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Task-space Neuro-Sliding Mode Control of Robot Manipulators under Jacobian Uncertainties
Rodolfo García-Rodríguez,Vicente Parra-Vega 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.5
Cartesian robot control is an appealing scheme because it avoids the computation of inverse kinematics, in contrast to joint robot control approach. For tracking, high computational load is typi-cally required to obtain Cartesian robot dynamics. In this paper, an alternative approach for Cartesian tracking is proposed under assumption that robot dynamics is unknown and the Jacobian are uncertain. A neuro-sliding second order mode controller delivers a low dimensional neural network, which roughly estimates inverse robot dynamics, and an inner smooth control loop guarantees exponential tracking. Experimental results are presented to confirm the performance in a real time environment.
Dynamic Manipulation of an Unknown Object Under Compliant Non-holonomic Constraints
Rodolfo Garcia-Rodriguez,Vicente Parra-Vega,Luis Pantoja-Garcia,Ernesto Olguin-Diaz 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.6
There are many robot control schemes where the end-effector is subject to holonomic or non-holonomic constraints. However, the literature has overlooked the problem of simultaneous holonomic and nonholonomic constraints. In particular, the case of constrained tangent force with a normal force to manipulate an object. In this paper, to study this problem, it is considered two 2D rigid robot fingers whose end-effectors are equipped with hemispherical deformable tips in contact with a rigid object. If the radius changes when force is exerted, we can notice a 1D-tangent constraint force and a 1D-normal compliant force arise simultaneously from the so-called compliant nonholonomic constraint. An energy reshaping controller is proposed to ensure simultaneously the convergence of the normal and tangential constraint forces assuming nonlinear viscoelastic damping. A representative simulation study shows the advantages of the constraints forces, in complex dexterity tasks, under the assumption that knowledge of the non-regular object is unknown.
CCWater − A computer program for chemical classification of geothermal waters
Rodolfo Pérez-Espinosa,Kailasa Pandarinath,Francisco Javier Hernández-Campos 한국지질과학협의회 2019 Geosciences Journal Vol.23 No.4
CCWater is a computer program developed for the application of extensively being used triangular diagrams for chemical classification and for identification of equilibrium conditions of waters. The program for these diagrams were developed as a Microsoft ExcelTM spreadsheet application and compiled using Visual BasicTM 6.0, which has enabled to execute an ExcelTM file from a program created by Visual BasicTM 6.0. The performances of all the four diagrams were validated by applying for the same chemical concentration data of the waters that was used by the original authors of these diagrams. The results obtained from this program were consistent with those of the original authors of these diagrams. As an example, CCWater is applied for chemical characterization of thermal waters from springs and geothermal wells of five geothermal fields of Mexico, in which four are electricity producing fields (Cerro Prieto, CPGF; Las Tres Vírgenes, LTVGF; Los Azufres, LAGF, and Los Humeros, LHGF) and the fifth geothermal field (La Primavera, LPGF) is in exploration stage. Majority of the reservoir temperatures estimated by Na/K geothermometers from geothermal well waters of CPGF, LAGF, LTVGF, and LPGF are within the limits of accepted differences (within ±20%) comparing to the average BHTs of the respective geothermal well. The good performances of the geothermometers in predicting the reservoir temperatures from well waters is expected because the well waters are fully equilibrated and are of Cl type, thus fulfilling the basic requirements. In contrary, though the spring waters of LHGF and LAGF are of HCO3 type (immature) and exhibited no equilibrium conditions, they also predicted reliable reservoir temperatures. This unusual but important observation in the behavior of the spring waters of LHGF and LAGF was made possible to known by chemical classification of these waters in to different groups and estimation of the reservoir temperatures by considering each water type of a geothermal field as a separate group. This application has shown the importance of chemical type of water and the existing chemical equilibrium conditions in successful using these waters in estimation of the reservoir temperatures, and hence the necessity of the computer program like CCWater. The software CCWater is easy to use, reliable, freely available and will be useful in the application of ternary diagrams for chemical characterization and to evaluate the equilibrium conditions of geothermal waters, particularly during the initial stage of geothermal exploration.
A Seamless Flow Mobility Management Architecture for Vehicular Communication Networks
Rodolfo Ipolito Meneguette,,Luiz Fernando Bittencourt,Edmundo Roberto Mauro Madeira 한국통신학회 2013 Journal of communications and networks Vol.15 No.2
Vehicular ad-hoc networks (VANETs) are selforganizing,self-healing networks which provide wireless communication among vehicular and roadside devices. Applications in such networks can take advantage of the use of simultaneous connections,therebymaximizing the throughput and lowering latency. In order to take advantage of all radio interfaces of the vehicle and to provide good quality of service for vehicular applications,we developed a seamless flow mobility management architecture based on vehicular network application classes with network-based mobility management. Our goal is to minimize the time of flow connection exchange in order to comply with the minimum requirements of vehicular application classes, as well as to maximize their throughput. Network simulator (NS-3) simulations were performed to analyse the behaviour of our architecture by comparing it with other three scenarios. As a result of this work, we observed that the proposed architecture presented a low handover time, with lower packet loss and lower delay.
