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An approach of a new methodology for skills transfer from machine to human is proposed in this research. This methodology transmits a haptic feed-back using vibrotactile perception to transfer motor skills using a parallel planar robot and virtual reality environments. During the experimentation, the participants tried to learn a specific motion trajectory given by the system. During the process,...
With the benefit of convolutional operation, the convolutional neural networks (CNN) has been successfully applied in classification, regression and time series modeling. For neural modeling of dynamic systems, CNN also should have many advantages over other neural models, such as avoiding local minima and the noises and outliers affections. In this paper, the dynamic system identification is addressed...
This article presents a strategy for implementing a differential amplifier that allows a high degree of linearity in the output currents with tunable gain. For this purpose, multiple-input floating-gate transistors are used, along with a technique for increasing the transconductance by means of a sum of currents. Simulation results are presented for a 0.35-μm technology. The differential amplifier...
Obstacle detection for the use of blind and visually impaired people has been an area with a low development nowadays. Imaging technologies require large equipment and specialized software made up of complex algorithms that have not been fully tuned for everyday use. Ultrasound allows some bats to echolocate by determining the time-of-flying of the signals and their frequency domain processing. In...
Object recognition is a widely field in artificial vision application, because now the machines are intended to become autonomous. This article presents the methodology for recognizing objects in an image, tecniques used are: segmentation, feature extraction and classification object within the image. Fuzzy c-means algorithm was used for segmentation, which is a fuzzy classification algorithm in which...
This paper presents simulation and real-time results of a fuzzy control scheme better known as parallel distributed compensation (PDC) for stabilization of an inverted pendulum on a cart. In contrast with traditional fuzzy schemes, the nonlinear model of the plant is fully taken into account for control design. The nonlinear model is recast as an exact convex sum of linear models via the sector nonlinearity...
A planar inverted-F antenna (PIFA) with a very wideband that begins in 690 MHz and ends in 12.91 GHz is presented. This large wideband is achieved within the size restrictions imposed to some types of mobile devices and the additional advantages of high efficiency and very acceptable reflection coefficient. With this ultra-wideband the PIFA proposed is able to work correctly in every one of the 52...
Pattern recognition is a widespread application of the Wavelet Transform (WT). Sometimes, in real-time implementations a delay as low as possible is desired in the pattern detection process. This is especially important in applications such as breath or electrocardiogram (ECG) monitoring for life-support. Nevertheless, any real-time WT system which is actually implemented can present different sources...
The Localization of Compact Invariant Sets theory, define a region in the state space where are located all compact invariant sets of a dynamical system. This work explore the global dynamics of the myeloid cells in a tumor-immune system model, this model describes the interactions of myeloid, tumor and specific immune response cells. The localizations sets of immature and mature myeloid cell populations...
In this paper an implementation of the Inverse Numerical Laplace Transform (INLT) on a Field Programmable Gate Array (FPGA) is presented. A brief description of INLT algorithms based on FFT are made and its MATLAB implementation is performed in order to have a comparison basis with FPGA results. A fixed point representation is used and it is optimized using fi MATLAB object. INLT is basically composed...
This article presents the design and construction of a mechanism for emulating load forces caused by the road conditions and friction over an electric power assisted steering (EPAS). This mechanism uses extension springs and a rack-and-pinion mechanism to emulate these load forces. The purpose of devising this mechanism is to build an EPAS system test bench, that allows observing and testing the operation...
A novel control strategy is proposed for a bidirectional multiport single phase two stage microinverter without electrolytic capacitor. The application of this converter is for power factor correction under non-linear grid tied load. The converter is composed of a triple active bridge series-resonant DC/DC converter cascaded with a voltage source inverter where a film capacitor is used in the DC-Link...
This paper introduces a color image encryption algorithm that relies on fractional chaotic systems as source of pseudorandom numbers, the decryption process needs to reconstruct the states of the fractional chaotic system, for this purpose a fractional exponential polynomial observer will be used, this observer has the characteristic that makes synchronization error decrease faster than an exponential...
This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
A Lyapunov-based construction of a predefined-time stabilizing function (a function that stabilizes a system in fixed-time with settling time as function of the controller parameters) for scalar systems is considered in this paper. The constructed function involves the inverse incomplete gamma function, causing this function to be semi-global, i.e., the domain of definition of the function can be...
This paper presents a comparison between two state estimation methods for processes with asynchronous and delayed measurements in order to verify which of these techniques is better in terms of dynamic behavior and possibilities of implementation in a real time processor. The methodologies are analyzed through simulations that allow a comparison in a visual form, through error index and with the time...
In the training of the radial basis function network (RBFN), feature selection and classifier design are two tasks commonly addressed in separated processes. The former is related to the number of input nodes, whereas the latter is associated with the design of the hidden layer. Hence, this paper presents an algorithm to train a RBFN based on differential evolution (DE), which simultaneously adjusts...
In this paper the tracking of collision-free path obtained by using Homotopic Path Planning Method (HPPM) with automatic value assignation of repulsion parameter is presented. This work is center on show the utility of this method to obtain a collision free path for maps with narrow corridors on indoor environments. First, the basis of homotopic path planning method with automatic value assignation...
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