Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Optimizing Route Planning in Diverse Landscapes: Integrating SLAM and RRT in Autonomous Drone Deployment.(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-06-11) Colín García, Daniel; Izquierdo Reyes, Javier; emimmayorquin; González Hernández, Hugo Gustavo; Molina Espinosa, José Martín; School of Engineering and Sciences; Campus Ciudad de MéxicoThis thesis focuses on the implementation of improved route planning and terrain mapping in different types of structured landscapes by using advanced Simultaneous Localization and Mapping (SLAM) methods and Rapidly-exploring Random Tree (RRT*) algorithm in autonomous drone deployment, focusing on software development and simulation to improve tracking capabilities. This thesis is based on a single project that is a collaborative work of postgraduate students. The project aims to develop a drone-based telecommunications network that serves as a basis for exploration and monitoring in studied or designated areas. This research is based on the establishment of a system that integrates SLAM, which provides a quick and accurate map of complex environments. This is important for the correct drones' work and the best results. Meanwhile, the inclusion of an RRT algorithm enables us to raise the system's efficiency and accuracy in planning routes for drones as they navigate intricate urban and non-urban spaces. The project is exclusively based on software simulation, using tools like AirSim and Unreal Engine, which allow the creation of an environment to test how well different drones work, from a single area to specific coordinates, ignoring external conditions like weather and drone battery life. The use of these mapping techniques and this trajectory planning algorithm enables safe navigation and an understanding of the environment that allows drones to function properly to perform their tasks. The results obtained, and the methods applied in the thesis, hope to introduce efficiency and productivity in the planning of drone deployments in all structured environments. This path would open the way to new applications in areas beyond urban infrastructure.
- Proposal of a methodology for Engineering Design focused on mechatronic products for application in Mexico.(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-04) Salazar Calderón, Luis Ángel; Izquierdo Reyes, Javier; emimmayorquin; Navarro Tuch, Sergio Alberto; Icaza Longoria, Inés Álvarez; Escuela de Ciencias e Ingeniería; Campus Ciudad de MéxicoIn the face of the technological era we live in, there is a huge demand for products that improve everyday activities, from automating large-scale processes within the industry to using smart devices in people’s daily lives. Therefore, mechatronics is a privileged area for the development of such products. Due to the complexity and level of specialization required by some mechatronic systems, situations that threaten the health of these product developments may arise. Thus, having the context upon which the design of such a product will be executed can provide the design team with tools to avoid such situations. This thesis presents the development of a methodology for the engineering design process focused on mechatronic products, intended for use under Mexican conditions. The problem-solving process proposed by Hyman served as the basis, conducting a comparison with multiple methodologies focused on mechatronics as well as more traditional processes, evaluating their main qualities and the adaptation of the process itself to solve problems. The methodology was structured into three stages: Information, Conceptual Design, and Embodiment Design, aimed at adapting the steps to obtain information, generate proposals, evaluate and select a proposal, develop the proposal, and test the proposal to solve a problem. The proposed methodology was evaluated through a case study for the conceptual design of a robotic platform on the worksite, allowing for the automation of the construction of confined walls in vertical buildings in Mexico. This resulted in the mechanical and electronic development of two subsystems focused on brick transportation and another for lifting the block for subsequent placement on the wall.
- Methodology for automatic generation of optimal spraying trajectories for complex concave surfaces(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024) Ramírez Ríos, David; Izquierdo Reyes, Javier; emimmayorquin; Rodríguez Padilla, Ma. Consuelo; Guedea Elizalde, Federico; Navarro Duran, David; Escuela de Ingeniería y Ciencias; Campus Ciudad de México; Romero, DavidSpray coating operations are one of the most common applications for industrial robots. Once an optimal spraying trajectory has been set, the repeatability, accuracy, and productivity of the industrial robots make them ideal for these tasks, continuously achieving homogeneous coating thickness without putting human operators in hazardous environments. However, the increasing complexity of the manufactured pieces enlarges the di culty of finding optimal spraying tra- jectories, which in turn increases the time to automate new spraying operations. Even though several technologies like dip-coating have been developed to achieve low thickness deviation for complex surfaces, there are contexts where applying these technologies is simply unfeasible. Therefore, various o✏ine programming-assisted methodologies have been developed to increase the quality of the coating and reduce the automation time of new spraying processes, but few can be applied to concave surfaces, and none have been reported to cope with very complicated surfaces such as those encountered in the SMP molds. In this work, a framework for generating a set of strokes based on low curvature, and loop-free cubic B ́ezier curves that avoid collisions with the surface was developed and tested on the surface of a semi-permanent mold employed on gravity die casting. This methodology aims to reduce the burden of the automation process of spraying operations for complex concave surfaces.