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

A Classification of Spanish Tourist Zones Based on Structural Characteristics of Supply and Demand. An Application Using a Latent Class Model

La identificación de los segmentos turísticos por parte de los agentes y de los organismos implicados en el turismo permite una asignación más eficiente de los recursos. El objetivo de este trabajo es hacer una tipificación de las zonas turísticas españolas mediante el uso de un modelo de clases latentes en función de las características estructurales de la oferta y demanda asociadas a ellas. Los resultados muestran la existencia de tres grupos muy diferenciados de zonas turísticas. Se ofrece una clasificación de dichas zonas turísticas.Tourist agents and organisms can make an efficient assignation of resources by identifying tourist segments. The goal of this work is to classifying the Spanish tourism zones by means of supply and demand, using a latent class model. Results show the existing of three different groups. A classification of these tourism zones is listed in the pape

Preliminary study of the impact of Guadalhorce river mouth channeling (Málaga, Spain) on groundwater and related wetlands

Se trata de resultados preliminares que se están obteniendo en el Bajo Guadalhorce, en el marco de la tesis doctoral del primer firmanteIn riverine areas, many anthropogenic actions (modification of natural water courses, burying or channeling works, etc.) have been commonly applied worldwide to prevent floods in rivers, having negative environmental impacts on their dependent ecosystems. In the Guadalhorce River mouth (Málaga, Southern Spain), channeling works -including the splitting of the main channel into two branches before arriving to the sea- were conducted to reduce the flood risk in the surrounding urbanized areas near to the Mediterranean coast. In the framework of the monitoring program of the Guadalhorce Delta Wetlands, located between the branches of the ending river stretch, measurements of electrical conductivity in wetland water and groundwater table were performed, as well as the sampling of both water types. The results show a progressive increasing in the mineralization of wetland water, reaching values 50 times higher than the original ones. In the underlying aquifers, the mineralization of groundwater is generally less variable and lower than the recorded in the eighties and nineties, when a salt intrusion episode occurred. Before the river channel modification, the water flow from the aquifer to the wetlands and toward the river in its mouth was deduced. Today, the wetlands recharge locally the Quaternary aquifer and, consequently, induce the groundwater flow towards the both branches of the river and Mediterranean Sea. The variation of the morphodynamics in the Guadalhorce River mouth and the associated changes in land use have caused significant impacts on ground and surface water and their dependent wetlands.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Improvements in projects about accelerated-time simulation of traffic flow

Se han desarrollado cuatro mejoras en los proyectos de simulación de flujo de tráfico en tiempo acelerado. Los proyectos [1] y [2] realizan una simulación de flujo de tráfico en un CAS, Maxima, y usan Java, para realizar la GUI. Ambos usan Jacomax para realizar la comunicación Java-Maxima. La primera ha sido implementar un algoritmo Dijkstra difuso en [2] que simule (de forma más real que el algoritmo Dijkstra), el camino que sigue un vehículo entre un origen y un destino, dentro de un mapa (un grafo) que representa una zona de Málaga. Además, se ha personalizado el grafo inicial asociando uno ponderado a cada vehículo, en el cual, las aristas (las calles) tienen un peso calculado con una uniforme o una normal. Para ganar en rendimiento en [1] y [2], se ha permitido al usuario decidir cada cuantos pasos en Maxima se comunica con Java, eliminando así muchas comunicaciones que resultaban lentas. Además, se ha creado un programa con Java, el cual crea un paquete Maxima con las funciones de distribución, densidad, masa, variables aleatorias, que el usuario desee, dando la posibilidad de elegir entre las más usuales ya implementadas. Este paquete puede ser cargado en [1] y [2] permitiendo al usuario elegir la función de distribución que más se asemeje al fenómeno que se desea simular. La última ha sido conseguir que funcionen los proyectos [1] y [2] en una máquina Mac

Biomimetic Mineralization Promotes Viability and Differentiation of Human Mesenchymal Stem Cells in a Perfusion Bioreactor

