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Hector Ricardo Hernandez De Leon was born in Tuxtla, Chiapas in 1959. He received the B.S. degree in electronic engineering from National Polytechnic Institute of Mexico City in 1982; M.S. degree and Ph.D. degree in Automatic Systems from the National Institute of Applied Sciences, INSA Toulouse, France in 2006. He is currently Full time professor and researcher at Department of Electrical & Electronics Engineering of Institute of Technological of Tuxtla Gutierrez, Chiapas, Mexico (ITTG). He is integrated into the research group "Process Automation" of M.S. and Ph.D programs in Mechatronics Engineering at ITTG. Interest fields are supervisory control, diagnosis of complex processes. His research lines are the automatic control applied to industrial processes, communications technologies, energy harvesting and IoT. Some of current works are: Intelligent control and diagnosis of potable water plants and Biodiesel diagnosis and prognosis. He is senior member of the IEEE.
Microalgal biomass has the capacity to accumulate relatively large quantities of triacylglycerides (TAG) for the conversion of methyl esters of fatty acids (FAME) which has made microalgae a desirable alternative for the production of biofuels. In the present work Verrucodesmus verrucosus was evaluated under autotrophic growth conditions as a suitable source of oil for biodiesel production. For this purpose BG11 media were evaluated in three different light:dark photoperiods (L:D; 16:08; 12:12; 24:0) and light intensities (1000, 2000 and 3000 Lux) in a photobioreactor with a capacity of three liters; the evaluation of the microalgal biomass was carried out through the cell count with the use of the Neubauer chamber followed by the evaluation of the kinetic growth parameters. So, the lipid accumulation was determined through the lipid extraction with a Soxhlet system. Finally, the fatty acid profile of the total pooled lipids was determined using gas chromatography-mass spectroscopy (GC-MS). The results demonstrate that the best conditions are a photoperiod of 12 light hours and 12 dark hours with BG11 medium in a 3 L tubular photobioreactor with 0.3% CO2, 25 °C and 2000 Lux, allowing a lipid accumulation of 50.42%. Palmitic acid is identified as the most abundant fatty acid at 44.90%.
Laura Vélez-Landa; Héctor Hernández-De León; Yolanda Pérez-Luna; Sabino Velázquez-Trujillo; Joel Moreira-Acosta; Roberto Berrones-Hernández; Yazmin Sánchez-Roque. Influence of Light Intensity and Photoperiod on the Photoautotrophic Growth and Lipid Content of the Microalgae Verrucodesmus verrucosus in a Photobioreactor. Sustainability 2021, 13, 6606 .
AMA StyleLaura Vélez-Landa, Héctor Hernández-De León, Yolanda Pérez-Luna, Sabino Velázquez-Trujillo, Joel Moreira-Acosta, Roberto Berrones-Hernández, Yazmin Sánchez-Roque. Influence of Light Intensity and Photoperiod on the Photoautotrophic Growth and Lipid Content of the Microalgae Verrucodesmus verrucosus in a Photobioreactor. Sustainability. 2021; 13 (12):6606.
Chicago/Turabian StyleLaura Vélez-Landa; Héctor Hernández-De León; Yolanda Pérez-Luna; Sabino Velázquez-Trujillo; Joel Moreira-Acosta; Roberto Berrones-Hernández; Yazmin Sánchez-Roque. 2021. "Influence of Light Intensity and Photoperiod on the Photoautotrophic Growth and Lipid Content of the Microalgae Verrucodesmus verrucosus in a Photobioreactor." Sustainability 13, no. 12: 6606.
This paper presents a theoretical analysis of a DC-DC flyback converter variant applied in energy harvesting based on thermoelectric generators. The main contribution of the article is the analysis and obtaining the equations of the behavior of the converter with a rearrangement of the elements of the traditional flyback converter in such a way that the converter only processes part of the energy while the other part is delivered directly to the load. This is achieved by connecting the secondary of the flyback in series with the load, and this assembly, in turn, is placed in parallel with the primary and the voltage source. This configuration means that the topology can only be a boost topology; however, there are benefits such as partial power processing (R2P2) and reduced stress on converter components in both voltage and current; all this leads to increase the efficiency. A Low Frequency Averaging Analysis (LFAA) was used to determine the behavior of the proposed circuit, and a simple equivalent circuit to analyze was obtained. In order to validate the theoretical analysis, a circuit was simulated in Spice and implemented in an 18 W prototype. Experimental results showed that the converter has an efficiency of 92.65%. Moreover, the rearranged flyback processed only 56% of the input power.
