Edilberto Carlos Vivas Gonzalez ¹, Diego Mauricio Rivera ¹, Edwar Jacinto ¹

Affiliations
1 Universidad Libre, Universidad Pedagogica Nacional and Universidad Distrital Bogota D.C., Bogota, CO

Abstract

Objectives: The educational implementation of code generation software for FPGA device is presented. The objective is to allow the students to develop implementations without knowing the structure of the programmable logics device, or any hardware description language. Methods: A software tool was developed for this purpose. In the user's interface of the tool, the transference function of the controller or digital filter must be entered, and then the code VHDL will be automatically generated in a standard format, compatible with any programmable logics device. Findings: It was found that the possibility that students might have by implementing a controller, or a higher-order system without making a complex code makes that the learning process speeds up, and that the student faces specific problems related to digital control and signals processing, leaving aside the restrictions given by the difficulties in the use of the hardware's description language, as well as the required knowledge of the devices structure. The use of the tool allows that students develop their laboratory practices generating digital dynamic systems in a high level, which allows avoiding potential errors in their implementations. Besides the possibilities in the industrial level, the tool is capable of being used by students of Engineering without knowledge in hardware programming, which study topics related to control, but not specialized in topics related to implementation. Application: Results linked to learning in some engineering classes with and without the use of the tool are shown at the end of this paper.

Keywords

Control Systems, Education, Engineering Teaching, FPGA Code Generation, Signal Processing.

Full Text

   

Mauricio Vladimir Pena ¹, Diego Mauricio Rivera ², Carol Rodriguez ², Ricardo Ramirez ³, Victor Grisales ³

Affiliations
1 Universidad Libre Colombia, Cl. 8 #580, Bogota, CO
2 Universidad Pedagogica Nacional Colombia. 72 #11-86, Bogota, CO
3 Universidad Nacional de Colombia, Bogota, D.C., Cundinamarca, CO

Abstract

Objectives: To analyze the layers in Convolutional Neural Network in the context of text recognition looking for interpretations. Methods/Analysis: Through the training of a deep Convolutional Neural Network and its application to the recognition of numerical characters from the MNIST dataset, the characteristics of deep architectures are studied and analyzed. Making a detailed study of the behavior of the different weights and their significance through the training of the network using - images, error values and gradient values which characterize each of the layers. Findings: After the training it is observed that the convolution layers have a possible interpretation. Results were obtained from the images of the MNIST dataset after going through the convolution layers with images and random filters. However, the most representative results are achieved by viewing a single image using random filters. Improvement: Recommendations for design and implementation based on the example and other references are presented.

Full Text

   

Nubia Nathaly Sánchez Galvis ¹, Diego Mauricio Rivera ¹, David Alejandro Martínez ²

Affiliations
1 Universidad Pedagogica Nacional, Bogota, CO
2 Universidad Nacional de Colombia, Bogota, CO

Abstract

Objectives: In this work we create and implement a terrestrial locomotion model inspired in Dove waking scheme and Craig nomenclature for biped robot movement design. Methods: For the model implementation we use the Craig method to obtain the transformation matrix that describes position and orientation of leg joints in Doves. We obtain biological experimental results in a group of Doves (Columbia livia) in order to contrast and complement previous work in terms of energy efficiency. Findings: We propose kinematic models for slow and moderate pace, which were evaluated through energy efficiency analysis. Application: The model offers an alternative for design of mobile robots where the locomotion is performed in irregular terrains since the biped model proposed here, has just two discrete support points in comparison with other types of locomotion such as wheels.

Keywords

Biped Locomotion, Biped Robotic, Bio-mechanical Motion, Craig Nomenclature, Denavit Hartenberg

Full Text