Center for Engineering and Industrial Development

Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading, among others. In this paper, the modelling, design and control of the Kaxan ROV is presented: i) The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii) the Kaxan hardware/software architecture, iii) numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbances and thruster dynamics, iv) a virtual environment to visualize the motion of the Kaxan ROV and v) experimental results of a one degree of freedom underwater system.

Development of Autonomous Underwater Vehicles (AUVs) has permitted the automatization of many tasks originally achieved with manned vehicles in underwater environments. Teams of AUVs designed to work within a common mission are opening the possibilities for new and more complex applications. In underwater environments, communication, localization, and navigation of AUVs are considered challenges due to the impossibility of relying on radio communications and global positioning systems. For a long time, acoustic systems have been the main approach for solving these challenges. However, they present their own shortcomings, which are more relevant for AUV teams. As a result, researchers have explored different alternatives. To summarize and analyze these alternatives, a review of the literature is presented in this paper. Finally, a summary of collaborative AUV teams and missions is also included, with the aim of analyzing their applicability, advantages, and limitations.

For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.

Purpose – The purpose of this paper is to investigate if a firm’s organizational culture affects the set of quality techniques it uses, and if these quality techniques affect the relationship between organizational culture and operational performance. Design/methodology/approach – Based on data collected from 250 firms in Brazil and Denmark, structural equation modeling is used to investigate the relationship between organizational culture and the use of quality techniques, and its impact on operational performance. Four quality technique groups, four cultural profiles adopted from the Competing Values Framework and a set of operational performance indicators are used to operationalize the study. Findings – Culture does not appear to be an unequivocal predictor of the use of quality techniques. Furthermore, while most quality technique groups contribute indirectly to the total effect on operational performance in the developmental, group and hierarchical cultures, the performance effects are insignificant for all four groups in the rational culture. Practical implications – Managers need to be actively aware of the cultural characteristics of their organization before adopting quality techniques, in order to benefit most from the use of these techniques. Originality/value – Most previous studies address the relationships between culture, quality management and performance at the level of quality practices. This study takes the unitarist-pluralist discussion to the level of quality techniques and extends that discussion to what should be its core, namely, the influence of quality techniques on the performance impact of culture.

This work describes a method for calibration of the Velodyne HDL-64E scanning LIDAR system. The principal contribution was expressed by a pattern calibration signature, the mathematical model and the numerical algorithm for computing the calibration parameters of the LIDAR. In this calibration pattern the main objective is to minimize systematic errors due to geometric calibration factor. It describes an algorithm for solution of the intrinsic and extrinsic parameters. Finally, its uncertainty was calculated from the standard deviation of calibration result errors.

Abstract Purpose – The purpose of this paper is to examine the effect of changes at the manufacturing plant level on other plants in the manufacturing network and also investigate the role of manufacturing plants on the evolution of a manufacturing network. Design/methodology/approach – The research questions are developed by identifying the gaps in the reviewed literature. The paper is based on three case studies undertaken in Danish manufacturing companies to explore in detail their manufacturing plants and networks. The cases provide a sound basis for developing the research questions and explaining the interaction between different manufacturing plants in the network and their impact on network transformation. Findings – The paper highlights the dominant role of manufacturing plants in the continuously changing shape of a manufacturing network. The paper demonstrates that a product or process change at one manufacturing plant affects the other plants in the same network by altering their strategic roles, which leads to the subsequent transformation of the manufacturing network. Originality/value – A review of the existing literature investigated different elements of a manufacturing network independently. In this paper, the complex phenomenon of a manufacturing network evolution is observed by combining the analysis of a manufacturing plant and network level. The historical trajectories of manufacturing networks that are presented in the case studies are examined in order to understand and determine the future shape of the networks. This study will help industrial managers make more knowledgeable decisions regarding manufacturing network management.