In bone tissue engineering, the design of 3D systems capable of recreating composition, architecture and micromechanical environment of the native extracellular matrix (ECM) is still a challenge. While perfusion bioreactors have been proposed as potential tool to apply biomechanical stimuli, its use has been limited to a low number of biomaterials. In this work, we propose the culture of human mesenchymal stem cells (hMSC) in biomimetic mineralized recombinant collagen scaffolds with a perfusion bioreactor to simultaneously provide biochemical and biophysical cues guiding stem cell fate. The scaffolds were fabricated by mineralization of recombinant collagen in the presence of magnesium (RCP.MgAp). The organic matrix was homogeneously mineralized with apatite nanocrystals, similar in composition to those found in bone. X-Ray microtomography images revealed isotropic porous structure with optimum porosity for cell ingrowth. In fact, an optimal cell repopulation through the entire scaffolds was obtained after 1 day of dynamic seeding in the bioreactor. Remarkably, RCP.MgAp scaffolds exhibited higher cell viability and a clear trend of up-regulation of osteogenic genes than control (non-mineralized) scaffolds. Results demonstrate the potential of the combination of biomimetic mineralization of recombinant collagen in presence of magnesium and dynamic culture of hMSC as a promising strategy to closely mimic bone ECM.EU Marie Curie Project "Bio-Inspired Bone Regeneration" 607051Spanish Ministry of Science, Innovation and Universities (MCIU) RYC-2016-21042 RTI-2018-095794A-C22Interdisciplinary Center for Clinical Research (IZKF) at the University ofWuerzburg D-361MCI

Teletrabajo a domicilio: opción práctica para la gerencia moderna

Trabajo final de graduación de 100 páginas en formato pdfJulio Verne escribió en 1863 “París en el siglo XX”. Cuando su amigo y editor Jules Hetzel leyó el texto se alarmó por la imagen del mundo tecnificado del futuro descrito por él, a tal extremo que su recomendación al autor fue que ese texto no debía publicarse. La llamada novela perdida de Verne tuvo que esperar más de un siglo para ver la luz editorial y no fue sino hasta 1994 cuando fue publicada, comprobándose una vez más la especial habilidad del autor para comprender los cambios de la humanidad y proyectarlos al futuro, de la mano de un constante proceso de creación y adaptación de nuevas tecnologías. Resultaría en extremo interesante conocer cómo, hace más de un siglo atrás, Verne logró, en sus escritos, concebir y desarrollar con asombroso detalle ideas de artefactos como el fax, así como de redes de conectividad por cable que podrían enlazar el planeta entero, muy similares a la Internet de nuestro tiempo. Las distancias se acortaron en el París de los años sesenta del siglo XX que Verne describió, las telecomunicaciones crearon nuevos protocolos en la interacción humana, donde la comunicación inmediata era posible sin que emisor y receptor estuvieran presentes en un mismo lugar. Para los círculos vernianos, estas y muchas otras ideas se han ganado la categoría de predicciones, consideradas hechas realidad décadas después de haber sido planteadas por el autor. Futurólogo o no, lo cierto es que Verne apuntó en el siglo XIX, con extraordinaria intuición, el rumbo que el mundo moderno seguiría durante el siglo XX y en adelante; un mundo basado en la tecnología como herramienta principal de su desarrollo, donde la importancia 5 del intercambio de información crece ilimitadamente en un afán sin precedentes de saberlo todo y en el menor tiempo posible. Me pregunto, si Julio Verne viviera hoy en día, ¿sería un internauta aficionado?, ¿disfrutaría de la ola interminable de innovaciones tecnológicas a las que nos enfrentamos los seres humanos del siglo XXI?, ¿podría, ante tanta fuerza creativa, proyectar los avances que verán nuestros bisnietos en cien años? Si así fuera, tendría el enorme beneficio de la credibilidad de editores y lectores, ya acostumbrados al asombro que la tecnología provee cotidianamente y que nos hace pensar que todo puede ser posible, como el mismo Verne dijo tantas veces. La innovación tecnológica está cambiando la forma en que entendemos nuestra relación con el mundo en las diversas dimensiones que lo veamos. Estamos aplicando recursos tecnológicos en nuestras relaciones familiares, comerciales, financieras, recreacionales, académicas y laborales. Es un cambio general en el que se involucran cada vez más actores y por el cual se están realizando fuertes adaptaciones de instituciones y procesos sociales hasta ahora poco modificados. El concepto “trabajo” también está sufriendo cambios importantes que sugieren su redefinición, principalmente por el factor distancia, hoy en día minorizado por la creciente plataforma de tecnologías de información y comunicación. Las nuevas tecnologías de la información están resolviendo las necesidades de comunicación de las empresas y de las organizaciones, creando un diseño moderno en la interrelación de su estructura. En esta modernidad, nos alejamos cada vez más del concepto de centralización gerencial dentro de las 6 organizaciones y damos lugar a una nueva forma de coordinación del trabajo para la ejecución de proyectos: el teletrabajo.Universidad Estatal a Distancia de Costa Ric

