Torque Vectoring Predictive Control of a Four In-Wheel Motor Drive Electric Vehicle

The recent integration of vehicles with electrified powertrains in the automotive sector provides higher energy efficiency, lower pollution levels and increased controllability. These features have led to an increasing interest in the development of Advanced Driver- Assistance Systems (ADAS) that enhance not only the vehicle dynamic behaviour, but also its efficiency and energy consumption. This master’s thesis presents some contributions to the vehicle modeling, parameter estimation, model predictive control and reference generation applied to electric vehicles, paying particular attention to both model and controller validation, leveraging offline simulations and a real-time driving simulator. The objective of this project is focused on the Nonlinear Model Predictive Controller (NMPC) technique developing torque distribution strategies, specifically Torque Vectoring (TV) for a four-in wheel motor drive electric vehicle. A real-time TV-NMPC algorithm will be implemented, which maximizes the wheels torque usage and distribution to enhance vehicle stability and improve handling capabilities. In order to develop this control system, throughout this thesis the whole process carried out including the implementation requirements and considerations are described in detail. As the NMPC is a model-based approach, a nonlinear vehicle model is proposed. The vehicle model, the estimated parameters and the controller will be validated through the design of open and closed loop driving maneuvers for offline simulations performed in a simulation plant (VI-CarRealTime) and by means of a real-time driving simulator (VI-Grade Compact Simulator) to test the vehicle performance through various dynamic driving conditions

Torque Vectoring Predictive Control of a Four In-Wheel Motor Drive Electric Vehicle

The recent integration of vehicles with electrified powertrains in the automotive sector provides higher energy efficiency, lower pollution levels and increased controllability. These features have led to an increasing interest in the development of Advanced Driver- Assistance Systems (ADAS) that enhance not only the vehicle dynamic behaviour, but also its efficiency and energy consumption. This master’s thesis presents some contributions to the vehicle modeling, parameter estimation, model predictive control and reference generation applied to electric vehicles, paying particular attention to both model and controller validation, leveraging offline simulations and a real-time driving simulator. The objective of this project is focused on the Nonlinear Model Predictive Controller (NMPC) technique developing torque distribution strategies, specifically Torque Vectoring (TV) for a four-in wheel motor drive electric vehicle. A real-time TV-NMPC algorithm will be implemented, which maximizes the wheels torque usage and distribution to enhance vehicle stability and improve handling capabilities. In order to develop this control system, throughout this thesis the whole process carried out including the implementation requirements and considerations are described in detail. As the NMPC is a model-based approach, a nonlinear vehicle model is proposed. The vehicle model, the estimated parameters and the controller will be validated through the design of open and closed loop driving maneuvers for offline simulations performed in a simulation plant (VI-CarRealTime) and by means of a real-time driving simulator (VI-Grade Compact Simulator) to test the vehicle performance through various dynamic driving conditions

Diseño de dron submarino: diseño estructural, control de movimiento y sistema de alimentación

El objetivo del presente TFG es diseñar estructuralmente un prototipo funcional de dron submarino. El prototipo debe ser capaz de moverse debajo del agua y alcanzar 20 metros de profundidad, siendo totalmente estanco. Se estudia la flotabilidad del submarino, su integridad estructural y la implementación de un cordón umbilical para unir el prototipo con la unidad de control. Además, diseñando un sistema que dota de movilidad al submarino mediante propulsores. Paralelamente, se implementará un sistema de alimentación compuesto por una batería de alta capacidad que se ubicará en el interior del submarino. Asimismo, se llevará a cabo un análisis energético de los diversos sistemas empleados. Se analizarán los resultados de las pruebas de estanqueidad y movimiento que se han llevado a cabo para verificar el correcto comportamiento del prototipo ante los problemas que presenta el medio. Se concluye que el dron es eficaz en la observación del fondo marino, cumpliendo los requisitos de diseño propuestos.The aim of this TFG work is to structurally design a functional submarine drone prototype. This prototype must be able to move through underwater conditions and reach a level of 20 metres depth, maintaining water tightness. The submarine's buoyancy, its structural integrity and implementing an underwater Tether for a prototype with a control unit are studied. In addition, a submarine mobility system by means of propellers is designed. At the same time, a feeding system composed of a high capacity battery located inside the submarine is installed. Meanwhile, an energy analysis of the various systems used will be carried out. The results of the tightness and movement tests have been accomplished in order to verify the correct behaviour of this prototype before the problems presented by the sea water environment will be analysed. It can be concluded that the drone is effective in observing the seabed, meeting the proposed design requirements

