Control predictivo de drone comercial

En este proyecto se pretende emplear una librería desarrollada por el Massachusetts Institue of Technology (MIT) junto con la empresa Parrot, para generar un controlador predictivo basado en modelo (MPC por sus siglas en inglés) en el entorno de Matlab/Simulink que controle el minidrone Parrot Rolling Spider. Se quiere comparar el comportamiento de esta estrategia de control con el que presenta el sistema bajo un controlador por asignación de polos. Este último ha sido elegido como controlador óptimo por el alumno Emilio Marín Fernández en su trabajo fin de grado. En primer lugar, se presenta la instalación del software necesario para la puesta en marcha de esta librería; indicando todos los pasos y comandos necesarios para conseguir la primera prueba en tiempo real, en la que volará el drone. A continuación, se expone la base teórica del control predictivo basado en modelo, para posteriormente particularizar la estrategia para el problema que se presenta, sintonizando los parámetros necesarios para el control del drone. Se comparará el comportamiento del sistema con el MPC desarrollado con el controlador por asignación de polos. Se propone una alternativa para tratar de solventar las limitaciones encontradas al tratar de implementar el controlador generado; explicando los conceptos teóricos de la estrategia explícita del control predictivo y buscando herramientas para conseguir este controlador. Por último, se presentan una serie de ideas para intentar conseguir la implementación de este controlador en el minidrone, que se saldrían del entorno de Matlab/Simulink; en el que está desarrollado el toolbox.This project intends to use a library developed by the Massachusetts Institute of Technology (MIT) together with the Parrot company, to generate a model-based predictive controller (MPC) in the Matlab / Simulink environment that controls the Parrot Rolling Spider minidrone. We want to compare the behavior of this control strategy with that of the system under a controller by pole assignment. The last one has been chosen as the optimal controller by the student Emilio Marín Fernández in his final degree project. In the first place, the installation of the necessary software for the start-up of this library is presented; indicating all the steps and commands necessary to get the first test in real time, in which the drone will fly. Next, the theoretical base of the model-based predictive control is exposed, to later customize the strategy for the problem that is presented, tuning the necessary parameters for the control of the drone. The behavior of the system with the MPC developed with the controller will be compared with the pole assignment one. An alternative is proposed to try to solve the limitations found when trying to implement the generated controller; explaining the theoretical concepts of the explicit model-based predictive control strategy and looking for tools to achieve this controller. Finally, we present a series of ideas to try to get the implementation of this controller in the minidrone, that would leave the Matlab / Simulink environment; in which the toolbox is developed.Universidad de Sevilla. Grado en Ingeniería de Tecnologías Industriale

A Bound on the Existence of the Maximum Jointly Invariant Set of Input-Coupled Systems

We present a set-theoretical characterization of a bound on the maximal portion that an agent can cede of its input variable to another agent. By ceding control authority, agents can decompose coupling variables into public and private parts, which is of interest in situations of partial cooperation. In particular, sufficient conditions under which the non-existence of the maximum robust control invariant set is guaranteed are provided, expressed in terms of support functions and the dominant system eigenvalue. Finally, the results are illustrated via stable and unstable example systems with different coupling

Coalitional model predictive control with different inter-agent interaction modes

Coalitional control is a type of distributed control characterized by the dynamic adjustment of the overall controller structure so that only strongly coupled agents interact with each other. In particular, local controllers merge into cooperative coalitions (or clusters) only when it improves global performance, thus reducing the overall cooperation burden. This paper proposes a novel coalitional model predictive control (MPC) approach in which coupled variables are decomposed into a public part, which is optimized by the neighboring agents, and a private one, which is locally controlled by the agent that owns it. The bounds on these variables are negotiated in a distributed manner, and a threshold is established to trigger different interaction modes, including the classical decentralized and distributed approaches, and flexible modes of cooperation. Finally, to illustrate the benefits of this control scheme, results on a simulated eight input-coupled tanks plant are provided

Creatividad. ¿Es la Eurozona un espacio creativo?

