Browsing by Author "Paez J."

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Design and control of an unmanned surface vehicle for environmental monitoring applications
(Institute of Electrical and Electronics Engineers Inc., 2017) Villa Ramírez, José Luis; Paez J.; Quintero C.; Yime E.; Cabrera J.; Lindado H.C.
Unmanned Surface Vehicles (USV) have been used in a wide range of applications, in particular in environmental monitoring. In this work we propose the design and control of an USV which is intended to be used for monitoring environmental variables of the main inlet waters located in Cartagena de Indias, Colombia, such as Chambacu, Cabrero and San Lazaro. The paper shows the results obtained in the naval design, focused on the hull design, and the control strategy for unmanned navigability which is tested in simulation. © 2016 IEEE.
Design of a brushed DC motors PID controller for development of low-cost robotic applications
(Institute of Electrical and Electronics Engineers Inc., 2014) Yime E.; Villa Ramírez, José Luis; Paez J.; Marrugo A.G.
This article present the design and construction of a PID controller for direct current motors motion control in low-cost robotic applications. The reasons which led us to the make the proposal and design of the system were, on the one hand, the need for robotic developments by students in Colombians academic environments with the resources available locally, and on the other hand, the need for a teaching of the robotics based on laboratory practices of the most commonly used control algorisms in this area, such as: the inverse kinematics based PID control and the dynamic control by calculated torque. © 2014 IEEE.
Implementation of an Unmanned Surface Vehicle for Environmental Monitoring Applications
(Institute of Electrical and Electronics Engineers Inc., 2018) Paez J.; Villa Ramírez, José Luis; Cabrera J.; Yime E.; Garcia L.; Wightman P.; Percybrooks W.; Carrillo H.; Quintero C.
Environmental monitoring in inland waters is an important issue for adequate planning and management of this kind of territories. This paper shows the implementation of the concepts and strategies for a boat to follow a pre-established route through waypoints oriented to these water bodies. An extended Kalman filter is used to estimate orientation and position using the readings of an inertial unit fused with a magnetometer and GPS. The strategy shows to be valid in calm conditions, which is sufficient for the mission. © 2018 IEEE.
Mechatronic design of an automated storage system located inside a confined space
(Institute of Electrical and Electronics Engineers Inc., 2014) Yime E.; Villa Ramírez, José Luis; Paez J.; Ortiz H.; Marrugo A.G.
It is here presented the mechatronic design of an system with automatic storing and picking of small products. The design concept presents the system as a four degrees-of-freedom robot capable of storing objects at different heights. The novelty of the design lies in the space optimization using stacked trays for storing the desired objetcs. Other key components of the system are a device for entry and exit of products, and a robotic arm for manipulating objects. A typical application of such a system is the storage of products inside safe-deposit boxes is presented. © 2014 IEEE.