A mixed-signal integrated circuit for FM-DCSK modulation

This paper presents a mixed-signal application-specific integrated circuit (ASIC) for a frequency-modulated differential chaos shift keying (FM-DCSK) communication system. The chip is conceived to serve as an experimental platform for the evaluation of the FM-DCSK modulation scheme, and includes several programming features toward this goal. The operation of the ASIC is herein illustrated for a data rate of 500 kb/s and a transmission bandwidth in the range of 17 MHz. Using signals acquired from the test platform, bit error rate (BER) estimations of the overall FM-DCSK communication link have been obtained assuming wireless transmission at the 2.4-GHz ISM band. Under all tested propagation conditions, including multipath effects, the system obtains a BER = 10-3 for Eb/No lower than 28 dB.Ministerio de Ciencia y Tecnología TIC2003-0235

Assessment of metals behaviour in industrial soil using sequential extraction, multivariable analysis and a geostatistical approach

The main objectives of this studywere to evaluate the degree of Pb, Cu, Zn, Cd, Cr and Ni pollution using pollution indexes and geostatistical approach, and to assess metals dynamic using sequential extraction procedure and multivariable statistical analysis in surface soils and soil profiles froman industrial complex as a base for a correct management in order to avoid health and environmental problems. Results showed that the industrial activity increases both Pb (103 mgkg−1), Zn (526 mgkg−1) and Cu (39 mgkg−1) concentrations and salinity in soil. Pollution indexes showed that industrial soils were moderately contaminated by Zn, Pb, Cu, Cr and Ni as well as a moderate ecological risk was reported. Two main areas were identified: southeast area with the highest metal concentrations, and northwest areawith the lowest levels. Chemical speciation of metals showed that the residual phase was the dominant phase for all metals. However, Pb and Zn were highly associated to the reducible phase (25–30% and 35–40% respectively) and a significant concentration was associated to carbonates (5% for both metals). In contrast, Cu, Cr and Ni were mainly bound to the residual phase (N80% for all metals) with low concentrations retained to reducible phase, and very low concentrations bound to the most labile phases. Cd was the most mobile metal with high concentration associated to exchangeable (5%) and carbonates (15–20%) phases. Therefore, Pb, Zn and Cd represent the greatest risk for human health and the environment

Completeness of Riemannian metrics: an application to the control of constrained mechanical systems

We introduce a mathematical technique based on modifying a given Riemannian metric and we investigate its applicability to controlling and stabilizing constrained mechanical systems. In essence our result is based on the construction of a complete Riemannian metric in the modified space where the constraint is included. In particular this can be applied to the controlled Lagrangians technique Bloch et al. [2000b, 2001] modifying its metric to additionally cover mechanical systems with configuration constraints via control. The technique used consists of approximating incomplete Riemannian metrics by complete ones, modifying the evolution near a boundary and finding a controller satisfying a given design criterion.Comment: 18 pages, 11 figure

El paradigma de redes : (des)- emplazamientos post-modernos

Esta comunicación propone un Paradigma de Redes como nuevo principio de comprensión ontológica, epistemológica, ético-política y estética del modelo social surgido de la crisis terminal de la modernidad. Como nueva Filosofía de la Relación este Paradigma representa una nueva forma hermenéutica de estar-en-el-mundo, toda una forma de existencia interpretante, que ha de servir para la exploración de nuevas formas de interacción consigo mismo, con los demás y el mundo desde los efectos mundializadores producidos por la intensificación creciente de los nuevos flujos tecnológicos. Del mismo modo, como forma de conocimiento, de manera autorreflexiva, este Paradigma debe convertirse en un nuevo compromiso autocrítico ante el déficit de diagnóstico social que supone la quiebra postmoderna. Ha de ser un instrumento fundamental de conceptualización de la nueva experiencia económicosocial, política y cultural que comporta en sí mismo

