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

Cultura organizacional en la educación: la comunicación social y sus procesos como base fundamental en el aprendizaje

Este estudio resalta la importancia crucial de una comunicación adecuada y sus procesos en el ámbito educativo para fomentar la cooperación y el desarrollo individual y colectivo en grupos sociales. El conocimiento previo de los procesos comunicacionales es esencial para una formación adecuada en ámbitos organizacionales, dado que la comunicación ha sido clave en los procesos históricos de la humanidad y su mal uso puede afectar especialmente a los sectores vulnerables de la sociedad. En la era tecnológica, es vital desarrollar habilidades comunicativas más allá del lenguaje y promover la interdisciplina en la comunicación para potenciar el aprendizaje. Para lograr el progreso y una formación adecuada, se subraya la importancia de la integración, promoviendo la diversidad y respetando las diferencias entre personas, lo que contribuirá a desarrollar procesos académicos y educativos aptos para todos los grupos sociales. La cultura organizacional en la educación es un factor fundamental para fomentar la cooperación y el bien común entre individuos. Sin embargo, es esencial ser consciente de las diferencias ideológicas, culturales y económicas que pueden afectar las interacciones sociales, especialmente en el ámbito de la comunicación. En resumen, este estudio destaca el valor del uso adecuado de la comunicación y sus procesos en el ámbito educativo, enfocándose en el conocimiento previo de estos procesos para una formación efectiva en ámbitos organizacionales y fomentando el desarrollo individual y colectivo en grupos sociales. Asimismo, promueve el desarrollo de habilidades comunicativas en la era tecnológica y la integración para lograr una sociedad más cooperativa e inclusiva.This study emphasizes the critical importance of appropriate communication and its processes in the educational environment to foster cooperation and individual and collective development in social groups. Prior knowledge of communication processes is essential for effective training in organizational settings, as communication has been pivotal in shaping the historical processes of humanity, and its misuse can significantly impact vulnerable sectors of society. In the technological era, it is crucial to develop communication skills beyond language and promote interdisciplinary approaches to enhance learning outcomes. To achieve progress and effective education, the study emphasizes the significance of integration, promoting diversity, and respecting individual differences, which will contribute to creating academic and educational processes suitable for diverse social groups. The organizational culture in education plays a pivotal role in promoting cooperation and the common good among individuals. However, it is essential to be mindful of ideological, cultural, and economic differences that can influence social interactions, particularly in the realm of communication. In summary, this study highlights the value of appropriate communication and its processes in the educational context, focusing on prior knowledge of these processes for effective training in organizational environments while fostering individual and collective development in social groups. Moreover, it advocates for the development of communication skills in the technological era and integration to achieve a more cooperative and inclusive society.0000-0002-0471-610

Monitorización de una excavación arqueológica usando fotogrametría y modelos digitales del terreno (MDT). El caso de estudio de Barranco León, Orce (Granada, España)

