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Synchronization of Robot Manipulators Actuated By Induction Motors with velocity Estimator

Computer Modeling in Engineering & Sciences 2019年第11期121卷 609-630页

作者： Felipe J.Torres gerardo v.guerrero Carlos D.García Ricardo Zavala-Yoe Mario A.García Adolfo R.López University of Guanajuato Division of Engineering Campus Irapuato-SalamancaCarretera Salamanca-Valle de Santiago km 3.5+1.8GuanajuatoSalamanca36885México National Technological of Mexico/National Center of Research and Technological Development Av.Palmira S/N colonia PalmiraMorelosCuernavaca62490México School of Engineering and Sciences Monterrey TechnologicalPuente 222 Ejidos de HuipulcoCiudad de México14380México Superior Technological Institute of Irapuato Carretera Irapuato-Silao km 12.5GuanajuatoIrapuato36821México

A complete modeling(including the actuator dynamics)of a robot manipulator that uses three-phase induction motors is presented in this paper.A control scheme is designed to synchronize robot manipulators actuated by induction motors under a masterslave scheme in the case where the joint velocity of the slave robots is *** of the research on the synchronization of robot manipulators assumes the use of ideal actuators to drive the joints;for that reason,in this work,a three-phase induction motor is considered to be a direct-drive actuator for each *** entire model of the mated system is obtained by a combination of the dynamics of the induction motor and robot ***,the synchronization control algorithm for a master-slave scheme in both the joint space and workspace of robot manipulators driven by induction motors is *** observer based on the entire model is proposed to estimate the joint velocity of the slave robot *** the Lyapunov criterion,a stability analysis of the synchronization control with a velocity estimator is *** analytical results show the synchronization and estimation errors are globally,uniformly,and ultimately *** with multiple robots demonstrate the performance of the proposed control algorithm.

关键词： Synchronization robot manipulator induction motor Lyapunov stability observer based on the model

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Review of Networked Microgrid Protection:Architectures,Challenges,Solutions,and Future Trends

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CSEE Journal of Power and Energy Systems 2024年第2期10卷 448-467页

作者： Jorge de la Cruz Ying Wu John E.Candelo-Becerra Juan C.vasquez Josep M.guerrero Center for Research on Microgrids(CROM) Department of Energy TechnologyAalborg University9220 AalborgDenmark Facultad de Minas Departamento de Energia Eléctrica y AutomaticaUniversidad Nacional de ColombiaSede MedellinCarrera 80 No.65-223RobledoMedellin 050041Colombia. Center for Research on Microgrids at UPC(UPC CROM) Department of Electronic EngineeringTechnical University of Catalonia(UPC)08019 Barcelona Spain ICREA Pg.Lluis Companys 2308010 BarcelonaSpain Center for Research on Microgrids at AAU(AAU CROM) AAU EnergyAalborg University(AAU)9220 Aalborg EastDenmark

Design and selection of advanced protection schemes have become essential for reliable and secure operation of networked *** protection schemes that allow correct operation of microgrids have been proposed for individual systems in different topologies and ***,protection schemes for networked microgrids are still in devel-opment,and further research is required to design and operate advanced protection in interconnected *** of these microgrids in different nodes with various intercon-nection technologies increases fault occurrence and complicates protection *** paper aims to point out challenges in developing protection for networked microgrids,potential solutions,and research areas that need to be addressed for their ***,this article presents a systematic analysis of different microgrid clusters proposed since 2016,including several architectures of networked microgrids,operation modes,components,and utilization of renewable sources,which have not been widely explored in previous review ***,the paper presents a discussion on protection systems currently available for microgrid clusters,current challenges,and solutions that have been proposed for these ***,it discusses the trend of protection schemes in networked microgrids and presents some conclusions related to ***—Adaptive eprotection,microgrid cluster,microgrid,multiple microgrid,networked microgrid,real-time simulation,smart grid.