Ricardo Marroquín-Arreola; Daniel Salazar-Pérez; Mario Ponce-Silva; Héctor Hernández-De León; Juan Aquí-Tapia; Jinmi Lezama; Yesica Saavedra-Benítez; Elías Escobar-Gómez; Ricardo Lozoya-Ponce; Rafael Mota-Grajales. Analysis of a DC-DC Flyback Converter Variant for Thermoelectric Generators with Partial Energy Processing. Electronics 2021, 10, 619 .
AMA StyleRicardo Marroquín-Arreola, Daniel Salazar-Pérez, Mario Ponce-Silva, Héctor Hernández-De León, Juan Aquí-Tapia, Jinmi Lezama, Yesica Saavedra-Benítez, Elías Escobar-Gómez, Ricardo Lozoya-Ponce, Rafael Mota-Grajales. Analysis of a DC-DC Flyback Converter Variant for Thermoelectric Generators with Partial Energy Processing. Electronics. 2021; 10 (5):619.
Chicago/Turabian StyleRicardo Marroquín-Arreola; Daniel Salazar-Pérez; Mario Ponce-Silva; Héctor Hernández-De León; Juan Aquí-Tapia; Jinmi Lezama; Yesica Saavedra-Benítez; Elías Escobar-Gómez; Ricardo Lozoya-Ponce; Rafael Mota-Grajales. 2021. "Analysis of a DC-DC Flyback Converter Variant for Thermoelectric Generators with Partial Energy Processing." Electronics 10, no. 5: 619.
In the transport system, it is necessary to optimize routes to ensure that the distance, the amount of fuel used, and travel times are minimized. A classical problem in network optimization is the shortest path problem (SPP), which is used widely in many optimization problems. However, the uncertainty that exists regarding real network problems makes it difficult to determine the exact arc lengths. In this study, we analyzed the problem of route optimization when delivering urban road network products while using fuzzy logic to include factors which are difficult to consider in classical models (e.g., traffic). Our approach consisted of two phases. In the first phase, we calculated a fuzzy coefficient to consider the uncertainty, and in the second phase, we used fuzzy linear programming to compute the optimal route. This approach was applied to a real network problem (a portion of the distribution area of a delivery company in the city of Tuxtla Gutierrez, Chiapas, Mexico) by comparing the travel times between the proposed model and a classical model. The proposed model was shown to predict travel time better than the classical model in this study, reducing the mean absolute percentage error (MAPE) by 25.60%.
Elías Escobar-Gómez; J.L. Camas-Anzueto; Sabino Velázquez-Trujillo; Hector Ricardo Hernandez-De Leon; Rubén Grajales-Coutiño; Eduardo Chandomí-Castellanos; Héctor Guerra Crespo. A Linear Programming Model with Fuzzy Arc for Route Optimization in the Urban Road Network. Sustainability 2019, 11, 6665 .
AMA StyleElías Escobar-Gómez, J.L. Camas-Anzueto, Sabino Velázquez-Trujillo, Hector Ricardo Hernandez-De Leon, Rubén Grajales-Coutiño, Eduardo Chandomí-Castellanos, Héctor Guerra Crespo. A Linear Programming Model with Fuzzy Arc for Route Optimization in the Urban Road Network. Sustainability. 2019; 11 (23):6665.
Chicago/Turabian StyleElías Escobar-Gómez; J.L. Camas-Anzueto; Sabino Velázquez-Trujillo; Hector Ricardo Hernandez-De Leon; Rubén Grajales-Coutiño; Eduardo Chandomí-Castellanos; Héctor Guerra Crespo. 2019. "A Linear Programming Model with Fuzzy Arc for Route Optimization in the Urban Road Network." Sustainability 11, no. 23: 6665.
This work presents the modeling and simulation of a hydraulic network with four nodes and two branches that form a two-level water distribution system. It also proposes a distribution of hydraulic valves that allows emulating a leak using a valve and different network configurations, e.g., simple ducts, closed networks and branched networks. The network is modeled in the steady state considering turbulent flow. Numerical experiments are performed, and the results show that the proposed network is useful for the design of leakage diagnosis and control algorithms in different configurations and leakage scenarios.
