Comparative study of control algorithms for maneuvers of first generation TECs* and two degrees of freedom

[EN] From the devices for harnessing the energy of ocean currents (In English, they are denoted as TEC “Tidal Energy Converters”. This term does not englobe all the devices for marine current harnessing), those denoted as first-generation devices are used to obtain energy from underwater currents at depths that do not exceed 40 or 50 m, which configures them as structures supported over the seabed. For the energy exploitation of this resource to be competitive, from a technical and economic perspective, it is necessary to overcome various technological challenges, and to reduce operating costs, focusing the effort on lowering maintenance costs too. Thanks to the implementation of a ballast control system, these generators are equipped with the possibility of automatically changing orientation and depth during emersion-immersion maneuvers, which can reduce these costs. This work presents the dynamic modeling of a device with two degrees of freedom and several multivariable control algorithms, all of them based on a non-linear decoupling matrix, together with the compensation of the loss of buoyancy term in the neighborhood of the free surface. The performance of these controllers is evaluated by simulating the emersion maneuver of a full-scale device, and these results are validated with a small-scale prototype in the Model Basin. Finally, the obtained results under simulation are compared, and experimental validation is presented.[ES] Los Dispositivos de Aprovechamiento de la Energía de las Corrientes (DAECs), denominados de primera generación, se emplean para la obtención de la energía de las corrientes submarinas en profundidades que no superan los 40 ó 50 m, lo que los configura como estructuras apoyadas en el fondo marino. Para que la explotación energética de este recurso sea competitiva -desde una perspectiva técnica y económica-, se requiere superar diversos retos tecnológicos y además, reducir los gastos de explotación, focalizando los esfuerzos en un abaratamiento de los costos de mantenimiento. Gracias a la implantación de un sistema de control de lastres, se dotan a estos generadores de la posibilidad de cambiar automáticamente de orientación y profundidad durante las maniobras de emersión-inmersión que pueden reducir dichos costos. En este trabajo se presenta el modelado dinámico de un dispositivo de dos grados de libertad y varios algoritmos de control multivariable, todos ellos basados en una matriz no lineal de desacoplamiento, junto con el término de compensación de la pérdida de empuje en las cercanías de la superficie libre. Se evalúan las prestaciones de estos controladores mediante la simulación de la maniobra de emersión de un dispositivo a escala real, y se validan los resultados con un prototipo a escala en Canal de Ensayos. Finalmente, se comparan los resultados obtenidos en simulación y se presenta su validación experimental.Este trabajo se ha realizado con financiación parcial del Ministerio de Ciencia e Innovación, a través del Proyecto de Investigación Fundamental DPI2014-53499-R CoDMAEC y del Grupo Tecnológico de Investigación en Energías Renovables Marinas de la Universidad Politécnica de Madrid, GIT-ERM. Los autores quieren agradecer al Tribunal que otorgó el premio al mejor trabajo de los presentados a las XL Jornadas de Automática de Ferrol en 2019 por su consideración. También al personal del CEHINAV, en la ETSI Navales de la UPM, por su siempre amable colaboración altruista. 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Control architecture of a prototype for the real-time validation of emersion and immersion maneuvers of underwater devices for energy harnessing

The exploitation of renewable marine energy sources requires devices which have been proven to be economically competitive with regard to other traditional energy sources. One of the current study aims is to reduce maintenance costs by successively automating more tasks. It is necessary to design and build laboratory prototypes in order to validate both the dynamic model and the control algorithms for the automatic emersion (depth to the sea surface) and immersion (from the sea surface to the depth of operation) maneuvers of devices with which to harness renewable energies. This paper presents the instrumentation and control architecture of a reduced scale prototype that was conceived for experimentation in a calm water basin.Peer Reviewe

Gram-negative prosthetic joint infection: outcome of a debridement, antibiotics and implant retention approach. A large multicentre study

AbstractWe aim to evaluate the epidemiology and outcome of gram-negative prosthetic joint infection (GN-PJI) treated with debridement, antibiotics and implant retention (DAIR), identify factors predictive of failure, and determine the impact of ciprofloxacin use on prognosis. We performed a retrospective, multicentre, observational study of GN-PJI diagnosed from 2003 through to 2010 in 16 Spanish hospitals. We define failure as persistence or reappearance of the inflammatory joint signs during follow-up, leading to unplanned surgery or repeat debridement >30 days from the index surgery related death, or suppressive antimicrobial therapy. Parameters predicting failure were analysed with a Cox regression model. A total of 242 patients (33% men; median age 76 years, interquartile range (IQR) 68–81) with 242 episodes of GN-PJI were studied. The implants included 150 (62%) hip, 85 (35%) knee, five (2%) shoulder and two (1%) elbow prostheses. There were 189 (78%) acute infections. Causative microorganisms were Enterobacteriaceae in 78%, Pseudomonas spp. in 20%, and other gram-negative bacilli in 2%. Overall, 19% of isolates were ciprofloxacin resistant. DAIR was used in 174 (72%) cases, with an overall success rate of 68%, which increased to 79% after a median of 25 months' follow-up in ciprofloxacin-susceptible GN-PJIs treated with ciprofloxacin. Ciprofloxacin treatment exhibited an independent protective effect (adjusted hazard ratio (aHR) 0.23; 95% CI, 0.13–0.40; p <0.001), whereas chronic renal impairment predicted failure (aHR, 2.56; 95% CI, 1.14–5.77; p 0.0232). Our results confirm a 79% success rate in ciprofloxacin-susceptible GN-PJI treated with debridement, ciprofloxacin and implant retention. New therapeutic strategies are needed for ciprofloxacin-resistant PJI