PID-like Fuzzy Controller Design for Anti-Slip System in Quarter-Car Robot

The design strategy of an adaptive Proportional-Integral-Derivative (PID)-like fuzzy controller for an anti-slip Quarter-Car robotic system is proposed. The proposed control system is constructed by two loops, an external one for lineal speed control and an internal loop for current control. A motion profile is used to follow a trajectory. The slip is computed, such as the difference between the linear velocity given by an S-curve velocity profile and the longitudinal speed calculated according to the rotational speed of the Quarter-Car tire. This difference is the input of the external control loop. Whether the slip is significant, the slave controller must do that both velocities go at the same speed controlling the current of the direct current (DC) motor. On the other hand, the mathematical model of a tire coupled to the DC-motor model is presented to simulate the system and controller response. To test the robustness of the system, different scenarios are presented where the slip coefficient varies depending on the work surface. Three surfaces were selected to test the performance of the controller, dry, wet, and icy surfaces, while the system had a trajectory

Epidemiology of Invasive Fungal Infections in Latin America

The pathogenic role of invasive fungal infections (IFIs) has increased during the past two decades in Latin America and worldwide, and the number of patients at risk has risen dramatically. Working habits and leisure activities have also been a focus of attention by public health officials, as endemic mycoses have provoked a number of outbreaks. An extensive search of medical literature from Latin America suggests that the incidence of IFIs from both endemic and opportunistic fungi has increased. The increase in endemic mycoses is probably related to population changes (migration, tourism, and increased population growth), whereas the increase in opportunistic mycoses may be associated with the greater number of people at risk. In both cases, the early and appropriate use of diagnostic procedures has improved diagnosis and outcome

A New Seven-Segment Profile Algorithm for an Open Source Architecture in a Hybrid Electronic Platform

The velocity profiles are used in the design of trajectories in motion control systems. It is necessary to design smoother movements to avoid high stress in the motor. In this paper, the rate of change in acceleration value is used to develop an S-curve velocity profile which presents an acceleration and deceleration stage smoother than the trapezoidal velocity profile reducing the error at the end of the duty-cycle pre-established in one degree of freedom (DoF) application. Furthermore, a new methodology is developed to generate a seven-segment profile that works with negative velocity and displacement constraints applying an open source architecture in a hybrid electronic platform compounded by a system on a chip (SoC) Raspberry Pi 3 and a field programmable gate array (FPGA). The performance of the motion controller is measured through the comparison of the error obtained in real-time application with a trapezoidal velocity profile. As a result, a low-cost platform and an open architecture system are achieved

Fuzzy logic controller for UAV with gains optimized via genetic algorithm

A gains optimizer of a fuzzy controller system for an Unmanned Aerial Vehicle (UAV) based on a metaheuristic algorithm is developed in the present investigation. The contribution of the work is the adjustment by the Genetic Algorithm (GA) to tune the gains at the input of a fuzzy controller. First, a typical fuzzy controller was modeled, designed, and implemented in a mathematical model obtained by Newton-Euler methodology. Subsequently, the control gains were optimized using a metaheuristic algorithm. The control objective is that the UAV consumes the least amount of energy. With this basis, the Genetic Algorithm finds the necessary gains to meet the design parameters. The tests were performed using the Matlab-Simulink environment. The results indicate an improvement, reducing the error in tracking trajectories from 30% in some tasks and following trajectories that could not be completed without a tuned controller in other tasks

A New Methodology for a Retrofitted Self-tuned Controller with Open-Source FPGA

Servo systems are feedback control systems characterized by position, speed, and/or acceleration outputs. Nowadays, industrial advances make the electronic stages in these systems obsolete compared to the mechanical elements, which generates a recurring problem in technological, commercial and industrial applications. This article presents a methodology for the development of an open-architecture controller that is based on reconfigurable hardware under the open source concept for servo applications. The most outstanding contribution of this paper is the implementation of a Genetic Algorithm for online self tuning with a focus on both high-quality servo control and reduction of vibrations during the positioning of a linear motion system. The proposed techniques have been validated on a real platform and form a novel, effective approach as compared to the conventional tuning methods that employ empirical or analytical solutions and cannot improve their parameter set. The controller was elaborated from the Graphical User Interface to the logical implementation while using free tools. This approach also allows for modification and updates to be made easily, thereby reducing the susceptibility to obsolescence. A comparison of the logical implementation with the manufacturer software was also conducted in order to test the performance of free tools in FPGAs. The Graphical User Interface developed in Python presents features, such as speed profiling, controller auto-tuning, measurement of main parameters, and monitoring of servo system vibrations

