Fernández Guillermo | Universidad Iberoamericana - Mexico (original) (raw)
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Papers by Fernández Guillermo
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)
An algorithm is presented to obtain a system which could observe n plants simultaneously, based o... more An algorithm is presented to obtain a system which could observe n plants simultaneously, based on evolutionary strategies. We present a technique preserve an observer and its plants. We also give robust observability results, under nonlinear perturbations in the plant parameters, which are induced by substitutions of SPR functions in a given plant.
2016 IEEE Conference on Control Applications (CCA), 2016
This paper proposes a planar formation control scheme for a group of mobile robots modeled as sin... more This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The formation scheme becomes a decentralized control setup in robots equipped with local sensors of distance and orientation. The control approach can be extended to the case of kinematic and dynamical models of nonholonomic robots applying an appropriated input-output linearization. It enables the possibility to combine heterogeneous robots as shown by numerical simulations using the projection in the 2D plane of multi-rotor Unmanned Aerial Vehicles (UAV's), unicycle-type and omnidirectional wheeled mobile robots. Also, an experiment with these real wheeled mobile robots is presented.
International Journal of Bio-Inspired Computation, 2013
Many computational intelligence approaches have been used for the fragment assembly problem. Howe... more Many computational intelligence approaches have been used for the fragment assembly problem. However, the comparison and analysis of these approaches is difficult due to the lack of availability of standard benchmarks. Although similar datasets may be used as a starting point, there is not enough information to reproduce the exact overlaps matrix for the fragments used by the various approaches, creating a problem for consistency. This paper presents a collection of benchmark datasets for a wide range of fragment lengths, number of fragments, and sequence lengths, along with a description of the method used to produce them. A website has been created to maintain the datasets and the tables of results at http://chac.sis.uia.mx/fragbench/. Researchers are invited to add to the datasets by following the method described, as well as to submit results obtained by their algorithms on the benchmarks.
Energy Reports, 2021
Abstract New regulations allow peer-to-peer energy trading worldwide, empowering users while reco... more Abstract New regulations allow peer-to-peer energy trading worldwide, empowering users while recognizing the prosumer as a critical stakeholder. In recent years, microgrids have surfaced as a distributed and embedded energy production alternative. This literature review analyses agent-based model systems with distinct approaches that model, control, and supervise microgrids, establishing a viewpoint for the transition to renewable energy, which engulfs energy security, and technology adoption. Procurement of microgrids utilizing energy transactions between end-users and implementing agent-based models has derived a better understanding of local and micro-energy markets. This literature review explores community microgrids deployment’s social dynamics and technical performance from a micro point of view. Finally, we present a roadmap for long and short-term use of agent-based models to access energy security via local energy markets, energy storage systems and community-based microgrids in rural areas. The results of this comprehensive review give way to further research questions on the use of agent-based models to improve the adoption of energy storage systems, the use of technologies to accelerate the creation of local energy markets, and the successful deployment of community-based microgrids.
IFAC-PapersOnLine, 2016
This paper extends the distance-based formation control for the case of holonomic robots moving i... more This paper extends the distance-based formation control for the case of holonomic robots moving in 3D space. The approach is addressed for agents modeled as double-integrators with any undirected communication graphs. The control strategy uses a combined distance-based attractive-repulsive potentials to ensure convergence to the formation pattern avoiding possible inter-robot collisions. In order to avoid unwanted formation patterns that verify the distance constraints, each robot control law includes a volume condition which provides information about the unique desired position of each robot in the formation pattern. The proposed algorithm is tested by numerical simulations and extended to the case of quadcopters UAV's by an input-output linearization showing good behavior.
Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2009
IFAC-PapersOnLine, 2015
This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. T... more This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. The external loop is designed to move the translational dynamics of the robot to follow smooth parametric functions using an appropriate variables substitution. The outer loop generates the desired trajectories of the orientation angles, which are controlled in the inner loop. The parameter gains are calculated using linear optimal control in order to minimize the energy consumption of the rotors. The control architecture is designed to be compatible with standard electronic platforms of commercial quadcopters and incorporates the purpose of maximizing flight time, an important requirement in real applications of multi-rotor aerial vehicles. Some numerical simulations show the performance of the control approach.
Algorithms, 2015
DNA fragment assembly represents an important challenge to the development of efficient and pract... more DNA fragment assembly represents an important challenge to the development of efficient and practical algorithms due to the large number of elements to be assembled. In this study, we present some graph theoretical linear time algorithms to solve the problem. To achieve linear time complexity, a heap with constant time operations was developed, for the special case where the edge weights are integers and do not depend on the problem size. The experiments presented show that modified classical graph theoretical algorithms can solve the DNA fragment assembly problem efficiently.
Algorithms, 2017
DNA fragment assembly requirements have generated an important computational problem created by t... more DNA fragment assembly requirements have generated an important computational problem created by their structure and the volume of data. Therefore, it is important to develop algorithms able to produce high-quality information that use computer resources efficiently. Such an algorithm, using graph theory, is introduced in the present article. We first determine the overlaps between DNA fragments, obtaining the edges of a directed graph; with this information, the next step is to construct an adjacency list with some particularities. Using the adjacency list, it is possible to obtain the DNA contigs (group of assembled fragments building a contiguous element) using graph theory. We performed a set of experiments on real DNA data and compared our results to those obtained with common assemblers (Edena and Velvet). Finally, we searched the contigs in the original genome, in our results and in those of Edena and Velvet.
DNA fragment assembly requirements have generated an important computational problem created by t... more DNA fragment assembly requirements have generated an important computational problem created by their structure and the volume of data. Therefore, it is important to develop algorithms able to produce high-quality information that use computer resources efficiently. Such an algorithm, using graph theory, is introduced in the present article. We first determine the overlaps between DNA fragments, obtaining the edges of a directed graph; with this information, the next step is to construct an adjacency list with some particularities. Using the adjacency list, it is possible to obtain the DNA contigs (group of assembled fragments building a contiguous element) using graph theory. We performed a set of experiments on real DNA data and compared our results to those obtained with common assemblers (Edena and Velvet). Finally, we searched the contigs in the original genome, in our results and in those of Edena and Velvet.
This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. T... more This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. The external loop is designed to move the translational dynamics of the robot to follow smooth parametric functions using an appropriate variables substitution. The outer loop generates the desired trajectories of the orientation angles, which are controlled in the inner loop. The parameter gains are calculated using linear optimal control in order to minimize the energy consumption of the rotors. The control architecture is designed to be compatible with standard electronic platforms of commercial quadcopters and incorporates the purpose of maximizing flight time, an important requirement in real applications of multi-rotor aerial vehicles. Some numerical simulations show the performance of the control approach.
Algorithms, 2015
DNA fragment assembly represents an important challenge to the development of efficient and pract... more DNA fragment assembly represents an important challenge to the development of efficient and practical algorithms due to the large number of elements to be assembled. In this study, we present some graph theoretical linear time algorithms to solve the problem. To achieve linear time complexity, a heap with constant time operations was developed, for the special case where the edge weights are integers and do not depend on the problem size. The experiments presented show that modified classical graph theoretical algorithms can solve the DNA fragment assembly problem efficiently.
Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)
An algorithm is presented to obtain a system which could observe n plants simultaneously, based o... more An algorithm is presented to obtain a system which could observe n plants simultaneously, based on evolutionary strategies. We present a technique preserve an observer and its plants. We also give robust observability results, under nonlinear perturbations in the plant parameters, which are induced by substitutions of SPR functions in a given plant.
2016 IEEE Conference on Control Applications (CCA), 2016
This paper proposes a planar formation control scheme for a group of mobile robots modeled as sin... more This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The formation scheme becomes a decentralized control setup in robots equipped with local sensors of distance and orientation. The control approach can be extended to the case of kinematic and dynamical models of nonholonomic robots applying an appropriated input-output linearization. It enables the possibility to combine heterogeneous robots as shown by numerical simulations using the projection in the 2D plane of multi-rotor Unmanned Aerial Vehicles (UAV's), unicycle-type and omnidirectional wheeled mobile robots. Also, an experiment with these real wheeled mobile robots is presented.
International Journal of Bio-Inspired Computation, 2013
Many computational intelligence approaches have been used for the fragment assembly problem. Howe... more Many computational intelligence approaches have been used for the fragment assembly problem. However, the comparison and analysis of these approaches is difficult due to the lack of availability of standard benchmarks. Although similar datasets may be used as a starting point, there is not enough information to reproduce the exact overlaps matrix for the fragments used by the various approaches, creating a problem for consistency. This paper presents a collection of benchmark datasets for a wide range of fragment lengths, number of fragments, and sequence lengths, along with a description of the method used to produce them. A website has been created to maintain the datasets and the tables of results at http://chac.sis.uia.mx/fragbench/. Researchers are invited to add to the datasets by following the method described, as well as to submit results obtained by their algorithms on the benchmarks.
Energy Reports, 2021
Abstract New regulations allow peer-to-peer energy trading worldwide, empowering users while reco... more Abstract New regulations allow peer-to-peer energy trading worldwide, empowering users while recognizing the prosumer as a critical stakeholder. In recent years, microgrids have surfaced as a distributed and embedded energy production alternative. This literature review analyses agent-based model systems with distinct approaches that model, control, and supervise microgrids, establishing a viewpoint for the transition to renewable energy, which engulfs energy security, and technology adoption. Procurement of microgrids utilizing energy transactions between end-users and implementing agent-based models has derived a better understanding of local and micro-energy markets. This literature review explores community microgrids deployment’s social dynamics and technical performance from a micro point of view. Finally, we present a roadmap for long and short-term use of agent-based models to access energy security via local energy markets, energy storage systems and community-based microgrids in rural areas. The results of this comprehensive review give way to further research questions on the use of agent-based models to improve the adoption of energy storage systems, the use of technologies to accelerate the creation of local energy markets, and the successful deployment of community-based microgrids.
IFAC-PapersOnLine, 2016
This paper extends the distance-based formation control for the case of holonomic robots moving i... more This paper extends the distance-based formation control for the case of holonomic robots moving in 3D space. The approach is addressed for agents modeled as double-integrators with any undirected communication graphs. The control strategy uses a combined distance-based attractive-repulsive potentials to ensure convergence to the formation pattern avoiding possible inter-robot collisions. In order to avoid unwanted formation patterns that verify the distance constraints, each robot control law includes a volume condition which provides information about the unique desired position of each robot in the formation pattern. The proposed algorithm is tested by numerical simulations and extended to the case of quadcopters UAV's by an input-output linearization showing good behavior.
Philosophical Transactions of the Royal Society A: Mathematical, Physical and Engineering Sciences, 2009
IFAC-PapersOnLine, 2015
This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. T... more This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. The external loop is designed to move the translational dynamics of the robot to follow smooth parametric functions using an appropriate variables substitution. The outer loop generates the desired trajectories of the orientation angles, which are controlled in the inner loop. The parameter gains are calculated using linear optimal control in order to minimize the energy consumption of the rotors. The control architecture is designed to be compatible with standard electronic platforms of commercial quadcopters and incorporates the purpose of maximizing flight time, an important requirement in real applications of multi-rotor aerial vehicles. Some numerical simulations show the performance of the control approach.
Algorithms, 2015
DNA fragment assembly represents an important challenge to the development of efficient and pract... more DNA fragment assembly represents an important challenge to the development of efficient and practical algorithms due to the large number of elements to be assembled. In this study, we present some graph theoretical linear time algorithms to solve the problem. To achieve linear time complexity, a heap with constant time operations was developed, for the special case where the edge weights are integers and do not depend on the problem size. The experiments presented show that modified classical graph theoretical algorithms can solve the DNA fragment assembly problem efficiently.
Algorithms, 2017
DNA fragment assembly requirements have generated an important computational problem created by t... more DNA fragment assembly requirements have generated an important computational problem created by their structure and the volume of data. Therefore, it is important to develop algorithms able to produce high-quality information that use computer resources efficiently. Such an algorithm, using graph theory, is introduced in the present article. We first determine the overlaps between DNA fragments, obtaining the edges of a directed graph; with this information, the next step is to construct an adjacency list with some particularities. Using the adjacency list, it is possible to obtain the DNA contigs (group of assembled fragments building a contiguous element) using graph theory. We performed a set of experiments on real DNA data and compared our results to those obtained with common assemblers (Edena and Velvet). Finally, we searched the contigs in the original genome, in our results and in those of Edena and Velvet.
DNA fragment assembly requirements have generated an important computational problem created by t... more DNA fragment assembly requirements have generated an important computational problem created by their structure and the volume of data. Therefore, it is important to develop algorithms able to produce high-quality information that use computer resources efficiently. Such an algorithm, using graph theory, is introduced in the present article. We first determine the overlaps between DNA fragments, obtaining the edges of a directed graph; with this information, the next step is to construct an adjacency list with some particularities. Using the adjacency list, it is possible to obtain the DNA contigs (group of assembled fragments building a contiguous element) using graph theory. We performed a set of experiments on real DNA data and compared our results to those obtained with common assemblers (Edena and Velvet). Finally, we searched the contigs in the original genome, in our results and in those of Edena and Velvet.
This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. T... more This paper presents a two-level control strategy for the trajectory tracking of the quadcopter. The external loop is designed to move the translational dynamics of the robot to follow smooth parametric functions using an appropriate variables substitution. The outer loop generates the desired trajectories of the orientation angles, which are controlled in the inner loop. The parameter gains are calculated using linear optimal control in order to minimize the energy consumption of the rotors. The control architecture is designed to be compatible with standard electronic platforms of commercial quadcopters and incorporates the purpose of maximizing flight time, an important requirement in real applications of multi-rotor aerial vehicles. Some numerical simulations show the performance of the control approach.
Algorithms, 2015
DNA fragment assembly represents an important challenge to the development of efficient and pract... more DNA fragment assembly represents an important challenge to the development of efficient and practical algorithms due to the large number of elements to be assembled. In this study, we present some graph theoretical linear time algorithms to solve the problem. To achieve linear time complexity, a heap with constant time operations was developed, for the special case where the edge weights are integers and do not depend on the problem size. The experiments presented show that modified classical graph theoretical algorithms can solve the DNA fragment assembly problem efficiently.