A sensorless virtual slave control scheme for kinematically dissimilar master-slave teleoperation

The use of telerobotic systems is essential for remote handling (RH) operations in radioactive areas of scientific facilities that generate high doses of radiation. Recent developments in remote handling technology has seen a great deal of effort being directed towards the design of modular remote handling control rooms equipped with a standard master arm which will be used to separately control a range of different slave devices. This application thus requires a kinematically dissimilar master-slave control scheme. In order to avoid drag and other effects such as friction or other non-linear and unmodelled slave arm effects of the common position-position architecture in nonbackdrivable slaves, this research has implemented a force-position control scheme. End-effector force is derived from motor torque values which, to avoid the use of radiation intolerant and costly sensing devices, are inferred from motor current measurement. This has been demonstrated on a 1-DOF test-rig with a permanent magnet synchronous motor teleoperated by a Sensable Phantom Omni® haptic master. This has been shown to allow accurate control while realistically conveying dynamic force information back to the operator.

Current Mode with RMS Voltage and Offset Control Loops for a Single-Phase Aircraft Inverter Suitable for Parallel and 3-Phase Operation Modes

Rms voltage regulation may be an attractive possibility for controlling power inverters. Combined with a Hall Effect sensor for current control, it keeps its parallel operation capability while increasing its noise immunity, which may lead to a reduction of the Total Harmonic Distortion (THD). Besides, as voltage regulation is designed in DC, a simple PI regulator can provide accurate voltage tracking. Nevertheless, this approach does not lack drawbacks. Its narrow voltage bandwidth makes transients last longer and it increases the voltage THD when feeding non-linear loads, such as rectifying stages. On the other hand, the implementation can fall into offset voltage error. Furthermore, the information of the output voltage phase is hidden for the control as well, making the synchronization of a 3-phase setup not trivial. This paper explains the concept, design and implementation of the whole control scheme, in an on board inverter able to run in parallel and within a 3-phase setup. Special attention is paid to solve the problems foreseen at implementation level: a third analog loop accounts for the offset level is added and a digital algorithm guarantees 3-phase voltage synchronization.

Design and evaluation of an educational platform for implementing and testing bilateral control algorithms

This paper describes the design and evaluation of a new platform created in order to improve the learning experience of bilateral control algorithms in teleoperation. This experimental platform, developed at Universidad Politécnica de Madrid, is used by the students of the Master on Automation and Robotics in the practices of the subject called “Telerobotics and Teleoperation”. The main objective is to easily implement different control architectures in the developed platform and evaluate them under different conditions to better understand the main advantages and drawbacks of each control scheme. So, the student’s tasks are focused on adjusting the control parameters of the predefined controllers and designing new ones to analyze the changes in the behavior of the whole system. A description of the subject, main topics and the platform constructed are detailed in the paper. Furthermore, the methodology followed in the practices and the bilateral control algorithms are presented. Finally, the results obtained in the experiments with students are also shown.

Comparing fuzzy and intelligent PI controllers in stop-and-go manoeuvres

The aim of this work was twofold: on the one hand, to describe a comparative study of two intelligent control techniques-fuzzy and intelligent proportional-integral (PI) control, and on the other, to try to provide an answer to an as yet unsolved topic in the automotive sector-stop-and-go control in urban environments at very low speeds. Commercial vehicles exhibit nonlinear behavior and therefore constitute an excellent platform on which to check the controllers. This paper describes the design, tuning, and evaluation of the controllers performing actions on the longitudinal control of a car-the throttle and brake pedals-to accomplish stop-and-go manoeuvres. They are tested in two steps. First, a simulation model is used to design and tune the controllers, and second, these controllers are implemented in the commercial vehicle-which has automatic driving capabilities-to check their behavior. A stop-and-go manoeuvre is implemented with the two control techniques using two cooperating vehicles.

Impedance control for legged robots: an insight into the concepts involved

The application of impedance control strategies to modern legged locomotion is analyzed, paying special attention to the concepts behind its implementation which is not straightforward. In order to implement a functional impedance controller for a walking mechanism, the concepts of contact, impact, friction, and impedance have to be merged together. A literature review and a comprehensive analysis are presented compiling all these concepts along with a discussion on position-based versus force-based impedance control approaches, and a theoretical model of a robotic leg in contact with its environment is introduced. A theoretical control scheme for the legs of a general legged robot is also introduced, and some simulations results are presented.

