Output Feedback Control for a Quadrotor Aircraft Using an Adaptive High Gain Observer

Gerardo Flores,V. González-Huitron,A. E. Rodríguez-Mata 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6

This paper addresses the problem of quadrotor control under unknown and time-varying disturbances. It is assumed that such disturbances affect the entire quadrotor’s dynamics, i.e., in attitude and position. To stabilize the quadrotor, we propose an output-feedback control approach, in which we implement a Backstepping control together with an Adaptive High Gain Observer to estimate disturbances. The stability of the closed-loop system is proved via the Lyapunov theory. Furthermore, the effectiveness of the methodology is illustrated through numerical simulations and experiments.

Frequency Response Based Extremum Seeking Control of a Single-link Flexible Robot

Daniel Rodríguez Flores,Carlos A. Cruz-Villar,Héctor Cervantes-Culebro 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6

This paper introduces a frequency response based extremum seeking controller (FRB-ESC) that utilizes the natural frequencies and antiresonances of the system in the design of the FRB-ESC. Starting from a natural frequency and transitioning in a continuous way onto the antiresonance of the system allows the minimization of vibrations at the free end. Designing control schemes for flexible-link manipulators is rather complex due to the system distributed nature that is modeled by infinite degrees of freedom, where for control purposes there is only a finite number of sensors and actuators, with a finite bandwidth. The control objective consists on simultaneous trajectory tracking and vibration minimization at the free end of the flexible manipulator employing a single actuator, an optical encoder at the hub of the flexible manipulator and an accelerometer at the free end. Unlike conventional control strategies that add damping to the system, the FRB-ESC minimizes the vibration at the free end. To illustrate the capabilities of the control to minimize vibrations in the most extreme case the reference trajectory is a sinusoidal signal whose frequency is equal to the first mode of vibration of the system. The FRB-ESC achieves attenuation of the free end vibrations and decreases the angular error in the transient state with the use of a single actuator at the hub of the system. The FRB-ESC results are then compared to a PID and a positive position feedback (PPF) controllers achieving up to 42% reduction of the second derivative of the elastic deflection.

PID Principles to Obtain Adaptive Variable Gains for a Bi-order Sliding Mode Control

Sergio Alvarez-Rodríguez,Gerardo Flores 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.10

A new model to obtain adaptive variable gains for a bi-order Sliding Mode Control is proposed in this work. The variable gains for the controller are designed to dynamically adapt their values, using principles of the well-known Proportional-Integral-Derivative control technique, where the magnitude of the tracking error is the signal feedback. According to the way to tune parameters, it can become a first-order or a second-order controller. This design takes into account the actuators’ constraints (operational limits of the plant to control). As a result of theadaptive properties of the proposed scheme, the new controller significantly reduces the energy consumption in control processes, and it rejects the so-called chattering-effect, simultaneously maintaining the main robust properties of the Sliding Mode strategy. In order to show the feasibility and effectiveness of the proposed design, simulation results are presented, where the performance of the proposed controller is compared with the conventional Sliding Modes of order one and two, and also with the classical PID controller. A strong stability analysis in the sense of Lyapunov is presented, showing global exponential stability for the equilibrium point of the closed-loop control system when the proposed control design is used.

Variable Gains Sliding Mode Control

Sergio Alvarez-Rodríguez,Gerardo Flores,Noé Alcalá Ochoa 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.3

In this paper a sliding mode control with variable gains is proposed. Such a controller has chatteringeffect reduction without detriment to the robustness properties of the sliding modes. The key idea behind the control design is that the variable gains magnitude is proportional to the trajectory tracking error magnitude. Also, this design establishes a connection between both the first and the second order sliding modes control. It is demonstrated that the proposed controller does not overestimates disturbances, which significantly reduces the control energy used. Finally, a stability analysis in the sense of Lyapunov is developed to demonstrate finite time convergence to the origin; simulations experiments are carried out to show the effectiveness and robustness of the proposed controller.

Gold nanoparticles: uptake in human mast cells and effect on cell viability, inflammatory mediators, and proliferation

Gutiérrez-Calleja Ramón A.,Rodríguez-Cortés Octavio,Flores-Mejía Raúl,Muñoz-Diosdado Alejandro 대한독성 유전단백체 학회 2021 Molecular & cellular toxicology Vol.17 No.4