La creatividad es un concepto de actualidad que se implementa de manera gradual en la vida de las personas. Tras hacer un breve recorrido de la evolución histórica del concepto, así como de los distintos ámbitos de aplicación, nos centramos en la economía creativa. El gurú de esta disciplina es Richard Florida, con una novedosa interpretación de la creatividad. En este trabajo aplicamos las mediciones que elabora Richard Florida (2002) a los países integrantes de la Zona Euro. Para ello, se miden los tres indicadores que constituyen la creatividad (Tecnología, Talento y Tolerancia), cada uno de los cuales está compuesto de tres subíndices. Tras obtener los índices y hacer una valoración de los mismos, se comparan con los índices económicos PIB per cápita, IDH e Índice de Gini. Además de plantear como objetivo un estudio del Índice Creativo de la Eurozona, también se analiza la evolución del mismo del año 2001 al 2011

Análisis de la situación de salud de una población urbana del municipio Cienfuegos en 2020

Introduction: analysis of the health situation is one of the most important actions of the family doctor and constitutes a basic instrument in the family doctor and nurse's offices.Objective: to describe the health situation of families belonging to the Family Medical Clinic 28 of the Health Area II of Cienfuegos.Method: an observational, descriptive, cross-sectional study was carried out in the population of the Family Medical Clinic 28 of the Health Area II of Cienfuegos in the period between January and December 2020. The universe consisted of 250 families, made up of 669 patients. The selection of variables was carried out according to the methodological guide to prepare the analysis of the health situation.Results: there was a predominance of the female sex (54,85 %) and the age group of 60 years and over (1,39 %). The Rosset Index was 24,66 %, the predominant dispensary group was group III (69,05 %). The main risk factor was sedentary lifestyle (50,07 %). Acute respiratory infections predominated with a rate of 14,48 per 100 inhabitants and arterial hypertension (237 patients) with rates of 35,42 per 100 inhabitants.Conclusions: an urban community was identified, with an aging population where the female sex predominated. Sedentary lifestyle was found as the predominant risk factor in a population that was mostly dispensed in group III, with a high prevalence of hypertensive patients and a high incidence of acute respiratory infections.Introducción: el análisis de la situación de salud es una de las actuaciones más importantes del médico familiar y constituye un instrumento básico en los consultorios del médico y enfermera de la familia.Objetivo: describir la situación de salud de familias pertenecientes al Consultorio Médico de la Familia 28 del Área de Salud II de Cienfuegos.Método: se realizó un estudio observacional, descriptivo de corte transversal en la población del Consultorio Médico de la Familia 28 del Área de Salud II de Cienfuegos en el periodo comprendido entre enero y diciembre del 2020. El universo estuvo constituido por 250 familias, integradas por 669 pacientes. La selección de variables se realizó por la guía metodológica para confeccionar el análisis de la situación de salud.Resultados: existió un predominio del sexo femenino (54,85 %) y del grupo etario de 60 años y más (1,39 %). El Índice de Rosset fue de 24,66 %, el grupo dispensarial predominante fue el grupo III (69,05 %). El principal factor de riesgo fue el sedentarismo (50,07 %). Predominaron las infecciones respiratorias agudas con una tasa de 14,48 por cada 100 habitantes y la hipertensión arterial (237 pacientes) con tasas de 35,42 por cada 100 habitantes.Conclusiones: se identificó una comunidad urbana, con una población envejecida donde predominó el sexo femenino. Se encontró el sedentarismo como factor de riesgo predominante en una población mayormente dispensarizada en el grupo III, con una elevada prevalencia de pacientes hipertensos y una alta incidencia de infecciones respiratorias agudas

Factors conditioning the vitality of dental implants

Dental implant treatment is the most predictable therapeutic option in the partial or total replacement of missing teeth; currently it has a considerable success rate, however, failures do not escape them. Being a complex procedure, it is essential to have a good working protocol, i.e. a correct diagnosis in order to identify risk factors that may lead to implant failure and to restore the health, esthetics and function of our patients for many years, implementing preventive measures. The purpose of this article is to make known by means of an updated literature analysis the risk factors that could affect the osseointegration process, as well as the different lesions that can occur. Among the variables analyzed were: osteoporosis, smoking, consumption of bisphosphonates, receiving radiotherapy treatment, as well as the age and sex of the patient. The subject of the risk factors that condition the vitality of dental implants can help more professionals to contribute with alternatives and development so that dental implants continue to evolve. A bibliographic, documentary, exploratory and non-experimental, qualitative research was carried out by means of a search of articles in databases such as: Pubmed, Scielo, Google Scholar

Population-dynamics-assisted coalitional model predictive control for parabolic-trough solar plants

