Papers by Carlos Mario Gallegos
Investigaciones Geográficas, 2012
Derechos Ancestrales; Justicia en Contextos Plurinacionales
Furthermore, the object of analysis of this work focuses on the rights ancestral indigenous peopl... more Furthermore, the object of analysis of this work focuses on the rights ancestral indigenous peoples with a particular emphasis on justice as central to the exercise of rights of indigenous peoples. Justice, value shared by all humanity, manifests itself in a way complex in the case of indigenous peoples and communities, for their particular way of conceiving the world, the person, and the principles on which underlying the relationships between them. Our country, like many others in the world, responds to a past and This deeply rich in indigenous forms, often disrupted by excluding processes that claimed the privilege of a position in the world on the other hand, the hegemony of a model of ideas imported on other original nature, in conclusion, the supremacy of a world view to justify their legitimacy and ensure their preeminence isolates other trends. In this sense, the new Constitution, decisively addresses the regulation of indigenous justice through recognition of their duties courts, their ancestral traditions and their own right, their rules and dispute settlement procedures, and ensuring respect of its decisions by institutions and public authorities, Unlike previous constitutions recognized that rhetorically. In this context, this book encourages and drives us to place the issue on discussion, to revise our ideas, to recover our memory, update our knowledge and take on new positions. Finally released conceive of ancestral rights and justice in multinational contexts.
METODOLOGIA PARA LA ADQUISICION DE DATOS DIGITALES Y ANALOGICOS CON EL SOFTWARE LabVIEW POR MEDIO DE COMUNICACION SERIAL RS-232
Investigaciones Geograficas, 2003
Solving the Coupled Riccati Equation for the N-Players LQ Differential Game
International Conference on Electrical and Electronics Engineering, Nov 14, 2005
A solution for the Differential Riccati Equation arises from the N-Players LQ differential game i... more A solution for the Differential Riccati Equation arises from the N-Players LQ differential game is presented. The game solution corresponds to a Nash-equilibrium point of this game. The approach is based on extending the state vector that allows to present the classical result (N Coupled Riccati Equations) as a single Extended Coupled Riccati Differential Equation that can be solved by standard methods. Thus the Nash equilibrium is found in an easier way. The effectiveness of the designed strategy is illustrated by two examples.
Entender la compleja problemática ambiental y socioeconómica del ejido y ayudar a resolverla, imp... more Entender la compleja problemática ambiental y socioeconómica del ejido y ayudar a resolverla, implica realizar un estudio geográfico con enfoque interdisciplinario; en tal virtud, ésta investigación se enmarca en el reconocimiento general del espacio y el análisis integrado del paisaje, y su objetivo básico radica en obtener un modelo de ordenamiento territorial que, por un lado, derive propuestas concretas encauzadas a la rehabilitación natural del área, y por otro, satisfaga las aspiraciones económicas del grupo social involucrado. Para el cumplimiento del objetivo planteado, el estudio se sustenta en fundamentos de la Geografía del Paisaje, disciplina que entre sus principales exponentes tiene a
En este trabajo de investigación se pone a consideración: la nomenclatura de la conjugación latin... more En este trabajo de investigación se pone a consideración: la nomenclatura de la conjugación latina; el carácter científico y explicativo de las teorías de Andrés Bello en relación con los modos y tiempos verbales; la tradición y la autoridad en las nomenclaturas de los tiempos de la Real Academia Española desde su primera Gramática de 1771, pasando por la de 1931, el Esbozo de 1973 y su última Gramática de 2009; el estudio de Samuel Gili Gaya que nos ofrece otra nomenclatura de los tiempos verbales del español. En este sentido, en primer lugar, hemos realizado un recorrido del comportamiento del verbo latino hasta llegar a la evolución de las actuales formas verbales. Después hemos realizado un análisis etimológico y comparativo de las nomenclaturas de Andrés Bello, Samuel Gili Gaya y la RAE. Andrés Bello crea su nomenclatura mediante los prefijos-ante,-co,-pos, la cual busca ser metódica, aunque no exhaustivamente descriptiva. Samuel Gili Gaya llama en su nomenclatura al llamado condicional de la Academia, que tradicionalmente lo consideraba un modo del verbo, futuro hipotético y su correspondiente forma compuesta antefuturo hipotético. En este autor vemos que utiliza solamente el prefijo-ante en algunos tiempos compuestos, no en todos. En los tiempos compuestos que no emplea dicho prefijo, utiliza los nombres de la Academia.
Investigaciones Geograficas Boletin Instituto De Geografia Universidad Nacional Autonoma De Mexico, Aug 1, 2003
Robotics: Science and Systems VII, 2011
This paper presents a procedure to optimize the quality of robotic grasps for objects that need t... more This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties of the problem include that the set of feasible grasps is a manifold implicitly defined by a system of non-linear equations, the high dimension of this manifold, and the multi-modal nature of typical grasp quality indices, which make local optimization methods get trapped into local extrema. The proposed procedure finds a way around these difficulties by focussing the exploration on a relevant subset of grasps of lower dimension, which is traced out exhaustively using higher-dimensional continuation techniques. Using these techniques, a detailed atlas of the subset is obtained, on which the highest quality grasp according to any desired criterion can be readily identified. Experiments on a 3-finger planar hand and on the Schunk anthropomorphic hand validate the approach.
