields of health such as biochemistry, physiology and pharmacology. To obtain them, chemical synthesis coupled to microwaves is carried out and this microwave radiation is key for the coupling of amino acids in the assembly of the peptide. Keeping temperature and exposure times under control is a great challenge in this process. For this purpose, an electronic control was developed in the microwave oven. The microwave oven was modified to adapt it to the process, as a control and data acquisition system, an Arduino UNO card is used, which is responsible for recording the temperature of the sample and sends the signal to enable and disable the microwave power source (Magnetron). To control the temperature, an infrared sensor is used which is responsible for feedback the system and maintain the temperature of the sample at the desired levels.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"25 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":"125023650","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
Order Reduction Rules Based on Statistical Techniques for Inverse Response Processes 基于统计技术的逆响应过程降阶规则
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290180
Duby Castellanos, Fabio Castrillón, O. Camacho, Sergio Gutiérrez, Norha L. Posada
{"title":"Order Reduction Rules Based on Statistical Techniques for Inverse Response Processes","authors":"Duby Castellanos, Fabio Castrillón, O. Camacho, Sergio Gutiérrez, Norha L. Posada","doi":"10.1109/CIIMA50553.2020.9290180","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290180","url":null,"abstract":"In this work, we present a set of rules that transforms the model of Inverse Response Second Order Plus Dead Time Process (IRSODT) and reduces it to a First Order Plus Dead Time (FOPDT) model. We describe the design process for the proposed rules, where we use Dimensional Analysis Techniques and Design of Experiments (DOE). We analyze and compare our rules with those proposed by Taylor, and those proposed by Skogestad. Finally, we use our rules to tune a Sliding Mode Control (SMC) that uses a FOPDT model and we presented some performance indexes.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"183 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":"116327422","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
Design of an Advanced Control System for an Inverted Wheeled Robot 倒轮式机器人先进控制系统设计
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290311
Duvan Smith Barreto Sosa, Hernando González Acevedo
{"title":"Design of an Advanced Control System for an Inverted Wheeled Robot","authors":"Duvan Smith Barreto Sosa, Hernando González Acevedo","doi":"10.1109/CIIMA50553.2020.9290311","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290311","url":null,"abstract":"The inverted pendulum is a system widely used in engineering education because it is fast, high-order, multivariable, under-actuated that combines non-linearity, intrinsic instability, and strong coupling. However, this system is usually treated as ideal in the design of the controllers, complications of the physical implementation of the system are not taken into accounts, such as disturbances, noise in sensors and actuators, no oversizing of the actuator and starting conditions. The present paper propose the design of Robust control strategies based on the loop shaping technique and a linear quadratic Gaussian control (LQG) applied to an inverted pendulum on two wheels, which works only in one plane, proposes a controller design methodology that takes into account the effects of the complications of the physical world raised above.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"148 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":"127562858","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
A PID-controlled quadcopter system: The effect of parameters selection pid控制四轴飞行器系统:参数选择的影响
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290298
María Elisa Castro Fúnez, Andrés Felipe Báez Aponte, Santiago Palacios Triana, Luis Carlos Rodriguez Barrios, David Muñoz, Paula Andrea Mozuca Tamayo
{"title":"A PID-controlled quadcopter system: The effect of parameters selection","authors":"María Elisa Castro Fúnez, Andrés Felipe Báez Aponte, Santiago Palacios Triana, Luis Carlos Rodriguez Barrios, David Muñoz, Paula Andrea Mozuca Tamayo","doi":"10.1109/CIIMA50553.2020.9290298","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290298","url":null,"abstract":"This report presents the effect of the parameters in a control structure based on PI-D and P-D, used in the control of positioning and stabilization of a drone, based on a non-linear model for the system. The proportional, integral and derivative gains corresponding to each controller are modified and their behavior is analyzed. A brief analysis on ITAE performance is held on $x$ and $y$ control loops, providing an initial insight on the optimally of the model regarding reference tracking. The effect of parameters such as overshoot, stabilization time and steady-stade error is concluded by varying the gains for the different controllers.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"52 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":"117308537","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
Design of a Strategy for Planning of Trajectories With Avoidance of Obstacles of a Quadrotor Drone Used in the Characterization of Geological 地质特征四旋翼无人机避障轨迹规划策略设计
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290296
R.L. Mogollón Mendoza, F.P. Montes Monterrey, C. Guayázan, S. R. Prada
{"title":"Design of a Strategy for Planning of Trajectories With Avoidance of Obstacles of a Quadrotor Drone Used in the Characterization of Geological","authors":"R.L. Mogollón Mendoza, F.P. Montes Monterrey, C. Guayázan, S. R. Prada","doi":"10.1109/CIIMA50553.2020.9290296","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290296","url":null,"abstract":"This article focuses on the development of an algorithm for a Quadrotor-type Drone that allows it to recognize the environment and move around in it by avoiding obstacles. This article covers the simulation phase that takes place in the MATLAB software, where algorithms for planting trajectories in known static environments were created in two stages: an artificial force field (APF) model is created for each element in the environment using sigmoid functions, the trajectories are subsequently calculated using gradient descent based strategies. Two strategies were developed, the first based on mobile points that interconnect the drone with the goal, where later each point moves towards areas free from the influence of obstacles, following the potential field, which makes paths free of obstacles. The second is based on the use of the concept of safe zones, which is used as a criterion to update the position of the points.","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":"115486405","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
