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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.
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.
Adhesion strength in laminated glazings containing multilayer solar control coatings
J. O. Aguilar,J. M. Rodríguez-Lelis,M. Carrasco de la Fuente,C. López-Mata,J. A. Arellano-Cabrera,F. Chan 대한기계학회 2012 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.26 No.6
We report on the mechanical and optical properties exhibited by a five layer laminated glazing (glass/PVB/PET/PVB/glass) in which a 0.1 mm thick polyethylene-terephthalate (PET) sheet carries a 70-110 nm CuS solar control coatings on either one or both sides of it and laminated with 0.38 mm clear polyvinyl-butyral (PVB) sheets in an autoclave at 135°C for 30 min under a pressure, 13 kg/cm2. The CuS coating was obtained by chemical deposition at 28°C during 1 h (70 nm) or 2 h (110 nm). The optical transmittance (T) of these laminated glazing is less than 1% in the ultraviolet region; 17-32% in the visible region, and 4-12% in the infrared region, depending on the CuS film thickness and whether the PET sheet is coated on one or both sides. The specular reflectance (R) of the glazing in the visible region is similar to that of a monolithic glass: about 10%, but in the infrared it increases toward 20%. The mechanical properties were evaluated through a compressive test giving interfacial adhesive strength of the laminated: 1.5-2 MPa for PET with a single side CuS coating and 3.4 MPa for the laminate with a PET coated on both sides.
Blastocystis species and Gastrointestinal Symptoms in Peruvian Adults Attended in a Public Hospital
Robles-Cabrera Mayra Ximena,Maguiña Jorge L.,Gonzales-Huerta Luis,Panduro-Correa Vicky,Dámaso-Mata Bernardo,Pecho-Silva Samuel,Navarro-Solsol Ana Claudia,Rabaan Ali A.,Rodríguez-Morales Alfonso J.,Art 대한감염학회 2021 Infection and Chemotherapy Vol.53 No.2
The objective of this study was to evaluate the role of Blastocystis sp. in gastrointestinal symptoms reported by adult patients in a Peruvian hospital. A case-control 3:1 study was performed at the outpatient clinic. Direct stool examinations were done. One hundred sixty patients were included, 40 cases and 120 controls. Positivity to Blastocystis sp. was associated with dyspepsia (P <0.001), bloating (P <0.001) and abdominal pain (P = 0.03) in patients attending our hospital outpatient clinic.