Camilo Andrés Cáceres Flórez

Camilo Andrés Cáceres Flórez

Mechatronic Engineer, Master in Mechanical Engineering and PhD student of Mechatronics. Aiming to Improve and integrate different technologies. Learning lover.

Publications

Control structure for a car-like robot using artificial neural networks and genetic algorithms

Published in Neural Computing and Applications, 2018

The idea of improving human s life quality by making life more comfortable and easy is nowadays possible using current technologies and techniques to solve complex daily problems. The presented idea in this work proposes a control strategy for autonomous robotic systems, specifically car-like robots. The main objective of this work is the development of a reactive navigation controller by means of obstacles avoidance and position control to reach a desired position in an unknown environment. This research goal was achieved by the integration of potential fields and neuroevolution controllers. The neuro-evolutionary controller was designed using the (NEAT) algorithm -Neuroevolution of Augmented Topologies- and trained using a designed training environment. The methodology used allowed the vehicle to reach a certain level of autonomy, obtaining a stable controller that includes kinematic and dynamic considerations. The obtained results showed significant improvements compared to the comparison work.

Recommended citation: Caceres Florez, C.A., Rosario, J.M. & Amaya, D. Neural Comput & Applic (2018).https://doi.org/10.1007/s00521-018-3514-1 https://link.springer.com/article/10.1007%2Fs00521-018-3514-1

Design, Simulation, and Control of an Omnidirectional Mobile Robot

Published in International Review of Mechanical Engineering (IREME) 12, 2018

Nowadays, the design phase of any mechatronic system is mandatory before the implementation and the construction of a prototype. In the design phase, it is crucial to minimize failures, without under-dimensioning, any drive system in the desired prototype, using different simulation tools to test the proposed design under varied conditions.In this paper, the design, the simulation, and the control of a holonomic or omnidirectional mobile robot are presented. The design approach consists of a mathematically based method. The obtained model is an approach of the studied mobile robot, that allows an approach to the system's behaviour, to a testing platform, and to a simulator for the desired robot, including most of the innerrobot's interactions. The main contributions of this paper are the presentation and the study case of a proposed structured methodology for the study of any mechatronic-robotic system.

Recommended citation: Caceres, C., Rosario, J., Amaya, D., Design, Simulation, and Control of an Omnidirectional Mobile Robot, (2018) International Review of Mechanical Engineering (IREME), 12 (4), pp. 382-389. doi:https://doi.org/10.15866/ireme.v12i4.13974 https://www.researchgate.net/publication/326703137_Design_Simulation_and_Control_of_an_Omnidirectional_Mobile_Robot

Development and interaction of a virtual laboratory assisted and controlled by PLC

Published in Entre Ciencia e Ingenieria vol 10 no 19, 2016

Hoy en dia el elemento basico en la industria es el PLC, cuya funcion principal es controlar los sistemas y procesos presentes en la industria. El uso de laboratorios virtuales en fases preliminares al completo montaje de las lineas de produccion resulta muy util para ahorrar dinero y tiempo. Se presenta la ventaja de poder tener los controladores y la logica secuencial ya funcionando en su gran mayoria, antes de tener el sistema completamente listo. este articulo presenta un desarrollo e implementacion de un ambiente virtual de una banda trasportadora en una cerveceria. A traves del protocolo OSC, el laboratorio virtual y el PLC, puede comunicarse y lograr una emulacion del sistema real en un ambiente virtual, donde el PLC ha sido programado como se haria para una industria.

