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One of the problems encountered in the manufacture of microstructures (MEMS) is the presence of residual stress caused by high temperatures during the manufacturing process. Residual stress generates deformation (ε) in materials, which consists of fractional changes in their dimensions (linear, surface or volume). The application of amorphous materials in the manufacture of MEMS is carried out at a lower temperature than those used with Polysilicon, so it is an alternative to reduce residual stress. The objective of the work is to analyze the mechanical behavior of thin films of amorphous Silicon germanium (a-SiGe). The analysis is carried out through the behavior of springboard type resonant structures and using the simulation of the finite element method (FEM). The resonance frequency of a trampoline-type structure depends only on its geometric dimensions, its density, and its Young's modulus. The simulation results show that the behavior of the resonance frequency and the Young's Modulus of thin films of a-SiGe, placed on a trampoline-type structure changes linearly whit Germanium content.

In this work a feedback linearization technique is proposed, to carry it out to linearize the dynamic model of the quadrotor, a change of variable is introduced that maps the nonlinearities of the system into a nonlinear uncertainty signal contained in the domain of the action of control and is applied to the dynamic model of the quadrotor. To estimate the nonlinear uncertainty signal, the Beard-Jones filter is used, which is based on standard state observers. To verify the effectiveness of the proposed control scheme, experiments are carried out outdoors to follow a circular trajectory in the (x,y) plane. This presented control scheme is suitable for unmanned aerial vehicles where it is important to reject not only non-linearities but also to seek the simplicity and effectiveness of the control scheme for its implementation.