Leakage and temperature aware server control for improving energy efficiency in data centers

Reducing the energy consumption for computation and cooling in servers is a major challenge considering the data center energy costs today. To ensure energy-efficient operation of servers in data centers, the relationship among computa- tional power, temperature, leakage, and cooling power needs to be analyzed. By means of an innovative setup that enables monitoring and controlling the computing and cooling power consumption separately on a commercial enterprise server, this paper studies temperature-leakage-energy tradeoffs, obtaining an empirical model for the leakage component. Using this model, we design a controller that continuously seeks and settles at the optimal fan speed to minimize the energy consumption for a given workload. We run a customized dynamic load-synthesis tool to stress the system. Our proposed cooling controller achieves up to 9% energy savings and 30W reduction in peak power in comparison to the default cooling control scheme.

Control of a Teleoperation System by State Convergence with Variable Time Delay

In this paper, we propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. We consider that the human operator contains a constant force on the local manipulator. The local and remote manipulators are coupled using state convergence control scheme. By choosing a Lyapunov-Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. It is also shown that, in the case of reliable communication protocols, the proposed scheme guarantees that the remote manipulator tracks the delayed trajectory of the local manipulator. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

Low-speed longitudinal controllers for mass-produced cars: A comparative study

Four longitudinal control techniques are compared: a classical Proportional-Integral (PI) control; an advanced technique-called the i-PI-that adds an intelligent component to the PI; a fuzzy controller based on human experience; and an adaptive-network-based fuzzy inference system. The controllers were designed to tackle one of the challenging topics as yet unsolved by the automotive sector: managing autonomously a gasoline-propelled vehicle at very low speeds. The dynamics involved are highly nonlinear and constitute an excellent test-bed for newly designed controllers. A Citroën C3 Pluriel car was modified to permit autonomous action on the accelerator and the brake pedals-i.e., longitudinal control. The controllers were tested in two stages. First, the vehicle was modeled to check the controllers' feasibility. Second, the controllers were then implemented in the Citroën, and their behavior under the same conditions on an identical real circuit was compared.

An algorithm for controllability in complex networks

In this paper structural controllability of complex networks is anyzed. A new algorithm is proposed which constructs a structural control scheme for a given network by avoiding the absence of dilations and by guaranteeing the accessibility of all nodes. Such accessibility is solved via a wiring procedure; this procedure, based on determining the non-accessible regions of the network, has been improved in this new proposed algorithm. This way, the number of dedicated controllers is reduced with respect to the one provided by previous existing algorithms.

Stability Analysis of Teleoperation System by State Convergence with Variable Time Delay

We propose a novel control scheme for bilateral teleoperation of n degree-of-freedom (DOF) nonlinear robotic systems with time-varying communication delay. A major contribution from this work lies in the demonstration that the structure of a state convergence algorithm can be also applied to nth-order nonlinear teleoperation systems. By choosing a Lyapunov Krasovskii functional, we show that the local-remote teleoperation system is asymptotically stable. The time delay of communication channel is assumed to be unknown and randomly time varying, but the upper bounds of the delay interval and the derivative of the delay are assumed to be known.

Stability Analysis of a Run-of-River Diversion Hydropower Plant With Surge Tank And Spillway in the Head Pond

Run-of-river hydropower plants usually lack significant storage capacity; therefore, the more adequate control strategy would consist of keeping a constant water level at the intake pond in order to harness the maximum amount of energy from the river flow or to reduce the surface flooded in the head pond. In this paper, a standard PI control system of a run-of-river diversion hydropower plant with surge tank and a spillway in the head pond that evacuates part of the river flow plant is studied. A stability analysis based on the Routh-Hurwitz criterion is carried out and a practical criterion for tuning the gains of the PI controller is proposed. Conclusions about the head pond and surge tank areas are drawn from the stability analysis. Finally, this criterion is applied to a real hydropower plant in design state; the importance of considering the spillway dimensions and turbine characteristic curves for adequate tuning of the controller gains is highlighted

