Object manipulation by collaborative autonomous underwater vehicles driven by a model-free second-order sliding mode controller with finite-time convergence

JOSUE GONZALEZ GARCIA (2023, [Artículo])

https://orcid.org/0000-0001-5657-380X

The use of Autonomous Underwater Vehicles (AUV) has expanded in recent years to include them in inspection, maintenance, and repair missions. These missions require the automation of tasks such as autonomous navigation and station-keeping, which are pretty challenging due to the complexity of the vehicle itself and the underwater environment. Traditional control strategies have been used to deal with those problems before, but their performance is limited since they do not consider non-linearities, external disturbances, or model uncertainties. Non-traditional controllers have been explored too, but have shortcomings such as being model-based, parameter-dependant, or so. Additionally, the nature of some objects implies the involvement of multiple vehicles to manipulate them, making the manipulation mission even harder. Collaboration of AUVs is a strong challenge since underwater communications are limited or null. An advanced control strategy dealing with the trajectory tracking and the station-keeping problem would be desirable for simplicity and robustness. If this controller could also help coordinate multiple vehicles without requiring them to communicate with each other, it would make collaborative manipulation tasks reachable. For this purpose, a model-free high-order Sliding Mode Controller (SMC) is presented in this project. Unlike other control approaches, the proposed control strategy achieves finite-time convergence to a practical zero error in a time-base that the user can arbitrarily define. This characteristic will be used to coordinate the navigation of two AUVs to manipulate an object underwater. The performance of the proposed controller was evaluated by numerical simulations and experiments in a semi-Olympic swimming pool and compared with classic and state-of-the-art control strategies regarding trajectory tracking and station-keeping problems. Results have shown that the proposed controller can achieve finite-time convergence of the tracking errors to a practical zero value in the predefined time-base. Results also demonstrated that the convergence time could be arbitrarily selected by the user and achieved by the controller resulting in, as far as the author knows, the first controller with this characteristic for AUVs navigation. The simulations and experiments also showed that the proposed controller outperformed classical and state-of-the-art controllers regarding the Root Mean Square of the tracking errors and energy consumption. Finally, the proposed model-free high-order SMC coordinated two BlueROV2 vehicles in a collaborative manipulation mission without vehicle-to-vehicle communication. Numerical simulation results confirmed that the proposed controller could manage the vehicles to follow a predefined coordinated trajectory to approach, grip, transport, and release an object without communicating with each other.

Doctor of Philosophy In Engineering Science

INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS TECNOLOGÍA DE LA INSTRUMENTACIÓN INGENIERÍA DE CONTROL INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS TECNOLOGÍA NAVAL VEHÍCULOS SUBMARINOS

The potential of UAV and very high-resolution satellite imagery for yellow and stem rust detection and phenotyping in Ethiopia

Gerald Blasch David Hodson Francelino Rodrigues (2023, [Artículo])

Very high (spatial and temporal) resolution satellite (VHRS) and high-resolution unmanned aerial vehicle (UAV) imagery provides the opportunity to develop new crop disease detection methods at early growth stages with utility for early warning systems. The capability of multispectral UAV, SkySat and Pleiades imagery as a high throughput phenotyping (HTP) and rapid disease detection tool for wheat rusts is assessed. In a randomized trial with and without fungicide control, six bread wheat varieties with differing rust resistance were monitored using UAV and VHRS. In total, 18 spectral features served as predictors for stem and yellow rust disease progression and associated yield loss. Several spectral features demonstrated strong predictive power for the detection of combined wheat rust diseases and the estimation of varieties’ response to disease stress and grain yield. Visible spectral (VIS) bands (Green, Red) were more useful at booting, shifting to VIS–NIR (near-infrared) vegetation indices (e.g., NDVI, RVI) at heading. The top-performing spectral features for disease progression and grain yield were the Red band and UAV-derived RVI and NDVI. Our findings provide valuable insight into the upscaling capability of multispectral sensors for disease detection, demonstrating the possibility of upscaling disease detection from plot to regional scales at early growth stages.

