Smith Predictor with Inverted Decoupling for Square Multivariable Time Delay Systems

Versión del autorThis paper presents a new methodology to design multivariable Smith predictor for n×n processes with multiple time delays based on the centralized inverted decoupling structure. The controller elements are calculated in order to achieve good reference tracking and decoupling response. Independently of the system size, very simple general expressions for the controller elements are obtained. The realizability conditions are provided and the particular case of processes with all of its elements as first order plus time delay systems is discussed in more detail. A diagonal filter is added to the proposed control structure in order to improve the disturbance rejection without modifying the nominal set-point response and to obtain a stable output prediction in unstable plants. The effectiveness of the method is illustrated through different simulation examples in comparison with other works

Cinemática rotacional del cabalgamiento basal surpirenaico en las Sierras Exteriores Aragonesas: Datos magnetotectónicos

The magnetotectonic analysis of 32 sites located along the External Sierras (mainly in Middle Eocene marls) shows the primary character of the magnetisation and pennits the differences between the paleovectors obtained to be interpreted as a result of the rotational kinematics of the southpyrenean floor thrust in the study area. The constancy of the directions of the defined unblocking intervals (300"-425°C for the thermal treatment) and the homogeneity of the magnetic carriers (these were always low coercitivity phases, probably sulphides andlor magnetite) prove the stability of the magnetisation. On the other hand, the primary character of the magnetisation (Middle Eocene) can be demonstrated by: a) the constancy of the magnetic inclination (47.3 +/- 1.7) and its similarity with the reference direction; b) the occurrence of reversals, and the positive result of the fold-test made in the Pico del Águila anticline; c) the consistency between the reference direction (DEC = 005", INC = 51°, a95=6 ") and the direction obtained for the authocthonous footwall (DEC = 005", INC = 38", a95= 8") which crops out in the western sector of the Sierras Exteriores thrust front. The interpretation of the paleomagnetic data within the External Sierras structural framework clearly shows that the kinematics of individual thrust sheets involves a clockwise component, at least during a period of their evolution. The maximum rotation values were found in the western and central sectors (42" and 30" respectively). The age of the rotation decreases towards the west along with the age of deformation of the cover rocks. Starting in late Priabonian the kinematics of the thrust front resulted in a lack of rotation in the central sector of the Sierras, while the western sector undenvent a clockwise rotation. The differential movement between both sectors gave rise to the development or reactivation of structures (i. e. Rasal-Anzáñigo anticlines) that articulated the deformation of adjacent zones with different rotational components

Automatic detection of falls and fainting

Healthcare environments have always been considered an important scenario in which to apply new technologies to improve residents and employees conditions, solve problems and facilitate the performance of tasks. In this way, the use of sensors based on user movement interaction allows solving complicated situations that should be immediately addressed, such as controlling falls and fainting spells in residential care homes. However, ensuring that all the residents are always visually controlled by at least one employee is quite complicated. In this paper, we present a ubiquitous and context-aware system focused on geriatrics and residential care homes, but it could be applied to any other healthcare centre. This system has been designed to automatically detect falls and fainting spells, alerting the most appropriate employees to address the emergency. To that end, the system is based on movement interaction through a set of Kinect devices that allows the identification of the position of a person. These devices imply some development problems that authors have had to deal with, including camera location, the detection of head movements and people in horizontal position. The proposed system allows controlling each resident posture through a notification and warning procedure. When an anomalous situation is detected, the system analyses the resident posture and, if necessary, the most adequate employee will be warned to react urgently. Ubiquity and context-awareness are essential features since the proposed system has to be able to know where any employee is and what they are doing at any time. Finally, we present the outcomes of an evaluation based on the ISO 9126-4 about the usability of the system.We would like to acknowledge the project CICYT TIN2011-27767-C02-01 from the Spanish Ministerio de Ciencia e Innovación and the Regional Goverment: Junta de Comunidades de Castilla-La Mancha PPII10-0300-4174 and PII2C09-0185-1030 projects for partially funding this work

