Alexander Martínez-Álvarez

• Ingeniero Electricista
• Professor (Associate) at Pontificia Universidad Javeriana - Cali

Se desarrolló un sistema interacción humano-robot multimodal (gestos y voz) que permite a usuarios enseñarle tareas de clasificación de cubos por color a un robot. La evaluación del sistema fue realizada por siete usuarios de forma cuantitativa y cualitativa. En las pruebas cuantitativas se evaluó un total de 63 interacciones verbales, 252 interacc...

This paper presents the development of a cooperation scheme among unmanned aerial vehicle (UAV). Sliding mode control technique is used to guarantee that the set of robots can follow a reference trajectory and, in addition, will guarantee collision-free navigation of these autonomous vehicles. The analytical approach of the control strategy is show...

In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical...

This paper is about modeling and control of miniature quadrotors, with a special emphasis on attitude control. Mathematical models for simulation and nonlinear control approaches are introduced and subsequently applied to commercial aircraft: the DraganFlyer quadrotor, which has been hardware-modified in order to perform experimental autonomous fly...

This paper is about modeling and control of Miniature Aerial Vehicles -MAVs for indoor scenarios, specially using, micro coaxial and quadrotor systems. Mathematical models for simulation and control are introduced and subsequently applied to the commercial aircraft: the DraganFlyer quadrotor and the Micro-Mosquito coaxial flying vehicle. The MAVs h...

Active materials are capable of responding in a controlled way to different external physical or chemical stimulus by changing some of their properties. These materials can be used to design and develop sensors, actuators and multifunctional systems with a large number of applications for developing medical devices (for both surgery and implants)....

The first part of this chapter describes a procedure for modeling and identification a small helicopter. Model has been derived from literature, but changes introduced in the original model have contributed to improve the stability of the model with no reduction of the precision. The proposed identification methodology based on evolutionary algorit...

Bruxism is a health problem consisting in grinding or tightly clenching the upper and lower teeth. Both the grinding and sliding lead to wear of the teeth and produce a noise during the night that is sufficiently loud to disturb the sleep of anyone sharing the bedroom. The tension produced causes problems in the muscles, tissues and other structure...

This paper describes a methodology to parameterize linear, time invariant (LTI) models which represent the dynamics of UVTOLs and that are appropriate for analytical against real telemetry from two vehicles, a mini-helicopter and a quad rotor. The experiments show that despite their inherent limitations the LTI models are suitable for modeling the...

An important feature of heterogeneous multi-robots systems is the availability of sensing information coming from multiple sources or points of view. Team members can exchange localization information regarding a target, or provide extra sensor information to team-mates that lack of certain sensing capabilities. In this paper, we present two exampl...

Resumen: Los vehículos aéreos no tripulados o robots aéreos, permiten el desarrollo autónomo o semiautónomo de diferentes tipos de misiones que cubren desde los sectores de defensa y seguridad a los de agricultura o medio ambiente. El interés en su desarrollo, tanto a nivel de centros de investigación como de sectores de usuarios potenciales, ha au...

The TELEMEC project, developed by the Grupo de Automática y Robótica of the Pontificia Universidad Javeriana -Cali, included the design and development of a set of mechanical, electrical, electronic pieces and software modules that allows the construction of four different physical systems: the electrical elevator, the conveyor belt with multiple s...

This paper describes a methodology to parameterize linear, time invariant (LTI) models which represent the dynamics of UVTOLs and that are appropriate for analytical development of controllers. The models validity was tested against real telemetry from two vehicles, a mini-helicopter and a quad-rotor. The experiments show that despite its inherent...