PID - Gain Scheduling Controller for a Robot Manipulator

This paper presents the implementation of an adaptive PD - Gain Scheduling controller for a six-degree-of-freedom robot manipulator. Uncoupled PD controllers are proposed for each joint where each single manipulator joint is controlled independently of the others. The gain scheduling technique enables the controller to adapt on-line the PD parameters depending on the operation conditions (essentially the robot arm position). The nonlinear dynamic model of the robot arm is then linearized discarding non-linear terms which are considered as model uncertainties, and a continuous adaptation law for the PD controller parameters is proposed. The overall control strategy can be regarded as composed by a non-linear transformation (adaptation law), followed by a linear PD regulator. This simple technique offers promising results with respect to the traditional worst-case PD design.Ministerio de Ciencia y Tecnología TAP98-054

Towards Formal Interaction-Based Models of Grid Computing Infrastructures

Grid computing (GC) systems are large-scale virtual machines, built upon a massive pool of resources (processing time, storage, software) that often span multiple distributed domains. Concurrent users interact with the grid by adding new tasks; the grid is expected to assign resources to tasks in a fair, trustworthy way. These distinctive features of GC systems make their specification and verification a challenging issue. Although prior works have proposed formal approaches to the specification of GC systems, a precise account of the interaction model which underlies resource sharing has not been yet proposed. In this paper, we describe ongoing work aimed at filling in this gap. Our approach relies on (higher-order) process calculi: these core languages for concurrency offer a compositional framework in which GC systems can be precisely described and potentially reasoned about.Comment: In Proceedings DCM 2013, arXiv:1403.768

Spectral kissing and its dynamical consequences in the squeeze-driven Kerr oscillator

Transmon qubits are the predominant element in circuit-based quantum information processing, such as existing quantum computers, due to their controllability and ease of engineering implementation. But more than qubits, transmons are multilevel nonlinear oscillators that can be used to investigate fundamental physics questions. Here, they are explored as simulators of excited state quantum phase transitions (ESQPTs), which are generalizations of quantum phase transitions to excited states. We show that the spectral kissing (coalescence of pairs of energy levels) experimentally observed in the effective Hamiltonian of a driven SNAIL-transmon is an ESQPT precursor. We explore the dynamical consequences of the ESQPT, which include the exponential growth of out-of-time-ordered correlators, followed by periodic revivals, and the slow evolution of the survival probability due to localization. These signatures of ESQPT are within reach for current superconducting circuits platforms and are of interest to experiments with cold atoms and ion traps.NSF CCI grant (Award Number 2124511)NSF grant No. DMR-1936006I+D+i project PID2019-104002GB-C21 (MCIN/AEI/10.13039/501100-011033)The Consejería de Conocimiento, Investigación y Universidad, Junta de AndalucíaEuropean Regional Development Fund (ERDF), ref. UHU-1262561The CEAFMC and Universidad de Huelva High Performance Computer (HPC@UHU)The Campus Universitario el Carmen and funded by FEDER/MINECO project UNHU-15CE-2848The MPS Simons Foundation Award ID: 67858

Video design adaptation to youtube advertising formats

Este trabajo en curso analiza cómo diferentes diseños publicitarios en términos de arousal (intensidad emocional) pueden contribuir a mejorar la efectividad de la video publicidad online. La literatura previa sugiere que un final con alto arousal puede incrementar la efectividad publicitaria. Para comprobar esta proposición, nuestra investigación combina diferentes metodologías: neurociencia aplicada al comportamiento del consumidor; un estudio de campo basado en una campaña publicitaria en YouTube y un estudio final. Los primeros resultados sugieren que el diseño publicitario ha de adaptarse a los nuevos formatos de video publicidad interactiva en función de los objetivos de los anunciantes.This work in progress analyzes how different arousal advertising design may enhance online video advertising effectiveness. Previous research suggests that arousing ending designs could increase ad effectiveness. To test this proposition, our research combines different methodologies: a consumer neuroscience pretest is used to identify high and low arousal sequences; a field study based on a YouTube ad campaign is used as an exploratory study which helps to determine the experimental scenarios to be used in the final study with a large sample size. Preliminary results suggest that ad design need to be adapted to new formats of interactive advertising depending on the advertisers’ goals

Sharp weighted estimates for multilinear commutators

Multilinear commutators with vector symbol Formula=(b1,…,bm) defined by Formula are considered, where K is a Calderón–Zygmund kernel. The following a priori estimates are proved for w ∈ A∞. For 0 < p < ∞, there exists a constant C such that Formula and Formula where Formula Formula and ML(log L)α is an Orlicz type maximal operator. This extends, with a different approach, classical results by Coifman. As a corollary, it is deduced that the operators Formula are bounded on Lp(w) when w ∈ Ap, and that they satisfy corresponding weighted L(log L)1/r-type estimates with w ∈ A1.Dirección General de Enseñanza Superior e Investigación CientíficaGobierno de Canaria

Carbon-based honeycomb monoliths for environmental gas-phase applications

Honeycomb monoliths consist of a large number of parallel channels that provide high contact efficiencies between the monolith and gas flow streams. These structures are used as adsorbents or supports for catalysts when large gas volumes are treated, because they offer very low pressure drop, short diffusion lengths and no obstruction by particulate matter. Carbon-based honeycomb monoliths can be integral or carbon-coated ceramic monoliths, and they take advantage of the versatility of the surface area, pore texture and surface chemistry of carbon materials. Here, we review the preparation methods of these monoliths, their characteristics and environmental applications

Second kind functionals for the Laguerre-Hahn affine class on the unit circle

16 pages, no figures.-- MSC1991 codes: 33C47, 42C05.MR#: MR2032331 (2004j:33013)Zbl#: Zbl 1036.42024The aim of this paper is the study of some transformations in the Laguerre-Hahn affine class that do not preserve the class. Under very general conditions, we establish that the second kind functional associated with a Laguerre-Hahn affine functional does not belong to the Laguerre-Hahn affine class. The transformations related to the associated polynomials and quadratic decomposition of a sequence of orthogonal polynomials are also considered.The research of first (A.C.) and third (C.P.) authors was supported by Dirección General de Investigación (Ministerio de Ciencia y Tecnología) of Spain under grant number BFM2000-0015 and by Universidad de Vigo and Xunta de Galicia. The research of second author (F.M.) was supported by Dirección General de Investigación (Ministerio de Ciencia y Tecnología) of Spain under grant BFM2000-0206-C04-01 and INTAS project INTAS2000-272.Publicad

Transport and Combustion of Firebrands. Final Report of Grants FG-SP-114 and FG-SP-146 Vol. II

A theoretical and experimental study has been carried out on the combustion properties and flight paths of firebrands when they are carried upwards by convective currents and then forwards by the winds. The study has shown that the flight paths of firebrands can be fall decreases continuously as the firebrand burns. Several types of wind tunnels have been developed especially designed to study combustion of firebrands at their final velocity of fall. The study has also show that combustion of firebrands at constant wind speed. The influence of the initial size and initial shape of the firebrands, kind of wood and initial moisture content has been studied, as well as the influence of several types convection columns configurations. Results of these studies enable the calculation of the maximum range of possible fire spread by firebrands of given initial characteristics, once the convective currents above the fire are known as vell as the horizontal wind conditions