Cytochrome c signalosome in mitochondria

Cytochrome c delicately tilts the balance between cell life (respiration) and cell death (apoptosis). Whereas cell life is governed by transient electron transfer interactions of cytochrome c inside the mitochondria, the cytoplasmic adducts of cytochrome c that lead to cell death are amazingly stable. Interestingly, the contacts of cytochrome c with its counterparts shift from the area surrounding the heme crevice for the redox complexes to the opposite molecule side when the electron flow is not necessary. The cytochrome c signalosome shows a higher level of regulation by post-translational modifications—nitration and phosphorylation—of the hemeprotein. Understanding protein interfaces, as well as protein modifications, would puzzle the mitochondrial cytochrome c-controlled pathways out and enable the design of novel drugs to silence the action of pro-survival and pro-apoptotic partners of cytochrome c.Spanish Ministry of Science and Innovation BFU2009-07190Andalusian Government BIO198 P08-CVI-387

Gravity compensation and optimal control of actuated multibody system dynamics

This work investigates the gravity compensation topic, from a control perspective. Thegravity could be levelled by a compensating mechanical system or in the control law, suchas proportional derivative (PD) plus gravity, sliding mode control, or computed torquemethod. The gravity compensation term is missing in linear and nonlinear optimal con-trol, in both continuous- and discrete-time domains. The equilibrium point of the controlsystem is usually zero and this makes it impossible to perform regulation when the desiredcondition is not set at origin or in other cases, where the gravity vector is not zero at theequilibrium point. The system needs a steady-state input signal to compensate for the grav-ity in those conditions. The stability proof of the gravity compensated control law basedon nonlinear optimal control and the corresponding deviation from optimality, with proof,are introduced in this work. The same concept exists in discrete-time control since it usesanalog to digital conversion of the system and that includes the gravity vector of the sys-tem. The simulation results highlight two important cases, a robotic manipulator and atilted-rotor hexacopter, as an application to the claimed theoretical statements.GRIFFIN ERC-2017-Advanced Grant, Action: 788247EU H2020 AERIAL-CORE project contract 871479EU H2020 HYFLIERS project 77941

A search algorithm for constrained engineering optimization and tuning the gains of controllers

In this work, the application of an optimization algorithm is investigated to optimize static and dynamic engineering problems. The methodology of the approach is to generate random solutions and find a zone for the initial answer and keep reducing the zones. The generated solution in each loop is independent of the previous answer that creates a powerful method. Simplicity as its main advantage and the interlaced use of intensification and diversification mechanisms--to refine the solution and avoid local minima/maxima--enable the users to apply that for a variety of problems. The proposed approach has been validated by several previously solved examples in structural optimization and scored good results. The method is also employed for dynamic problems in vibration and control. A modification has also been done on the method for high-dimensional test functions (functions with very large search domains) to converge fast to the global minimum or maximum; simulated for several well-known benchmarks successfully. For validation, a number of 9 static and 4 dynamic constrained optimization benchmark applications and 32 benchmark test functions are solved and provided, 45 in total. All the codes of this work are available as supplementary material in the online version of the paper on the journal website

Stabilisation of state-and-input constrained nonlinear systems via diffeomorphisms: A Sontag's formula approach with an actual application

In this work, we provide a new and constructive outlook for the control of state-and-input constrained nonlinear systems. Previously, explicit solutions have been mainly focused on the finding of a barrier-like Lyapunov function, whereas we propose the construction of a diffeomorphism to map all the trajectories of the constrained dynamics into an unconstrained one. Careful analysis has revealed that only some foundations of differential geometry and a technical assumption are necessary to construct the proposed methodology based on the well-established theories of control Lyapunov functions and Sontag's universal formulae. Altogether, it allows us to obtain an explicit solution that even includes bounded constraints in the control action, giving the designer a way to decide (to some extent) the trade-off between control saturations and robustness. Moreover, this approach does not rely on the own structure of the system dynamics, therefore covering a broad class of nonlinear systems. The main advantage of this approach is that the use of a diffeomorphism allows the splitting of the mathematical treatment of the constraint and the Lyapunov controller design. The result has been successfully applied to solve the dynamic positioning of an actual ship, where the nonlinear state constraints describe a strait. This approach enabled us to design a control Lyapunov function and thereby use Sontag's formula to solve the stabilisation problem. Realistic simulations have been executed in a real scenario on the simulator owned by an international shipbuilding company.Postprint (author's final draft