Miguel G. Villarreal-Cervantes

Miguel G. Villarreal-Cervantes
National Polytechnic Institute | IPN · Centro de Innovación y Desarrollo Tecnológico en Cómputo

Ph. D.

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87
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879
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Publications

Publications (87)
Article
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Hoy en día las investigaciones con el actuador elástico en serie con fuerza de reacción (RFSEA) consideran principalmente las dinámicas asociadas a sus elementos mecánicos en su modelado matemático, obviando las implicaciones generadas con la dinámica asociada a la parte eléctrica del sistema, es decir, se omite la relación entre el par generado co...
Article
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One expanding area of bioinformatics is medical diagnosis through the categorization of biomedical characteristics. Automatic medical strategies to boost the diagnostic through machine learning (ML) methods are challenging. They require a formal examination of their performance to identify the best conditions that enhance the ML method. This work p...
Article
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The decision-making process regarding utilizing specific chaotic maps as number generators and the different ways they can be incorporated into differential evolution (DE), as well as the type of system and task for which chaos is functional in the controller tuning problem, is an open issue. This paper aims to address this need for more knowledge...
Article
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This paper presents the design of a smooth starter for a DC motor that employs a full-bridge Buck inverter powered by renewable energy. In order to achieve this, a power supply from renewable energy is considered in the mathematical model associated with the “full-bridge Buck inverter–DC motor” system. Whereas, for the design of the smooth starter,...
Preprint
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This research proposes an algorithm to sign messages using the ElGamal asymmetric cryptosystem, called: Digital signature algorithm based on ElGamal, Diffie-Hellman protocol and the number π (DSAπ). This proposal has a high level of security like the DSA standard, in addition, execution times are reduced in relation to it. The Diffie-Hellman protoc...
Chapter
This work compares popular classifiers based on pattern recognition techniques of supervised learning, including k-Nearest Neighbors, Naïve Bayes, Support Vector Machines, Artificial Neural Networks, and Decision Trees. Such techniques are applied to a dataset related to vertebral column orthopedic diseases. Different parameter values employed by e...
Chapter
This paper describes an application of Wireless Sensor Network and Associative Models to monitor and forecast air quality in Smart Cities. The modifications that were made to the Gamma Classifier provide the foundation for this proposal. The improved model proposes a different way to measure similarity between patterns in the training set, reduces...
Conference Paper
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Recent interest in additive manufacturing (AM) technologies (also known as 3D printing) has led to embedding multi-material and electronic components into 3D-printed structures. However, current 3D printing technologies fail to provide all the required materials to fabricate complex devices. Besides, the process of inserting individual building blo...
Article
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This paper presents a sliding mode control (SMC) for the “full-bridge Buck inverter–DC motor” system when a photovoltaic (PV) panel is considered as the power supply. The control executes the trajectory tracking task related to the angular velocity of the DC motor shaft without the need for electromechanical sensors. The proposed control is validat...
Article
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Mechanisms have allowed for the automation of complex, repetitive, demanding, or dangerous tasks for humans. Among the different mechanisms, those with a closed kinematic chain are more precise and robust compared to open chain ones, which makes them suitable for many applications. One of the most widely used closed-chain alternatives is the four-b...
Article
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This paper presents the design of an adaptive controller that solves the synchronization control problem of two identical Nwachioma chaotic systems in a master-slave configuration. The closed-loop stability is guaranteed by means of a Lyapunov-like analysis. With the aim of verifying the feasibility and performance of the proposed approach, a compa...
Article
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In this paper, the environmental uncertainties are taken into account when designing a robotic manipulator to balance the shaking force, shaking moment, and torque. The proposed robust balancing design approach does not consider the probability distributions of the uncertainties and is addressed without dependence on specific trajectories. This is...
Article
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Some images that contain sensitive information and travel through the network require security. Therefore, a symmetric cryptosystem that encrypts images and resists known attacks is developed. Subsequently, in this work, an encryption algorithm known as Image Cipher utilizing Lorenz equation and a Bijective Function—ICLEBF are proposed. In the prop...
Article
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The ankle rehabilitation in certain injuries requires passive movements to aid in the prompt recovery of ankle movement. In the last years, parallel ankle rehabilitation robots with multiple degrees of freedom have been the most studied for providing such movements in a controlled way. Nevertheless, the high cost does not make it viable for home he...
