Digitalización del monoplaneador, a escala, aDAX

Trabajo Final (IA)--FCEFN-UNC, 2014Desarrolla el modelo digital 3D del motoplaneador, planos 2D y las plantillas de corte por laser necesarias. El modelo 3D con el que se cuenta ahora será de soporte para futuros trabajos sobre verificaciones estructurales de las distintas zonas de la aeronave, para lograr optimizaciones de la estructura

Method to Estimate Human Inattention in Teleoperation of Mobile Robots

In teleoperation of mobile robots the operator is remotely located. As a result, generally the human perception of the remote environment is distorted affecting the mission negatively. Visual information can be degraded because of video images bandwith, time lags, frame rates, point of view and motion effects among other reasons. Although many researchers have proposed a variety of methods for measuring perception, just a few can be used in control closed loop systems. This paper aims to provide a novel metric to the human visual inattention upon risk for a remotely navigated mobile robot. We present both qualitative and quantitative guidelines for designing the metric in a teleoperation of a mobile robot. The method allows to incorporate the metric in a control closed loop system, and task consists in guiding the robot from an initial point to a final one as quick as possible, considering the constraint of avoiding collisions. Furthermore, a haptic cue based on the metric is proposed in order to help the human to avoid collisions. A system stability analysis considering time varying delays is proposed. Additionally, we present a human in the loop experiment of a teleoperation of a 3D mobile robot simulator in order to remark the advantages of using human factors in the controller.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin

Valuation of defer and relocation options in photovoltaic generation investments by a stochastic simulation-based method

Risk management is crucial when committing investments in electricity markets. Investment projects for the generation of electricity are capital-intensive, in large part irreversible and future performance is subject to high uncertainty. Fortunately, most power generation projects have strategic flexibility for handling uncertainty and for mitigating risks under unfavorable scenarios. Modern corporate finance recognizes Real Option analysis (ROA) as the correct way to value investment projects with these characteristics. Due to both, environmental concerns and escalation of fuel prices, electricity generation from renewable sources has grown dramatically worldwide over the last decade. Renewable investment projects share many of the features mentioned. As such, option valuation methods should be applied to estimate the monetary value of flexibility in renewable energy investments. This work presents an appropriate methodology for assessing the economic value of a photovoltaic power plant under uncertainties. ROA is applied to determine the value of delaying the investment decision while waiting for better market information that would reduce acquisition costs due to progress in solar technology. The flexibility of relocating the solar facility in the future upon the appearance of a more attractive site in terms of cost, network accessibility or regulatory policies is also valued. The problem of option valuation is solved through stochastic simulation combined with recursive approximate dynamic programming techniques. The methodology developed might be used by investors for more efficient decision-making and by regulatory agencies for designing adequate support policies that encourage investment in renewable energy generation.Fil: Pringles, Rolando Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Energía Eléctrica. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Energía Eléctrica; ArgentinaFil: Olsina, Fernando Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Energía Eléctrica. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Energía Eléctrica; ArgentinaFil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Energía Eléctrica. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Energía Eléctrica; Argentin

