Suresh Kumar Gadi

Autonomous University of Coahuila | UAdeC · Faculty of Mechanical and Electrical Engineering (Torreón)

Topics of automatic control, parameter identification, and state estimation of a direct current (DC) motor are widely included in undergraduate and graduate engineering programs. Traditionally, theoretical classes are accompanied by simulation or experimental laboratory sessions. The simulation techniques usually do not consider essential dynamic b...

Se presenta el diseño mecánico y electrónico, modelado cinemático y dinámico, programación y control de un helicóptero de 2 GDL y de bajo costo. Si bien existen plataformas comerciales de helicópteros de 2 GDL, su costo es elevado y por ende son poco accesibles. Esta situación puede evitarse mediante el uso de una plataforma basada en software de c...

Due to growing pollution concerns over the years, researchers are evaluating various optimization strategies to develop efficient bioremediation alternatives. Bioremediation encompasses numerous process types and each type and pollutant target require a different optimization approach. This chapter intends to provide an overview of knowledge gained...

This paper proposes an automatic tuning algorithm for a sliding mode controller (SMC) based on the Ackermann’s formula, that attenuates the structural vibrations of a seismically excited building equipped with an Active Tuned Mass Damper (ATMD) mounted on its top floor. The switching gain and sliding surface of the SMC are designed through the prop...

This paper proposes an automatic tuning algorithm for a sliding mode controller (SMC) based on the Ackermann's formula, that attenuates the structural vibrations of a seismically excited building equipped with an Active Tuned Mass Damper (ATMD) mounted on its top floor. The switching gain and sliding surface of the SMC are designed through the prop...

This article presents a methodology to recycle and upgrade a 4-DOF educational robot manipulator with a gripper. The robot is upgraded by providing it an artificial vision that allows obtaining the position and shape of objects collected by it. A low-cost and open-source hardware solution is also proposed to achieve motion control of the robot thro...

This article presents a free Android application, named as Control and Identification Toolbox (CIT), for teaching and learning the system response, automatic control, and the parameter identification of dynamic systems. The CIT app performs real‐time experiments and permits tuning a traditional proportional‐integral‐derivative controller, whose per...

A multi-agent system (MAS) is suitable for addressing tasks in a variety of domains without any programmed behaviors, which makes it ideal for the problems associated with the mobile robots. Reinforcement learning (RL) is a successful approach used in the MASs to acquire new behaviors; most of these select exact Q-values in small discrete state spa...

This article presents a pictorial representation of a generalized model for a human interacting with an exoskeleton or a force-augmenting device. This model is used for comparing four different control schemes, which are: 1) Kazerooni's algorithm, 2) BLEEX’s algorithm, 3) technique inspired by fictitious gain, and 4) Force control with velocity and...

In this article, challenges in designing example problems of multifactorial experiments for an academic purpose are identified, and an algorithm for simulating multifactorial experiments is presented. It is based on a proposed mathematical function, which mimics a physical system, can be employed for any number of finite factors, and contains a uni...

El gobierno mexicano ha implementado una serie de reformas en busca de la promoción de energías limpias como la bioenergía, con el objetivo de alcanzar las metas propuestas para el año 2024, donde el 35% de la generación eléctrica provenga de energías limpias. La bioenergía en México representa el 4.22% del total de la generación de la electricidad...

This short communication article presents an experiment to test the existence of mental workload (MWL) and adaptability of a human operator (HO) in handling force augmenting devices (FADs). An experiment is conducted where the HOs of three different ages are allowed to handle a FAD with high augmentation factor. Augmentation factor gives the factor...

This paper presents a stability analysis of the interaction between a human and a linear moving Force Augmenting Device (FAD). The analysis employs a mathematical model of the human arm, the FAD and their interaction. As a depart from past works, this article presents a stability analysis considering time-delays in the human model. A key ingredient...

This paper deals with the Maximal Covering Location Problem (MCLP) for Supply Chain optimization in the presence of incomplete information. A specific linear-integer structure of a generic mathematical model for Resilient Supply Chain Management System (RSCMS) makes it possible to reduce the originally given MCLP to two auxiliary optimization Knaps...

This paper addresses the problem of robust control for a class of nonlinear dynamical systems in the continuous time domain. We deal with nonlinear models described by differential algebraic equations (DAEs) in the presence of bounded uncertainties. The full model of the control system under consideration is completed by linear sampling-type output...

This contribution deals with a robust control design for general switched affine control systems. Dynamical models under consideration are described by ordinary differential equations involving a switching mechanism and in the presence of bounded uncertainties. The design procedure we analyse is based on the newly elaborated attractive ellipsoids m...

Presents introduction to the first time LaTeX users. For more information see http://skgadi.com/2016/06/16/latex-workshop/

http://skgadi.com/2016/06/16/latex-workshop/

In this paper a one degree of freedom (DOF) force augmenting device (FAD) is presented. A laboratory set-up has been built and some tests of the interaction between the FAD and a user were performed. The stability of the closed loop system is essential for the performance of the FAD. The FAD by itself is a stable device, but what is important is to...

This thesis presents a one degree of freedom (DOF) linear force augmenting device (FAD), a human arm (HA) model, a model of the FAD-HA interaction, a stability analysis for the system resulting from the FAD-HA interaction, and finally numerical simulations and experimental results. The FAD consists of an electrical motor and a ball-screw mechanism...

This paper presents a stability analysis of the interaction between a human and a linear moving Force Augmenting Device (FAD). The analysis employs the mathematical models of the human, the FAD and their interaction. As a depart from past works, this article presents a stability analysis considering time-delays in the human model. A key ingredient...

We present preliminary results of a one degree of freedom (DOF) linear moving force augmenting device (FAD) with a force sensor for enhancing the lifting capabilities of a human user. We perform a stability test of the feedback loop formed by the device and a model of the human operator. It is shown that the operator lifts a small fraction of the t...

In a factory, final product needs to be thoroughly inspected before delivering to customer. This is achieved by factory floor tester. Factory floor tester is responsible for automation of testing final product's completeness, assembly exactness and correct functionality. The project deals with design of the factory floor tester. This includes the h...