John Kern

This article presents the performance analysis and comparison of turbo codes for several interleavers with short blockchains. According to the symmetry concept, turbo codes consist of two symmetric convolutional codes preceded by an interleaver. Some interleavers can be described by symmetric 3 × 3 generator matrices, whereas others are represented...

Nowadays, underactuated systems are present in diverse fields of application. However, their mathematical modeling of underactuated revolute planar robots and the design of their control systems have not been thoroughly researched. Consequently, this paper presents both the generalized dynamic model and the design of a new control strategy for n-li...

This paper presents the design of an interleaver for short Parallel Turbo Codes (PTC) with short block lengths in the order of 64, 128, and 256 bits. In particular, the objective is to design an interleaver that generates decorrelation in the external input information to parallel recursive convolutional encoders, with sufficient data propagation t...

This work presents an optimal point-to-point trajectory planning method based on fourth degree polynomials to reduce the energy consumption of a redundant planar robot in the XY plane. The contribution of this study focuses on the development of a two-level nested optimization algorithm, which manages to optimize three elements: the Optimal Weighti...

This work addresses the design and implementation of a wireless connection for the remote control of the joints of a redundant 3-DoF manipulator robot. To this end, low-cost devices able to establish master/slave connections are used as closed control loops to calculate both control in the master device and actuation in the slave devices. To test t...

This paper presents the design and implementation of a strategy for protecting trajectory data that will be executed by industrial robots working under hostile operating conditions. Specifically, the Controller Area Network protocol is used to send information about trajectories between two terminals: the controller and the robot. To prevent the ad...

This work presents a system and method to improve transmission quality in smart meter networks that use Modbus-RTU. Energy management systems in industries, buildings and urban infrastructure use smart meters interconnected in a network. These systems can demand a great quantity of interconnected devices, which sets down increasing requirements to...

This work presents the results of the design, simulation, and implementation of a virtual vehicle. Such a process employs the Unity videogame platform and the ML-Agents library in the field of Machine Learning. The virtual vehicle is implemented in Unity considering mechanisms that represent accurately the dynamics of a real automobile, such as mot...

This paper presents the results of the design, simulation, and implementation of a virtual vehicle. Such a process employs the Unity videogame platform and its Machine Learning-Agents library. The virtual vehicle is implemented in Unity considering mechanisms that represent accurately the dynamics of a real automobile, such as motor torque curve, s...

This article presents the implementation of a learning environment for the teaching of control systems. This environment integrates physical equipment and simulation, monitoring, and control through a network. A software platform based on ROS (Robotic Operating System) grants access to the system through intranet and Internet, facilitating the inte...

In this article, we propose a new scheme for a fuzzy logic controller, which includes acceleration as one of its linguistic variables, as opposed to other techniques and approaches that have been developed and reported in the literature. This method is used for controlling the tracking of the trajectory followed by the joints of a 2-DoF manipulator...

This paper presents the development of a convolutional code application for error detection and correction in a communication system. This application is based on an industrial protocol and aims at reconstructing data damaged during transmission. The Controller Area Network (CAN) protocol is used, which is widely used in the automobile industry, as...

La invención corresponde a un sistema robotizado consistente en un robot SCARA (Selective Compliant Assembly Robot Arm o Selective Compliant Articulated Robot Arm) y su método de control para tolerancia a fallas. El robot manipulador con redundancia, rotacional y prismática (combinadas), logra ser tolerante a fallas al consistir en un manipulador r...

In this chapter, we present the design, simulation, and control of a hexapod robot using tools available in MATLAB software. In addition, we design and implement a dynamic model (using the Simscape Multibody™ toolbox) as well as a three-dimensional model of the robot, using Virtual Reality Modeling Language (VRML), that help to visualize the robot’...

In this chapter, the implementation of a “Virtual Instrument” developed in MATLAB/Simulink® that allows the analysis of the measurement of mechanical vibrations in rotating machines is presented. To accomplish this, we identified the main rotating machines used in industry, the parameters that can be relevant when an analysis of vibration is made,...

Modbus-RTU is currently one of the most widely-used industrial communications protocols. Modbus-RTU is an old protocol - it was developed in 1979 - and has certain limitations with regard to modern automation and control systems. One of the major limitations is that the protocol does not have any mechanisms for ensuring the integrity of transmitted...

