Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI

Title

Padi — 2024-04-22

Editorial Committe

Pädi ICBI — 2024-04-22

Current Trends in Robotics Development in Mexico

Ervin Jesús Alvarez-Sánchez — 2024-04-22

Ante un mundo en permanente cambio, en el que la dinámica geológica, el cambio climático y el crecimiento desmesurado de la población, representan factores que condicionan nuestro desarrollo. Con el fortalecimiento de sus habilidades cognitivas, el ser humano se ha convertido en agente de su propia transformación, produciendo formidables avances como parte de la requerida adaptación. La tecnología actual, ha permitido una impresionante capacidad del análisis y procesamiento de la información en tiempo real con propósitos diversos. Como parte de las estrategias emergentes ante la dinámica en el mundo, la robótica y la inteligencia artificial, juegan un rol importante en la solución parcial o total de un importante número de problemas, como parte del proceso de transformación.

La convocatoria para publicar en el número especial 2, volumen 12, de la revista Pädi Boletin Científico de Ciencias Básicas e Ingenierías del ICBI, estuvo asociada a tres importantes rubros: i) Tópicos Selectos de Control (TSC), ii) Tópicos Selectos de Robótica (TSR), y iii) Tópicos Especiales (TE); integrados de la siguiente manera:
• TSC: Control Lineal, Control No Lineal, Control de Impedancia, Control Difuso, Control Adaptable y Control de Robots.
•TSR: Robótica Móvil, Robótica Humanoide, Robótica Educativa, Robos de Competencia, Robótica Médica, Robots Autónomos, Robots Hexápodos, Robots Uniciclo, Robótica Colaborativa y Plataformas Paralelas.
•TE: Modelado Cinemático y Dinámico, Diseño de Robots, Inteligencia Artificial, Teleoperación de Robots, Realidad Virtual, Interfaces Hápticas y Visión.

Una breve descripción de las contribuciones reportadas en este número especial, se presenta en esta editorial

Tracking control-observer for a second orden differential-drive robot

Luis Aldair Castro-Romero — 2024-04-22

This work presents the design of a control with a state observer for the trajectory tracking of a differential mobile robot. The mathematical model of the robot is built based on a second-order kinematic extension. The linear velocities of the extended model are not easily measurable, for which a state observer is used. With control (input/output linearization) and using the observed states, convergence to zero of the error is guaranteed between the desired trajectory and the states. The theoretical results are validated through a numerical simulation with the Matlab Simulink software.

Formation tracking for a heterogeneous multi-agent system

José Luis Alfonso-Jiménez — 2024-04-22

In this work, the design of a control strategy to achieve formation tracking in a heterogeneous multi-agent system is presented. The modeling of this system is based on the principles of algebraic graph theory. In particular, the system comprises two different types of agents: Ackermann and differential mobile robots. This control proposal lies in enabling a subgroup of agents designated as ``followers'' to achieve and maintain a predefined formation with respect to a ``leader''. The leader has the task to track a desired trajectory. The theoretical results are validated through numerical simulation, where the ability of this strategy to coordinate multiple robots of different types is demonstrated.

Kinematic Control for Trajectory Tracking of a 3R Manipulator

Alan Fernando Domínguez-Prado — 2024-04-22

This work presents the design of a control strategy to achieve trajectory tracking by the end effector of a 3R manipulator robot. The control strategy design is based on the kinematic model of the robot, utilizing the Jacobian. Theoretical results are validated both numerically and experimentally. The implementation is carried out on a platform with an Optitrack camera system to obtain the position of the end effector, using Matlab/Simulink for real-time control signal calculations.

Robust speed regulation of a DC motor using a data-driven method with RNA

Marco Antonio Castro-Liera — 2024-04-22

This work presents a data-driven control of a DC motor using artificial neural networks. The main components of the proposed control scheme are the numerical model of the plant, that includes as input the voltage supplied by the source, and an inverse moled which calculates the control signal, both implemented using Artificial Neural Networks (ANN). The main novelty of the proposed method is the incorporation of voltage in the state vector of the model which it is of interest due to its practical importance when modeling the DC motor. To validate the proposed scheme, experimental results on a commercial DC motor under time-varying perturbations are presented.

Comparisson between generalized geometric triangulation and odometry

Enrique Mar-Castro — 2024-04-22

The localization in mobile robotics is essential for carrying out autonomous tasks. For this reason, different algorithms have been developed to estimate the robot's pose, either relatively or absolutely. One of the best known is Wheel-based Odometry, which is easy to implement but the error tends to increase with respect to time producing an unreliable estimation. In contrast, absolute localization algorithms such as Generalized Geometric Triangulation (GGT) offer higher accuracy, although their implementation may require more advanced measurement systems, and pose estimation can be slow. This work compares these two algorithms and shows what happens with the pose estimation when used for period of time. The presented results were obtained in a real testing area equipped with a Turtlebot3 model burger robot.

Design and construction of a can-sized satellite.