The use of intelligent algorithms for global solar prediction is an ideal tool for research focused on the use of solar energy. Forecasting solar radiation supports different applications focused on the generation and transport of energy in places where there are no meteorological stations. Different solar radiation prediction techniques have been applied in different time horizons, such as neural networks (ANN) or machine learning (ML), with the latter being the most important. The support vector machine (SVM) is a classification method of the ML that is used to predict solar radiation. To obtain a better accuracy of prediction data, search optimization algorithms (SOA) such as genetic algorithms (GA) and the particle swarm optimization algorithm (PSO) were used to optimize the prediction accuracy by searching the model parameters. This article presents a review of different hybrid SVM models with SOA applied to obtain the best parameters to reduce the prediction error of solar radiation using meteorological variables. Research articles from the last 5 years on solar radiation prediction using SVM models and hybrid SMV optimized models with SOA were studied. The results show that SVM with GA presents a better performance than the classical SVM models using the Radial basis kernel function for prediction parameters.

In the context of a parallel manipulator, inverse and direct Jacobian matrices are known to contain information which helps us identify some of the singular configurations. In this article, we employ kinematic analysis for the Delta robot to derive the velocity of the end-effector in terms of the angular joint velocities, thus yielding the Jacobian matrices. Setting their determinants to zero, several undesirable postures of the manipulator have been extracted. The analysis of the inverse Jacobian matrix reveals that singularities are encountered when the limbs belonging to the same kinematic chain lie in a plane. Two of the possible configurations which correspond to this condition are when the robot is completely extended or contracted, indicating the boundaries of the workspace. Singularities associated with the direct Jacobian matrix, which correspond to relatively more complicated configurations of the manipulator, have also been derived and commented on. Moreover, the idea of intermediate Jacobian matrices have been introduced that are simpler to evaluate but still contain the information of the singularities mentioned earlier in addition to architectural singularities not contemplated in conventional Jacobians.

/g for low-density PE-derived carbon (LDPE-C) and high-density PE-derived carbon (HDPE-C), respectively, was recorded. Thermogravimetric analysis analysis established a total mass retention of 50 and 46% for LDPE and HDPE, respectively, from sulfonated materials. Li-ion battery composite anode comprising LDPE-C and HDPE-C, with a binder and a carbon additive (vs lithium), produced 230 and 350 mA h/g specific capacities for LDPE-C and HDPE-C, respectively, when cycled at room temperature at C/5 rate. Elevated temperature (50 °C) battery cycling produced 290 and 440 mA h/g specific capacities for LDPE-C and HDPE-C, respectively, at C/5 rate. On the basis of the literature survey, this is the first report, which demonstrates that a solvothermal sulfonation process followed by thermal treatment successfully converts waste LDPE and HDPE plastic bags to functional energy-storing carbons.

The use of fiber-reinforced composites in marine applications such as components of tidal turbines and wave energy converters is becoming attractive because of their reduced weight and improved corrosion resistance. However, when these polymer matrix composite structures are exposed to seawater environment, degradation of material properties is produced affecting reliability. A deep understating of seawater ageing effect on composite structures is essential to ensure long-term performance and durability. A systematic investigation was conducted in this work to evaluate the effect of seawater ageing on mechanical properties of five different composites manufactured with two types of fiber fabrics (unidirectional glass and carbon) and three types of resin systems (epoxy, vinylester and polyester). The behavior of samples with and without accelerated seawater ageing and subjected to tensile, compressive, flexural and shear loading was evaluated. A significant strength reduction due to seawater ageing was observed on composites with epoxy and polyester matrices. Low strength and stiffness values of composites with vinylester matrix are in general observed; however, seawater ageing makes these properties increase slightly. Fracture surface examination by scanning electron microscopy revealed delamination, fiber debonding and resin crumbling due to seawater effect.

