Control de ganancias variables para robots de ngrados de libertad

En este artículo se aborda el problema de sintonía de ganancias variables para un controlador tipo proporcional derivativo más compensación de gravedad. Se presentan los datos obtenidos a partir del movimiento de los eslabones de un robot de tres grados de libertad tipo articular, de acuerdo a una ley de control de diseño que cumple las características de una función de Lyapunov, además de una función que sintoniza las ganancias del controlador proporcional derivativo de forma automática.Palabra(s) Clave(s): función de Lyapunov, ganancia variable, moldeo de energía

COORDINACIÓN DE DOS DRONES MEDIANTE UN SENSOR DE ALTITUD/ORIENTACIÓN MONOCULAR (COORDINATION OF TWO DRONES THROUGH AN ALTITUDE/ORIENTATION MONOCULAR SENSOR)

En este trabajo se describe la coordinación entre dos drones: un cuadri-rotor (dron esclavo) y un tri-rotor (dron maestro) este último con movimiento de inclinación en los motores. Este movimiento especial será usado para hacer control de seguimiento. Se presenta un consensus de vuelo en desplazamiento no holonómico del dron maestro en términos de posición y ángulo. El dron maestro es controlado utilizando una PC mediante dos transceptores RF con los que se reciben las ganancias de control y las posiciones deseadas. En el dron esclavo se precargan las ganancias de control y únicamente se tienen los valores de referencia la distancia entre drones ( ) y la posición  en el plano de la imagen. Se pretende simular un sistema de tren aéreo usando una cámara por dron esclavo mediante el uso de un algoritmo de cuatro puntos para detectar los ángulos de Euler y la posición cartesiana en el plano de la imagen de la cámara. Finalmente se muestran las gráficas en la sección de resultados, donde se analizarán las respuestas de control utilizando la cámara y sin ella.Palabra(s) Clave: Control, Visión, Robótica. AbstractIn this paper it is described the coordination between two drones: one quadrotor (slave) and one trirotor (master) with tilt movement in the motors. This special movement of the first will be used to make a tracking control. The paper presents a non-holonomic displacement towards a consensus in flight and in terms of the position and the angle. The master drone is controlled via Radio Frequency (RF) with two transceptors using a PC who gives the syntonization parameters for the drone and the desired positions. The slave drone have preloaded the control parameters and the control inputs are the desired positions  and  the distance between drones. In this work, we pretend simulate an aerial train system using a camera per drone slave through the detection of four points to get the Euler angles and the Cartesian position from the camera. Finally the graphs of responses are showed in the results, where is analyzed the control responses using the camera and without it.Keywords: Control, Vision, Robotics

Centrality evolution of the charged-particle pseudorapidity density over a broad pseudorapidity range in Pb-Pb collisions at root s(NN)=2.76TeV

Peer reviewe

Hypertriton production in p–Pb collisions at √sNN = 5.02 TeV

The study of nuclei and antinuclei production has proven to be a powerful tool to investigate the formation mechanism of loosely bound states in high-energy hadronic collisions. The first measurement of the production of 3ΛH in p-Pb collisions at sNN−−−√ = 5.02 TeV is presented in this Letter. Its production yield measured in the rapidity interval −1<y<0 for the 40% highest multiplicity p-Pb collisions is dN/dy=[6.3±1.8(stat.)±1.2(syst.)]×10−7. The measurement is compared with the expectations of statistical hadronisation and coalescence models, which describe the nucleosynthesis in hadronic collisions. These two models predict very different yields of the hypertriton in charged particle multiplicity environments relevant to small collision systems such as p-Pb and therefore the measurement of dN/dy is crucial to distinguish between them. The precision of this measurement leads to the exclusion with a significance larger than 6.9σ of some configurations of the statistical hadronization model, thus constraining the theory behind the production of loosely bound states at hadron colliders

Inclusive J/ψ production in pp collisions at √s=2.76 TeV

The ALICE Collaboration has measured inclusive J/ψ production in pp collisions at a center-of-mass energy √s=2.76 TeV at the LHC. The results presented in this Letter refer to the rapidity ranges |y|<0.9 and 2.5<y<4 and have been obtained by measuring the electron and muon pair decay channels, respectively. The integrated luminosities for the two channels are Linte=1.1 nb−1 and Lintμ=19.9 nb−1, and the corresponding signal statistics are NJ/ψe+e−=59±14 and NJ/ψμ+μ−=1364±53. We present dσJ/ψ/dy for the two rapidity regions under study and, for the forward-y range, d2σJ/ψ/dydpt in the transverse momentum domain 0<pt<8 GeV/c. The results are compared with previously published results at s=7 TeV and with theoretical calculations

