Documentos de Académico
Documentos de Profesional
Documentos de Cultura
Capítulo 1
Introducción.
La mayoría de los accidentes de tráfico están causados por fallos del conductor. Los
vehículos autónomos buscan eliminar ese factor humano y convertir las carreteras
del mundo en vías mucho más seguras tanto para conductores como para peatones.
Para esto se elaborará un robot simulado con movimiento autónomo (Vehículo
autónomo), que mediante sus sensores detecten objetos ajenos a un entorno de
transporte urbano o vía de tránsito de vehículos, y mediante su proceso lograr evitar
estos obstáculos y evitar su colisión.
Capítulo 2
This article describes the development of a path generating system for the
movement of a remote commanded robotic mobile, through machine vision
techniques and fuzzy decision systems. Using a Kinect sensor, the system
captures the motion area of the mobile and using image processing
techniques, obstacles are segmented and a fuzzy clustering algorithm is
implemented to define the possible paths to follow based on height and
ability of mobile to exceed the obstacle. Communication between the mobile
and the control system is performing wirelessly using a XBEE device which is
centralized into PC software; therefore the robot travels locally through a
microcontroller. By the developed algorithm is able to get a travel path with a
minimum run time, in which it is possible to change the number of obstacles
and approach paths with a slope up to 35 degrees of elevation from the
ground.
6. Chen, C. H., & Naidu, D. S. (2017). Fusion of hard and soft control
strategies for the robotic hand. John Wiley & Sons.
This chapter presents the fusion, hybrid or integration of hard control (HC)
and soft control (SC) strategies to enhance the performance in terms of
controlling a robotic or prosthetic hand that could not be achieved by using
either HC or SC strategy. The chapter also introduces fuzzy‐logic‐based
proportional‐derivative (PD) fusion control strategy, presenting genetic‐
algorithm‐based proportional integral‐derivative (PID) fusion control
strategy. Case III covers the value 100 in lower bound, but both total error
and convergent speed are even worse than PID alone, suggesting that GA
performs better for a large range. The tracking errors for both PD and FL
controllers are convergent to zero within 5 seconds without overshooting, but
PID controller takes longer with overshooting and oscillation.
7. Chen, C. H., & Naidu, D. S. (2017). Fusion of hard and soft control
strategies for the robotic hand. John Wiley & Sons.
This chapter presents the conclusions described in the book related to the
fusion of hard control strategies such as proportional integral‐
derivative (PID), optimal, adaptive, and soft control strategies such as
adaptive neuro‐fuzzy inference system (ANFIS), genetic algorithms (GA),
particle swarm optimization (PSO), for a robotic or prosthetic hand. Chapter 2
of the book addressed the forward kinematics, inverse kinematics, and
differential kinematics models of a serial n revolute‐joint planar two‐ link
thumb, and three‐link index finger. The fingertip (end‐effector) positions of
each finger were derived by forward kinematics. Chapter 3 of the book
described the dynamic equations of hand motion successfully derived via
Lagrangian approach for two‐link thumb and three‐link fingers using the
mathematical model of the actuator by using direct current (DC) motor and
mechanical gears.
A controller design is proposed for manipulators modeled with joint and link
compliances. First, nonlinear feedforward and PID state feedback
components are used in the controller, and manipulator dynamics are
converted into error-driven system dynamic equations. Then, the error-driven
dynamic equations are stabilized using the second method of Lyapunov. The
special structure of the Lyapunov matrix equation is exploited, and an explicit
solution to this equation is presented. The analysis shows that controller
performance can be enhanced through the modulation of this solution. The
controller was numerically implemented on the model of a six-degree-of-
freedom Cincinnati Milacron T3-776: industrial manipulator that is modeled
with three joint and four link flexibilities. The simulations show satisfactory
path tracking and oscillation rejection properties.< >
9. Loce, R. P., Bala, R., & Trivedi, M. (2017). Traffic Sign Detection and
Recognition.
10. Myszkowski, K., Mantiuk, R., & Krawczyk, G. (2008). High dynamic
range video. Synthesis Lectures on Computer Graphics and
Animation, 1(1), 1-158.
11. Bergfors, C., Brandner, W., Bonnefoy, M., Schlieder, J., Janson, M.,
Henning, T., & Chauvin, G. (2016). Characterization of close visual
binaries from the AstraLux Large M Dwarf Survey. Monthly Notices of
the Royal Astronomical Society, 456(3), 2576-2585.
El Internet de las cosas (IoT) es una extensión y evolución natural del control
de supervisión y adquisición de datos (SCADA). Los primeros sistemas
SCADA se implementaron para monitorear procesos de producción
específicos, y se emplearon sistemas separados para administrar activos,
coordinar operaciones de mantenimiento, optimizar las cadenas de
suministro y otras operaciones comerciales. Las empresas de hoy en día se
componen frecuentemente de un mosaico de estos sistemas de información
heredados. Uno de los conceptos centrales de IoT es la comunicación
máquina a máquina (M2M). Es uno de los avances que hicieron de los
Controladores lógicos programables (PLC) una invención tan revolucionaria.
Al dar a las máquinas la capacidad de tomar decisiones y realizar acciones
basadas en nada más que la información que les proporcionan otras
máquinas, la tecnología SCADA redefinió por completo los procesos
involucrados en industrias como la fabricación, el tratamiento de aguas, el
petróleo y el gas, y mucho más. La automatización de tareas impulsada por
dispositivos mecánicamente autónomos ha mejorado la velocidad, la
eficiencia y la calidad de los procesos industriales.