The physicochemical properties and biological behavior of sintered-bovine-derived hydroxyapatite (BHAp) are here reported and compared to commercial synthetic-HAp (CHAp). Dense ceramics were sintered for 2 h and 4 h at 1200 °C to investigate their microstructure–structure–in-vitro behavior relationship for both HAp ceramics. Densification was directly proportional to sintering time, showing a grain coarsening behavior with a greater effect on BHAp. Lattice parameters, crystallite size, cell volume and Ca/P ratio were determined by Rietveld refinement of X-ray diffraction (XRD) patterns using GSAS®. Ionic substitutions (Na+, Mg2+, CO32−) related to BHAp structure were associated with their position changes in the vibrational modes and correlated with the structural parameters obtained from the XRD analysis. Variations in the structural parameters and surface morphology were also evaluated after different soaking periods in simulated body fluid, which is associated with the formation of bone-like apatite layer and thus bioactivity. Mitochondrial activity (MTS) and lactate dehydrogenase (LDH) assays showed that the material released by the ceramics does not induce toxicity after exposure in human fetal osteoblastic (hFOB) cells. Furthermore, no statistically significant differences were found between the HAp obtained from different sources. These results show that BHAp can be used with no restrictions for the same biomedical applications as CHAp.

Additive manufacturing enables the design of components with intricate geometries that can be manufactured with lead times much shorter when compared with conventional manufacturing. The ability to manufacture components out of high-performance metals through additive manufacturing technologies attracts industries that wish to develop more complex parts, but require components to maintain their structural integrity in demanding operating environments. Nickel-based superalloys are of particular interest due to their excellent mechanical, creep, wear, and oxidation properties at both ambient and elevated temperatures. However, relationship between process parameters and the resulting microstructure is still not well understood. The control of the microstructure, in particular the precipitation of secondary phases, is of critical importance to the performance of nickel-based superalloys. This paper reviews the additive manufacturing methods used to process nickel-based superalloys, the influence of the process parameters on microstructure and mechanical properties, the effectiveness of various heat treatment regimens, and the addition of particles in order to further improve mechanical properties.

This work details the general structure of the clays used as a reinforcement phase in polymer nanocomposites. Clays are formed by the molecular arrangement of atomic planes described through diagrams to improve their visualization. The molecular knowledge of clays can facilitate the selection of the polymer matrix and achieve a suitable process to obtain clay-based polymer nanocomposite systems. This work highlights the development of polymer nanocomposites using the melt intercalation method. The essential work of fracture (EWF) technique has been used to characterize the fracture behavior of materials that show ductility and where complete yielding of the ligament region occurs before the crack propagation. In this sense, the EWF technique characterizes the post-yielding fracture mechanics, determining two parameters: the specific essential work of fracture (we), related to the surface where the actual fracture process occurs, and the specific non-essential work of fracture (wp), related to the plastic work carried out in the outer zone of the fracture zone. The EWF technique has been used successfully in nano-reinforced polymers to study the influence of different variables on fracture behavior. In this work, the fundamentals of the EWF technique are described, and some examples of its application are compiled, presenting a summary of the most relevant contributions in recent years.

This work deals with the manufacture and mechanical characterization of natural-fiber-reinforced biobased epoxy resins. Biolaminates are attractive to various industries because they are low-density, biodegradable, and lightweight materials. Natural fibers such as Ixtle, Henequen, and Jute were used as reinforcing fabrics for two biobased epoxy resins from Sicomin®. The manufacture of the biolaminates was carried out through the vacuum-assisted resin infusion process. The mechanical characterization revealed the Jute biolaminates present the highest stiffness and strength, whereas the Henequen biolaminates show high strain values. The rigid and semirigid biolaminates obtained in this work could drive new applications targeting industries that require lightweight and low-cost sustainable composites.