José-Roberto Bermúdez; Francisco-Ronay López-Estrada; Gildas Besançon; Guillermo Valencia-Palomo; Lizeth Torres; Héctor-Ricardo Hernández. Modeling and Simulation of a Hydraulic Network for Leak Diagnosis. Mathematical and Computational Applications 2018, 23, 70 .
AMA StyleJosé-Roberto Bermúdez, Francisco-Ronay López-Estrada, Gildas Besançon, Guillermo Valencia-Palomo, Lizeth Torres, Héctor-Ricardo Hernández. Modeling and Simulation of a Hydraulic Network for Leak Diagnosis. Mathematical and Computational Applications. 2018; 23 (4):70.
Chicago/Turabian StyleJosé-Roberto Bermúdez; Francisco-Ronay López-Estrada; Gildas Besançon; Guillermo Valencia-Palomo; Lizeth Torres; Héctor-Ricardo Hernández. 2018. "Modeling and Simulation of a Hydraulic Network for Leak Diagnosis." Mathematical and Computational Applications 23, no. 4: 70.
The industrial production of biodiesel requires mathematical models that adjust to real conditions. The present study is a proposal for the design and validation of a mathematical model for the oil transesterification reaction, representing a promising alternative that contributes to making the biodiesel production process more efficient. This proposal centers on the presentation of analytical models capable of simulating the real batch reactor scenarios in which the transesterification process is carried out. The objective of this study was to design a dynamic model for the batch reactor system, using reaction kinetics and the heat and mass balance, as well as demonstrating the different approaches, such as Takagi-Sugeno modeling and the linear approach. Furthermore, the physical and kinetic parameters were considered a time variant variable. The Takagi-Sugeno (TS) model is presented as a convex combination of linear models through the nonlinearities represented below, a combination which enables the testing of both the simplicity versus complexity of the nonlinear systems and their functionality, via the application of an estimator. The linearization of the nonlinear model was undertaken as a simple representation of the system. The different models were simulated and the results compared with those reported in the literature in order to confirm their applicability. Finally, an experimental validation is presented in order to demonstrate the utility of the models which could be used in processes for optimizing control in the production of biodiesel.
Betty Y. López Zapata; Manuel Adam Medina; Peggy Elizabeth Alvarez Gutierrez; Hector Ricardo Hernandez-De Leon; Carlos Garcia-Beltran; Rocío Meza Gordillo. Different approaches for the dynamic model for the production of biodiesel. Chemical Engineering Research and Design 2018, 132, 536 -550.
AMA StyleBetty Y. López Zapata, Manuel Adam Medina, Peggy Elizabeth Alvarez Gutierrez, Hector Ricardo Hernandez-De Leon, Carlos Garcia-Beltran, Rocío Meza Gordillo. Different approaches for the dynamic model for the production of biodiesel. Chemical Engineering Research and Design. 2018; 132 ():536-550.
Chicago/Turabian StyleBetty Y. López Zapata; Manuel Adam Medina; Peggy Elizabeth Alvarez Gutierrez; Hector Ricardo Hernandez-De Leon; Carlos Garcia-Beltran; Rocío Meza Gordillo. 2018. "Different approaches for the dynamic model for the production of biodiesel." Chemical Engineering Research and Design 132, no. : 536-550.
This paper develops conditions for sensor fault detection and isolation of nonlinear descriptor systems. The proposed methodology is based on a bank of observers, thus a novel approach is proposed to design Takagi-Sugeno observers in descriptor form. Traditionally, for descriptor systems, the designing conditions employ an augmented state vector whose elements are the state and its derivative. The proposed approach overcomes previous results in the literature by means of a novel augmented estimated vector, therefore conditions in terms linear matrix inequalities are directly obtained. The effectiveness of the given methodology is illustrated through a numerical example.
Francisco Ronay Lopez Estrada; H. R. Hernandez-De-Leon; Victor Estrada-Manzo; M. Bernal. LMI-based fault detection and isolation of nonlinear descriptor systems. 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) 2017, 1 -5.
AMA StyleFrancisco Ronay Lopez Estrada, H. R. Hernandez-De-Leon, Victor Estrada-Manzo, M. Bernal. LMI-based fault detection and isolation of nonlinear descriptor systems. 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE). 2017; ():1-5.