Graphene exfoliation with supercritical fluids
Rodolfo Morales Ibarra,Motonobu Goto,Juan Garc?a‑Serna,Saida Mayela Garc?a Montes 한국탄소학회 2021 Carbon Letters Vol.31 No.1
Graphene is an unconventional material with a two-dimensional hexagonal crystalline array of elemental carbon atoms and outstanding properties; accordingly, a desirable objective in the line of research of graphene is the development of novel and more productive methods of synthesis, validating its properties and applications. In our exploratory research, we have effectively exfoliated graphene from graphite using supercritical fluids (water, ethanol and carbon dioxide). The exfoliated graphene was properly characterized; via scanning electron microscopy, the morphology of graphene was observed; Raman spectra confirmed the exfoliation of graphene depicting the characteristic shift towards smaller Raman number in the 2D band (2676 cm?1) compared to that of graphite (? 2700 cm?1); COMMIT; transmission electron microscopy analysis exhibited the crystalline structure of graphene attesting also the expected transparency of exfoliated layers. Graphene exfoliation from graphite by supercritical fluids promises to be a simple large-scale method for graphene production.
Creativity and the Structure of Tourism Destination Networks
Rodolfo Baggio 한국관광학회 2014 International Journal of Tourism Sciences Vol.14 No.1
Creativity and innovation have long been considered as fundamental factors in economic growth. This is especially true in tourism today, where intense and globalized competition put firms, groups and destinations under a very heavy pressure. In this contribution, after a brief introduction to the issue and its different facets, we adopt a social network perspective. In this framework, using a recently proposed measure, we analyze a number of destinations whose stakeholders networks are known. We compare them to a series of networks made of creative entities and assess the difference.
Rodolfo Valdés,Andrés Tamayo,Marcos González,Sigifredo Padilla,Déborah Geada,William Ferro,Lorely Milá,Leonardo Gómez,Rosario Alemán,Alberto Leyva,Cristina García,Otto Mendoza,Tatiana Alvarez,Lamay Do 한국생물공학회 2012 Biotechnology and Bioprocess Engineering Vol.17 No.1
Monoclonal antibody (mAb) production methods (ascites, in vitro technologies, transgenic animals, and dicot or monocot transgenic plants; moss, algae) have been improved since they were first developed in 1975. In this study, we illustrate a summary of a study case in which mice, a hollow fiber system, and tobacco transgenic plants were assessed for the production of mAb for vaccine manufacturing and vaccine production. Monoclonal antibody (mAb) production methods (ascites, in vitro technologies, transgenic animals, and dicot or monocot transgenic plants; moss, algae) have been improved since they were first developed in 1975. In this study, we illustrate a summary of a study case in which mice, a hollow fiber system, and tobacco transgenic plants were assessed for the production of mAb for vaccine manufacturing and vaccine production.
Remote Healthcare Program in Mexico in the Context of the COVID-19 Pandemic
Rodolfo Lehmann Mendoza,Gabriela Yanet Cortés Moreno,Hilario Ascensión Martinez Arredondo,Anaya Aguilar Cynthia Jeanet,Pedro Armando Chaidez Rosales,Ilicia González Mundo,Armando Mejía Nava,Adrian H. 대한의료정보학회 2022 Healthcare Informatics Research Vol.28 No.2
Objectives: Given the challenge of limiting the transmission of coronavirus disease 2019 while simultaneously continuingto provide medical care for other chronic and degenerative diseases and monitor therapy, a remote medical advice and guidanceprogram was created to help individuals receive health services at their homes. Methods: A descriptive, cross-sectional,and observational study was performed from April 13, 2020 to April 19, 2021 among Petroleos Mexicanos (PEMEX) healthservices beneficiaries. Mobile text messages were used to assign patients throughout Mexico to a doctor, who coordinateda video call with the nursing service for advice and remote care. Results: In total, 17,472 calls were registered, with an averageduration of 10.28 minutes. Almost half (49.4%) of the people who requested attention through the remote program wereworkers, 31.5% were workers’ relatives, and 19.1% were retired workers. The average age of the program users was 50.66 ±18.02 years. A total of 144 doctors from 28 different specialties participated. In this program, 7,163 calls were made becauseof respiratory symptoms, 1,514 for therapeutic monitoring (prescriptions), and 8,183 because of other diseases, includingmental health. Conclusions: Remote healthcare programs have shown the potential to support the health system. This programis the first to deploy real-time video calls with a health team utilizing institutional electronic clinical records in Mexico. The implementation of this pandemic management program impacted the number of consultations given remotely, resultingin effective triage.