Tecnura

12-21

Authors: Maximiliano Bueno López, Marco Arteaga Pérez, Antonio Candea Leite

Visual servoing of robot manipulators has been an evolving issue in recent years, especially in applications where the environment is not structured or where access is difficult for operators. To design these controllers, previous simulations are important to adjust parameters or implement a behavioral approach. In this paper we present two different models of vision systems. The models focus on applications in the field of manipulator-robot control. The modeling of video cameras is obtained by using perspective projections. To validate the models, two servo visual controllers in 2D and 3D are simulated

33-40

Authors: Francis Armando Segovia

The research presented in the following paper concerns condensed matter areas in the feld of semiconductor physics. This research uses the basic principles of quantum mechanics, particularly effective mass approximation. The aim of this paper is to determine the energies of ground state as well as the energies of electron-hole transition when a semiconductor heterostructure GaAs-Ga1-xAlxAs is immersed in a barrier of Ga1-yAlyAs, by applying hydrostatic pressure. The methodology proposed in the present work analytically solves Schrodinger's second-order differential equation to find solutions and allow determining the corresponding differential equation together with the energies of transition in the ground state. This is accomplished through the application of hydrostatic pressure. The main results were obtained using software package Mathematica 5.0. Results indicate a regime of strong confinement for small widths of the potential well in semiconductor heterostructures, where the confinement potential lessens with pressure for the charge-carrier function (electron-hole). However, the findings demonstrate that, in the regime of weak confinement, the effects of hydrostatic pressure on the heights of the barrier are more significant, and there is also a reduction in carrier energies.

53-63

Authors: Danilo Alfonso López Sarmiento, Carlos Andrés Martínez Alayón, Edward Johannes Uribe Sierra, Nicolas Carlos Eduardo Torres Vallejo

This paper presents the results obtained by representing losses in a digital video transmission using ARIMA and SARIMA models. The experiments were conducted following the Box-Jenkins methodology and using programming language R for the estimation of coefficients. A comparison of these two models was conducted in order to determine what the most appropriate model was in order to represent the original series and estimate future values. The findings indicate that SARIMA provide better matching and better prediction of the original data set.

74-83

Authors: Nancy Esperanza Olarte López, Astrid Rubiano Fonseca

This paper shows the design and implementation of a storage system with security parameters intended for biological signals. The system deals with two important aspects. On the one hand, signal processing; on the other hand, software application developments that support telemedicine platforms. The rationale behind the implementation of such systems is the current situations in hospital environments, where there is the need to transmit these signals remotely with the best possible quality so as to provide an effective specialist diagnosis in the shortest time possible. First, within this methodology, ECG conditioning signal was proposed; then, temperature signal processing was also proposed. Additionally, the project considers respiration waveforms, and blood pressure signals are also processed. Different calculations were proposed for signal processing in order to implement circuits with discrete and surface electronic components. The implemented software was created using the Java platform, including security authentication parameters based on specific knowledge (username, password and a secret question answer). This allowed subsequent visualization of several ECG and temperature signals associated with patients. The information captured is centrally stored and managed at the Military University Telemedicine Research Group - TIGUM server – where the whole project was developed. Additionally, the final prototype allows including more protocols, communication technologies for data transmission and reception, as well as security parameters for future implementation.

99-108

Authors: Carlos Alfonso Zafra Mejía, Nancy Ángela Peña Valbuena, Santiago Álvarez Prieto

Road sediments accumulated in dry weather carry metallic elements, which affects water resources when transported by runoff and deteriorates the air quality when suspended by wind and the turbulence induced by traffic. This paper presents the results of a pollution assessment on heavy metal particles associated to road sediment from two particular areas (i.e. Zones 1 and 2) of the Bogotá-Soacha highway (Colombia). Road sediment was collected in each area by direct sweep over a surface of 0.25 m2 and for a period of four months. The concentration of Mn, Fe, Cu, Zn, As, Cd, Ba and Pb was determined per size fraction (less than 250 !m from road sediment). These figures were obtained by means of fame atomic absorption spectrometry and also by using inductively coupled plasma mass spectrometry. The results suggest that the main origin of heavy metals were the mobile sources (i.e. the wear of tires, brake pads and automotive parts). In addition, it is shown that the concentration of Pb and Zn was higher than that allowed by current regulations (used as reference). With regard to urban soils, heavy metals that exceeded the permissible limits were as follows: Pb (21.7 % and 87.0 % of the time in Zones 1 and 2, respectively) and Zn (84.8 % and 82.6 % of the time in Zones 1 and 2, respectively).

121-137

Authors: Fredy Hernán Martínez Sarmiento, Alberto Delgado

Many of the "intelligent" features that we want in robots, machines and man-made systems, are already well implemented by nature. Therefore, it is reasonable to expect that, by imitating nature, "intelligent solutions" to human problems can be found. In this paper, we present a survey on the analysis of current developments connected to artificial design inspired by nature. Particular interest is devoted to living organisms. The study takes the POE model as the starting point, establishing a three-dimensional framework with three axes of biological development, namely phylogenetic, ontogenetic and epigenetic axes. For each of these axes, a survey of existing hardware implementations is conducted in order to gather their characteristics, strengths and weaknesses and establish a general map of the latest technological developments. Finally, we conclude that implementing this type of nature inspired algorithms is not only important but also indispensable in solving many complex problems today.

153-166

Authors: Fabián Andrés Giraldo, Elizabeth León, Jonatan Gómez

This paper presents introductory materials to datastream mining processes using clustering techniques. The limitations of traditional techniques are observed and the various approaches found in the literature are explained. The major trends in the different algorithms indicate that most applications separate the process into two phases; namely an online phase, which makes a data stream summarization in addition to the application of decay functions regardless of the data, and an offine phase, which is the application of traditional clustering techniques in order to obtain the cluster requested by users. The net result of this paper is a selection of desirable characteristics of an algorithm, based on the theoretical underpinnings of each of the works analyzed.

177-190

Authors: Nelson Flórez Ramírez, Francisco Javier López Correa, Andrea Lucia Flórez Rendón

Productivity and quality have been important in the search for higher levels of competitiveness in organizations. This, together with technological development, has allowed organizations to grow. However, low technological development in manufacturing industries (especially bakeries) has led to low levels of competitiveness in Colombia. "Politécnico Colombiano JIC" implemented a project called "Design and development of a piece of equipment for Quality Control in the breadmaking industry" (also strengthening the bonds between "universities and the industry") in order to implement and socialize technological knowledge for the growth of SMEs. The project was aimed at standardizing and improving the quality levels of fermentation processes (which are critical in bread making). Once data was collected, the product was assessed during and after the process of fermentation. Process conditions were tested together with the variables of greatest incidence in fermentation, namely temperature and humidity. Statistical analysis and quality tests showed the need for standardization in terms of process design, product specifications and quality characteristics of the product to be manufacture (e.g. length, width and height). The results from initial analysis allowed identifying potential specifications as well as obtaining the parameters of a mechanism for controlling process variables. To accomplish this, pictures of sample products into the fermentation tunnel (where the process takes place while maintaining the required conditions) were taken using a linear scanner. By avoiding the handling of the product, bread fermentation time was reduced by 50%. The mechanism allows making accurate measurements and recording data by preventing alterations in the process conditions for critical variables, which contributes to high-quality manufacture