Article
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The efficiency in the controller performance of a BLDC motor in an uncertain environment highly depends on the adaptability of the controller gains. In this paper, the chaotic adaptive tuning strategy for controller gains (CATSCG) is proposed for the speed regulation of BLDC motors. The CATSCG includes two sequential dynamic optimization stages bas...
Article
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The optimal methods for the synthesis of mechanisms in rehabilitation usually require solving constrained optimization problems. Metaheuristic algorithms are frequently used to solve these problems with the inclusion of Constraint-Handling Techniques (CHTs). Nevertheless, the most used CHTs in the synthesis of mechanisms, such as penalty function a...
Article
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This paper proposes the tuning approach of the event-triggered controller (ETCTA) for the robotic system stabilization task where the reduction of the stabilization error and the data broadcasting of the control update are simultaneously considered. This approach is stated as a dynamic optimization problem, and the best controller parameters are ob...
Article
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One of the most challenging robotic manipulator designs is finding an appropriate balance between the shaking force and shaking moment because this reduces the vibrations. Several approaches have been introduced in the last decades; nevertheless, some assumptions must establish to make such a balance. In this paper, a dynamic balancing approach is...
Article
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In this paper, the dimensional synthesis of the four-bar mechanism for path generation is formulated using the relative angle motion analysis and the link geometry parameterization with Cartesian coordinates. The Optimum Dimensional Synthesis using Relative Angles and the Cartesian space link Parameterization (ODSRA+CP) is stated as an optimization...
Article
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Currently, rehabilitation systems with closed kinematic chain mechanisms are low-cost alternatives for treatment and health care. In designing these systems, the dimensional synthesis is commonly stated as a constrained optimization problem to achieve repetitive rehabilitation movements, and metaheuristic algorithms for constrained problems are pro...
Article
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The design of bipedal robots is generally fulfilled through considering a sequential design approach, where a synergistic relationship between its structure and control features is not promoted. Hence, a novel integrated structure-control design approach is proposed to simultaneously obtain the optimal structural description, the torque magnitudes,...
Article
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In the last years, one degree of freedom mechanisms has been incorporated into rehabilitation machines. Their designs usually involve kinematic synthesis leaving aside their complex dynamic nature. An integrated methodology to design a one degree of freedom eight-bar mechanism for lower limb rehabilitation is presented in this paper. The methodolog...
Article
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In recent years, mobile robots have been helpful systems to perform a wide variety of complex tasks in daily life applications from industry, academy, and home. These robots carry out mobility on flat terrains, mainly in narrow spaces that are difficult to access or dangerous for humans. Therefore, increasing the efficiency of their movements throu...
Article
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Mobile robots are currently exploited in various applications to enhance efficiency and reduce risks in hard activities for humans. The high autonomy in those systems is strongly related to the path-planning task. The path-planning problem is complex and requires in its formulation the adjustment of path elements that take the mobile robot from a s...
Article
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The fusion of bio-inspired algorithms into online controller tuning (adaptive controller tuning) is one of the main topics in Intelligent Control. One crucial issue is to reduce the times that the tuning process performs over time. In this work, a novel Asynchronous Adaptive Controller Tuning (AACT) approach is proposed to reduce the number of tuni...
Article
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In this work, a novel symmetric cryptosystem for image encryption is presented. The Symmetric Cryptosystem of the Elliptic Curve (SCEC) can resist damage to encrypted figures, up to 40% of the original figure. SCEC uses chaos to generate an $8\times {8}$ S-box with high nonlinearity to avoid the linear attack. A random permutation is used before...
Conference Paper
The use of bio-inspired algorithms into controller tuning is one of the main topics in the last decades. One crucial issue when using bio-inspired algorithms to on-line tune the control system (adaptive controller tuning) is the computational time. In this work, an Asynchronous Adaptive Controller Tuning (AACT) approach is proposed to reduce the fr...
Article
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Full Article Figures & data References Citations Metrics Reprints & Permissions Get access Abstract The structural complexity of the bipedal locomotion may be reduced by using mechanisms with fewer actuators, which ideally do not degrade the performance and functionality of the robot. However, when the mechanism design considers conflicting design...
Chapter
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In this work, a comparative study among different bio-inspired algorithms for offline optimum tuning of a Proportional Integral Controller (PIC) is presented. The PIC regulates the speed of a Brushless Direct Current (BLDC) Motor. The optimum tuning is proposed as a multi-objective optimization problem transformed into a mono-objective problem thro...
