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This document introduces an air-land robotic platform called Hexapodopter, capable of ground locomotion and vertical take-off and landing (VTOL). For walking, each of the limbs feature three degrees of freedom (DoF); for flying, the thrust is provided by a set of motors and propellers mounted on every limb. Due to its mechanical design, the Hexapodopter can reconfigure the thrust vectors of propellers...
The blood brain barrier (BBB) is a specialized membrane that covers the blood vessel in the central nervous system. This structure regulates the passage of certain substances for keeping the homeostasis into the brain. But this selective permeability is a drawback in treatments for neurodegenerative diseases, because the BBB prevents the passage of drugs to the affected brain cells. The use of focused...
Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the...
Two suitable coordinate systems overlapping at the origin were established to estimate orientation by computing the spatial relationship between them. An Inertial Measurement Unit sensor (IMU), consisting of a tri-axial gyroscope and tri-axial accelerometer was used to define reference systems. This work describes an algorithm to estimate the orientation of an object in 3D space through the optimal...
This paper shows the design of a 2-DOF exoskeleton simulating ball and socket joint, for use on the human shoulder. This design is based on the natural movement of the human shoulder wich has a ball and socket joint. In addition, will be a dynamic and control analysis.
A Lyapunov-based construction of a predefined-time stabilizing function (a function that stabilizes a system in fixed-time with settling time as function of the controller parameters) for scalar systems is considered in this paper. The constructed function involves the inverse incomplete gamma function, causing this function to be semi-global, i.e., the domain of definition of the function can be...
This work proposes a biometrie identification system based on electrocardiographic signal, for online applications. To acquire the signal, the NI MyDAQ and the AD8232 Heart Rate Monitor module were used. Once the signal was digitized, filtering was applied and algorithms to process the signal were designed to detect the fiducial markers of the signal, such as the R peak, the Q wave, the ending of...
This paper presents the application of a robust nonlinear optimal controller for regulating the active and reactive power in a grid-connected three-phase inverter, which includes an LCL filter to mitigate the total harmonic distortion. The optimal control law is derived from the Hamilton-Jacobi-Bellman equation for state-dependent coefficient factorized nonlinear systems. An integral control term...
This paper presents a comparison between two state estimation methods for processes with asynchronous and delayed measurements in order to verify which of these techniques is better in terms of dynamic behavior and possibilities of implementation in a real time processor. The methodologies are analyzed through simulations that allow a comparison in a visual form, through error index and with the time...
This paper presents the programming of a development kit infrared (IR) sensor for the acquisition of thermographs and thermographic data for the diabetic foot. The sensor is characterized to measure skin temperature by the radiometric technic, through a characteristic equation that allows predicting temperature of each pixel which is obtained by each bolometer. The system is capable of creating 3...
In this work we recover the Discrete Hill's equation introduced by Chulaevsky in 1989 [11] and give it a graphical interpretation of parametric stability [12] i.e. discrete Arnold tongues. We give the nonoscillatory criteria for discrete Hill's equation and proved that all the nonoscillatory solution of the discrete Hill's equation fall into the 0-th Arnold tongue.
In the training of the radial basis function network (RBFN), feature selection and classifier design are two tasks commonly addressed in separated processes. The former is related to the number of input nodes, whereas the latter is associated with the design of the hidden layer. Hence, this paper presents an algorithm to train a RBFN based on differential evolution (DE), which simultaneously adjusts...
In this paper the tracking of collision-free path obtained by using Homotopic Path Planning Method (HPPM) with automatic value assignation of repulsion parameter is presented. This work is center on show the utility of this method to obtain a collision free path for maps with narrow corridors on indoor environments. First, the basis of homotopic path planning method with automatic value assignation...
In this work, a comparative study for the n-type emitter formation in the fabrication of simple structures of crystalline silicon (c-Si) solar cells is reported. Gas and spin on dopant sources were employed in the pn junction formation of the solar cells in order to compare their performance. Phosphine (PH3) was used as n-type gas for phosphorus diffusion while the Filmtronics Spin-On Dopant SOD-P905...
This paper presents the design and the optimization of interstitial microcoaxial applicator antenna for microwave ablation treatment (MWA) of breast cancer. MWA is proposed as a treatment for breast cancer in initial or intermediate stages and involves the application of an electromagnetic field that generates a temperature increase in the cancerous tissue. A model and the validation of microwave...
In this paper an adaptive sliding mode control (SMC) law with self-regulated boundary layer is proposed. The design of the adaptive SMC considers practical issues as actuator limitation/saturation and error tolerance, which is given in terms of the boundary layer presented in real sliding mode. The existence of sliding motion is proved via Lyapunov analysis. Self-regulation to the best value of boundary...
This paper proposes a new motor imagery classification method. This method applies the Common Spatial Pattern (CSP) technique that projects Electroencephalography (EEG) filtered signals into a different time-space, where an optimal variance for discrimination of different motor imagery tasks is obtained. By using the training data set, RGB pattern images of each mental task are created through the...
The objective of this work is to detect delay times between two ultrasonic signals, one of them considered as a reference and the other signal as the signal to be evaluated, using the wavelet transform, to indirectly estimate temperature changes. In this work the evaluation of 3 types of wavelets (Morlet, Mexican Hat and Daubechies 5) was made to detect the delay time in echo ultrasonic signals which...
While efficient simulators for Time-Multiplexing Cellular Neural Networks have been reported, no reports on implementations in FPGA have been presented. A Time-Multiplexing Cellular Neural Network is implemented within a FPGA for image processing. The network has been used to perform tasks, such as edge detection and noise remover over several test templates. Implementation results are compared with...
A method for the symbolic calculation of the harmonic distortion components of op-amp based memristive amplifiers is presented. The resulting fully-symbolic expressions are obtained by using an analytical model for the Hewlett-Packard memristor. The symbolic harmonic analysis allows us to provide more insight on the memristive transfer of the amplifiers. In addition, numerical evaluations are achieved...
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