Car accidents prevention warning system based on vibrotactile steering wheels

[ES] Este trabajo propone el diseño y desarrollo de un sistema de alerta al conductor basado en la realimentación de estimulos vibro- táctiles de fuerza con el objetivo de prevenir accidentes de tránsito. El sistema posee dos agarres vibro-tactiles, los cuales se pueden montar facilmente sobre cualquier tipo de vehículo, y un sistema electrónico basado en un sistema de localización y comunicación inalámbrica entre vehículos, que permite calcular en línea una señal de alerta vibro-táctil para avisar al conductor de una posible situación de peligro en los proximos segundos. Un modelo focalizado en factores humanos es propuesto y utilizado para justificar el uso adecuado de estímulos artificiales. Además se describen, el hardware, la comunicación entre vehículos y software embebido. Finalmente, el sistema es probado en un simulador 3D de carrera de código abierto y también utilizando dos vehículos comunes.[EN] This paper proposes the design and build of a driver warning system, based on vibro-tactile feedback for preventing accidents through the generation of tactile stimuli. The system has two vibro-tactile grips devices which are easily mounted on the steering wheel of any vehicle and an electronic system based on location sensing as well as inter-vehicles communication, from which a risk level is computed on line in order to warn the driver about dangerous situations and risk zones. A model focalized on human factors is proposed and it is employed to justify the advantages of using artificial stimuli. Besides, the hardware, communication between vehicles and embedded software, are described too. Finally, experiences using the device in a racing car simulator and tests using two ordinary cars are shown.Financiado por el Consejo Nacional de Investigaciones Científicas y Técnicas (CONICET), y la Universidad Nacional de San Juan.Slawiñski, E.; Mut, V.; Penizzotto, F. (2015). Sistema de Alerta al Conductor Basado en Realimentación Vibro-Táctil. Revista Iberoamericana de Automática e Informática industrial. 12(1):36-48. https://doi.org/10.1016/j.riai.2014.11.003OJS3648121Beruscha, F., Wang, L., Augsburg, K., Wandke, H., Do drivers steer toward or away from lateral directional vibrations at the steering wheel? Proc. 2nd European Conference on Human Centred Design for Intelligent Transport Systems, 227-236, 2010.Beruscha, F., Augsburg, K., Manstetten, D., “Haptic warning signals at the steering wheel: A literature survey regarding lane departure warning systems”, Haptics-e, the electronic journal of haptic research, Vol 4, No. 5, 28-Mar-2011.Chun, J., S. Oh, S.H. Han, G. Park, J. Seo, S. Choi, K. Han, W. Park. Evaluating the effectiveness of haptic feedback on a steering wheel for FCW. Proceedings of the 9th Pan-Pacific Conference on Ergonomics November 7-10, 2010 Kaohsiung Taiwan.Chun, J., G. Park, S. Oh, J. Seo, I. Lee, S. Choi, S.H. Han, W. Park, “Development of Human Factors Design Guidelines for Haptic Collision Warning Systems,” In Proceedings of the IIE Asian Conference, pp. 249-254, 2011.Final report NHTSA January 2007 N° HS 810 697. Crash Warning System Interfaces: Human Factors Insights and Lessons Learned.Hans. B. Pacejka, Tire and Vehicle Dynamics, second edition, ISBN-13: 980-0-7506-6918-4, Editorial Elsevier, 2006.Flores, M., Armingol J. and Escalera, A., “Sistema Avanzado de Asistencia a la Conducción para la Detección de la Somnolencia”, Revista Iberoamericana de Automática e Informática Industrial, vol 08, Num. 03, doi: 10.1016/j.riai.2011.06.009, 2011.Ho, C. and C. Spence, “Assessing the Effectiveness of Various Auditory Cues in Capturing a Driver's Visual Attention,” J. Experimental Psychology: Applied, vol. 11, pp. 157-174, 2005.Ho, C., H.Z. Tan, C. Spence. Using spatial vibrotactile cues to direct visual attention in driving scenes. Transportation Research Part F 8 (2005) 397-412.Ho, C., N.J. Reed, and C. Spence, “Assessing the Effectiveness of Intuitive Vibrotactile Warning Signals in Preventing Front-to-Rear-End Collisions in a Driving Simulator,” Accident Analysis and Prevention, vol. 38, pp. 989-997, 2006.Ho, C. Haptic Interface for the Distracted Drivers. SICE Annual Conference 2008 August 20-22, 2008, The University Electro-Communications, Japan. Pages 890-893.Hwang, S.; J. Ryu, “The Haptic steering Wheel: Vibro-tactile based navigation for the driving environment,” Pervasive Computing and Communications Workshops (PERCOM Workshops), 2010 8th IEEE International Conference on, pp.660-665, March 29-April 2, 2010.Jensen, J., A.M. Tolbert, J.R. Wagner, F.S. Switzer, and J. W. Finn. “A Customizable Automotive Steering System With a Haptic Feedback Control Strategy for Obstacle Avoidance Notification”. IEEE Transactions on Vehicular Technology, Vol. 60, N° 9, November 2011.Jiang, D.; Delgrossi, L.;, “IEEE 802.11p: Towards an International Standard for Wireless Access in Vehicular Environments,” Vehicular Technology Conference, 2008. VTC Spring 2008. IEEE, vol., no., pp.2036-2040, 11-14 May 2008.Koustanaï, A., V. Cavallo, P. Delhomme and A. Mas. Simulator Training with a Forward Collision Warning System: Effects on Driver-System Interactions and Driver Trust. doi:10.1177/0018720812441796. Human Factors: The Journal of the Human Factors and Ergonomics Society April 3, 2012.Lee, J.D., M.L. Ries, D.V. McGehee, and T. L. 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Hancock and O. Olofinboba. Alarm effectiveness in driver-centered collision-warning systems. Ergonomics 1997, vol. 40 N°3, pp. 390-399.Ravani, B.; Gabibulayev, M.; Lasky, T.A., “Improvement of a Human- Machine Interface (HMI) for Driver Assistance Using an Event-Driven Prompting Display,” Control Systems Technology, IEEE Transactions on, vol.19, no.3, pp.622,627, May 2011.Rendon-Velez, E., I. Horvath, and E. Z. Opiyo. Progress with Situation Assessment and Risk Prediction in Advanced Driver Assistance Systems: A Survey. Proceedings of the 16th ITS World Congress, 2009.Ryu, J., J. Chun, G. Park, S. Choi, Member, and S. H. Han. Vibrotactile Feedback for Information Delivery in the Vehicle IEEE Transactions on Haptics, Vol. 3, N°. 2, April-June 2010.Sato, K., T. Goto, Y. Kubota, Y. Amano, and K. Fukui, “A Study on a Lane Departure Warning System Using a Steering Torque as a Warning Signal”, Proc. Int’l Symp. 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(EDS) Engineering Psychology and Human Performance –3rd edition. Vol. 1, 2000, Prentence Hall, New Jersey 07458.Varma, Abhi R., S.V. Arote, C. Bharti and K. Singh. “Accident Prevention Using Eye Blinking and Head Movement”. Emerging Trends in Computer Science and Information Technology (ETCSIT2012). Proceedings published in International Journal of Computer Applications (IJCA). Pages 18-22, 2012