Nanocrystalline cathodes for PC-SOFCs based on BCZY

Perovskites based on BaCeO3-δ exhibit the highest proton conductivity among this class of materials, however, they are susceptible to hydration and carbonation in presence of water vapor and CO2 [1]. In contrast, the chemical stability of BaZrO3-based protonic conductors is better, but they require sintering temperatures as high as 1700 ºC and suffer from high intrinsic grain boundary resistance, limiting the final performance. Partial substitution of Zr for Ce in Ba(Ce0.9-xZrx)Y0.2O3-δ allows obtaining electrolytes with both high proton conductivity and good chemical stability. The performance of a PC-SOFC at low temperatures depends significantly on the ohmic resistance of the electrolyte, although it can be lowered by reducing the electrolyte thickness. Another important limiting factor is the increase of the cathode polarization resistance due to the thermally activated nature of the oxygen reduction reaction. For this reason, it is essential to obtain high efficiency cathodes operating at reduced temperatures. In this work, BaCe0.6Zr0.2Y0.2O3-δ (BCZY) powders were prepared by freeze-drying precursor method. These powders were mixed with a Zn-containing solution as sintering additive in order to obtain dense pellets with submicrometric grain size at only 1200 ºC. After that, La0.6Sr0.4Co0.8Fe0.2O3 nanocrystalline electrodes were deposited symmetrically onto dense pellets BCZY by conventional spray-pyrolysis [3]. The structure, microstructure and electrochemical properties of these electrodes have been examined by XRD, FE-SEM and impedance spectroscopy. The stability of these electrodes at intermediate temperatures was evaluated as a function of time. These nanocrystalline cathodes exhibit a substantial improvement of the electrode polarization resistance with respect to the same materials prepared by screen-printing method at high sintering temperatures, e.g. 0.7 and 3.2 cm2 at 600 ºC for LSCF cathodes prepared by spray-pyrolysis and screen-printing method respectively (Figure). An anode supported cell with composition LSCF/BCZY/NiO-BCZY was also prepared to test the electrochemical performance.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Programa de intervención psicológica con árbitros de fútbol

In this paper, we describe the Intervention Programme on Psycohological Abilities in Refereeing (PIHPA) with the participation of soccer referees from the third division Valencia and Basque Association of Referees. The programme consisted of 8 group sessions, complemented by other individual initiatives, where the following skills were developed: motivation, emotional control, self-confidence, concentration, and communication. The aims were as follows: to familiarize the referees with basic psychological skills, to help them learn how to use them, apply them in their work, and improve on them. In their evaluation of the programme, the referees that took part showed a high degree of overall satisfaction, perceiving the course content to be useful in the long run and acknowledging the need to continue with this type of training in the future. In the paper, a discussion is made of the most relevant contributions and the difficulties that were encountered

