Juan Alejandro Cortés Ramírez
Pontifical Bolivarian University
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ASME 2007 International Mechanical Engineering Congress and Exposition | 2007
Juan Alejandro Cortés Ramírez; Rafael E. Vásquez; Luis B. Gutierrez; Diego A. Flórez
This paper presents the mechanical/naval design process of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities. The design was divided into four main subsystems: mechanical/naval, hardware, software and guidance, navigation and control. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools, including Computer Aided Design CAD, Computer Aided Engineering CAE, Computational Fluid Dynamics CFD and a high level programming environment. The obtained design ensures that the reliable operation of the robot will be achieved by using a consistent construction process. The new ROV constitutes an innovative product in Colombia, and it will be used for surveillance and oceanographic research tasks.© 2007 ASME
Volume 11: New Developments in Simulation Methods and Software for Engineering Applications; Safety Engineering, Risk Analysis and Reliability Methods; Transportation Systems | 2010
Luis B. Gutierrez; Carlos A. Zuluaga; Juan Alejandro Cortés Ramírez; Rafael E. Vásquez; Diego A. Flórez; Elkin A. Taborda; Raúl A. Valencia
This work addresses the development of an underwater remotely operated vehicle (ROV), required to obtain reliable visual information, used for surveillance and maintenance of ship shells and underwater structures of Colombian port facilities and oceanographic research. The most relevant design constraints were evaluated considering environmental conditions, dimensional restrictions, hydrostatics, hydrodynamics, degrees of freedom and the availability of instrumentation and control hardware. The mechanical/naval design was performed through an iterative process by using computational tools CAD/CAE/CFD. The hardware architecture was divided in three layers: instrumentation, communications and control. The software was developed using ANSI C with Embedded Linux operating system. The guidance and navigation system used the Kalman filter to estimate the state of the vehicle. The vehicle can operate in manual and semi-automatic modes. In the semi-automatic, the position of a joystick is converted into the velocity set-points that are integrated to get the yaw and depth commands for the PID controllers. The rigorous design and a consistent construction processes allowed the development of a robust and reliable robotic system that constitutes an innovative product in Colombia.Copyright
ASME 2010 International Mechanical Engineering Congress and Exposition | 2010
Julio C. Correa; Juan Alejandro Cortés Ramírez; Elkin A. Taborda; Jorge Andrés Velásquez Cock; Manuel A. Gómez; Gustavo A. Escobar
This paper presents the process followed in the Department of Mechanical Engineering at Universidad Pontificia Bolivariana in Medellin, Colombia to implement a laboratory for the study of robot manipulators. The lab includes the following components: an industrial serial manipulator and the software developed for its integration to a graduate course, a parallel manipulator, a Cartesian robot, an inverted pendulum and a small serial manipulator. Except for the industrial robot, all the other devices were manufactured at the University. For all prototypes, specific software to control them has been developed.© 2010 ASME
ASME 2008 27th International Conference on Offshore Mechanics and Arctic Engineering | 2008
Raúl A. Valencia; Juan Alejandro Cortés Ramírez; Luis B. Gutierrez; Manuel J. García
Universidad Pontificia BolivarianaDepartment of Mechanical EngineeringP.O. Box 56006Medell´in, Colombiatelephone: 574-415-9020fax: [email protected] A. Ram´irezUniversidad Pontificia BolivarianaDepartment of Mechanical EngineeringP.O. Box 56006Medell´in, Colombiatelephone: 574-415-9020fax: [email protected] B. Gutierrez´Universidad Pontificia BolivarianaDepartment of Electrical and Electronics EngineeringP.O. Box 56006Medell´in, Colombiatelephone: 574-415-9020fax: [email protected] J. Garc´iaUniversidad EAFITDepartment of Mechanical EngineeringP.O. Box 3300Medell´in, Colombiatelephone: 574-261-9500fax: 574-266-4284mgarcia@eafit.edu.coABSTRACTThis article presents theoretical and computational stud-ies with Computational Fluids Dynamics (CFD) tools of anUnderwater Remotely Operated Vehicle (ROV), requiredto obtain reliable visual information, used for surveillanceand maintenance of ship shells and underwater structures ofColombian port facilities. The thrust force is analyzed at the op-erational conditions by using CFD tools (FLUENT