Very High Resolution Imagery Disease Detection Methods Early Growth Stages CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA UNMANNED AERIAL VEHICLES STEM RUST PHENOTYPING HIGH-THROUGHPUT PHENOTYPING WHEAT

Significado y sentido en la argumentación fiscal

Significance and meaning in the tax argument

GERARDO RIBEIRO TORAL (2013, [Artículo])

El artículo 5 del Código Fiscal de la Federación de los Estados Unidos Mexicanos establece que “Las disposiciones fiscales que establezcan cargas a los particulares y las que señalen excepciones a las mismas, así como las que fijan infracciones y sanciones, son de aplicación estricta” (Cámara de Diputados, 2012). El propósito del presente artículo es discutir sobre el concepto de “aplicación estricta” demostrando que es insostenible lingüística y racionalmente y, a partir de ello, proponer un nuevo concepto pertinente a la argumentación fiscal llamado “construcción del sentido” de las disposiciones fiscales.

Article 5th of the Federal Tax Code of the United States of Mexico establishes that “Tax provisions which institute obligations or tax exceptions to individuals (tax payers) as well as those which establish penalties and sanctions are to be strictly applied.” The purpose of this article is to discuss the concept of “strict application” of tax provisions showing that such concept cannot be sustained based on linguistics nor reason. Therefore a new concept is proposed to the tax argument called “making sense” or “constructing sense”.

CIENCIAS SOCIALES Retórica Argumentación Sentido Fiscal Rethorics Argumentation Meaning Tax

OPTIMIZING THE TRANSFER OF ENERGY IN A HEAT EXCHANGER MINIMIZING THE CORROSION PROBLEMS IN PIPES IN A HYDROELECTRIC POWER STATION USING DATA MINING AND SUPPORT VECTOR MACHINE

VICTOR MANUEL ZEZATTI FLORES GUSTAVO URQUIZA BELTRAN MIGUEL ANGEL BASURTO PENSADO LAURA LILIA CASTRO GOMEZ (2019, [Artículo])

This research is based on the operation tube heat exchangers, their use and problematic on hydroelectric power plants. It is based on the design heat exchanger tubes for industrial use, which took the parameters of operation, design, working fluids (air and water) and conditions to assemble a monitoring equipment at appropriate scale for the laboratory, with the necessary measurement instruments to analyze the behavior of heat energy transfer by means of thermocouples, the velocity of the air with a hot wire anemometer and the flow of water with a turbine flow meter, in pipes of different materials: copper, steel 1018 and stainless steel 316L, all in ideal conditions, and with this to found a comparative parameter with pipes of the same materials but under conditions of deterioration with the presence of forced oxidation and with the data mining and support vector machine can be minimized the corrosion problems in pipes.

INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS Data Mining, Support Vector Machine, Pattern Recognition and Decision Support System, heat exchangers.

Implementation of a Nickel-Electroless Coating in Heat Exchanger Pipes Considering the Problem of the Environmental Conditions ofthe Cooling Water Without Recirculation to Increase the Effectiveness Under Uncertainty

VICTOR MANUEL ZEZATTI FLORES GUSTAVO URQUIZA BELTRAN MIGUEL ANGEL BASURTO PENSADO LAURA LILIA CASTRO GOMEZ JUAN CARLOS GARCIA CASTREJON (2022, [Artículo])

This research is based on the operation tube heat exchangers, their use and problematic on hydroelectric power plants. It is based on the design heat exchanger tubes for industrial use, which took the parameters of operation, design, working fluids (air and water) and conditions to assemble a monitoring equipment at appropriate scale for the laboratory, with the necessary measurement instruments to analyze the behavior of heat energy transfer by means of thermocouples, the velocity of the air with a hot wire anemometer and the flow of water with a turbine flow meter, in pipes of different materials: copper, steel 1018 and stainless steel 316L, all in ideal conditions, and with this to found a comparative parameter with pipes of the same materials but under conditions of deterioration with the presence of forced oxidation and with the data mining and support vector machine can be minimized the corrosion problems in pipes.