Recommended citation: Caceres, C. A., & Amaya, D. (2016). Desarrollo e interaccion de un laboratorio virtual asistido y controlado por PLC. Entre Ciencia e Ingenieria, 10(19), 9-15. http://www.scielo.org.co/scielo.php?pid=S1909-83672016000100002&script=sci_arttext&tlng=es

Approach to Assistive Robotics Based on an EEG Sensor and a 6-DoF Robotic Arm

Published in International Review of Mechanical Engineering (IREME) 10, 2016

This work presents an approach to Assistive Robotics based in a Brain Computer Interface (BCI) on the Steady State Visual Evoked Potentials (SSVEP), using a 6-DOF Robotic Arm, an Emotiv EPOC sensor and a Kinect camera. The proposed architecture has the objective of integrating different systems, with the aim of creating a robotic assistant for the disabled or movement restricted user, improving the life quality of those people. The robot assistance assignment is related with actions like pick and place, or feed and hold food for the user, etc. The proposed methods are based in image and signal processing, BCI decision making, localization of a target point, trajectory planning for the robot arm, and execution of the assistive task. The most remarkable results validate the proposed approach as a good integration method of different technologies for assistive robotics tasks.

Recommended citation: Caceres, C., Rosario, J., Amaya, D., Approach to Assistive Robotics Based on an EEG Sensor and a 6-DoF Robotic Arm, (2016) International Review of Mechanical Engineering (IREME), 10 (4), pp. 253-260. doi:https://doi.org/10.15866/ireme.v10i4.9323 https://www.researchgate.net/profile/Camilo_Caceres_Florez2/publication/307956503_Approach_to_Assistive_Robotics_Based_on_an_EEG_Sensor_and_a_6-DoF_Robotic_Arm/links/57d76c7b08ae601b39ac2de2/Approach-to-Assistive-Robotics-Based-on-an-EEG-Sensor-and-a-6-DoF-Robotic-Arm.pdf

Simulation, Model and Control of a Quadcopter AR Drone 2.0

Published in International Review of Mechanical Engineering (IREME) 10, 2016

Nowadays, aerial robotics and in general UAVs have been developed with a potential increase, due to their many applications in the area of security, tele informatics and military, among others. This paper presents the mathematical model, control and simulation in Matlab of a quadcopter, based on aerial robot AR Drone 2.0 from Parrot s company. In the first part of the work, a brief introduction to the unmanned aerial robotics is done and a state of art for specific applications with the AR Drone is presented. Subsequently, the mathematical model of the vehicle is developed in order to obtain the kinematic characterization and to design a control algorithm that allows the manipulation of this device. Finally, the algorithms are tested on a simulation conducted in Matlab and the outstanding test results are presented as well as the conclusions of the work performed.

Recommended citation: Caceres, C., Amaya, D., Rosario, J., Simulation, Model and Control of a Quadcopter AR Drone 2.0, (2016) International Review of Mechanical Engineering (IREME), 10 (3), pp. 197-202. doi:https://doi.org/10.15866/ireme.v10i3.8648 https://www.praiseworthyprize.org/jsm/index.php?journal=ireme&page=article&op=view&path[]=18670

Design of a Bio-Inspired Equine Robot Prototype

Published in International Review of Mechanical Engineering (IREME) 10, 2016

Bio-inspired design is a science field attempting to create different technological systems based on the nature, as for example the bio-sensors, bio-materials and bio-actuators. These last are a new category of the bio-inspired design trying to develop new locomotion systems for mobile robotics taking as reference the behavior of different animals, like reptiles, birds and mammals such as the case of the horse. The study of the horse anatomy has allowed to create quadruped robots, showing important advantages over common mobile robots. One of these advantages is the operation in different types of environments, considering that a great part of the earth s surface complicates the mobility of the robots based on wheels. In this way the present paper shows the design of a robot inspired to the behavior of the horse limb. In first place the design of a mathematical model of the horse skeleton and its muscles by using the Denavit-Hartenberg method was performed for further dynamic analysis. Once the dynamic analysis was done, the mechanical simulation with the zoometric data of Colombian horse of paso-fino type was elaborated by a CAD software known as SolidWorks, obtaining as a result the physical data related to the movement of the robot. The proposed design tries to conserve the proportion between biologic system and the bio-inspired robot, with the objective to achieve an optimum performance and similarity of mechanical develop, and its general structure.

