EVA: Laparoscopic instrument tracking based on endoscopic video analysis for psychomotor skills assessment

INTRODUCTION: The EVA (Endoscopic Video Analysis) tracking system a new tracking system for extracting motions of laparoscopic instruments based on non-obtrusive video tracking was developed. The feasibility of using EVA in laparoscopic settings has been tested in a box trainer setup. METHODS: EVA makes use of an algorithm that employs information of the laparoscopic instrument's shaft edges in the image, the instrument's insertion point, and the camera's optical centre to track the 3D position of the instrument tip. A validation study of EVA comprised a comparison of the measurements achieved with EVA and the TrEndo tracking system. To this end, 42 participants (16 novices, 22 residents, and 4 experts) were asked to perform a peg transfer task in a box trainer. Ten motion-based metrics were used to assess their performance. RESULTS: Construct validation of the EVA has been obtained for seven motion-based metrics. Concurrent validation revealed that there is a strong correlation between the results obtained by EVA and the TrEndo for metrics such as path length (p=0,97), average speed (p=0,94) or economy of volume (p=0,85), proving the viability of EVA. CONCLUSIONS: EVA has been successfully used in the training setup showing potential of endoscopic video analysis to assess laparoscopic psychomotor skills. The results encourage further implementation of video tracking in training setups and in image guided surgery.

Jupiter power generation with electrodynamic tethers at constant orbital energy

An electrodynamic tether system for power generation at Jupiter is presented that allows extracting energy from Jupiter's corotating plasmasphere while leaving the system orbital energy unaltered to first order. The spacecraft is placed in a polar orbit with the tether spinning in the orbital plane so that the resulting Lorentz force, neglecting Jupiter's magnetic dipole tilt, is orthogonal to the instantaneous velocity vector and orbital radius, hence affecting orbital inclination rather than orbital energy. In addition, the electrodynamic tether subsystem, which consists of two radial tether arms deployed from the main central spacecraft, is designed in such a way as to extract maximum power while keeping the resulting Lorentz torque constantly null. The power-generation performance of the system and the effect on the orbit inclination is evaluated analytically for different orbital conditions and verified numerically. Finally, a thruster-based inclination-compensation maneuver at apoapsis is added, resulting in an efficient scheme to extract energy from the plasmasphere of the planet with minimum propellant consumption and no inclination change. A tradeoff analysis is conducted showing that, depending on tether size and orbit characteristics, the system performance can be considerably higher than conventional power-generation methods.

Optimización multiobjetivo inteligente del dimensionamiento energético en sistemas ferroviarios señalizados y en plataformas software de tiempo real

