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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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Visual odometry in mobile robots 移动机器人的视觉里程计
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086813
J. Delgado, P. Kurka, E. Cardozo
{"title":"Visual odometry in mobile robots","authors":"J. Delgado, P. Kurka, E. Cardozo","doi":"10.1109/LARC.2011.6086813","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086813","url":null,"abstract":"The paper presents an application of visual odometry, through reconstruction of the path of a mobile robot, using a stereoscopic camera system. The scale invariant feature transformation algorithm (SIFT), is used to process the images and locate keypoints in a 3D euclidian coordinates space. The path of a Pioneer mobile robot is estimated using the proposed technique.","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":"124839531","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
Model identification for control of a distillation column 精馏塔控制的模型识别
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086832
J. E. Castano, J. Patino, J. Espinosa
{"title":"Model identification for control of a distillation column","authors":"J. E. Castano, J. Patino, J. Espinosa","doi":"10.1109/LARC.2011.6086832","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086832","url":null,"abstract":"This paper presents the system identification techniques as an alternative to model processes for control purposes. A methodology for obtaining adequate empirical models for distillation columns is presented. This methodology is applied to a benchmark of a distillation column at laboratory scale (Column A). In this work, experimental data fit a state space model using subspace identification techniques.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"32 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":"125039075","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
Problems associated with the simultaneous design of a spray drying tower 喷雾干燥塔同步设计的相关问题
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086859
C. Cardona, M. Medina, M. Vera
{"title":"Problems associated with the simultaneous design of a spray drying tower","authors":"C. Cardona, M. Medina, M. Vera","doi":"10.1109/LARC.2011.6086859","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086859","url":null,"abstract":"This paper mentions the integrated design strategy and process control system, describing the problems in each stage associated with this design strategy, when applied to a spray drying tower for natural dyes. Initially, part of a phenomenological based semiphysical model of concentrated parameters, which describes the main dynamic process and has been validated in another work. Then, the control pairing is established to proceed with controllability analysis using Lie Algebra's. Once, the regions of controllability of the process are established, a PID controller is tuned. Finally the model is simulated in an open loop and a closed loop to show the advantages of simultaneous design approach.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"164 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":"127199351","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
Active tracking position antenna base: A low cost approximation with servo gimbals 主动跟踪位置天线基座:采用伺服框架的低成本近似
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086855
Diego Felipe Martinez Diaz, M. Montilla, S. Suddarth
{"title":"Active tracking position antenna base: A low cost approximation with servo gimbals","authors":"Diego Felipe Martinez Diaz, M. Montilla, S. Suddarth","doi":"10.1109/LARC.2011.6086855","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086855","url":null,"abstract":"This paper will explain the design process and results achieved to make a ground tracker base. The general objective of the project was to build a base for a ground antenna, capable of adjusting its position automatically, in order to point to an airplane, which location has been transmitted to the ground station by the airplane with the intention to create a point to point link. The results obtained (Table 1) exceed the expectations using a low cost approximation obtained by the use of commercial products.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"94 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":"130968170","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
Remote access lab for Mitsubishi RV-2AJ robot 三菱RV-2AJ机器人远程访问实验室
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086802
J. Buitrago, F. Giraldo, Julian A. Lamprea
{"title":"Remote access lab for Mitsubishi RV-2AJ robot","authors":"J. Buitrago, F. Giraldo, Julian A. Lamprea","doi":"10.1109/LARC.2011.6086802","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086802","url":null,"abstract":"This paper presents the architecture of the remote access laboratory for experimentation with the Mitsubishi RV-2AJ manipulator robot. This lab has been developed using Java technology, and a client/server approach based on Servlets has been specifically implemented. The lab allows users to control and monitor the robot via Internet using a client application. Through this lab, the user can manipulate the robot to obtain its current status and visual feedback of real-time image. This laboratory also supports education process in the field of robotics; it provides students and researchers with an instant access to real experimental interface.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"62 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":"126695026","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
Coexistence of solutions in a DC-DC Buck converter controlled by sine wave 正弦波控制DC-DC降压变换器解的共存
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086825
J. Morcillo, G. Olivar