Metodología de Diseño y Análisis de Sistemas Teleoperados Considerando Dinámica No Lineal

Cuando la separación física entre el sistema local y remoto es relativamente corta, el retardo no es perceptible; sin embargo, cuando el manipulador local y el manipulador remoto se encuentran a una distancia lejana uno del otro, el retardo de tiempo ya no es insignificante e influye negativamente en la realización de la tarea. El retardo de tiempo en un sistema de control introduce un atraso de fase que a su vez degrada el rendimiento del sistema y puede causar inestabilidad. Los sistemas de teleoperación pueden sacar provecho de la posibilidad de estar presente en dos lugares simultáneamente, sin embargo, el uso de Internet y otras redes de conmutación de paquetes, tales como Internet2, impone retardos de tiempo variables, haciendo que los esquemas de control ya establecidos elaboren soluciones para hacer frente a inestabilidades causadas por estos retardos de tiempo variables. En este trabajo de tesis se presenta el modelado y análisis de un sistema de teloperación bilateral no lineal de n grados de libertad controlado por convergencia de estado. La comunicación entre el sitio local y remoto se realiza mediante un canal de comunicación con retardo de tiempo. El análisis presentado en este trabajo considera que el retardo puede ser constante o variable. Los principales objetivos de este trabajo son; 1) Desarrollar una arquitectura de control no lineal garantizando la estabilidad del sistema teleoperado, 2) Evaluar la estabilidad del sistema considerando el retardo en la comunicación, y 3) Implementación de los algoritmos desarrollados para probar el desempeño de los mismos en un sistema experimental de 3 grados de libertad. A través de la teoría de Estabilidad de Lyapunov y el funcional Lyapunov-Krasovskii, se demuestra que el sistema de lazo cerrado es asintóticamente estable. Estas conclusiones de estabilidad se han obtenido mediante la integración de la función de Lyapunov y aplicando el Lema de Barbalat. Se demuestra también que se logra sincronizar las posiciones del manipulador local y remoto cuando el operador humano no mueve el manipulador local y el manipulador remoto se mueve libremente. El esquema de control propuesto se ha validado mediante simulación y en forma experimental empleando un sistema de teleoperación real desarrollado en esta tesis doctoral y que consta de un un manipulador serie planar de tres grados de libertad, un manipulador local, PHANTOM Omni, el cual es un dispositivo haptico fabricado que consta de 3 grados de libertad (en fuerza) y que proporciona realimentación de fuerza en los ejes x,y,z. El control en tiempo real se ha diseñado usando el Sistema Operativo en Tiempo Real QuaRC de QUARC en el lado local y el Simulink Real-Time Windows TargetTM en el lado remoto. Para finalizar el resumen se destaca el impacto de esta tesis en el mundo científico a través de los resultados publicados: 2 artículos en revistas con índice de impacto , 1 artículo en una revista indexada en Sistemas, Cibernética e Informática, 7 artículos en congresos y ha obtenido un premio en la 9a. Conferencia Iberoamericana en Sistemas, Cibernética e Informática, 2010. ABSTRACT When the physical separation between the local and remote system is relatively short, the delay is not noticeable; however, when the local manipulator and the remote manipulator are at a far distance from each other, the time delay is no longer negligible and negatively influences the performance of the task. The time delay in a control system introduces a phase delay which in turn degrades the system performance and cause instability. Teleoperation systems can benefit from the ability to be in two places simultaneously, however, the use of Internet and other packet switched networks, such as Internet2, imposes varying time delays, making established control schemes to develop solutions to address these instabilities caused by different time delays. In this thesis work we present a modeling and analysis of a nonlinear bilateral teloperation system of n degrees of freedom controlled by state convergence strategy. Communication between the local and remote site is via a communication channel with time delay. The analysis presented in this work considers that the time-delay can be constant or variable. The main objectives of this work are; 1) Develop a nonlinear control schemes to ensure the stability of the teleoperated system, 2) Evaluate the system stability considering the delay in communication, and 3) Implementation of algorithms developed to test the performance of the teleoperation system in an experimental system of 3 degrees of freedom. Through the Theory of Stability of Lyapunov and the functional Lyapunov-Krasovskii, one demonstrates that the closed loop system is asymptotically stable.. The conclusions about stability were obtained by integration of the Lyapunov function and applying Barbalat Lemma. It further shows that the positions of the local and remote manipulator are synchronize when the human operator stops applying a constant force and the remote manipulator does not interact with the environment. The proposed control scheme has been validated by means of simulation and in experimental form using a developed system of real teleoperation in this doctoral thesis, which consists of a series planar manipulator of three degrees of freedom, a local manipulator, PHANTOM Omni, which is an haptic device that consists of 3 degrees of freedom (in force) and that provide feeback force in x-axis, and, z. The control in real time has been designed using the Operating system in Real time QuaRC of Quanser in the local side and the Simulink Real-Time Windows Target in the remote side. In order to finalize the summary, the highlights impact of this thesis in the scientific world are shows through the published results: 2 articles in Journals with impact factor, one article in a indexed Journal on Systemics, Cybernetics and Informatics, 7 articles in Conferences and has won an award in 9a. Conferencia Iberoamericana en Sistemas, Cibernética e Informática, 2010.

