Jorge Luis Bustamante

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In this work, the design of an adaptive control algorithm for a general class of underwater vehicles with manipulator in the context of a path-following problem is presented. The algorithm is based on speed-gradient techniques and state/disturbance observer. A stepwise changing mass is assumed during the operations of the vehicle manipulator. The influence(More)
In this work an algorithm for on-line estimation of the nonlinear hydro-dynamics in underwater vehicles is presented. The algorithm is able to estimate physical parameters from natural operation signals. Identifiability and convergence of the parameter trajectories are analyzed. The application of the algorithm to a spherical vehicle is described with(More)
In this paper Adams-Bashforth approximations were employed for sampled-data modeling of a large class of vehicle dynamics in many degrees of freedom. The problem of path tracking and regulation with geometric and kinematic specifications on the reference paths was focused afterwards. An approach to model-based controller design was presented based on a(More)
OBJECTIVE To make a description of the anatomy of fontanelles and to update what is currently known about their applications. METHOD 7 cadaveric heads, 2 dry skulls and 2 frontal bones of foetus were used, and 48 anterior fontanelles from paediatric patients with or without associated pathology were examined. Surgical cases and neurosonography were also(More)
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