Ricardo Zavala-Yoe

Tecnológico de Monterrey | ITESM · Graduate Control Eng.

Throughout history, humankind has been progressing steadily in the generation of knowledge and applications using such findings. In this context, different revolutions have emerged across the years, such as in agriculture, industry, technology, science, and, most recently, information. Information technologies refer to the analysis, structuring and...

The usefulness of golf carts for transporting patients in hospital facilities is well known. Nursing homes, medical campuses, and any type of related service require the low-speed transport of patients either in a seat, in a wheelchair, or on a stretcher. This type of transport is not limited to hospitals, but also includes other environments where...

Owing to the fast pace of growing educational needs, the deployment of smart educational tools along with highly productive and effective learning management systems are of supreme importance. Considering the advantages of classical flow theory, herein, we proposed a synergistic framework by combining the key elements of smart technology with a flo...

Herein, we reviewed polymeric constructs of polyhydroxyalkanoates (PHAs) at large and poly‐3‐hydroxybutyrate (P3HB), in particular, for drug delivery and tissue engineering applications. Polymeric constructs that can efficiently respond to numerous variations in their surroundings have gained notable attention from different industrial sectors such...

BMSE film composed by MSE slices. The film encompasses 500 seconds times 16 surfaces which produces 133.33 sec of a long term EEG. In this case, red/orange regions define seizure moments; the yellow part represents complexity=1 and it is the transition zone between non-complex and complex zones. Blue regions represent complex EEG times. Notice red...

Las articulaciones de rodilla utilizadas en la actualidad para las órtesis de rodilla-tobillo-pie (ORTP), no permiten al usuario realizar una marcha de manera natural, existiendo un compromiso entre la estabilidad requerida durante la fase de apoyo y la movilidad que se desea durante la fase de balanceo, lo que deriva en el abandono de la órtesis....

VIDEO_Mathematics as stochastic processes, signal processing and dynamical systems may be difficult to understand even for Engineering students. So, in order to improve assimilation of their contents, we proposed to use active learning (AL) in a novel way. AL will be linked to an electroencephalographic signals device in order to motivate students...

Among the different chemical and physical treatments used to remove the color of the textile effluents, bioremediation offers many benefits to the environment. In this study, we determined the potential of Spirulina platensis (S. platensis) for decolorizing indigo blue dye under different incubation conditions. The microalgae were incubated at diff...

Your article is protected by copyright and all rights are held exclusively by Springer-Verlag France SAS, part of Springer Nature. This e-offprint is for personal use only and shall not be self-archived in electronic repositories. If you wish to self-archive your article, please use the accepted manuscript version for posting on your own website. Y...

This manuscript focuses on the implementation of the hierarchical complexity of space-time deterministic and stochastic dynamical systems to study the pollution dispersion behavior. Considering the concurrent environmental scope and requisites to understand the evolution of various types of environmentally related pollutants of high concern, herein...

A complete modeling (including the actuator dynamics) of a robot manipulator that uses three-phase induction motors is presented in this paper. A control scheme is designed to synchronize robot manipulators actuated by induction motors under a masterslave scheme in the case where the joint velocity of the slave robots is estimated. All of the resea...

This work presents a tracking control of a Flexible-Robot being actuated by a three phase induction motor, assuming a system control without perturbation and the case where a periodic pulse perturbation input is applied. Previous research about Flexible-Robot consider a dc motor to drive the joint. Induction Motors depict an alternative to be used...

As is known, when a seizure occurs, the EEG pattern is usually regular (with repetitive patterns), in contrast to normal EEG activity, where many traces can be detected. Since an EEG is represented by numerical data (time series), we want to objectively measure how complex a data vector is. Several types of complexity measurements [1] are already a...

Mathematics as stochastic processes, signal processing and dynamical systems may be difficult to understand even for Engineering students. So, in order to improve assimilation of their contents, we proposed to use active learning (AL) in a novel way. AL will be linked to an electroencephalographic signals device in order to motivate students throug...