Transfusiones en pediatría

La transfusión es la infusión de componentes de la sangre o sangre total en el torrente sanguíneo, considerada una medida terapéutica, de la cual se debe tener un conocimiento fisiológico claro y preciso en la edad pediátrica. El objeto de las transfusiones es aportar los elementos de la sangre en cantidad suficiente y con la mayor capacidad funcional posible en una situación de emergencia. Los conocimientos inmunohematológicos logran evitar, en la mayor parte de los casos problemas de incompatibilidad y sensibilización. En nuestro país no existen registros claros acerca de los requerimientos transfusionales por edades, o los más solicitados. Hacemos una revisión sistemática sobre los diferentes componentes sanguíneos, indicaciones, características y dosis y por último los efectos transfusionales adversos

Anemia de Células Falciformes: Una revisión

La anemia hemolítica más frecuente en la población mundial es la anemia de células falciformes, con una incidencia de 1/600 recién nacidos en Estados Unidos y en España algunas regiones con incidencia de 1/5000 neonatos; en Colombia no hay registros con respecto a la incidencia y prevalencia.La transmisión de la ACF es autosómica dominante. Los  homocigotos (SS),  no sintetizan Hb A y poseen eritrocitos con un 90% de Hb S. El  portador o heterocigoto (AS) tiene hematíes con Hb A mayor al 50% y Hb S de 20 – 40% y son usualmente asintomáticos.La Hb S se debe a una mutación en el gen de la cadena beta de globina, lo que conlleva a la polimerización de la Hb en condiciones de baja oxigenación, originándose un cambio en la morfología del eritrocito adquiriendo la forma falciforme.La sintomatología es secundaria a la anemia hemolítica crónica, la vaso–oclusión en los diferentes órganos y la asplenia funcional la cual predispone a la infección. Otras manifestaciones asociadas son el secuestro esplénico, la aplasia eritroide y las complicaciones órgano – especificas, que disminuyen la calidad de vida y predisponen a mayor mortalidad.Su manejo debe realizarse en centros de referencia donde haya un manejo integral incluyendo el recurso humano y físico, ya que el manejo inadecuado y sus complicaciones disminuyen la sobrevida la cual no es superior a los 45 años según reportes

El aprendizaje lúdico de la literatura en niños de educación básica primaria, apoyado en dispositivos tecnológicos como los Ambientes Hipermediales

The present article reports a research project developed by the HIMINI research group, entitled “The Impact of a Hypermedial Environment on the Understanding and Production Processes of Verbal Artistic Texts by Students of Fifth Grade at Primary School”. The main aim of this study is to investigate the effects that a hypermedial environment, produced by this research group, may have on the fifth grade students’ learning of literature. The artistic texts that are central to this study are Short-short Stories and flash fiction. The main findings suggest that there is progress in the understanding and production of these types of literary texts, that the digital gap among the students who used the hipermedial environment is reduced, and that it fosters colective virtual intelligence with literary purposes.El presente artículo busca dar a conocer uno de los proyectos de investigación del grupo HIMINI3, titulado: “Impacto de un Ambiente Hipermedial en los procesos de comprensión y producción de texto artístico verbal de estudiantes de grado quinto de educación básica primaria”, cuyo objetivo es indagar acerca de los efectos que tiene un Ambiente Hipermedial, producido por este grupo, en el aprendizaje de la literatura de los niños del grado mencionado. El núcleo artístico del dispositivo es el minicuento o la minificción, y entre los resultados más relevantes se pueden señalar: el progreso en la comprensión y producción de texto artístico breve, la disminución de la brecha digital entre los usuarios estudiantiles y el fomento de una inteligencia colectiva virtual con intención literari

