Archivo Digital UPM
This is an institutional repository providing access to the research output of the institution. Primarily contains thesis.
Materia = Electrónica
Mostrando recursos 301 - 320 de 472
Computational intelligence in decision and control - Olivares Méndez, Miguel Ángel; Campoy Cervera, Pascual; Martínez Luna, Carol Viviana; Correa Caicedo, Juan Fernando; Mondragon Bernal, Ivan Fernando
This paper presents an improvement for the software implementation (MOFS) of a user adaptive fuzzy control system for autonomous navigation of mobile robots in unknown environments. This improvement consists of a priority areas definition where the environment is measured by a PLS laser sensor, in order to get a reduction in the number of fuzzy rules and also in the computational cost, and hence obtaining improvements in the trajectory. This system has been tested in a pioneer mobile robot and on a robotic wheelchair, odometry sensors are used to localize the robots and the goal positions. The system is able...
Vision-Based Control of the Robotenis System - Ángel Silva, Luis; Traslosheros Michel, Alberto; Sebastian y Zuñiga, Jose Maria; Pari Pinto, Pablo Lizardo; Carelli, Ricardo; Roberti, Flavio
In this paper a visual servoing architecture based on a parallel robot for the tracking of faster moving objects with unknown trajectories is proposed. The control strategy is based on the prediction of the future position and velocity of the moving object. The synthesis of the predictive control law is based on the compensation of the delay introduced by the vision system. Demonstrating by experiments, the high-speed parallel robot system has good performance in the implementation of visual control strategies with high temporary requirements
Sistema de despliegue de una red de sensores inalámbricos para monitorización de entornos no accesibles - Sanz Muñoz, David
El presente Proyecto Fin de Máster tiene por objetivo el despliegue y establecimiento de una red de sensores inalámbricos en un escenario no accesible (como puede ser un volcán, una zona devastada por una catástrofe natural o un cuerpo celeste).
El trabajo desarrollado se compone de varias tareas que se integran finalmente en un conjunto funcional. Por un lado, se ha puesto en marcha una red de sensores, implementando una comunicación mesh entre ellos a través de un protocolo de routing que optimiza el tráfico de la red (véase el capítulo 3). Estos nodos sensores monitorizan el entorno circundante, adaptándose dinámicamente...
Estudio y análisis de una nueva solución topológica para convertidores CC/CC en aplicaciones de baja potencia y bajo coste - Bakkali Tahiri, Ahmed
Este trabajo de investigación esta centrado en el campo de la electrónica de potencia y más concretamente en el área de las fuentes de alimentación. En este trabajo se propone una solución topológica orientada a convertidores CC/CC de baja potencia (decenas de watios) y alta ganancia, es decir, la tensión eléctrica de entrada y de salida son muy diferentes (de relación 10:1 o superiores).
La solución que se propone y analiza en esta tesis permite además abordar aplicaciones donde el coste sea un parámetro crítico.
La solución topológica propuesta se deriva de la topología Flyback con enclavamiento activo. La principal diferencia radica...
Neural Networks for optimal operation of a run-of-river adjustable speed hydro power plant with axial-flow propeller turbine - Pérez Díaz, Juan Ignacio; Fraile Ardanuy, José Jesús
This paper analyzes the regulating capabilities of both turbine speed and guide vanes position in an axial-flow propeller turbine. Two neural networks are implemented in order to simulate the turbine behavior and the turbine efficiency. A maximum-efficiency-tracking algorithm is developed to set the guide vanes position. An experimental power plant built in the Hydraulics Laboratory is described. In order to validate the proposed operation control, the dynamics of this run-of- river pilot plant has been simulated. Substantial increases in the turbine efficiency have been found.
Unit commitment and generation dispatch of a hydropower plant in a competitive electricity market - Pérez Díaz, Juan Ignacio; Wilhelmi Ayza, José-Román; Arevalo Muñoz, Antonio
This paper presents a model to solve the short-term scheduling problem of a hydropower plant in a deregulated system, based on dynamic programming techniques. The objective of this model is to maximize the revenue obtained by selling energy in a competitive electricity market. The time horizon of the model is divided into hourly periods and ranges from one day to one week. The proposed model determines both the unit commitment and the power to be generated in each hour of the time horizon. The power is considered as a nonlinear function of the water discharge and the reservoir volume; the...
Predicted photoreflectance signatures on QD selective contacts for hot carrier solar cells - Cánovas Díaz, Enrique; Martí Vega, Antonio; García-Linares Fontes, Pablo; Antolín Fernández, Elisa; Fuertes Marrón, David; Tablero Crespo, César; Luque López, Antonio
The CO2 emission of our present energy transformation processes, based mainly on burning fossil fuels, is possibly the main cause of global climatic change. The photovoltaic conversion of solar energy is a clean way of producing which for sustainability should (and most probably will) become a major source of electricity. The sun is a huge resource but relatively diluted and it is reasonable to expect that only high efficiency extraction can be cost effective for mass exploitation. New concepts are neccessary such as hot carrier solar cells.