Chicago/Turabian StyleFrancisco Ronay Lopez Estrada; H. R. Hernandez-De-Leon; Victor Estrada-Manzo; M. Bernal. 2017. "LMI-based fault detection and isolation of nonlinear descriptor systems." 2017 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE) , no. : 1-5.
Potato (Solanum tuberosum L.) is the fourth major crop worldwide after cereals. Some producers use irrigation water with high salinity, which consequently decreases the agronomic yield and potato quality. The aim of this investigation was to determine the effect of vermicompost and vermiwash on plant growth and tuber yield and characteristic traits in Solanum tuberosum L. plants and tubers subjected to salinity stress. A surface response experimental design with three replicates using a central point and 15 treatments was used with vermicompost at 300, 580, and 860 g plant−1; vermiwash at 5, 10, and 15 ml plant−1; and salinity stress with 15, 20, and 25 mM of NaCl levels. Plant physiological measurements included plant height (cm), stem diameter (mm), and plant fresh and plant dry weight (g). Six months after planting, measurements on tuber fresh weight, pH, electric conductivity, and °Brix were carried out. The addition of vermicompost and vermiwash minimized the influence of salinity stress on growth parameters and tuber characteristics in potato plants. Vermicompost (580 g plant−1) plus vermiwash (15 ml plant−1) induced a greater plant height and stem diameter. Plants amended with vermicompost (860 g plant−1), vermiwash (15 ml plant−1), and salinity stress (15 mM) had higher pH values, whereas electrical conductivity value in potato tubers decreased.
José De Jesús Pérez-Gómez; Miguel Abud-Archila; Juan José Villalobos-Maldonado; Samuel Enciso-Saenz; Hector Ricardo Hernandez-De Leon; Víctor Manuel Ruiz-Valdiviezo; Federico Antonio Gutiérrez-Miceli. Vermicompost and Vermiwash Minimized the Influence of Salinity Stress on Growth Parameters in Potato Plants. Compost Science & Utilization 2017, 25, 282 -287.
AMA StyleJosé De Jesús Pérez-Gómez, Miguel Abud-Archila, Juan José Villalobos-Maldonado, Samuel Enciso-Saenz, Hector Ricardo Hernandez-De Leon, Víctor Manuel Ruiz-Valdiviezo, Federico Antonio Gutiérrez-Miceli. Vermicompost and Vermiwash Minimized the Influence of Salinity Stress on Growth Parameters in Potato Plants. Compost Science & Utilization. 2017; 25 (4):282-287.
Chicago/Turabian StyleJosé De Jesús Pérez-Gómez; Miguel Abud-Archila; Juan José Villalobos-Maldonado; Samuel Enciso-Saenz; Hector Ricardo Hernandez-De Leon; Víctor Manuel Ruiz-Valdiviezo; Federico Antonio Gutiérrez-Miceli. 2017. "Vermicompost and Vermiwash Minimized the Influence of Salinity Stress on Growth Parameters in Potato Plants." Compost Science & Utilization 25, no. 4: 282-287.
Fossil fuel combustion produces around 98% of coal emissions. Therefore, liquid and gaseous biofuels have become more attractive due to their environmental benefits. The biodiesel production process requires measurements that help to control and supervise the variables involved in the process. The measurements provide valuable information about the operation conditions and give estimations about the critical variables of the process. The information from measurements is essential for monitoring the state of a process and verifying if it has an optimal performance. The objective of this study was the conception of a virtual sensor based on the Extended Kalman Filter (EKF) and the model of a batch biodiesel reactor for estimating concentrations of triglycerides (TG), diglycerides (DG), monoglycerides (MG), methyl ester (E), alcohol (A), and glycerol (GL) in real-time through measurement of the temperature and pH. Estimation of the TG, DG, MG, E, A, and Gl through this method eliminates the need for additional sensors and allows the use of different types of control. For the performance analysis of the virtual sensor, the data obtained from the EKF are compared with experimental data reported in the literature, with the mean square error of the estimate then being calculated. In addition, the results of this approach can be implemented in a real system, since it only uses measurements available in a reactor such as temperature and pH.