{"title":"Coexistence of solutions in a DC-DC Buck converter controlled by sine wave","authors":"J. Morcillo, G. Olivar","doi":"10.1109/LARC.2011.6086825","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086825","url":null,"abstract":"Low power systems are widely used in robotics and industrial areas; therefore, modeling and systems analysis provide reliable and best designs of such systems. In that way, a Buck converter controlled by PWM is investigated using a new design, replacing the T periodic ramp signal by a T periodic sine wave for two reasons: the sine wave is easier to generate and analyze, and in order to get rid of non-linear qualities of the ramp signal. Then, bifurcation diagrams are obtained varying the parameters ascending and descending in the new Buck converter design to find coexisting attractors, which are normally an undesired behavior in nonlinear systems or useful for some applications. Although it is demonstrated that these bifurcation diagrams are not the sufficient remedy to find coexistence of solutions, it is also shown that they are a good tool. Once bifurcation diagrams show the range where coexistence of solutions appear, we proceed to study in that range the shape of the basins and the system solutions, with the aim of determining the specific regions in which the system presents different behaviors. This is because many practical applications today need not only periodic solutions but also more complex ones. Finally, basins of attraction are obtained and studied for some parameters of the system. Bounded and fractal regions are observed; moreover, the evolution of the attractors in the time domain for each parameter value are shown.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"59 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":"133292428","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
Implementation and validation of a micropilot control system for Vector-P aircraft in flight level 矢量p飞行器飞行水平微驾驶控制系统的实现与验证
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086847
Diana Carolina Beltran Pena, L. Góes, J. S. Santos, L.E.S. Guzman
{"title":"Implementation and validation of a micropilot control system for Vector-P aircraft in flight level","authors":"Diana Carolina Beltran Pena, L. Góes, J. S. Santos, L.E.S. Guzman","doi":"10.1109/LARC.2011.6086847","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086847","url":null,"abstract":"The purpose of this research is to validate the implementation of Micropilot control system in Matlab®. by comparing the simulation in both softwares and to calculate the gains through the application of Linear Quadratic Regulator (LQR) control techniques using Lyapnov equation.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"42 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":"115068729","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
On contraction analysis of synchronization of neuron networks 神经元网络同步的收缩分析
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086840
G. Solis-Perales, G. Obregon-Pulido
{"title":"On contraction analysis of synchronization of neuron networks","authors":"G. Solis-Perales, G. Obregon-Pulido","doi":"10.1109/LARC.2011.6086840","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086840","url":null,"abstract":"The synchronization of neuron networks using the contraction theory is reported in this contribution. The contraction theory provides a simple method to determine convergence of trajectories of the systems in the network instead of the Master Stability Function and the calculation of Lyapunov exponents. The objective is to determine the contraction region where once the trajectories reach such region they will converge each other and remain in such a contraction region. Such a condition lies mainly on the system parameters, network topology and coupling strength.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"78 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":"117180961","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
Uncertainty model analysis for MISO systems Set-Membership identification MISO系统集隶属度辨识的不确定性模型分析
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086839
L. C. Jiménez, F. Ruiz
{"title":"Uncertainty model analysis for MISO systems Set-Membership identification","authors":"L. C. Jiménez, F. Ruiz","doi":"10.1109/LARC.2011.6086839","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086839","url":null,"abstract":"A geometric analysis of different structured uncertainty model sets for linear, time-invariant, multi-input single-output systems, compatible with Set-Membership identification methods, is presented. Additive uncertainty is assumed, whose size is measured in H∞ norm and which is described by two stable transfer matrices acting as weights and a norm-bounded uncertainty matrix. Two uncertainty models are obtained, the first one is independent for each input and can be obtained by Set-Membership classical methods, and the second one is a coupled model whose volume can be smaller, although its construction implies a nonconvex optimization problem.","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":"129275193","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 DC/DC multilevel converter for high voltage applications 用于高压应用的DC/DC多电平变换器
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086853
Andres Lopez, D. Patiño, R. Díez, G. Perilla
{"title":"A DC/DC multilevel converter for high voltage applications","authors":"Andres Lopez, D. Patiño, R. Díez, G. Perilla","doi":"10.1109/LARC.2011.6086853","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086853","url":null,"abstract":"In this paper a ladder multilevel converter topology for an application of high voltage is analyzed. This converter is compared with other well-known structure called ”Flying Capacitors” showing its simplicity on the implementation and control. Furthermore, the converter is implemented and its voltage drop is tested experimentally varying the number of cells of the converter using electrolytic and polyester capacitors. The results show that the voltage drop increase quadratically with the increment of the number of cells.","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":"130946419","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
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