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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- Monocular obstacle avoidance framework for autonomous navigation(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-06) Abascal Molina, Andrea; Sotelo Molina, David Alejandro; emipsanchez; Muñoz Ubando, Luis Alberto; Pinto Orozco, Arturo; School of Engineering and Sciences; Campus Monterrey; Sotelo Molina, Carlos GustavoThis thesis presents a vision-based autonomous navigation framework that integrates deep learning-based monocular depth estimation with a Model Predictive Control (MPC) strategy for dynamic obstacle avoidance in indoor Unmanned Aerial Vehicles (UAVs). The proposed system addresses key challenges of operating in cluttered indoor environments where tradi- tional localization and depth sensing solutions are impractical due to hardware constraints or environmental limitations. Leveraging a fine-tuned Depth Anything V2 model, the frame- work generates dense depth maps in real time and utilizes them to construct sector-based spatial constraints within the UAV’s visual field. These constraints are incorporated into the MPC formulation to inform predictive control decisions and enable safe trajectory planning. A visual feature extraction module based on marker detection provides the reference trajec- tory for visual servoing, while the UAV continuously updates its path to avoid obstacles using dynamic depth constraints. The system was experimentally validated on a Tello quadrotor in various indoor scenarios, including static target alignment, dynamic target tracking, and ob- stacle intrusion. The results demonstrate reliable visual tracking, real-time depth estimation reaching 40 Hz via TensorRT optimization, and successful avoidance behavior under com- plex visual conditions. The contributions of this work include the design of a lightweight real-time perception-to-control pipeline, the integration of DL-based depth constraints into an MPC framework, and the demonstration of safe, closed-loop UAV navigation in dynamic environments. Although the system is designed for aerial robots, its modular architecture and sensor-driven control strategy generalize to other mobile robotic platforms. Ultimately, this framework equips mobile robots with advanced perception capabilities that are essential for achieving higher levels of autonomy in complex and unstructured environments.
- 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.
- Observer-based controller for unmanned aerial vehicles in reforestation applications(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-05-28) Muñoz Sepúlveda, Gustavo Alberto; Lozoya, Rafael Camilo; emimmayorquin; Castañeda, Herman; School of Engineering and Sciences; Campus Monterrey; Abaunza, HernánThis study presents a breakthrough in unmanned aerial vehicle (UAV) technology, showcas- ing the efficacy of a custom-designed controller and observer in the context of reforestation initiatives. Through meticulous experimentation and analysis, the study demonstrates the ob- server’s adeptness in mitigating external disturbances, thereby enhancing the precision and stability of UAV operations. This technological advancement not only holds promise for diverse practical applications but also holds profound implications for environmental con- servation efforts, particularly reforestation. Reforestation plays a pivotal role in mitigating climate change, preserving biodiversity, and safeguarding ecosystems. By leveraging UAV technology, this study propels forward the efficacy and efficiency of reforestation endeavors, laying the groundwork for future innovations in UAV-based interventions. The findings affirm the viability of the proposed controller and observer framework, highlighting its potential to revolutionize environmental monitoring, conservation, and sustainable resource management practices. This abstract encapsulates the significance of integrating cutting-edge technology with environmental conservation efforts, underscoring the pivotal role of UAVs in fostering a more sustainable future.
- Mobile coverage solutions for not-spots in rural zones of Latin America(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2021-06) Cabrera Castellanos, Diego Fernando; Aragon Zavala, Alejandro; dnbsmr; Castañon Avila, Gerardo; Guerrero Gonzalez, Neil; School of Engineering and Sciences; Campus MonterreyAccess to broadband communications in different parts of the world has become a priority for some governments and regulatory authorities around the world in recent years. Building new digital roads and pursuing a connected society includes looking for easier access to the Internet. In general, not all the areas where people congregate are fully covered, especially in rural zones, thus restricting the access to data communications and therefore bringing inequality. In rural areas, there are multiple challenges to deliver reliable communication, such as a suitable roll-out of IoT structures and introducing the ubiquitous network model in the countryside. Accordingly, the use of three platforms to deliver broadband services to such remote and low-income areas were studied: Unmanned Aerial Vehicles (UAV), Altitude Platforms (APS), and Low-Earth Orbit (LEO) satellites. On the other hand, the use of terrestrial networks— such as optical fiber centered—seems suitable but non-affordable because of the rural orography’s high complexity. The analysis of terrestrials deployments is out of the proposal scope. Hence UAVs were considered a noteworthy solution to be assessed in the experimental stage—by using the algorithm performed through electronic processors—since its efficient maneuverability can encompass the rural coverage issues of not-spots. To support the primary aim of analyzing the viability of deploying alternative BSs based on UAVs, the obtained results indicated that there are manifold shortcomings in the stated model due to the limitations on the accuracy of the used devices besides the bounded number collected information. Nevertheless, this approach can become an outstanding opportunity to develop the AGC research by considering higher-level simulations and even trustworthy LTE deployments to spur a fully connected countryside in Latin America and the entire world.
