Browsing by Author "Palacios Serrano, Ivan Santiago"

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Analysis of RRT, PRM and voronoi path planning algorithms to solve a modular maze using a two-DOF platform
(2022) Palacios Serrano, Ivan Santiago; Cruz Ulloa, Christyan; Barraza Rodríguez, Manuel
This paper analyzes three path planning techniques to solve a ball-maze system with a two-degree-of-freedom platform. The system’s objective focuses on the ball traveling a path from an initial point to a final point (defined by the user) in the maze. The RRT algorithms (Rapidly Exploring Random Trees), PRM (Probabilistic Roadmap), and Voronoi diagrams were implemented using the A* search algorithm. The system architecture consists of four subsystems called mechanical, vision, planning, and control. The main contribution of this work is the evaluation of the algorithms on a physical system and a complete results analysis (graphical and analytical). The experimental tests were performed based on analyzing four different maze configurations, the run time, and path length metrics. In this context, 20 algorithm executions were developed for each configuration, then the meantime and mean length and their 95% confidence intervals were determined. The main results show that the RRT algorithm presents a more significant variation in its data, the longest path length, and the best performance in terms of run time. Moreover, the PRM algorithm generates the path with the shortest length but has the worst performance concerning run time. Finally, the Voronoi diagrams’ technique takes less time to execute, has less variation in its data, and presents the smoothest and equidistant path between the maze walls. © 2022, Universidad de Tarapaca.
Seismic noise analysis with low-cost variable gain recorder
(2021) Placencia Leon, Jose Sebastian
This paper presents the design and implementation of a seismic noise analysis recorder. Specifically, the system has three main blocks. A configurable gain amplifier, a microcontroller for data acquisition and storage, and finally, both a GPS module and a real-time clock in order to ensure the time synchronization. With regard to the device management, a mobile application was implemented which provides users with tools to analyze data in real time as well to configure operational parameters (i.e., the sampling frequency, the gain of the amplifier and the recording start time). Regarding the architecture evaluation a set of experiments were designed in order to determine the intrinsic noise of the equipment and for verifying the proper operation on the continuous recording system. Finally, results were thoroughly analyzed in both temporal and the frequency domain with respect to data captured with a certified commercial equipment. The comparison carried out reveals a percentage error with a maximum of 7.68% and 3.40% for the time and frequency analysis, respectively. Consequently, the proposed system represents a reliable solution and low-cost alternative which contributes for the acquisition and analysis of seismic data