In this paper, we describe and discuss emergent digital technologies employed for monitoring the excavations at the archaeological site of Barranco León (Granada, Spain) between 2017 and 2020. The method entails the following material requirements: a total station, a conventional camera, a computer and a software that integrates photogrammetry algorithms; in terms of human resources, the presence of an engineer for the first day of the excavation to set up the methodological process and trained excavation staff to perform said method on a daily basis is necessary. Here we present the daily workflow for monitoring archaeological excavations introduced at the site, followed by an estimation of the costs and a summary of the results obtained. The method introduced here is based on the height difference of Digital Elevation Models (DEMs) computed on successive days using photogrammetric techniques. It is a non-invasive method, which requires less than 8% of the economic resources of the excavation and can be carried out in less than 15 minutes. This allows the excavation director to have an accurate and visual idea of the excavation process in order to make appropriate decisions. In addition, from the results obtained in the method (differences in DEM of every two days), other derived results can be obtained such as the exact location of the archaeological remains extracted based on their size. These features highlight the relevance and applicability of this approach to a wide range of archaeological sites.En este artículo, describimos y discutimos las tecnologías digitales emergentes utilizadas para la monitorización de las excavaciones del yacimiento arqueológico de Barranco León (Granada, España) entre las campañas de 2017 y 2020. El método implica el uso de los siguientes recursos materiales: una estación total, una cámara de fotos convencional, un ordenador y un programa que integre algoritmos de fotogrametría; referente a los recursos humanos, es necesaria la presencia de un ingeniero durante el primer día de la excavación para establecer el proceso metodológico y un excavador entrenado para llevar a cabo dicho método diariamente. Aquí, presentamos un flujo de trabajo diario para la monitorización de la excavación de un yacimiento arqueológico, seguido de una estimación de los costos y un resumen de los resultados obtenidos. El método presentado se basa en la diferencia de altura de los modelos digitales del terreno (MDT) calculados en sucesivos días utilizando técnicas fotogramétricas. Es un método no invasivo, que requiere menos del 8% del coste total de la excavación y se puede llevar a cabo en menos de 15 minutos. Esto permite que el director de la excavación tenga una visión precisa y una idea visual del proceso de excavación para tomar las decisiones adecuadas. Además, a partir de los resultados obtenidos en el método (diferencias en MDT de cada dos días), se pueden obtener otros resultados derivados como la ubicación exacta de los restos arqueológicos extraídos en función de su tamaño.Junta de Andalucia BC.03.032/17FEDER 2020 Operative Program Research Project A-HUM-016-UGR1

Water adsorption in hydrophilic zeolites: experiment and simulation

We have measured experimental adsorption isotherms of water in zeolite LTA4A, and studied the regeneration process by performing subsequent adsorption cycles after degassing at different temperatures. We observed incomplete desorption at low temperatures, and cation rearrangement at successive adsorption cycles. We also developed a new molecular simulation force field able to reproduce experimental adsorption isotherms in the range of temperatures between 273 K and 374 K. Small deviations observed at high pressures are attributed to the change in the water dipole moment at high loadings. The force field correctly describes the preferential adsorption sites of water at different pressures. We tested the influence of the zeolite structure, framework flexibility, and cation mobility when considering adsorption and diffusion of water. Finally, we performed checks on force field transferability between different hydrophilic zeolite types, concluding that classical, non-polarizable water force fields are not transferable.The European Research Council through an ERC Staring Grant (Sofia Calero), and the MICINN (CTQ2010-16077) project

Diseño e implementación de un sistema automatizado para el proceso de producción de leche en el Centro Experimental de Tunshi.

