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IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE最新文献

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A methodology for LPV control of web winding systems 卷绕系统LPV控制方法
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086846
José Vuelvas, Jonatan Urrego, F. Ruiz
{"title":"A methodology for LPV control of web winding systems","authors":"José Vuelvas, Jonatan Urrego, F. Ruiz","doi":"10.1109/LARC.2011.6086846","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086846","url":null,"abstract":"This article presents a methodology for LPV (Linear Parameter-Varying) control system design. A weighted sum of robust LTI (Linear Time-invariant) controllers is employed, where the weights are adapted on the base of an estimation of the radius of the reel. Robust stability of the loop is guaranteed. Performance of the LPV control system is analyzed and compared with a LTI H∞ controller and a PID controller. Experimental results show that the LPV controller offers better performance in terms of stationary state error and rejection of disturbances.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125015969","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
Geo-lightning grid based on a geographical information system, to improve poles distribution network designs, prioritize maintenance and boost the power system reliability 地理防雷网基于地理信息系统，以改进配电网电线杆设计、优化维护、提高电力系统可靠性为目的
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086861
Luis Alejandro Zorrilla
{"title":"Geo-lightning grid based on a geographical information system, to improve poles distribution network designs, prioritize maintenance and boost the power system reliability","authors":"Luis Alejandro Zorrilla","doi":"10.1109/LARC.2011.6086861","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086861","url":null,"abstract":"This paper presents a grid built based on the correlation of lightning strikes location and amplitude in kilo amperes, to understand and improve the designs of the electrical poles located in critical areas of significant lightning activity. The geo-lightning grid is colored blue to red, being red critical, to prioritize the areas. Overlapped with the electrical network geographical topology, displays the sections of the network that must be strengthened to meet the lightning density with such characteristics. The geo-lightning grid and the electrical network are based on a Geographical Information System. A case study is presented to illustrate the impact of this approach, studying a power system which feeds an Oil field, where the power supply is tied with the barrels of oil production. Being the power reliability a milestone as a consequence of the tremendous economic impact that a failure due to lightning may cause.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126920308","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 mobile type rover robotics platform 移动式漫游车机器人平台的设计与构建
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086796
G. E. Castaneda, D. J. Monroy, Jorge A. Aponte, O. Avilés
{"title":"Design and construction of a mobile type rover robotics platform","authors":"G. E. Castaneda, D. J. Monroy, Jorge A. Aponte, O. Avilés","doi":"10.1109/LARC.2011.6086796","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086796","url":null,"abstract":"This text documents the design and construction of a robotic platform type exploration rover to move over an unstructured environment. It is tele-operated and has the ability to cross vertical obstacles up to 10 cm in height, with an inclination of not more than 15 ° from the horizontal. It also has the capability of transporting a maximum of 2 kg payload, even in adverse weather conditions such as dust and moisture presence.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128573469","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
Real path planning based on genetic algorithm and Voronoi diagrams 基于遗传算法和Voronoi图的真实路径规划
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086816
Facundo Benavides, G. Tejera, M. Pedemonte, Serrana Casella
{"title":"Real path planning based on genetic algorithm and Voronoi diagrams","authors":"Facundo Benavides, G. Tejera, M. Pedemonte, Serrana Casella","doi":"10.1109/LARC.2011.6086816","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086816","url":null,"abstract":"In the context of Mobile Robotics, the efficient resolution of the Path Planning problem is a key task. The model of the environment and the search algorithm are basic issues in the resolution of the problem. This paper highlights the main features of Path Planning proposal for mobile robots in static environments. In our proposal, the path planning is based on Voronoi diagrams, where obstacles in the environment are considered as the generating points of the diagram, and a genetic algorithm is used to find a path without collisions from the robot initial to target position. This work combines some ideas presented by Roque and Doering, who use Voronoi diagrams for modelling the environment, and other ideas presented by Zhang et al. who adopt a genetic algorithm for computing paths on a regular grid based environment, considering certain quality attributes. The main results were probed both in simulated and real environments.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"106 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124223518","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: 19
MPC based on ARX-Chebyshev model for temperature trajectory control in a batch reactor 基于ARX-Chebyshev模型的间歇反应器温度轨迹控制
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086821
C. Medina-Ramos, J. Betetta-Gomez, D. Carbonel-Olazabal, M. Pilco-Barrenechea
{"title":"MPC based on ARX-Chebyshev model for temperature trajectory control in a batch reactor","authors":"C. Medina-Ramos, J. Betetta-Gomez, D. Carbonel-Olazabal, M. Pilco-Barrenechea","doi":"10.1109/LARC.2011.6086821","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086821","url":null,"abstract":"The control systems used in batch reactors for heating processes can be optimized by using advanced control techniques to allow tracking set-points when they are changing in time. In this sense, we propose to use one scheme Model Predictive Control (MPC) based on Auto Regressive with Exogenous Input (ARX) model projecting the parameters of the classical ARX model onto a set Orthogonal Basis Functions (OBF), thus obtaining a better performance of the new model. This approach enabled to identify the reactor system with a drastically reduction of involved parameters. In addition, the most important achievement was obtained to the represent the nonlinearities and variations of chemical components inside batch reactor. Finally, the theoretical analysis and simulations of the hybrid model have proved that the MPC based on ARX-Hybrid model ensures the trajectory tracking of temperature inside reactor with excellent accuracy and moreover reduces the batch cycle time.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114705488","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
