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Abraham Efraim Rodríguez-Mata,Ivan González-Hernández,Jesus Gabriel Rangel-Peraza,Sergio Salazar,Rogelio Lozano Leal 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2
Wind is considered a strong disturbance for quadrotor aircrafts (UAV) when an outdoor task at a fixed point is carried out. The effect of wind produces a distortion on the attitude of the vehicle which is reflected on undesired longitudinal movements. This paper addresses a real-time implementation and design of a robust embedded control-observer based on a type high-gain observer algorithm for on-line estimation and compensation of external disturbances produced by wind gusts on an autonomous quadrotor aircraft. A real-time experimental implementation of embedded Residual High Gain algorithm control is proposed in order to eliminate the effects of real perturbations in the hover position of the UAV. A Lyapunov function was used to practical stability analysis the system. Also numerical simulations were carried out to estimate wind behavior by the use of Drydel mathematical wind model. The main contribution of this work is the implementation of a Residual High Gain Observer in an outdoor real-time experiment in presence of real wind gusts perturbations. The proposed embedded algorithm control improves the stabilization of an UAV in the presence of real wind gusts with average of 8 m/s. The proposed algorithm improved the UAV behavior as shown by the GPS position experimental results, decreasing the wind effect on the translational movement of the aircraft.
Abraham Efraim Rodríguez-Mata,Leonel Ernesto Amabilis-Sosa,Adriana Roé-Sosa,José Manuel Barrera-Andrade,Jesús Gabriel Rangel-Peraza,María G. Salinas-Juárez 한국화학공학회 2019 Korean Journal of Chemical Engineering Vol.36 No.3
This article proposes the use of mathematical models obtained by the Pearson correlation between the concentration of various recalcitrant organic compounds (ROCs) measured by chromatographic analysis (ChrA) and experimental chemical oxygen demand (COD). The aim is to reduce the number of samples processed by the ChrA, diminishing the economic costs of analysis. Ten ROCs, including pesticides, colorants, aromatic hydrocarbons and pharmaceuticals compounds, were introduced into four advanced oxidation processes operated at different residence times. Every ROC was tested at each residence time by COD determination and by quantification of concentrations with ChrA. Furthermore, chemical equations for the COD reaction of every ROC were formulated. A linear model was obtained for all the ROCs, after corroborating that the correlation between theoretical and experimental COD was >0.99, which established the ROC concentration from the experimental COD, omitting the ChrA. Results indicated that it is possible to know concentrations in most of the ROCs by means of the experimental COD with a >99±0.01% of accuracy, which leads to a cost decrease and even to evaluate methods in developing countries, which often do not have chromatographs and where pollution issues are meaningful.