Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la ... more Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la mina subterránea El UVO de la empresa Paz del Rio S.A. Aprovechando los caudales de agua que se generan en la explotación de mineral del hierro. El generador está constituido por una rueda Pelton que recibe el agua a través de un servo válvula y está conectada a un generador de corriente directa. Se desarrolló e implementó un controlador discreto por métodos algebraicos para el control de la servo válvula con el objetivo de lograr un flujo constante de agua a la rueda Pelton, permitiendo una generación de voltaje constante.
Revista de la Real Academia de Ciencias Exactas, Físicas y Naturales. Serie A. Matemáticas, 2016
We study constant mean curvature spacelike hypersurfaces in generalized Robertson-Walker spacetim... more We study constant mean curvature spacelike hypersurfaces in generalized Robertson-Walker spacetimes M = I × f F which are spatially parabolic covered (i.e. its fiber F is a (noncompact) complete Riemannian manifold whose universal covering is parabolic) and satisfy the null convergence condition. In particular, we provide several rigidity results under appropriate mathematical and physical assumptions. We pay special attention to the case where the GRW spacetime is Einstein. As an application, some Calabi-Bernstein type results are given.
ABSTRACT-This paper presents the design and construction of a prototype for the study and teach... more ABSTRACT-This paper presents the design and construction of a prototype for the study and teaching control the generation of gas in mines, the paper is organized as follows: the state of the art review on the sensing of gases in the mine ventilation, description of the prototype, obtaining the reaction curves of the response of gas sensors, design and implementation of the control strategy and analysis of the results and conclusions.
Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la ... more Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la mina subterránea El UVO de la empresa Paz del Rio S.A. Aprovechando los caudales de agua que se generan en la explotación de mineral del hierro. El generador está constituido por una rueda Pelton que recibe el agua a través de un servo válvula y está conectada a un generador de corriente directa. Se desarrolló e implementó un controlador discreto por métodos algebraicos para el control de la servo válvula con el objetivo de lograr un flujo constante de agua a la rueda Pelton, permitiendo una generación de voltaje constante.
2006 IEEE/PES Transmission & Distribution Conference and Exposition: Latin America, 2006
In this paper the Power Systems Control using the Sliding Mode Control applied to Interconnected ... more In this paper the Power Systems Control using the Sliding Mode Control applied to Interconnected Systems theory is presented. For it the Power System is modeled as a Multimachine interconnected System with disturbances. For control design it is considered the known of a limited number of variables that must be measured. The approach design, the tests of robustness and stability are presented, and the results of simulations in a power system of three machines simulated in Matlab/Simulink and Neplan are shown.
... There are several approaches such as discussed in Rao [2000], Ramos [2002],Salamanca [2005 ..... more ... There are several approaches such as discussed in Rao [2000], Ramos [2002],Salamanca [2005 ... LMI-Sliding approach can be applied to intercon-nected nonlinear systems with matched ... In despite of advantages this combination has not been applied to power electric systems. ...
Objective 3-Dimensional (3-D) visualization by the surgeon is considered to be one of the major a... more Objective 3-Dimensional (3-D) visualization by the surgeon is considered to be one of the major advantages of robotic prostatectomy. We undertook this study to see if passing on this technology to the surgical assistants would improve the eYciency of their assistance.
Introduction. Validated questionnaires are used to assess postoperative continence, sexual functi... more Introduction. Validated questionnaires are used to assess postoperative continence, sexual function, and other quality-of-life issues after radical prostatectomy. The International Index of Erectile Function (IIEF) is one such well-tested inventory that is routinely used. However, some centers use the Sexual Health Inventory for Men (SHIM) or the IIEF-6 to record erectile function, and comparison between the three can be difficult. Aims. To define if there was a predictive correlation between IIEF (or IIEF-6) and SHIM, and to explore a strategy for the use of an abbreviated and rapid functional assessment of erectile function in patients.
This paper presents a control approach that is based on the combination of Linear Matrix Inequali... more This paper presents a control approach that is based on the combination of Linear Matrix Inequalities and Sliding mode control. This approach is appropriate to electromechanical systems like robotic manipulators, helicopter models, inverted pendulum systems and so. The proposed control law is has two parts: a linear component and a nonlinear component. The linear component is designed with the objective to track an appropriate reference model given. The nonlinear control component provides robustness in face nonlinearities, disturbances, parametric uncertainties and sensor faults. The performance of proposed controller is tested in two examples: the PR and ELBOW robot models, which are simulated in Simulink of MATLAB®.
