Análisis de controladores por realimentación de estados, control óptimo y lógica difusa, para un péndulo de Furuta

Este trabajo presenta el desarrollo y control de un péndulo invertido rotacional (péndulo de Furuta) mediante controladores en el espacio de estados, control óptimo y lógica difusa. Este tipo de sistemas son las aeronaves, vehículos espaciales, vehículos submarinos, barcos, satélites y robots, construidos por barras y uniones articuladas, pasivas y activas. Estos sistemas generalmente están desafiando a la gravedad y deben mantenerse en equilibrio, por lo tanto, las plantas de estos sistemas son no lineales y se hace necesario controlarlo mediante leyes de control no lineales; sin embargo, debido al aparecimiento de la lógica difusa, este tipo de control tiene una gran ventaja que radica en que no es necesario saber con exactitud las características de la planta; el control puede ser adaptado para sistemas SISO y MIMO; la clave del control difuso radica especialmente en el conocimiento que debe tener el experto para plantear los rangos de las funciones de inferencia y su tipo de funciones, además, plantear el método de inferencia de la máquina de inferencia; por lo tanto, para este tipo de control se debe hacer varias pruebas hasta conseguir los objetivos planteados en el sistema de control.This paper presents the development and control of a rotational inverted pendulum (Furuta pendulum) by controllers in the state space, optimal control and fuzzy logic. Such systems are aircraft, spacecraft, underwater vehicles, ships, satellites and robots, built by rods and articulated joints, passive and active. These systems generally are defying gravity to stay in balance so plants such systems are nonlinear and will need to be monitored by nonlinear control laws however due to the appearance of fuzzy logic, this control has great advantage is that it is not necessary to know exactly the characteristics of the plant and control systems can be adapted to Simple Simple Input Output (SISO) or Multiple Input Multiple Output (MIMO), the key lies especially fuzzy control in the knowledge that you need to ask the expert ranges inference functions and features such well raise the inference method of inference engine, so for this type of control should be done several tests to get the goals set in the control system

Exploring the Photophysical Properties of Molecular Systems Using Excited State Accelerated ab Initio Molecular Dynamics.

In the present work, we employ excited state accelerated ab initio molecular dynamics (A-AIMD) to efficiently study the excited state energy landscape and photophysical topology of a variety of molecular systems. In particular, we focus on two important challenges for the modeling of excited electronic states: (i) the identification and characterization of conical intersections and crossing seams, in order to predict different and often competing radiationless decay mechanisms, and (ii) the description of the solvent effect on the absorption and emission spectra of chemical species in solution. In particular, using as examples the Schiff bases formaldimine and salicylidenaniline, we show that A-AIMD can be readily employed to explore the conformational space around crossing seams in molecular systems with very different photochemistry. Using acetone in water as an example, we demonstrate that the enhanced configurational space sampling may be used to accurately and efficiently describe both the prominent features and line-shapes of absorption and emission spectra

Donor-acceptor polymers for applications in organic electronics and photovoltaics

We have synthesized a new series of high-mobility polymeric semiconductors with good processability and excellent environmental stability for organic electronics and photovoltaics. Using these materials, solar cells were fabricated with power conversion efficiencies of up to 8.7% and remarkable fill factors of 76-80%.MINECO, Junta de Andalucí

Organic semiconductors: The effect of small modifications on device performance

Invited oral presentationIn the search on new high-mobiliity semiconductors with ambipolar performances, good processability and excellent environmental stability, diverse synthetic strategies have been approached. One of the most widely used consists in the alternation of donor and acceptor moieties in the conjugated skeleton, which allows fine tuning of the frontier molecular orbitals. For OTFT applications,low-lying HOMOs are essential to resist air oxidation and thus increase device stability. However, if the HOMO energy is too low, the resulting barrier to hole injection may compromise the transistor performance. Thus, a delicate balance between these two effects is needed. Furthermore, high performance solution-processable materials require the correct selection and positioning of the specific solubilizing substituents in order to achieve proper HOMO and LUMO energy levels, planar molecular conformations, close intermolecular pi-pi stacking, and proper thin film crystallinity. In this communication, several examples of molecular and polymeric materials where modifications on their conjugated skeletons, donor/acceptor subunits ratio and/or the selection of proper alkyl solubilizing chains induce noticeable changes in their electronic performances.Universidad de Málaga, Campus de Excelencia Internacional Andalucía Tec