A Methodology for CFD Acceleration through Reconfigurable Hardware - Andrés, Esther; Carreras Vaquer, Carlos; Caffarena Fernández, Gabriel; Nieto-Taladriz García, Octavio; Palacios, Francisco
The long computation times required to simulate complete aircraft con¯gurations re- main as the main bottleneck in the design °ow of new structures for the aeronautics in- dustry. In this paper, the novel application of speci¯c hardware (FPGAs) in conjunction with conventional processors to accelerate CFD is explored in detail. First, some general facts about application-speci¯c hardware are presented, placing the focus on the feasibil- ity of the development of hardware modules (FPGAs based) for the acceleration of most time-consuming algorithms in aeronautics analysis. Then, a practical methodology for de- veloping an FPGA-based computing solution for the quasi 1D Euler...
A Reconfigurable Array Based Prototype of a Specialised String Lookup Chip - Pejovic, Vukasin; Gomez, Rocio; Bojanic, Slobodan; Lalinde-Pulido, Juan Guillermo
Different strategies for performing string lookups have been developed and deployed during the evolutionary scientific process. These are the results of both the development of technology and the need for improvement of previously existing solutions. Hence, the string lookup problem has been well studied and the respectful amount of good solutions is present. Due to nature of the problem, most of the solutions are software based. Nevertheless, in the modern computing environments, in which the amount of data to be searched trough is increasingly growing, the problem re-arises demanding for the different type of approaches that could target multi-gigabit throughput...
Simulation of an Asynchronous Machine by using a Pseudo Bond Graph - Romero Rey, Gregorio; Félez Mindán, Jesús; Maroto Ibáñez, Joaquín; Martinez Muneta, M. Luisa
For engineers, computer simulation is a basic tool since it enables them to understand how systems work without actually needing to see them. They can learn how they work in different circumstances and optimize their design with considerably less cost in terms of time and money than if they had to carry out tests on a physical system. However, if computer simulation is to be reliable it is essential for the simulation model to be validated. There is a wide range of commercial brands on the market offering products for electrical domain simulation (SPICE, Lab VIEW PSCAD, Dymola, Simulink,, Simplorer,...)....
Comunicaciones aplicadas a la teleoperación - García-Robledo, Pablo; García-Borras, Patricia; Aracil Santonja, Rafael; Ferre Perez, Manuel
Presentación de la plataforma experimental de teleoperación basada en el sistema Grips de Kraft Telerobotics y presentación del hardware desarrollado para su adaptación a una plataforma abierta. Exposición de las diferentes formas de conexión obtenidas a través del hardware desarrollado para cerrar un bucle de control en un sistema bilateral de teleoperación. Estudio de diferentes protocolos de comunicación muy extendidos como USB y Ethernet, explicando sus fundamentos principales y el funcionamiento básico, y su aplicación en la robótica, en particular en sistemas Bilaterales de Teleoperación con exigencias de tiempo real. Presentación de resultados obtenidos y comparación entre protocolos en diversas...
Patients Monitoring System based on a Wireless Sensor Network Adaptive Platform - Romero Perales, Elena; Araujo Pinto, Álvaro; Malagón Marzo, Pedro José; Vallejo López, Juan Carlos; Moya Fernández, José Manuel; Nieto-Taladriz García, Octavio
Guaranteeing ubiquity and appropriateness of health services provision to the users constitutes a priority issue for the Public Health Authorities. This paper presents an innovative Wireless Personal Area Network architecture that takes advantage of some of the features provided by Intelligent Environments -large number of devices, heterogeneous networks and mobility enhancement- in order to adapt and personalise ambient conditions to the user profile.
Brain Computer Interface. Comparison of Neural Networks Classifiers. - Martínez Pérez, Jose Luis; Barrientos Cruz, Antonio
Brain Computer Interface is an emerging technology that allows new output paths to communicate the user’s intentions without use of normal output ways, such as muscles or nerves (Wolpaw, J. R.; et al., 2002).In order to obtain its objective BCI devices shall make use of classifier which translate the inputs provided by user’s brain signal to commands for external devices. The primary uses of this technology will benefit persons with some kind blocking disease as for example: ALS, brainstem stroke, severe cerebral palsy (Donchin et al., 2000).This report describes three different classifiers based on three different types of neural networks:...