La capacidad de transporte es uno de los baremos fundamentales para evaluar la progresión que puede llegar a tener un área económica y social. Es un sector de elevada importancia para la sociedad actual. Englobado en los distintos tipos de transporte, uno de los medios de transporte que se encuentra más en alza en la actualidad, es el ferroviario. Tanto para movilidad de pasajeros como para mercancías, el tren se ha convertido en un medio de transporte muy útil. Se encuentra dentro de las ciudades, entre ciudades con un radio pequeño entre ellas e incluso cada vez más, gracias a la alta velocidad, entre ciudades con gran distancia entre ellas. Esta Tesis pretende ayudar en el diseño de una de las etapas más importantes de los Proyectos de instalación de un sistema ferroviario: el sistema eléctrico de tracción. La fase de diseño de un sistema eléctrico de tracción ferroviaria se enfrenta a muchas dudas que deben ser resueltas con precisión. Del éxito de esta fase dependerá la capacidad de afrontar las demandas de energía de la explotación ferroviaria. También se debe atender a los costes de instalación y de operación, tanto costes directos como indirectos. Con la Metodología que se presenta en esta Tesis se ofrecerá al diseñador la opción de manejar un sistema experto que como soluciones le plantee un conjunto de escenarios de sistemas eléctricos correctos, comprobados por resolución de modelos de ecuaciones. Correctos desde el punto de vista de validez de distintos parámetros eléctrico, como de costes presupuestarios e impacto de costes indirectos. Por tanto, el diseñador al haber hecho uso de esta Metodología, tendría en un espacio de tiempo relativamente corto, un conjunto de soluciones factibles con las que poder elegir cuál convendría más según sus intereses finales. Esta Tesis se ha desarrollado en una vía de investigación integrada dentro del Centro de Investigaciones Ferroviarias CITEF-UPM. Entre otros proyectos y vías de investigación, en CITEF se ha venido trabajando en estudios de validación y dimensionamiento de sistemas eléctricos ferroviarios con diversos y variados clientes y sistemas ferroviarios. A lo largo de los proyectos realizados, el interés siempre ha girado mayoritariamente sobre los siguientes parámetros del sistema eléctrico: - Calcular número y posición de subestaciones de tracción. Potencia de cada subestación. - Tipo de catenaria a lo largo del recorrido. Conductores que componen la catenaria. Características. - Calcular número y posición de autotransformadores para sistemas funcionando en alterna bitensión o 2x25kV. - Posición Zonas Neutras. - Validación según normativa de: o Caídas de tensión en la línea o Tensiones máximas en el retorno de la línea o Sobrecalentamiento de conductores o Sobrecalentamiento de los transformadores de las subestaciones de tracción La idea es que las soluciones aportadas por la Metodología sugieran escenarios donde de estos parámetros estén dentro de los límites que marca la normativa. Tener la posibilidad de tener un repositorio de posibles escenarios donde los parámetros y elementos eléctricos estén calculados como correctos, aporta un avance en tiempos y en pruebas, que mejoraría ostensiblemente el proceso habitual de diseño para los sistemas eléctricos ferroviarios. Los costes directos referidos a elementos como subestaciones de tracción, autotransformadores, zonas neutras, ocupan un gran volumen dentro del presupuesto de un sistema ferroviario. En esta Tesis se ha querido profundizar también en el efecto de los costes indirectos provocados en la instalación y operación de sistemas eléctricos. Aquellos derivados del impacto medioambiental, los costes que se generan al mantener los equipos eléctricos y la instalación de la catenaria, los costes que implican la conexión entre las subestaciones de tracción con la red general o de distribución y por último, los costes de instalación propios de cada elemento compondrían los costes indirectos que, según experiencia, se han pensado relevantes para ejercer un cierto control sobre ellos. La Metodología cubrirá la posibilidad de que los diseños eléctricos propuestos tengan en cuenta variaciones de coste inasumibles o directamente, proponer en igualdad de condiciones de parámetros eléctricos, los más baratos en función de los costes comentados. Analizando los costes directos e indirectos, se ha pensado dividir su impacto entre los que se computan en la instalación y los que suceden posteriormente, durante la operación de la línea ferroviaria. Estos costes normalmente suelen ser contrapuestos, cuánto mejor es uno peor suele ser el otro y viceversa, por lo que hace falta un sistema que trate ambos objetivos por separado. Para conseguir los objetivos comentados, se ha construido la Metodología sobre tres pilares básicos: - Simulador ferroviario Hamlet: Este simulador integra módulos para construir esquemas de vías ferroviarios completos; módulo de simulación mecánica y de la tracción de material rodante; módulo de señalización ferroviaria; módulo de sistema eléctrico. Software realizado en C++ y Matlab. - Análisis y estudio de cómo focalizar los distintos posibles escenarios eléctricos, para que puedan ser examinados rápidamente. Pico de demanda máxima de potencia por el tráfico ferroviario. - Algoritmos de optimización: A partir de un estudio de los posibles algoritmos adaptables a un sistema tan complejo como el que se plantea, se decidió que los algoritmos genéticos serían los elegidos. Se han escogido 3 algoritmos genéticos, permitiendo recabar información acerca del comportamiento y resultados de cada uno de ellos. Los elegidos por motivos de tiempos de respuesta, multiobjetividad, facilidad de adaptación y buena y amplia aplicación en proyectos de ingeniería fueron: NSGA-II, AMGA-II y ɛ-MOEA. - Diseño de funciones y modelo preparado para trabajar con los costes directos e indirectos y las restricciones básicas que los escenarios eléctricos no deberían violar. Estas restricciones vigilan el comportamiento eléctrico y la estabilidad presupuestaria. Las pruebas realizadas utilizando el sistema han tratado o bien de copiar situaciones que se puedan dar en la realidad o directamente sistemas y problemas reales. Esto ha proporcionado además de la posibilidad de validar la Metodología, también se ha posibilitado la comparación entre los algoritmos genéticos, comparar sistemas eléctricos escogidos con los reales y llegar a conclusiones muy satisfactorias. La Metodología sugiere una vía de trabajo muy interesante, tanto por los resultados ya obtenidos como por las oportunidades que puede llegar a crear con la evolución de la misma. Esta Tesis se ha desarrollado con esta idea, por lo que se espera pueda servir como otro factor para trabajar con la validación y diseño de sistemas eléctricos ferroviarios. ABSTRACT Transport capacity is one of the critical points to evaluate the progress than a specific social and economical area is able to reach. This is a sector of high significance for the actual society. Included inside the most common types of transport, one of the means of