Article
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This work presents a novel path-planning approach for Unmanned Aerial Vehicles (UAVs) in continuous 3D environments. This proposal aims to minimize the path length while avoiding collisions through the suitable adjusting of control points (the points that take the UAV from a start position to a target location). The above is stated as a constrained...
Article
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Sentiment polarity classification in social media is a very important task, as it enables gathering trends on particular subjects given a set of opinions. Currently, a great advance has been made by using deep learning techniques, such as word embeddings, recurrent neural networks, and encoders, such as BERT. Unfortunately, these techniques require...
Conference Paper
One of the main issues in the control system is the online tuning of its gains. The use of bio-inspired algorithms (BA) is gaining more attention in the control tuning task because they are less sensible to system uncertainties. Nevertheless, the computational time of BA must be reduced to be used in practice. In this work, an event condition is st...
Article
Four-bar mechanisms have increased their use in current applications from industrial to rehabilitation systems. These applications become more demanding over time, and the control systems are required to provide them higher accuracy, lower energy consumption, and an extended lifetime, among other conflicting features. In addition to the previously...
Article
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This paper proposes a periodic event-triggered control (PETC) design applied to nonlinear robotic systems for joint space stabilization. The update of the control signal is based on a predefined triggering mechanism that periodically considers state measurements. So, continuous state measurements required in the continuous event-triggered control (...
Article
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Multi-objective optimization has been adopted in many engineering problems where a set of requirements must be met to generate successful applications. Among them, there are the tuning problems from control engineering, which are focused on the correct setting of the controller parameters to properly govern complex dynamic systems to satisfy desire...
Article
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This work deals with the problem of a nozzle design addressed through a multi-objective optimization strategy where governing equations of fluid dynamics model the phenomena. The liquid flow rate and the nozzle length are considered as the design criteria. Two Differential Evolution variants are proposed to obtain a set of design configurations tha...
Article
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This work deals with the development of a nonlinear Periodic Event-Triggered Control strategy employed to the consensus of a multi-vehicle autonomous system based on (3,0) mobile robots. First, the existence of the Control Lyapunov Function (CLF) applicable to the consensus problem is proven. This is subsequently used to develop event and feedback...
Article
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The complexity in the design of bipedal robots has motivated the use of simple mechanisms to accomplish the desired locomotion task with a minimum control effort. Nevertheless, a diverse set of conflictive design criteria must be met to develop the bipedal gait. In this paper, the synergy in the eight-bar mechanism design criteria to satisfy the bi...
Article
The efficient speed regulation of four-bar mechanisms is required for many industrial processes. These mechanisms are hard to control due to the highly nonlinear behavior and the presence of uncertainties or disturbances. In this paper, different Pareto-front approximation search approaches in the adaptive controller tuning based on online multiobj...
Article
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The growth in usage of efficient mobile robots in engineering has motivated the search for new alternatives to improve the control tuning task. In this article, Cartesian space proportional–derivative control tuning for omnidirectional mobile robots is established under an offline dynamic optimization approach wherein the minimization of the tracki...
Article
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In this work, a comparative study of different meta-heuristic techniques in the adaptive control for the speed regulation of the DC motor with parameters uncertainties is presented. The adaptive control is established as the online solution of a constrained dynamic optimization problem. Several adaptive strategies based on Differential Evolution, P...
Chapter
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In this work, a control strategy for the speed regulation of the four-bar linkage mechanism is presented. This strategy is based on the dynamic optimization approach to adaptive control. In this approach, a dynamic optimization problem is stated and solved on-line using an optimizer to find the best set of control parameters. A novel variant of the...
Article
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In the classical approach of Time-Triggered Control (TTC), the control signal is updated at each sampling time as well as the system states to be controlled, which could imply a redundancy in the computational calculation as well as in the transfer of information in the regulation objective. On the other hand, the Event-Triggered Control (ETC) appr...
Article
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The parametric design of Passive BipedalWalkers (PBWs) has been addressed by considering its dynamics in sagittal plane only. Nevertheless, with the aim of obtaining a complete parametric description, frontal plane dynamics must also be involved. Hence, in order to obtain a synergetic design of a PBW that simultaneously couples operating requiremen...
