anna_patete_publicaciones

Prof. Ph.D. Anna Patete

Ordinary Professor
Department of System Control,
System Engineering School (EISULA)
Universidad de Los Andes (ULA)
Mérida, Venezuela

e-mail: apatete@ula.ve

Web: http://webdelprofesor.ula.ve/ingenieria/apatete

Research Areas

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Robotics

Adaptive Control

Nonlinear Dynamics
Discretization

Systems of Pendulums

Computacional
Mimics

Virtual
Simulator

Quadrotor (Drone):

Analysis of design, construction and control of a Drone, in particular a Quadrotor, are studied. The main objective of this research is to construct a prototype, and to design linear and nonlinear control laws for its movement.

Quadrotor

Quadrotor (Drone). Universidad de Los Andes.

Springo Inchworm Robot:

Analysis of design, construction and control of a robot that emulates the movement of a caterpillar are studied. This robot has been denominated Spring Inchworm Robot (SIR), in the Universidad de Los Andes (Los Andes University), due to the inclusion of a spring in its design. The main objective of this research is to be able to represent the displacement dynamics of a caterpillar using the smallest number of possible servo motors, also to design control laws for its movement.

Spring Inchworm Robot o SIR. Universidad de Los Andes.

Capsubot:

Analysis of design, construction and control for a Capsubot (Capsule Robot) are studied. This system has the particularity of not possessing external mobile parts to generate its displacement. The main objective of this research is to design a prototype of low cost and to design control laws for its movement.

Capsubot. Universidad de Los Andes.

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Adaptive Control:

In this research area a new control law is designed based on the Sliding Mode principle for discrete time systems. Combining the Generalized Minimum Variance approach with the Implicit Seft-Tuning Control to regulated, linear and some nonlinear, systems. The new algorithm's stability is proved using Lyapunov theory for discrete time systems.

Self-tuning control block diagram.

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Nonlinear Dynamics Discretization:

Analysis and design of new discretization algorithms for nonlinear systems are studied. These new methods have been denominated Non Standard Discretization Methods, that is: Discretization of Euler, Discretization of Euler-Picard and Discretization of Euler-Taylor-Picard. This methods are based on the polygonal of Euler, the iterations of Picard and the expansion in series of Taylor.

Controlled simple pendulum, position and velocity.

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Systems of Pendulums:

The pendulum has always been a system of interest inside the study of control systems. Because of this, it continues being one active research area and a system to test many control theories.

Inverted Pendulum. Universidad de Los Andes. Simple Pendulun. Universidad de Los Andes.

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Computational Mimics:

The graphic animation capacities of the package Mathematica is studied for the development of computational mimics that represent the dynamics behavior of the real systems, under different variations of parameters and control laws.

Mimic of simple pendulum. Mimic of inverted pendulum on a car. Mimic of Watt regulator (3D).

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Virtual Simulator:

Development of a virtual simulator that collaborates in the training of medical surgeons to improve the different necessary dexterities in interventions surgical, such as laparoscopic.

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Received
Education