Rebec Vázquez-Ortiz — 2024-04-22

In this paper the subsystems of a can-sized satellite or CanSat are described, a detailed revision for the design process of every system is included and finally, a propose for the use of CanSats as engineering teaching tool is presented.

Car steering prediction: Implementation of two interest areas

Filiberto Eduardo Martínez-Hernández — 2024-04-22

Steering angle prediction in intelligent vehicles is a topic widely studied in the literature. Nevertheless, user intervention is required to operate the vehicle, limiting the degree of autonomy. This work proposes algorithms based on artificial neural networks to determinate the steering angle in a moving vehicle, with real-time applications in scaled vehicles on a two-lane track. Using a front camera centered on the vehicle, two areas of interest are determined: the original image and a rectified version by changing the perspective. Subsequently, the tuple of images is used to create two labelled datasets with the desired steering angle to train two convolutional neural networks. Once trained, both models are implemented in real-time to guide a scaled vehicle on an obstacle free road, allowing autonomous navigation in the designated lane while observing the behaviour in each case.

Design of a mobile robot for sowing cereal seeds in plots with prior tillage

Mario Salvador Castro-Zenil — 2024-04-22

The design and first implementation of a mobile robot that supports the sowing of cereal seeds on land that has been previously tilled, this scheme supports farmers who do not have the economic possibility of owning a tractor and a precision planter. This robot was designed to sow, fertilize and close the furrow that was previously opened. This robot receives the configuration parameters through a mobile application, which allows it to be operated in a simple way and adapts to various plot configurations and crop types

Design and Construction of a Tracer Device Controlled Through Head Movements

Guillermo Rey Peñaloza-Mendoza — 2024-04-22

Tetraplegia is generated by a spinal cord injury in which control and sensitivity of the extremities is lost. When this state of physical disability occurs, the use of support devices is recommended to obtain greater autonomy in daily activities. Currently, most devices focus on improving the person's movement, leaving aside recreational activities. This work presents the design and construction of a device that allows the population with tetraplegia the possibility of making strokes through the detection of head movements, in order to provide an option that allows expression in writing. The detection of the user's head movements is carried out using an accelerometer with a gyroscope whose data is processed by a microcontroller that sends the action via Bluetooth to a Cartesian robot, achieving user-machine communication that allows written expression to the person with disability.

A robust input-to-state energy-shaping based controller of torque-driven robot manipulators

Luis Enrique Cervantes-Pérez — 2024-04-22

This paper presents a robust joint position trajectory tracking controller of torque-driven robot manipulators affected by time-varying disturbances. The main contribution of the present work is the design, analysis and experimentation of a robust control law based on an energy shaping approach. The performance of the proposed controller is demonstrated through experiments on a two degree-of-freedom robot manipulator.

Predictive control and fault tolerant of a quadrotor

Jesús Cristian Velázquez-Carrasco — 2024-04-22

The objective of this work is to couple a fault detection and reconfiguration control strategy based on flatness, in addition with a Lineal Model Predictive control for the automatic trajectory control of a quadrotor, where both controllers have the possibility of adapting and reconfigure in a possible failure event and guarantee the survival of the quadrotor.

Comparative of a real-time vision system under Xenomai and PREEMPT_RT

Jorge Leonardo Muñoz-Torres — 2024-04-22

This article presents the design and programming of a vision system on two real-time operating systems. The above is for the purpose of making a comparison of their performance. The operating systems used were Xenomai and Linux with the PREEMPT_RT patch. The structure of the vision system in both cases is divided into three threads: the first one in charge of acquiring and processing the images, the second one that displays the images on the screen and the last one for the data transfer (and subsequent analysis out of line). The objective of this proposed structure is the optimization of the execution times; which may be smaller compared to using a single process or thread for the entire vision system. Finally, experiments are described emphasizing the periodicity achieved by performing an image processing corresponding to the calculation of a centroid that gives information about the movement of a simple pendulum.

Trajectory tracking for an anthropomorphic manipulator robot using APF's

Zurisadai Flores-Murcia — 2024-04-22

This paper presents a control algorithm applying the theory of attractive potential fields (APF's) to achieve trajectory tracking in an anthropomorphic manipulator robot with three degrees of freedom. An APF together with its gradient descent is proposed to solve the problem. The theoretical results are validated numerically in Matlab/Simulink using different trajectories to corroborate the stability of the algorithm.

Design of a mobile aquatic feeder for Oreochromis niloticus

Santiago Arceo-Díaz — 2024-04-22

Today, tilapia farming is a standardized and well-defined process, however, fish farmers do not have the necessary tools to ensure that the process is being carried out properly in terms of portions, especially when it comes to large ponds, feeding the school of fish in them becomes a task that requires time and effort. In this work, a project proposal was developed to help fish farmers with the design and construction of a prototype aquatic mobile automatic feeder that, as its name says, allows feeding the fish by moving around the pond and with the correct ratio. In addition, the design of a human-machine interface was developed so that the operator could control the prototype, including the ability to decide when to release the feed. This project is intended to help facilitate the fish farmer's task of feeding the school of fish using the mechatronic design methodology.