Article
Full-text available
The rehabilitation given by robotic systems is a choice for minimizing the recovery time of a patient and boost their muscular and skeletal capacity on a limb damaged. However, the high cost of these systems limits patients to receive these kind of treatments. The systems of one degree of freedom are a low cost alternative to health care and rehab...
Article
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The presence of parametric uncertainties decreases the performance in controlling dynamic systems such as the DC motor. In this work, an adaptive control strategy is proposed to deal with parametric uncertainties in the speed regulation task of the DC motor. This adaptive strategy is based on a bio-inspired optimization approach, where an optimizat...
Article
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The adaptive design of the control system for a direct current motor is solved by proposing differential evolution based control adaptation (DEBAC). From the comparison of two differential evolution variants with two constraint-handling techniques, a competitive algorithm based on arithmetic crossover and a set of feasibility rules is obtained. In...
Article
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DC motor is one of the most fundamental electromechanical devices of mechatronic systems, which plays an important role in maintaining the accuracy in the execution of tasks. One of the main issues in the accuracy and robustness of DC motor control system is how to optimally tune its parameters. In this paper, a multi-objective on-line tuning optim...
Article
In this work, a comparative study of the use of different meta-heuristic techniques in the adaptive control for the speed regulation of the DC motor with parameters uncertainties is presented. Several adaptive controllers based on the optimizers of Differential Evolution (DE), Particle Swarm Optimization (PSO), Bat Algorithm (BAT), Firefly Algorith...
Article
Full-text available
Mobile robots with omnidirectional wheels are expected to perform a wide variety of movements in a narrow space. However, kinematic mobility and dexterity have not been clearly identified as an objective to be considered when designing omnidirectional redundant robots. In light of this fact, this article proposes to maximize the dexterity of the mo...
Article
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The structure-control design approach of mechatronic systems requires a different design formulation where the mechanical structure and control system are simultaneously designed. Optimization problems are commonly stated to confront the structure-control design formulation. Nevertheless, these problems are often very complex with a highly nonlinea...
Article
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Optimization methods have shown to be a very important approach for control engineers. They emulate the decision-making ability of a human expert to tune the control gains for a process or system with the formulation and solution of a mathematical optimization problem. In such formulation, evolutionary algorithms (EAs) have been widely used to obta...
Article
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In this paper, an open control architecture for mechatronic systems is designed based on a personal computer (PC). This architecture is a low cost one with the flexibility, reconfigurability and versatility for carrying out a broad variety of tasks in a simple manner. This architecture can provide theoretical and practical teaching for some courses...
Article
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El diseño de la extremidad de un robot bípedo es un punto clave para mejorar la locomoción y el desempeño de robots bípedos. El empleo de mecanismos que reproduzcan la marcha no es una tarea sencilla ya que se requiere generar un movimiento en el espacio Cartesiano con más grados de libertad que los considerados en un mecanismo. En este trabajo se...
Conference Paper
The effect of uncertainties in the stabilization of the velocity control of a DC motor is compensated by proposing an adaptive control based on Particle Swarm Optimization (ACPSO). The ACPSO is based on an on-line dynamic optimization problem with dynamic constraints. The empirical analysis based on modifying the inertia weight of the ACPSO indicat...
Article
Event-triggered control (ETC) is a sampling strategy that updates the control value only when some events related to the state of the system occurs. It therefore relaxes the periodicity of control updates without deteriorating the closed-loop performance. This paper develops a nonlinear ETC for the stabilization of a (3,0) mobile robot. The constru...
Article
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A solution to achieve global asymptotic tracking with bounded velocities in an omnidirectional mobile robot is proposed in this paper. It is motivated by the need of having a useful in-practice motion control scheme, which takes into account the physical limits of the velocities. To this end, a passive nonlinear controller is designed and combined...
Article
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This paper presents a dynamic approach to the synthesis of a crank-rocker four-bar mechanism, that is obtained by an optimization problem and its solution using the Bio-inspired algorithm called Differential Evolution (DE). The proposed dynamic approach states a mono-objective dynamic optimization problem (MODOP), in order to obtain a set of optima...
Article
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In this work, the design of kinematic and dynamic parameters of links of a mobile manipulator is stated as a numerical optimization problem (NOP). The NOP aims to minimize the mechanical energy of the system in critical positions given by the vertices of a workspace and consequently reduce the energy consumption of the control system during its ope...