关键词： Adaptive eprotection microgrid cluster microgrid multiple microgrid networked microgrid real-time simulation smart grid

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Identification of Rhizobia Isolated from Nodules of Mexican Commercial Soybean varieties

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American Journal of Plant Sciences 2024年第1期15卷 29-45页

作者： Cecilia vázquez Rodríguez Lourdes vital López Jesús gerardo García Olivares Homar Rene Gill Langarica Laboratorio de Biotecnología vegetal Centro de Biotecnología Genómica Instituto Politécnico Nacional Reynosa México Carrera de Mantenimiento Industrial Universidad Tecnológica de Tamaulipas Norte Universidad Tecnológica Reynosa México

Rhizobia, crucial for nitrogen fixation in leguminous plants, play a vital role in soybean cultivation. This study, conducted in Mexico, a major soybean importer, aimed to identify bacteria from nodules of five soybean varieties in high-production regions. Multilocus sequence analysis (MLSA) was employed for enhanced species resolution. The study identified six Bradyrhizobium species: Bradyrhizobium japonicum USDA 110, Bradyrhizobium japonicum USDA 6, Bradyrhizobium elkanii USDA 76, Bradyrhizobium neotropicale, Bradyrhizobium lablabi, and Bradyrhizobium icense. Bradyrhizobium japonicum USDA 110 predominated in the soils, displaying symbiotic preference for the Huasteca 400 variety. However, phylogenetic analysis didn't reveal a clear association between strains, soil, and soybean variety. This research sheds light on the diversity of rhizobia in Mexican soybean cultivation, contributing to the understanding of symbiotic relationships in soybean production systems.

关键词： Nodules Soybean Housekeeping Genes MLSA Rhizobia Bradyrhizobium Nitrogen Fixation Symbiosis Phylogenetic Analysis

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Efficacy and safety of abrocitinib in Chinese patients with moderate-to-severe atopic dermatitis: A post hoc analysis of the JADE REGIMEN phase 3 trial

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中华医学杂志(英文版) 2024年第16期137卷 1991-1992页

作者： Li Hang Cheng Hao Lu Qianjin Lai Wei Tao Xiaohua Encinas gerardo A. vyas Shefali Wang Bo Luo Xin Li Shiqi Department of Dermatology Peking University First Hospital National Clinical Research Center for Skin and Immune Diseases Beijing China Department of Dermatology Sir Run Run Shaw Hospital Zhejiang University School of Medicine Hangzhou Zhejiang China Department of Dermatology The Second Xiangya Hospital of Central South University Changsha Hunan China Department of Dermatology The Third Affiliated Hospital of Sun Yat-sen University Guangzhou Guangdong China Department of Dermatology Zhejiang Provincial People’s Hospital Hangzhou Medical College Hangzhou Zhejiang China Pfizer S.A. de C.v. Mexico City Mexico Pfizer Inc. New York NY USA Pfizer Investment Co. Ltd Beijing China Pfizer (China) R& D Co. Ltd Shanghai China Pfizer PBG Shanghai China

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Model based current mode control design and experimental validation for a 3φ rectifier under unbalanced grid voltage conditions

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Journal of Modern Power Systems and Clean Energy 2018年第4期6卷 777-790页

作者： P.R.MARTíNEZ-RODRIGEZ Jose M.SOSA Samuel ITURRIAGA-MEDINA gerardo ESCOBAR gerardo váZQUEZ-GUZMáN Andres A.vALDEZ-FERNáNDEZ School of Sciencies UASLP Laboratory of Electrical and Power Electronics ITESI School of Engineering Universidad Modelo

This paper addresses the control design and the experimental validation of a current mode control for a three phase voltage source rectifier. The proposed control law is able to fulfill the voltage regulation and the current tracking control objectives despite of unbalanced and distorted grid voltages. The proposed control law consists of two loops, which are referred as inner tracking loop and the outer voltage regulation loop. The inner loop is designed to provide damping to the system, which also includes and adaptive mechanism. The construction of the current reference is based on the positive component detection of thegrid voltage. Therefore, the current produced by the power rectifier is proportional to the fundamental component of the grid voltage, despite of the presence of unbalanced grid voltages. The voltage regulation loop is designed as a proportional-integral controller, which is aimed to regulate the DC output voltage to a desired level. Finally, experimental results are obtained in an experimental prototype of2 kW to evaluate the performance of the proposed controller.

关键词： Pulse-width modulation rectifier Power factor correction Positive-component Current mode control

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Robust Nonlinear Control of Rigid Robots Driven by Induction Motors

Robust Nonlinear Control of Rigid Robots Driven by Induction...