Background Gold nanoparticles (AuNPs) have potential for a wide range of applications as therapeutic and diagnostic agents. Since they have a high probability of interacting with human immune cells, cytotoxicity studies must be conducted. The investigation of AuNP/immune cell interaction has mainly focused on macrophages and dendritic cells, along with some other cell lineages. Scarce information is available regarding the effect of AuNPs on mast cells, which are abundant in the skin, mucosa, and perivascular space. Objective To examine the uptake of AuNPs by HMC-1 human mast cells and the resulting effect on cell viability, pro-inflammatory mediators production, and proliferation. Results With AuNPs treatment, the viability of HMC-1 cells decreased slightly (never less than 95%) during the first 4 h, but no changes were detected in the proliferation rate at any time. Increasing concentrations of AuNPs produced greater cell granularity (uptake). CLSM images exhibited AuNPs clusters in the cell cytoplasm. TNF-α and ROS production was not stimulated by AuNPs treatment at any concentration/time. Conclusion Internalization of AuNPs into HMC-1 cells was demonstrated in an in vitro model, without showing cytotoxic effects or induction of pro-inflammatory mediators at any concentration tested. Background Gold nanoparticles (AuNPs) have potential for a wide range of applications as therapeutic and diagnostic agents. Since they have a high probability of interacting with human immune cells, cytotoxicity studies must be conducted. The investigation of AuNP/immune cell interaction has mainly focused on macrophages and dendritic cells, along with some other cell lineages. Scarce information is available regarding the effect of AuNPs on mast cells, which are abundant in the skin, mucosa, and perivascular space. Objective To examine the uptake of AuNPs by HMC-1 human mast cells and the resulting effect on cell viability, pro-inflammatory mediators production, and proliferation. Results With AuNPs treatment, the viability of HMC-1 cells decreased slightly (never less than 95%) during the first 4 h, but no changes were detected in the proliferation rate at any time. Increasing concentrations of AuNPs produced greater cell granularity (uptake). CLSM images exhibited AuNPs clusters in the cell cytoplasm. TNF-α and ROS production was not stimulated by AuNPs treatment at any concentration/time. Conclusion Internalization of AuNPs into HMC-1 cells was demonstrated in an in vitro model, without showing cytotoxic effects or induction of pro-inflammatory mediators at any concentration tested.

PLASMON RESONANCE AND RAMAN MODES IN Pb NANOPARTICLES OBTAINED IN EXTRACT OF OPUNTIA FICUS-INDICA PLANT

L. P. RAMÍREZ-RODRÍGUEZ,M. CORTEZ-VALADEZ,H. ARIZPE-CH AVEZ,J.-G. BOCARANDO-CHACON,R. RAMÍREZ-BON,S. VELUMANI,M. FLORES-ACOSTA 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2014 NANO Vol.9 No.6

Colloidal nanoparticles were obtained by green synthesis, embedded in the Opuntia ¯cus-indicaplant extract. Optical measurements allowed us to detect two absorption bands centered in230 nm and 298 nm. Agglomerates of Pb nanoparticles have size in the range 2 – 8 nm. The ef-fective absorption cross section of spherical Pb nanoparticles was calculated by applying the Mietheory for colloidal systems and compared to optical absorption measurements of Pb nano-particles. The Raman spectrum of the samples after the reduction of Pb, shows a band at lowwavenumbers centered at 116 cm? 1 . Similar bands have been assigned to small Pb and Agclusters in other experimental results. Additionally, we used the density functional theory (DFT)as well as semi-empirical methods to assign this band to radial breathing modes of Pb metalnanoparticles.

Are Tattoos an Indicator of Severity of Non-Suicidal Self-Injury Behavior in Adolescents?

Marco Antonio Solís-Bravo,Yassel Flores-Rodríguez,Liliana Guadalupe Tapia-Guillen,Aymara Gatica-Hernández,Miriam Guzmán-Reséndiz,Luis Alberto Salinas-Torres,Tania Lucila Vargas-Rizo,Lilia Albores-Gall 대한신경정신의학회 2019 PSYCHIATRY INVESTIGATION Vol.16 No.7

Objective To compare adolescents with non-suicidal self-injury behavior and tattoos [NSSI (T+)] with another group with non-suicidal self-injury behavior without tattoos [NSSI (T-)]. Methods Adolescents (n=438) 42.6% males from the community (M=12.3, SD=1.3), completed the Self-Injury Schedule. Results The lifetime prevalence of tattoos performed with the purpose to feel pain was 1.8%. Compared to the NSSI (T-) group, the NSSI (T+) group was significantly more likely to meet the DSM-5 frequency criteria of 5 self-injury events in 1 year, practice more than one method of self-injury, and topography, more suicidal intentionality, more negative thoughts and affective emotions before, during, and after self-injury and more academic and social dysfunction. Conclusion Adolescents from the community who practice tattooing to feel pain, show a distinct phenotype of NSSI. Health professionals and pediatricians should assess tattooing characteristics such as intention (to feel pain), frequency, and presence of non-suicidal self-injury behavior and suicide intentionality.

