In this article, various investigations on soft exoskeletons are presented and their functional and structural characteristics are analyzed. The present work is oriented to the studies of the last decade and covers the upper and lower joints, specifically the shoulder, elbow, wrist, hand, hip, knee, and ankle. Its functionality, applicability, and main characteristics are exposed, such as degrees of freedom, force, actuators, power transmission methods, control systems, and sensors. The purpose of this work is to show the current trend in the development of soft exoskeletons, in addition to specifying the essential characteristics that must be considered in its design and the challenges that its construction implies.

Actuator Fault Estimation (FE) and Fault Tolerant Control (FTC) strategies designed with model-based observers for Vertical Take-Off and Landing (VTOL) aerial vehicles are proposed and validated experimentally in this paper. Three observers are considered for FE: a nonlinear adaptive observer and a linear Proportional-Integral Observer (PIO) applied to a Planar VTOL and a quasi-Linear Parameter Varying (qLPV) PIO applied to a quadcopter vehicle. The fault detection is done by comparing the fault estimation signal with a predefined threshold. Fault isolation is achieved by analyzing the sign of the fault estimation signal. The Available Control Authority Index (ACAI) method is used to analyze the controllability properties of the vehicles under actuator faults. The main contribution of this work is the design and the experimental validation of complete active FTC schemes by using the proposed FE systems in order to accommodate a soft actuator fault and reconfigure an aggressive fault, even when the vehicle is flying in a non-hover position. Finally, the proposed FTC schemes are validated in different cases of flight tests for illustrating the effectiveness of the strategies.

The production of biofuels has had a great impact on climate change and the reduction of the use of fossil fuels. There are different technologies used for the separation and production of biofuels, which allow having compounds such as ethanol, methane, oxygen, and hydrogen, one of these promising technologies is the Pressure Swing Adsorption process (PSA). The objectives of this article focus on the production and purification of compounds that achieve purities of 99.5% bioethanol, 94.85% biohydrogen, 95.00% medical oxygen, and 99.99% biomethane through the PSA process; also, a significant review is contemplated to identify the different natural and synthetic adsorbents that have greater adsorption capacity, the different configurations in which a PSA operates are studied and identified, and the different mathematical models that describe the dynamic behavior of all the variables are established that interact in this PSA process, parametric studies are carried out in order to identify the variables that have the greatest effect on the purity obtained. The results obtained in this review allow facilitating the calculation of parameters, the optimization of the process, the automatic control to manipulate certain variables and to achieve the rejection of disturbances to have a recovery and production of biofuels with a high degree of purity.

One of the separation processes used for the production and purification of hydrogen is molecular sieve adsorption using the Pressure Swing Adsorption (PSA) method. The process uses two beds containing activated carbon and a sequence of four steps (adsorption, depressurization, purge, and repressurization) for hydrogen production and purification. The initial composition is 0.11 CO, 0.61 H₂, and 0.28 CH₄ in molar fractions. The aim of this work is to bring the purity of hydrogen to 0.99 in molar fraction and implement controllers that can maintain the desired purity even in the presence of the disturbances that occur in the PSA process. The controller design (discrete PID and state feedback control) was based on the Hammerstein–Wiener model, which had an 80% fit over the rigorous PSA model. Both controllers were validated on a virtual plant of the PSA process, showing great performance and robustness against disturbances. The results obtained show that it is possible to follow the desired trajectory and attenuate double disturbances, while managing to maintain the purity of hydrogen at a value of 0.99 in molar fraction, which meets the international standards to be used as a biofuel.

Extractive distillation with salts, unlike other dehydration technologies, is better due to the null toxicity that exists in the distillate, since salt cannot be evaporated. With this distillation technology, it is possible to obtain a high concentration of ethanol, however, there are still problems in the control of the distillation columns in the presence of disturbances. The present work deals with the simulation and control of an extractive distillation column using CaCl${}_2$ as a separating agent, for which the Aspen Dynamics^® simulator is used. The measurement and control of the ethanol composition are carried out by means of temperature, in addition, four control structures are evaluated and compared. These structures are L, D, LV, and DV, which are the most common in conventional distillation, and their performance is measured by means of deterministic indicators applying changes (disturbances) of composition and the flow rate in the main feed of the column. The most relevant results of this work lead to the fact that by applying a controller, it is possible to maintain the desired purity above the international purity standards (99% ethanol) that govern biofuels.