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- 저자 : Rubén Garrido (검색결과 5 건)
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Stability Analysis of a Visual PID Controller Applied to a Planar Parallel Robot
Rubén Garrido,Miguel A. Trujano 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.6
This work analyses the stability of a standard PID controller fed by measurements provided by a vision system, and applied to a planar parallel redundant manipulator for constant set point tracking. The stability analysis considers uncertainty in the Jacobian matrix associated to the manipulator active joints, and constant disturbances perturbing these joints. The disturbances appear as time-varying at the visual level. Asymptotic stability of the closed loop system is proven using a Strict Lyapunov Function. The above allows directly applying the Lyapunov second method without resorting on the LaSalle-Krassovsky invariance theorem. The analysis also provides an upper bound on the allowable uncertainty in the Jacobian matrix. Experiments on a laboratory prototype permit evaluating the performance of a PID controller applied to a planar parallel robot.
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José Arnold González-Garrido,José Rubén García-Sánchez,Carlos Javier López-Victorio,Adelma Escobar-Ramírez,Ivonne María Olivares-Corichi 한국영양학회 2023 Nutrition Research and Practice Vol.17 No.2
BACKGROUND/OBJECTIVES: Cocoa consumption is associated with health benefits due to its high content of polyphenols. However, the effects of short-term cocoa consumption remain unclear. We aimed to determine the effects generated by cocoa consumption (for 7 days) in young adults in normoweight and class II obesity. SUBJECTS/METHODS: Before-and-after study was carried out in normoweight (NW) (n = 15) and class II obesity (CIIO) (n = 15) young adults. The NW and CIIO participants consumed 25 and 39 g of cocoa, respectively, per day for 7 days. The effect of cocoa consumption was evaluated on the lipid profile, insulin resistance (IR), and inflammation. Oxidative damage was also examined by assessing the biomarkers of oxidative damage in plasma. In addition, recombinant human insulin was incubated with blood obtained from the participants, and the molecular damage to the hormone was analyzed. RESULTS: Cocoa consumption resulted in decreased low-density lipoprotein-cholesterol in both groups (P = 0.04), while the total cholesterol, high-density lipoprotein cholesterol, and triglycerides were maintained at the recommended levels. Initially, IR was detected in the CIIO group (homeostasis model assessment [HOMA] = 4.78 ± 0.4), which is associated with molecular damage to insulin. Interestingly, intervention with cocoa resulted in improved IR (HOMA = 3.14 ± 0.31) (P = 0.0018) as well as molecular damage to insulin. Finally, cocoa consumption significant decreased the arginase activity (P = 0.0249) in the CIIO group; this is a critical enzymatic activity in the inflammatory process associated with obesity. CONCLUSIONS: The short-term consumption of cocoa improves the lipid profile, exerts antiinflammatory effects, and protects against oxidative damage. Results of this study indicate that cocoa consumption can potentially improve IR and restore a healthy redox status.
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Rubén Fernández-Rodríguez,Sonia Monedero-Carrasco,Bruno Bizzozero-Peroni,Miriam Garrido-Miguel,Arthur Eumann Mesas,Vicente Martínez-Vizcaíno 대한당뇨병학회 2023 Diabetes and Metabolism Journal Vol.47 No.1
Background: Type 2 diabetes mellitus (T2DM) is related to increased inflammatory processes. The effects of resistance exercise on inflammatory biomarkers in T2DM are controversial. Our purpose was to determine the effectiveness of resistance exercise on inflammatory biomarkers in patients diagnosed with T2DM.Methods: We searched four databases until September 2021. We included randomized clinical trials (RCTs) of the effects of resistance exercise on inflammatory biomarkers (C-reactive protein [CRP], tumor necrosis factor alpha, interleukin-6, and interleukin-10) in patients with T2DM. A random effects meta-analysis was conducted to determine the standardized mean difference (SMD) and the raw mean difference (MD) for CRP.Results: Thirteen RCTs were included in the review, and 11 in the meta-analysis for CRP. Lower CRP levels were observed when resistance exercise was compared with the control groups (SMD=–0.20; 95% confidence interval [CI], –0.37 to –0.02). When conducting the MD meta-analysis, resistance exercise showed a significant decrease in CRP of –0.59 mg/dL (95% CI, –0.88 to –0.30); otherwise, in the control groups, the CRP values increased 0.19 mg/dL (95% CI, 0.17 to 0.21).Conclusion: Evidence supports resistance exercise as an effective strategy to manage systemic inflammation by decreasing CRP levels in patients with T2DM. The evidence is still inconclusive for other inflammatory biomarkers.
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A Delay-based Nonlinear Controller for Nanopositioning of Linear Ultrasonic Motors
Luis Luna,Kevin López,Rubén Garrido,Sabine Mondié,Luis Cantera 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
This work introduces a delay-based nonlinear controller aimed at position control of linear ultrasonic motors (LUMs), which is termed the cascade nonlinear proportional integral retarded (CNPIR) control law. This new controller incorporates a time delay in its structure, composed of two nested loops. The inner velocity loop is regulated through an integral retarded (IR) controller that contains a time delay in its structure. The outer position loop resorts to a nonlinear proportional (NP) controller endowed by a saturation function. A tuning procedure for the CNPIR controller is also proposed, and it is based on the placement of multiple dominant roots. The inner loop is tuned by assigning a dominant triple root, whereas a method based on solving a transcendental equation allows tuning the outer loop and assigns two dominant roots. Moreover, pole dominance is assessed through the argument principle. Experimental results on a linear ultrasonic motor allow assessing the real-time performance of the proposed controller to achieve high precision and fast response in spite of the effects of inner disturbances, hysteresis, and friction phenomena.
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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.
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