13. Sallam, A. A., & Malik, O. P. (2018). Electric distribution systems. John Wiley
1 & Sons.
DSP Processors
secciones tituladas:
Procesadores DSP
15. Lapsley, P., Bier, J., Lee, E. A., & Shoham, A. (1996). DSP processor
fundamentals: architectures and features. Wiley-IEEE Press.
This chapter contains sections titled:
Advantages of DSP
This book is Volume I of the series DSP for MATLAB™ and LabVIEW™. The
entire series consists of four volumes that collectively cover basic digital
signal processing in a practical and accessible manner, but which
nonetheless include all essential foundation mathematics. As the series title
implies, the scripts (of which there are more than 200) described in the text
and supplied in code form here will run on both MATLAB and LabVIEW.
Volume I consists of four chapters. The first chapter gives a brief overview of
the field of digital signal processing. This is followed by a chapter detailing
many useful signals and concepts, including convolution, recursion,
difference equations, LTI systems, etc. The third chapter covers conversion
from the continuous to discrete domain and back (i.e., analog-to-digital and
digital-to-analog conversion), aliasing, the Nyquist rate, normalized
frequency, conversion from one sample rate to another, waveform generation
at various sample rates from stored wave data, and Mu-law compression.
The fourth and final chapter of the present volume introduces the reader to
many important principles of signal processing, including correlation, the
correlation sequence, the Real DFT, correlation by convolution, matched
filtering, simple FIR filters, and simple IIR filters. Chapter 4, in particular,
provides an intuitive or "first principle" understanding of how digital filtering
and frequency transforms work, preparing the reader for Volumes II and III,
which provide, respectively, detailed coverage of discrete frequency
transforms (including the Discrete Time Fourier Transform, the Discrete
Fourier Transform, and the z- Transform) and digital filter design (FIR design
using Windowing, Frequency Sampling, and Optimum Equiripple techniques,
and Classical IIR design). Volume IV, the culmination of the series, is an
introductory treatment of LMS Adaptive Filtering and applications. The text for
all volumes contains many examples, and many useful computational scripts,
augmented by demonstration scripts and LabVIEW Virtual Instruments (VIs)
that can be run to illustrate various signal processing concepts graphically on
the user's computer screen. Table of Contents: An Overview of DSP /
Discrete Signals and Concepts / Sampling and Binary Representation /
Transform and
Filtering Principles 1
17. Cook, G., & Zhang, F. (2019). Mobile robots: navigation, control and
remote sensing. John Wiley & Sons.
This chapter is devoted to the development of kinematic models for two types
of wheeled robots. The first type of mobile robot to be considered is the one
with front‐ wheel steering. The vehicle is usually powered via the rear wheels,
and the steering is achieved by way of an actuator for turning the front
wheels. Another common type of steering used for mobile robots is
differential‐drive steering. The wheels on one side of the robot are controlled
independently of the wheels on the other side. By coordinating the two
different speeds, one can cause the robot to spin in place, move in a straight
line, move in a circular path, or follow any prescribed trajectory. The
equations of motion for the robot steered via differential wheel speeds are
derived. The kinematic equations are developed along with the basic
geometrical properties of achievable motion.
18. Cook, G., & Zhang, F. (2019). Mobile robots: navigation, control and
remote sensing. John Wiley & Sons.
20. Bensenouci, A. (2011, April). PID controllers design for a power plant using
bacteria foraging algorithm. In 2011 Saudi International Electronics,
Communications and Photonics Conference (SIECPC) (pp. 1-6). IEEE.
This paper provides the design for two PID controllers, one for the terminal
voltage and th2e other for the electric power. Both controllers are designed to
control a sample power system that comprises a synchronous generator connected
to a large network via a step-up transformer and a transmission line. The generator
is equipped with two decoupled control- loops, namely, the speed/power (governor)
and voltage (exciter) controllers. The gains setting of both PIDs are found using
Bacteria Forging Algorithm (BFA). PID is considered because of its robustness,
simple structure and easy implementation. It is also preferred in plants of higher
order that cannot be reduced to lower ones. To show the effectiveness of the
design, divers tests, namely, step/tracking in the control variables, and variation in
plant parameters, are applied. From the simulation, the results are very
encouraging to pursue further this trend.
Este documento proporciona el diseño para dos controladores PID, uno para el
voltaje del terminal y el otro para la energía eléctrica. Ambos controladores están
diseñados para controlar un sistema de energía de muestra que comprende un
generador síncrono conectado a una red grande a través de un transformador
elevador y una línea de transmisión. El generador está equipado con dos circuitos
de control desacoplados, a saber, los controladores de velocidad / potencia
(gobernador) y voltaje (excitador). La configuración de ganancias de ambos PID se
encuentra utilizando el algoritmo de forja de bacterias (BFA). PID se considera
debido a su robustez, estructura simple y fácil implementación. También se
prefiere en plantas de orden superior que no pueden reducirse a plantas inferiores.
Para mostrar la efectividad del diseño, se aplican pruebas de buceo, a saber, paso
/ seguimiento en las variables de control y variación en los parámetros de la
planta. A partir de la simulación, los resultados son muy alentadores para seguir
esta tendencia.