Sistematización de procesos en una empresa de publicidad bajo la norma 9001:2008

Tesis (Licenciatura en Administración Industrial), Instituto Politécnico Nacional, UPIICSA, 2009, 1 archivo PDF, (138 páginas). tesis.ipn.m

Diversificación productiva en el campo experimental las margaritas, Puebla, México

El campo experimental Las Margaritas, en la Sierra Nororiental del Estado de Puebla, México, posee extensa superficie y conserva parte de bosque tropical perennifolio, lo que permite que exista in situ el venado cola blanca de la subespecie veraecrucis. Por el método indirecto de conteo de huellas en transectos, se concluyó que el animal se distribuye en 1271,58 ha al norte del predio. La densidad poblacional media de 2,13 individuos/km2; con s= 0,35; y CV= 16,62 p.100. Por lo que la población absoluta se estimó en 27 individuos. También se obtuvo una lista de otras especies de fauna silvestre en el sitio, encontrándose especies en peligro de extinción en México como: Cairina moschata, Micrastur ruficolis, Crax rubra, Amazona oratrix, Ramphastos sulfuratos, Dryocopus lineatus, Leopardus pardalis y Panthera onca. Con respecto a otras regiones de Puebla, se concluye que Las Margaritas tiene alta diversidad biológica representativa del trópico húmedo, el ecosistema más diverso de México; por lo que es un área de gran importancia ecológica. Por lo tanto la investigación, la diversificación experimental biológica, así como la transferencia de tecnología, para la conservación, manejo y aprovechamiento sustentable de su fauna silvestre, por medio del modelo tecnológico de ganadería diversificada, es una alternativa económica, ambiental y social para 816 productores rurales, que puede coadyuvar a futuro a detener y revertir las tendencias de deterioro de los recursos naturales, así como a disminuir los niveles de pobreza y marginación en la Sierra Nororiental de Puebla, México

Diversificación productiva en el campo experimental las margaritas, Puebla, México

El campo experimental Las Margaritas, en la Sierra Nororiental del Estado de Puebla, México, posee extensa superficie y conserva parte de bosque tropical perennifolio, lo que permite que exista in situ el venado cola blanca de la subespecie veraecrucis. Por el método indirecto de conteo de huellas en transectos, se concluyó que el animal se distribuye en 1271,58 ha al norte del predio. La densidad poblacional media de 2,13 individuos/km2; con s= 0,35; y CV= 16,62 p.100. Por lo que la población absoluta se estimó en 27 individuos. También se obtuvo una lista de otras especies de fauna silvestre en el sitio, encontrándose especies en peligro de extinción en México como: Cairina moschata, Micrastur ruficolis, Crax rubra, Amazona oratrix, Ramphastos sulfuratos, Dryocopus lineatus, Leopardus pardalis y Panthera onca. Con respecto a otras regiones de Puebla, se concluye que Las Margaritas tiene alta diversidad biológica representativa del trópico húmedo, el ecosistema más diverso de México; por lo que es un área de gran importancia ecológica. Por lo tanto la investigación, la diversificación experimental biológica, así como la transferencia de tecnología, para la conservación, manejo y aprovechamiento sustentable de su fauna silvestre, por medio del modelo tecnológico de ganadería diversificada, es una alternativa económica, ambiental y social para 816 productores rurales, que puede coadyuvar a futuro a detener y revertir las tendencias de deterioro de los recursos naturales, así como a disminuir los niveles de pobreza y marginación en la Sierra Nororiental de Puebla, México