Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Development of pilot system of artificial vision for the acquisition of a point cloud using 3D vision technologies(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2015-05) Huamanchahua Canchanya, Deyby Maycol; HUAMANCHAHUA CANCHANYA, DEYBY MAYCOL; 550903; Guedea Elizalde, Federico; hermlugo, emipsanchez; Escuela de Ingeniería y Ciencias; Campus MonterreyOne of the goals of artificial vision is to permit that a computer analyzed a real scene, as if a person does. To achieve this purpose it is necessary to create a 3D model of that scene using a reconstruction. 3D reconstruction is the process by which the shape and the appearance of a three dimensional object or scene from a volume by analyzing the digital information provided by different types of sensors is recovered. The sensors may be passive (not interact with the object, such as different types of cameras based on the light of the visible spectrum) or active (the interaction comes from an object in response reflected waveform that is captured by the device). On the other hand, 3D reconstruction has several applications, such as robot navigation, allowing it to know in what part of the scene is located and being able to plan its movements without needing human help. It is also useful for determining quantities such as distances, areas or volumes, which may be applicable for quality controls as it can verify the processes and areas of objects that are being manufactured. Another application is the digitization of historical monuments and museums to create virtual tours, which users can access from the Internet. Besides, 3D reconstruction are given in the area of biomedical engineering. Anatomical reconstruction from medical images such as MRI structures has become an important tool in medical diagnosis and therapy planning and surgical procedures. Apart from the above applications, 3D reconstruction has many more applications in different areas. These are some of the many uses of three-dimensional reconstruction and for this reason there is a need to develop this project. The purpose of this project is to do an algorithm that, based on images, obtain a points cloud of an object. To achieve this aim, in first place; the different techniques developed about 3D reconstruction were studied in order to know the different possibilities. Some of these techniques such as telemetry laser, stereo vision, flight time or structured light which obtain models that are very accurate or not, but with the disadvantage of using expensive equipment in some cases. In second place, perform camera calibration using a calibration method. Finally, get the point cloud object to rebuild. This work shows that an algorithm can be done to reconstruct an object in three-dimensions, leaving for future developments the optimization for all kinds of objects. In addition it is an important basis for future developments, as many different techniques for image analysis were studied and compared.
- Evaluation, optimization and simulation of the production of a Tesla turbine and Stirling motor in a reconfigurable manufacturing system(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2012-12-01) Rivero Pérez, Luis Fernando; Rivero Pérez, Luis Fernando; 389903; Guedea Elizalde, Federico; Jiménez González, Ricardo; Cortés Ramírez, Jorge Armando; Cárdenas Alemán, Eduardo; Escuela de Ingeniería y Tecnologías de Información Programa de Graduados; Campus MonterreyEmerging economies and new ways of doing business are changing the world in a dramatic manner, these changes suggest that new competitive advantages must be created within companies to be able to develop customized products and cost effective manufacturing systems. Reconfigurability has been an issue in computing and robotics for many years. In general, reconfigurability is the ability to repeatedly change and rearrange the components of a system in a cost-effective way. In this thesis two products are manufactured in a Reconfigurable Manufacturing System (RMS) that has the ability to rearrange the conveyor belts because these were manufactured as modules. This research shows the evaluation and improvement of production process of a Tesla turbine and the creation of the production process of a Stirling motor in a Reconfigurable manufacturing system. Also, the two production processes were simulated in “Plant Simulation”. The methodology used to reach the objectives is based in the development of three main stages. The first stage “Obtaining of operations times” has the purpose of get the times of each operation involved in the production process. The second stage “Definition of the Process Flow” has the purpose of define the number of pallets, their contents and their flows in the manufacturing cell. Finally, the stage “Calculation of production parameters” has the purpose of calculate cycle times, production rates, utilizations can compare the improvement in relation with old production process or if the product has never been manufactured to can obtain good results and compare them in the future with others production process. For the Tesla turbine the reduction of the cycle time in percentage was 13.21%, therefore there was an increase in the production rate in 13.21%. Also, every station increased its utilization with the new production process. The production process of a Stirling motor was created using the same configuration that was used with the Tesla turbine and the cycle time obtained was 37 minutes and 45 seconds approximately.