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第十九届中国控制会议

作者： gerardo guerrero-Ramírez Electronic Engineering Department CENIDET Interior Internado Palmira S／N CP 62490 CuernavacaMorelosMéxico

＜正＞The problem of controlling a rigid manipulator driven by induction motors （IM） to follow a desired trajectory is considered in this paper. We propose a robust nonlinear control technique to deal with uncertainties in both the rotor and stator winding resistances. In the proposed scheme, assuming that a nominal control law. designed with the knowledge of the plant parameters, ensures the exponential stability of the closed-loop system in the absence of parameter uncertainty, we use the Lyapunov technique to find an additional feedback signal that is added to the control signal to guarantee the uniform ultimate stability in the presence of uncertainties. Simulation results are included to illustrate the performance of the control scheme.

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Identification of Rhizobia Isolated from Nodules of Mexican Commercial Soybean varieties

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American Journal of Plant Sciences（美国植物学期刊） 2024年第1期

作者： Cecilia vázquez Rodríguez Lourdes vital López Jesús gerardo García Olivares Homar Rene Gill Langarica

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Influence of flooding and vegetation on carbon,nitrogen,and phosphorus dynamics in the pore water of a Spartina alterniflora salt marsh

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Journal of Environmental Sciences 2011年第2期23卷 212-221页

作者： vanesa L.Negrin Carla v.Spetter Raúl O.Asteasuain gerardo M.E.Perillo Jorge E.Marcovecchio Argentine Institute of Oceanography (IADO CONICETCCT-Bahía Blanca)Camino La Carrindanga km 75Building E-1 CC 804Bahía Blanca 8000Argentina Department of Chemistry Southern National Institute of Chemistry (INQUISUR)Southern National University (UNS)Av Alem 1253Bahía Blanca 8000Argentina Department of Geology Southern National University (UNS)San Juan 670Bahía Blanca 8000Argentina National Technological University Regional Faculty of Bahía Blanca (UTN-FRBB)11 de Abril 461Bahía Blanca 8000Argentina University of the Fraternity of Associations Santo Toms de Aquino (FASTA) Gascón 3145Mar del Plata 7600Argentina

Four sites were selected in a salt marsh in the Bahia Blanca Estuary （Argentina）：（1） low marsh （flooded by the tide twice daily） vegetated by S. alterniflora; （2） non-vegetated low marsh; （3） high marsh （flooded only in spring tides） vegetated by S. alterniflora; （4） non-vegetated high marsh. The pH and Eh were measured in sediments, while dissolved nutrients （ammonium, nitrate, nitrite and phosphate） and particulate organic matter （POM） were determined in pore water, pH （6.2-8.7） was only affected by vegetation in low areas. Eh （from -300 to 250 mv） was lower at low sites than at high ones; in the latter, the values were higher in the non-vegetated sediments. The POM concentration was greater in the high marsh than in the low marsh, with no effect of vegetation. Ammonium was the most abundant nitrogen nutrient species in pore water, except in the non-vegetated high marsh where nitrate concentration was higher. All nitrogen nutrients were affected by both flooding and vegetation. Phosphate was always present in pore water at all sites throughout the year and its concentration varied within narrow limits, with no effect of flooding and greater values always at non-vegetated sites. Our results showed that the variability of the pore water composition within the marsh is greater than the temporal variation, meaning that both tidal flooding and vegetation are important in the dynamics of nutrients and organic matter in the sediment pore water.

关键词： organic matter nutrients flooding Spartina alterniflora

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Association of TCF7L2 mutation and atypical diabetes in a Uruguayan population

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World Journal of Diabetes 2018年第9期9卷 157-164页

作者： Carolina Beloso Jorge Souto Matias Fábregat gerardo Romanelli gerardo Javiel Adriana Mimbacas Biodiversity and Genetics Department Instituto de Investigaciones Biológicas Clemente Estable Cytogenetics Laboratory Hematology and Transplant Service of Hematopoietic Progenitors Maciel Hospital ASSE Department of Genetics Faculty of Medicine UDELAR Human Molecular Genetics Laboratory Institut Pasteur de Montevideo Cell Signaling and Nanobiology Laboratory Instituto de Investigaciones Biológicas Clemente Estable Unit of Diabetes Hospital Pasteur ASSE-Ministry of Public Health Diabetologyc Service of Private Health Center Centro de Asistencia del Sindicato Médico del Uruguay

