52 research outputs found
Evaluation of a laser based structured light system for 3D reconstruction of underwater environments
Peer Reviewe
Convertidor DC/DC multinivell de dos quadrants aplicat al frenat regeneratiu mitjançant supercondensadors per vehicles elèctrics o hĂbrids
Premi al millor Projecte de Fi de Carrera presentat durant l'any 2013 en l'à mbit de Mecatrònica que atorga TECNOTRANS BONFIGLIOLIAquest projecte tracta de la comparació de diferents topologies de convertidors
DC/DC sèrie i multinivell per aplicar-los al frenat regeneratiu de vehicles elèctrics
o hĂbrids (VEH). L’emmagatzematge d’aquesta energia recuperada es realitza a diferents
bancs de supercondensadors.
S’escull la millor topologia per a l’aplicació i es realitzen els cà lculs i simulacions
necessĂ ries per caracteritzar el seu comportament i dissenyar el control del sistema.
Amb el model de supercondensadors es realitza un estudi tèrmic per comprovar que
compleixen les sol·licitacions de potència requerides sense sobreescalfar-se.
Tot seguit, es dissenya el convertidor fĂsicament en diverses plaques de circuit imprès
mitjançant CAD elèctric. Es construeix i es programa la lògica del control en un
DSP per fer-lo funcionar i verificar els resultats. El convertidor dissenyat serveix
també de plataforma per altres projectes.
Per Ăşltim, es treuen les conclusions adients.Award-winnin
Multilevel modular DC/DC converter for regenerative braking using supercapacitors
Regenerative braking is presented in many electric traction applications such as electric and hybrid vehicles, lifts and
railway. The regenerated energy can be stored for future use, increasing the efficiency of the system. This paper outlines the benefits of the MMC (modular multilevel converter) in front of the cascaded or series connection of converters to achieve high voltage from low voltage storage elements such as supercapacitors. The paper compares three different solutions and shows that the MMC can benefit from weight and volume reduction of the output inductance when shifted switching modulation strategy is used. Using this modulation strategy, not only the output frequency is increased, but also the magnitude of the inductor applied voltage is reduced,
reducing inductor size and volume.Postprint (published version
Visual characterization and automatic detection of posidonia oceanica for meadows mapping using an auv
Detection and mapping of Posidonia Oceanica (P.O.) meadows in the
Mediterranean sea is crucial to preserve the endemic ecosystems and to underscore
the negative impact of many anthropogenic activities. Furthermore, navigating Autonomous
Underwater Vehicles (AUV) in marine environments where the ground
is densely colonized with P.O. is nowadays a challenging task, since this sea-grass
generates dynamic and extremely textured areas, difficult to match in consecutive
or loop-closing images. This paper presents two important contributions: a) a complete
assessment to characterize areas of P.O. with visual features, in order to obtain
visual localization data as accurate as possible; b) the automatic detection of P.O.
in video sequences grabbed from the AUV Sparus II in coastal areas; the images
containing the detected sea-grass will be used later to build visual mosaics showing
the real extension and form of the P.O. meadow.Peer Reviewe
I-AUV Docking and Panel Intervention at Sea
The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.This work was supported by the Spanish project DPI2014-57746-C3 (MERBOTS Project) and
by Generalitat Valenciana under Grant GVA-PROMETEO/2016/066. The University of Girona wants to thank the
SARTI group for their collaboration with the TRITON project
I-AUV Docking and Panel Intervention at Sea
The use of commercially available autonomous underwater vehicles (AUVs) has increased during the last fifteen years. While they are mainly used for routine survey missions, there is a set of applications that nowadays can be only addressed by manned submersibles or work-class remotely operated vehicles (ROVs) equipped with teleoperated arms: the intervention applications. To allow these heavy vehicles controlled by human operators to perform intervention tasks, underwater structures like observatory facilities, subsea panels or oil-well Christmas trees have been adapted, making them more robust and easier to operate. The TRITON Spanish founded project proposes the use of a light-weight intervention AUV (I-AUV) to carry out intervention applications simplifying the adaptation of these underwater structures and drastically reducing the operational cost. To prove this concept, the Girona 500 I-AUV is used to autonomously dock into an adapted subsea panel and once docked perform an intervention composed of turning a valve and plugging in/unplugging a connector. The techniques used for the autonomous docking and manipulation as well as the design of an adapted subsea panel with a funnel-based docking system are presented in this article together with the results achieved in a water tank and at sea.This work was supported by the Spanish project DPI2014-57746-C3 (MERBOTS Project) and