Efecto sobre el rendimiento productivo y calidad de la canal de la inclusión de guisantes (Pisum sativum) y alberjón (Vicia narbonensis) en el pienso de lechones y cerdos de cebo

Las leguminosas grano presentan un perfil nutricional de gran interés para alimentación de ganado porcino, debido principalmente a su elevado contenido proteico. Sin embargo, la presencia de factores antinutritivos (FAN), que según el género difieren en calidad y cantidad, condiciona la absorción de la proteína, el nutriente más valorado. El objetivo de esta Tesis Doctoral ha sido el estudio del efecto de los principales FAN de guisante y alberjón sobre el rendimiento productivo, de canal y de piezas nobles, cuando sustituyen a la soja, parcial o totalmente, durante la fase estárter y el periodo de engorde de cerdos grasos. Con este motivo se llevaron a cabo 4 ensayos con machos castrados y la misma línea genética: híbrido Duroc x (Landrace x Large white). En el ensayo 1, se estudió la influencia de distintos niveles de inhibidores de proteasas (IP) en el pienso sobre la productividad de lechones durante la fase estárter (40 a 61 días de edad). Para ello, se utilizaron tres variedades de guisantes de invierno que contenían diferentes cantidades de IP, tanto de tripsina (IT) como de quimotripsina (IQ) [unidades de tripsina inhibida/mg (UTI), unidades de quimotripsina inhibida/mg (UQI): 9,87- 10,16, 5,75-8,62 y 12,55-15,75, para guisantes Cartouche, Iceberg y Luna, respectivamente] más elevadas que en la harina de soja 47 (HnaS) y en la soja extrusionada (SE) (UTI/mg - UQI/mg: 0,61-3,56 y 2,36-4,65, para HnaS y SE, respectivamente). El diseño experimental fue al azar, con cuatro tratamientos dietéticos que diferían en las fuentes proteicas y en la cantidad de IP, enfrentando un pienso control de soja a otros tres piensos con guisantes de invierno de las variedades indicadas, que sustituían parcialmente a la soja. Cada tratamiento se replicó cuatro veces, siendo la celda con 6 lechones la unidad experimental. Los animales que consumieron el pienso con guisante Cartouche tuvieron más ganancia media diaria (GMD) que el resto (P < 0,001) con el mismo consumo medio diario (CMD) e índice de conversión (IC). No hubo diferencias significativas entre los animales del pienso control y los que consumieron piensos con guisantes Iceberg y Luna. En el ensayo 2 la leguminosa objeto de estudio fue el alberjón y su FAN el dipéptido _Glutamyl-S-Ethenyl-Cysteine (GEC). El diseño y el periodo experimental fueron los mismos que en el ensayo 1, con cuatro dietas que variaban en el porcentaje de alberjones: 0%, 5%, 15% y 25%, y de GEC (1,54% del grano). Los lechones que consumieron el pienso con 5% tuvieron un CMD y GMD más elevado (P < 0,001), con el mismo IC que los animales pertenecientes al tratamiento 0%. Los índices productivos empeoraron significativamente y de manera progresiva al aumentar el porcentaje de alberjones (15 y 25%). Se obtuvieron ecuaciones de regresión con estructura polinomial que fueron significativas tanto para el nivel de alberjón como para la cantidad de GEC presente en el pienso. El ensayo 3 se efectuó durante el periodo de engorde, sustituyendo por completo la soja a partir de los 84 días de edad con las tres variedades de guisantes de invierno, observando el efecto sobre el rendimiento productivo, de canal y piezas nobles. El diseño, en bloques completos al azar, tuvo cuatro tratamientos según el guisante presente en el pienso y, por lo tanto, los niveles de IP: Control-soja, Cartouche, Iceberg y Luna, con 12 réplicas de 4 cerdos por tratamiento. De 84 a 108 días de edad los animales que consumieron los piensos Control-soja e Iceberg, tuvieron