Two Globally Convergent Adaptive Speed Observers for Mechanical Systems

A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this observer, which is robust vis--a--vis constant disturbances. Moreover, we propose a new globally convergent speed observer that, besides rejecting the disturbances, estimates some unknown friction coefficients for a class of mechanical systems that contains several practical examples

Immersion and invariance orbital stabilization of underactuated mechanical systems with collocated pre-feedback

In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance orbital stabilization controller. The first step is adopted to simplify analysis and design, however, bringing an additional difficulty that the model loses its Euler-Lagrange structure after the collocated pre-feedback. To address this, we propose a constructive solution to the orbital stabilization problem via a smooth controller in an analytic form, and the model class identified in the paper is characterized via some easily apriori verifiable assumptions on the inertia matrix and the potential energy function

Simultaneous Position-and-Stiffness Control of Underactuated Antagonistic Tendon-Driven Continuum Robots

Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control synthesis over the past decade, few studies have focused on incorporating stiffness regulation in their feedback control design; however, this is one of the initial motivations to develop continuum robots. This paper aims to address the crucial challenge of controlling both the position and stiffness of a class of highly underactuated continuum robots that are actuated by antagonistic tendons. To this end, the first step involves presenting a high-dimensional rigid-link dynamical model that can analyze the open-loop stiffening of tendon-driven continuum robots. Based on this model, we propose a novel passivity-based position-and-stiffness controller adheres to the non-negative tension constraint. To demonstrate the effectiveness of our approach, we tested the theoretical results on our continuum robot, and the experimental results show the efficacy and precise performance of the proposed methodology

Multicausalidad del síndrome entérico en conejos de México

Enteropathies in rabbits are difficult to diagnose; their etiology involves pathogens that act synergistically, causing damage to the intestine. The aim of the present study was isolate enteric pathogens from rabbits in Mexico. Using parasitological, bacteriological and molecular analyses, we screened 58 samples of the intestinal content of rabbits having a clinical history of enteric disease from the southeastern part of the State of Mexico. Out of the 58 samples analyzed, a total of 86 identifications were made, Eimeria spp. were found in 77.5%, followed by Aeromonas spp. in 15.5% and Escherichia coli in 8.6%, which were identified as enteropathogenic E. coli (EPEC), and the presence of the following agents was also confirmed: Salmonella spp., Klebsiella spp., Streptococcus spp., Staphylococcus aureus, Enterococcus spp., Mannheimia spp. and Rotavirus. The concurrent presence of Eimeria spp. with Aeromonas was frequent (15.5%); there was statistical significance for the presence of an association between the clinical profiles and Eimeria spp. (p = 0.000), Mannheimia spp. (p = 0.001), Salmonella spp., Klebsiella spp., Streptococcus spp. and Enterococcus spp. (p = 0.006).UAEM Becaria CONACy