Luis F. Luque-Vega

Bio: Luis F. Luque-Vega is an academic researcher from Universidad del Valle de México. The author has contributed to research in topics: Differentiator & Control theory. The author has an hindex of 8, co-authored 27 publications receiving 410 citations. Previous affiliations of Luis F. Luque-Vega include CINVESTAV & Western Institute of Technology and Higher Education.

Robust block second order sliding mode control for a quadrotor

Abstract: This paper presents the design of a controller based on the block control technique combined with the super twisting control algorithm for trajectory tracking of a quadrotor helicopter. A first order exact differentiator is used in order to estimate the virtual control inputs, which simplifies the control law design. In addition, the wind parameter resulting from the aerodynamic forces is also estimated in order to ensure robustness against these unmatched perturbations. The stability and finite time convergence of the exact differentiator have been recently proved by means of Lyapunov functions, and therefore the stability analysis of the proposed controller has been carried out along the same lines. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances.

Power line inspection via an unmanned aerial system based on the quadrotor helicopter

Abstract: The inspection of high voltage power transmission lines is mainly carried out by manned aerial vehicles or foot patrol. However, these maintenance methodologies for inspection are somehow inefficient and expensive. Moreover, helicopter assisted inspection endangers the human life. Recently, unmanned aerial vehicles have been under development in several research centers all over the world due to its potential applications. In this paper, we present an unmanned aerial system based on the quadrotor helicopter for high voltage power line inspection. Our interest is to equip the quadrotor helicopter with the necessary payload in order to be able to carry out a qualitative inspection, therefore the hardware architecture of the aerial robotic system is presented. Finally, some experimental results are shown to demonstrate the feasibility of the proposed system.

Three-dimensional distributed tracking control for multiple quadrotor helicopters

Abstract: This paper deals with the cooperative tracking control of a team of underactuated quadrotors in three-dimensional space when the reference signal is not available to all the vehicles. Using the Backstepping and filtering design technique and results from graph theory, a distributed cooperative controller consisting of two interconnected blocks is proposed. The first block, which is based on local distributed controllers, guarantees that the centroid of the three-dimensional formation asymptotically follows a desired path corresponding to the desired formation trajectory. The second block ensures that the attitude dynamics of the quadrotor will converge asymptotically to their actual values, which are constrained within a predefined set, such that singularities are avoided in the quadrotor׳s dynamics. Due to the coupling property between the translational and rotational dynamics, the equilibrium point of the complete closed-loop system is shown to be asymptotically stable. Numerical simulations are illustrated to show that the theoretical conclusions are effective.

Backstepping control with sliding mode estimation for a hexacopter

Abstract: This paper presents the dynamic nonlinear model and the design of a controller for a hexarotor aerial robot The control algorithm is based on the backstepping technique and it is applied to the trajectory tracking problem The wind parameters resulting from the aerodynamic forces and moments acting on the hexacopter are estimated via a sliding mode observer with the super twisting algorithm in order to ensure robustness against aerial external disturbances and parameter variations The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances which are function of time

IoT Smart Parking System Based on the Visual-Aided Smart Vehicle Presence Sensor: SPIN-V.

Abstract: Humanity is currently experiencing one of the short periods of transition thanks to novel sensing solutions for smart cities that bring the future to today. Overpopulation of cities demands the development of solid strategic plannings that uses infrastructure, innovation, and technology to adapt to rapid changes. To improve mobility in cities with a larger and larger vehicle fleet, a novel sensing solution that is the cornerstone of a smart parking system, the smart vehicular presence sensor (SPIN-V, in its Spanish abbreviation), is presented. The SPIN-V is composed of a small single-board computer, distance sensor, camera, LED indicator, buzzer, and battery and devoted to obtain the status of a parking space. This smart mobility project involves three main elements, namely the SPIN-V, a mobile application, and a monitoring center, working together to monitor, control, process, and display the parking space information in real-time to the drivers. In addition, the design and implementation of the three elements of the complete architecture are presented.

Unmanned Aerial Vehicles: A Survey on Civil Applications and Key Research Challenges

Abstract: The use of unmanned aerial vehicles (UAVs) is growing rapidly across many civil application domains, including real-time monitoring, providing wireless coverage, remote sensing, search and rescue, delivery of goods, security and surveillance, precision agriculture, and civil infrastructure inspection. Smart UAVs are the next big revolution in the UAV technology promising to provide new opportunities in different applications, especially in civil infrastructure in terms of reduced risks and lower cost. Civil infrastructure is expected to dominate more than $45 Billion market value of UAV usage. In this paper, we present UAV civil applications and their challenges. We also discuss the current research trends and provide future insights for potential UAV uses. Furthermore, we present the key challenges for UAV civil applications, including charging challenges, collision avoidance and swarming challenges, and networking and security-related challenges. Based on our review of the recent literature, we discuss open research challenges and draw high-level insights on how these challenges might be approached.

Remote sensing methods for power line corridor surveys

Abstract: To secure uninterrupted distribution of electricity, effective monitoring and maintenance of power lines are needed This literature review article aims to give a wide overview of the possibilities provided by modern remote sensing sensors in power line corridor surveys and to discuss the potential and limitations of different approaches Monitoring of both power line components and vegetation around them is included Remotely sensed data sources discussed in the review include synthetic aperture radar (SAR) images, optical satellite and aerial images, thermal images, airborne laser scanner (ALS) data, land-based mobile mapping data, and unmanned aerial vehicle (UAV) data The review shows that most previous studies have concentrated on the mapping and analysis of network components In particular, automated extraction of power line conductors has achieved much attention, and promising results have been reported For example, accuracy levels above 90% have been presented for the extraction of conductors from ALS data or aerial images However, in many studies datasets have been small and numerical quality analyses have been omitted Mapping of vegetation near power lines has been a less common research topic than mapping of the components, but several studies have also been carried out in this field, especially using optical aerial and satellite images Based on the review we conclude that in future research more attention should be given to an integrated use of various data sources to benefit from the various techniques in an optimal way Knowledge in related fields, such as vegetation monitoring from ALS, SAR and optical image data should be better exploited to develop useful monitoring approaches Special attention should be given to rapidly developing remote sensing techniques such as UAVs and laser scanning from airborne and land-based platforms To demonstrate and verify the capabilities of automated monitoring approaches, large tests in various environments and practical monitoring conditions are needed These should include careful quality analyses and comparisons between different data sources, methods and individual algorithms

Unmanned Aerial Vehicles for Power Line Inspection: A Cooperative Way in Platforms and Communications

Abstract: The emerging technology of unmanned aerial vehicle (UAV) has become more affordable and practicable for power line inspections. In this paper, we propose a multi-platform UAV system and multi-model communication system for highly efficient power line inspection tasks in China. The different UAVs cooperatively serve as long-distance imaging, short dis- tance imaging and communication relay. The high quality im- age/video is transmitted in realtime to the on-site control station for UAV navigation and far end office for analysis. Our experi- ence shows that the cooperative inspection for multi-UAVs can achieve a much higher efficiency than traditional inspection methods.  Index Terms—UAV, hexrotor, fixed wing, tethered rotor, pow- er line inspection, communication relay, datalink