Multivariable Sliding Mode Control Approach via ESO-assistance for tracking tasks of a 3-DoF Robotic Manipulator actuated by PMSMs 基于eso辅助的三自由度机械臂跟踪多变量滑模控制方法
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290183
Diego González-González, Daniela Mesa-Muñoz, H. Coral-Enriquez
{"title":"Multivariable Sliding Mode Control Approach via ESO-assistance for tracking tasks of a 3-DoF Robotic Manipulator actuated by PMSMs","authors":"Diego González-González, Daniela Mesa-Muñoz, H. Coral-Enriquez","doi":"10.1109/CIIMA50553.2020.9290183","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290183","url":null,"abstract":"Robotic manipulators are nowadays very used machines in manufacturing industry. Therefore, the design and application of suitable control techniques take high relevance in order to obtain desired results in terms of trajectory tracking tasks for robots. This paper initially presents the development of the dynamic model, through the Lagrange method, of a 3-DoF robotic manipulator actuated by permanent magnet synchronous motors. Then, a multivariable sliding mode control approach based on a multivarible high-order Extended-State Observer (ESO) is proposed to address the problem of trajectory tracking tasks. The stability of the proposed approach is analyzed via Lyapunov theory in terms of uncertainties and external disturbances. Finally, the proposed scheme is validated through simulations using three cases: disturbance rejection, and trajectory tracking with/without disturbances. The results show that the proposed scheme is robust and provides high performance in tracking tasks.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"29 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":"125986838","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: 1
Implementing a Software-based Controller as a Strategy for Teaching Digital Control 实现基于软件的控制器作为数字控制教学策略
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290314
J. L. Villa, S. Sánchez
{"title":"Implementing a Software-based Controller as a Strategy for Teaching Digital Control","authors":"J. L. Villa, S. Sánchez","doi":"10.1109/CIIMA50553.2020.9290314","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290314","url":null,"abstract":"Automatic Control is an enabling technology in the core of almost each aspect of our lives. In consequence, enhancing the learning process of key aspects of automatic controllers is always a timely subject. In this paper, we explore the use of software based controllers with low cost hardware in order to obtain better learning results. In particular, we use LabVIEW software, Arduino-based data acquisition system, and simple circuits as tools for understanding basic concepts of digital control. This strategy is used in automatic-control undergraduate and postgraduate courses.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"18 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":"123702396","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
Real-Time Detection and Clasification System of Biosecurity Elements Using Haar Cascade Classifier with Open Source 开源Haar级联分类器生物安全要素实时检测与分类系统
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290295
Carlos Vicente Ninń Rondón, Sergio Alexander Castro Casadiego, B. M. Delgado, Dinael Guevara Ibarra, Miguel Eduardo Posada Haddad
{"title":"Real-Time Detection and Clasification System of Biosecurity Elements Using Haar Cascade Classifier with Open Source","authors":"Carlos Vicente Ninń Rondón, Sergio Alexander Castro Casadiego, B. M. Delgado, Dinael Guevara Ibarra, Miguel Eduardo Posada Haddad","doi":"10.1109/CIIMA50553.2020.9290295","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290295","url":null,"abstract":"This document presents an image processing for the detection and classification of biosecurity elements in real time by means of cascade classifiers. The operation was based on a Haar Cascade Classifier and data augmentation to complete the datasets. The images were acquired using an embedded Raspberry Pi 3B+ system connected to a Raspberry camera and then processed in Python. Both OpenCV and the Cascade Trainer GUI application, available for Windows versions 7 or higher, were used to create the classification models, so the images captured by Raspberry Pi had to be transferred to a personal computer. There were 4250 images that were converted by data augmentation techniques to 25401, with an average data increase accuracy of 88.492%. Also, 5 classification models were obtained corresponding to 5 categories of biosecurity elements referring to mask, gloves, glasses, anti-fluid clothing and anti-fluid footwears, with success rates in the classification of 90.2%, 92.7%, 92%, 89.7% and 94.1% respectively. In addition to the performance tests according to the hit rates, the system was evaluated by measuring the processing response time, obtaining fluctuating times between 0.475 seconds and 0.571 seconds.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"76 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":"121798972","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
Implementación de SCADA a través del protocolo MQTT 通过MQTT协议实现SCADA
2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA) Pub Date : 2020-11-04 DOI: 10.1109/CIIMA50553.2020.9290302
Andres Sebastian Céspedes Cubides, E. Gualdrón
{"title":"Implementación de SCADA a través del protocolo MQTT","authors":"Andres Sebastian Céspedes Cubides, E. Gualdrón","doi":"10.1109/CIIMA50553.2020.9290302","DOIUrl":"https://doi.org/10.1109/CIIMA50553.2020.9290302","url":null,"abstract":"This document describes an implementation of a SCADA system powered by MQTT & OPC-UA protocols and hosted within the Google Cloud Platform system. This combination allows to have integrated, scalable, secure and reliable industrial communications while allowing real-time data acquisition and sensor feed that can then be used in real-time OEE tracking or predictive maintenance models, to name some examples. This in line with the Industry 4.0 initiatives mainly fueled by data and machine learning autonomous systems.","PeriodicalId":235172,"journal":{"name":"2020 IX International Congress of Mechatronics Engineering and Automation (CIIMA)","volume":"6 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":"131713150","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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