Offset-Free Model Predictive Control for Active Magnetic Bearings

L'abstract è presente nell'allegato / the abstract is in the attachmen

Fourier Neural Networks: An Approach with Sinusoidal Activation Functions

* Supported by INTAS 2000-626, INTAS YSF 03-55-1969, INTAS INNO 182, and TIC 2003-09319-c03-03.This paper presents some ideas about a new neural network architecture that can be compared to a Fourier analysis when dealing periodic signals. Such architecture is based on sinusoidal activation functions with an axo-axonic architecture [1]. A biological axo-axonic connection between two neurons is defined as the weight in a connection in given by the output of another third neuron. This idea can be implemented in the so called Enhanced Neural Networks [2] in which two Multilayer Perceptrons are used; the first one will output the weights that the second MLP uses to computed the desired output. This kind of neural network has universal approximation properties [3] even with lineal activation functions

Adaptive Model Predictive Control Including Battery Thermal Limitations for Fuel Consumption Reduction in P2 Hybrid Electric Vehicles

The primary objective of a hybrid electric vehicle (HEV) is to optimize the energy consumption of the automotive powertrain. This optimization has to be applied while respecting the operating conditions of the battery. Otherwise, there is a risk of compromising the battery life and thermal runaway that may result from excessive power transfer across the battery. Such considerations are critical if factoring in the low battery capacity and the passive battery cooling technology that is commonly associated with HEVs. The literature has proposed many solutions to HEV energy optimization. However, only a few of the solutions have addressed this optimization in the presence of thermal constraints. In this paper, a strategy for energy optimization in the presence of thermal constraints is developed for P2 HEVs based on battery sizing and the application of model predictive control (MPC) strategy. To analyse this approach, an electro-thermal battery pack model is integrated with an off-axis P2 HEV powertrain. The battery pack is properly sized to prevent thermal runaway while improving the energy consumption. The power splitting, thermal enhancement and energy optimization of the complex and nonlinear system are handled in this work with an adaptive MPC operated within a moving finite prediction horizon. The simulation results of the HEV SUV demonstrate that, by applying thermal constraints, energy consumption for a 0.9 kWh battery capacity can be reduced by 11.3% relative to the conventional vehicle. This corresponds to about a 1.5% energy increase when there is no thermal constraint. However, by increasing the battery capacity to 1.5 kWh (14s10p), it is possible to reduce the energy consumption by 15.7%. Additional benefits associated with the predictive capability of MPC are reported in terms of energy minimization and thermal improvement

Cultivo en maceta de Iris xiphium L. (Iris de Holanda) con diferentes concentraciones de humus de lombriz y sus lixiviados

Se evaluaron tres variedades de Iris xiphium L. cultivadas en maceta en cuatro proporciones de humus de lombriz y se aplicaron los lixiviados diluidos como bioabono foliar. El experimento se realizó en un diseño completamente al azar con arreglo trifactorial y se midieron ocho variables: longitud de tallo (LT), longitud de botón (LB), longitud de flor (LF), diámetro de botón (DB), diámetro de flor (DF), biomasa (B), área foliar (AF) y días de cosecha (DDC). Los resultados indicaron que la variedad Telstar resultó ser la más precoz. El mejor tratamiento en dicha variedad para las variables LT, LB, B, DF y DDC correspondió a la proporción 30/70 (% lombrihumus / % suelo) y la dilución 1:10 de lixiviado; el segundo mejor tratamiento fue en la variedad Discovery en la proporción 40/60 (%lombrihumus / %suelo) y dilución 1:10 de lixiviado para las variables LT, AF y B. El presente trabajo aporta nueva información en cuanto al uso de sustratos y abono foliar orgánicos para el manejo sustentable, con bajo impacto ambiental, en cultivos florícolas

Comparison between the methods of the norm L1, L2, hilbert transform and phase analysis to obtain the time of flight of ultrasonic signals

Ponencia presentada en el XIX Congreso Internacional de Acústica (ICA2007), Madrid, 2-7 Sep 2007.-- PACS: 43.60.Bf.Some techniques to estimate the time of flight (TOF) allow getting a larger resolution, more than a sampling period. Therefore, it is possible to obtain a greater accuracy in the measurement of acoustic parameters using the TOF.In this work a comparison between the mentioned methods is carried out; analyzing the standard deviation of the time of flight in relation to the sign to noise ratio (SNR) between 5 dB to 40 dB and a bandwidth of 4 MHz, 5 MHz and 6 MHz to -6 dB of simulated ultrasound signals, with the purpose of analyzing the performance of each method.The results demonstrate that the method of the phase estimation presents the bigger values of standard deviation. For high-SNRs the methods of the L1 and L2 norm present similar values; furthermore, they exhibit the lowest values of standard deviation of the TOF estimation of the four methods. Finally, it was observed that for low SNR the method of Hilbert transform allows to obtain values of standard deviation similar to the methods of the norm L1 and L2 with a smaller time of processing of the signal.Peer reviewe