Contaminantes emergentes: determinación de fármacos antihipertensivos en aguas superficiales

Estudios recientes han mostrado la presencia de un amplio grupo de principios activos farmacológicos en el medioambiente procedentes principalmente de la descarga de estaciones depuradoras de aguas residuales. Entre ellos, son de especial interés aquellos empleados en el tratamiento de enfermedades crónicas, como los fármacos antihipertensivos, no sólo debido a su consumo continuado, sino además a su potente mecanismo de acción, lo que los hace especialmente peligrosos para el medioambiente. En este trabajo se ha optimizado y validado una metodología analítica, basada en la extracción en fase sólida y determinación mediante cromatografía líquida con detector de espectrometría de masas de triple cuadrupolo, para la determinación de los tres fármacos antihipertensivos más consumidos (irbesartán, telmisartán y valsartán) en aguas superficiales. Las recuperaciones obtenidas se situaron entre el 84 y el 101 %. La precisión, medida en unidades de desviación estándar relativa, fue inferior al 10 % y los límites de detección se situaron entre 0.24 y 2.01 ng/L.Recent studies have reported the presence of a broad spectrum of pharmaceutical compounds in several environmental compartments, where they mainly end up due to discharges of effluent wastewater. Among them, pharmaceuticals designed to treat chronic diseases, including hypertensive pharmaceuticals, are of special interest, not only due to its continued consumption, but also for their potent mechanism of action, which makes them especially dangerous for the environment. In this work, an analytical method, based on solid phase extraction and determination by liquid chromatography with triple quadrupole mass spectrometry detector, has been optimized and validated for the determination of three of the most consumed antihypertensive pharmaceuticals (irbesartan, telmisartan and valsartan) on surface water samples. The recoveries obtained were between 84 and 101%. Precision, expressed as relative standard deviation, was < 10%, and limits of detection were between 0.24 and 2.01 ng/L.Ministerio de Economía y Competitividad. Proyecto CGL2013-44402-

Software Tool for Acausal Physical Modelling and Simulation

Modelling and simulation are key tools for analysis and design of systems and processes from almost any scientific or engineering discipline. Models of complex systems are typically built on acausal Differential-Algebraic Equations (DAE) and discrete events using Object-Oriented Modelling (OOM) languages, and some of their key concepts can be explained as symmetries. To obtain a computer executable version from the original model, several algorithms, based on bipartite symmetric graphs, must be applied for automatic equation generation, removing alias equations, computational causality assignment, equation sorting, discrete-event processing or index reduction. In this paper, an open source tool according to OOM paradigm and developed in MATLAB is introduced. It implements such algorithms adding an educational perspective about how they work, since the step by step results obtained after processing the model equations can be shown. The tool also allows to create models using its own OOM language and to simulate the final executable equation set. It was used by students in a modelling and simulation course of the Automatic Control and Industrial Electronics Engineering degree, showing a significant improvement in their understanding and learning of the abovementioned topics after their assessment

Una Experiencia de iniciación al paralelismo en segundo curso del Grado de Ingeniería Informática

En este artículo se analiza una experiencia de introducción del paralelismo de forma temprana en el Grado de Ingeniería Informática. En la experiencia participan cuatro asignaturas de segundo curso, impartidas por tres departamentos distintos y con la colaboración de un centro de computación. En este curso se realiza la primera aproximación de los alumnos al paralelismo, y se pretende realizar un acercamiento coordinado y práctico a diferentes materias.SUMMARY -- This work presents an experience of early introduction to parallelism in the Degree on Computing Engineering. Four courses of the second year participate in the experience and also a computing centre. The courses are tought by three departments. In the second year the students are introduced to parallelism for the first time, and with our experience we intend to approach different topics of parallelism in a coordinated and practical way.Peer Reviewe