Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach

Mario Ramírez-Neria,Hebertt Sira-Ramírez,Rubén Garrido-Moctezuma,Alberto Luviano-Juárez 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1

A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilizationof a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelleddynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of thetangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended StateObserver (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed tobuild an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRCclassic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, aswell as a better behavior with respect to a classic control technique in the presence of disturbances.

Closed loop cable robot for large horizontal workspaces

Sergio Juárez-Pérez,Antonio González-Rodriguez,Guillermo Rubio-Gómez,David Rodríguez-Rosa,Erika Ottaviano,Fernando J. Castillo-Garcia 국제구조공학회 2021 Smart Structures and Systems, An International Jou Vol.27 No.2

Inspection and maintenance of civil structures are important issues for sustainability of existing and new infrastructures. Classical approach relies on large human activities eventually performed in unsafe conditions. This paper proposed a non-invasive solution for inspecting horizontal surface such as decks of bridges. The proposal presented here is based in cable-driven robots and allows to inspect large surfaces maintaining a very low vertical occupancy in comparison to the conventional architecture of this kind of robot. Using closed cables loop instead of a set of cables a device with low motorization power and very large workspace is designed and prototyped. As example of control an inverse dynamics technique is applied to control the end-effector where inspection tool is located, e.g., a vision system. Experimental results demonstrate that this novel device allows to inspect large horizontal surfaces, with low motorization and low vertical occupancy.

Clozapine in the Treatment of Aggression in Conduct Disorder in Children and Adolescents: A Randomized, Double-blind, Controlled Trial

Myrthala Juárez-Treviño,Antonio Costilla Esquivel,Lilia Marytza Leal Isida,Dionicio Ángel Galarza Delgado,Manuel E. de la O Cavazos,Lourdes Garza Ocañas,Rosalinda Sepúlveda Sepúlveda 대한정신약물학회 2019 CLINICAL PSYCHOPHARMACOLOGY AND NEUROSCIENCE Vol.17 No.1

Objective: This study was conducted to compare the efficacy of clozapine vs. risperidone in the treatment of aggression in conduct disorder in children and adolescents. Methods: Twenty-four children with conduct disorder aged 6 to 16 years were randomized in a prospective, double- blind trial into two groups to receive clozapine or risperidone for 16 weeks. The Modified Overt Aggression Scale score was used as the primary outcome of the study. Secondary outcomes were Child Behavior Checklist (CBCL) externalization (CBCL-E) and internalization factors; Aggression, Hyperactivity and Delinquency subscales of CBCL-E, Child Global Assessment Scale (CGAS), Barnes Akathisia Rating Scale, and Simpson-Angus Scale. Results: Both antipsychotics were similarly effective in the primary outcome and in most of the secondary ones. Clozapine was more effective in CBCL-E, the delinquency subscale and the CGAS scores than risperidone (p =0.039, 0.010, and 0.021). Two subjects from the clozapine group were excluded due to a low neutrophil count at week four. Conclusion: Clozapine and risperidone are effective for short-term treatment of aggression in children and adolescents with conduct disorder. Clozapine was more effective than risperidone in conduct externalization factors, delinquency trait and global functioning in children and adolescents. Stronger efficacy of clozapine should be investigated in larger sample sizes using pharmacogenomic studies. White blood cell counts need to be monitored when prescribing clozapine.

Particle size effect of LiAlSiO₄on the thermal expansion of SiC porous materials

I. Juárez-Ramírez,K. Matsumaru,K. Ishizaki,L.M. Torres-Martínez 한양대학교 세라믹연구소 2008 Journal of Ceramic Processing Research Vol.9 No.5