Pot culture of Iris xiphium (Holland Iris) with different concentrations of earthworm humus and their lixiviates

Se evaluaron tres variedades de Iris xiphium L. cultivadas en maceta en cuatro proporciones de humus de lombriz y se aplicaron los lixiviados diluidos como bioabono foliar. El experimento se realizó en un diseño completamente al azar con arreglo trifactorial y se midieron ocho variables: longitud de tallo (LT), longitud de botón (LB), longitud de flor (LF), diámetro de botón (DB), diámetro de flor (DF), biomasa (B), área foliar (AF) y días de cosecha (DDC). Los resultados indicaron que la variedad Telstar resultó ser la más precoz. El mejor tratamiento en dicha variedad para las variables LT, LB, B, DF y DDC correspondió a la proporción 30/70 (% lombrihumus / % suelo) y la dilución 1:10 de lixiviado; el segundo mejor tratamiento fue en la variedad Discovery en la proporción 40/60 (%lombrihumus / %suelo) y dilución 1:10 de lixiviado para las variables LT, AF y B. El presente trabajo aporta nueva información en cuanto al uso de sustratos y abono foliar orgánicos para el manejo sustentable, con bajo impacto ambiental, en cultivos florícolas.Growth in pots of three varieties of Iris xiphium was evaluated in four proportions of earthworm humus and diluted lixiviate used as foliar organic fertilizer. The experiment was conducted in a completely randomized three factorial design where the following variables were measured: stem length (SL), bud length (BL), flower (FL), bud diameter (BD), flower diameter (FD), biomass (B), leaf area (LA) and days to harvest (HD). The results showed that the 'Telstar' range turned out to be the earlier. The best treatment in the range 'Telstar' for variables SL, BL, B, FD and HD corresponded to the proportion 30% of earthworm along with the 1:10 dilution of lixiviate the second best treatment was in the Discovery range with 40% of earthworm and 1:10 dilution of lixiviate for variables LT, AF and B. In regards the proportions of used earthworm the best results were obtained in the proportions 30 and 40% with the use of the 1:10 dilution lixiviate. The present study provides new information on the use of organic substrates and foliar fertilizer for sustainable, low environmental impact, flower crops.Fil: Milpa-Mejía, Silvia. Universidad Autónoma del Estado de México. Facultad de Ciencias AgrícolasFil: Grenón-Cascales, Graciela N.. Universidad Autónoma del Estado de México. Facultad de Ciencias AgrícolasFil: González-Castellanos, Anacleto. Universidad Autónoma del Estado de México. Facultad de Ciencias AgrícolasFil: Vázquez-García, Luis Miguel. Universidad Autónoma del Estado de México. Facultad de Ciencias Agrícola

Optimal Torque-Vectoring Control Strategy for Energy Efficiency and Vehicle Dynamic Improvement of Battery Electric Vehicles with Multiple Motors

Electric vehicles comprising multiple motors allow the individual wheel torque allocation, i.e. torque-vectoring. Powertrain configurations with multiple motors provide additional degree of freedom to improve system level efficiencies while ensuring handling performances and active safety. However, most of the works available on this topic do not simultaneously optimize both vehicle dynamic performance and energy efficiency while considering the real-time implementability of the controller. In this work, a new and systematic approach in designing, modeling, and simulating the main layers of a torque-vectoring control framework is introduced. The high level control combines the actions of an adaptive Linear Quadratic Regulator (A-LQR) and of a feedforward controller, to shape the steady-state and transient vehicle response by generating the reference yaw moment. A novel energy efficient torque allocation method is proposed as a low level controller. The torque is allocated on each wheel by solving a quadratic programming problem. The latter is solved in real-time to guarantee the desired yaw moment and the requested driver power demand while minimizing the system losses. The objective function of the quadratic problem accounts for the efficiency map of the electric machine as well as the dissipations due to tire slip phenomena. The torque-vectoring is evaluated in a co-simulation environment. Matlab/Simulink is used for the control strategy and VI-CarRealTime for the vehicle model and driver. The vehicle model represents a high performance pure electric SUV with four e-motors. The performance of the proposed controller is assessed using open loop maneuvers and in closed loop track lap scenarios. The results demonstrate that the proposed controller enhances the vehicle’s performance in terms of handling. Additionally, a significant improvement in energy saving in a wide range of lateral acceleration conditions is: presented. Moreover, the control strategy is validated using rapid control prototyping, thus guaranteeing a deterministic real-time implementation

