S. Vergara

Development of a Teach Pendant for an ABB Robot

This work is developed as part of an strategy to open the architecture of an industrial robot type ABB with the one that counts the Group of Robotics of the Faculty of Electronic Sciences. The principal goal is design and builds a Teach Pendant using electronic current devices being capable of communicating via USB towards a computer that does the functions of principal processor and control loop. This Teach Pendant has the basic elements of any commercial console present today, with ones the user will be capable of programming or editing routines as well as of manipulating the robot of manual form and to see it to work in real time, also it bear in mind the ergonomics of the device which must fulfill certain requirements to qualify as an easily operable device but that in turn is functional. The system uses a micro-controller PIC as unit of principal processing, which is in charge to process and display the information the user types by means the keypad and liquid crystal display (LCD) in order to sending the data towards the computer via US. It is necessary indicate that this type of work has not developed previously, and though several commercial versions exist this one is the first one to level of development and investigation done by a Mexican university.

Study of different optimization strategies for analogue circuits

Purpose – The purpose of this paper is to propose further development of the generalized methodology for analogue circuit optimization. This methodology is based on optimal control theory. This approach generates many different circuit optimization strategies. The authors lead the problem of minimizing the CPU time needed for circuit optimization to the classical problem of minimizing a functional in optimal control theory. Design/methodology/approach – The process of analogue circuit optimization is defined mathematically as a controllable dynamical system. In this context, the authors can formulate the problem of minimizing the CPU time as the minimization problem of a transitional process of a dynamical system. To analyse the properties of such a system, the authors propose to use the concept of the Lyapunov function of a dynamical system. This function allows us to analyse the stability of the optimization trajectories and to predict the CPU time for circuit optimization by analysing the characteristi...

Design of an acquisition system for bioelectric signals (heart) using an embedded system in FPGA platform

At present there are various measuring devices or instruments that acquire the electrical activity of the heart (ECGs), but make a proper measurement, models the signs are printed directly on sheets of graph paper, unable to save the information for later analysis. In this work we make the development of a bioelectric signal acquisition, in this case focused on the signals emitted by the heart to be acquired and stored on a computer. The system is based on a card bioelectric signal acquisition developed in the Maestria en Ciencias de la Electrónica de la Facultad de Ciencias de la Electronica en la BUAP called MIOCARD 1.0 [1]. This card has already implemented a 2-channel electromyograph, and this paper focuses on describing the design of a electrocardiography for the acquisition of the 12 signals that can be obtained from the heart. The card is based on a brand ALTERA FPGA family CycloneII (EP2C8Q208C7) and communication to and from the computer via the protocol is PCI (Peripheral Component Interconnect).

Structure of quasi optimal algorithm for analogue circuit optimization

The methodology of designing of analog circuits, based on applications of control theory is the basis for constructing of optimum or quasi optimal algorithm of optimization. By a major criterion here, allowing to exposing the necessary structure of algorithm, there is a behavior of function of Lyapunov, which was defined for the process of optimization. Characteristics of function of Lyapunov and its derivative have been analyzed for searching of optimum structure of control vector and optimal algorithm. A flow diagram of quasi optimal algorithm was built on basic of generalized methodology. The properties of this algorithm demonstrate a great acceleration of the process in comparing to the traditional approach.

Object recognition from a micro helicopter

The rapid expansion of computer processing power combined with the rapid development of digital camera capability has resulted in equally rapid advances in computer vision capability and use. The Open Source Computer Vision Library (OpenCV), is a free open source collection of computer vision routines geared mainly towards human-computer interactions, robotics, security, and others vision applications where the lighting and context of use cannot be controlled. The OpenCV library provides us a greatly interesting demonstration for face detection. Furthermore, it provides us programs (or functions) that they used to train classifiers for their face detection system, called HaarTraining, in this work we create our own object detection system, with object classifier using their function, in order to detect any object, not only faces.

Dynamic characteristics of different system design strategies

The design process for analog network design is formulated as a dynamic controllable system. A special control vector is defined to redistribute the compute expensive between a network analysis and a parametric optimization. The problem of the minimal-time network design can be formulated as a classical problem of the optimal control for some functional minimization. A conception of a Lyapunov function of dynamic controllable system is used to analyze the principal characteristics of the design process. The analysis of some derivative functions of the Lyapunov function gives us a possibility to compare the design time of different design strategies and predict the design strategy with a minimal design time.

Construction, modeling and instrumentation of a mini-unmanned aircraft in delta (Δ) configuration

We present firstly the design and construction of a unmanned aerial vehicle (UAV) in delta configuration in order to accomplish certain tasks and requirements which are explained along this document. After the construction, we present the dynamic model of the UAV developed, based on its structural characteristics and obtained through the Newton-Euler method. The final dynamic model is restricted to longitudinal motion in order to simplify the system, allowing this fact to propound a suitable control law to control the pitch angle of the UAV. Finally we discuss the use of a set of components embedded into this aircraft, whose main tasks are to make it fly, giving the option of manual and autonomous flight, and to acquire a whole range of physical measurements produced by the UAVs motion, such as its acceleration, angular rate, attitude, velocity and position.

Scope Design Implemented in a PCI Card

Currently are different commercial PCI cards that included instruments like scopes, function generator, pattern generator, and data acquisition card with digital ports. The main objective of this paper is design and built a measurement instrument basically an oscilloscope; our interest is development the hardware, firmware and the software