Instrumented splint for the diagnosis of bruxism - Lafont Morgado, Pilar; Diaz Lantada, Andres; Martínez Álvarez, Alexander; Barrientos Cruz, Antonio; Lorenzo Yustos, Héctor; Castedo Cepeda, Pedro Luis; Gonzalez Herranz, Roberto; Muñoz Garcia, Julio; Echávarri Otero, Javier
Bruxism is a health problem consisting in grinding or tightly clenching the upper and lower teeth. Both the
grinding and sliding lead to wear of the teeth and produce a noise during the night that is sufficiently loud to disturb the sleep of anyone sharing the bedroom. The tension produced causes problems in the muscles, tissues and other structures surrounding the jaw, ear pain, headaches, lesions to the teeth and disorders in the jaw joints. For an early, rapid, effective and economical diagnosis of bruxism, we propose the use of instrumented splints to detect and record the intensity and duration of...
Modelling and controller prototyping for unmanned vertical take off and landing (UVTOL)vehicles - Martínez Álvarez, Alexander; Gutiérrez Mier, Pedro; Rossi, Claudio; Barrientos Cruz, Antonio; Cerro Giner, Jaime del; San Martín Muñoz, Rodrigo
This paper describes a methodology to parameterize linear, time invariant (LTI) models which represent the dynamics of UVTOLs and that are appropriate for analytical development of controllers. The models validity was tested against real telemetry from two vehicles, a mini-helicopter and a quad-rotor. The experiments show that despite its inherent limitations the LTI models are suitable for modeling the complex dynamics of aerial vehicles. Different LTI models forthe mini-helicopter’s stationary, lateral and longitudinal flights were obtained. Similarly, given the geometrical and dynamic characteristics of the quad-rotor no distinction is made between stationary, lateral and longitudinal flights, and only one LTI...
Modelling and controller design methodology for unmanned vertical take off and landing (UVTOL) vehicles - Martínez Álvarez, Alexander; Gutiérrez Mier, Pedro; Rossi, Claudio; Barrientos Cruz, Antonio; Cerro Giner, Jaime del; San Martín Muñoz, Rodrigo
This paper describes a methodology to parameterize linear, time invariant (LTI) models which represent the dynamics of UVTOLs and that are appropriate for analytical against real telemetry from two vehicles, a mini-helicopter and a quad rotor. The experiments show that despite their inherent limitations the LTI models are suitable for modeling the complex dynamics of aerial vehicles. Different LTI models for the mini-flights were obtained. Similarly, given the geometrical and dynamic characteristics of the quad rotor no distinction is made between stationary, lateral and longitudinal flights, and only one LTI model was obtained, which represents the overall dynamic behavior of...
Development of a Semi-automatic Cost-Effective Façade Cleaning System - Gambao Galán, Ernesto; Hernando Gutiérrez, Miguel; Surdilovic, Dragoljub
Nowadays the number of buildings with large glass or flat façades is increasing all over the World. These façades must be periodically cleaned with manual procedures that supposed high cost and risk for the workers that have to develop their work under heavy conditions. Although the cleaning cost depends a lot on several factors as the façade characteristics, the cleaning periodicity or the total surface to be cleaned, the average cost is € 8-9 per square meter. A typical building of 12.000 m2 supposes a total façade cleaning cost of € 100.000 and this task is usually done every year....
Modelling of Modular Robot Configurations Using Graph Theory - Baca Garcia, Jose Antonio; Yerpes, Ariadna; Ferre Perez, Manuel; Escalera Piña, Juan Antonio; Aracil Santonja, Rafael
Modular robots are systems that can change its geometry or configuration when connecting more modules or when rearranging them in a different manner to perform a variety of tasks. Graph theory can be used to describe modular robots configurations, hence the possibility to determine the flexibility of the robot to move from one point to another. When the robot’s configurations are represented in a mathematical way, forward kinematics can be obtained.
Reliability evaluation of III-V concentrator solar cells - Nuñez Mendoza, Neftali; González, Jose R.; Vázquez López, Manuel; Algora del Valle, Carlos; Rey-Stolle Prado, Ignacio
Concentrator solar cells have been proposed as an interesting way of reducing the cost of photovoltaic electricity. However, in order to compete with conventional solar modules it is necessary not only to reduce costs but also to evaluate and increase the present reliability. Concentrator solar cells work at higher temperature, solar radiation and current stress than conventional solar cells and a carefully reliability analysis is needed. In this paper a reliability analysis procedure, that is being developed, is presented.
Efficient Transport Protocol for Networked Haptics Applications - Wirz, Raul; Ferre Perez, Manuel; Marin, Raul; Barrio Gragera, Jorge; Claver, Jose M.; Ortego, Javier
The performance of haptic application is highly sensitive to communication delays and losses of data. It implies several constraints in developing networked haptic applications. This paper describes a new internet protocol called Efficient Transport Protocol (ETP), which aims at developing distributed interactive applications. TCP and UDP are transport protocols commonly used in any kind of networked communication, but they are not focused on real time application. This new protocol is focused on reducing roundtrip time (RTT) and inter packet gap (IPG). ETP is, therefore, optimized for interactive applications which are based on processes that are continuously exchanging data.ETP protocol is...