transport which is elevating its use nowadays is the railway. Such as for passenger transport of weight movements, the train is being consolidated like a very useful mean of transport. Railways are installed in many geography areas. Everyone know train in cities, or connecting cities inside a surrounding area or even more often, taking into account the high-speed, there are railways infrastructure between cities separated with a long distance. This Ph.D work aims to help in the process to design one of the most essential steps in Installation Projects belonging to a railway system: Power Supply System. Design step of the railway power supply, usually confronts to several doubts and uncertainties, which must be solved with high accuracy. Capacity to supply power to the railway traffic depends on the success of this step. On the other hand is very important to manage the direct and indirect costs derived from Installation and Operation. With the Methodology is presented in this Thesis, it will be offered to the designer the possibility to handle an expert system that finally will fill a set of possible solutions. These solutions must be ready to work properly in the railway system, and they were tested using complex equation models. This Thesis has been developed through a research way, integrated inside Citef (Railway Research Centre of Technical University of Madrid). Among other projects and research ways, in Citef has been working in several validation studies and dimensioning of railway power supplies. It is been working by a large range of clients and railways systems. Along the accomplished Projects, the main goal has been rounded mostly about the next list of parameters of the electrical system: - Calculating number and location of traction substations. Power of each substation. - Type of Overhead contact line or catenary through the railway line. The wires which set up the catenary. Main Characteristics. - Calculating number and position of autotransformers for systems working in alternating current bi-voltage of called 2x25 kV. - Location of Neutral Zones. - Validating upon regulation of: o Drop voltages along the line o Maximum return voltages in the line o Overheating/overcurrent of the wires of the catenary o Avoiding overheating in the transformers of the traction substations. Main objective is that the solutions given by the Methodology, could be suggest scenarios where all of these parameters from above, would be between the limits established in the regulation. Having the choice to achieve a repository of possible good scenarios, where the parameters and electrical elements will be assigned like ready to work, that gives a great advance in terms of times and avoiding several tests. All of this would improve evidently the regular railway electrical systems process design. Direct costs referred to elements like traction substations, autotransformers, neutral zones, usually take up a great volume inside the general budget in railway systems. In this Thesis has been thought to bear in mind another kind of costs related to railway systems, also called indirect costs. These could be enveloped by those enmarked during installation and operation of electrical systems. Those derived from environmental impact; costs generated during the maintenance of the electrical elements and catenary; costs involved in the connection between traction substations and general electric grid; finally costs linked with the own installation of the whole electrical elements needed for the correct performance of the railway system. These are integrated inside the set has been collected taking into account own experience and research works. They are relevant to be controlled for our Methodology, just in case for the designers of this type of systems. The Methodology will cover the possibility that the final proposed power supply systems will be hold non-acceptable variations of costs, comparing with initial expected budgets, or directly assuming a threshold of budget for electrical elements in actual scenario, and achieving the cheapest in terms of commented costs from above. Analyzing direct and indirect costs, has been thought to divide their impact between two main categories. First one will be inside the Installation and the other category will comply with the costs often happens during Railway Operation time. These costs normally are opposed, that means when one is better the other turn into worse, in costs meaning. For this reason is necessary treating both objectives separately, in order to evaluate correctly the impact of each one into the final system. The objectives detailed before build the Methodology under three basic pillars: - Railway simulator Hamlet: This software has modules to configure many railway type of lines; mechanical and traction module to simulate the movement of rolling stock; signaling module; power supply module. This software has been developed using C++ and Matlab R13a - Previously has been mandatory to study how would be possible to work properly with a great number of feasible electrical systems. The target comprised the quick examination of these set of scenarios in terms of time. This point is talking about Maximum power demand peaks by railway operation plans. - Optimization algorithms. A railway infrastructure is a very complex system. At the beginning it was necessary to search about techniques and optimization algorithms, which could be adaptable to this complex system. Finally three genetic multiobjective algorithms were the chosen. Final decision was taken attending to reasons such as time complexity, able to multiobjective, easy to integrate in our problem and with a large application in engineering tasks. They are: NSGA-II, AMGA-II and ɛ-MOEA. - Designing objectives functions and equation model ready to work with the direct and indirect costs. The basic restrictions are not able to avoid, like budgetary or electrical, connected hardly with the recommended performance of elements, catenary and safety in a electrical railway systems. The battery of tests launched to the Methodology has been designed to be as real as possible. In fact, due to our work in Citef and with real Projects, has been integrated and configured three real railway lines, in order to evaluate correctly the final results collected by the Methodology. Another topic of our tests has been the comparison between the performances of the three algorithms chosen. Final step has been the comparison again with different possible good solutions, it means power supply system designs, provided by the Methodology, testing the validity of them. Once this work has been finished, the conclusions have been very satisfactory. Therefore this Thesis suggest a very interesting way of research and work, in terms of the results obtained and for the future opportunities can be created with the evolution of this. This Thesis has been developed with this idea in mind, so is expected this work could adhere another factor to work in the difficult task of validation and design of railway power supply systems.