In recent years, researchers working in biomedical science and technology have investigated alternatives for enhancing the mechanical properties of biomedical materials. In this work, sodium alginate (SA) hydrogel-reinforced nanoparticles (NPs) of hydroxyapatite (HA) were prepared to enhance the mechanical properties of this polymer. Compression tests showed an increase of 354.54% in ultimate compressive strength (UCS), and 154.36% in Young's modulus with the addition of these NPs compared with pure SA. Thermogravimetric analysis (TGA) revealed that the amount of residual water is not negligible and covered a range from 20 to 35 wt%, and the decomposition degree of the alginate depends on the hydroxyapatite content, possibly due to the displacement of sodium ions by the hydroxyapatite and not by calcium chloride. Further, there is an important effect possibly due to the existence of an interaction of hydrogen bonds between the hydroxyl of the alginate and the oxygen atoms of the hydroxyapatite, so signals appear upfield in nuclear magnetic resonance (NMR) data. An increase in the accumulation of HA particles was observed with the use of X-ray microtomography, in which the quantified volume of particles per reconstructed volume corresponded accordingly to the increase in the mechanical properties of the hydrogel.

We present varve chronologies for sediments from two maar lakes in the Valle de Santiago region (Central Mexico): Hoya La Alberca (AD 1852–1973) and Hoya Rincón de Parangueo (AD 1839–1943). These are the first varve chronologies for Mexican lakes. The varved sections were anchored with tephras from Colima (1913) and Paricutín (1943/1944) and 210Pb ages. We compare the sequences using the thickness of seasonal laminae and element counts (Al, Si, S, Cl, K, Ti, Mn, Fe, and Sr) determined by micro X-ray fluorescence spectrometry. The formation of the varve sublaminae is attributed to the strongly seasonal climate regime. Limited rainfall and high evaporation rates in winter and spring induce precipitation of carbonates (high Ca, Sr) enriched in 13C and 18O, whereas rainfall in summer increases organic and clastic input (plagioclase, quartz) with high counts of lithogenic elements (K, Al, Ti, and Si). Eolian input of Ti occurs also in the dry season. Moving correlations (5-yr windows) of the Ca and Ti counts show similar development in both sequences until the 1930s. Positive correlations indicate mixing of allochthonous Ti and autochthonous Ca, while negative correlations indicate their separation in sublaminae. Negative excursions in the correlations correspond with historic and reconstructed droughts, El Niño events, and positive SST anomalies. Based on our data, droughts (3–7 year duration) were severe and centred around the following years: the early 1850s, 1865, 1880, 1895, 1905, 1915 and the late 1920s with continuation into the 1930s. The latter dry period brought both lake systems into a critical state making them susceptible to further drying. Groundwater overexploitation due to the expansion of irrigation agriculture in the region after 1940 induced the transition from calcite to aragonite precipitation in Alberca and halite infiltration in Rincón. The proxy data indicate a faster response to increased evaporation for Rincón, the lake with the larger maar dimensions, solar radiation receipt and higher conductivity, whereas the smaller, steeper Alberca maar responded rapidly to increased precipitation.

The isothermal crystallization of poly(ethylene terephthalate) (PET) homopolymers with different molecular weight was studied in a wide temperature range (140–230 °C) using different experimental techniques. Three different morphological regions, labeled r1, r2 and r3, were distinguished as a function of crystallization temperature (Tc). In r1 (low Tc) crystallized samples were characterized by a low crystalline degree with a small spherulite texture containing thin crystals. In r2 (intermediate Tc) samples showed medium size spherulites composed of two distinct crystalline families (thin and thick crystals). In this temperature range, the crystallization exhibited a maximum value and it was associated with a high content of secondary crystals. In r3 (high Tc), samples presented considerable amorphous zones and regions consisting of oversized spherulites containing only thick crystals. Time-resolved wide-angle X-ray diffraction measurements, using synchrotron radiation, indicated a rapid evolution of the crystalline degree within the second region, in contrast with the quite slow evolution observed in the third region. On the other hand, by small-angle X-ray scattering (SAXS) and time-resolved SAXS experiment, it was found that the long period (L) as well as the lamellar thickness (lc) increase as a function of Tc, corroborating the formation of the thickest crystals in the third region. From all these observations, a morphological model was proposed for each region.