Metric to Visual Aspects of the Human in Teleoperation of a Mobile Robot

The purpose of this paper is to define and develop a metric to estimate the selective visual attention (SVA) of an operator that teleoperates a mobile robot. Perception is the first stage of Situation Awareness which is defined as one of the main aspects of Human Factors, and the attention is a resource which strongly affects the Perception of humans. Many researchers have proposed a variety of methods for measuring any stage of the Situation Awareness, but just a few can be used in control close loop systems due to the nature of the methods. A definition of a novel metric is proposed, which quantifies the operator visual knowledge about the surrounding risk, based on visual selective attention and being able to be a used in a control close loop. A teleoperation of a mobile robot navigating in an unknown environment without colliding is suggested as an application for the method. Finally, results of the implementation of the measurement method are presented. Applications of this research include the teleoperation of robots, where the human operator commands have a strong influence in the controller of the main task and when the there exist limitations on the visual feedback.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Delayed Bilateral Teleoperation of Wheeled Robots including a Command Metric

This paper proposes a control scheme applied to the delayed bilateral teleoperation of wheeled robots with force feedback, considering the performance of the operator’s command execution. In addition, the stability of the system is analyzed taking into account the dynamic model of the master as well as the remote mobile robot under asymmetric and time-varying delays of the communication channel. Besides, the performance of the teleoperation system, where a human operator drives a 3D simulator of a wheeled dynamic robot, is evaluated. In addition, we present an experiment where a robot Pioneer is teleoperated, based on the system architecture proposed

Consenso Delphi de neumólogos argentinos sobre el manejo de los pacientes con EPOC en la vida real

Resumen: Introducción: La enfermedad pulmonar obstructiva crónica (EPOC) es la tercera causa de muerte a nivel global y en Argentina tiene una prevalencia de 14,5%, pero se desconoce el manejo de los pacientes en la vida real. Los objetivos del trabajo fueron: a) conocer las opiniones de los neumólogos de Argentina que manejan pacientes con EPOC en la práctica diaria. b) Comparar nuestros hallazgos con los especialistas de España y c) considerar nuestros resultados para planificar futuras directrices en el manejo de la EPOC en nuestro país. Material y métodos: Participaron de un consenso Delphi 89 neumólogos de Argentina, expertos en EPOC, quienes respondieron una encuesta con cinco dominios: a) adhesión al tratamiento, b) control de la EPOC, c) rasgos tratables, d) dispositivos de inhalación y e) accesibilidad a los recursos terapéuticos. Resultados: Tras dos rondas, se alcanzó el consenso en 77,6% del total de las afirmaciones y discriminando por dominio los resultados fueron: adhesión al tratamiento: 5/9 (55,5%). Control de la EPOC: 10/14 (71,4%). Rasgos tratables: 6/6 (100%). Dispositivos de inhalación: 10/14 (71,4%) y accesibilidad al tratamiento: 6/6 (100%). En la mayoría de las afirmaciones los resultados fueron similares a los obtenidos por los neumólogos españoles. Conclusiones: Los neumólogos argentinos manejamos a los pacientes con EPOC de manera similar y con mínimas diferencias con nuestros colegas españoles. Se evidenció que, en la práctica diaria, existen factores que impactan negativamente en el acceso a los tratamientos indicados. Nuestro trabajo podría servir como punto de partida para mejorar esta situación. Abstract: Introduction: COPD is the third cause of death globally and in Argentina COPD has a prevalence of 14.5%, but the management of patients in real life is unknown. The objectives of this work were: a) To know the opinions of pulmonologists in Argentina who manage patients with COPD in different aspects of daily practice. b) Compare our findings with specialists from Spain and c) Consider our results to plan future directives in the management of COPD in our country. Material and methods: 89 pulmonologists from Argentina, experts in COPD, participated in a Delphi consensus, who responded to a survey with five domains. a) Adherence to treatment, b) Control of COPD, c) Treatable features, d) Inhalation devices and e) Accessibility to therapeutic resources. Results: After two rounds of questions, total consensus was achieved in 77.6% of the statements and discriminating by domain: Treatment adherence: 5/9 (55.5%). COPD control: 10/14 (71.4%). Treatable traits: 6/6 (100%). Inhalation devices: 10/14 (71.4%) and Accessibility to treatment: 6/6 (100%). In most of the affirmations, the results were similar to those obtained by Spanish pulmonologists. Conclusions: Pulmonologists from Argentina manage COPD patients in a similar way and with minimal differences with our Spanish colleagues. It became evident that, in daily practice, there are factors that negatively impact access to the indicated treatments. Our work could serve as a starting point to improve this situation