AIM To investigate if mutations in TCF7 L2 are associated with "atypical diabetes" in the Uruguayan *** Healthy, nondiabetic controls(n = 133) and patients with type 2 diabetes(n = 177) were selected from among the presenting population at level-3 referral healthcare centers in Uruguay. Patients with type 2 diabetes were subgrouped according to "atypical diabetes"(n = 92) and "classical diabetes"(n = 85). Genotyping for the rs12255372 and rs7903146 single nucleotide polymorphisms(SNPs) in the TCFTL2 gene was carried out with Taq Man? probes. Random samples were sequenced by Macrogen Ltd.(South Korea). Statistical analysis of the SNP data was carried out with the SNPStats online tool(http://***/SNPstats). The best inheritance model was chosen according to the lowest values of Akaike's information criterion and Bayesian information criterion. Differences between groups were determined by unpaired t-tests after checking the normal distribution or were converted to normalize the data. The association of SNPs was tested for matched case-control samples by using χ2 analysis and calculation of odds ratios(ORs) with 95% confidence intervals(CIs). All statistical tests were performed using SPSS v10.0 and EpiI nfo7 statistical packages. Significant statistical differences were assumed in all cases showing adjusted P vs G/T+T/T, OR = 0.63, 95%CI: 0.40-0.98, P vs C/T+T/T, OR = 0.79, 95%CI: 0.41-1.55, P = 0.3. The rs12255372 SNP showed high association with the type 2 diabetes cases(OR = 1.60, 95%CI: 1.20-2.51, P ver, when the type 2 diabetics group was analyzed according to the atypical and classical subgroupings, t

关键词： TCF7L2 Atypical diabetes Type 2 diabetes Latin America TaqMan

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Sensitivity,specificity and predictive values of anterior chamber tap in cases of bacterial endophthalmitis

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Eye and vision 2017年第1期4卷 100-105页

作者： Carl Sjoholm-Gomez de Liano vidal F.Soberon-ventura Guillermo Salcedo-villanueva Abril Santos-Palacios Jose Luis guerrero-Naranjo Jans Fromow-Guerra gerardo García-Aguirre virgilio Morales-Canton Raul velez-Montoya Retina Department Asociación para Evitar la Ceguera en MexicoHospital“Dr.Luis Sanchez Bulnes”IAPMexico CityMexico Universidad Popular Autonoma del Estado de Puebla PueblaMexico Ophthalmology Department Macula Retina ConsultantsMexico CityMexico

Background:To assess the sensitivity,specificity,positive predictive value and negative predictive value of anterior chamber tap for the diagnosis of bacterial endophthalmitis on a population with high ***:Retrospective,single centre,case series *** reviewed all medical records with clinical diagnosis of bacterial endophthalmitis in our hospital from January 1st,2000 to December 31st *** each record,we documented general demographic data,best corrected visual acuity and vitreous and aqueous tap microbiological *** cases were further divided according to the endophthalmitis aetiology to perform individual calculations of sensitivity,specificity,positive predictive value,negative predictive value,accuracy and *** used the results of the vitreous tap as the gold standard for diagnosis of bacterial *** excluded those records in which the aqueous and vitreous samples were not taken simultaneously or had an incomplete microbiological *** were assessed with chi squared statistics,with an alpha value of 0.05 for statistical ***:A total of 190 cases fulfilled the inclusion/exclusion *** culture rate from vitreous samples was 64.74%.Positive culture rate from aqueous sample was 32.11%.Bacteria isolated from aqueous samples matched those isolated from vitreous samples 78.68%of the *** overall sensitivity was 38.21%,specificity:75.51%,positive predictive value:79.66%,negative predictive value:32.74%(p=0.08).Subgroup analysis showed that anterior chamber taps in cases of post-surgical endophthalmitis had a moderate to low sensitivity(37.73%),high specificity(93%)and high positive predictive value(95%)(pvity and specificity of anterior chamber tap are low and should not be used for critical therapeutic decisions in patients with suspected bacterial *** cases of post-surgical endophthalmitis,the result of an anterior chamber tap

关键词： Aqueous humour Endophthalmitis Anterior chamber tap Diagnostic test vitreous tap Aqueous sampling Sensibility Sensitivity

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