Optimizing Reflux Synthesis Method of Mo-V-Te-Nb mixed oxide Catalysts for Light Alkane Selective Oxidation

[EN] The investigation here presented studies the effect of the synthesis temperature (from 80 to 110 degrees C) and the time (from 1 to 4 days) employed to precipitate catalyst precursors by reflux method, on the physic-chemical and the catalytic properties of the resulting Mo-V-Te-Nb mixed oxide catalysts for both propane partial oxidation into acrylic acid and ethane oxidative dehydrogenation (ODH) to ethylene. The insight obtained has allowed an important optimization of the not commonly used reflux method to prepare Mo-V-Te-Nb oxide materials with competitive catalytic performance. The yields achieved overcome those from optimized catalysts prepared by conventional hydrothermal method, and approach those reached with catalysts prepared using the "slurry method". The optimum rise for the synthesis temperature is found as a key factor for the reflux method. It allows access to an increased vanadium content into the reflux precipitate, which favors the formation of a pseudo-amorphous Mo-V-Te-Nb oxometallate. This precipitate behaves as a precursor for the crystallization, during the solid-state activation step at high-temperature (600 degrees C/N-2), of the structure type (TeO)(2)M20O56 (M = Mo, V, Nb), key for the selective conversion of propane or ethane. On the other hand, for the optimum temperature of synthesis, i.e. 110 degrees C, higher synthesis time of the precursor leads to smaller crystal sizes in the final catalyst (higher specific surface areas) and lowers the average oxidation state of vanadium from V+5 to V+4, which significantly enhances the catalytic behavior.Authors gratefully acknowledge the funds from DGICYT (Spain) by the project RTI2018-099668-B-C21, as well as the funds from Comunidad de Madrid by the project 2017-T1/IND-6025 within the program "Atraccion y Retencion de Talento Investigador" of the V PRICIT.Massó Ramírez, A.; Ivars-Barceló, F.; López Nieto, JM. (2020). Optimizing Reflux Synthesis Method of Mo-V-Te-Nb mixed oxide Catalysts for Light Alkane Selective Oxidation. Catalysis Today. 356:322-329. https://doi.org/10.1016/j.cattod.2019.10.030S322329356Grasselli, R. K., Burrington, J. D., Buttrey, D. J., DeSanto Jr., P., Lugmair, C. G., Volpe Jr., A. F., & Weingand, T. (2003). 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Reaction products and pathways in the selective oxidation of C2–C4 alkanes on MoVTeNb mixed oxide catalysts. Catalysis Today, 157(1-4), 291-296. doi:10.1016/j.cattod.2010.01.046Ushikubo, T., Oshima, K., Kayou, A., & Hatano, M. (1997). Ammoxidation of propane over Mo-V-Nb-Te mixed oxide catalysts. Spillover and Migration of Surface Species on Catalysts, Proceedings of the 4th International Conference on Spillover, 473-480. doi:10.1016/s0167-2991(97)80871-3Tsuji, H., & Koyasu, Y. (2002). Synthesis of MoVNbTe(Sb)Ox Composite Oxide Catalysts via Reduction of Polyoxometalates in an Aqueous Medium. Journal of the American Chemical Society, 124(20), 5608-5609. doi:10.1021/ja0122344BOTELLA, P. (2004). Selective oxidative dehydrogenation of ethane on MoVTeNbO mixed metal oxide catalysts. Journal of Catalysis, 225(2), 428-438. doi:10.1016/j.jcat.2004.04.024J.M. López Nieto, P. Botella, M.I. Vázquez, A. Dejoz, Method for the oxidative dehydrogenation of ethane, US Patent 7,319,179 B2 (2008). J.M. López Nieto, P. Botella, M.I. Vázquez, A. Dejoz, Method for the oxidative dehydrogenation of ethane, EP 1,479,438 A1 (2004), assigned to CSIC and UPV.Dubois, J.