En el presente trabajo de titulación se diseñó e implemento un sistema automatizado para el proceso de producción de leche en el centro experimental de Tunshi perteneciente a la Escuela Superior Politécnica De Chimborazo, el sistema completo SCADA se integra de tres subsistemas, los cuales tienen funciones específicas como: Sistema de dosificación de alimento, Sistema de control de puertas y el Sistema de medición de leche producida; Regidos por un Controlador Lógico Programable PLC que se encarga de la comunicación con los dispositivos que conforman el sistema como sensores capacitivos, fotoeléctricos, electroválvulas, actuadores neumáticos. Para luego integrarse mediante un servidor OPC a un sistema generado en el software Labview, que se encargará de realizar el monitoreo y control del sistema completo, teniendo una comunicación con PostgreSQL que permite el manejo de la información proveniente de la base de datos del centro experimental de Tunshi. Los sistemas de dosificación de alimento y de control de puertas en la estación de ordeño se manejan básicamente con tecnología neumática la cual nos permite tener un control electrónico de dichos sistemas. En cuanto al sistema de medición de leche que se encuentra implementado sobre el sistema de ordeño del centro experimental, este tiene una comunicación directa con Labview el cual mediante su herramienta NI Vision y cámaras se realiza un procesamiento digital de imágenes provenientes de los display del sistema de ordeño que nos permiten almacenar dicho valor de producción en el sistema unificado con la Base de datos, como se muestra en los resultados donde se reduce un 23% de alimento al utilizar el sistema de dosificación. Concluyendo que el sistema de dosificación de alimento permitió minimizar la intervención humana, reducir el esfuerzo y los tiempos del proceso de producción, teniendo un valor medido y dosificado de alimento. El sistema de control de puertas con sensores integrados permitió un control de velocidad y fuerza en la apertura y cierre para no producir daño al ganado, finalmente el sistema de lectura de producción de leche registra y almacena la información en la base de datos, recomendando al personal técnico encargado del centro experimental tener un mantenimiento preventivo del sistema neumático y mecánico implementado.In this degree work, it was designed and implemented an automated system for the process of milk production in the experimental center of Tunshi which belongs to the Escuela Superior Politécnica de Chimborazo, the SCADA operating system integrates three subsystems, which have specific functions as: food dosing system, door control system and measurement of produced milk system; all of them are governed by a programmable logic controller PLC that handles communication with devices that are part of the system; such as: capacitive sensors, photoelectric sensors, solenoid valves, and pneumatic actuators. Then, the controller integrates via an OPC server to a system generated in the Labview software, which will handle the monitoring and control of the complete system, having a communication with PostgreSQL that allows the management of information from the database of experimental center of Tunshi. The food dispensing and door control system in the milking station are basically handled with pneumatic technology, which allows us to have control of such systems. Regarding the measuring of milk system that is implemented on the system of milking in the experimental center, it has a direct communication with Labview, which through its tool NI Vision and cameras makes the digital processing of images from the milking system display that allow us to store the value of production in the system unified with the database as it is shown in the results where 23% of food is reduced when using the dosing system. Concluding that the food dosing system allowed to minimize human intervention, to reduce stress and times in the production process getting a measured and dosed feed value. The door control system with integrated sensors allowed to have control of speed and strength in the opening and closing to avoid causing damage to livestock. Finally, the reading system of milk production records and stores the information in the database, recommending to the technical staff in charge of the experimental center to have implemented a preventive maintenance of pneumatic and mechanical system

Monitoring an archaeotogical excavation using photogrammetry and digital elevation models (DEMS) : the case study of Barranco Leon in Orce (Granada, Spain)

In this paper, we describe and discuss emergent digital technologies employed for monitoring the excavations at the archaeological site of Barranco Leon (Granada, Spain) between 2017 and 2020. The method entails the following material requirements: a total station, a conventional camera, a computer and a software that integrates photogrammetry algorithms; in terms of human resources, the presence of an engineer for the first day of the excavation to set up the methodological process and trained excavation staff to perform said method on a daily basis is necessary. Here we present the daily workflow for monitoring archaeological excavations introduced at the site, followed by an estimation of the costs and a summary of the results obtained. The method introduced here is based on the height difference of Digital Elevation Models (DEMs) computed on successive days using photogrammetric techniques. It is a non-invasive method, which requires less than 8% of the economic resources of the excavation and can be carried out in less than 15 minutes. This allows the excavation director to have an accurate and visual idea of the excavation process in order to make appropriate decisions. In addition, from the results obtained in the method (differences in DEM of every two days), other derived results can be obtained such as the exact location of the archaeological remains extracted based on their size. These features highlight the relevance and applicability of this approach to a wide range of archaeological sites.Peer reviewe

Walking among Mammoths. Remote Sensing and Virtual Reality Supporting the Study and Dissemination of Pleistocene Archaeological Sites: The Case of Fuente Nueva 3 in Orce, Spain