This paper proposes a coalitional model predictive control method for temperature regulation in parabolic-trough solar fields. The global optimization problem is divided into a set of local subproblems that will be solved in parallel by a set of coalitions. However, these local (smaller) problems remain coupled by a common global resource constraint. In this regard, we present a population-dynamics-assisted resource allocation approach to fully decouple the local optimization problems. By doing this, each coalition can address its corresponding optimization problem without relying on the solutions of the other coalitions. To illustrate the proposed methodology, we provide simulation results for a 100-loop parabolic-trough solar collector field.The authors gratefully acknowledge the financial support by the European Research Council (ERC) under the European Union’s Horizon 2020 research and innovation program (OCONTSOLAR, grant agreement No 789051). In addition, the authors would like to thank the projects PID2020-119476RB-I00 (C3PO-R2D2) and TED2021-129927B-I00 (MASHED) funded by MCIN/ AEI /10.13039/501100011033 and by the “European Union NextGenerationEU/ PRTR” for supporting this research. Finally, Juan Martinez- Piazuelo gratefully acknowledges the Universitat Politècnica de Catalunya and Banco Santander for the financial support of his predoctoral grant FPI-UPC.Peer ReviewedPostprint (published version

Coalitional model predictive control of parabolic-trough solar collector fields with population-dynamics assistance

Parabolic-trough solar collector fields are large-scale systems, so the application of centralized optimizationbased control methods to these systems is often not suitable for real-time control. As such, this paper formulates a novel coalitional control approach as an appropriate alternative to the centralized scheme. The key idea is to split the overall solar collector field into smaller subsystems, each of them governed by a local controller. Then, controllers are clustered into coalitions to solve a local optimization-based problem related to the corresponding subset of subsystems, so that an approximate solution of the original centralized problem can be obtained in a decentralized fashion. However, the operational constraints of the solar collector field couple the optimization problems of the multiple coalitions, thus limiting the ability to solve them in a fully decentralized manner. To overcome this issue, a novel population-dynamics-assisted resource allocation strategy is proposed as a mechanism to decouple the local optimization problems of the multiple coalitions. The proposed coalitional methodology allows to solve the multiple local subproblems in parallel, hence reducing the overall computational burden, while guaranteeing the satisfaction of the operational constraints and without significantly compromising the overall performance. The effectiveness of proposed approach is shown through numerical simulations of a 10- and 100-loop version of the ACUREX solar collector field of Plataforma Solar de Almería, Spain.Peer ReviewedPostprint (published version

Alimentos con mucha química

Unidad de Cultura Científica de y de la Innovación (UCC+i) y Campus de Excelencia Internacional Agroalimentario (ceiA3) de la Universidad de CádizEn esta presentación se encontrará material docente para introducir conceptos básicos de química (pH, reacciones químicas, creación de miscelas, análisis cualitativo...) mediante la realización de experimentos sencillos con alimentos.18 página

Pharmacogenetic polymorphisms affecting bisoprolol response

This article is part of the thesis: Analysis of genetic variants associated with response to bisoprolol in patients with acute coronary syndrome with percutaneous coronary intervention with stent, within the doctoral program in Pharmacy at the University of Granada, to whom we thank for their collaboration. We would like to thank Dr. T. Eschenhagen and Dr. K. Kontula for sharing with us detailed information from their articles [16,22] which have allowed us to perform the meta-analysis.β-blockers are commonly prescribed to treat multiple cardiovascular (CV) diseases, but, frequently, adverse drug reactions and intolerance limit their use in clinical practice. Interindividual variability in response to β-blockers may be explained by genetic differences. In fact, pharmacogenetic interactions for some of these drugs have been widely studied, such as metoprolol. But studies that explore genetic variants affecting bisoprolol response are inconclusive, limited or confusing because of mixed results with other β-Blockers, different genetic polymorphisms observed, endpoint studied etc. Because of this, we performed a systematic review in order to find relevant genetic variants affecting bisoprolol response. We have found genetic polymorphism in several genes, but most of the studies focused in ADRB variants. The ADRB1 Arg389Gly (rs1801253) was the most studied genetic polymorphism and it seems to influence the response to bisoprolol, although studies are inconclusive. Even, we performed a meta-analysis about its influence on systolic/diastolic blood pressure in patients treated with bisoprolol, but this did not show statistically significant results. In conclusion, many genetic polymorphisms have been assessed about their influence on patients´ response to bisoprolol and the ADRB1 Arg389Gly (rs1801253) seems the most relevant genetic polymorphism in this regard but results have not been confirmed with a meta-analysis. Our results support the need of further studies about the impact of genetic variants on bisoprolol response, considering different genetic polymorphisms and conducting single and multiple SNPs analysis, including other clinical parameters related to bisoprolol response in a multivariate study