Suppression of charged particle production at large transverse momentum in central Pb–Pb collisions at √sNN=2.76 TeV

Inclusive transverse momentum spectra of primary charged particles in Pb–Pb collisions at √sNN=2.76 TeV have been measured by the ALICE Collaboration at the LHC. The data are presented for central and peripheral collisions, corresponding to 0–5% and 70–80% of the hadronic Pb–Pb cross section. The measured charged particle spectra in |η|<0.8 and 0.3<pT<20 GeV/c are compared to the expectation in pp collisions at the same sNN, scaled by the number of underlying nucleon–nucleon collisions. The comparison is expressed in terms of the nuclear modification factor RAA. The result indicates only weak medium effects (RAA≈0.7) in peripheral collisions. In central collisions, RAA reaches a minimum of about 0.14 at pT=6–7 GeV/c and increases significantly at larger pT. The measured suppression of high-pT particles is stronger than that observed at lower collision energies, indicating that a very dense medium is formed in central Pb–Pb collisions at the LHC

Two-pion Bose–Einstein correlations in central Pb–Pb collisions at √sNN=2.76 TeV

The first measurement of two-pion Bose–Einstein correlations in central Pb–Pb collisions at √sNN=2.76 TeV at the Large Hadron Collider is presented. We observe a growing trend with energy now not only for the longitudinal and the outward but also for the sideward pion source radius. The pion homogeneity volume and the decoupling time are significantly larger than those measured at RHIC

Coherent J/ψ photoproduction in ultra-peripheral Pb–Pb collisions at √sNN=2.76 TeV

The ALICE Collaboration has made the first measurement at the LHC of J/ψ photoproduction in ultra-peripheral Pb–Pb collisions at sNN=2.76 TeV. The J/ψ is identified via its dimuon decay in the forward rapidity region with the muon spectrometer for events where the hadronic activity is required to be minimal. The analysis is based on an event sample corresponding to an integrated luminosity of about 55 μb−1. The cross section for coherent J/ψ production in the rapidity interval −3.6<y<−2.6 is measured to be dσJ/ψcoh/dy=1.00±0.18(stat)−0.26+0.24(syst) mb. The result is compared to theoretical models for coherent J/ψ production and found to be in good agreement with those models which include nuclear gluon shadowing

Neutral pion and η meson production in proton–proton collisions at √s=0.9 TeV and s=√7 TeV

he first measurements of the invariant differential cross sections of inclusive π0 and η meson production at mid-rapidity in proton–proton collisions at s=0.9 TeV and s=7 TeV are reported. The π0 measurement covers the ranges 0.4<pT<7 GeV/c and 0.3<pT<25 GeV/c for these two energies, respectively. The production of η mesons was measured at s=√7 TeV in the range 0.4<pT<15 GeV/c. Next-to-Leading Order perturbative QCD calculations, which are consistent with the π0 spectrum at s=0.9 TeV, overestimate those of π0 and η mesons at s=√7 TeV, but agree with the measured η/π0 ratio at s=√7 TeV

Ds+ meson production at central rapidity in proton–proton collisions at √s=7 TeV

The pT-differential inclusive production cross section of the prompt charm-strange meson Ds+ in the rapidity range |y|<0.5 was measured in proton–proton collisions at s=7 TeV at the LHC using the ALICE detector. The analysis was performed on a data sample of 2.98×108 events collected with a minimum-bias trigger. The corresponding integrated luminosity is Lint=4.8 nb−1. Reconstructing the decay Ds+→ϕπ+, with ϕ→K−K+, and its charge conjugate, about 480 Ds± mesons were counted, after selection cuts, in the transverse momentum range 2<pT<12 GeV/c. The results are compared with predictions from models based on perturbative QCD. The ratios of the cross sections of four D meson species (namely D0, D+, D⁎+ and Ds+) were determined both as a function of pT and integrated over pT after extrapolating to full pT range, together with the strangeness suppression factor in charm fragmentation. The obtained values are found to be compatible within uncertainties with those measured by other experiments in e+e−, ep and pp interactions at various centre-of-mass energies