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Electric vehicles (EVs) are an alternative to internal combustion engine (ICE) cars, as they can reduce the environmental impact of transportation. The bottleneck for EVs is the high-voltage battery pack, which utilizes most of the space and increases the weight of the vehicle. Currently, the main challenge for the electronics industry is the cell equalization of the battery pack. This paper gives an overview of the research works related to battery equalizer circuits (BECs) used in EV applications. Several simulations were carried out for the main BEC topologies with the same initial conditions. The results obtained were used to perform a quantitative analysis between these schemes. Moreover, this review highlights important issues, challenges, variables and parameters associated with the battery pack equalizers and provides recommendations for future investigations. We think that this work will lead to an increase in efforts on the development of an advanced BEC for EV applications.
Alfredo Alvarez-Diazcomas; Adyr A. Estévez-Bén; Juvenal Rodríguez-Reséndiz; Miguel-Angel Martínez-Prado; Roberto V. Carrillo-Serrano; Suresh Thenozhi. A Review of Battery Equalizer Circuits for Electric Vehicle Applications. Energies 2020, 13, 5688 .
AMA StyleAlfredo Alvarez-Diazcomas, Adyr A. Estévez-Bén, Juvenal Rodríguez-Reséndiz, Miguel-Angel Martínez-Prado, Roberto V. Carrillo-Serrano, Suresh Thenozhi. A Review of Battery Equalizer Circuits for Electric Vehicle Applications. Energies. 2020; 13 (21):5688.
Chicago/Turabian StyleAlfredo Alvarez-Diazcomas; Adyr A. Estévez-Bén; Juvenal Rodríguez-Reséndiz; Miguel-Angel Martínez-Prado; Roberto V. Carrillo-Serrano; Suresh Thenozhi. 2020. "A Review of Battery Equalizer Circuits for Electric Vehicle Applications." Energies 13, no. 21: 5688.
Nowadays, research on electric vehicles is increasing because they have the potential to decrease greenhouse-gas emissions dramatically in the transport sector. For these types of vehicles, the battery is one of the main components. The traction system needs a cell series connection to fulfill the energy requirements. Nevertheless, batteries differ from each other due to a normal dispersion in their capacity, internal resistance, and self-discharge rate. This paper presents a novel battery equalizer circuit using an RC-based topology to equalize two adjacent cells of a battery pack. It has the advantage of merging a resistor-based equalizer, a capacitor-based equalizer, and an RC-based equalizer in one circuit. In this way, it is possible to limit the current stress in the components of the circuit. The proposed method increases the equalization time by 35% for a threshold current of 4 A. However, it is possible design the system for another threshold current. Finally, the complexity of the controller is not compromised in the proposed architecture. The operation, analysis, and design of the architecture are presented and compared to the classic schemes. The theoretical analysis is validated through simulation results.
Alfredo Alvarez-Diazcomas; Adyr A. Estévez-Bén; Juvenal Rodríguez-Reséndiz; Miguel-Angel Martínez-Prado; Jorge D. Mendiola-Santíbañez. A Novel RC-Based Architecture for Cell Equalization in Electric Vehicles. Energies 2020, 13, 2349 .
AMA StyleAlfredo Alvarez-Diazcomas, Adyr A. Estévez-Bén, Juvenal Rodríguez-Reséndiz, Miguel-Angel Martínez-Prado, Jorge D. Mendiola-Santíbañez. A Novel RC-Based Architecture for Cell Equalization in Electric Vehicles. Energies. 2020; 13 (9):2349.
Chicago/Turabian StyleAlfredo Alvarez-Diazcomas; Adyr A. Estévez-Bén; Juvenal Rodríguez-Reséndiz; Miguel-Angel Martínez-Prado; Jorge D. Mendiola-Santíbañez. 2020. "A Novel RC-Based Architecture for Cell Equalization in Electric Vehicles." Energies 13, no. 9: 2349.