Acute effects of endurance exercise on jumping and kicking performance in top-class young soccer players

The aim of this study was to examine the acute effects of endurance exercise on jumping and kicking performance in young soccer players. Twenty-one top-class young soccer players (16.1±0.2 years) performed a countermovement jump test and a maximal instep soccer kick test before and after running for 20 min on a treadmill at 80% of their individual maximum heart rate. Two force platforms were used to obtain the following parameters during the countermovement jump: jump height, maximum power, maximum power relative to body mass, maximum vertical ground reaction force, maximum vertical ground reaction force relative to body mass, and maximum vertical ground reaction force applied to each leg. Maximum vertical ground reaction force and maximum vertical ground reaction force relative to body mass applied to the support leg during the kicks were also calculated with a force platform. The kicking motion was recorded using a three-dimensional motion-capture system. Maximum velocity of the ball, maximum linear velocity of the toe, ankle, knee and hip, and linear velocity of the toe at ball contact during the kicks were calculated. Non-significant differences were found in the parameters measured during the countermovement jump and the maximal instep soccer kick test before and after running, suggesting that the jumping and kicking performances of top-class young soccer players were not significantly affected after 20 min treadmill running at 80% of their individual maximum heart rate.

Upper Limb Portable Motion Analysis System Based on Inertial Technology for Neurorehabilitation Purposes

Here an inertial sensor-based monitoring system for measuring and analyzing upper limb movements is presented. The final goal is the integration of this motion-tracking device within a portable rehabilitation system for brain injury patients. A set of four inertial sensors mounted on a special garment worn by the patient provides the quaternions representing the patient upper limb’s orientation in space. A kinematic model is built to estimate 3D upper limb motion for accurate therapeutic evaluation. The human upper limb is represented as a kinematic chain of rigid bodies with three joints and six degrees of freedom. Validation of the system has been performed by co-registration of movements with a commercial optoelectronic tracking system. Successful results are shown that exhibit a high correlation among signals provided by both devices and obtained at the Institut Guttmann Neurorehabilitation Hospital.

Caracterización y modelado de grandes centrales fotovoltaicas

La presente tesis doctoral propone un conjunto de ensayos de corta duración destinados a cubrir la ausencia de estándares internacionales específicamente adaptados a la tecnología y al panorama fotovoltaico actual que indiquen como realizar los procedimientos de control de calidad para comprobar que las grandes centrales fotovoltaicas ejecutadas responden a las expectativas establecidas durante la fase de proyecto. Dichos ensayos buscan, desde el punto de vista estrictamente técnico, obtener en un corto periodo de tiempo (típicamente una semana) resultados altamente repetitivos y representativos del comportamiento de la instalación bajo análisis, a la vez que minimizar al máximo la incertidumbre global, aspectos fundamentales para los procedimientos de control general de la calidad de una central. Los ensayos propuestos comprueban tanto el comportamiento general de la central, en términos de su capacidad de producción energética, como el de sus principales componentes, generadores fotovoltaicos e inversores, en términos de potencia máxima y eficiencia, respectivamente. También se aconseja una revisión de la calidad y seguridad de la instalación y de los materiales empleados en la ejecución de la central para evitar un envejecimiento prematuro de los mismos. Todos los ensayos recogidos en el texto se apoyan en la experiencia recopilada por el “Grupo de Sistemas Fotovoltaicos del Instituto de Energía Solar de la Universidad Politécnica de Madrid”, que ha estado involucrado en procedimientos de control de calidad de unas 50 centrales fotovoltaicas, con una potencia acumulada cercana a 250 MW, la mayoría de ellas instaladas en España. ABSTRACT This PhD thesis proposes a set of short-duration tests to establish quality control procedures to ensure that large photovoltaic plants fulfil the initial expectations. The motivation for this work is the lack of international standards specifically adapted to the present photovoltaic technology and its state of the art. From a strict technical point of view, these tests seek to obtain highly repetitive and representative results about the behaviour of the installation under study in a short period of time (typically one single week); and to minimize the global uncertainty. These are the two keys aspects required in quality control procedures. The proposed tests evaluate the general behaviour of the photovoltaic plants, in terms of energy production, as well as the particular behaviour of their main devices, photovoltaic arrays and inverters, in terms of maximum power and efficiency, respectively. A review of the installation quality and safety, and the employed materials in its execution to avoid premature aging is also recommended. The tests here presented are based on the experience accumulated by the “Grupo de Sistemas Fotovoltaicos del Instituto de Energia Solar de la Universidad Politecnica de Madrid”. This group has been involved in quality control procedures of about 50 photovoltaic plants, with an accumulated power close to 250 MW, most of them installed in Spain.