1. Aims. Two types of drug-resistant epileptic encephalopathies (AEE) are investigated: Doose and Lennox-Gastaut syndromes. Research questions: Taking into account an entire collection of long-term EEG of a child, how can we identify the most affected area of the brain and on which period does it happen? From this, how can we compare objectively t...

Inhaltsverzeichnis Vorträge S2 Freie Vorträge I S5 Freie Vorträge II S8 Freie Vorträge III S10 Freie Vorträge IV Poster S12 Freie Themen/Neurophysiologie und EEG-klinisch S19 Antiepileptika/Epilepsiechirurgie/(Funktionelle) Bildgebung S23 Pädiatrische Epileptologie S27 Experimentelle Epileptologie, Grundlagenforschung/Genetik, Tiermodel-le genetisc...

Prinzipiell gibt zwei Arten von arzneimittelresistenten epileptischen Enzephalopathien (AEE) Doose- und Lennox-Gastaut-Syndrome.Die Forschungsfragen lauten hierbei wie folgt Berücksichtigt man das gesamte Langzeit-EEG eines Kindes, welcher Bereich des Gehirns ist bisher am stärksten betroffen und zu welcher Zeit ist das passiert? Wie kann man (obje...

https://link.springer.com/journal/11011 Epileptic encephalopathies (EE) is a term coined by the Interna- tional League Against Epilepsy (ILAE) to refer to a group of epilepsies in which the ictal and interictal abnormalities may contribute to progressive cerebral dysfunction. Among them, two affect mainly children and are very difficult to deal wi...

Dynamic Bivariate Multiscale Entropy (DBMSE) is applied to a collection of EEG to investigate neural resources in stimulus-response mapping mechanism in BCI. The tendency in channels P3 and PO3 were: A change in the task that a person performs on a stimulus often changes the appropriate response (the stimulus–response mapping). Performance analys...

Electro EncephaloGraphic (EEG) signals follow complex patterns, which are needed to analyse either for healthy or sick people. Instead of analyzing long rolls of EEG, to decide how a brain works given a task to solve, an index which can simplify massive data (EEG) information in a very simple plot in terms of an index: Average Bivariate MultiScale...

his document shows advances in the development of prototype to direct acquired and sensing information to management fertilizes and water for applications in precision agriculture. We present the numerical/computational stage of such prototype which is equipped with laser sensors to determine the content of water, fertilizer or any other nutrient i...

En el presente trabajo se presenta el abordaje multidisciplinario de una patología (Epilepsia Parcial occipital) por medio de técnicas de Resonancia Magnética Nuclear, Electroencefalografía y Reacción en Cadena de Polimerasa. A través de la experiencia de aprendizaje, inspirada en las metodologías de Aprendizaje Centrado en el Paciente, se pretende...

Supercritical-CO2 fluid extraction (SFE) is a green technology which is being used for the extraction of bioactive compounds such as pigments and fatty acids, in recent years. Naturally occurring plants or plant-based extracts are considered potential candidates with antioxidant and antimicrobial activities. Therefore, in this work, a range of loca...

In this paper it is to simulate a semi-active suspension that lifts a commercial vehicle 5 centimeters in order to avoid damaging the lower part when the car is passing through an obstacle, such as a bump. This system consists of a control unit, magneto-rheological damper (MR), a sensor and an actuator. The reason for using an MR damper and not a c...

In this paper it is to simulate a semi-active suspension that lifts a commercial vehicle 5 centimeters in order to avoid damaging the lower part when the car is passing through an obstacle, such as a bump. This system consists of a control unit, magneto-rheological damper (MR), a sensor and an actuator. The reason for using an MR damper and not a c...

Nowadays, UAVs (unmanned aerial vehicles) are of great importance for the society. These have many applications such as security, monitoring, terrain recognition, shipping and many others. Nevertheless, they are also very useful for research. Being nonlinear systems, with big instabilities and with high states coupling, they become interesting subj...

