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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control) Bulletin of Electrical Engineering and Informatics
Fredy Martinez
Universidad Distrital Francisco José de Caldas
Computer Science & IT Electrical & Electronics Engineering

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Journal : International Journal of Electrical and Computer Engineering

 1 
Obstacle detection for autonomous systems using stereoscopic images and bacterial behaviour Fredy Martinez; Edwar Jacinto; Fernando Martinez
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 2: April 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1240.044 KB) | DOI: 10.11591/ijece.v10i2.pp2164-2172

Abstract

This paper presents a low cost strategy for real-time estimation of the position of obstacles in an unknown environment for autonomous robots. The strategy was intended for use in autonomous service robots, which navigate in unknown and dynamic indoor environments. In addition to human interaction, these environments are characterized by a design created for the human being, which is why our developments seek morphological and functional similarity equivalent to the human model. We use a pair of cameras on our robot to achieve a stereoscopic vision of the environment, and we analyze this information to determine the distance to obstacles using an algorithm that mimics bacterial behavior. The algorithm was evaluated on our robotic platform demonstrating high performance in the location of obstacles and real-time operation.
Analysis and assessment software for multi-user collaborative cognitive radio networks Diego Giral; Cesar Hernandez; Fredy Martinez
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 4: August 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i4.pp4507-4520

Abstract

Computer simulations are without a doubt a useful methodology that allows to explore research queries and develop prototypes at lower costs and timeframes than those required in hardware processes. The simulation tools used in cognitive radio networks (CRN) are undergoing an active process. Currently, there is no stable simulator that enables to characterize every element of the cognitive cycle and the available tools are a framework for discrete-event software. This work presents the spectral mobility simulator in CRN called “App MultiColl-DCRN”, developed with MATLAB’s app designer. In contrast with other frameworks, the simulator uses real spectral occupancy data and simultaneously analyzes features regarding spectral mobility, decision-making, multi-user access, collaborative scenarios and decentralized architectures. Performance metrics include bandwidth, throughput level, number of failed handoffs, number of total handoffs, number of handoffs with interference, number of anticipated handoffs and number of perfect handoffs. The assessment of the simulator involves three scenarios: the first and second scenarios present a collaborative structure using the multi-criteria optimization and compromise solution (VIKOR) decision-making model and the naïve Bayes prediction technique respectively. The third scenario presents a multi-user structure and uses simple additive weighting (SAW) as a decision-making technique. The present development represents a contribution in the cognitive radio network field since there is currently no software with the same features.
Comparative study of optimization algorithms on convolutional network for autonomous driving Fernando Martinez; Holman Montiel; Fredy Martinez
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp6363-6372

Abstract

he last 10 years have been the decade of autonomous vehicles. Advances in intelligent sensors and control schemes have shown the possibility of real applications. Deep learning, and in particular convolutional networks have become a fundamental tool in the solution of problems related to environment identification, path planning, vehicle behavior, and motion control. In this paper, we perform a comparative study of the most used optimization strategies on the convolutional architecture residual neural network (ResNet) for an autonomous driving problem as a previous step to the development of an intelligent sensor. This sensor, part of our research in reactive systems for autonomous vehicles, aims to become a system for direct mapping of sensory information to control actions from real-time images of the environment. The optimization techniques analyzed include stochastic gradient descent (SGD), adaptive gradient (Adagrad), adaptive learning rate (Adadelta), root mean square propagation (RMSProp), Adamax, adaptive moment estimation (Adam), nesterov-accelerated adaptive moment estimation (Nadam), and follow the regularized leader (Ftrl). The training of the deep model is evaluated in terms of convergence, accuracy, recall, and F1-score metrics. Preliminary results show a better performance of the deep network when using the SGD function as an optimizer, while the Ftrl function presents the poorest performances.
Acoustic event characterization for service robot using convolutional networks Fernando Martinez; Fredy Martinez; Cesar Hernandez
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp6684-6696

Abstract

This paper presents and discusses the creation of a sound event classification model using deep learning. In the design of service robots, it is necessary to include routines that improve the response of both the robot and the human being throughout the interaction. These types of tasks are critical when the robot is taking care of children, the elderly, or people in vulnerable situations. Certain dangerous situations are difficult to identify and assess by an autonomous system, and yet, the life of the users may depend on these robots. Acoustic signals correspond to events that can be detected at a great distance, are usually present in risky situations, and can be continuously sensed without incurring privacy risks. For the creation of the model, a customized database is structured with seven categories that allow to categorize a problem, and eventually allow the robot to provide the necessary help. These audio signals are processed to produce graphical representations consistent with human acoustic identification. These images are then used to train three convolutional models identified as high-performing in this type of problem. The three models are evaluated with specific metrics to identify the best-performing model. Finally, the results of this evaluation are discussed and analyzed.
Co-Authors Angélica Rendón Cesar Hernandez Cristian Penagos Diego Armando Giral Ramirez Diego Giral Edwar Jacinto Fernando Martinez Holman Montiel Luis Pacheco