D.B. and S.T. are grateful for support from the Spanish government Ministerio de Ciencia, Innovación y Universidades (MICINN-FEDER) code CGL2016-80975-P, Agència de Gestió d’Ajuts Universitaris i de Recerca (AGAUR) code 2017 SGR 859 and CERCA Programme/Generalitat de Catalunya. S.T. is also beneficiary of the Provincia Autonoma di Bolzano (Italy). J.M.J.-A. belongs to the Research Group HUM-607, Junta de Andalucía. The authors would like to thank the editor of this volume and the reviewers for their useful and accurate comments, which have undoubtedly improved previous versions of this paper.Remote sensing is a useful tool for the documentation of archaeological sites. The products derived from a photogrammetric project applied to archaeology such as orthophotos and three-dimensional virtual reconstruction (3DVR), allow for detailed study of the Fuente Nueva 3 site in Orce. In our study of the Fuente Nueva 3 site in Orce, we used 3DVR intensively to map out the morphometric features of mammoth tusks exposed on the surface and a geological fault affecting the site’s deposits. To do so, we used imagery captured since 2017 in order to follow the evolution of ongoing excavations during each subsequent field season. We also integrated the 3DVR model in a videogame environment, to create a virtual reality (VR) that allows a VR navigation experience around the scenario using a head mounted display like Oculus Rift. The main features of this VR experience are: (1) It is ideal for the diffusion of archaeological contents since it permits an attractive presentation mode thanks to stereo visualization and realistic immersion sensations; (2) it provides a high level of detail all along the navigation experience, without incurring any damage to the archaeological remains; (3) it allows users to observe more details than they would in an in situ visit to the site; (4) it makes it possible to convert an archaeological site into portable heritage, opening up the possibility to extend visits to vulnerable groups: specifically those with reduced mobility. Our results show that using VR should permit enhancements to a visitor’s experience and contribute to the socio-economic development of the town of Orce, one of the Spanish municipalities with the lowest income.Junta de Andalucia BC.03.032/17FEDER 2010 Operative Program Research Project A-HUM-016-UGR1

Single-Crystal to Single-Crystal Reversible Transformations Induced by Thermal Dehydration in Keggin-Type Polyoxometalates Decorated with Copper(II)-Picolinate Complexes: The Structure Directing Role of Guanidinium

Three new hybrid inorganic-metalorganic compounds containing Keggin-type polyoxometalates, neutral copper(II)-picolinate complexes and guanidinium cations have been synthesized in bench conditions and characterized by elemental analysis, infrared spectroscopy and single-crystal X-ray diffraction: the isostructural [C(NH2)(3)](4)[{XW12O40}{Cu-2(pic)(4)}] . [Cu-2(pic)(4)(H2O)](2) .6H(2)O [X = Si (1), Ge (3)] and [C(NH2)(3)]8[{SiW12O40}(2){Cu(pic)(2)}3{Cu-2(pic)4(H2O)}(2)] .8H(2)O (2). The three compounds show a pronounced two-dimensional character owing to the structure-directing role of guanidinium. In 1 and 3, layers of [{XW12O40}{Cu-2(pic)(4)}] n(4n-) hybrid POM chains and layers of [Cu-2(pic)(4)(H2O)] complexes and [C(NH2)(3)](+) cations pack alternately along the z axis. The hydrogen-bonding network established by guanidinium leads to a trihexagonal tiling arrangement of all copper(II)-picolinate species. In contrast, layers of [C(NH2)(3)](+)-linked [{SiW12O40}(2){Cu(pic)(2)}(3)] n(8n-) double chains where each Keggin cluster displays a {Cu-2(pic)(4)(H2O)} moiety pointing at the intralamellar space are observed in 2. The thermal stability of 1-3 has been studied by thermogravimetric analyses and variable temperature powder X-ray diffraction. Compounds 1 and 3 undergo single-crystal to single-crystal transformations promoted by reversible dehydration processes and the structures of the corresponding anhydrous phases 1a and 3a have been established. Despite the fact that the [Cu-2(pic)(4)(H2O)] dimeric complexes split into [Cu( pic)(2)] monomers upon dehydration, the packing remains almost unaltered thanks to the preservation of the hydrogen-bonding network established by guanidinium and its associated Kagome-type lattice. Splitting of the dimeric complexes has been correlated with the electron paramagnetic resonance spectra.This work was funded by Eusko Jaurlaritza/Gobierno Vasco (grant IT477- 10 and predoctoral fellowship to A. P.), Ministerio de Economia y Competitividad (grant MAT2013-48366-C2-2P) and Universidad del Pais Vasco UPV/EHU (grant UFI11/53). Technical and human support provided by SGIker (UPV/EHU) is gratefully acknowledged