The simulation tools are the foundation for the design of robot systems, for the application of robots in complex environments and for the development of new control strategies and algorithms. Because of this, the design, simulation and comparison of the performance of controllers applied to a redundant robot with five degrees of freedom (DOF) are...

The design and implementation of an embedded control system using DSC (Digital Signal Controller) devices of the dsPIC type, applied on a four-DOF (Degrees Of Freedom) model OWI-535 robotic manipulator is presented. A control structure based on a Master/Slave configuration between two dsPIC30F4013 through the SPI (Serial Peripheral Interface) protoc...

Modeling, control and implementation of a real redundant robot with five Degrees Of Freedom (DOF) of the SCARA (Selective Compliant Assembly Robot Arm) manipulator type is presented. Through geometric methods and structural and functional considerations, the inverse kinematics for redundant robot can be obtained. By means of a modification of the c...

La presente invención se refiere a un método y sistema para el Control en Lazo Cerrado de servomotores de modelismo analógicos empleando realimentación de posición mediante potenciómetros y procesamiento del Error.

La presente invención describe un método de diseño e implementación de un simulador gráfico para robots industriales redundantes de N Grados de Libertad (GDL) que contempla la utilización de herramientas de software, como por ejemplo: MatLab/Simulink, desarrollada por MathWorks, y MathType, desarrollada por Design Science, logrando modelos cinemáti...

In this paper a new dynamic model for analogic servomotors is proposed. Then, an analytical model is initially developed, after which, through computer simulations the obtained theoretical results are validated. Those results are contrasted, with practical implementations, by employing a real analog servo motor. This new model can capture the dynam...

This paper presents the design of a BCH encoder (7,4,1) and BCH decoder (7,4,1) with Radial Basis Neural Network as error correction technique for fault tolerant systems, applied in digital communications. The neural network model is exported to Matlab Simulink to test different scenarios, to achieve results equivalent to those described by the BCH...

In this paper the development of a neural controller implemented in a five Degrees Of Freedom (DOF) redundant robot is presented. The design of the control law considers the robotic system inverse model, including the performance of the actuators for the five joints, obtained through a feedforward neural network with backpropagation learning algori...

A performance evaluation of three fault-tolerant controllers based on hyperbolic sine and cosine, computed torque, and adaptive inertia control techniques applied to manipulator robots is presented. Various tests are carried out in a simulation environment developed by means of MatLab/Simulink programming tools, in which the manipulator must follow...

In this paper, the modeling of a redundant SCARA‐type manipulator robot with five degrees of freedom is presented. We propose three controllers ‐ hyperbolic sine‐cosine, sliding mode, and calculated torque ‐ which are applied to the discussed model. A simulation environment is developed using MatLab/Simulink programming tools. This simulation envir...

In this chapter we will address the concept of fault tolerance applied to a robotic manipulator. We will consider the first three degrees of freedom of a redundant SCARA- type robot, which is intended to follow a Cartesian test trajectory composed by a combination of linear segments. We developed three fault-tolerant controllers by using classic co...

En este trabajo se presenta el modelamiento de un robot redundante de tipo manipulador SCARA de cinco grados de libertad. Se desarrollan tres controladores: seno-coseno hiperbólico; modo deslizante y par calculado los cuales se aplican al modelo tratado. Se realiza un entorno de simulación, utilizando herramientas de programación MatLab/Simulink, q...

This work a new dynamic model for analog servomotors is proposed. In order to do that, an analytical model is initially developed, after which, the obtained theoretical results are validated through computer simulations. Those results are contrasted with practical implementations, by employing a real analog servo motor. This new model can capture t...

In this chapter the development of a simulation environment applied to the study of fault tolerant control systems for robotic manipulators by employing MatLab-Simulink programming tools is presented. By using this simulator is possible to represent the behavior of a manipulator: in the presence of a failure into one of its actuators and the status...

In this work, modeling, simulation and control of industrial fault tolerant robots by means of adaptive inertia is presented. This study, initially developed for robots with n Degrees Of Freedom (DOF), includes the calculation of adaptive inertia parameters; which is particularized for planar systems with two and three rotational joints. The modeli...