Betty Y. López-Zapata; Manuel Adam Medina; Peggy Elizabeth Alvarez Gutierrez; Juan Pablo Castillo González; Hector Ricardo Hernandez-De Leon; Luis G. Vela-Valdés. Virtual Sensors for Biodiesel Production in a Batch Reactor. Sustainability 2017, 9, 455 .
AMA StyleBetty Y. López-Zapata, Manuel Adam Medina, Peggy Elizabeth Alvarez Gutierrez, Juan Pablo Castillo González, Hector Ricardo Hernandez-De Leon, Luis G. Vela-Valdés. Virtual Sensors for Biodiesel Production in a Batch Reactor. Sustainability. 2017; 9 (3):455.
Chicago/Turabian StyleBetty Y. López-Zapata; Manuel Adam Medina; Peggy Elizabeth Alvarez Gutierrez; Juan Pablo Castillo González; Hector Ricardo Hernandez-De Leon; Luis G. Vela-Valdés. 2017. "Virtual Sensors for Biodiesel Production in a Batch Reactor." Sustainability 9, no. 3: 455.
Stereo matching is one of the most used algorithms in real-time image processing applications such as positioning systems for mobile robots, three-dimensional building mapping and recognition, detection and three-dimensional reconstruction of objects. In order to improve the performance, stereo matching algorithms often have been implemented in dedicated hardware such as FPGA or GPU devices. In this paper an FPGA stereo matching unit based on fuzzy logic is described. The proposed algorithm consists of three stages. First, three similarity parameters inherent to each pixel contained in the input stereo pair are computed. Then, the similarity parameters are sent to a fuzzy inference system which determines a fuzzy-similarity value. Finally, the disparity value is defined as the index which maximizes the fuzzy-similarity values (zero up to dmax). Dense disparity maps are computed at a rate of 76 frames per second for input stereo pairs of 1280 × 1024 pixel resolution and a maximum expected disparity equal to 15. The developed FPGA architecture provides reduction of the hardware resource demand compared to other FPGA-based stereo matching algorithms: near to 72.35% for logic units and near to 32.24% for bits of memory. In addition, the developed FPGA architecture increases the processing speed: near to 34.90% pixels per second and outperforms the accuracy of most of real-time stereo matching algorithms in the state of the art.
Madain Perez; Abiel Aguilar-González; M. Arias-Estrada; Hector Ricardo Hernandez-De Leon; J.L. Camas-Anzueto; Juan Antonio De Jesús Osuna Coutiño. An FPGA stereo matching unit based on fuzzy logic. Microprocessors and Microsystems 2016, 42, 87 -99.
AMA StyleMadain Perez, Abiel Aguilar-González, M. Arias-Estrada, Hector Ricardo Hernandez-De Leon, J.L. Camas-Anzueto, Juan Antonio De Jesús Osuna Coutiño. An FPGA stereo matching unit based on fuzzy logic. Microprocessors and Microsystems. 2016; 42 ():87-99.
Chicago/Turabian StyleMadain Perez; Abiel Aguilar-González; M. Arias-Estrada; Hector Ricardo Hernandez-De Leon; J.L. Camas-Anzueto; Juan Antonio De Jesús Osuna Coutiño. 2016. "An FPGA stereo matching unit based on fuzzy logic." Microprocessors and Microsystems 42, no. : 87-99.
J.L. Camas-Anzueto; J.A. Gómez-Valdéz; R. Meza-Gordillo; M. Pérez-Patricio; Hector Ricardo Hernandez-De Leon; V. León-Orozco. Sensitive layer based on Lophine and calcium hydroxide for detection of dissolved oxygen in water. Measurement 2015, 68, 280 -285.
AMA StyleJ.L. Camas-Anzueto, J.A. Gómez-Valdéz, R. Meza-Gordillo, M. Pérez-Patricio, Hector Ricardo Hernandez-De Leon, V. León-Orozco. Sensitive layer based on Lophine and calcium hydroxide for detection of dissolved oxygen in water. Measurement. 2015; 68 ():280-285.
Chicago/Turabian StyleJ.L. Camas-Anzueto; J.A. Gómez-Valdéz; R. Meza-Gordillo; M. Pérez-Patricio; Hector Ricardo Hernandez-De Leon; V. León-Orozco. 2015. "Sensitive layer based on Lophine and calcium hydroxide for detection of dissolved oxygen in water." Measurement 68, no. : 280-285.