Three-level cell topology for a multilevel power supply to achieve High

This paper presents an envelope amplifier solution for envelope elimination and restoration (EER), that consists of a series combination of a switch-mode power supply (SMPS), based on three-level voltage cells and a linear regulator. This cell topology offers several advantages over a previously presented envelope amplifier based on a different multilevel topology (two-level voltage cells). The topology of the multilevel converter affects to the whole design of the envelope amplifier and a comparison between both design alternatives regarding the size, complexity and the efficiency of the solution is done. Both envelope amplifier solutions have a bandwidth of 2 MHz with an instantaneous maximum power of 50 W. It is also analyzed the linearity of the three-level cell solution, with critical importance in the EER technique implementation. Additionally, considerations to optimize the design of the envelope amplifier and experimental comparison between both cell topologies are included.

Adaptive neuro-fuzzy inference systems (ANFIS) for supervised classification of competence in MIS based on psychomotor skills

INTRODUCTION: Objective assessment of motor skills has become an important challenge in minimally invasive surgery (MIS) training.Currently, there is no gold standard defining and determining the residents' surgical competence.To aid in the decision process, we analyze the validity of a supervised classifier to determine the degree of MIS competence based on assessment of psychomotor skills METHODOLOGY: The ANFIS is trained to classify performance in a box trainer peg transfer task performed by two groups (expert/non expert). There were 42 participants included in the study: the non-expert group consisted of 16 medical students and 8 residents (< 10 MIS procedures performed), whereas the expert group consisted of 14 residents (> 10 MIS procedures performed) and 4 experienced surgeons. Instrument movements were captured by means of the Endoscopic Video Analysis (EVA) tracking system. Nine motion analysis parameters (MAPs) were analyzed, including time, path length, depth, average speed, average acceleration, economy of area, economy of volume, idle time and motion smoothness. Data reduction was performed by means of principal component analysis, and then used to train the ANFIS net. Performance was measured by leave one out cross validation. RESULTS: The ANFIS presented an accuracy of 80.95%, where 13 experts and 21 non-experts were correctly classified. Total root mean square error was 0.88, while the area under the classifiers' ROC curve (AUC) was measured at 0.81. DISCUSSION: We have shown the usefulness of ANFIS for classification of MIS competence in a simple box trainer exercise. The main advantage of using ANFIS resides in its continuous output, which allows fine discrimination of surgical competence. There are, however, challenges that must be taken into account when considering use of ANFIS (e.g. training time, architecture modeling). Despite this, we have shown discriminative power of ANFIS for a low-difficulty box trainer task, regardless of the individual significances between MAPs. Future studies are required to confirm the findings, inclusion of new tasks, conditions and sample population.

FPGA-Based Wireless Sensor Node Architecture for High Performance Applications

While for years traditional wireless sensor nodes have been based on ultra-low power microcontrollers with sufficient but limited computing power, the complexity and number of tasks of today’s applications are constantly increasing. Increasing the node duty cycle is not feasible in all cases, so in many cases more computing power is required. This extra computing power may be achieved by either more powerful microcontrollers, though more power consumption or, in general, any solution capable of accelerating task execution. At this point, the use of hardware based, and in particular FPGA solutions, might appear as a candidate technology, since though power use is higher compared with lower power devices, execution time is reduced, so energy could be reduced overall. In order to demonstrate this, an innovative WSN node architecture is proposed. This architecture is based on a high performance high capacity state-of-the-art FPGA, which combines the advantages of the intrinsic acceleration provided by the parallelism of hardware devices, the use of partial reconfiguration capabilities, as well as a careful power-aware management system, to show that energy savings for certain higher-end applications can be achieved. Finally, comprehensive tests have been done to validate the platform in terms of performance and power consumption, to proof that better energy efficiency compared to processor based solutions can be achieved, for instance, when encryption is imposed by the application requirements.

Storage requirements for PV power ramp-rate control

Short-term variability in the power generated by large grid-connected photovoltaic (PV) plants can negatively affect power quality and the network reliability. New grid-codes require combining the PV generator with some form of energy storage technology in order to reduce short-term PV power fluctuation. This paper proposes an effective method in order to calculate, for any PV plant size and maximum allowable ramp-rate, the maximum power and the minimum energy storage requirements alike. The general validity of this method is corroborated with extensive simulation exercises performed with real 5-s one year data of 500 kW inverters at the 38.5 MW Amaraleja (Portugal) PV plant and two other PV plants located in Navarra (Spain), at a distance of more than 660 km from Amaraleja.