In this paper, an approach based on a liquid state machine (LSM) to compute the movement profiles to achieve a gait pattern subject to different variations in its trajectory is presented. At the same time, the position of the zero moment point (ZMP) to determine the stability of the six degrees-of-freedom (6DOF) bipedal robot in the sagittal plane during the gait cycle is calculated. The system is constructed as a supervised machine learning model. The time series of the oscillating foot trajectory obtained by direct kinematics with a multilayer perceptron neural network (MLP), to strengthen the kinematic model, is considered as input values for training. The target movement profiles are acquired of a human gait cycle analysis in three different scenarios: normal gait, climbing stairs, and descending stairs. In training, this model also gets the trajectories of the ZMP position during the gait cycle, as target time series. The LSM formed by spiking neurons, considered as third-generation neural networks, is compared in the accuracy of prediction, by the dynamic time warping (DTW) technique and correlation analysis, against the human gait analysis database. With this neuronal system, the joint positions to generate a trajectory of the oscillating foot and the ZMP position of the bipedal in the sagittal plane in different scenarios are obtained, proving the robustness of the LSM.
Jesús Franco-Robles; Alejandro De Lucio-Rangel; Karla A. Camarillo-Gómez; Gerardo I. Pérez-Soto; Miguel A. Martínez-Prado. Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a Six Degrees-of-Freedom Bipedal Robot in a Sagittal Plane. Journal of Dynamic Systems, Measurement, and Control 2019, 142, 1 .
AMA StyleJesús Franco-Robles, Alejandro De Lucio-Rangel, Karla A. Camarillo-Gómez, Gerardo I. Pérez-Soto, Miguel A. Martínez-Prado. Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a Six Degrees-of-Freedom Bipedal Robot in a Sagittal Plane. Journal of Dynamic Systems, Measurement, and Control. 2019; 142 (1):1.
Chicago/Turabian StyleJesús Franco-Robles; Alejandro De Lucio-Rangel; Karla A. Camarillo-Gómez; Gerardo I. Pérez-Soto; Miguel A. Martínez-Prado. 2019. "Liquid State Machine to Generate the Movement Profiles for the Gait Cycle of a Six Degrees-of-Freedom Bipedal Robot in a Sagittal Plane." Journal of Dynamic Systems, Measurement, and Control 142, no. 1: 1.
The number and position of sEMG electrodes have been studied extensively due to the need to improve the accuracy of the classification they carry out of the intention of movement. Nevertheless, increasing the number of channels used for this classification often increases their processing time as well. This research work contributes with a comparison of the classification accuracy based on the different number of sEMG signal channels (one to four) placed in the right lower limb of healthy subjects. The analysis is performed using Mean Absolute Values, Zero Crossings, Waveform Length, and Slope Sign Changes; these characteristics comprise the feature vector. The algorithm used for the classification is the Support Vector Machine after applying a Principal Component Analysis to the features. The results show that it is possible to reach more than 90% of classification accuracy by using 4 or 3 channels. Moreover, the difference obtained with 500 and 1000 samples, with 2, 3 and 4 channels, is not higher than 5%, which means that increasing the number of channels does not guarantee 100% precision in the classification.
Diana C. Toledo-Pérez; Miguel A. Martínez-Prado; Roberto A. Gómez-Loenzo; Wilfrido J. Paredes-García; Juvenal Rodríguez-Reséndiz. A Study of Movement Classification of the Lower Limb Based on up to 4-EMG Channels. Electronics 2019, 8, 259 .
AMA StyleDiana C. Toledo-Pérez, Miguel A. Martínez-Prado, Roberto A. Gómez-Loenzo, Wilfrido J. Paredes-García, Juvenal Rodríguez-Reséndiz. A Study of Movement Classification of the Lower Limb Based on up to 4-EMG Channels. Electronics. 2019; 8 (3):259.
Chicago/Turabian StyleDiana C. Toledo-Pérez; Miguel A. Martínez-Prado; Roberto A. Gómez-Loenzo; Wilfrido J. Paredes-García; Juvenal Rodríguez-Reséndiz. 2019. "A Study of Movement Classification of the Lower Limb Based on up to 4-EMG Channels." Electronics 8, no. 3: 259.
This paper presents a robot motion controller for an undergraduate laboratory study program. It is designed to help the students learn and to assess specific learning outcomes proposed by ABET by solving a real‐life problem. The main objective of this project is to enable the engineering students to learn some core concepts about embedded systems and motion controllers for robotics by applying them in practice. Also, the proposal shows how to introduce the students to a new tendency in the embedded system market, namely, an All Programmable System on a Chip (SoC). This methodology incorporates interdisciplinary knowledge, technical and professional skills required for pursuing a successful career. In the present study, we surveyed the observations and interests of students towards the learning process, and the results indicate that the inclusion of the robot prototype has a significant impact on providing students with new learning outcomes.