Laser Radar Based Autonomous Mobile Robot Guidance System for Olive Groves Navigation

This paper proposes a control strategy for a mobile robot for precision agriculture. The controller allows autonomous navigation through corridors formed by plants or fruit vines and olive trees. Furthermore, a rotation strategy based on odometer is proposed. The controller uses an algorithm for estimating the states of the system based on information from a laser sensor, which is enhanced by an Extended Kalman Filter which considers the model of the robot-environment interaction. The controller also incorporates the use of odometer sensors for automation of rotation between the end and beginning of plant corridors. The method has been tested in a real environment using a Pionner3AT (outdoor) robot navigating over a typical olive grove of the INTA - EEA San Juan (Pocito, San Juan, Argentina).Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin

Real options valuation of photovoltaic power investments in existing buildings

Renewable power generation based on solar energy is deemed to be a key instrument to reduce the carbon footprint of modern economies. Collectively, buildings are an energy-intensive consumption sector. Therefore, existing building rooftops are seen as a target for massively deploying photovoltaic (PV) distributed generation. Nevertheless, estimating the benefits and risks of investing in rooftop PV systems is indeed a challenging task due to the large uncertainties that affect tariffs, technology costs, and regulatory policy. After reviewing the literature and identifying the current gaps, this article develops a method based on Real Options theory for appraising investments in PV generation systems to be installed on the rooftop of existing buildings. The option value of differing the investment decision and the problem of the optimal time to invest in irreversible PV assets are addressed by an advanced valuation method based on stochastic simulation, linear regression, and backward dynamic programming. In this work, returns of self-generation PV investments are subjected to uncertainties upon declining investment costs and fluctuating electricity tariffs, which are represented by appropriate exogenous stochastic processes. In order to test the practicability of the proposed decision-making framework, the valuation of an exemplary rooftop PV-system in a government building is considered. Results show that while standard appraisal methods wrongly reject the rooftop PV project now and in the future, the option valuation method finds optimal to hold the opportunity open in order to reconsider to invest later. In addition, the method provides an objective value of the opportunity cost of using the building rooftop for another purpose. The proposed valuation approach would result in better investment allocation and faster development of distributed PV power capacity contributing thereby to enhance the sustainability of current energy systems.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Energía Eléctrica. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Energía Eléctrica; ArgentinaFil: Pringles, Rolando Marcelo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Energía Eléctrica. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Energía Eléctrica; ArgentinaFil: Olsina, Fernando Gabriel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Energía Eléctrica. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Energía Eléctrica; Argentin

Analysis and Experimentation of a Mobile Robot Teleoperation System Over Internet

En este trabajo, se propone un análisis de estabilidad y experimentación entre diferentes países de un esquema de control para teleoperación bilateral de robots móviles, el cual considera una impedancia remota con elasticidad variante en el tiempo. En la demostración de estabilidad se consideran los retardos de tiempo variantes del canal, y la impedancia. Se ejecutó satisfactoriamente una teleoperación de un robot Pioneer 3AT entre la Universidad Nacional de San Juan (Argentina) y la Universidad de Verona (Italia), del cual se exponen gráficas y conclusiones.In this paper, stability analysis and experimentation of a control scheme for bilateral teleoperation of mobile robots, which considers a remote variant-gain impedance is proposed. The analysis considers variant channel time delays and the impedance. For the experiment, an intercontinental teleoperation of a Pioneer 3AT was successfully performed between the National University of San Juan (Argentina) and the University of Verona (Italy), from which results, graphics and conclusions are exposed.Fil: Penizzotto Bacha, Franco Victor. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Slawiñski, Emanuel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; ArgentinaFil: Mut, Vicente Antonio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentin