Recursive linear estimation for discrete time systems in the presence of different multiplicative observation noises

This paper describes a design for a least mean square error estimator in discrete time systems where the components of the state vector, in measurement equation, are corrupted by different multiplicative noises in addition to observation noise. We show how known results can be considered a particular case of the algorithm stated in this paperState estimation, multiplicative noise, uncertain observations

PWM Control of a Buck Converter with an Amorphous Core Coil

Pulse-width modulation is widely used to control electronic converters. One of the most topologies used for high DC voltage/low DC voltage conversion is the Buck converter. It is obtained as a second order system with a LC filter between the switching subsystem and the load. The use of a coil with an amorphous magnetic material core instead of air core lets design converters with smaller size. If high switching frequencies are used for obtaining high quality voltage output, the value of the auto inductance L is reduced throughout the time. Then, robust controllers are needed if the accuracy of the converter response must not be affected by auto inductance and load variations. This paper presents a robust controller for a Buck converter based on a state space feedback control system combined with an additional virtual space variable which minimizes the effects of the inductance and load variations when a not-toohigh switching frequency is applied. The system exhibits a null steady-state average error response for the entire range of parameter variations. Simulation results are presented

Development of an electrochemical maltose biosensor

In this work, electrochemical maltose biosensors based on mutants of the maltose binding protein (MBP) are developed. A ruthenium II complex (Ru II ), which is covalently attached to MBP, serves as an electrochemical reporter of MBP conformational changes. Biosensors were made through direct attachment of Ru II complex modified MBP to gold electrode surfaces. The responses of some individual mutants were evaluated using square wave voltammetry. A maltose-dependent change in Faradic current and capacitance was observed. It is therefore demonstrated that biosensors using generically this family of bacterial periplasmic binding proteins (bPBP) can be made lending themselves to facile biorecognition element preparation and low cost electrochemical transduction

Using the Own Flexibility of a Climbing Robot as a Double Force Sensor

Force sensors are used when interaction tasks are carried out by robots in general, and by climbing robots in particular. If the mechanics and electronics systems are contained inside the own robot, the robot becomes portable without external control. Commercial force sensors cannot be used due to limited space and weight. By selecting the links material with appropriate stiffness and placing strain gauges on the structure, the own robot flexibility can be used such as force sensor. Thus, forces applied on the robot tip can be measured without additional external devices. Only gauges and small internal electronic converters are necessary. This paper illustrates the proposed algorithm to achieve these measurements. Additionally, experimental results are presented

Torque control of switched reluctance motors

This paper presents the performance of an instantaneous torque control method. The simulation and experimental results illustrate the capability of Switched Reluctance Motors (SRM) being used in the motor drive industry. Based on experimental data, the advantages of this control method and its disadvantages in practical implementation were studied. The model used in the simulation is the linear magnetic model which has the 12/8 structure, the same structure as the experimental switched reluctance motor

Efectos de un entrenamiento de fuerza de corta duración sobre la capacidad de salto vertical en jugadores de voleibol de elite durante la temporada

The aim of this study was to describe the effects of 6 weeks of combined strength and jump training which incorporated modera te loads and high intensity contractions on the vertical jump ability (VJ), loaded jumps and velocity of execution in full squat in a group of professional male volleyball players during the competition season. It was hypothesized that the VJ improved by cross combined strength and jump training both characterized by high velocity of execution (>1m/s). The participants in this study were twelve players who competed in the fir st national division of the Spanish National League during the 2011-2012 season. The neuromuscular performance was estimated by unloaded (CMJ) and load ed countermovement jumps (CMJ loaded ) height (cm); and by velocity of displacement in the concentric phase of full squat (FS) (m/s). There was a significant increase in CMJ and CMJ loaded after 6-week of training (5%, p<0.01; and 5.7%, p<0.05; respectively). These changes were accompanied by a small and moderate value of Effect Size (0.47, and 0.67; respectively). No significant differences were observed for velocity of displacement in FS. The linear correlation analysis showed a single moderate correlation statistically significant between the changes in CMJ-CMJ loaded and CMJ-FS (r=0.62 and r=0.59, p<0.05; respectively). Albeit speculative, our results suggest that the use of moderate loads could be enough to im prove the vertical jump performance, since in our study a load equivalent to 60% 1RM in the FS was not exceeded and jumping exercises were performed wi th light loads.El objetivo de este estudio fue describir los efectos de 6 semanas de entrenamiento combinado de fuerza y salto, el cual incorpora cargas moderadas e intensidades de contracción altas, sobre la capacidad de salto vertical, saltos con cargas y la velocidad de ejecución en el ejercicio de sentadilla en un grupo de jugadores profesionales de voleibol durante la temporada de competición. Se estableció la hipótesis de que el sa lto vertical mejoro por el uso combinado de entrenamiento de fuerza y salto, ambos caracterizados por una alta velocidad de ejecución (>1m/s). El rendimie nto neuromuscular fue estimado por la altura (cm) del salto sin cargas (CMJ), salto con cargas (CMJ loaded ), y por la velocidad (m/s) de desplazamiento en la fase concéntrica en la sentadilla completa (FS). Tuvo lugar un incremento significativo en CMJ y CMJ loaded después de 6 semanas de entrenamientos (5%, p<0.01; y 5.7%, p<0.05; respectivamente). Estos cambios fueron acompañados por un valor de Tamaño del Efecto pequeño y moderado (0.47, and 0.67 ; respectivamente). No se observaron diferencias significativas en la velocidad de desplazamiento en FS. El análisis de correlación lineal mostró una correlación moderada estadísticamente significativa entre los cambios en CMJ-CMJ loaded y CMJ-FS (r=0.62; y r=0.59, p<0.05; respectivamente). Aunque algo especulativo, nuestros resultados sugieren que el uso de cargas moderadas podría ser suficiente para mejorar el rendimiento del salto vertical, ya que en nuestro estudio no se excedió una carga equivalente al 60% de 1RM en FS y los ejercicios de saltos también fueron realizados con cargas ligeras

La educación del estudiante con discapacidad auditiva: experiencia en la escuela inclusiva

La ponencia presentada a la consideración del Comité del XIX Congreso Internacional INFAD, responde al eje temático: discapacidad, que busca aportar al proceso educativo, el principal objetivo es contribuir con buenas prácticas al sistema educativo y conocer la situación de aprendizaje de los estudiantes con discapacidad auditiva. En una escuela abierta a la diversidad que busca educar en competencias para la vida, en este caso específico dirigido a estudiante con discapacidad auditiva, la educación de la persona sorda se ha constituido durante mucho tiempo en el principal foco de interés en los docentes, hoy tenemos propuestas metodológicas innovadoras para la enseñanza de habilidades lectoras y escritoras del estudiante con discapacidad auditiva lo que se pretende es compartir nuevas formas de ver y entender el proceso de aprendizaje en los estudiantes. De igual forma compartir herramientas conceptuales y prácticas de la adquisición de la lectura sobre la base del descubrimiento y la utilización en contextos comunicativos reales en una escuela común. Al final de la propuesta de ponencia queremos reflexionar sobre como ajustar todos las formas de mediación pensadas para oyentes a la condición de la discapacidad sensorial basada en los principios rectores de educación para todos, respeto, justicia, y oportunidades para aprender.The conference submit to the Scientific Commitee of the INFAD XIX International Congress; the presentation respond to a thematic disabled, want to contribute into the educational process, the main objective to contribute the best practices to the educational system and known the learning condition to the disabled auditory student. Into an school open to diversification wants to educate into competences for the life, in the specific case oriented to disables auditory students , the education of the deaf person constitute during a very long time into the main focus of interest to docents, today we have innovatives methodological propossals to teach writing and reading habilities of the disabled auditory student, we try to share new form to understandig the learning process of the students. At the same manner show the conceptual tools and practices of the reading adquisitions based at the descovery and use into real communicative contexts, in a common school. At the end of the proppossal we hope to thought about adjust all the thinked manners of mediation to listener persons to the condition of the perceptive disabled based at the rector principles of the education for all, respect, justice, and opportunities to learn