Dr. Alejandro Zacarías
Instituto Politécnico Nacional
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Academic Career Length
18Years (2009-Present)
(Calculated once Scilit publication data is synced: current year − year of first publication + 1)
Representative Publications
View All Publications1 August 2010 in Applied Thermal Engineering
Journal Article
RVR. Ventas
R. Ventas
ALA. Lecuona
A. Lecuona
Alejandro Zacarías
Maria Venegas6 March 2020 in IEEE Access
Journal Article
GAGustavo Aquino
Gustavo Aquino
Jose de Jesus RubioJPJaime Pacheco
Jaime Pacheco
GGGuadalupe Juliana Gutierrez
Guadalupe Juliana Gutierrez
Genaro OchoaAlejandro Zacarías +4
In previous investigations, the nonlinear hypothesis use the linear bounded maps. Nonlinear hypothesis are described as the combination of the first order terms, and after of the mentioned combination, one bounded map is applied to alter the result. This document proposes two nonlinear hypothesis which use different structures instead of using the linear bounded maps. They are termed as novel nonlinear hypothesis and second order nonlinear hypothesis and their goal is to improve the second order processes modeling. The proposed nonlinear hypothesis are described as the combination of the first order and second order terms. Since the delta parallel robot is a second order process, it is an excellent platform to prove the effectiveness of the two proposed hypothesis.
1 October 2009 in Solar Energy
Journal Article
ALA. Lecuona
A. Lecuona
RVR. Ventas
R. Ventas
Maria VenegasAlejandro ZacaríasRSR. Salgado
R. Salgado4 January 2022 in IEEE Access
Journal Article
Jose de Jesus RubioEOEduardo Orozco
Eduardo Orozco
DCDaniel Andres Cordova
Daniel Andres Cordova
MIMarco Antonio Islas
Marco Antonio Islas
JPJaime Pacheco
Jaime Pacheco
DMDante Mújica-Vargas
Dante Mújica-Vargas +4
In this study, a modified linear technique is proposed for the controllability and observability of robotic arms, the modified linear technique consists of the following steps: a transformation is used to rewrite a nonlinear time-variant model as a linear time-variant model, this linear time-variant model is evaluated at origin to obtain a linear time-invariant model, and the rank condition tests the controllability and observability of the linear time-invariant model. The modified linear technique is better than the linearization technique because the modified linear technique does not use the Jacobian approximation, while the linearization technique needs the Jacobian approximation. The modified linear technique is better than the linear technique because the modified linear technique can be applied to robotic arms with rotational and prismatic joints, while the linear technique can only be applied to robotic arms with rotational joints.
Journal Article
Luis Arturo SorianoJose de Jesus RubioEMEdurdo Orozco Magallon
Edurdo Orozco MagallonDCDaniel Andrés Córdova Córdova
Daniel Andrés Córdova CórdovaGenaro OchoaGGGuadalupe Juliana Gutierrez
Guadalupe Juliana Gutierrez +4
Sliding mode control is a robust technique that is used to overcome difficulties such as parameter variations, unmodeled dynamics, external disturbances, and payload changes in the position-tracking problem regarding robots. However, the selection of the gains in the controller could produce bigger forces than are required to move the robots, which requires spending a large amount of energy. In the literature, several approaches were used to manage these features, but some proposals are complex and require tuning the gains. In this work, a sliding mode controller was designed and optimized in order to save energy in the position-tracking problem of a two-degree-of-freedom SCARA robot. The sliding mode controller gains were optimized usinga Bat algorithm to save energy by minimizing the forces. Finally, two controllers were designed and implemented in the simulation, and as a result, adequate controller gains were found that saved energy by minimizing the forces.
1 October 2010 in International Journal of Heat and Mass Transfer
Journal Article
Alejandro ZacaríasRVR. Ventas
R. Ventas
Maria VenegasALA. Lecuona
A. Lecuona
About Me
Alejandro Zacarías Santiago qualified in a Mechanical Engineering from Instituto Politécnico Nacional, IPN in 2004. He achieved his Doctorate in Mechanical Engineering from the Universidad Carlos III de Madrid in 2009. He has directed institutional research projects on nanofluids, solar cooling and biofuels. He has published 43 research articles in journals of the Journal Citation Reports. He is the author of the books “Fluid Mechanics: Theory with modeling and applications” and “Dynamics. Mechanics for engineers” by Editorial PATRIA. He has been a speaker at international conferences related to the field of mechanical engineering. To date, he has supervised 68 theses at the bachelor's level, 22 theses at the master's level and 9 theses at the doctoral level. He has been a CONACYT Evaluator, Evaluator and Editor of international magazines. Currently, he is a National Researcher level 2 with the National Council of Science and Technology, CONACYT, Mexico. The lines of research in which his postgraduate projects are developed are absorption refrigeration systems, solar energy with nanofluids, biofuels, mass transfer and boiling heat, and atomization.