Exchangeable Self-Assembled Lanthanide Antennas for PLIM Microscopy

This is the published manuscript version of the following manuscript: Exchangeable Self-Assembled Lanthanide Antennas for PLIM Microscopy, Angew. Chem. Int. Ed. 2023, e202314595 doi: https://doi.org/10.1002/anie.202314595 This article may be used for non-commercial purposes in accordance with Wiley Sharing Policies. Supplementary Materials accompanying this article can be found on-line at the publisher’s site.Lanthanides have unique photoluminescence (PL) emission properties, including very long PL life- times. This makes them ideal for biological imaging applications, especially using PL lifetime imaging micro- scopy (PLIM). PLIM is an inherently multidimensional technique with exceptional advantages for quantitative biological imaging. Unfortunately, due to the required prolonged acquisitions times, photobleaching of lantha- nide PL emission currently constitutes one of the main drawbacks of PLIM. In this study, we report a small aqueous-soluble, lanthanide antenna, 8-methoxy-2-oxo- 1,2,4,5-tetrahydrocyclopenta[de]quinoline-3-phosphonic acid, PAnt, specifically designed to dynamically interact with lanthanide ions, serving as exchangeable dye aimed at mitigating photobleaching in PLIM microscopy in cellulo. Thus, self-assembled lanthanide complexes that may be photobleached during image acquisition are continuously replenished by intact lanthanide antennas from a large reservoir. Remarkably, our self-assembled lanthanide complex clearly demonstrated a significant reduction of PL photobleaching when compared to well- established lanthanide cryptates, used for bioimaging. This concept of exchangeable lanthanide antennas opens new possibilities for quantitative PLIM bioimaging.Grant PID2020-114256RB-I00 funded by AEI/10.13039/501100011033Grant PID2019- 104366RB-C22 funded by AEI/10.13039/501100011033/ FEDER “Una manera de hacer Europa”Grants P21_00212, A-FQM-386-UGR20 and 2021/00627/001-FEDER_UJA_ 2020 funded by FEDER/Junta de Andalucía-Consejería de Transformación Económica, Industria, Conocimiento y UniversidadesCSIC grant 202180E073Acción 1 from Universidad de JaénFunding for open access charge: Universidad de Granada/CBUASpanish Ministerio de Educación y Formación Profesional for the FPU Ph.D. scholarshi

Naphthyl-Containing Organophosphonate Derivatives of Keggin-Type Polyoxotungstates

New organophosphonate derivatives of monovacant Keggin-type polyoxotungstates that contain naphthyl groups have been synthesized and characterized in both solid state and solution. Single-crystal structural analysis shows that two phosphonate groups occupy the vacant position of the lacunary cluster unit in the isostructural compounds [N(C4H9)(4)](3)[H(POC11H9)(2)(-HBW11O39)] (TBA-1) and [N(C4H9)(4)](3)[H(POC11H9)(2)(-SiW11O39)] (TBA-2). Liquid-solution UV-Vis transmittance and solid-state diffuse reflectance spectroscopy studies reveal the presence of a new absorption band in the visible region, the charge transfer character of which has been further confirmed by time-dependent density functional theory (TD-DFT) calculations. The latter evidence that the charge transfer process is dominated by transitions from the highest occupied molecular orbital (HOMO), localized in the aromatic ring of the organic group, to the lowest unoccupied molecular orbital (LUMO), localized in the Keggin anion. Photoluminescence studies show that the fluorescent properties of the 1-naphthylmethylphosphonate group are quenched upon its incorporation into the inorganic oxo-tungstate skeleton. The solution stability of the hybrid clusters has been evaluated by a combination of H-1-, C-13- and P-31-Nuclear Magnetic Resonance spectroscopy and Electrospray Ionization-Mass Spectrometry. The hybrid polyanion [H(POC11H9)(2)(-HBW11O39)](3-) (1) herein constitutes the first structurally characterized organo-p-block containing borotungstate, and hence it confirms that this strategy for the organic functionalization of polyoxometalate clusters can be applied to new platforms belonging to the family of group-13 heteropolyoxotungstates