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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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Multivariable estimation of a web winding system 卷绕系统的多变量估计
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086845
José Vuelvas, Jonatan Urrego, F. Ruiz
{"title":"Multivariable estimation of a web winding system","authors":"José Vuelvas, Jonatan Urrego, F. Ruiz","doi":"10.1109/LARC.2011.6086845","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086845","url":null,"abstract":"This article presents the identification of a web winding system and the estimation of its reel radius as time-varying parameter. This system is non-linear and time-varying, then, a set of Linear, Time Invariant models are estimated for local operation regions. The reel radius estimator is a direct virtual sensor (DVS) directly designed from experimental data. The estimated models are compared to a single model, identified for the complete operation range and better results are obtained with the local models on fresh data not used in the identification phase. The DVS is able to estimate the reel radius from voltage, speed and tension measurements, with good precision.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"2014 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":"127473007","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: 4
Holonomic platform and six DOF manipulator robot through virtual reality devices 通过虚拟现实装置实现完整平台和六自由度机械手机器人
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086804
Cristhian A. Cristancho, C. A. Florez, H. Rodriguez
{"title":"Holonomic platform and six DOF manipulator robot through virtual reality devices","authors":"Cristhian A. Cristancho, C. A. Florez, H. Rodriguez","doi":"10.1109/LARC.2011.6086804","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086804","url":null,"abstract":"This paper describes the design and construction of a holonomic robot platform and a manipulator robot arm with 6 degree of freedom on top of the platform. The project explains how its work, made and control considering that the system uses several types of ways to be controlled. The robotic system is the mixture of three omni-wheels mobile platform to keep the robot stable and a modular 6 DOF articulate robot arm. The project had develop some novel control features like control wirelessly via USB throw a master servo Board; it has a graphic user interface developed in 3D virtual environment which shows all its different movements, battery level and manual control. Finally, it has some other devices to be manipulated like Wii remote control and a one 5DT Data Globe.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"585 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":"126899341","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
Phenomenological based semiphysical model of a spray drying chamber for natural dyes 基于现象学的天然染料喷雾干燥室半物理模型
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086854
E. Salazar, Madalyd Vera
{"title":"Phenomenological based semiphysical model of a spray drying chamber for natural dyes","authors":"E. Salazar, Madalyd Vera","doi":"10.1109/LARC.2011.6086854","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086854","url":null,"abstract":"This paper develops a Phenomenological Based Semiphysical Model (PBSM) of lumped parameters describing temperature and humidity dynamics in a spray drying chamber for natural products. We determined model parameters using both literature and own experimental data. The proposed model allows evaluating the controllability of the drying chamber, fundamental aspect when its apply Simultaneous Design of Process and Control System. This work is part of a research project in the development of solid formulations of natural dyes1. The aim is to move toward industrial-scale deployment of spray drying whole plant with the development of PBSM.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"22 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":"132017394","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
An equivalent control based second order sliding mode observer using robust differentiators 基于等效控制的二阶滑模观测器鲁棒微分器
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086834
J. Sánchez‐Torres, A. Loukianov, Julian Alberto Patino Murillo, B. Giraldo, H. Botero
{"title":"An equivalent control based second order sliding mode observer using robust differentiators","authors":"J. Sánchez‐Torres, A. Loukianov, Julian Alberto Patino Murillo, B. Giraldo, H. Botero","doi":"10.1109/LARC.2011.6086834","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086834","url":null,"abstract":"In this paper a sliding-mode observer for a class of non-linear systems is proposed. The observer is based on the equivalent control method. The mathematical tools required to design such an observer are also presented. The proposed scheme can ensure finite time convergence of the observer and the reduction of chattering effect due to relay-type correction terms. Several examples are presented to illustrate the proposed method.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"216 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":"115518877","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
ERP and BPMS integration at a manufacturing simulation lab 制造仿真实验室ERP和BPMS的集成
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086858
C. A. Mejia, J. C. Arias, H. S. A. Mayorga, N. Rincon, Y. P. H. Martinez
{"title":"ERP and BPMS integration at a manufacturing simulation lab","authors":"C. A. Mejia, J. C. Arias, H. S. A. Mayorga, N. Rincon, Y. P. H. Martinez","doi":"10.1109/LARC.2011.6086858","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086858","url":null,"abstract":"The current work presents the application of a BPMS system to the development of a business case in a manufacturing company model provided with an ERP system. The paper is divided into five sections. The first section shows the importance of using laboratories and simulation to learn BPM concepts. The second section shows the description and processes of a model manufacturing company that was created in the Technological Automation Center at Javeriana University. The third section presents advances in BPM implementation aided by BizAgi software, in order to build the business case. The integration between BPM and ERP in the company model is explained in the fourth section. Finally, section five addresses the results of this implementation.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"19 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":"128792452","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
Real-time microprocessed system applied to mobile robots control 实时微处理系统应用于移动机器人控制
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086797