Low Wavenumber Raman Modes and Plasmon Resonance in Cd Nanoparticles Obtained in Extract of Opuntia ficus-indica Plant

M. Cortez-Valadez,L. P. Ramírez-Rodríguez,J.-G. Bocarando-Chacon,M. FLORES-ACOSTA,S. VELUMANI,R. Ramírez-Bon 성균관대학교(자연과학캠퍼스) 성균나노과학기술원 2015 NANO Vol.10 No.7

"Cadmium colloidal crystalline nanoparticles were obtained by a simple green synthesis method employing the plant extract of Opuntia ficus-indica. The plant extract reduces the Cd ions and stabilizes the size of cadmium colloidal particles at the nanometric level. The size and morphology of agglomerates of nanoparticles of about 100 nm were analyzed by field-emission scanning electron microscopy (FESEM). The size, shape and crystalline structure of the Cd nanoparticles were determined from TEM analysis. The results show that Cd nanoparticles with hexagonal crystalline structure and average size 2–3 nm were obtained by this green synthesis method. The optical absorption spectrum of the colloidal solution containing the cadmium nanoparticles displays an optical absorption band centered at 236 nm, which was attributed to the plasmon resonance of the Cd colloidal nanoparticles. Mie theory for colloidal systems was applied to reproduce theoretically the plasmon resonance absorption data of the Cd colloidal nanoparticles. Furthermore, the Raman spectrum of powder from dried samples after reduction of cadmium ions, displays a low wavenumber vibration mode centered at 114 cm-1, assigned to the Cd nanoparticles. Density functional theory (DFT) calculations at local spin density approximation (LSDA) level were performed to determine the structure and vibrational properties of small clusters of cadmium consisting of 3–10 atoms. Radial breathing modes with frequencies between 90 cm-1 and 120 cm-1 were found to be the most active Raman modes of the low-energy Cdn clusters."

Transcriptional and Mycolic Acid Profiling in Mycobacterium bovis BCG In Vitro Show an Effect for c-di-GMP and Overlap between Dormancy and Biofilms

Miguel A. De la Cruz,Miguel A. Ares,Diana Rodríguez-Valverde,Alba Adriana Vallejo-Cardona,Mario Alberto Flores-Valdez,Iris Denisse Cota Núñez,Michel de Jesús Aceves-Sánchez,Jonahtan Lira-Chávez,Jacobo 한국미생물·생명공학회 2020 Journal of microbiology and biotechnology Vol.30 No.6

Mycobacterium tuberculosis produces mycolic acids which are relevant for persistence, recalcitrance to antibiotics and defiance to host immunity. c-di-GMP is a second messenger involved in transition from planktonic cells to biofilms, whose levels are controlled by diguanylate cyclases (DGC) and phosphodiesterases (PDE). The transcriptional regulator dosR, is involved in response to low oxygen, a condition likely happening to a subset of cells within biofilms. Here, we found that in M. bovis BCG, expression of both BCG1416c and BCG1419c genes, which code for a DGC and a PDE, respectively, decreased in both stationary phase and during biofilm production. The kasA, kasB, and fas genes, which are involved in mycolic acid biosynthesis, were induced in biofilm cultures, as was dosR, therefore suggesting an inverse correlation in their expression compared with that of genes involved in c-di-GMP metabolism. The relative abundance within trehalose dimycolate (TDM) of α- mycolates decreased during biofilm maturation, with methoxy mycolates increasing over time, and keto species remaining practically stable. Moreover, addition of synthetic c-di-GMP to mid-log phase BCG cultures reduced methoxy mycolates, increased keto species and practically did not affect α-mycolates, showing a differential effect of c-di-GMP on keto- and methoxy-mycolic acid metabolism.

Nutraceutical effects of bioactive peptides obtained from Pterophylla beltrani (Bolivar & Bolivar) protein isolates

Laura Jenet Montiel-Aguilar,Jorge Ariel Torres-Castillo,Rocío Rodríguez-Servin,Adiel Berenice López-Flores,Víctor Eustorgio Aguirre-Arzola,Gerardo Méndez-Zamora,Sugey Ramona Sinagawa-García 한국응용곤충학회 2020 Journal of Asia-Pacific Entomology Vol.23 No.3

Edible insects have been important sources of food proteins for human consumption and animal feed. In this study, a protein isolate from Pterophylla beltrani Bolivar & Bolivar, 1942 (Orthoptera: Tettigoniidae) was enzymatically processed and its nutraceutical properties were evaluated. Protein isolates were obtained from an insect flour and then was hydrolyzed for 5 h with a sequential process using pepsin and trypsin-chymotrypsin to simulate the gastric intestinal fluids. To evaluate the effect of peptide molecular size on nutraceutical properties, the peptides obtained from Total hydrolyzed (TH) were fractionated by ultrafiltration (UF) with 10 kDa and 3 kDa UF membranes giving fractions (F) with different molecular size (F < 3KDa, F < 10KDa and F > 10KDa). The inhibition assay of Angiotensin-Converting Enzyme (ACE) showed that the best treatment (P < 0.05) was the (TH) with an IC50 value of 0.5 mg/mL while the F < 3KDa was the lowest (P < 0.05) with an IC50 of 1.44 mg/mL, and the peptide size had no effect. However, an α-amylase inhibition was observed with an increase of the IC50 value between TH, F > 10KDa and F < 10KDa although no significative difference (P > 0.05) was found between the TH and F < 3KDa with IC50 of 0.48 and 0.68 mg/mL, respectively. In antioxidant activity, significant differences (P < 0.05) were observed between TH and UF fractions where the best response was in the F < 3KDa. In conclusion, P. beltrani proteins isolate are a source of bioactive peptide, and these could be considered as potential edible insect and sustainable food with nutraceutical effects.