Mechatronics and Robotics (MaR) have recently gained importance in product development and manufacturing settings and applications. Therefore, the Center for Space Emerging Technologies (C-SET) has managed an international multi-disciplinary study to present, historically, the first Latin American general review of industrial, collaborative, and mobile robotics, with the support of North American and European researchers and institutions. The methodology is developed by considering literature extracted from Scopus, Web of Science, and Aerospace Research Central and adding reports written by companies and government organizations. This describes the state-of-the-art of MaR until the year 2023 in the 3 Sub-Regions: North America, Central America, and South America, having achieved important results related to the academy, industry, government, and entrepreneurship; thus, the statistics shown in this manuscript are unique. Also, this article explores the potential for further work and advantages described by robotic companies such as ABB, KUKA, and Mecademic and the use of the Robot Operating System (ROS) in order to promote research, development, and innovation. In addition, the integration with industry 4.0 and digital manufacturing, architecture and construction, aerospace, smart agriculture, artificial intelligence, and computational social science (human-robot interaction) is analyzed to show the promising features of these growing tech areas, considering the improvements to increase production, manufacturing, and education in the Region. Finally, regarding the information presented, Latin America is considered an important location for investments to increase production and product development, taking into account the further proposal for the creation of the LATAM Consortium for Advanced Robotics and Mechatronics, which could support and work on roboethics and education/R+D+I law and regulations in the Region. Doi: 10.28991/ESJ-2023-07-04-025 Full Text: PDF

This paper presents algorithms implemented for positioning a wheeled robot on a production floor inside a factory by means of radio-frequency distance measurement and trilateration techniques. A set of radio-frequency transceivers located on the columns of the factory (anchors) create a grid with several triangular zones capable of measuring the line-of-sight distance between each anchor and the transceiver installed in the wheeled robot. After measuring only three of these distances (radii), an enhanced trilateration algorithm is applied to obtain X and Y coordinates in a Cartesian plane, i.e., the position of the robot on the factory floor. The embedded systems developed for the anchors and the robot are robust enough to establish communication, select the closest anchors for measuring radii, and identify in which of the grid zones the robot is located.

Beta-casein (BC) is frequently expressed as BC A2 and BC A1 in cow's milk. Gastrointestinal digestion of BC A1 results in the release of the opioid peptide beta-casomorphin 7 (BCM7) which is less likely to occur from BC A2. This work was aimed to produce milk containing BC A2 with no BC A1 (BC A2 milk) using genetically selected CSN2 A2A2 Jersey cows. Additionally, we aimed to develop an infant formula (IF) suitable for healthy full-term infants during the first six months of life based on BC A2 milk. The concentration of BCM7 released from BC A2 IF, from commercially available IFs as well as from human milk and raw cow's milk was evaluated after simulated gastrointestinal digestion (SGID). BC A2 IF presented the lowest mean relative abundance of BC A1 (IF 1 = 0.136 ± 0.010), compared with three commercially available IFs (IF 2 = 0.597 ± 0.020; IF 3 = 0.441 ± 0.014; IF 4 = 0.503 ± 0.011). Accordingly, SGID of whole casein fraction from BC A2 IF resulted in a significantly lower release of BCM7 (IF 1 = 0.860 ± 0.014 µg/100 mL) compared to commercially available IFs (IF 2 = 2.625 ± 0.042 µg/100 mL; IF 3 = 1.693 ± 0.012 µg/100 mL; IF 4 = 1.962 ± 0.067 µg/100 mL). Nevertheless, BCM7 levels from BC A2 IF were significantly higher than those found in SGID hydrolysates of BC A2 raw milk (0.742 ± 0.008 µg/100 mL). Interestingly, results showed that BCM7 was also present in human milk in significantly lower amounts (0.697 ± 0.007 µg/100 mL) than those observed in IF 1 and BC A2 milk. This work demonstrates that using BC A2 milk in IF formulation significantly reduces BCM7 formation during SGID. Clinical implications of BC A2 IF on early infant health and development need further investigations.