Miguel Angel Martínez Prado; Juvenal Rodríguez‐Reséndiz; Roberto A. Gómez‐Loenzo; Karla A. Camarillo-Gomez; Gilberto Herrera‐Ruiz. Short informative title: Towards a new tendency in embedded systems in mechatronics for the engineering curricula. Computer Applications in Engineering Education 2019, 27, 603 -614.
AMA StyleMiguel Angel Martínez Prado, Juvenal Rodríguez‐Reséndiz, Roberto A. Gómez‐Loenzo, Karla A. Camarillo-Gomez, Gilberto Herrera‐Ruiz. Short informative title: Towards a new tendency in embedded systems in mechatronics for the engineering curricula. Computer Applications in Engineering Education. 2019; 27 (3):603-614.
Chicago/Turabian StyleMiguel Angel Martínez Prado; Juvenal Rodríguez‐Reséndiz; Roberto A. Gómez‐Loenzo; Karla A. Camarillo-Gomez; Gilberto Herrera‐Ruiz. 2019. "Short informative title: Towards a new tendency in embedded systems in mechatronics for the engineering curricula." Computer Applications in Engineering Education 27, no. 3: 603-614.
Most robot controllers are proprietary and, therefore, they have a closed architecture, and it is typical for robot vendors not to provide support for old control units; hence, when a deprecated robot requires an update or even a simple preventive maintenance, the manufacturer tends to recommend disposing such a unit and to acquire a new one. In this paper, the development of a field programmable gate array-based motion control system is described as part of an open-architecture and vendor-independent control system tested on a Fanuc S420F. As a way to measure the performance of the developed system, an experimental test is carried out to achieve a path tracking RMS error lower than 20 mm at a Cartesian velocity of 500 mm/s. Results demonstrate that the proposed system achieves the same feed rates as the original controller with the significant advantage of being modular, flexible, scalable, and reconfigurable.
Miguel Angel Martínez Prado; Juvenal Rodriguez-Resendiz; Roberto-Augusto Gomez-Loenzo; Gilberto Herrera-Ruiz; Luis-Alfonso Franco-Gasca. An FPGA-Based Open Architecture Industrial Robot Controller. IEEE Access 2018, 6, 13407 -13417.
AMA StyleMiguel Angel Martínez Prado, Juvenal Rodriguez-Resendiz, Roberto-Augusto Gomez-Loenzo, Gilberto Herrera-Ruiz, Luis-Alfonso Franco-Gasca. An FPGA-Based Open Architecture Industrial Robot Controller. IEEE Access. 2018; 6 ():13407-13417.
Chicago/Turabian StyleMiguel Angel Martínez Prado; Juvenal Rodriguez-Resendiz; Roberto-Augusto Gomez-Loenzo; Gilberto Herrera-Ruiz; Luis-Alfonso Franco-Gasca. 2018. "An FPGA-Based Open Architecture Industrial Robot Controller." IEEE Access 6, no. : 13407-13417.
Miguel Angel Martínez Prado; Juvenal Rodríguez Reséndiz; Diana Carolina Toledo Pérez; Carlos Miguel Torres Hernández; Carlos Miguel Torres Hernández And Gilberto Herrera Ruiz. Motion Control with FPGA. Field - Programmable Gate Array 2017, 1 .
AMA StyleMiguel Angel Martínez Prado, Juvenal Rodríguez Reséndiz, Diana Carolina Toledo Pérez, Carlos Miguel Torres Hernández, Carlos Miguel Torres Hernández And Gilberto Herrera Ruiz. Motion Control with FPGA. Field - Programmable Gate Array. 2017; ():1.
Chicago/Turabian StyleMiguel Angel Martínez Prado; Juvenal Rodríguez Reséndiz; Diana Carolina Toledo Pérez; Carlos Miguel Torres Hernández; Carlos Miguel Torres Hernández And Gilberto Herrera Ruiz. 2017. "Motion Control with FPGA." Field - Programmable Gate Array , no. : 1.