Doose and Lennox–Gastaut syndromes are rare generalized electroclinical affections of early infancy of variable prognosis which manifest with very diverse kinds of seizures. Very frequently, these types of epilepsy become drug resistant and finding reliable treatment results is very di±cult. As a result of this, fighting against these syndromes bec...

It is well known that severe children epilepsy requires numerous EEG studies to provide a di erential diagnostic when possible. In addition, sometimes it is necessary to order long term EEG. Typical cases of such severe affections (formerly called intractable) are Doose syndrome (DS) and Lennox-Gastaut syndrome (LGS) which are especially difficult...

It is well known that in order to study the evolution of a drug-resistant epilepsy, it is necessary to practice a lot of Electroencephalographic signals (EEG) studies during the child’s life. The number of EEG collected by parents during the child’s life might easily range between 10 and 20, depending of the severity of the affection, age and neuro...

It is well known that EEG signals are complex patterns which are needed to analyse either affected or normal persons. Typically, the former requires several EEG studies which implies many printed papers which become unhandy for physicians and engineers. The latter, may imply as well long term records to study complexity of signals in non-affected s...

El presente trabajo aborda la problemática de que las instalaciones eléctricas en hogares urbanos no fueron diseñadas de acuerdo a las normas, o dichas normas no contemplaban los cambios tecnológicos actuales, por ello no son capaces de soportar altas demandas de corriente y están expuestas a un consumo no regulado. Para ello, se proporciona una si...

Epilepsy syndromes as Lennox-Gastaut (LGS) and Doose (DS) are typical examples of epileptic encephalopaties. When these affections are drug resistant, finding reliable treatments becomes a challenge as well as providing a differential diagnostic. These facts require to practice a lot of diagnostics. Among them, the EEG is the preferred one to start...

Epilepsy demands a major burden at global levels. Worldwide, about 1% of people suffer epilepsy and 30% of them (0.3%) are anticonvulsants resistant. Among them, some children epilepsies are peculiarly difficult to deal with as Doose syndrome (DS). Doose syndrome is a very complicated type of children cryptogenic refractory epilepsy (CCRE) which is...

Industrial metrology deals with measurements in production environment. It concerns calibration procedures as well as control of measurement processes. Measuring devices have been evolving from manual theodolites, electronic theodolites, robotic total stations, to a relatively new kind of laser-based systems known as laser trackers. Laser trackers...

Epilepsy demands a major burden at global levels. Worldwide, about 1% of people suffer epilepsy and 30% of them (0.3%) are anticonvulsants resistant. Among them, some children epilepsies are peculiarly difficult to deal with as Doose syndrome (DS). Doose syndrome is a very complicated type of children cryptogenic refractory epilepsy (CCRE) which is...

We contribute with a surveillance and defence system based on a 3SPS-1S parallel manipulator. The central constraining leg of the mechanism increases the stiffness of the system and forces the manipulator to have three pure rotation degrees of freedom. Determining inverse kinematics is trivial but solving forward kinematics is done by a numerical-g...

A 6-PUS parallel robot is modelled, designed and controlled in terms of Newton – Euler equations in order to be implemented numerically. Direct and inverse kinematics as well as direct and inverse dynamics are analyzed and solved. Direct kinematics is solved by introducing a novel numeric-geometric method here referred to as method of arcs. Next, d...

La presente tesis presenta un método geométrico para obtener la cinemática directa del robot 3-SPS-1-S. También presenta un método que utiliza el método de Newton- Raphson y una red neuronal artificial para obtener la cinemática directa de manera local, esto es, el resultado de la cinemática directa más cercano a la posición actual de la plataforma...

We contribute with a surveillance and defence system based on a 3SPS-1S parallel manipulator. The central constraining leg of the mechanism increases the stiffness of the system and forces the manipulator to have three pure rotation degrees of freedom. Determining inverse kinematics is trivial but solving forward kinematics is done by a numerical-g...

A 6-PUS parallel robot is modelled, designed and controlled in terms of Newton – Euler equations in order to be implemented numerically. Direct and inverse kinematics as well as direct and inverse dynamics are analyzed and solved. Direct kinematics is solved by introducing a novel numeric-geometric method here referred to as method of arcs. Next, d...