- Development of a Language for Robot-Based Assembly Domain -Edición Única(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2011-12-01) Villegas Hernández, Yasmín Sarahí; Guedea Elizalde, Federico; Jiménez Pérez, Guillermo; Cabeza Azpiazu, Luis Vicente; Tecnológico de Monterrey, Campus Monterrey; Rodríguez González, Ciro ÁngelThis thesis research presents the implementation of a programming language to describe a Robot-based assembly and welding domain using tools as planners and parser in order to generate plans for robots. This programming language is used to describe an automated robotic-workcell. In this thesis, using this language, a plan can be generated, which is parsed in order to obtain a robot program for the pick-and-place task. The idea is to use the plan written in a high-level-language in order to get a generic-lowlevel-language robot program for pick-and-place task, using a planner and a parser. The generation of robot program works as follows: First, the planner generates a plan using the language developed. Second, the parser changes the high-level-language plan to a generic-low-level-language. Some examples are provided of the tests performed in this thesis. The language developed in this thesis was tested in order to prove their functionality by building some sub-assembly goals. Furthermore, the functionality of the other components of the system were tested separately and in combination with the language developed.
- Stereovision Feedback and Fuzzy Control for Autonomous Robot Navigation-Edición Única(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2010-12-01) Aristeo Hernández Martínez; Guedea Elizalde, Federico; Sedas Gersey, Sergio; Ramírez Cadena, Miguel de Jesús; Tecnologíco de Monterrey, Campus Monterrey; Casañon Ávila, Gerardo AntonioThe main objective of this thesis is the implementation of an autonomous robot that is capable of following a road w i t h the use of a stereocamera. The use of vision i n 3D is a trend i n many vision applications, and we would like to adopt it for autonomous vehicle navigation. Road following requires two crucial steps: the road recognition and the control of the speed and steering of the vehicle. To reach controllability i n these type of robots it is necessary to detect the road and make the image processing to calculate the manipulations needed to keep the robot i n the desired position and path. It can be said that vision systems are a very important factor i n the development of autonomous vehicles because they are the sensors of the robot; therefore, the image processing needs to be done on time i n order to detect the road and let the entire system to be controllable. Through this thesis, various techniques i n different areas such as road detection, image processing and fuzzy control theory will be examined i n order to achieve the objective.
- Remote manufacturing using distributed systems(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2009-12-01) Trasfí Covarrubias, Luis Carlos; Trasfí Covarrubias, Luis Carlos; 257653; Guedea Elizalde, Federico; Rodríguez González, Ciro Ángel; Siller Carrillo, Héctor Rafael; Tecnológico de Monterrey, Campus Monterrey; Rodríguez González, Ciro ÁngelGlobalization is a trend for companies to expand markets and seeks to have a global dimension that surpasses national borders. It is necessary to promote the development of communication and transport which involves the interconnection of decentralized networks computers connected to the manipulation of different machines with a world scope. So that it exists decentralized interconnection of networks of computer for the manipulation of different machines and the realization of modular and reconfigurable of manufacture systems can be worked using open control systems and distributed systems. An Open System has the capacity to program and to work with the software in several different platforms. Distributed systems consist of shared heterogeneous resources that are based on different platforms, architectures of hardware, software and programming languages in different places and belonging to a network that uses a publicly available specification for achieving a specific task. This thesis work consists on a mechanism used by standard middleware software for building object-oriented client–server applications in C++ language, on Windows operating System, on low cost commercial equipment communicating using TCP/IP protocol. This mechanism has two dedicated servers: one for video capturing and the other for the movement, speed and direction of axes. Furthermore each server has different application service that can be communicated independently in order to send specific information that can be added depending on the customer requirements. The results obtained with the set of experiments demonstrate that the low cost commercial equipment with communication to a computer has the advantage to have the vision for the manufacture of a piece by the communication with a computer, besides getting the control of the movement of the different machine axes. This application can be used in heterogeneous environments that access a remote object as accessing an ordinary, local C++ object. The main goal for using a distributed system is to show the transparency, openness, reliability, performance and scalability.