Adaptación de una central térmica de carbón a la Directiva de Emisiones Industriales

El proyecto que se presenta a continuación recoge la adaptación de una Central Térmica de carbón al cumplimiento de la DIRECTIVA 2010/75/UE DEL PARLAMENTO EUROPEO Y DEL CONSEJO de 24 de noviembre de 2010 sobre las emisiones industriales. La Central sobre la que se realiza el proyecto tiene un grupo térmico de carbón suscritico refrigerado por agua, con una potencia a plena carga de 350 MWe y de 190 MWe a mínimo técnico. Genera 1 090 t/h de vapor a 540 °C y 168 kg/cm2 funcionando a plena carga. Actualmente las emisiones de NOx son de 650 mg/m3, (condiciones normales, seco, 6 % O2). El objeto del proyecto es reducir estas emisiones a un valor máximo de 200 mg/m3 en las mismas condiciones. El proyecto analiza detalladamente las condiciones actuales de operación de la instalación en cuanto a combustible utilizado, horas de funcionamiento, condiciones climáticas y producción. Se analiza así mismo, todas las técnicas disponibles en mercado para la reducción del NOx, diferenciando entre medidas primarias (actúan sobre los efectos de formación) y secundarias (limpieza de gases). Las medidas primarias ya están implementadas en la central, por tanto, el proyecto plantea la reducción con medidas secundarias. De las medidas secundarias analizadas se ha seleccionado la instalación de un Reactor de Reducción Selectiva Catalítica (Reactor SCR). Tras un análisis de los diferentes reactores y catalizadores disponibles se ha seleccionado un reactor de configuración High-dust, una disposición de catalizador en 3 capas más 1, cuyos componentes están basados en óxidos metálicos (TiO2, V2O5, WO3) y estructura laminar. Se ha buscado la instalación del reactor para operar a una temperatura inferior a 450 °C. Como agente reductor se ha seleccionado NH3 a una dilución del 24,5 %. El proyecto recoge también el diseño de todo el sistema de almacenamiento, evaporación, dilución e inyección de amoniaco. El resultado del proyecto garantiza una concentración en los gases de salida por la chimenea inferior 180 mg/m3(n) de NOx. La reducción del NOx a los límites establecidos, tienen un coste por MWh neto generado para la central, trabajando 60 % a plena carga y 40 % a mínimo técnico y una amortización de 10 años, de 4,10 €/MWh. ABSTRACT The following project shows the compliance adjustment of a coal-fired power station to the 2010/75/EU Directive of the European Parliament and Council 24th November 2010 on industrial emissions. The project is based on a power station with a subcritical thermal coal unit, cooled with water, with a maximum power of 350 MWe and a technical minimum of 190 MWe. It produces 1 090 t/h of steam at 540 ° C and 168 kg/cm2 operating under full load. Currently, NOx emissions are 650 mg / m3 (normal conditions, dry, 6% O2). The project aims to reduce these emissions to a maximum value of 200 mg / m3 under the same conditions. The project analyses in detail the current operating conditions of the system in terms of fuel used, hours of operation, climatic conditions and production. In addition, it also analyses every available technique of NOx reduction on the market, distinguishing between primary (acting on the effects of formation) and secondary measures (gas cleaning). Primary measures are already implemented in the plant, thus proposing reduction with secondary measures. Among the secondary measures analyzed, it has been selected to install a Selective Catalytic Reduction Reactor (SCR Reactor). Having researched the different reactors and catalysts available, for the reactor has been selected High-dust configuration, an arrangement of catalyst in 3 layers plus 1, whose components are based on metal oxides (TiO2, V2O5, WO3) and laminar structure. The reactor has been sought facility to operate at a temperature below 450 ° C. NH3 diluted to 24,5 % has been selected as reducing agent. The project also includes the design of the entire storage system, evaporation, dilution and ammonia injection. The results of the project ensure a gas concentration in the lower chimney exit below 180 mg / m3(n) NOx. The reduction of NOx to the established limits has a cost per net MWh generated in the plant, working at 60% of full load and at 40% of technical minimum, with an amortization of 10 years, 4,10 € / MWh.