by Generalitat Valenciana under Grant GVA-PROMETEO/2016/066. The University of Girona wants to thank the
SARTI group for their collaboration with the TRITON project
TFG 2013/2014
Amb aquesta publicaciĂł, EINA, Centre universitari de Disseny i Art adscrit a la Universitat Autònoma de Barcelona, dĂłna a conèixer el recull dels Treballs de Fi de Grau presentats durant el curs 2013-2014. VoldrĂem que un recull com aquest donĂ©s una idea mĂ©s precisa de la tasca que es realitza a EINA per tal de formar nous dissenyadors amb capacitat de respondre professionalment i intel·lectualment a les necessitats i exigències de la nostra societat. El treball formatiu s’orienta a oferir resultats que responguin tant a parĂ metres de rigor acadèmic i capacitat d’anĂ lisi del context com a l’experimentaciĂł i la creaciĂł de nous llenguatges, tot fomentant el potencial innovador del disseny.Con esta publicaciĂłn, EINA, Centro universitario de diseño y arte adscrito a la Universidad AutĂłnoma de Barcelona, da a conocer la recopilaciĂłn de los Trabajos de Fin de Grado presentados durante el curso 2013-2014. QuerrĂamos que una recopilaciĂłn como Ă©sta diera una idea más precisa del trabajo que se realiza en EINA para formar nuevos diseñadores con capacidad de responder profesional e intelectualmente a las necesidades y exigencias de nuestra sociedad. El trabajo formativo se orienta a ofrecer resultados que respondan tanto a parámetros de rigor acadĂ©mico y capacidad de análisis, como a la experimentaciĂłn y la creaciĂłn de nuevos lenguajes, al tiempo que se fomenta el potencial innovador del diseño.With this publication, EINA, University School of Design and Art, affiliated to the Autonomous University of Barcelona, brings to the public eye the Final Degree Projects presented during the 2013-2014 academic year. Our hope is that this volume might offer a more precise idea of the task performed by EINA in training new designers, able to speak both professionally and intellectually to the needs and demands of our society. The educational task is oriented towards results that might respond to the parameters of academic rigour and the capacity for contextual analysis, as well as to considerations of experimentation and the creation of new languages, all the while reinforcing design’s innovative potential
Convertidor DC/DC multinivell de dos quadrants aplicat al frenat regeneratiu mitjançant supercondensadors per vehicles elèctrics o hĂbrids
Aquest projecte tracta de la comparaciĂł de diferents topologies de convertidorsDC/DC sèrie i multinivell per aplicar-los al frenat regeneratiu de vehicles elèctricso hĂbrids (VEH). L’emmagatz ematge d’aquesta energia recuperada es realitza a diferents bancs de supercondensadors. S’escull la millor topologia per a l’aplicaciĂł i es realitzen els cĂ lculs i simulacions necessĂ ries per caracteritzar el seu comportament i dissenyar el control del sistema.Amb el model de supercondensadors es realitza un estudi tèrmic per comprovar quecompleixen les sol·licitacions de potència requerides sense sobreescalfar-se.Tot seguit, es dissenya el convertidor fĂsicament en diverses plaques de circuit imprès mitjançant CAD elèctric. Es construeix i es programa la lògica del control en un DSP per fer-lo funcionar i verificar els resultats. El convertidor dissenyat servei xtambĂ© de plataforma per altres projectes. Per Ăşltim, es treuen les conclusions adient
Convertidor DC/DC multinivell de dos quadrants aplicat al frenat regeneratiu mitjançant supercondensadors per vehicles elèctrics o hĂbrids
Premi al millor Projecte de Fi de Carrera presentat durant l'any 2013 en l'à mbit de Mecatrònica que atorga TECNOTRANS BONFIGLIOLIAquest projecte tracta de la comparació de diferents topologies de convertidors
DC/DC sèrie i multinivell per aplicar-los al frenat regeneratiu de vehicles elèctrics
o hĂbrids (VEH). L’emmagatzematge d’aquesta energia recuperada es realitza a diferents
bancs de supercondensadors.
S’escull la millor topologia per a l’aplicació i es realitzen els cà lculs i simulacions
necessĂ ries per caracteritzar el seu comportament i dissenyar el control del sistema.
Amb el model de supercondensadors es realitza un estudi tèrmic per comprovar que
compleixen les sol·licitacions de potència requerides sense sobreescalfar-se.
Tot seguit, es dissenya el convertidor fĂsicament en diverses plaques de circuit imprès
mitjançant CAD elèctric. Es construeix i es programa la lògica del control en un
DSP per fer-lo funcionar i verificar els resultats. El convertidor dissenyat serveix
també de plataforma per altres projectes.
Per Ăşltim, es treuen les conclusions adients.Award-winnin
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