Tdx, Jan 10, 2013
Several aspects have to be addressed before realizing the dream of a robotic handarm system with ... more Several aspects have to be addressed before realizing the dream of a robotic handarm system with human-like capabilities, ranging from the consolidation of a proper mechatronic design, to the development of precise, lightweight sensors and actuators, to the efficient planning and control of the articular forces and motions required for interaction with the environment. This thesis provides solution algorithms for a main problem within the latter aspect, known as the grasp planning problem: Given a robotic system formed by a multifinger hand attached to an arm, and an object to be grasped, both with a known geometry and location in 3-space, determine how the hand-arm system should be moved without colliding with itself or with the environment, in order to firmly grasp the object in a suitable way. Central to our algorithms is the explicit enforcement of a pre-speceified set of handobject contact constraints in the grasp configuration, imposed by the particular manipulation task to be performed with the object. This is a distinguishing feature from other grasp planning algorithms given in the literature, where a means of ensuring precise hand-object contact locations in the resulting grasp is usually not provided. These conventional algorithms are fast, and nicely suited for planning grasps for pickan-place operations with the object, but not for planning grasps required for a specific manipulation of the object, like those necessary for holding a pen, a pair of scissors, or a jeweler's screwdriver, for instance, when writing, cutting a paper, or turning a screw, respectively. To be able to generate such highly-selective grasps, we assume that a number of surface regions on the hand are to be placed in contact with a number of corresponding regions on the object, and enforce the fulfilment of such constraints on the obtained solutions from the very beginning, in addition to the usual constraints of grasp restrainability, manipulability and collision avoidance. The proposed algorithms can be applied to robotic hands of arbitrary structure, possibly considering compliance in the joints and the contacts if desired, and they can accommodate general patch-patch contact constraints, instead of more restrictive contact types occasionally considered in the literature. It is worth noting, also, that while common force-closure or manipulability indices are used to assess the quality I would like to express my gratitude to my advisors Lluís Ros and Raúl Suárez for their invaluable guidance. Also, to Josep M. Porta and Jan Rosell for their unconditional support, and for leading the projects of such wonderful frameworks, the CUIK and Kautham suites, in which this thesis relies on. I would like to thank Federico Thomas who, together with Raúl, came with the idea of joining the worlds of grasping and kinematics that resulted in this PhD research. I am thankful to Antonio Bicchi and Marco Gabiccini for letting me accomplish a fruitful research stay in Pisa; Chapter 5 is a joint work with them. I'd like to highlight the work of Alexander Perez, a friend, a coauthor, and coder of a large part of the Kautham suite; Montserrat Manubens, Léonard Jaillet, Oriol Bohigas, friends and contributors to the CUIK suite; Patrick Grosch, a friend who provided some of the 3D models used here as well as great ideas; and Leopold Palomo, a friend who introduced me to the open source world and provided technical support. Thus, I would like to acknowledge the work of the open source and free software communities since most of the content of this document has been generated using freely-available tools, such as Ubuntu, Debian, LaTeX, Inkscape, GIMP, Geomview, Blender, among many others, freely-available 3D models, such as the SketchUp handarm model used in Figure 1.3 shared by Daniel Murray, and freely-available LaTex templates, such as the PhD thesis style used for this document shared by Adolfo Rodriguez, all of them free as in free beer, and some as in freedom. I would like to acknowledge the reviewing work of numerous researchers who have improved this work with their valuable comments on publications. I'd like to thank my relatives for their support. And last, but not least for sure, I am more than pleased to have met very nice friends and colleagues at the IOC and IRI institutes, as well as countless friends aside who collabarated in different ways and means to the development of this work.
<title>General contact and hysteresis analysis of multidielectric MEMS devices under thermal and electrostatic actuation</title>
Design, Test, and Microfabrication of MEMS and MOEMS, 1999
Many MEMS devices which are thermally and/or electrostatically actuated contain moveable componen... more Many MEMS devices which are thermally and/or electrostatically actuated contain moveable components which may undergo contact. The behavior is further complicated when hysteresis is exhibited after contact. Generally, MEMS devices consist of multiple materials with different mechanical and electrical properties. These factors pose a challenge for modeling highly non-linear MEMS behavior. This paper present an improved approach to modeling contact and hysteresis between any two bodies in a MEMS device. In particular, the three assumptions are relaxed. First, previous methods for modeling contact were able to model only a single dielectric layer. The new approach is capable of modeling multi-dielectric layers. Second, previous modeling methods required the specification of contact faces. This restriction has been generalized to specifying contact entities. Third, previously, modeling methods required an air stop gap assumption above a conductor to avoid numerical difficulties in electrostatic calculations. The new approach developed removes the air stop gap assumption. More realistic mechanical contact is simulated. Electrostatic and thermal driven actuation is considered. A number of case examples is presented to demonstrate the utility of the new contact and hysteresis approach. First a suspended test-beam structure is analyzed under different sets of boundary constraints and loading. Then, contact of an electrostatically actuated deformable mirror is analyzed.