Sistema para el análisis del consumo eléctrico y optimización en la contratación del suministro

El presente trabajo se enmarca en el ámbito de la eficiencia energética y contempla la gestión del consumo eléctrico en hogares. Concretamente, para este proyecto fin de grado se propone el desarrollo de un sistema informático que permita el análisis y monitorización del consumo eléctrico y optimización en la contratación del suministro eléctrico en el hogar. El sistema desarrollado permite la monitorización del consumo eléctrico, expresado en kilovatios-hora (kWh), y la monitorización del coste real de dicho consumo, expresado en euros, en función del tipo de tarifa que se tenga contratada en la modalidad del PVPC1 (Precio Voluntario para el Pequeño Consumidor). También se ha desarrollado una interfaz web a través de la cual el usuario tiene acceso a la información y datos del sistema. En dicha web se muestran gráficas de consumo, potencia, voltaje, corriente y coste de la energía por días. Además, se ha dotado al sistema de un generador de alertas que notifica al usuario, vía web y vía correo electrónico, cuando el consumo sobrepasa los límites fijados por él mismo. El usuario, por tanto, podrá definir los valores de alerta de sobreconsumo y visualizar tanto un histórico de las alertas generadas en el pasado como las alertas activas en ese momento. Las alertas se muestran en la gráfica correspondiente dentro de la aplicación web. Por último, se dispone de la opción de exportar las gráficas que son visualizadas en la aplicación web en formato PNG, JPEG, PDF y SVG, además de la posibilidad de imprimirla.---ABSTRACT---This project belongs to the Energy Efficiency field and is aimed at home energy management. Specifically, for this thesis the development of a computer system that allows monitoring and analysis of energy consumption and contracted power optimization is proposed. The developed system allows energy consumption management within households (expressed in kilowatts per hour, kWh) and real cost monitoring (in euros) according to the contract tariff. A web interface has been developed in order to provide the user with power consumption information and control energy tools. In this web application, electric consumption, power, voltage, current and energy cost by day are shown. Besides, an alert generation system has been implemented so that the user can define maximum power consumption values and be informed through email or web when these values are exceeded. The user will be able to check older power alerts as well as the currently active ones. These alerts are shown in a specific graph within the web application. Finally, the user generated graphs can be exported from the web using PNG, JPEG, PDF or SVG image formats as well as be printed from the web.

Exploración y evaluación de mecanismos para la captura de la posición y postura de personas en entornos reales

El presente trabajo consiste en el estudio de la viabilidad en el uso de tres posibles opciones orientadas a la captura de la posición y la postura de personas en entornos reales, así como el diseño e implementación de un prototipo de captura en cada uno de ellos. También se incluye una comparativa con el fin de destacar los pros y los contras de cada solución. Una de las alternativas para llevarlo a cabo consiste en un sistema de tracking óptico por infrarrojos de alta calidad y precisión, como es Optitrack; la segunda se basa en una solución de bajo coste como es el periférico Kinect de Microsoft y la tercera consiste en la combinación de ambos dispositivos para encontrar un equilibrio entre precisión y economía, tomando los puntos fuertes de cada uno para contrarrestar sus debilidades. Uno de los puntos importantes del trabajo es que el uso de los prototipos de captura está orientado a entornos de trabajo reales (en concreto en la captura de los movimientos del personal que trabaja en un quirófano), así que han sido necesarias pruebas para minimizar el efecto de las fuentes de luz en los sistemas de infrarrojos, el estudio de los dispositivos para determinar el número de personas que son capaces de capturar a la vez sin que esto afecte a su rendimiento y el nivel de invasión de los dispositivos en los trabajadores (marcadores para el tracking), además de los mecanismos apropiados para minimizar el impacto de las oclusiones utilizando métodos de interpolación y ayudándose del conocimiento del contexto, las restricciones de movimiento del cuerpo humano y la evolución en el tiempo. Se han desarrollado conocimientos en el funcionamiento y configuración dispositivos como el sistema de captura Optitrack de Natural Point y el sistema de detección de movimiento Kinect desarrollado por Microsoft. También se ha aprendido el funcionamiento del entorno de desarrollo y motor de videojuegos multiplataforma homónimos Unity y del lenguaje de programación C# que utiliza dicho entorno para sus scripts de control, así como los protocolos de comunicación entre los distintos sistemas que componen los prototipos como son VRPN y NatNet.---ABSTRACT---This project is about a viability study in the use of three possible options, oriented towards the capture of the position and view of people in a real environment, as well as the design and implementation of a capturing prototype in each of them. A comparative study is also included, in order to emphasise the pros and cons of each solution. One of the alternatives consists of an optical tracking system via high quality and precision infrareds, like Optitrack; the second is based on a low cost solution, such as Microsoft’s Kinect peripheral, and the third consists on a combination of both devices to find a balance between precision and price, taking the strong points of each of the mechanisms to make up for the weaknesses. One of the important parts of this project is that the use of the capturing prototypes is directed towards real life work situations (specifically towards the capturing of the movements of surgery personnel), so various tests have been necessary in order to minimize the effect of light sources in infrared systems, the study of the devices to determine the number of people that they are capable of capturing simultaneously without affecting their performance and the invasion level of the devices towards the workers (tracking markers), as well as the mechanisms adopted to minimize the impact of the occlusions using interpolation methods and with help of the knowledge of the surroundings, the human movement restrictions and the passing of time. Knowledge has been developed on the functioning and configuration of the devices such as Natural Point’s Optitrak capturing system, and the Kinect movement detection system developed by Microsoft. We have also learned about the operating of the development and incentive environment of multiplatform videogames of namesake Unity and of C# programming language, which uses said environment for its control scripts, as well as communication protocols between the different systems that make up prototypes like VRPN and NatNet.

