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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.
Miguel Angel Garcia Rangel,Adrian Manzanilla,Angel Eduardo Zamora Suarez,Filiberto Muñoz,Sergio Salazar,Rogelio Lozano 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.3
This research work focuses on the design of a robust-adaptive control algorithm for a 4DOF Unmanned Underwater Vehicle (UUV). The proposed strategy is based in a Non-Singular Terminal Sliding Mode Control (NTSMC) with adaptive gains, where the proposed adaptation mechanism ensures that the gains remain bounded. In this control strategy a non-singular terminal sliding surface is proposed to obtain a faster convergence of the tracking errors. The NTSMC ensures Practical Finite-Time Stability for the closed-loop system as well as exhibits a chattering reduction. In order to demonstrate the satisfactory performance of the proposed controller, a set of experiments was performed with a Non-singular Terminal Sliding Mode Controller and an Adaptive Non-Singular Terminal Sliding Mode Control (ANTSMC) in real time for trajectory tracking in the X-Y plane, the graphs showed that the ANTSMC converges faster to a smaller region and reduces oscillations.
Cell-Assisted Lipotransfer for the Treatment of Parry-Romberg Syndrome
Castro-Govea, Yanko,De La Garza-Pineda, Oscar,Lara-Arias, Jorge,Chacon-Martinez, Hernan,Mecott-Rivera, Gabriel,Salazar-Lozano, Abel,Valdes-Flores, Everardo Korean Society of Plastic and Reconstructive Surge 2012 Archives of Plastic Surgery Vol.39 No.6
Progressive facial hemiatrophy, also known as Parry-Romberg syndrome, is a progressive and self-limited deformation of the subcutaneous tissue volume on one side of the face that creates craniofacial asymmetry. We present the case of a patient with a five-year history of progressive right facial hemiatrophy, who underwent facial volumetric restoration using cell-assisted lipotransfer (CAL), which consists of an autologous fat graft enriched with adipose-derived stem cells (ASCs) extracted from the same patient. ASCs have the capacity to differentiate into adipocytes. They also promote angiogenesis, release angiogenic growth factors, and some can survive as stem cells. The use of autologous fat as a filler in soft tissue atrophy has been satisfactory in patients with mild and moderate Parry-Romberg syndrome. Currently, CAL has showed promising results in the long term by decreasing the rate of fat reabsorption. The permanence and stability of the graft in all the injected areas has showed that autologous fat grafts enriched with stem cells could be a promising technique for the correction of defects caused by this syndrome.