This paper describes an FPGA Correlation-Edge Distance approach for real time disparity map generation in stereo-vision. The proposed method calculates the disparity map for the input and disparity map for Edge Distance images of a stereopair. In both cases the approximation algorithm of disparity map SAD (Sum of Absolute Differences) is used. The final disparity map is determined from the previously generated maps, considering a homogeneity parameter defined for each point in the scene. Due to low complexity when implementing stereo-vision algorithms in FPGA devices, the proposed method was implemented in a Cyclone II EP2C35F672C6 FPGA assembled in an Altera DE2 breadboard. The developed module can process stereo-pairs of 1280×1024 pixel resolution at a rate of 75 frames/s and produces 8-bit dense disparity maps within a range of disparities up to 63 pixels. The presented architecture provides a significant improvement in regions with uniformed texture over correlation based stereo-vision algorithms in the reported literature and an accelerated processing rate.
Abiel Aguilar-González; Madain Perez-Patricio; Miguel Arias-Estrada; Jorge-Luis Camas-Anzueto; Hector Ricardo Hernandez-De Leon; Avisaí Sánchez Alegría. An FPGA Correlation-Edge Distance approach for disparity map. 2015 International Conference on Electronics, Communications and Computers (CONIELECOMP) 2015, 21 -28.
AMA StyleAbiel Aguilar-González, Madain Perez-Patricio, Miguel Arias-Estrada, Jorge-Luis Camas-Anzueto, Hector Ricardo Hernandez-De Leon, Avisaí Sánchez Alegría. An FPGA Correlation-Edge Distance approach for disparity map. 2015 International Conference on Electronics, Communications and Computers (CONIELECOMP). 2015; ():21-28.
Chicago/Turabian StyleAbiel Aguilar-González; Madain Perez-Patricio; Miguel Arias-Estrada; Jorge-Luis Camas-Anzueto; Hector Ricardo Hernandez-De Leon; Avisaí Sánchez Alegría. 2015. "An FPGA Correlation-Edge Distance approach for disparity map." 2015 International Conference on Electronics, Communications and Computers (CONIELECOMP) , no. : 21-28.
J.L. Camas-Anzueto; A.E. Aguilar-Castillejos; J.H. Castañón-González; M.C. Lujpán-Hidalgo; Hector Ricardo Hernandez-De Leon; R. Mota Grajales. Fiber sensor based on Lophine sensitive layer for nitrate detection in drinking water. Optics and Lasers in Engineering 2014, 60, 38 -43.
AMA StyleJ.L. Camas-Anzueto, A.E. Aguilar-Castillejos, J.H. Castañón-González, M.C. Lujpán-Hidalgo, Hector Ricardo Hernandez-De Leon, R. Mota Grajales. Fiber sensor based on Lophine sensitive layer for nitrate detection in drinking water. Optics and Lasers in Engineering. 2014; 60 ():38-43.
Chicago/Turabian StyleJ.L. Camas-Anzueto; A.E. Aguilar-Castillejos; J.H. Castañón-González; M.C. Lujpán-Hidalgo; Hector Ricardo Hernandez-De Leon; R. Mota Grajales. 2014. "Fiber sensor based on Lophine sensitive layer for nitrate detection in drinking water." Optics and Lasers in Engineering 60, no. : 38-43.
A. Medina-Santiago; J.L. Camas-Anzueto; J.A. Vazquez-Feijoo; Hector Ricardo Hernandez-De Leon; R. Mota-Grajales. Neural Control System in Obstacle Avoidance in Mobile Robots Using Ultrasonic Sensors. Journal of Applied Research and Technology 2014, 12, 104 -110.
AMA StyleA. Medina-Santiago, J.L. Camas-Anzueto, J.A. Vazquez-Feijoo, Hector Ricardo Hernandez-De Leon, R. Mota-Grajales. Neural Control System in Obstacle Avoidance in Mobile Robots Using Ultrasonic Sensors. Journal of Applied Research and Technology. 2014; 12 (1):104-110.
Chicago/Turabian StyleA. Medina-Santiago; J.L. Camas-Anzueto; J.A. Vazquez-Feijoo; Hector Ricardo Hernandez-De Leon; R. Mota-Grajales. 2014. "Neural Control System in Obstacle Avoidance in Mobile Robots Using Ultrasonic Sensors." Journal of Applied Research and Technology 12, no. 1: 104-110.