MIMO PID Controller Tuning Method for Quadrotor Based on LQR/LQG Theory

In this work, a new pre-tuning multivariable PID (Proportional Integral Derivative) controllers method for quadrotors is put forward. A procedure based on LQR/LQG (Linear Quadratic Regulator/Gaussian) theory is proposed for attitude and altitude control, which suposes a considerable simplification of the design problem due to only one pretuning parameter being used. With the aim to analyze the performance and robustness of the proposed method, a non-linear mathematical model of the DJI-F450 quadrotor is employed, where rotors dynamics, together with sensors drift/bias properties and noise characteristics of low-cost commercial sensors typically used in this type of applications are considered. In order to estimate the state vector and compensate bias/drift effects in the measures, a combination of filtering and data fusion algorithms (Kalman filter and Madgwick algorithm for attitude estimation) are proposed and implemented. Performance and robustness analysis of the control system is carried out by employing numerical simulations, which take into account the presence of uncertainty in the plant model and external disturbances. The obtained results show the proposed controller design method for multivariable PID controller is robust with respect to: (a) parametric uncertainty in the plant model, (b) disturbances acting at the plant input, (c) sensors measurement and estimation errors

AutoTuning Environment for Static Obstacle Avoidance Methods Applied to USVs

This work is focused on reactive Static Obstacle Avoidance (SOA) methods used to increase the autonomy of Unmanned Surface Vehicles (USVs). Currently, there are multiple approaches to avoid obstacles, which can be applied to different types of USV. In order to assist in the choice of the SOA method for a particular vessel and to accelerate the pretuning process necessary for its implementation, this paper proposes a new AutoTuning Environment for Static Obstacle Avoidance (ATESOA) methods applied to USVs. In this environment, a new simplified modelling of a LIDAR (Laser Imaging Detection and Ranging) sensor is proposed based on numerical simulations. This sensor model provides a realistic environment for the tuning of SOA methods that, due to its low load computation, is used by evolutionary algorithms for the autotuning. In order to analyze the proposed ATESOA, three SOA methods were adapted and implemented to consider the measurements given by the LIDAR model. Furthermore, a mathematical model is proposed and evaluated for using as USV in the simulation enviroment. The results obtained in numerical simulations show how the new ATESOA is able to adjust the SOA methods in scenarios with different obstacle distributions

A Robust Reactive Static Obstacle Avoidance System for Surface Marine Vehicles

This paper is centered on the guidance systems used to increase the autonomy of unmanned surface vehicles (USVs). The new Robust Reactive Static Obstacle Avoidance System (RRSOAS) has been specifically designed for USVs. This algorithm is easily applicable, since previous knowledge of the USV mathematical model and its controllers is not needed. Instead, a new estimated closed-loop model (ECLM) is proposed and used to estimate possible future trajectories. Furthermore, the prediction errors (due to the uncertainty present in the ECLM) are taken into account by modeling the USV's shape as a time-varying ellipse. Additionally, in order to decrease the computation time, we propose to use a variable prediction horizon and an exponential resolution to discretize the decision space. As environmental model an occupancy probability grid is used, which is updated with the measurements generated by a LIDAR sensor model. Finally, the new RRSOAS is compared with other SOA (static obstacle avoidance) methods. In addition, a robustness study was carried out over a set of random scenarios. The results obtained through numerical simulations indicate that RRSOAS is robust to unknown and congested scenarios in the presence of disturbances, while offering competitive performance with respect to other SOA methods

Desarrollo de un prototipo electrónico e informático aplicando la tecnología de Internet de las Cosas para la medición y control de magnitudes físicas : en asocio con COCESNA

Para este proyecto se diseñó y desarrolló un dispositivo electrónico con capacidad de conectividad a la red LAN e INTERNET para la medición de magnitudes físicas a través de sensores. Este dispositivo es capaz de interactuar con otros objetos conectados al mismo (actuadores) si la temperatura aumenta demasiado, teniendo la autonomía suficiente para actuar al respecto, como para activar un ventilador, la calefacción, un aire acondicionado o cualquier otro dispositivo que se decida conectar a la tarjeta electrónica controladora de cargas u objetos; además permite la transmisión de la información recopilada del ambiente a un portal web que contiene como principal elemento pictórico un dashboard o gráficas interactivas donde se puede visualizar la información que envía el dispositivo IoT inmediatamente. Para este proyecto se ha creado una aplicación móvil para Android, la cual interactúa en conjunto para la monitorización en tiempo real de magnitudes físicas de temperatura y humedad, entre otras, dentro de una de las salas con equipos de comunicación en COCESNA, implementando de esta forma la tecnología de Internet de las Cosas Io

Autonomous UAV System for Cleaning Insulators in Power Line Inspection and Maintenance

The inspection and maintenance tasks of electrical installations are very demanding. Nowadays, insulator cleaning is carried out manually by operators using scaffolds, ropes, or even helicopters. However, these operations involve potential risks for humans and the electrical structure. The use of Unmanned Aerial Vehicles (UAV) to reduce the risk of these tasks is rising. This paper presents an UAV to autonomously clean insulators on power lines. First, an insulator detection and tracking algorithm has been implemented to control the UAV in operation. Second, a cleaning tool has been designed consisting of a pump, a tank, and an arm to direct the flow of cleaning liquid. Third, a vision system has been developed that is capable of detecting soiled areas using a semantic segmentation neuronal network, calculating the trajectory for cleaning in the image plane, and generating arm trajectories to efficiently clean the insulator. Fourth, an autonomous system has been developed to land on a charging pad to charge the batteries and potentially fill the tank with cleaning liquid. Finally, the autonomous system has been validated in a controlled outdoor environment.Ministerio de Ciencia e Innovación (CDTI) AERIAL-CORE H2020 ICT-10-2019-2020FEDER INTERCONECT

