Nowadays,using mobile robots in different applications has been very important.However,the environment in which they operate can cause the wheels to slip or the robot body to slide,causing the assigned task not to be ...Nowadays,using mobile robots in different applications has been very important.However,the environment in which they operate can cause the wheels to slip or the robot body to slide,causing the assigned task not to be performed successfully.Therefore,the need arises to mathematically determine these external perturbations to predict the behavior of the mobile robot.Based on the above mentioned facts,this work focuses on obtaining the kinematic model of an omnidirectional mobile robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage.To mitigate the effect of the disturbances,a control strategy is considered based on the design of a generalized proportional integral observer(GPIO)that allows the estimation of such perturbations.Then,an active disturbance rejection control(ADRC)methodology is implemented to solve the trajectory tracking problem,and it is theoretically proved that the tracking errors converge to a vicinity near the origin.Numerical simulations and real-time experiments validate the obtained perturbed model and the control strategy performance,achieving the desired trajectory tracking despite these perturbations.展开更多
1 Active Disturbance Rejection Control(ADRC):a brief survey Since its inception,Active Disturbance Rejection Control(ADRC)has re-centered feedback controller design around two fundamental ideas—along with a consequen...1 Active Disturbance Rejection Control(ADRC):a brief survey Since its inception,Active Disturbance Rejection Control(ADRC)has re-centered feedback controller design around two fundamental ideas—along with a consequential design simplification:real-time estimation and online cancellation of the“total disturbance”conceived as the lumped effect of unknown internal dynamics and external inputs.The simplified design then proceeds in a customary fashion for the ideally remaining system model,which is devoid of the total disturbance.展开更多
Biosolids boost OM mineralization,enhancing soil health.Moderate biosolid doses improve soil conditions effectively.SQIw,with Nmin,efficiently gauges soil quality,simplifying monitoring.Economic development triggers e...Biosolids boost OM mineralization,enhancing soil health.Moderate biosolid doses improve soil conditions effectively.SQIw,with Nmin,efficiently gauges soil quality,simplifying monitoring.Economic development triggers environmental pollution.To address this issue and mitigate its consequences on the environment and human health,urban wastewater treatment plants are commonly employed to produce treated water and biosolids.However,biosolid disposals pose issues due to space limits and leachate contamination.This study investigates the potential of using biosolids as an organic amendment to remediate soil contaminated with leachate from an open dump in Mexico.Treatments with different doses of biosolids were tested(control,without addition of biosolids;high,medium,and low doses,with a C/N=8,10,12 respectively).The physicochemical and biological characteristics of the soil and biosolids were analyzed,and the dynamics of carbon and nitrogen mineralization over time were studied.The developed soil quality index,primarily based on the mineralized nitrogen indicator,differentiated soil quality among treatments,showing values of moderate quality for the treatments(high,medium,and low doses(0.56,0.48,0.40,respectively)and low quality for the control(0.34)).The use of biosolids as an organic amendment improved soil quality by increasing organic matter and microbial growth.Soil quality indices emerges as a practical tool for monitoring the remediation of leachate-contaminated open dump soils in Mexico and similar contexts worldwide.展开更多
基金supported by Instituto Politécnico Nacional-Secretaría de Investigación y Posgrado under grant 20253806in part by project UNAM PAPIME PE104125.
文摘Nowadays,using mobile robots in different applications has been very important.However,the environment in which they operate can cause the wheels to slip or the robot body to slide,causing the assigned task not to be performed successfully.Therefore,the need arises to mathematically determine these external perturbations to predict the behavior of the mobile robot.Based on the above mentioned facts,this work focuses on obtaining the kinematic model of an omnidirectional mobile robot considering lateral and longitudinal sliding disturbances of the body and wheel slippage.To mitigate the effect of the disturbances,a control strategy is considered based on the design of a generalized proportional integral observer(GPIO)that allows the estimation of such perturbations.Then,an active disturbance rejection control(ADRC)methodology is implemented to solve the trajectory tracking problem,and it is theoretically proved that the tracking errors converge to a vicinity near the origin.Numerical simulations and real-time experiments validate the obtained perturbed model and the control strategy performance,achieving the desired trajectory tracking despite these perturbations.
文摘1 Active Disturbance Rejection Control(ADRC):a brief survey Since its inception,Active Disturbance Rejection Control(ADRC)has re-centered feedback controller design around two fundamental ideas—along with a consequential design simplification:real-time estimation and online cancellation of the“total disturbance”conceived as the lumped effect of unknown internal dynamics and external inputs.The simplified design then proceeds in a customary fashion for the ideally remaining system model,which is devoid of the total disturbance.
基金funded by Tecnológico Nacional de México(program:Scientific research projects 2021-2)grant number 13254.21-P+1 种基金Consejo Nacional de Ciencia y Tecnología(CONACYT)Tecnológico Nacional de México/IT de Celaya,CONACYT postgraduate grant number 491864.
文摘Biosolids boost OM mineralization,enhancing soil health.Moderate biosolid doses improve soil conditions effectively.SQIw,with Nmin,efficiently gauges soil quality,simplifying monitoring.Economic development triggers environmental pollution.To address this issue and mitigate its consequences on the environment and human health,urban wastewater treatment plants are commonly employed to produce treated water and biosolids.However,biosolid disposals pose issues due to space limits and leachate contamination.This study investigates the potential of using biosolids as an organic amendment to remediate soil contaminated with leachate from an open dump in Mexico.Treatments with different doses of biosolids were tested(control,without addition of biosolids;high,medium,and low doses,with a C/N=8,10,12 respectively).The physicochemical and biological characteristics of the soil and biosolids were analyzed,and the dynamics of carbon and nitrogen mineralization over time were studied.The developed soil quality index,primarily based on the mineralized nitrogen indicator,differentiated soil quality among treatments,showing values of moderate quality for the treatments(high,medium,and low doses(0.56,0.48,0.40,respectively)and low quality for the control(0.34)).The use of biosolids as an organic amendment improved soil quality by increasing organic matter and microbial growth.Soil quality indices emerges as a practical tool for monitoring the remediation of leachate-contaminated open dump soils in Mexico and similar contexts worldwide.
