Ciencias Exactas y Ciencias de la Salud

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Modelling, trajectory control, path planning, and enhanced navigation of a biomimetic underwater vehicle for a novel propulsion system
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2024-06) Algarín Pinto, Juan Antonio; Vargas Martínez, Adriana; emipsanchez; Sotelo Molina, Carlos Gustavo; Escuela de Ingeniería y Ciencias; Campus Monterrey; Garza Castañón, Luis Eduardo
The present research focuses on enhancing the navigation performance of a tail-driven biomimetic autonomous underwater vehicle (BAUV) through a novel parallel robotic propulsion system. A detailed methodological proposal for deriving mathematical models of the vehicle’s hydrodynamics and propeller dynamics is detailed. To build the BAUV’s improved navigation framework, guidance systems, path tracking controllers, and path planners were designed. The vehicle's conceptual development and innovative propeller are shown using computer-aided designs. For the proposed propulsion system, existing theories to explain parallel robotic mechanisms were employed and developed to mathematically define the propeller’s kinematics, workspace, and dynamics. Moreover, the estimation of the hydrodynamics components of the BAUV is also one of the main contributions developed through this work. Forces, drag, added mass, and hydrostatic effects acting on the vehicle while swimming were also estimated to define the proposed design's expected performance properly. The control stage involves a two-phase process. First, the swimming performance of the vehicle is directly corrected by the proper regulation of the flapping of the caudal fin. This is done by incorporating classic and intelligent controllers to attain vector thrust and turning moment. Second, the vehicle is complementarily guided by a waypoint tracking controller that adapts the propeller’s expected performance based on desired trajectories. For the path planning stage, an adapted D* Lite algorithm was built based on the swimming locomotion of the vehicle. The designed methodology guides the BAUV into safer and collision-free paths inside unknown environments until it reaches a goal. The development of planning theories and their main advantages are also duly detailed. Finally, the results of this work demonstrated that enhanced swimming performances are attained by improving the way robotic fish propel itself and by designing adequate intelligent path-tracking controllers along with efficient path planners.
A safe and efficient path planning framework for conformal fused filament fabrication using a manipulator arm
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022-12-02) Rodríguez Padilla, Ma. Consuelo; ROMAN FLORES, ARMANDO; 46077; Román Flores, Armando; puemcuervo, emipsanchez; Cuan Urquizo, Enrique; González Hernández, Hugo Gustavo; Ramírez Cedillo, Erick Guadalupe; School of Engineering and Sciences; Campus Monterrey; Vázquez Hurtado, Carlos
As opposed to flat or planar extrusion additive manufacturing, the benefits of multi-plane and curved fused deposition of material are conclusive; however, several issues need to be considered and solved when a robotic manipulator is used for the deposition of material. The path and motion planning for printing using robotics need considerations to guarantee adequate results. This work presents the projection of a printing trajectory on a tessellated surface and a Reinforcement Learning strategy that optimizes the angular displacement of joints. The validation of the strategy is presented under simulated conditions inserting different obstacles for a projected zigzag printing pattern on a curved surface. Results show that this approach can choose the optimal inverse kinematic solution to optimize the movement of the main joints of a robot with six degrees of freedom while avoiding different obstacles. The strategy was tested on several actual printings of complex patterns on different curved surfaces using a manipulator arm UR3. Even thought the applicability of lattice manufacturing suggested here, the framework developed and software implemented and validated may be used for any application where a very precise conformal trajectory needs to be followed using a manipulator arm or any multi-axis system saving programming time.
In the Task-Driven Generation of Preventive Sensing Plans for Execution of Robotic Assemblies
(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2004-01-12) Conant Pablos, Santiago Enrique; CONANT PABLOS, SANTIAGO ENRIQUE; 56551; Dr. Katsushi Ikeuchi; Dr. Horacio Martínez Alfaro; Dr. José Manuel Sanchez García; Dr. Noel León Rovira; Dr. Oliva Maricela Barrón Cano; ITESM
It is well known that success during robotic assemblies depends on the correct execution of the sequence of assembly steps established in a plan. In turn, the correct execution of these steps depend on the conformance to a series of preconditions and post

Ciencias Exactas y Ciencias de la Salud

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