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Article
Robust bounded control scheme for quadrotor vehicles under high dynamic disturbances
In this paper, an optimal bounded robust control algorithm for secure autonomous navigation in quadcopter vehicles is proposed. The controller is developed combining two parts; one dedicated to stabilize the c...
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Article
Stabilization and Tracking Control Algorithms for VTOL Aircraft: Theoretical and Practical Overview
Control theory applied to multirotor aerial systems (MAS) has gained attention with the recent increase on the power computation for embedded systems. These systems are now able to perform the calculations nee...
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Article
The burden of musculoskeletal disorders in Mexico at national and state level, 1990–2016: estimates from the global burden of disease study 2016
Worldwide, musculoskeletal (MSK) disorders are the second cause of living with disability. According to our data, in Mexico, MSK conditions are an important cause of disability, at national and state level. Preve...
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Article
Fixed-Wing MAV Adaptive PD Control Based on a Modified MIT Rule with Sliding-Mode Control
This paper presents an adaptive PD control law by using a modified MIT rule. The adaptation of the controller gains is based on the adjustment mechanism of the MIT rule by the gradient method with three types ...
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Living Reference Work Entry In depth
Quaternion Modeling and Control Approaches
Quaternions are an alternative to the classical Euler angles for mathematically describing mechanical systems, including unmanned aerial vehicles (UAVs). In this chapter, the most important concepts of unit an...
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Article
Dual Quaternion Modeling and Control of a Quad-rotor Aerial Manipulator
This contribution presents a modeling technique for an aerial manipulator based on a quad-rotor vehicle provided with a robotic arm. Dual quaternions, which are a little explored but powerful mathematical tool...
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Article
Quadrotor Energy-Based Control Laws: a Unit-Quaternion Approach
This article presents the designs, simulations and real-time experimental results of two energy-based control strategies to stabilize an Unmanned Aerial Vehicles (UAV) using a quaternion representation of the ...
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Article
A novel capillary nano-immunoassay for assessing androgen receptor splice variant 7 in plasma. Correlation with CD133 antigen expression in circulating tumor cells. A pilot study in prostate cancer patients
Androgen receptor (AR) splice variant 7 (AR-V7) has been related with both a higher risk of prostate cancer (PC) progression and differential responsiveness to hormonal agents versus chemotherapy. The objecti...
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Article
Morphogenesis and grain size variation of alluvial gold recovered in auriferous sediments of the Tormes Basin (Iberian Peninsula) using a simple correspondence analysis
With present techniques it is difficult to determine whether the gold particles present at fluvial placers have come from one or multiple sources. Knowledge of this would be useful in prospecting for larger go...
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Article
Stability Analysis of a Vision-Based UAV Controller
The stability analysis of a vision-based control strategy for a quad rotorcraft UAV is addressed. In the present application, the imaging sensing system provides the required states for performing autonomous n...
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Article
Wind Estimation for Accurate Airplane Path Following Applications
This paper explores the flight of small fixed-wing Unmanned Aerial Vehicle (UAV) in a non-steady environment. The vulnerability of light airplanes to wind is analyzed and the effect of such perturbations on ai...
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Article
Backstep** - Sliding Mode Controllers Applied to a Fixed-Wing UAV
This paper deals with the design of five controllers, based on Backstep** and Sliding Modes, which are applied to a fixed-wing unmanned aerial vehicle (UAV). We are interested to realize a comparative analys...
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Article
Modeling and Sliding Mode Control of a Micro Helicopter-Airplane System
This paper presents the regulation and trajectory tracking for a Micro Coaxial Rocket Helicopter (MCR UAV), as well as the control of a mini aircraft. The former vehicle has the characteristic of performing ho...
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Article
Ecology, genetic diversity and phylogeography of the Iberian endemic plant Jurinea pinnata (Lag.) DC. (Compositae) on two special edaphic substrates: dolomite and gypsum
Jurinea pinnata is an Iberian vascular plant which only grows on gypsum and dolomite, two types of rocks associated with their exclusive endemic floras. In addition, the plant has an island-lik...
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Chapter
Fault Estimation and Control for a Quad-Rotor MAV Using a Polynomial Observer. Part I: Fault Detection
This work addresses the problem of fault detection and diagnosis (FDD) for a quad-rotor mini aerial vehicle (MAV). Actuator faults are considered on this paper. The basic idea behind the proposed method is to ...
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Article
Trajectory Control of a Quadrotor Subject to 2D Wind Disturbances
The paper addresses the flight control of a quad-rotor subject to two dimensional unknown static/varying wind disturbances. A model separation is proposed to simplify the control of the six-degrees-of-freedom ...
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Article
The Transition Phase of a Gun-Launched Micro Air Vehicle
The present paper addresses the transition stage of a Gun-Launched Micro Air Vehicle (GLMAV) whose main goal is to rapidly position a rotorcraft MAV over a high-risk scene (Prison riots, blind zones: e.g. over...
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Article
Tracking a Ground Moving Target with a Quadrotor Using Switching Control
An unmanned aerial vehicle (UAV) stabilization strategy based on computer vision and switching controllers is proposed. The main goal of this system is to perform tracking of a moving target on ground. The arc...
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Article
Adaptive Trajectory Following for a Fixed-Wing UAV in Presence of Crosswind
An adaptive backstep** approach to obtain directional control of a fixed-wing UAV in presence of unknown crosswind is developed in this paper. The dynamics of the cross track error with respect to a desired ...
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Article
Stabilization and Trajectory Tracking of a Quad-Rotor Using Vision
We propose a vision-based position control method, with the purpose of providing some level of autonomy to a quad-rotor unmanned aerial vehicle. Our approach estimates the helicopter X-Y-Z position with respec...
