Ingeniería en Electrónica y Telecomunicaciones-Pregrado

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Browsing Ingeniería en Electrónica y Telecomunicaciones-Pregrado by Subject "Algoritmos"

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    Evaluación del desempeño de dos algoritmos de control en tiempo real usando Arduino y FPGA. Caso de estudio: péndulo de Furuta
    (Universidad de Cuenca, 2021-08-18) Alvarez Serrano, Ismael Mateo; Astudillo Salinas, Darwin Fabián
    This paper is about the design and implementation of two control algorithms for a Furuta pendulum. The implementation of these control algorithms is being done on two embedded platforms based on the microcontroller Arduino and FPGA. In the first development phase of the work, a theoretical review of the control techniques applied to the pendulum (PID and states feedback) is done. In the second phase, the PID controller is designed and implemented. The calibration of its parameters is done through the trial-error heuristic technique. In the third phase, the controller of the states feedback is performed. This phase begins with the mathematical modeling of the system. Then, the model is validated with Matlab’s help. Once the model has been validated and parameterized, it is linearized, and the feedback vector is obtained with the Ackerman formula. Both controllers are implemented in the Arduino and FPGA embedded platforms. Data from the experiments that were done for these controllers are acquired by a National Instruments acquisition card. Matlab is used to interpret these data, where are digitized and the average error rates, average energy and total energy are calculated. After evaluating the results of the experiments, it is found that both control algorithms fulfill the objective of stabilizing the pendulum. When comparing the results for both the PID controller and the status feedback controller, their indices indicate that the best controlling embedded platform is the FPGA. To decide between which algorithm should be used to control the plant, the amount of technical information available must be considered first.
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    Evaluación e implementación de un algoritmo para el diseño de rutas en ambientes dinámicos y variantes para vehículo autónomos
    (Universidad de Cuenca, 2024-09-03) Aucapiña Lozada, Jean Carlo; Sáenz Delgado, Luis Carlos; Minchala Ávila, Luis Ismael
    This research focuses on the implementation and evaluation of algorithms for route planning in dynamic and environmental changes, applied to autonomous vehicles. MATLAB is used as a simulation tool, and two algorithms are implemented throughout the work: D* Lite and Q-learning, to compare their performance with other algorithms already implemented in the simulation environment. D* Lite is known for its ability to efficiently replan routes when there are environmental changes, while Q-learning allows continuous improvement of navigation decisions through reinforcement learning. Multiple experiments are conducted to evaluate the performance of these algorithms. Before the comparison, the logic used to develop the mentioned algorithms is explained. For the evaluation, metrics including execution time, path length, and path cost based on distance were considered. Additionally, the ability of the algorithms to avoid obstacles in controlled and randomized environments was evaluated. To validate the effectiveness of the developed algorithms, a benchmark was performed comparing these algorithms with other existing route planning methods. The results showed that both algorithms are effective in dynamic environments. D* Lite stood out for its simplicity and speed, achieving efficient and quick replanning. On the other hand, Q-learning showed great adaptability and learning ability, improving its navigation decisions as it interacted with the environment.