A magnetorheological orthesis design is proposed in this work . A mechanical design of the orthesis was done considering the magnetorhological fluid as well. A set of classical controllers was tested considering a set of nonlinear identification algorithms for the corresponding gait phase. The orthesis will support the person's gait depending of th...

A math model is deduced from Euler-Lagrange method. In addition, a set of intelligent controllers is tested numerically. Computational simulations are provided (MATLAB/Simulink), --------------------------------------------------------------------------------------------------------- La presente tesis ataca el problema del cuadricóptero. Dicho sist...

La presente tesis ataca el problema del cuadricóptero. Dicho sistema se contempla simétrico con respecto a sus centro de masa. Primeramente se analiza su dinámica para poder ofrecer un modelado matemático adecuado y acorde a la realidad. De hecho, el autor explica detalladamente cómo se consigue el modelo matemático y permite que el lector comprend...

Las órtesis son dispositivos que asisten a la función de las extremidades, aportando estabilidad y soporte a las articulaciones involucradas. Las ORTP (órtesis rodilla – tobillo – pie) están indicadas principalmente para personas con parálisis musculares no reversibles o neuropatías que afectan miembros pélvicos. En los diseños actuales de articula...

9. Dreiländertagung Gemeinsame Jahrestagung der Deutschen und Österreichischen Gesellschaften für Epileptologie und der Schweizerischen Liga gegen Epilepsie 22. - 25. April 2015, Internationales Congress Center Dresden DS are affections which evolve in a course of many years and customarily, questions such as those posed above are difficult or eve...

The L-2 stability criterion is defined only when we have squared control systems. However, it is very common that Fuzzy Control Systems-FCS-(plants + fuzzy controllers) have MISO Fuzzy Controllers regulating SISO plants. This document proposes a way that can study the L2 stability in FCS when the Fuzzy Control is MISO and the plant is SISO or MIMO...

BACKGROUND, gait event detection is important for diagnosis and evaluation. This is a challenging endeavor due to subjectivity, high amount of data, among other problems. ANFIS, ARX, OE, NARX and models based on NN were developed in order to detect gait events without the problems mentioned. OBJECTIVE, to compare developed models’ performance and d...

Las principales aportaciones del trabajo se muestran a continuación: Proponer un sistema cinemático para un raspador de llantas automático mediante el uso de Matlab SimMechanics. Comprobar el uso de los nuevos sistemas de control de movimiento de Allen Bradlley que ocupan Servo Drives con funcionalidad de auto sintonizado y propuesta de ganancias p...

Teaching and leaching difficult topics as Random Processes at undergraduate and graduate levels will improve with the support of electroencephalographic signal processing devices in the classroom. Since the acquisition of these signals can be done in situ, post processing and analysis can also be done in situ (in the classroom) . These in vivo exp...

Nature-Inspired Computation and Machine Learning Lecture Notes in Computer Science Volume 8857, 2014, pp 392-409 Print ISBN: 978-3-319-13649-3 Online ISBN: 978-3-319-13650-9 Classical ways for coordinate measuring devices are manual theodolites, photogrammetry-based systems, total stations and a recently-introduced device referred to as laser tra...

This paper proposes a surveillance and defense system based on a 3SPS-1S parallel manipulator. The manipulator has three pure rotation degrees of freedom thanks to the central leg, which also increases the stiffness of the robot. The inverse and forward dynamics of the manipulator are solved. Two different control methods are presented, one is to c...

Print ISBN: 978-1-4799-2252-9 Gait event detection is important for diagnosis and evaluation. This is a challenging endeavor that can be addressed with Computational Intelligence (CI). Four different CI models were developed and compared. Spatio-temporal parameters during normal walking in a treadmill were collected from a healthy volunteer. Gait...

A numerical method is presented to solve the direct kinematics of the 6-PUS parallel robot. This method is based on simplified geometry of the robot, in such a way that each pair of limbs forms a triangle. The locus of the top vertex of this triangle is an arc. The logic and pseudo-code of the algorithm are presented, as well as some results of its...