Nowadays, there are several techniques for the acceleration and deceleration of computer numerical control (CNC) machine tools and industrial robots (Robot manipulators) in order to plan smoother trajectories avoiding the jerk and another kind of stress. The aim of this article is to show a comparison between the trapezoidal and s-curve velocity profile used in robotics and CNC machinery. After doing that, the reader will be able to select a velocity profile in order to design their trajectories.
José R. García-Martínez; Juvenal Rodriguez Resendiz; Miguel Angel Martínez Prado; Edson Eduardo Cruz Miguel. Assessment of jerk performance s-curve and trapezoidal velocity profiles. 2017 XIII International Engineering Congress (CONIIN) 2017, 1 -7.
AMA StyleJosé R. García-Martínez, Juvenal Rodriguez Resendiz, Miguel Angel Martínez Prado, Edson Eduardo Cruz Miguel. Assessment of jerk performance s-curve and trapezoidal velocity profiles. 2017 XIII International Engineering Congress (CONIIN). 2017; ():1-7.
Chicago/Turabian StyleJosé R. García-Martínez; Juvenal Rodriguez Resendiz; Miguel Angel Martínez Prado; Edson Eduardo Cruz Miguel. 2017. "Assessment of jerk performance s-curve and trapezoidal velocity profiles." 2017 XIII International Engineering Congress (CONIIN) , no. : 1-7.
In order to attenuate the added noise by electric network used by myoelectric signals acquisition equipment, in this research work, it is developed an IIR digital filter implemented on FPGA. This filter removes a specific spectra frequencies without adding noise to the signal, which allows a better performance in the usage that is given to the signals. The filter coefficients are taken and proved from MATLAB functions. Then, those are transferred to the filter design in the FPGA. For this purpose, it was used a Basys 3 of Xilinx Artix-7 family and the design was implemented in Vivado Design Suite. The filtered signal does not present additional noise and it was eliminated the desired frequency.
D. C. Toledo-Perez; M. A. Martinez-Prado; J. Rodriguez-Resendiz; S. Tovar Arriaga; M. A. Marquez-Gutierrez. IIR digital filter design implemented on FPGA for myoelectric signals. 2017 XIII International Engineering Congress (CONIIN) 2017, 1 -7.
AMA StyleD. C. Toledo-Perez, M. A. Martinez-Prado, J. Rodriguez-Resendiz, S. Tovar Arriaga, M. A. Marquez-Gutierrez. IIR digital filter design implemented on FPGA for myoelectric signals. 2017 XIII International Engineering Congress (CONIIN). 2017; ():1-7.
Chicago/Turabian StyleD. C. Toledo-Perez; M. A. Martinez-Prado; J. Rodriguez-Resendiz; S. Tovar Arriaga; M. A. Marquez-Gutierrez. 2017. "IIR digital filter design implemented on FPGA for myoelectric signals." 2017 XIII International Engineering Congress (CONIIN) , no. : 1-7.
An image-processing method has been applied to the contactless detection of the respiration activity of a baby in order to prevent the sudden infant death syndrome. By using a conventional camera to obtain a video stream, the system can estimate the respiratory rate of a newborn through an image processing algorithm in an embedded system. Likewise, if an apnea episode of more than 10 seconds occurs, an audible alarm is triggered in an effort to stop the attack; additionally, a wireless data transmission device is able to send an alarm to any nearby mobile device.
Diana Lucia Dorantes Olvera; David Santoyo Lopez; Miguel Angel Martínez Prado; Juvenal Rodriguez Resendiz; Yerett Oliveri Rivera. Noninvasive monitoring system for early detection of apnea in newborns and infants. 2016 IEEE EMBS Conference on Biomedical Engineering and Sciences (IECBES) 2016, 494 -498.
AMA StyleDiana Lucia Dorantes Olvera, David Santoyo Lopez, Miguel Angel Martínez Prado, Juvenal Rodriguez Resendiz, Yerett Oliveri Rivera. Noninvasive monitoring system for early detection of apnea in newborns and infants. 2016 IEEE EMBS Conference on Biomedical Engineering and Sciences (IECBES). 2016; ():494-498.
