R. M. López-Gutiérrez

Publications

3 Design of a Chaotic Trajectory Generator Algorithm for Mobile Robots

Authors: C. Cruz-Hernández, R. M. López-Gutiérrez, J. J. Cetina-Denis, R. Ramírez-Ramírez

Abstract:

This work addresses the problem of designing an algorithm capable of generating chaotic trajectories for mobile robots. Particularly, the chaotic behavior is induced in the linear and angular velocities of a Khepera III differential mobile robot by infusing them with the states of the H´enon chaotic map. A possible application, using the properties of chaotic systems, is patrolling a work area. In this work, numerical and experimental results are reported and analyzed. In addition, two quantitative numerical tests are applied in order to measure how chaotic the generated trajectories really are.

Keywords: Chaos, chaotic trajectories, differential mobile robot, Khepera III robot, patrolling applications, Henons map

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2 Synchronization of Semiconductor Laser Networks

Authors: C. Cruz-Hernández, R. M. López-Gutiérrez, L. Cardoza-Avendaño, H. Cervantes-De Ávila, J. A. Michel-Macarty, A. Arellano-Delgado, R. Carmona-Rodríguez

Abstract:

In this paper, synchronization of multiple chaotic semiconductor lasers is achieved by appealing to complex system theory. In particular, we consider dynamical networks composed by semiconductor laser, as interconnected nodes, where the interaction in the networks are defined by coupling the first state of each node. An interest case is synchronized with master-slave configuration in star topology. Nodes of these networks are modeled for the laser and simulate by Matlab. These results are applicable to private communication.

Keywords: Network, Synchronization, chaotic laser

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1 Software to Encrypt Messages Using Public-Key Cryptography

Authors: C. Cruz-Hernández, E. Inzunza-González, R. M. López-Gutiérrez, E. E. García-Guerrero, L. Cardoza- Avendaño, H. Serrano-Guerrero

Abstract:

In this paper the development of a software to encrypt messages with asymmetric cryptography is presented. In particular, is used the RSA (Rivest, Shamir and Adleman) algorithm to encrypt alphanumeric information. The software allows to generate different public keys from two prime numbers provided by the user, the user must then select a public-key to generate the corresponding private-key. To encrypt the information, the user must provide the public-key of the recipient as well as the message to be encrypted. The generated ciphertext can be sent through an insecure channel, so that would be very difficult to be interpreted by an intruder or attacker. At the end of the communication, the recipient can decrypt the original message if provide his/her public-key and his/her corresponding private-key.

Keywords: software, Asymmetric cryptography, Prime number, Publickey, Private-key

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Abstracts

3 Design of a Chaotic Trajectory Generator Algorithm for Mobile Robots

Authors: C. Cruz-Hernández, R. M. López-Gutiérrez, J. J. Cetina-Denis, R. Ramírez-Ramírez

Abstract:

This work addresses the problem of designing an algorithm capable of generating chaotic trajectories for mobile robots. Particularly, the chaotic behavior is induced in the linear and angular velocities of a Khepera III differential mobile robot by infusing them with the states of the H´enon chaotic map. A possible application, using the properties of chaotic systems, is patrolling a work area. In this work, numerical and experimental results are reported and analyzed. In addition, two quantitative numerical tests are applied in order to measure how chaotic the generated trajectories really are.

Keywords: Chaos, Hénon Map, chaotic trajectories, differential mobile robot, Khepera III robot, patrolling applications

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2 Synchronization of Semiconductor Laser Networks

Authors: C. Cruz-Hernández, R. M. López-Gutiérrez, L. Cardoza-Avendaño, H. Cervantes-De Ávila, J. A. Michel-Macarty, A. Arellano-Delgado, R. Carmona-Rodríguez

Abstract:

In this paper, synchronization of multiple chaotic semiconductor lasers is achieved by appealing to complex system theory. In particular, we consider dynamical networks composed by semiconductor laser, as interconnected nodes, where the interaction in the networks are defined by coupling the first state of each node. An interesting case is synchronized with master-slave configuration in star topology. Nodes of these networks are modeled for the laser and simulated by Matlab. These results are applicable to private communication.

Keywords: Network, Synchronization, star topology, chaotic laser

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1 Synchronization of Two Mobile Robots

Authors: C. Cruz-Hernández, R. M. López-Gutiérrez, L. Cardoza-Avendaño, H. Cervantes-De Ávila, J. A. Michel-Macarty, J. I. Nieto-Hipólito, S. Cortiant-Velez

Abstract:

It is well know that mankind benefits from the application of robot control by virtual handlers in industrial environments. In recent years, great interest has emerged in the control of multiple robots in order to carry out collective tasks. One main trend is to copy the natural organization that some organisms have, such as, ants, bees, school of fish, birds’ migration, etc. Surely, this collaborative work, results in better outcomes than those obtain in an isolated or individual effort. This topic has a great drive because collaboration between several robots has the potential capability of carrying out more complicated tasks, doing so, with better efficiency, resiliency and fault tolerance, in cases such as: coordinate navigation towards a target, terrain exploration, and search-rescue operations. In this work, synchronization of multiple autonomous robots is shown over a variety of coupling topologies: star, ring, chain, and global. In all cases, collective synchronous behavior is achieved, in the complex networks formed with mobile robots. Nodes of these networks are modeled by a mass using Matlab to simulate them.

Keywords: Robots, Synchronization, bidirectional, coordinate navigation

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