This paper reports the effect of the particle size of LiAlSiO4 on the thermal expansion and Young’s modulus of low thermal expansion (LTE) coefficient of porous materials using silicon carbide (SiC), vitrified bonding material (VBM) and lithium aluminum silicate (LiAlSiO4) at 850 oC. According to the XRD results, there is no reaction between the raw materials during the sintering process. SEM analysis revealed the presence of an internal porous structure with a pore size less than 4 micrometers. It was found that decreasing the particle size of LiAlSiO4 by almost 4 times reduces the porosity, keeping a low thermal expansion coefficient, but the Young’s modulus increases 50%. This paper reports the effect of the particle size of LiAlSiO4 on the thermal expansion and Young’s modulus of low thermal expansion (LTE) coefficient of porous materials using silicon carbide (SiC), vitrified bonding material (VBM) and lithium aluminum silicate (LiAlSiO4) at 850 oC. According to the XRD results, there is no reaction between the raw materials during the sintering process. SEM analysis revealed the presence of an internal porous structure with a pore size less than 4 micrometers. It was found that decreasing the particle size of LiAlSiO4 by almost 4 times reduces the porosity, keeping a low thermal expansion coefficient, but the Young’s modulus increases 50%.

Effects of Dietary Spirulina on Vascular Reactivity

M.A. Juárez-Oropeza,D. Mascher,P.V. Torres-Durán,J.M. Farias,M.C. Paredes-Carbajal 한국식품영양과학회 2009 Journal of medicinal food Vol.12 No.1

There are several reports suggesting that Spirulina (Arthrospira) may have a beneficial effect in the prevention of cardiovascular diseases. Here we review the results of studies on the effects of dietary Spirulina on the vasomotor reactivity of aortic rings excised from either lean or obese Wistar rats. We also review preliminary results on the effects of Spirulina intake on plasma lipids and blood pressure in humans. The results of the former studies strongly suggest that Spirulina induces a tone-related increase in the synthesis/release of nitric oxide by the endothelium as well as an increase in the synthesis/release of a vasodilating cyclooxygenase-dependent metabolite of arachidonic acid and/or a decrease in the synthesis/release of a vasoconstricting eicosanoid by the endothelium. In humans, Spirulina maxima intake decreases blood pressure and plasma lipid concentrations, especially triacylglycerols and low-density lipoprotein-cholesterol, and indirectly modifies the total cholesterol and high-density lipoprotein-cholesterol values.

Feasibility and efficacy of the Vojta therapy in subacromial impingement syndrome : a randomized controlled trial

María Lidia Juárez-Albuixech,Olga Redondo-González,Inmaculada Tello-Díaz-Maroto,Jorge Lucas Torres de la Guía,Jorge Hugo Villafañe,Carmen Jiménez-Antona 한국운동재활학회 2021 JER Vol.17 No.4

TiO2, Al2O3 and SiO2 as radiocatalyst ceramics.

J. C. González-Juárez,H. Carrasco-Ábrego,J. Jiménez-Becerril 한양대학교 세라믹연구소 2009 Journal of Ceramic Processing Research Vol.10 No.4

A simple experiment of gamma irradiated radiolytic versus radiocatalytic 4-chlorophenol degradation is presented. Samples of 4-chlorophenol solutions were put in contact with TiO2, Al2O3 and SiO2 ceramics and gamma irradiated. It was found that addition of these materials improve the degradation in a way similar to photocatalysis. A simple experiment of gamma irradiated radiolytic versus radiocatalytic 4-chlorophenol degradation is presented. Samples of 4-chlorophenol solutions were put in contact with TiO2, Al2O3 and SiO2 ceramics and gamma irradiated. It was found that addition of these materials improve the degradation in a way similar to photocatalysis.

A study of the impact of high-speed sealing parameter gradients on the seal strength in a multilayer polypropylene film

Jorge E. Uribe-Juárez,Ma. Pilar Corona-Lira,Alejandro C. Ramírez-Reivich 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.5

Multilayer polymer films continue to be used in food packaging high-speed lines;this research focuses on obtaining better film adhesion under controlled sealing conditions. The present work aims to describe the presence of temperature gradients in the body of the sealing jaw, the dwell time gradients, and the surface pressure gradients, experimenting with a highspeed sealing process. The samples' adhesion was measured using the peeling test, and the peeling graphs of the tests were analyzed to observe the differences and similarities of each sealing parameter combination. Experimental data were used to generate the surface response families of the seal strength of multilayer polymer film. The model describes, in a 3D space, the influence zones that sealing parameter gradients had on the seal strength. The surface model and experimental data indicate that temperature is a decisive parameter of seal strength.