PCBON Pizarro, posibilidades como vehículo de mando y transmisiones en el batallón de infantería de carros de combate

La finalidad de este trabajo de fin de grado es estudiar las distintas prestaciones que el vehículo de puesto de mando Pizarro (PCBON Pizarro) ofrece en cuanto a mando y control de una unidad por un lado, y transmisiones por otro. Todo ello con el objetivo de aclarar la dualidad que existe con respecto a si se trata de un vehículo de transmisiones o un vehículo de mando propiamente dicho y también para encontrar todos aquellos fallos y defectos que existen en el PCBON para dar una solución a estos mismos. Para ello es fundamental describir la función de un vehículo de mando dentro del batallón de infantería acorazado, estudiar las prestaciones del PCBON con respecto a otros vehículos de mando anteriores (TOA M-577 de mando o su predecesor el VCPC Pizarro) y analizar las prestaciones del sistema de mando y control que el PCBON utiliza, el BMS-Lince.<br /

CUT-UP CITY. El ready-made como experimento urbano. (www.cutupcity.com)

CUT-UP es un término acuñado por el escritor estadounidense William S. Burroughs basado en la yuxtaposición de pasajes de las obras del propio autor y también de obras de otros escritores para luego volver a ensamblar los fragmentos de forma aleatoria generando sentidos y significados totalmente inéditos. Trasladado al campo de la arquitectura, el propósito de esta operación sería la de definir estrategias que, utilizando las formas existentes, consiguieran efectos completamente diferentes. Así, se puede decir que las nociones de originalidad e incluso de creación, tan presentes en nuestra cultura, se podrían entender de una manera mucho más libre y desprejuiciada.CUT-UP is a term coined by the American writer William S. Burroughs based on the juxtaposition of passages from the own works and also from others in order to re-assemble the random fragments generating completly new senses and meanings. Moved to architecture, the purpose of this operation would be to define strategies, using existing forms, to realise completely different effects. So, we can say that the notions of originality, and even creation, so present in our culture, could be understood in a more freely and unprejudiced way

Design and 3D Manufacturing of an Improved Heliostatic Illuminator

Increasing daylighting levels contributes to improving the energy efficiency of buildings and consequently to the fight against climate change. This work presents a new illuminator based on a previous single-axis polar heliostat. This heliostat allows redirecting sunlight to a specific space to be illuminated at any time of the day. The system presented is simple but compact in size. It has been manufactured by 3D printing with recyclable PETG plastics. Three-dimensional printing has allowed reduction of the mass of the system to less than 5 kg, which means high stability and manageability. Moreover, the system has been provided with an assembly structure that facilitates its correct installation by a single operator. The result is a heliostatic illuminator with an average pointing error of 10 mrad, an acceptable error for urban applications. Finally, a low-cost and high-replicability device has been achieved, which makes it an easily reproducible illuminator and favors its extensive installation

Agent Programming in Ciao Prolog

The agent programming landscape has been revealed as a natural framework for developing “intelligence” in AI. This can be seen from the extensive use of the agent concept in presenting (and developing) AI systems, the proliferation of agent theories, and the evolution of concepts such as agent societies (social intelligence) and coordination

Novel cannabinoid release system : encapsulation of a cannabidiol precursor into γ-cyclodextrin metal-organic frameworks

Altres ajuts: acord transformatiu CRUE-CSICAltres ajuts: Jorge Rodríguez-Martínez acknowledges Agència de Gestió d'Ajuts Universitaris i de Recerca from Generalitat de Catalunya (Sapin) for the FI-2018 fellowship.γ-Cyclodextrin-metal-organic frameworks (γ-CD-MOFs) are developed as a new promising and biocompatible material, which shows a great potential for drug delivery system (DDS) applications. γ-CD-MOFs were successfully synthesized using microwave-assisted technique from different potassium sources (KOH, KCl and KNO3). The encapsulation of olivetol (OLV) into these materials was investigated as an innovative model of DDS for cannabinoids. Loading of OLV in γ-CD-MOFs was performed by impregnation and co-crystallization methods. Scanning electron microscopy (SEM) and X-ray powder diffraction (XRPD) were employed to study the structural properties of γ-CD-MOF samples, showing the typical cubic crystals in case of KOH and trigonal morphologies in case of KCl and KNO3. Olivetol content was determined using UV-Vis spectrophotometry and its interaction with γ-CD-MOFs was investigated by Attenuated Total Reflection-Fourier Transform Infrared Spectroscopy analysis (ATR-FTIR). OLV content was significantly higher when KCl or KNO3 were employed in combination with a cocrystallization method, while the drug encapsulation using KOH and the impregnation method was really poor. For the first time, γ-CD-MOFs loaded with cannabinoids were developed and they could be considered a novel strategy as DDS of these compounds