-L. (2005). Selective oxidation of hydrocarbons and the global warming problem. Catalysis Today, 99(1-2), 5-14. doi:10.1016/j.cattod.2004.09.019Gaffney, A. M., & Mason, O. M. (2017). Ethylene production via Oxidative Dehydrogenation of Ethane using M1 catalyst. Catalysis Today, 285, 159-165. doi:10.1016/j.cattod.2017.01.020Botella, P., García-González, E., López Nieto, J. M., & González-Calbet, J. M. (2005). MoVTeNbO multifunctional catalysts: Correlation between constituent crystalline phases and catalytic performance. Solid State Sciences, 7(5), 507-519. doi:10.1016/j.solidstatesciences.2005.01.012CELAYASANFIZ, A., HANSEN, T., SAKTHIVEL, A., TRUNSCHKE, A., SCHLOGL, R., KNOESTER, A., … HAMID, S. (2008). How important is the (001) plane of M1 for selective oxidation of propane to acrylic acid? Journal of Catalysis, 258(1), 35-43. doi:10.1016/j.jcat.2008.05.028Nguyen, T. T., Deniau, B., Baca, M., & Millet, J.-M. M. (2016). Influence of Nb Content on the Structure, Cationic and Valence Distribution and Catalytic Properties of MoVTe(Sb)NbO M1 Phase Used as Catalysts for the Oxidation of Light Alkanes. Topics in Catalysis, 59(17-18), 1496-1505. doi:10.1007/s11244-016-0667-yBotella, P., López Nieto, J. M., Solsona, B., Mifsud, A., & Márquez, F. (2002). The Preparation, Characterization, and Catalytic Behavior of MoVTeNbO Catalysts Prepared by Hydrothermal Synthesis. Journal of Catalysis, 209(2), 445-455. doi:10.1006/jcat.2002.3648Vitry, D. (2003). Mo-V-Te-(Nb)-O mixed metal oxides prepared by hydrothermal synthesis for catalytic selective oxidations of propane and propene to acrylic acid. Applied Catalysis A: General, 251(2), 411-424. doi:10.1016/s0926-860x(03)00381-8Celaya Sanfiz, A., Hansen, T. W., Girgsdies, F., Timpe, O., Rödel, E., Ressler, T., … Schlögl, R. (2008). Preparation of Phase-Pure M1 MoVTeNb Oxide Catalysts by Hydrothermal Synthesis—Influence of Reaction Parameters on Structure and Morphology. Topics in Catalysis, 50(1-4), 19-32. doi:10.1007/s11244-008-9106-zBeato, P., Blume, A., Girgsdies, F., Jentoft, R. E., Schlögl, R., Timpe, O., … Mohd Salim, L. (2006). Analysis of structural transformations during the synthesis of a MoVTeNb mixed oxide catalyst. Applied Catalysis A: General, 307(1), 137-147. doi:10.1016/j.apcata.2006.03.014HIBST, H., ROSOWSKI, F., & COX, G. (2006). New Cs-containing Mo–V4+ based oxides with the structure of the M1 phase—Base for new catalysts for the direct alkane activation. Catalysis Today, 117(1-3), 234-241. doi:10.1016/j.cattod.2006.05.045Sanfiz, A. C., Hansen, T. W., Teschner, D., Schnörch, P., Girgsdies, F., Trunschke, A., … Hamid, S. B. A. (2010). Dynamics of the MoVTeNb Oxide M1 Phase in Propane Oxidation. The Journal of Physical Chemistry C, 114(4), 