INGENIERÍA Y TECNOLOGÍA CIENCIAS TECNOLÓGICAS Data mining, Support Vector Machine, Pattern Recognition and Decision Support System, Heat exchangers

Suppression of breast tumor growth and metastasis by an engineered transcription factor

Adriana Beltran Lopez (2011, [Artículo])

Maspin is a tumor and metastasis suppressor playing an essential role as gatekeeper of tumor progression. It is highly expressed in epithelial cells but is silenced in the onset of metastatic disease by epigenetic mechanisms. Reprogramming of Maspin epigenetic silencing offers a therapeutic potential to lock metastatic progression. Herein we have investigated the ability of the Artificial Transcription Factor 126 (ATF-126) designed to upregulate the Maspin promoter to inhibit tumor progression in pre-established breast tumors in immunodeficient mice. ATF-126 was transduced in the aggressive, mesenchymal-like and triple negative breast cancer line, MDA-MB-231. Induction of ATF expression in vivo by Doxycycline resulted in 50% reduction in tumor growth and totally abolished tumor cell colonization. Genome-wide transcriptional profiles of ATF-induced cells revealed a gene signature that was found over-represented in estrogen receptor positive (ER+) "Normal-like" intrinsic subtype of breast cancer and in poorly aggressive, ER+ luminal A breast cancer cell lines. The comparison transcriptional profiles of ATF-126 and Maspin cDNA defined an overlapping 19-gene signature, comprising novel targets downstream the Maspin signaling cascade. Our data suggest that Maspin up-regulates downstream tumor and metastasis suppressor genes that are silenced in breast cancers, and are normally expressed in the neural system, including CARNS1, SLC8A2 and DACT3. In addition, ATF-126 and Maspin cDNA induction led to the re-activation of tumor suppressive miRNAs also expressed in neural cells, such as miR-1 and miR-34, and to the down-regulation of potential oncogenic miRNAs, such as miR-10b, miR-124, and miR-363. As expected from its over-representation in ER+ tumors, the ATF-126-gene signature predicted favorable prognosis for breast cancer patients. Our results describe for the first time an ATF able to reduce tumor growth and metastatic colonization by epigenetic reactivation of a dormant, normal-like, and more differentiated gene program. © 2011 Beltran et al.

artificial transcription factor 126, complementary DNA, doxycycline, estrogen receptor, maspin, microRNA, retrovirus vector, transcription factor, unclassified drug, estrogen receptor, serine proteinase inhibitor, SERPIN B5, SERPIN-B5, transcription BIOLOGÍA Y QUÍMICA CIENCIAS DE LA VIDA BIOLOGÍA ANIMAL (ZOOLOGÍA) BIOLOGÍA ANIMAL (ZOOLOGÍA)

Diseño de un sistema de ventilación forzada para un invernadero cenital usando CFD

Design of a forced ventilation system for a Zenithal greenhouse using CFD

JORGE FLORES VELAZQUEZ FEDERICO VILLARREAL GUERRERO (2014, [Artículo])

El crecimiento de los cultivos bajo invernadero en México, se ha visto frenado por factores relacionados con el control del clima. El clima producido dentro del invernadero es en gran medida una consecuencia de las condiciones ambientales del lugar donde se localiza el invernadero y del diseño del mismo; así como de la configuración y operación de los sistemas de control como el sistema de ventilación. El análisis del efecto del sistema de ventilación sobre el comportamiento del clima es fundamental para optimizar su manejo. La dinámica de fluidos computacional (CFD) es una técnica numérica que permite analizar el comportamiento del clima del invernadero bajo diferentes escenarios. Esta técnica fue utilizada para modelar el clima de un invernadero cenital de tres capillas. Los resultados indican que la ventana de entrada de aire plana, produce una velocidad media del aire de 0.81±0.69 m s-1, temperatura media de 297.97±1.17 K, temperatura máxima de 303.62 K, un gradiente térmico de 8.67 K, y mostró limitantes en la renovación del aire principalmente en la parte inferior inmediata a la ventana de entrada.

