Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle’s theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.

This paper presents a biomimetic prototype of a mobile robot that can be used to inspect the subdrainage conditions of pipelines located along different highways in Mexico. Computer-aided design tools have been used to size each of the prototype components as inspired by anatomical spider structure. Springs are integrated to generate proper contact pressure against the pipe walls. The robot locomotion system is implemented with adaptable behaviour for the irregularities of pipelines along its journey. The robot prototype is manufactured in 3D printing with the advantage of having its spare parts easily replaceable. Reported results show internal pipe status through a mini video camera on the top of the robot.

This work studies descriptively the Head Injury Criterion (HIC) and Chest Severity Index (CSI), with a finite element model of the Hybrid III dummy type, for six-year-old subjects in a frontal vehicular collision, using the low-back booster (LBB) passive safety system. The vehicle seats and the passive safety systems were modelled in CAD (computer aided design) software. Then, the elements were analysed by the finite element method (FEM) in LS-DYNA® software. The boundary conditions were established for each study, according to the regulations established by the Federal Motor Vehicle Safety Standard (FMVSS), following the FMVSS 213 standard. The numerical simulations were performed during an interval of 120 ms and recording results every 1 ms. In order to analyse the efficiency of the system, the restraint performance of the LBB system is compared with the restraint configuration of the vehicle safety belt (VSB) only. The obtained injury criteria with the LBB system shows its ability to protect children in a frontal collision. The analyses allow obtaining the deceleration values to which the dummy head and chest was subjected. Of the studies herein performed, Study I: VSB obtained a HIC₃₆ of 730.4 and CSI of 315.5, while Study II: LBB obtained a HIC₃₆ of 554.3 and CSI of 281.9. The outcome shows that the restraint efficiency of each studied case differs. Used materials, the attachment system of the LBB, and the belt restraint system properly placed over the infant trunk are the main factors reducing the injury criteria rate.

Electrical and nonlinear optical properties exhibited by single-wall carbon nanotubes in thin film form were experimentally and numerically analyzed. A vectorial two-wave mixing technique confirmed an inhomogeneous third-order nonlinear optical response dependent on the orientation of the sample explored by nanosecond pulses at 532 nm wavelength. Electrochemical impedance spectroscopy measurements were lead to evaluate the conductivity and capacitive response. Since electrical and nonlinear optical measurements did not match in comparative 2D regions integrated by the nanotubes, then, the dynamical performance of the nanostructures was studied by using a chaotic electrical modulation. Fractional calculations were carried out for predicting and explaining the electrical and capacitive effects related to different sections of the sample dependent on electrical frequency. The identification of fractional electrical behavior was proposed to determine changes in the density and purity of single-wall nanotubes samples. Potential applications for developing low-dimensional sensors and nonlinear all-optical devices can be contemplated.

Photoconductive and third-order nonlinear optical properties exhibited by Cu 2 ZnSnS 4 nanostructures are presented. The samples were synthetized in thin film form by a spray pyrolysis processing route. Distinctions in the photoconductive behavior throughout the samples were clearly noted by modulating their optoelectronic response dependent on electrical frequency. Vectorial two-wave mixing experiments were carried out at a 532 nm wavelength provided by a Nd:YAG laser system to study the optical nonlinearities in the samples. An induced transparency effect was observed during nanosecond single-beam experiments in the nanostructures reported. Quantum and thermal processes were considered to be the main physical mechanism responsible for the photo-electrical phenomena and nonlinear refraction in the nanostructures. Potential applications for developing nanophotonic and nanoelectronic instrumentation systems can be contemplated.