Repetitive control of an active filter under varying network frequency: Power factor correction 有源滤波器在变网络频率下的重复控制:功率因数校正
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086827
G. Ramos, J. M. Olm, R. Costa-Castelló
{"title":"Repetitive control of an active filter under varying network frequency: Power factor correction","authors":"G. Ramos, J. M. Olm, R. Costa-Castelló","doi":"10.1109/LARC.2011.6086827","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086827","url":null,"abstract":"This work deals with the design and analysis of a controller for a shunt active power filter. The design is based on combined feedforward and feedback actions, the last using repetitive control and aimed at obtaining a good closed-loop performance in spite of the possible frequency variations that may occur in the electrical network. These changes affect the performance of the controller which, for the active filter application, can be seen as a degradation of the power factor in case of reactive loads. To overcome this problem a compensation technique consisting of adapting the sampling rate of the controller according to the network frequency variation is proposed. Experimental results indicate good performance of the closed-loop system preserving a unitary power factor for different network frequencies.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125605547","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
Current results and research trends in networked control systems 网络控制系统的现状与研究趋势
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086838
J. Giraldo, N. Quijano
{"title":"Current results and research trends in networked control systems","authors":"J. Giraldo, N. Quijano","doi":"10.1109/LARC.2011.6086838","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086838","url":null,"abstract":"Networked Control Systems (NCS) has been one of the main research areas in the last few years, due to the benefits of the insertion of a communication network in distributed systems, and the widely area of applications such as tele-operations, robotics, UAVs, power systems, among others, and new growing areas like smart grids and Cyber-Physiscal Systems. This paper surveys the main aspects on performance analysis and controllers design that take into account the problems that arise when the control feedback loop is closed over a communication network. At the end, an example of a NCS implementation using the simulation tool TrueTime is introduced, and some recent results and possible future directions are presented.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130261634","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: 6
Navigation functions in Conformal Geometric Algebra 保形几何代数中的导航函数
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086800
Geoff Fink, C. López-Franco, N. Arana-Daniel
{"title":"Navigation functions in Conformal Geometric Algebra","authors":"Geoff Fink, C. López-Franco, N. Arana-Daniel","doi":"10.1109/LARC.2011.6086800","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086800","url":null,"abstract":"Conformal Geometric Algebra (CGA) can greatly improve controllers by simplifying the necessary equations and by its ability to apply geometric operations to more complicated geometric entities. In this paper we extend a singularity free CGA-based angular and linear velocity controller with navigation functions. The first navigation function ensures that the object being tracked is always within the camera's field of view. The second navigation function is the ability of the controller to avoid collisions with other objects. These navigation functions can be easily added to the CGA-based controller, experimentally ensured the desired goals and proven stable by Lyapunov.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130475851","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
Vision based localization of humanoid robots by inverse pose-estimation using a small set of fixed landmark features 基于视觉的仿人机器人定位方法:基于一小组固定地标特征的逆姿态估计
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086808
L. F. Lupian, Alberto Romay, A. Espinola
{"title":"Vision based localization of humanoid robots by inverse pose-estimation using a small set of fixed landmark features","authors":"L. F. Lupian, Alberto Romay, A. Espinola","doi":"10.1109/LARC.2011.6086808","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086808","url":null,"abstract":"We propose a vision based methodology to solve the robot localization problem by estimating the pose of the robot's camera with respect to a model of the environment represented by a small set of landmark features. The methodology proposed constructs a regression model based on the pinhole camera projection model by combining the information of several observed features. In this regression model the unknowns are the X and Y coordinates of the location vector of the robot with respect to the environment, and the depths of each of the observed features. We use a RoboCup Humanoid KidSize field as a test bed for experimental validation of this methodology.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133894466","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
Low cost experiment for control systems 控制系统的低成本实验
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086844
C. Caro, N. Quijano
{"title":"Low cost experiment for control systems","authors":"C. Caro, N. Quijano","doi":"10.1109/LARC.2011.6086844","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086844","url":null,"abstract":"The usefulness of the balls-in-tubes experiment as a platform for research and education in traditional and advanced control systems is discussed. A re-design of an original experiment is presented, including its principal characteristics. Physical theoretical issues and a dynamical model of the system are analyzed. A study case using traditional PID control applied to a SISO system in the balls-in tubes is illustrated. Moreover, a fuzzy logic control algorithm is implemented for the whole system showing the possibilities of implementing different type of algorithms in a low cost experiment.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132693887","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
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