Recommended citation: Caceres, C., Puerta, J., Jimenez, R., Rojas, D., Design of a Bio-Inspired Equine Robot Prototype, (2016) International Review of Mechanical Engineering (IREME), 10 (1), pp. 12-17. doi:https://doi.org/10.15866/ireme.v10i1.7672 https://www.praiseworthyprize.org/jsm/index.php?journal=ireme&page=article&op=view&path[]=18109

Mathematical Modeling, Control and Simulation of a Suspension System with Energy Regeneration

Published in International Review of Mechanical Engineering (IREME) 9, 2015

Nowadays, active suspension systems are more frequently used in the automotive industry, due to these mechanisms allowing to take advantage of the absorbed energy from the irregularity of the roads, transforming them into electrical energy. This paper presents the analysis of the suspension mechanism with energy regeneration of a car, analyzed implementing Matlab simulation software, where different tools like SimMechanics and Simulink were used, likewise the operation of the regeneration method and each of the components in the suspension model were visualized, comparing the proposed system with the traditional one, showing the differences in the quality and therefore the comfort offered by the automobile.

Recommended citation: Caceres, C., Mora Montanez, J., Amaya, D., Mathematical Modeling, Control and Simulation of a Suspension System with Energy Regeneration, (2015) International Review of Mechanical Engineering (IREME), 9 (4), pp. 377-381. doi:https://doi.org/10.15866/ireme.v9i4.6272 https://www.researchgate.net/publication/282313727_Mathematical_Modeling_Control_and_Simulation_of_a_Suspension_System_with_Energy_Regeneration

Procesamiento de imagenes para reconocimiento de danos causados por plagas en el cultivo de Begonia semperflorens (flor de azucar)

Published in Acta Agronomica 64, 2015

Nowadays, an important element in farming, is the use of technology, based on the analysis of the different factors that affect the succesfull development of the crops. The results are presented in the recognition of pests, in this work a computer machine vision, as a diagnostic was used. The images capturing were doing with a robotic air agent, equipped with a camera, capturing images of the state of a crop of a plant called "Flor de azucar" (Begonia semperflorens). These images are processed using machine vision techniques to identify the possible attack of pests on the crop. The techniques used are morphological filters, Gaussian blur filter and HSL. The main result of this work was accomplished, perform the detection of the perforation of the leaves as a result of pest attack, specifically slugs, snails, spider mites and leafminers.

Recommended citation: Caceres Florez, Camilo Andres, Olga Lucia Ramos Sandoval, and Dario Amaya Hurtado. "Procesamiento de imagenes para reconocimiento de danos causados por plagas en el cultivo de Begonia semperflorens (flor de azucar)." Acta Agronomica 64, no. 3 (2015): 273-279. https://revistas.unal.edu.co/index.php/acta_agronomica/article/view/42657/53028

State Feedback Control System of a Bar and Beam Using Emulated Hardware in the Loop (HIL)

Published in International Review of Automatic Control (IREACO) 8, 2015

Nowadays due to new technologies, many tools facilitate analysis and control of any system. Among the most used tools, exists the embedded systems, as a way of systems emulating under the concept of HIL (Hardware in-the loop); allowing quick and economic development of any type mechatronic product. This paper shows the results obtained in the design and development of control strategies for a process bar and ball, and this dynamic was implemented thought an ARM system, under the concept presented in this work HIL. In this model the variables analyzed where position, speed, angular position and angular velocity; additionally a 2D virtual environment was presented showing the operation of the bar-ball system according to an input signal obtained from the PC was implemented.

Recommended citation: Caceres, C., Mora, J., Amaya, D., State Feedback Control System of a Bar and Beam Using Emulated Hardware in the Loop (HIL), (2015) International Review of Automatic Control (IREACO), 8 (1), pp. 32-38. doi:https://doi.org/10.15866/ireaco.v8i1.5135 https://www.praiseworthyprize.org/jsm/index.php?journal=ireaco&page=article&op=view&path[]=16586