Attitude Measurement and Control Techniques on the Earth's Surface

En el presente trabajo se realiza una introducci on a la teor a de la medida de la orientaci on en la super cie terrestre mediante el uso de sensores inerciales y magn eticos con t ecnicas de fusi on de se~nales, a trav es del uso de ltros optimos y complementarios. A continuaci on se hace una presentaci on del formalismo de sistemas de control, en la cual se analiza la estabilidad y el alcance de dichos sistemas, as como dos de los m etodos de control m as comunes, el controlador Proporcional Integral Derivativo y el Regulador Lineal Cuadr atico. Por ultimo, se hace un estudio de la medida para un sistema real, el p endulo invertido con volante de inercia.The following bachelor thesis introduces the basis of the attitude representation and measurement theory on Earth's surface from inertial and magnetic measurement units data, as well as the use of sensor fusion algorithms as the optimal and complementary lters. Moreover, a review of the control system formalism is presented, where the stability and the reach of the controllers is analyzed, as well as two of the most used control techniques at the present time: the Proportional Integral Derivative controller and the Linear Quadratic Regulator. Finally, a study of the measurement and ltering methods on a real inverted pendulum with reaction wheel is conducted.Grupo de Electrónica Aeroespacial, GranaSA

EEGs Disclose Significant Brain Activity Correlated with Synaptic Fickleness

We here study a network of synaptic relations mingling excitatory and inhibitory neuron nodes that displays oscillations quite similar to electroencephalogram (EEG) brain waves, and identify abrupt variations brought about by swift synaptic mediations. We thus conclude that corresponding changes in EEG series surely come from the slowdown of the activity in neuron populations due to synaptic restrictions. The latter happens to generate an imbalance between excitation and inhibition causing a quick explosive increase of excitatory activity, which turns out to be a (first-order) transition among dynamic mental phases. Moreover, near this phase transition, our model system exhibits waves with a strong component in the so-called delta-theta domain that coexist with fast oscillations. These findings provide a simple explanation for the observed delta-gamma and theta-gamma modulation in actual brains, and open a serious and versatile path to understand deeply large amounts of apparently erratic, easily accessible brain data.Spanish Ministry of Science and TechnologyAgencia Española de Investigación (AEI)FEDER - FIS2017-84256-PConsejería de Conocimiento, Investigación Universidad, Junta de Andalucía and European Regional Development Funds, Spain - SOMM17/6105/UGR Y A-FQM-175-UGR18Consejería de Transformación Económica, Industria, Conocimiento y Universidades, Junta de Andalucía and European Regional Development Funds, Ref. P20_0017