Resumen: En este artículo se presenta una técnica de control apropiada para sistemas electromecán... more Resumen: En este artículo se presenta una técnica de control apropiada para sistemas electromecánicos como brazos robóticos, péndulos rotacionales y modelos de helicópteros. La técnica combina control con modos deslizantes y desigualdades matriciales lineales. La técnica permite considerar incertidumbres parametricas no linealidades ruidos externos e incluso falla de sensores. La ley de control se ilustra en el caso del robot planar de dos articulaciones ELBOW. Las ecuaciones no lineales del robot se simulan en Matlab/Simulink y al final se presentan los resultados.
This paper proposes that water draining in underground mining can be used to generate electricity... more This paper proposes that water draining in underground mining can be used to generate electricity. The energy potential of the mine water could be of value in the mining industry. Evaluations of hydroelectric resources in deep mines and the minimum quality conditions for drainage to be used for hydro generation were performed. Calculations were made for the design of a prototype generator using the theoretical case of a mine to generating 1 Kw. The possible uses of the energy generated were analysed as they related to deep mining processes.
The main purpose of mine ventilation system is to provide air extraction fronts good quality. And... more The main purpose of mine ventilation system is to provide air extraction fronts good quality. And the ventilation system control the quality of air and gas handling O 2 , CH 4 , CO, SO 2 , H 2 S, NO 2 and / or CO 2 removal fronts mine, depending on the type of ore to extract and operating method applied. This paper describes a mine prototype for the study and control of ventilation of mines. Keywords— Control of ventilation, modeling and control, sensing gases. Resumen-El principal objetivo del sistema de ventilación minera es suministrar a los frentes de extracción aire de buena calidad. Y la función del control del sistema de ventilación es la calidad del aire y el manejo de los gases O 2 , CH 4 , CO, SO 2 , H 2 S, NO 2 y/o CO 2 en los frentes de extracción de la mina, dependiendo del tipo de mineral a extraer y el método de explotación aplicado. Este trabajo describe una mina prototipo para el estudio y control de la ventilación de minas. Plabras Clave-Control de la Ventilación, ...
Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la ... more Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la mina subterránea El UVO de la empresa Paz del Rio S.A. Aprovechando los caudales de agua que se generan en la explotación de mineral del hierro. El generador está constituido por una rueda Pelton que recibe el agua a través de un servo válvula y está conectada a un generador de corriente directa. Se desarrolló e implementó un controlador discreto por métodos algebraicos para el control de la servo válvula con el objetivo de lograr un flujo constante de agua a la rueda Pelton, permitiendo una generación de voltaje constante.
Revista de la Real Academia de Ciencias Exactas, Físicas y Naturales. Serie A. Matemáticas, 2016
We study constant mean curvature spacelike hypersurfaces in generalized Robertson-Walker spacetim... more We study constant mean curvature spacelike hypersurfaces in generalized Robertson-Walker spacetimes M = I × f F which are spatially parabolic covered (i.e. its fiber F is a (noncompact) complete Riemannian manifold whose universal covering is parabolic) and satisfy the null convergence condition. In particular, we provide several rigidity results under appropriate mathematical and physical assumptions. We pay special attention to the case where the GRW spacetime is Einstein. As an application, some Calabi-Bernstein type results are given.
ABSTRACT-This paper presents the design and construction of a prototype for the study and teach... more ABSTRACT-This paper presents the design and construction of a prototype for the study and teaching control the generation of gas in mines, the paper is organized as follows: the state of the art review on the sensing of gases in the mine ventilation, description of the prototype, obtaining the reaction curves of the response of gas sensors, design and implementation of the control strategy and analysis of the results and conclusions.
Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la ... more Este trabajo presenta el diseño y control de un generador hidráulico para producir energía en la mina subterránea El UVO de la empresa Paz del Rio S.A. Aprovechando los caudales de agua que se generan en la explotación de mineral del hierro. El generador está constituido por una rueda Pelton que recibe el agua a través de un servo válvula y está conectada a un generador de corriente directa. Se desarrolló e implementó un controlador discreto por métodos algebraicos para el control de la servo válvula con el objetivo de lograr un flujo constante de agua a la rueda Pelton, permitiendo una generación de voltaje constante.
2006 IEEE/PES Transmission & Distribution Conference and Exposition: Latin America, 2006
In this paper the Power Systems Control using the Sliding Mode Control applied to Interconnected ... more In this paper the Power Systems Control using the Sliding Mode Control applied to Interconnected Systems theory is presented. For it the Power System is modeled as a Multimachine interconnected System with disturbances. For control design it is considered the known of a limited number of variables that must be measured. The approach design, the tests of robustness and stability are presented, and the results of simulations in a power system of three machines simulated in Matlab/Simulink and Neplan are shown.
... There are several approaches such as discussed in Rao [2000], Ramos [2002],Salamanca [2005 ..... more ... There are several approaches such as discussed in Rao [2000], Ramos [2002],Salamanca [2005 ... LMI-Sliding approach can be applied to intercon-nected nonlinear systems with matched ... In despite of advantages this combination has not been applied to power electric systems. ...
Objective 3-Dimensional (3-D) visualization by the surgeon is considered to be one of the major a... more Objective 3-Dimensional (3-D) visualization by the surgeon is considered to be one of the major advantages of robotic prostatectomy. We undertook this study to see if passing on this technology to the surgical assistants would improve the eYciency of their assistance.
Introduction. Validated questionnaires are used to assess postoperative continence, sexual functi... more Introduction. Validated questionnaires are used to assess postoperative continence, sexual function, and other quality-of-life issues after radical prostatectomy. The International Index of Erectile Function (IIEF) is one such well-tested inventory that is routinely used. However, some centers use the Sexual Health Inventory for Men (SHIM) or the IIEF-6 to record erectile function, and comparison between the three can be difficult. Aims. To define if there was a predictive correlation between IIEF (or IIEF-6) and SHIM, and to explore a strategy for the use of an abbreviated and rapid functional assessment of erectile function in patients.
This paper presents a control approach that is based on the combination of Linear Matrix Inequali... more This paper presents a control approach that is based on the combination of Linear Matrix Inequalities and Sliding mode control. This approach is appropriate to electromechanical systems like robotic manipulators, helicopter models, inverted pendulum systems and so. The proposed control law is has two parts: a linear component and a nonlinear component. The linear component is designed with the objective to track an appropriate reference model given. The nonlinear control component provides robustness in face nonlinearities, disturbances, parametric uncertainties and sensor faults. The performance of proposed controller is tested in two examples: the PR and ELBOW robot models, which are simulated in Simulink of MATLAB®.
Resumen: En este artículo se presenta una técnica de control apropiada para sistemas electromecán... more Resumen: En este artículo se presenta una técnica de control apropiada para sistemas electromecánicos como brazos robóticos, péndulos rotacionales y modelos de helicópteros. La técnica combina control con modos deslizantes y desigualdades matriciales lineales. La técnica permite considerar incertidumbres parametricas no linealidades ruidos externos e incluso falla de sensores. La ley de control se ilustra en el caso del robot planar de dos articulaciones ELBOW. Las ecuaciones no lineales del robot se simulan en Matlab/Simulink y al final se presentan los resultados.
This paper proposes that water draining in underground mining can be used to generate electricity... more This paper proposes that water draining in underground mining can be used to generate electricity. The energy potential of the mine water could be of value in the mining industry. Evaluations of hydroelectric resources in deep mines and the minimum quality conditions for drainage to be used for hydro generation were performed. Calculations were made for the design of a prototype generator using the theoretical case of a mine to generating 1 Kw. The possible uses of the energy generated were analysed as they related to deep mining processes.
The main purpose of mine ventilation system is to provide air extraction fronts good quality. And... more The main purpose of mine ventilation system is to provide air extraction fronts good quality. And the ventilation system control the quality of air and gas handling O 2 , CH 4 , CO, SO 2 , H 2 S, NO 2 and / or CO 2 removal fronts mine, depending on the type of ore to extract and operating method applied. This paper describes a mine prototype for the study and control of ventilation of mines. Keywords— Control of ventilation, modeling and control, sensing gases. Resumen-El principal objetivo del sistema de ventilación minera es suministrar a los frentes de extracción aire de buena calidad. Y la función del control del sistema de ventilación es la calidad del aire y el manejo de los gases O 2 , CH 4 , CO, SO 2 , H 2 S, NO 2 y/o CO 2 en los frentes de extracción de la mina, dependiendo del tipo de mineral a extraer y el método de explotación aplicado. Este trabajo describe una mina prototipo para el estudio y control de la ventilación de minas. Plabras Clave-Control de la Ventilación, ...
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Papers by Juan Mauricio Salamanca