Silver nanoparticles incorporated into Na₂Ti6O13 microfibers

V. Rodríguez-González,I. Juárez-Ramírez,R. Zanella,M.E. Zarazúa,L.M. Torres-Martínez 한양대학교 세라믹연구소 2008 Journal of Ceramic Processing Research Vol.9 No.6

This research is concerned with novel semiconductor composites of sodium hexatitanate oxide (Na2Ti6O13), and silver metallic nanoparticles. The Na2Ti6O13 was prepared by two methods, a sol-gel process and a solid state reaction. The silver nanoparticles were incorporated into the titanate by a deposition-precipitation technique, using NaOH as precipitation agent in the dark. Ag/Na2Ti6O13 microfibers were obtained by the sol-gel method, meanwhile octagonal microbar agglomerates were the product of the solid state reaction. The SEM-TEM observations showed silver particles with a nanometric size (5-7 nm); and fibrillar structures in the sol-gel sodium titanates. The UV-Vis-RD spectroscopy showed a blue shift Eg from 3.3 to 3.4 nm; and a plasmon surface resonance in the visible region. These materials are proposed as potential photocatalysts for contaminated water purification. This research is concerned with novel semiconductor composites of sodium hexatitanate oxide (Na2Ti6O13), and silver metallic nanoparticles. The Na2Ti6O13 was prepared by two methods, a sol-gel process and a solid state reaction. The silver nanoparticles were incorporated into the titanate by a deposition-precipitation technique, using NaOH as precipitation agent in the dark. Ag/Na2Ti6O13 microfibers were obtained by the sol-gel method, meanwhile octagonal microbar agglomerates were the product of the solid state reaction. The SEM-TEM observations showed silver particles with a nanometric size (5-7 nm); and fibrillar structures in the sol-gel sodium titanates. The UV-Vis-RD spectroscopy showed a blue shift Eg from 3.3 to 3.4 nm; and a plasmon surface resonance in the visible region. These materials are proposed as potential photocatalysts for contaminated water purification.

Addition of passive-carriage for increasing workspace of cable robots: automated inspection of surfaces of civil infrastructures

Guillermo Rubio-Gómez,Sergio Juárez,David Rodríguez-Rosa,Enrique Bravo,Erika Ottaviano,Antonio Gonzalez-Rodriguez,Fernando J. Castillo-Garcia 국제구조공학회 2021 Smart Structures and Systems, An International Jou Vol.27 No.2

Cable-driven robots are parallel manipulators in which rigid links are replaced by actuated cables. The end-effector is then supported by a set of cables commanded by motors that are usually placed in a fixed frame. By varying the cables length, it is possible to change the end-effector position and/or orientation. Among the advantages presented by cable robots are they light-weight structure, high energy efficiency and their ability to cover large workspaces since cables are easy to wind. When high-speed operation is not required, a safer solution is to design cable-driven suspended robots, where all vertical components of cables tension are against gravity direction. Cable-driven suspended robots present limited workspace due to the elevated torque requirements for the higher part of the workspace. In this paper, the addition of a passive carriage in the top of the frame is proposed, allowing to achieve a much greater feasible workspace than the conventional one, i.e., with the same size as the desired inspection area while maintaining the same motor requirements. In the opposite, this new scheme presents non-desired vibration during the end-effector maneuvers. These vibrations can be removed by means of a more complex control strategy. Kinematics and dynamics models are developed in this paper. An analysis of sensor system is carried out and a control scheme is proposed for controlling the end-effector pose. Simulation and experimental results show that the feasible workspace can be notoriously increased while end-effector pose is controlled. This new architecture of cable-driven robot can be easily applied for automated inspection and monitoring of very large vertical surfaces of civil infrastructures, such as facades or dams.