1912-1921. doi:10.1021/jp909352uKardash, T. Y., Lazareva, E. V., Svintsitskiy, D. A., Ishchenko, A. V., Bondareva, V. M., & Neder, R. B. (2018). The evolution of the M1 local structure during preparation of VMoNbTeO catalysts for ethane oxidative dehydrogenation to ethylene. RSC Advances, 8(63), 35903-35916. doi:10.1039/c8ra06424eConcepción, P., Hernández, S., & Nieto, J. M. L. (2011). On the nature of active sites in MoVTeO and MoVTeNbO catalysts: The influence of catalyst activation temperature. Applied Catalysis A: General, 391(1-2), 92-101. doi:10.1016/j.apcata.2010.05.011Baca, M., & Millet, J.-M. M. (2005). Bulk oxidation state of the different cationic elements in the MoVTe(Sb)NbO catalysts for oxidation or ammoxidation of propane. Applied Catalysis A: General, 279(1-2), 67-77. doi:10.1016/j.apcata.2004.10.014Lwin, S., Diao, W., Baroi, C., Gaffney, A., & Fushimi, R. (2017). Characterization of MoVTeNbOx Catalysts during Oxidation Reactions Using In Situ/Operando Techniques: A Review. Catalysts, 7(12), 109. doi:10.3390/catal7040109Ramli, I., Botella, P., Ivars, F., Pei Meng, W., Zawawi, S. M. M., Ahangar, H. A., … Nieto, J. M. L. (2011). Reflux method as a novel route for the synthesis of MoVTeNbOx catalysts for selective oxidation of propane to acrylic acid. Journal of Molecular Catalysis A: Chemical, 342-343, 50-57. doi:10.1016/j.molcata.2011.04.009BOTELLA, P., DEJOZ, A., LOPEZNIETO, J., CONCEPCION, P., & VAZQUEZ, M. (2006). Selective oxidative dehydrogenation of ethane over MoVSbO mixed oxide catalysts. Applied Catalysis A: General, 298, 16-23. doi:10.1016/j.apcata.2005.09.018Leclaire, A., Borel, M. M., Chardon, J., & Raveau, B. (1995). A mixed valent Keggin polyoxometallate involving molybdenum and tungsten. Materials Research Bulletin, 30(9), 1075-1080. doi:10.1016/0025-5408(95)00103-4Corella-Ochoa, M. N., Miras, H. N., Kidd, A., Long, D.-L., & Cronin, L. (2011). Assembly of a family of mixed metal {Mo : V} polyoxometalates templated by TeO32−: {Mo12V12Te3}, {Mo12V12Te2} and {Mo17V8Te}. Chemical Communications, 47(31), 8799. doi:10.1039/c1cc12782aBotella, P., López Nieto, J. M., & Solsona, B. (2002). Catalysis Letters, 78(1/4), 383-387. doi:10.1023/a:1014973005107Mestl, G. (2002). In situ Raman spectroscopy for the characterization of MoVW mixed oxide catalysts. Journal of Raman Spectroscopy, 33(5), 333-347. doi:10.1002/jrs.843Dieterle, M., & Mestl, G. (2002). Raman spectroscopy of molybdenum oxides. Physical Chemistry Chemical Physics, 4(5), 822-826. doi:10.1039/b107046kKnoezinger, H., & Jeziorowski, H. (1978). Raman spectra of molybdenum oxide supported on the surface of aluminas. The Journal of Physical Chemistry, 82(18), 2002-2005. doi:10.1021/j100507a011SOLSONA, B., VAZQUEZ, M., IVARS, F., DEJOZ, A., CONCEPCION, P., & LOPEZNIETO, J. (2007). Selective oxidation of propane and ethane on diluted Mo–V–Nb–Te mixed-oxide catalysts. Journal of Catalysis, 252(2), 271-280. doi:10.1016/j.jcat.2007.09.019Nguyen, T. T., Burel, L., Nguyen, D. L., Pham-Huu, C., & Millet, J. M. M. (2012). Catalytic performance of MoVTeNbO catalyst supported on SiC foam in oxidative dehydrogenation of ethane and ammoxidation of propane. Applied Catalysis A: General, 433-434, 41-48. doi:10.1016/j.apcata.2012.04.03