Motion Detection by Microcontroller for Panning Cameras

Motion detection is the first essential process in the extraction of information regarding moving objects. The approaches based on background difference are the most used with fixed cameras to perform motion detection, because of the high quality of the achieved segmentation. However, real time requirements and high costs prevent most of the algorithms proposed in literature to exploit the background difference with panning cameras in real world applications. This paper presents a new algorithm to detect moving objects within a scene acquired by panning cameras. The algorithm for motion detection is implemented on a Raspberry Pi microcontroller, which enables the design and implementation of a low-cost monitoring system.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Organic Materials: The Effect of Subtle Modifications on Device Performance

In the search of new high-mobility polymeric semiconductors with good processability and excellent environmental stability, diverse synthetic strategies have been approached. One of the most widely used consists in the alternation of donor and acceptor moieties in the conjugated skeleton, which allows fine tuning of the polymer frontier molecular orbitals. For organic field effect transistors (OFETs) applications, low-lying HOMOs are essential to resist air oxidation and thus increase device stability. However, if the HOMO energy is too low, the resulting barrier to hole injection may compromise the transistor performance. Thus, a delicate balance between these two effects is needed. Furthermore, high performance solution-processable materials require the correct selection and positioning of the specific solubilizing substituents in order to achieve proper HOMO and LUMO energy levels, planar molecular conformations, close intermolecular π-π stacking, and proper thin film crystallinity. Following these two combined strategies, diverse polymeric materials with great performances in both OFETs and solar cells, and having remarkable air stability, have been synthesized and characterized. , This contribution will analyze how small modifications in their molecular structures can have a great impact on the device performance.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Influence of Reynolds number on theoretical models for trailing vortices

We conduct direct numerical simulations for a NACA0012 airfoil at Reynolds numbers (Re) ranging from 300 to 7000 to determine the wake behavior behind this wing profile. We characterize the structure of the wing-tip vortex, finding a reasonable agreement with experimental results at Re=7000. In addition, we model the trailing vortex theoretically, thus obtaining the parameters for Batchelor’s and Moore and Saffman’s models. We compare the results of the best fitting for the axial vorticity and the azimuthal velocity, finding only small discrepancies. The main contribution of this research work is to study the evolution of these theoretical parameters as function of the Reynolds number. We observe that the wake becomes unstable at Re ≈1200, in agreement with previous results. These instabilities in the wake behind the wing produce a change in the trend of theoretical parameters (keywords: vortex dynamics, trailing vortices, theoretical models).Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Deep learning-based anomalous object detection system powered by microcontroller for PTZ cameras

Automatic video surveillance systems are usually designed to detect anomalous objects being present in a scene or behaving dangerously. In order to perform adequately, they must incorporate models able to achieve accurate pattern recognition in an image, and deep learning neural networks excel at this task. However, exhaustive scan of the full image results in multiple image blocks or windows to analyze, which could make the time performance of the system very poor when implemented on low cost devices. This paper presents a system which attempts to detect abnormal moving objects within an area covered by a PTZ camera while it is panning. The decision about the block of the image to analyze is based on a mixture distribution composed of two components: a uniform probability distribution, which represents a blind random selection, and a mixture of Gaussian probability distributions. Gaussian distributions represent windows in the image where anomalous objects were detected previously and contribute to generate the next window to analyze close to those windows of interest. The system is implemented on a Raspberry Pi microcontroller-based board, which enables the design and implementation of a low-cost monitoring system that is able to perform image processing.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

On the Role of Dewetting Transitions in Host-Guest Binding Free Energy Calculations.

We use thermodynamic integration (TI) and explicit solvent molecular dynamics (MD) simulation to estimate the absolute free energy of host-guest binding. In the unbound state, water molecules visit all of the internally accessible volume of the host, which is fully hydrated on all sides. Upon binding of an apolar guest, the toroidal host cavity is fully dehydrated; thus, during the intermediate λ stages along the integration, the hydration of the host fluctuates between hydrated and dehydrated states. Estimating free energies by TI can be especially challenging when there is a considerable difference in hydration between the two states of interest. We investigate these aspects using the popular TIP3P and TIP4P water models. TI free energy estimates through MD largely depend on water-related interactions, and water dynamics significantly affect the convergence of binding free energy calculations. Our results indicate that wetting/dewetting transitions play a major role in slowing the convergence of free energy estimation. We employ two alternative approaches-one analytical and the other empirically based on actual MD sampling-to correct for the standard state free energy. This correction is sizable (up to 4 kcal/mol), and the two approaches provide corrections that differ by about 1 kcal/mol. For the system considered here, the TIP4P water model combined with an analytical correction for the standard state free energy provides higher overall accuracy. This observation might be transferable to other systems in which water-related contributions dominate the binding process