Experimental platform for the modeling and control of omnidirectional robots

Luis Yair Leal-Ramos — 2024-04-22

In this paper, an experimental platform for the development of robotics, control, and learning algorithms is presented. The proposed ROS architecture is open, allowing the integration of different sensors, processing units, and robots. An Active Disturbance Rejection Control (ADRC) is designed for an omnidirectional mobile robot to validate the proposed platform. Parametric uncertainties, wheel friction on the surface, and external disturbances are lumped as a total disturbance, estimated by an Extended State Observer (ESO), and compensated via a feedforward term in the control law. The omnidirectional robot can communicate through ROS with a motion capture system (server). Simulation and experimental results in real-time are presented. The control algorithm is lightweight and easy to implement and adjust in embedded systems with low computational resources or low-cost processors.

Speed control of a sphere robot with inertial locomotion

Mario Enrique Herrera-Cordero — 2024-04-22

This work presents the speed control of a sphere robot with BCO architecture, based on its transfer function. The controller is developed by analyzing the root locus (LGR) of the closed-loop (LC) transfer function. The proposed controller is evaluated in both linear and nonlinear models. Numerical simulations are executed with the Matlab-Simulink software to evaluate the performance of the controller, demonstrating the viability to be implemented in both models. Finally, the control torque necessary for the selection of the robot actuators is shown.

Kinematic analysis of a 6-UPUR parallel robot by screw theory

Hugo Javier Cortés-Ruiz — 2024-04-22

This work presents the kinematic analysis of position and velocity for a six degrees of freedom UPUR parallel robot. Forward and inverse kinematics are obtained from closure vectorial equations which are solved by numerical methods. Equations relating actuators velocities with mobile platform velocities are obtained by using screw theory, which allows skip the passive joints velocity from kinematic analysis. Validity of obtained equations is verified by comparing the numerical results with mechanism simulation carried out in SolidWorks.

Active disturbance rejection proxy-based sliding mode control using a fuzzy extended state observer

Pablo José Prieto-Entenza — 2024-04-22

This paper presents the proxy-based sliding mode control, a methodology focused for second-order systems. In this proposal, in the control loop we use an fuzzy extended state observer based on Mandami-type inference system, in order to estimate external disturbances and provide it to the controller with the aim of attenuating the influence of external disturbances. To corroborate the obtained results, we introduce numerical simulation of proxy-based sliding mode controller interconnected with fuzzy extended state observer applied to a single pendulum.

Design and validation of a UUV with integrated computer vision system

Marisol Vázquez-Tzompantzi — 2024-04-22

This article presents the design and validation of an Unmanned Underwater Vehicle (UUV) equipped with an advanced computer vision system based on image processing algorithms. The main objective is to employ mechatronics principles and cutting-edge technologies to develop a UUV capable of capturing images and telemetry data, enhancing underwater exploration in challenging environments. The computer vision algorithm, based on OpenCV, enables real-time detection and recognition of submerged structures and objects. Validation is performed through static analyses and computational fluid dynamics (CFD) simulations. The results demonstrate the effectiveness and versatility of the UUV in various applications, including archaeological inspections, search and rescue operations, and the conservation of protected marine reserves.

Leader-follower scheme for position control of 3GDL manipulator robots

Brenda Mayora-Reyes — 2024-04-22

This paper presents the design of a position control strategy for a pair of manipulator robots with 3 degrees of freedom (3GDL). A leader-follower scheme is used for the design of the strategy, where the leader robot is in charge of following a trajectory, while the follower robot must position itself at a certain distance with respect to the leader, i.e., it converges to a desired formation. The theoretical results obtained are validated numerically.

Estimation of failures in actuators of a mobile robot with mecanum wheels

Noé Moisés Luna-Aguilar — 2024-04-22

In this article, a convex proportional-integral observer (PIC) is presented for the estimation of actuator faults in a mobile robot with mecanum wheels. Using the nonlinear sector technique, a convex model with a tensor product structure is developed, providing greater flexibility in solving the observer gains. For stability conditions of the estimation error, the direct Lyapunov method is employed, specifying sufficient conditions through a set of linear matrix inequalities (LMIs) that ensure the asymptotic convergence of the estimated state and faults to the vector of the system's state and faults. Finally, the results are evaluated through simulation based on the nonlinear model of a mecanum-wheeled mobile robot.

Design of a photovoltaic system for waste collection vehicle

Carlos Rafael Lascurain — 2024-04-22

A photovoltaic power supply system was proposed for solid waste collection on aquatic surfaces. Background analysis revealed that lithium-ion batteries are ideal due to their high energy density, thermal control, and durability. The vehicle's power source was constructed using lithium-ion batteries from decomposed laptops, optimized with a charge controller to ensure stable energy storage. A charging station with photovoltaic panels was implemented, configured as an island-type system with a second battery to counter adverse weather conditions. Facilities from the engineering faculty were utilized for didactic functionality in photovoltaic testing. Experiments with a navigation prototype simulated working conditions, demonstrating that the battery met the goal of over two hours of autonomy.