Profesor Titular

MODELO CINEMÁTICO DE UN ROBOT MÓVIL TIPO DIFERENCIAL Y NAVEGACIÓN A PARTIR DE LA ESTIMACIÓN ODOMÉTRICA.

This paper presents a strategy for navigation of mobile robot differential type from the odometric estimation and implementation with FPGAS. Shows the potential of FPGAs in the deployment of mobile robots applications. Shows the results of some experiments on the platform, and the odometric errors, which were used for generation and correction of trajectories.

PLEMAP (plataforma móvil para el levantamiento de mapas de entorno).

This paper presents a mobile platform developed by the group GIROPS of Technological University of Pereira, the objective is the construction of map environment. The platform possesses a system of complete control for her displacement and managing of an ultrasonic rotary sensor. The processing of the information is realized by a FPGA. XC3S500E of the family Spartan-3E, made by Xilinx. Finally one appears interface graph designed in Matlab 7.0 which allows to control the movements of the robot and to visualize both his position and the information provided by the ultrasonic rotary sensor.

CONTROL DE POSICIÓN Y PRESIÓN PARA MANIPULADOR NEUMÁTICO A TRAVÉS DE PC

The work pretend to obtain a servopneumatic position system, with pressure control of the work device in the operation position, all this, governed by computer (PC). In order to control position and pressure, PID discrete controllers have been designed. A card of data acquisition Lab PC-1200 of National Instruments, and the software LabVIEW is used, to implement programs for data acquisition through the different sensors and carried out to the PC for its processing. With this system is possible fix intermediate positions along an axis in a very precise way. The automation of processes like: riveted, perforated, printing, can be perfectly developed with this proposed system.

MODELADO ESTOCÁSTICO DE UN SONAR ROTATIVO: UN CASO ORIENTADO A LA CONSTRUCCIÓN PROBABILÍSTICA DE MAPAS DE HITOS PUNTUALES

Ultrasonic sensing is a well suited cost-benefit technique used in mobile robotics. Nevertheless, this sensor type has a key drawback: its very Wide beam. This fact causes that this sensor becomes useless in the environment map building process. Another problem attached with this sensor is that it offers very little facilities for landmark extraction and object recognition. This problem is known as Matching. In this paper we introduce an ultrasonic sensor capable to extract wall or corner from an indoor environment, as well as to reduce the angle uncertainty, on the based of echo amplitude reaching the transducer. Moreover, we developed the stochastic model for this sensor as well as a matching algorithm for using this device as main observation element for probabilistic SLAM (Simultaneous Localization And Mapping).

CONTROL VECTORIAL DE LA MAQUINA DE INDUCCION

This article presents the advantages of the vector control systems on rotative electrical machines. The indirect vector control te chnique is used over the induction machine model in order to obtain a decoup ling relationship between the flux and the torque. Thus we can make the control of the machine through the direct and quadrature currents. The results sho w the behavior of the control strategy when variations in the speed and the torqu e are presented.

Variables latentes para identificar el infarto agudo del miocardio mediante análisis de componentes principales probabilístico.

In this article some partial results from a recent research are presented [1].In the mentioned research a comparison between linear and non linear methods from multivariate analysis is made with the main purpose of selection and feature extraction from electrocardiography signals, this all oriented to identification of sharp infarction of the myocardium. Specifically this article summarizes the results from having applied the Multivariate method of analysis known as Probabilistic Principal Component Analysis (PPCA) to generate a subspace of characteristics of minor dimension than the original one. The precision of the classification of normal and pathological functional states of the myocardium using a Bayesian classifier was also computed. Its associated computational cost was also estimated.

MODELADO Y SIMULACIÓN DEL CONTROL DE VELOCIDAD DE UN MOTOR HIDRÁULICO.

The purpose of the present paper is to present a methodology for the selection of a hydraulic motor and its speed control to meet stated functional requirements. After selecting the components of the hydraulic system, the model of the system is built. Results of the simulation are presented and analyzed.