Grid-connected roof solar plants in educational institutions for testing and electricity generation: a case in Spain.

The use of photovoltaic experimental plants in engineering educational buildings contributes to an increase in acceptance of this technology by future engineers. There are some photovoltaic (PV) systems in educational buildings in Spain, but they are usually limited to buildings in relation to electrical technologies or research areas. They are not common in other educational or official buildings. This paper presents the project of a grid-connected solar plant with two main objectives. First, different PV module technologies will be compared. Second, an emphasis on agronomical areas in educational settings will be reviewed in an attempt to facilitate student engagement in the use of the power plant. The system is grid-connected in order to pay-back the investment in the plant. In fact the electricity generated by the plant will be used by the installations of the building, as it is the closest consumer. This work intends to approximate photovoltaic technology to university degrees not directly related with it and at the same time research in comparison of systems with different technologies. This is a good example of an solar plant for both optimum production and educational purposes.

Modelado de materiales piezoeléctricos para aplicaciones de autoalimentación en entornos viales

Este proyecto continua con el estudio iniciado en los proyectos: Alimentación “Energy Harvesting” basada en fuentes piezoeléctricas, Alimentación autónoma: aplicación a fuente piezoeléctrica y Banco de pruebas para sistemas autoalimentados en aplicaciones viales, que se realizaron anteriormente. Este estudio se basa en la búsqueda de soluciones de alimentación Energy Harvesting centrados en fuentes piezoeléctricas. El objetivo de este estudio es conocer las posibilidades que pueden ofrecer los materiales piezoeléctricos para alimentación autónoma cuando son excitados por vehículos en diferentes circunstancias y entornos viales. Para la realización de este estudio se han utilizado señales provenientes del banco de ensayos, así como señales obtenidas de una instalación construida en un vial del Campus. Para poder realizar el estudio de los diversos materiales piezoeléctricos utilizados en este proyecto, se necesitan conocer las características de los modelos eléctricos. Para obtener estas características se ha diseñado un programa basado en LabView, este programa además puede modificar la señal para que simule las diversas circunstancias a las que pueden estar sometidos los diferentes materiales piezoeléctricos. En este estudio se ha tenido en cuenta la distancia de seguridad entre vehículos para diferentes velocidades y la posibilidad de poder amplificar la excitación que pueden recibir los diversos materiales. Utilizando el programa PSpice OrCAD® se realizan los diferentes modelos con el objetivo de observar el comportamiento de los materiales bajo diversas circunstancias. También se han utilizado varias topologías rectificadoras diferentes para poder comprobar en que situación se puede obtener la máxima tensión acumulada posible. Además también se ha evaluado la máxima potencia que puede entregar cada material en cada situación. Por ultimo se han realizado varias pruebas prácticas con el banco de ensayos para comprobar la acumulación energética real que se puede obtener de los materiales instalados en él. También se ha realizado el estudio de una aplicación práctica que sea capaz de alimentar pequeños circuitos o sensores de poco consumo. Abstract This Project goes on with the study started in the projects Feeding “Energy Harvesting” based on piezoelectric sources, independent feeding: application to piezoelectric source and testing bench to self fed systems in roads applications that were previously done. This study is based on the search of feeding solutions Energy Harvesting focus on piezoelectric sources. The aim of this study is know the different piezoelectric materials possibilities that can offer to independent feeding when different circumstances and road surroundings are excited by vehicles in. To develop this study several signals of the testing bench have been used and also signals get from an installation constructed on a Campus road. As far as the study of the different piezoelectric materials used in this project is concerned we should know the electrical models features. In order to obtain these characteristics a program based on LabView was designed, this program can modify the signal so that it simulates the diverse circumstances to which they can be put under the different piezoelectric materials. In this study I have bearded in mind the safe distance between vehicles for different speeds and the possibility of being able to amplify the excitation that can receive the diverse materials. Using the program PSpice OrCAD® the different models with the objective are made to observe the behaviour of the materials under diverse circumstances. Also several different rectifying topologies have been used to be able to verify the maximum overvoltage accumulated. In addition I have assessed the maximum power that can give each material in each situation. Last but not least different practical proofs with the testing bench have been done to check the actual energy accumulation that can be obtained from the materials installed on it. Also the study of a practical application has been made that is able to feed small circuits or low consumption sensor.