Chicago/Turabian StyleDiana Lucia Dorantes Olvera; David Santoyo Lopez; Miguel Angel Martínez Prado; Juvenal Rodriguez Resendiz; Yerett Oliveri Rivera. 2016. "Noninvasive monitoring system for early detection of apnea in newborns and infants." 2016 IEEE EMBS Conference on Biomedical Engineering and Sciences (IECBES) , no. : 494-498.
In this paper, an industrial robot interface is presented. This is suitable for different subjects related to robotics including robot kinematics control systems and actuators. Hardware and software stages are depicted. Besides, as a manner to teach students to select and calculate electrical components for a robot, it is presented a retrofit of a commercial six-degree of freedom robot arm from Nachi. Also, it is shown the design of a PC-based interface that poses enhanced features as: generation of profiles, handling and tuning joints and measurement of the main parameters such as electrical torque. An attractive feature for industry applications that poses is the flexibility to be coupled to similar servo systems. The HMI developed increases the quality of a final application that makes it friendly when analyzing and setting in operation. In addition, it is demonstrated that a simple PID controller programed in a TMS320F28335, is sufficient to perform high accuracy tasks. Certain practices are proposed in order to support educative skills for industry mechatronic systems.
J. Rodriguez-Resendiz; E. A. Rivas-Araiza; J. M. Gutierrez-Villalobos; M. A. Martinez-Hernandez; F. Mendoza-Mondragón; M. A. Martinez-Prado; M. Toledano-Ayala. Interactive tool for mechatronic systems: Two industrial robot cases. 2014 6th European Embedded Design in Education and Research Conference (EDERC) 2014, 282 -286.
AMA StyleJ. Rodriguez-Resendiz, E. A. Rivas-Araiza, J. M. Gutierrez-Villalobos, M. A. Martinez-Hernandez, F. Mendoza-Mondragón, M. A. Martinez-Prado, M. Toledano-Ayala. Interactive tool for mechatronic systems: Two industrial robot cases. 2014 6th European Embedded Design in Education and Research Conference (EDERC). 2014; ():282-286.
Chicago/Turabian StyleJ. Rodriguez-Resendiz; E. A. Rivas-Araiza; J. M. Gutierrez-Villalobos; M. A. Martinez-Hernandez; F. Mendoza-Mondragón; M. A. Martinez-Prado; M. Toledano-Ayala. 2014. "Interactive tool for mechatronic systems: Two industrial robot cases." 2014 6th European Embedded Design in Education and Research Conference (EDERC) , no. : 282-286.
This paper presents the design of a field-programmable gate array (FPGA)-based motion controller for robotic applications. In contrast to digital signal processor and microprocessor implementations, the control period of this system is fixed. Foregoing implementations on FPGA require microprocessor-based platforms for data interchange tasks consuming a large amount of resources; consequently, they could not be implemented on low logic density devices, or they use IP cores which limits the implementation of the system to only certain device families. This new motion controller architecture integrates control and communication modules in a single chip which permits an increase to the number of axis according to the system requirements. The proposed design presents a low consumption of logic resources; therefore, a considerable cost saving per axis is achieved. The system test has been carried out with a three-degree of freedom selective compliant assembly robot arm robot and a standard PC as master device. The digital filter parameters have been tuned by using a crossover frequency method. Step and profiled motion responses obtained show very good performance.
Miguel Martinez-Prado; Alfonso Franco-Gasca; Gilberto Herrera-Ruiz; Otoniel Soto-Dorantes. Multi-axis motion controller for robotic applications implemented on an FPGA. The International Journal of Advanced Manufacturing Technology 2012, 67, 2367 -2376.
AMA StyleMiguel Martinez-Prado, Alfonso Franco-Gasca, Gilberto Herrera-Ruiz, Otoniel Soto-Dorantes. Multi-axis motion controller for robotic applications implemented on an FPGA. The International Journal of Advanced Manufacturing Technology. 2012; 67 (9):2367-2376.
Chicago/Turabian StyleMiguel Martinez-Prado; Alfonso Franco-Gasca; Gilberto Herrera-Ruiz; Otoniel Soto-Dorantes. 2012. "Multi-axis motion controller for robotic applications implemented on an FPGA." The International Journal of Advanced Manufacturing Technology 67, no. 9: 2367-2376.