Medio ambiente en Colombia

Colombia es el segundo país en biodiversidad del mundo por sus riquezas minerales y naturales, lo que hace que corporaciones y multinacionales quieran apropiarse de ellos, buscando divesas formas de extraer los recursos generales afectando y dañando el medio ambiente y todas las formas de vida que en él se albergan. En este artículo de reflexión se abordará la problemática de cómo la ambición hace que nuestros grandes recursos naturales desaparezcan, de cómo las especies animales se vean desplazadas de su hogar por la deforestación, de cómo la caza indiscriminada lleva al borde de la extinción a distintas especies de animales y de plantas.  La metodología usada para este artículo fue de tipo descriptiva y diseño documental. Dentro de los principales resulados obtenidos se pudo evidenciar que pese a que la contaminación y el daño al ambiente está penalizado y es categorizado como ilegal, estas corporaciones encuentran el modo para poder realizarlas mediante sobornos u otras formas de persuasión, y así obtener las licencias necesarias para desarrollar sus actividades de forma “legal”. Afortunadamente hay personas y organizaciones ambientales que cuentan con los recursos necesarios para luchar contra estas injusticias, porque sin ella no podemos sobrevivir, como decía Thomas Fuller (1608-1661), "Nunca sabremos el valor del agua hasta que el pozo esté seco

Plan estratégico para el Cuerpo General de Bomberos Voluntarios del Perú

El Cuerpo General de Bomberos Voluntarios del Perú [CGBVP] es una entidad adscrita a la Presidencia del Consejo de Ministros, cuya labor es el rescate y el salvamento de las vidas expuesta a incendios y derivados, que brinda sus servicios de manera voluntaria, con un alto sentido altruista por parte de sus miembros. El CGBVP cuenta con una buena imagen ante la comunidad, pero presenta problemas como: (a) un alto ausentismo de personal voluntario, (b) un parque automotor muy antiguo, (c) una deficiente gestión administrativa y por último (d) falta de recursos económicos suficientes. El análisis externo muestra que las condiciones del entorno son favorables para el desarrollo y fortalecimiento del CGBVP, lo cual se refleja en los resultados económicos obtenidos por el país y los indicadores sociales correspondientes. El análisis interno muestra que el CGBVP cuenta con importantes fortalezas respecto a las instituciones que pueden llegar a sustituir algunos aspectos de la atención de emergencias. Sin embargo, la institución presenta debilidades, las cuales pueden ser contrarrestadas a través de la implementación de las estrategias propuestas. La aplicación de las diferentes matrices ha permitido formular las estrategias dirigidas a alcanzar los objetivos de largo plazo. Las estrategias propuestas son: (a) la mejora del área administrativa, (b) la cesión del servicio de emergencias médicas a entidades especializadas y (c) las enfocadas en mejorar la operatividad y la cobertura del CGBVP. En cuanto a la implementación, se propone la conformación de un equipo directriz responsable de las acciones orientadas a lograr el cambio. Este equipo gerencial, liderado por el Comandante General, desarrollará las acciones orientadas a alcanzar los objetivos de corto plazo, los cuales llevarán a la institución hacia los objetivos de largo plazo. Los resultados del estudio muestran que el CGBVP requiere optimizar su operatividad aumentando la disponibilidad de bomberos y renovando la maquinaria y los equipos. Otro aspecto a desarrollar es la cobertura del servicio, priorizando la localización de compañías de bomberos en zonas de alta concentración poblacional y alto número de emergencias. Para lograr las mejoras requeridas se plantea crear un sistema mixto de bomberos voluntario-rentado en las áreas consideradas críticas en base a los criterios antes señalados.Voluntary Peruvian Fire Brigade (CGBVP) is an entity attached to Prime Ministry Cabinet and its role is to extinguish fire and to rescue people who is in danger. Members of CGBVP are volunteers and they have a great level of involvement with the institution and a high altruist sense. The community has a good perception of CGBVP but as a institution has some problems like: (a) high absenteeism of voluntary firefighters, (b) obsolete machines and equipment, (c) poor management and (d) they do not have enough budget. External analysis shows a favorable economic environment to CGBVP growing and strengthening. That is reflected on the economic indicators obtained by the country and the corresponding social indicators. Internal analysis shows that CGBVP has important strengths compared with institutions that may be considered as substitutes in some aspects of emergency attention. However, the institution has some weaknesses that may be faced through the proposed strategies. As a result of the application of different matrixes some strategies had been proposed oriented to achieve long term objectives. The proposed strategies are: (a) Administration area improvement, (b) to transfer the attention of medical emergencies to specialized institutions and (c) increased the time that firefighters companies are operative and to offer service to areas with high density of population and emergencies. At the implementation, it is proposed to conform of a directrix team, responsible of the actions oriented to achieve the change. This management team leaded by the General Commander, will developed the actions oriented to reach the objectives in a short term, the ones that will take the institution through the objectives of long term. The results of the study show that the CGBVP need to improve its operativeness increasing the availability of firemen and improving machinery and equipment. Another aspect of improvement is the service covering, prioritizing the localization of fire brigades at zones of high population concentration and high number of emergencies. To achieve the required improvements, it is proposed to create a mix voluntary-rented fire brigade in the areas considered as critical based on the criteriums mentioned lines above.Tesi