Miguel G. Villarreal-Cervantes

Miguel G. Villarreal-Cervantes
Instituto Politécnico Nacional | IPN · Centro de Innovación y Desarrollo Tecnológico en Cómputo

Ph. D.

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67
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479
Citations

Publications

Publications (67)
Article
Full-text available
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
Full-text available
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
Full-text available
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
Full-text available
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
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
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
Full-text available
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
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
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
Full-text available
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...
Article
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Differential evolution (DE) is a powerful algorithm to find an optimal solution in real world problems. Nevertheless, the binomial crossover parameter is an important issue for the success of the algorithm. The proper selection of the binomial crossover parameter depends on the problem at hand. In this work, the effect of the binomial crossover in...
Article
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This paper presents a dynamic approach to the synthesis of a crank-rocker four-bar mecha- nism, that is obtained by an optimization problem and its solution using the swarm intelligence algorithm called Modified-Artificial Bee Colony (M-ABC). The proposed dynamic approach states a mono-objective dynamic optimization problem (MODOP), in order to obtai...
Conference Paper
In order to provide a material that can facilitate the modeling and construction of a Furuta pendulum, this paper presents the deduction, step-by-step, of a Furuta pendulum mathematical model by using the Lagrange equations of motion. Later, a mechanical design of the Furuta pendulum is carried out via the software Solid Works and subsequently a pr...
Article
Full-text available
The present work deals with the tracking problem of a mobile robot (3,0) based on the kinematic model and proposes a control strategy that takes into account a priori input signals bounds i.e. the linear and angular velocity of the robot. The objective of this control approach is to maximize the effectiveness of the actuators without taking a risk...
Article
Full-text available
The kinematic design of mechanism is an important stage in the design methodology. A dexterous workspace for a manipulator is an outstanding characteristic that must be considered in it. Hence, a mono-objective constraint optimization problem (MOCOP) for the kinematic design of a manipulator with three revolute joints (3R robot), that fulfils a def...
Article
Full-text available
This paper proposes a synergetic approach to design a planar parallel robot with its control system. In this proposal, the design problem is stated as a dynamic optimization problem with dynamic and static constraints on both the robot parameters and the control input to the robot. Control parameterization via PID controllers is used to rewrite the...
Conference Paper
The kinematic design of a machine or mechanism is an important stage in the design methodology. A dexterous workspace for a robot manipulator is a outstanding characteristic that must be considered in the kinematic design, because it permit to reach the points of the workspace with different orientation. With this objective in mind, an optimization...
Article
Full-text available
In this paper, a robust formulation for the structure-control design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization o...
Article
Full-text available
In this paper the variation of the velocity error of a four-bar mechanism with spring and damping forces is reduced by solving a dynamic optimization problem using a differential evolution algorithm with a constraint handling mechanism. The optimal design of the velocity control for the mechanism is formulated as a dynamic optimization problem. Mor...
Article
Full-text available
This work aims at the optimal synthesis of an input mechanism of a Continuously Variable Transmission (CVT) system in order to fulfill the motion generation case. The synthesis is carried out using an evolutionary-based approach. That is, an optimization problem to obtain the parameters of such mechanism and the use of an evolutionary-based approac...
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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In this paper the formulation of the optimal design for wheel location of an omnidirectional mobile robot is proposed as an optimization problem. The empirical com-parison of the SQP algorithm and eight different DE variants for this particular optimization problems is presented. The importance of using heuristic approaches in real world optimizati...
Article
Parametric reconfiguration plays a key role in non-iterative concurrent design of mechatronic systems. This is because it allows the designer to select, among different competitive solutions, the most suitable without sacrificing sub-optimal characteristics. This paper presents a method based on an evolutionary algorithm to improve the parametric r...
Article
Full-text available
In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneo...
Article
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The present work deals with the use of a constraint-handling differential evolution algorithm to solve a nonlinear dynamic optimization problem (NLDOP) with 51 decision variables. A novel mechatronic design approach is proposed as an NLDOP, where both the structural parameters of a non-redundant parallel robot and the control parameters are simulta...
Article
Full-text available
A dynamic design approach for a mechatronic system called task based mechatronic system design approach (TBMSDA) is stated as a nonlinear dynamic optimization problem (NLDOP) and it is solved by using a differential evolution technique. The design of a parallel robot is carried out by this approach which integrates in a simultaneous way both the st...