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- 저자 : Alvarez-Gallegos, Alberto (검색결과 2 건)
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Master-Slave Teleoperation of Underactuated Mechanical Systems with Communication Delays
Ollin Peñaloza-Mejía,Luis A. Márquez-Martínez,Jaime Alvarez-Gallegos,Joaquín Alvarez 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.2
This paper addresses the control problem of master-slave teleoperation of a class of underactuated mechanicalsystems with communication delays. The core of the proposed solution introduces a suitable couplingmatrix, so the complete error dynamics is written in a linear part, and a nonlinear one, for which the matchingcondition is satisfied. Then, from this representation, discontinuous causal controllers are designed to achieve bilateralcoordination in force and position. The proposal is valid for underactuated manipulators with second-ordernon-holonomic constraints, and represents, to our best knowledge, a contribution in teleoperation systems wherethese mechanisms have been barely considered. Numerical simulations and real-time experiments developed overthe Internet are provided to show the effectiveness of the proposed control scheme.
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Aleman-Gama, Elizabeth,Cornejo-Martell, Alan J.,Kamaraj, Sathish Kumar,Juarez, Katy,Silva-Martinez, Susana,Alvarez-Gallegos, Alberto The Korean Electrochemical Society 2022 Journal of electrochemical science and technology Vol.13 No.2
The high internal resistance (R<sub>int</sub>) that develops across the sediment microbial fuel cells (SMFC) limits their power production (~4/10 mW m<sup>-2</sup>) that can be recovered from an initial oil-contaminated sediment (OCS). In the anolyte, R<sub>int</sub> is related to poor biodegradation activity, quality and quantity of contaminant content in the sediment and anode material. While on the catholyte, R<sub>int</sub> depends on the properties of the catholyte, the oxygen reduction reaction (ORR), and the cathode material. In this work, the main factors limiting the power output of the SMFC have been minimized. The power output of the SMFC was increased (47 times from its initial value, ~4 mW m<sup>-2</sup>) minimizing the SMFC R<sub>int</sub> (28 times from its initial value, 5000 ohms), following the main modifications. Anolyte: the initial OCS was amended with several amounts of gasoline and kerosene. The best anaerobic microbial activity of indigenous populations was better adapted (without more culture media) to 3 g of kerosene. Catholyte: ORR was catalyzed in birnessite/carbon fabric (CF)-cathode at pH 2, 0.8M Na<sub>2</sub>SO<sub>4</sub>. At the class level, the main microbial groups (Gammaproteobacteria, Coriobacteriia, Actinobacteria, Alphaproteobacteria) with electroactive members were found at C-anode and were associated with the high-power densities obtained. Gasoline is more difficult to biodegrade than kerosene. However, in both cases, SMFC biodegradation activity and power output are increased when ORR is performed on birnessite/CF in 0.8 M Na<sub>2</sub>SO<sub>4</sub> at pH 2. The work discussed here can focus on bioremediation (in heavy OCS) or energy production in future work.
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