- Sistema robótico Distribuído CORBA: Caso de estudio Robot Motoman UP6(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2005-12-01) Mata Hernández, Josafat Miguel; GUEDEA ELIZALDE, FEDERICO;-GUEF640124HSRDLD08; Guedea Elizalde, Federico; emipsanchez; Vallejo Moreno, Gerardo A.; Morales Menéndez, Rubén; Programa de Graduados en ingeniería y Arquitectura; Campus MonterreySe presenta el caso de un robot industrial operado remotamente bajo una arquitectura distribuida. Este se basa en el middleware estándar CORBA para controlar un brazo manipulador MOTOMAN UP6 de seis grados de libertad. Este robot está basado en el controlador XRC2001. La propuesta se puede extender a cualquier otro controla-dor Yaskawa (e.g. ERC, ERCII, MRC, MRCII) sin grandes cambios en la configuración final propuesta. Igualmente el sistema puede adaptarse fácilmente para el control de movimientos de otros brazos manipuladores de mayores capacidades, como podrían ser un UP20, UP50, entre otros.La idea principal es definir un grupo genérico de intercases IDL que puedan ser usados para integrar librerías comerciales que oculten lo intrincado de los componentes de bajo nivel. Con esto los tiempos de desarrollo en las aplicaciones y la interoperabilidad entre equipos independientemente del proveedor de los componentes robóticos se ven mejorados.El reto final en el caso de estudio es crear una aplicación remota distribuida cliente-servidor, el cual facilite la integración de uno o varios brazos manipuladores basados en los controladores anteriormente mencionados o de otros fabricantes, independientemente del sistema computacional o las plataformas computacionales utilizadas en el desarrollo de las aplicaciones.
- Seguimiento de un objeto rígido mediante visión estéreo-Edición Única(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2005-11-01) Chacón Barragán, Gloria Estela; GUEDEA ELIZALDE, FEDERICO; 66688; Guedea Elizalde, Federico; emipsanchez; Morales Menéndez, Rubén; Vallejo Moreno, Gerardo; Campus MonterreyEl seguimiento de objetos para aplicaciones con robots requiere de algoritmos de visión computacional que respondan a requerimientos de tiempo real. La exigencia es mayor si se usa un sistema de visión estéreo para obtener la profundidad o distancia a la que se encuentra el objeto desde un punto de referencia visual para un robot. El presente trabajo muestra una extensión para algoritmos relacionados con visión estéreo y el seguimiento de objetos rígidos en trayectorias no conocidas con anterioridad. El algoritmo desarrollado se basa en una combinación de la heurística de seguimiento de centroide utilizando el método de interlinea, desarrollado por [1], el cual presenta una excelente eficiencia computacional, y el concepto del uso de partículas o puntos que rodean un objeto para la predicción o estimación de su posición en un tiempo t (imagen actual), conocida su posici∂on en un tiempo t-1 (imagen anterior) en un par de imágenes estéreo. Se muestran los resultados obtenidos mediante la comparación de los métodos de seguimiento de centroide mediante el método de interlinea [1], filtro de Kalman [2],filtro de Kalman extendido (EFK) [3] y algoritmo desarrollado en el presente trabajo de tesis
- Desarrollo de medidas estratégicas de desempeño en una empresa manufacturera(Instituto Tecnológico y de Estudios Superiores de Monterrey, 1999-01) Urbina Trujillo, Ramón; Guedea Elizalde, Federico; Tijerina Aguilera, Jacobo; González Flores, Magda; Programa de Graduados en Ingeniería; Campus Monterrey