Cuadernos de Administración | 2011
Juan Alejandro Cortés Ramírez; Julián Pérez Zapata
Organizational Learning: Reflections from the applied research into the group of bussines studies
ASME 2010 International Mechanical Engineering Congress and Exposition | 2010
Juan Alejandro Cortés Ramírez; Luis B. Gutierrez; Rafael E. Vásquez
This work addresses the design of a robust H ∞ gain-scheduled controller for the Condor Andino UAV (Unmanned Aerial Vehicle). A polytopic approximation of the linearization family of the nonlinear model is used for the design. Because the linearization family in the operating region derives in a linear parameter varying (LPV) description with a nonlinear dependence of a set of parameters, a least squares approximation of the system matrices is used in order to obtain affine dependence. The polytopic description is obtained from the affine LPV model when the operating range is defined choosing the varying parameter inside a convex hull. The controller is synthesized using the Bounded Real Lemma in order to guarantee quadratic H ∞ performance over the operating region. The simulation results show that the designed controller can be successfully applied to the nonlinear system over the operating range.Copyright
ASME 2010 International Mechanical Engineering Congress and Exposition | 2010
Juan Alejandro Cortés Ramírez; Luis B. Gutierrez; Rafael E. Vásquez
An alternative for the steady-level flight control on an Unmanned Aerial Vehicle (UAV) is the use of decentralized multi-loop PID controllers for each controlled variable. PIDs are linear structured low order controllers which are not so easy to tune in the presence of complex dynamics such as multivariable, non-minimum phase, oscillatory and high-order plants; and the use of conventional design techniques based on linearized models usually does not end in satisfactory results. In this work a design scheme based on iterative feedback tuning (IFT) for the multivariable nonlinear model of the Condor Andino UAV (Andean Condor UAV) is addressed. The method proposes the optimization of a quadratic performance target function using the closed loop response obtained from simulations. In this case the characteristics of the model are not used directly in the controller tuning process, but in simulations and in some other numeric manipulations. The optimization process is made using a modified version of the Levenberg-Marquardt algorithm. The simulation results show that a set of controller parameters can be found such that the target function has a local minimum.Copyright
ASME 2007 International Mechanical Engineering Congress and Exposition | 2007
Juan Alejandro Cortés Ramírez; Rafael E. Vásquez; Juan M. Vásquez
This work addresses the development of a simulation software for the analysis of four-bar planar mechanisms, ADM4BSoftware V1.0, used for teaching in the Department of Mechanical Engineering at the Universidad Pontificia Bolivariana. The software is developed in order to optimize the students’ analysis tasks in the mechanisms’ Lab. The software solves the set of equations that represents the direct kinematics, and the direct dynamics. The software is an interactive application performed in Matlab™. The simulation environment allows the students to change the analysis option, the visualization mode, animate the mechanism, show different graphics and export theoretical data as a plain text file (.prn ) or as a Excel™ spreadsheet (.xls ). Therefore, students can compare and contrast experimental and theoretical data faster. Consequently, they can dedicate their time to analyze physical phenomena present in mechanisms. The ADM4BSoftware V1.0 has become a useful tool for instructors in teaching subjects related to the mechanics of machines.Copyright
Revista Ciencias Estratégicas | 2009
Julián Pérez Zapata; Juan Alejandro Cortés Ramírez
Pensamiento y gestión: revista de la División de Ciencias Administrativas de la Universidad del Norte | 2007
Julián Pérez Zapata; Juan Alejandro Cortés Ramírez