CANDELS Sheds Light on the Environmental Quenching of Low-mass Galaxies

We investigate the environmental quenching of galaxies, especially those with stellar masses (M*)$<10^{9.5} M_\odot$, beyond the local universe. Essentially all local low-mass quenched galaxies (QGs) are believed to live close to massive central galaxies, which is a demonstration of environmental quenching. We use CANDELS data to test {\it whether or not} such a dwarf QG--massive central galaxy connection exists beyond the local universe. To this purpose, we only need a statistically representative, rather than a complete, sample of low-mass galaxies, which enables our study to $z\gtrsim1.5$. For each low-mass galaxy, we measure the projected distance ($d_{proj}$) to its nearest massive neighbor (M*$>10^{10.5} M_\odot$) within a redshift range. At a given redshift and M*, the environmental quenching effect is considered to be observed if the $d_{proj}$ distribution of QGs ($d_{proj}^Q$) is significantly skewed toward lower values than that of star-forming galaxies ($d_{proj}^{SF}$). For galaxies with $10^{8} M_\odot < M* < 10^{10} M_\odot$, such a difference between $d_{proj}^Q$ and $d_{proj}^{SF}$ is detected up to $z\sim1$. Also, about 10\% of the quenched galaxies in our sample are located between two and four virial radii ($R_{Vir}$) of the massive halos. The median projected distance from low-mass QGs to their massive neighbors, $d_{proj}^Q / R_{Vir}$, decreases with satellite M* at $M* \lesssim 10^{9.5} M_\odot$, but increases with satellite M* at $M* \gtrsim 10^{9.5} M_\odot$. This trend suggests a smooth, if any, transition of the quenching timescale around $M* \sim 10^{9.5} M_\odot$ at $0.5<z<1.0$.Comment: 8 pages, 5 figures. ApJL accepted. Typos correcte

The first super-Earth Detection from the High Cadence and High Radial Velocity Precision Dharma Planet Survey

The Dharma Planet Survey (DPS) aims to monitor about 150 nearby very bright FGKM dwarfs (within 50 pc) during 2016$-$2020 for low-mass planet detection and characterization using the TOU very high resolution optical spectrograph (R$\approx$100,000, 380-900nm). TOU was initially mounted to the 2-m Automatic Spectroscopic Telescope at Fairborn Observatory in 2013-2015 to conduct a pilot survey, then moved to the dedicated 50-inch automatic telescope on Mt. Lemmon in 2016 to launch the survey. Here we report the first planet detection from DPS, a super-Earth candidate orbiting a bright K dwarf star, HD 26965. It is the second brightest star ($V=4.4$ mag) on the sky with a super-Earth candidate. The planet candidate has a mass of 8.47$\pm0.47M_{\rm Earth}$, period of $42.38\pm0.01$ d, and eccentricity of $0.04^{+0.05}_{-0.03}$. This RV signal was independently detected by Diaz et al. (2018), but they could not confirm if the signal is from a planet or from stellar activity. The orbital period of the planet is close to the rotation period of the star (39$-$44.5 d) measured from stellar activity indicators. Our high precision photometric campaign and line bisector analysis of this star do not find any significant variations at the orbital period. Stellar RV jitters modeled from star spots and convection inhibition are also not strong enough to explain the RV signal detected. After further comparing RV data from the star's active magnetic phase and quiet magnetic phase, we conclude that the RV signal is due to planetary-reflex motion and not stellar activity.Comment: 13 pages, 17 figures, Accepted for publication in MNRA