Print ISBN: 978-1-4799-2252-9 This paper proposes a surveillance and defense system based on a 3SPS-1S parallel manipulator. The central constraining leg of the mechanism increases the stiffness of the system and forces the manipulator to have three pure rotation degrees of freedom. In this paper, the inverse kinematic equation is presented. The fo...

Print ISBN: 978-1-4799-2252-9 A numerical method is presented to solve the direct kinematics of the 6-PUS parallel robot. This method is based on a simplified geometry of the robot, in such a way that each pair of limbs forms a triangle. The locus of the top vertex of this triangle is an arc. The logic and pseudocode of the algorithm are presente...

Existen diversas marcas de raspadores de llantas, muchas cuentan con raspadores manuales, algunas cuentan con raspadores semi automáticos y pocas cuentan con raspadores completamente automáticos. Nuestro proyecto tuvo como meta fabricar un raspador automático que se aproxime a la llanta, la raspe con la forma circular deseada y deje en el piso de l...

Las articulaciones de rodilla utilizadas en las ortesis de rodilla-tobillo-pie (ORTP) no permiten al usuario realizar una marcha de manera natural, derivando en el abandono de la ortesis, por lo que se requiere del desarrollo de una articulación de rodilla ortésica que permita el desplazamiento natural del usuario; ésta debe ser capaz de responder...

Con la aplicación de las tecnologías de la información en el terreno jurídico, surge la necesidad de incorporar técnicas documentales automatizadas para facilitar el acceso a la información. Tal es el caso del aprovechamiento de tesauros como medio alterno o complementario para la búsqueda de información en acervos legales. Con esta investigación s...

Un modelo es una representación matemática del sistema bajo estudio. Más correctamente se dice que un modelo es una representación de un sistema físico. ¿Y qué es un sistema físico? La palabra sistema viene del latín tardío systemat (systema), del griego systemat, sistema, el cual a su vez proviene de synistanai, de syn (junto) y de histanai (causa...

Modelling and Simulation Workshop in Calgary, Canada.

I supervised this MSc. thesis where kinematics, dynamics and control are given for a 6-PUS parallel robot. Numerical and analytical solutions are provided as well as computational simulations in MATLAB/Simulink.

In this paper we describe an algorithm for column compression of a polynomial matrix. As a spin-off a very simple algorithm for unimodular embedding is found. The algorithms presented in this paper can be implemented by means of the Polynomial Toolbox of Matlab.

Embedding, i.e expanding a nonsquare matrix to a square one, plays a significant role in systems and control theory. For instance, embedding a polynomial matrix P(î) unimodularlyallowed us to solve the pole placement problem in chapter 3 and stable embedding(a less restrictive version) yielded a solution for the stabilization problem. In this chapt...

Modelling and Control of physical systems are well developed branches of Systems and Control Theory and Control Engineering. Traditionally, these branches of human knowledge have been developed within a paradigmatic perspective of input/output thinking: the way an abstraction is obtained from the physical entity involves the notions of input and ou...

As we explained in chapter 2, the behavioral approach considers systems that interact with their environment through their terminals. After a controller is interconnected to the plant, the variables living on the terminals have to obey both the laws of the plant and the controller. The plant and the controller may or may not have an input/output st...

In general, a physical system is constituted of smaller structures called subsystems. As a consequence, a system is said to be modular. Such structures are interconnected by means of terminals. A system interacts with its environment via such terminals. We shall associate to each terminal a certain number of physical variables. Hence, each subsyste...

In chapter 5 we described an algorithm to find an embedding for a given polynomial matrix. We started the chapter by showing that using the Smith form leads to unsatisfying answers. Therefore we turned to the algorithm developed by Van Dooren and Beelen [5]. In this chapter we will discuss the numerical properties of this algorithm. It turns out th...

In this chapter we shall continue the development we started in the previous chapter. Instead of full interconnection, we will now deal with the case of partial interconnection. We will start with reviewing the notions of implementability and