Daniel Zaldívar | Universidad Nacional Mayor de San Marcos (original) (raw)
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Papers by Daniel Zaldívar
A not trivial problem in bipedal robot walking is the instability produced by violent transitions... more A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot's position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot "Dany walker" designed at the Freie Universität Berlin.
A not trivial problem in bipedal robot walking is the instability produced by the violent transit... more A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot's position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot "Dany walker" designed at the Freie Universität Berlin, finally a briefly mechanical description of the robot structure is presented.
Threshold selection is a critical step in computer vision. Immune systems, has inspired optimizat... more Threshold selection is a critical step in computer vision. Immune systems, has inspired optimization algorithms known as Artificial Immune Optimization (AIO). AIO have been successfully applied to solve optimization problems. The Clonal Selection algorithm (CSA) is the most applied AIO method. It generates a response after an antigenic pattern is identified by an antibody. This works presents an image multi-threshold approach based on AIS optimization. The approach considers the segmentation task as an optimization process. The 1-D histogram of the image is approximated by adding several Gaussian functions whose parameters are calculated by the CSA. The mix of Gaussian functions approximates the histogram; each Gaussian function represents a pixel class (threshold point). The proposed approach is computationally efficient and does not require prior assumptions about the image. The algorithm demonstrated ability to perform automatic threshold selection.
La presente publicación es un aporte del Proyecto de Sanidad Vegetal de la Cooperación Técnica Al... more La presente publicación es un aporte del Proyecto de Sanidad Vegetal de la Cooperación Técnica Alemana al mejoramiento de la fertilidad de los suelos ya degradados por el efecto de la explotación permanente y el efecto desbastador de la erosión. La elaboración de abonos orgánicos ocupa un lugar muy importante en la agricultura, ya que contribuye al mejoramiento de las estructuras y fertilización del suelo a través de la incorporación de nutrimento y microorganismos, y también a la regulación del pH del suelo. Con la utilización de los abonos orgánicos los agricultores puede reducir el uso de insumos externos y aumentar la eficiencia de los recursos de la comunidad, protegiendo al mismo tiempo la salud humana y el ambiente.
A not trivial problem in bipedal robot walking is the instability produced by violent transitions... more A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot's position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot "Dany walker" designed at the Freie Universität Berlin.
A not trivial problem in bipedal robot walking is the instability produced by the violent transit... more A not trivial problem in bipedal robot walking is the instability produced by the violent transition between the different dynamic walk phases. In this work an dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot's position, velocity and acceleration. This guarantee a constant velocity an a smooth transition in the control trajectories. The algorithm was successfully probed in the bipedal robot "Dany walker" designed at the Freie Universität Berlin, finally a briefly mechanical description of the robot structure is presented.
Threshold selection is a critical step in computer vision. Immune systems, has inspired optimizat... more Threshold selection is a critical step in computer vision. Immune systems, has inspired optimization algorithms known as Artificial Immune Optimization (AIO). AIO have been successfully applied to solve optimization problems. The Clonal Selection algorithm (CSA) is the most applied AIO method. It generates a response after an antigenic pattern is identified by an antibody. This works presents an image multi-threshold approach based on AIS optimization. The approach considers the segmentation task as an optimization process. The 1-D histogram of the image is approximated by adding several Gaussian functions whose parameters are calculated by the CSA. The mix of Gaussian functions approximates the histogram; each Gaussian function represents a pixel class (threshold point). The proposed approach is computationally efficient and does not require prior assumptions about the image. The algorithm demonstrated ability to perform automatic threshold selection.
La presente publicación es un aporte del Proyecto de Sanidad Vegetal de la Cooperación Técnica Al... more La presente publicación es un aporte del Proyecto de Sanidad Vegetal de la Cooperación Técnica Alemana al mejoramiento de la fertilidad de los suelos ya degradados por el efecto de la explotación permanente y el efecto desbastador de la erosión. La elaboración de abonos orgánicos ocupa un lugar muy importante en la agricultura, ya que contribuye al mejoramiento de las estructuras y fertilización del suelo a través de la incorporación de nutrimento y microorganismos, y también a la regulación del pH del suelo. Con la utilización de los abonos orgánicos los agricultores puede reducir el uso de insumos externos y aumentar la eficiencia de los recursos de la comunidad, protegiendo al mismo tiempo la salud humana y el ambiente.