- Design and Implementation of a UAV-based Platform for Air Pollution Monitoring and Source Identification(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2018-05-15) Yungaicela Naula, Noé Marcelo; Garza Castañón, Luis Eduardo; Ponce Cuspinera, Luis; Vargas Martínez, AdrianaThis document presents the thesis proposal for obtaining the Master of Science in Intelligent Systems. Technology, industry and government forecasts coincide that the planet will withstand a maximum of 50 years at the rate of current air pollution. Air pollution has reached critical levels causing major impacts on health and economy across the globe. Environmental monitoring and control agencies, as well as industries, require a reliable and cost-effective tool that is easy to deploy where required to assess contamination levels, and on that basis, take the necessary actions. Current measurement methods using pressurized balloons, satellite imagery, or earth stations result in considerable investment, as well as providing low spatial and temporal resolution. There are also systems for measuring air pollution using Unmanned Air Vehicles (UAV), which are financed by large government institutions or international organizations whose budget and resources allow costly implementations. Other related works are limited to the capture of atmospheric data using the UAVs and offline analysis. This work presents the design and implementation of an open-source UAV-based platform for measuring atmospheric pollutants and an algorithm for the localization of the air pollutant sources with the use of a UAV and in-line processing of the pollutants data. The development of the UAV-based platform includes: the UAV mounting and characterization and the control system to guide the navigation of the vehicle, the appropriate sensors selection and integration to the UAV, the data transmission from the sensors onboard the UAV to the ground station, and the implementation of the user interface which is based on a web design. The algorithm for the air pollutant source localization is based on a metaheuristic component, to follow the increasing gradient of the pollutant concentration, and complemented with a probabilistic component to concentrate the searching to the most promising areas in the targeted environment. The results of this work are: Outdoors experiments of the UAV-based platform for the air pollutant monitoring and indoor experiments to validate the algorithm for the source localization. The results show effectiveness and robustness of the UAV-based platform and of the algorithm for the source identification.
- Structure analysis through multispectral image processing from a UAV(2017-12-05) Vega Prado, Ernesto; Gordillo Moscoso, José Luis; Hernández Gutierréz, Andrés; Lozáno García, Diego FabíanFor the industry, the inspection of structures has become a tedious task which requires the investment of an important amount of time and resources, yet necessary to guarantee the proper safety measures demanded by laws. With each new improvement in the structural analysis, companies keep trying to find faster and more reliable ways to check their buildings without risking their employees or having to rely on expensive methods of inspection for accurate results. This graduate thesis focuses on the development of a platform for aerial inspection based on multispectral image processing. An unmanned aerial vehicle performs both the navigation and vision processes through an embedded microcomputer and a multispectral sensor that captures images of the structure. The drone is positioned over the target through semiautonomous commands before starting the analysis. Different spectral images of the structure are collected to extract features and use them along with the spectral signatures of the possible failures to classify each flaw on the inspected section. The results of the failure detection are sent to a ground control station where the operator is able to find should there be problems on the structure, hence reducing the time required for the inspection and the amount of resources and workforce required.
- Development of an Open Architecture Quadrotor Micro Air Vehicle: Manufacture, Hardware and Software Integration(Instituto Tecnológico y de Estudios Superiores de Monterrey) Guerrero Cardoso, Pedro Antonio; 812086; Gordillo Moscoso, José Luis; Dzul López, Alejandro Enrique; Escuela de Ingeniería y Ciencias; Escuela de Ingeniería y Ciencias; Campus Monterrey; Castañeda Cuevas, HermanThe thesis addresses the development and manufacturing methodology of a Micro Aerial Vehicle of the Quadrotor (Quad-MAV). The software employed to design the electronic diagram, the layout of the Printed Circuit Board (PCB) and the embedded software of the drone, were from open source, allowing free access. The proposal of this thesis is to demonstrate that it is feasible to create a Quad-MAV with low cost components previously selected and using free software for the development of the product. To prototype, the PCB layout and the electronic diagram are developed on Autodesk EAGLE and then the Gerber files are processed by the LPKF CircuitPro to manufacture the coper wires over a FR4 plate and later the Surface Mounted Devices (SMD) are placed and soldered on their respective space over the board. The program of the microcontroller used in the prototype allows a stepped process to read the instructions of the Wi-Fi communication module and the data of the current state provided by the Inertial Measurement Unit (IMU), both processes, data and solve the control equations, allows that the system works. The code is written in C using the IDE MPLAB® X, the XC32 compiler and the firmware development tool, MPLAB® Harmony. The external modules, namely the Wi-Fi communication module and the IMU circuit, are coded and programed using as base the programs provided in Arduino. The experiments are conducted using a computer as a ground station to send the data to the Quad-MAV to ensure the communication and the integration of all the components in the final prototype of the board. Such experiments suggest that the construction of a Quad-MAV using low cost and commercial components is feasible giving access to an open source drone that can be adapted by the end-user to fulfill specific purposes.