T. T. Ribeiro, Jovelino Torres dos Santos, Jessivaldo Santos, A. S. Conceição, A. Costa
{"title":"Real-time microprocessed system applied to mobile robots control","authors":"T. T. Ribeiro, Jovelino Torres dos Santos, Jessivaldo Santos, A. S. Conceição, A. Costa","doi":"10.1109/LARC.2011.6086797","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086797","url":null,"abstract":"This paper presents a low cost micro-processed system developed for real-time control of omnidirectional mobile robots. The control strategy is designed on cascade form, being used in a lower level, discrete PI for control of wheels speed, and at a higher level, a kinematic controller for the acquisition of poses references for the robots. The central processing unit is designed with the microcontroller PIC32 and supervisory system is implemented through software Lazarus IDE running under the Linux platform. Practical results are provided to demonstrate the system's performance on real-time trajectory tracking.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"22 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":"124478767","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
A high order sliding mode observer for systems in triangular input observer form 三角输入观测器形式系统的高阶滑模观测器
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086833
J. Sánchez‐Torres, A. Loukianov, Julian Alberto Patino Murillo, B. Giraldo, H. Botero
{"title":"A high order sliding mode observer for systems in triangular input observer form","authors":"J. Sánchez‐Torres, A. Loukianov, Julian Alberto Patino Murillo, B. Giraldo, H. Botero","doi":"10.1109/LARC.2011.6086833","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086833","url":null,"abstract":"This paper deals with the design of a high order sliding mode observer for a class of nonlinear systems that can be described in the so called triangular input observer form. The mathematical tools required to make the system transformation to such form are also presented. At last, we show the performance of the observers with several simulation examples, including the application of a CSTR process model.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"22 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":"129026309","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: 4
xPC Target an option for position control of robotic manipulators xPC Target是机器人操纵器位置控制的一个选项
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086795
O. Pinzon-Ardila, Luis Angel Silva, M. Useche
{"title":"xPC Target an option for position control of robotic manipulators","authors":"O. Pinzon-Ardila, Luis Angel Silva, M. Useche","doi":"10.1109/LARC.2011.6086795","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086795","url":null,"abstract":"Real time operating systems have been evolving in gigantic steps, allowing, each time to develop applications where some restrictions on task execution time are needed. In this article xPC Target is shown as a new option for control, going through basic concepts of real time to come up with a highly used application in robotics as well as in general industry; which is a speed control for a DC motor. This application links xPC Target as a real time operating system in charge of executing a control task, besides it integrates a based FPGA I/O board which interacts with the controller and outside environment. This is how xPC Target delivers a form of systems optimization, since, rapid prototyping platforms, embedded systems, real time operating systems and also programming algorithms from MatLab and Simulink are integrated.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"23 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":"132275595","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
A Wireless Networked Control Systems review 无线网络控制系统综述
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086837
Yury A. Millan, F. Vargas, Fernando Molano, Eduardo Mojica
{"title":"A Wireless Networked Control Systems review","authors":"Yury A. Millan, F. Vargas, Fernando Molano, Eduardo Mojica","doi":"10.1109/LARC.2011.6086837","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086837","url":null,"abstract":"A Wireless Networked Control Systems review is presented. It begins with a brief history about NCS (Networked Control Systems), recognizing the fundamental features, its advantages over other classical control systems, and the protocols that can be used to do control over the wireless network. Also, we deal with the different problems that can affect the network behavior; including interferences and delays that take place when the control acts. The behavior of the system in different environments is shown through simulations using TrueTime blocks, included in a Simulink/MATLAB box.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"329 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132341255","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: 22
Decreasing quantization effects in a buck converter controlled by GZAD strategy 减小GZAD控制降压变换器的量化效应
IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE Pub Date : 2011-11-28 DOI: 10.1109/LARC.2011.6086824
D. Burbano, F. Angulo
{"title":"Decreasing quantization effects in a buck converter controlled by GZAD strategy","authors":"D. Burbano, F. Angulo","doi":"10.1109/LARC.2011.6086824","DOIUrl":"https://doi.org/10.1109/LARC.2011.6086824","url":null,"abstract":"ZAD strategy has been widely analyzed in the last decade to control buck power converters. The first models were ideals; as consequence of these numerical and experimental results did not agree. The discrepancy between both of the results is probably due to the sensitivity of the ZAD strategy to compute the duty cycle. In the present work the inductor internal resistance and the quantization effects are included in the converter model. The effect of the inductor internal resistance is to move the stability limit to the left while the qualitative behavior is preserved. The quantization has a high incidence in the dynamics. In this paper we present a strategy to decrease the quantization effects in a buck converter controlled by Digital-PWM based on Zero Average Dynamics on Error (ZAD). The quantization errors are introduced by analog-to-digital converters and Digital-PWM, producing undesirable behavior. We present a methodology to decrease these errors, first using Generalized ZAD and after, computing the duty cycle as the mean of the actual and previous duty cycles. These actions diminish drastically the error and limit cycling oscillations.","PeriodicalId":419849,"journal":{"name":"IX Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, 2011 IEEE","volume":"44 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":"132190301","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
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