Proceedings of the 2003 American Control Conference, 2003.
A two person prey-predator (cvader-pursuit) dynamic linear quadratic game'is considered. In gcncr... more A two person prey-predator (cvader-pursuit) dynamic linear quadratic game'is considered. In gcncral, this problem belong to thc class of non-zero sum dynamic games. An original dynamic lincar timc varying system with additive disturbances or uncertainties is rcplaced by a finite set of dynamic models such that cach one describes a particular uncertain caSe including cxact realizations of possihlc dynamic equations as well as external bounded disturbances. Each model from a givcn finite set is characterizcd by a quadratic performma index. The devcloped minimax LQ control strategy provides a Nash equilibrium in the given mini-max diffcrential game. This problem is shown t o be reduced to finding of a Nash equilibrium point in a finite dimensional simplex.
On guaranteeing costs for LQ optimal control
(ICEEE). 1st International Conference on Electrical and Electronics Engineering, 2004.
We study a simple way to obtain an optimal guaranteeing cost control for the Iinear quadratic opt... more We study a simple way to obtain an optimal guaranteeing cost control for the Iinear quadratic optimal control problem. A finite horizon is assumed and both timevarying and time-invariant cases are considered. The proposed approach deals with the worst case design and represent a way to construct a "loose" guaranteeing control strategy by means of classical optimal structure of control, but containing a kind of robustness. Two examples show the advantages over the standard guaranteeing cost control that needs a scaled differential Riccati equation. The design described here deab with closed loop strategies where the state equation (the system) is subject to norm-bounded uncertainties. The optima1 strategy ensures a given level of performance for the uncertain system.
Journal of Cross-Cultural Gerontology, 2014
Middle-income countries like Ecuador are in the process of demographic and epidemiological transi... more Middle-income countries like Ecuador are in the process of demographic and epidemiological transitions, and their populations are aging. The challenges associated with providing services to growing numbers of citizens who experience the inevitable deterioration associated with aging are mirrored by the manner in which aging is perceived in a culturally heterogeneous society. This paper presents the results of qualitative research conducted among older men and women in indigenous communities in the Ecuadorian highlands in order to investigate the perceptions regarding the ability of family and community networks to provide adequate and appropriate support for older persons in the context of their perceptions of health, health care, and aging. The principal findings are that: (i) perceptions of aging are shaped by chronic illness, fatigue, deteriorating sensory capacities, and vulnerability to accidents; (ii) barriers to health care are exacerbated among aging members of indigenous communities, although in some cases they can be addressed through traditional alternatives; (iii) the sense of identity shifts as aging people are increasingly unable to work the land and participate in community activities; and (iv) family and community support networks for older adults are not as strong as is generally thought. These findings represent the context within which issues related aging in a culturally heterogeneous society can be best understood and addressed.
Technical Digest. IEEE International MEMS 99 Conference. Twelfth IEEE International Conference on Micro Electro Mechanical Systems (Cat. No.99CH36291), 1999
This paper presents a new and general methodology for 3D simulation of natural frequency shift du... more This paper presents a new and general methodology for 3D simulation of natural frequency shift due to external forces. Specifically, the affect of applied voltage bias will be investigated. With this new method, which is a significant improvement over state-of-the-art 2D and reduced degree-offreedom models, any class of electrostatically induced MEMS devices under dynamics investigation can be simulated with high accuracy. This solution technique is the first reported 3D simulation for coupled frequency shift of MEMS devices. The computation of a 3D stiffness matrix associated with the electrostatic forces allows for the consideration of full 3D effects.
Red de datos con protección a nivel de protocolos de capa dos del modelo TCP/IP utilizando software libre para mejorar la seguridad en el enlace de las sucursales …
Page 1. 1 UNIVERSIDAD TÉCNICA DE AMBATO CENTRO DE ESTUDIOS DE POSGRADO FACULTAD DE INGENIERÍA EN ... more Page 1. 1 UNIVERSIDAD TÉCNICA DE AMBATO CENTRO DE ESTUDIOS DE POSGRADO FACULTAD DE INGENIERÍA EN SISTEMAS ELECTRÓNICA E INDUSTRIAL MAESTRÍA EN REDES Y TELECOMUNICACIONES TEMA: ...
IEEE Transactions on Automatic Control, 2003
An original linear time-varying system with unmatched disturbances and uncertainties is replaced ... more An original linear time-varying system with unmatched disturbances and uncertainties is replaced by a finite set of dynamic models such that each one describes a particular uncertain case including exact realizations of possible dynamic equations as well as external bounded disturbances. Such a tradeoff between an original uncertain linear time varying dynamic system and a corresponding higher order multimodel system with a complete knowledge leads to a linear multi-model system with known bounded disturbances. Each model from a given finite set is characterized by a quadratic performance index. The developed min-max sliding-mode control strategy gives an optimal robust sliding-surface design algorithm, which is reduced to a solution of an equivalent linear quadratic problem that corresponds to the weighted performance indices with weights from a finite dimensional simplex. An illustrative numerical example is presented.
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Papers by Carlos Mario Gallegos