Vegetales Invernaderos Velocidad del viento INGENIERÍA Y TECNOLOGÍA

Caracterización de fuentes puntuales de contaminación en el rio Atoyac, México

María del Pilar Saldaña Fabela María Antonieta Gómez Balandra (2006, [Artículo])

Es claro que los problemas de contaminación en los cuerpos de agua, se deben principalmente a las descargas puntuales que son vertidas sin previo tratamiento, y a las que pasan por algún proceso de tratamiento remueven ligeramente los contaminantes, debido a una baja eficiencia de remoción, o bien a que el sistema de tratamiento no es el adecuado para el tipo de compuestos que se descargan. En México la normatividad establece que las descargas deben de cumplir con los parámetros de la NOM-001-SEMARNAT-1996, la cual enlista a ocho básicos, nueve metales pesados y un microbiológico. El objetivo del estudio fue el determinar la calidad del agua de las fuentes puntuales de contaminación que son aportadas al río Atoyac, Puebla y su cumplimiento con la normatividad vigente. Se realizaron muestreos de las descargas industriales para identificar aquellos parámetros que sobrepasaron la norma, asimismo, se incluyo el análisis de toxicidad con Vibrio fischery para evaluar la mezcla de contaminantes de la descarga y contar con información de en parámetro que integra los probables efectos adversos que se presenten en cuerpo receptor.

Ríos Fuentes puntuales de contaminación Río Atoyac BIOLOGÍA Y QUÍMICA

Radiative transfer model inversion using high-resolution hyperspectral airborne imagery – Retrieving maize LAI to access biomass and grain yield

Ahmed Kayad Francelino Rodrigues Marco Sozzi Francesco Pirotti Francesco Marinello Urs Schulthess Bruno Gerard Marie Weiss (2022, [Artículo])

PROSAIL Vegetation Indices Field Variability Digital Farming CIENCIAS AGROPECUARIAS Y BIOTECNOLOGÍA PRECISION AGRICULTURE MAIZE GRAIN YIELD BIOMASS VEGETATION VEGETATION INDEX

Uso de tecnología geoespacial en la nivelación de tierras con propósito de diseño y trazo de riego superficial: metodología

VICTOR MANUEL GORDILLO SALINAS Alberto González Sánchez RONALD ERNESTO ONTIVEROS CAPURATA (2020, [Documento de trabajo])

RD1912.1

La exactitud de un levantamiento hecho con un vehículo aéreo no tripulado (VANT) es el resultado de diversas variables como el diseño del vuelo, calidad y metodología de modelación de la cámara, algoritmos de estructura del movimiento y estrategias de georreferenciación. Por otro lado, la nivelación de tierras es una actividad que consiste en realizar cortes en las partes altas de una parcela y transportarla a las partes más bajas de la misma. En agricultura de riego superficial esta actividad aporta grandes ventajas como: ahorro de agua, mano de obra y energía, alta uniformidad en la aplicación del agua (con diseño y manejo adecuados), mayor eficiencia en el uso de fertilizantes, operación más eficiente de la maquinaria, control de la erosión y mejoramiento del drenaje superficial. Debido a la importancia de dicha actividad, el objetivo de este trabajo es desarrollar y validar una metodología para el levantamiento topográfico usando imágenes aéreas tomadas con un VANT y que dicha metodología pueda ser una herramienta que pueda dar un seguimiento periódico a las necesidades de nivelación de un terreno agrícola.

Riego Aviones no tripulados Topografía Fotogrametría INGENIERÍA Y TECNOLOGÍA