el mismo CMD y GMD, empeorando en los cerdos alimentados con Luna y Cartouche (P < 0,05). El IC fue igual en los tratamientos Control-soja e Iceberg, ocupando una posición intermedia en Cartouche y peor en los cerdos del pienso Luna (P < 0,001). De 109 a 127 días de edad la GMD y el IC fueron iguales, con un CMD más elevado en Control-soja e Iceberg que en los cerdos que consumieron Cartouche y Luna (P < 0,05). No hubo diferencias significativas durante el acabado (128 a 167 días de edad). Globalmente el CMD y GMD fueron más elevados en los cerdos que comieron los piensos Iceberg y Control-soja, empeorando por igual en los que comieron Cartouche y Luna (P < 0,05); el IC fue el mismo en todos los tratamientos. No se observaron diferencias en los datos relacionados con peso y rendimiento de canal y piezas nobles (jamón, paleta y chuletero), ni del contenido de grasa intramuscular en el lomo y proporción de ácidos grasos principales (C16:0, C18:0, C18:1n-9) en la grasa subcutánea. En el ensayo 4, realizado durante el periodo de engorde (60 a 171 días de edad), se valoró el efecto de dietas con distintos niveles de alberjones, y en consecuencia de su factor antinutritivo el dipéptido GEC, sobre el rendimiento productivo y la calidad de la canal y piezas nobles. El diseño fue en cuatro bloques completos al azar, con cuatro tratamientos según el porcentaje de inclusión de alberjón en el pienso: 0%, 5%, 15% y 25%, con 12 réplicas por tratamiento y cuatro cerdos en cada una de ellas. El tratamiento con 5% mejoró la GMD al final de la fase de cebo (152 días de vida) y, junto con el 0%, presentaron los resultados más favorables de peso e IC al final del ensayo (171 días de vida). Del mismo modo, el peso y rendimiento de canal fueron más elevados en los cerdos alimentados con los tratamientos 0% y 5% (P < 0,001). Piensos con el 15 y 25% de alberjones empeoraron los resultados productivos, así como el rendimiento y peso de canal. Sucedió lo mismo con el peso de las piezas nobles (jamón, paleta y chuletero), significativamente superior en 0% y 5% frente a 15% y 25%, siendo los cerdos que consumieron este último pienso los peores. Por el contrario el rendimiento de jamón y chuletero fue más elevado en los cerdos de los tratamientos 25% y 15% que en los que consumieron los piensos con 5% y 0% (P < 0,001); en el rendimiento de paletas se invirtieron los resultados, siendo mayores en los animales de los tratamientos 0% y 5% (P < 0,001). Se obtuvieron ecuaciones de regresión polinomial, para estimar las cantidades de inclusión de alberjones y de GEC más favorables desde el punto de vista productivo, así como los contrastes ortogonales entre los distintos tratamientos. ABSTRACT The grain legumes have a nutritional profile of great interest to feed pigs, mainly due to high protein content. However, the presence of antinutritional factors (ANF), which differ in quality and quantity according to gender, hinder the absorption of the protein, the most valuable nutrient. The aim of this thesis was to study the effect of the main ANF of pea and narbon vetch (NV) on productive performance, of the carcass and main lean cuts, when replacing soybean, partially or totally, during the starter phase and the fattening period of heavy pigs. For this reason were carried four trials with barrows and the same genetic line: Duroc hybrid x (Landrace x Large white). In trial 1, was studied the influence of different levels of protease inhibitors (PI) in the diet over productivity of piglets during the starter phase (40-61 days of age). For this, were used three varieties of winter peas containing different amounts of PI, both trypsin (TI) and chymotrypsin (CI) [inhibited units/mg trypsin (TIU), inhibited units/mg chymotrypsin (CIU): 9.87 - 10.16, 5.75 - 8.62 and 12.55 - 15.75, for peas Cartouche, Iceberg and Luna, respectively] higher than in soybean meal 47 (SBM) and soybeans extruded (SBE) (TIU/mg - CIU/mg: 0.61 - 3.56 and 2.36 - 4.65 for SBM and SBE, respectively). The design was randomized with four dietary treatments differing in protein sources and the amount of PI, with a control diet of soybean and three with different varieties of winter peas: Cartouche, Iceberg and Luna, which partially replace soybean. Each treatment was replicated four times, being the pen with 6 piglets the experimental unit. Pigs that ate the feed with pea Cartouche had better growth (ADG) than the rest (P < 0.001), with the same average daily feed intake (ADFI) and feed conversion ratio (FCR). There were no significant differences between piglets fed with control diet and those fed Iceberg and Luna diets. In trial 2 the legume under study was the NV and your ANF the dipeptide _Glutamyl FAN-S-Ethenyl-Cysteine (GEC). The experimental period and the design were the same as in trial 1, with four diets with different percentage of NV: 0%, 5%, 15% and 25%, and from GEC (1.52% of the grain). The piglets that consumed the feed containing 5% had higher ADG and ADFI (P < 0.05), with the same FCR that pigs belonging to the 0% treatment. Production rates worsened progressively with increasing percentage of NV (15 and 25%). Were obtained regression equations with polynomial structure that were significant for NV percentage and amount of GEC present in the feed. The test 3 was carried out during the fattening period, completely replace soy from 84 days of age with three varieties of winter peas, observing the effect on the yield, carcass and main lean cuts. The design, randomized complete blocks, had four treatments with different levels of PI: Control-soy, Cartouche, Iceberg and Luna, with 12 replicates of 4 pigs per treatment. From 84 to 108 days of age the pigs fed with Control-soy and Iceberg feed, had the same ADFI and ADG, worsening in pigs fed with Luna and Cartouche (P < 0.05). The FCR was similar in diets Control-soy and Iceberg, occupying an intermediate position in Cartouche and worse in pigs fed with Luna (P < 0.001). From 109-127 days of age the ADG and FCR were equal, with higher ADFI in pigs fed with Control-soy and Iceberg, regarding pigs fed with Cartouche and Luna (P < 0.05). There was no difference in the finishing phase (128-167 days of age). In global period, the ADFI and ADG were higher in pigs that ate Control-soy and Iceberg, and worse in those who ate Cartouche and Luna. The FCR was the same in all treatments. No significant differences were observed in the data related to weight and carcass yield, main lean cuts (ham, shoulder and loin chop) and intramuscular fat loin content and major fatty acids proportion (C16:0, C18:0, C18:1n-9) of subcutaneous fat. In experiment 4, made during the fattening period (60-171 days of age), was assessed the effect of diets with different levels of NV, and consequently of GEC, in the performance and quality of carcass and main lean cuts. There was a completely randomized design with four dietary treatments differing in percentage of NV: 0%, 5%, 15% and 25%, with 12 replicates per treatment and four pigs each. Treatment with 5% improved the ADG at the end of the fattening phase (152 days of age) and, together with 0%, showed the most favorable body weight and FCR at the end of the trial (171 days of age). Similarly, the weight and performance of carcass were higher for pigs fed with diets 0% and 5% (P < 0.05). Diets with 15 and 25% worsened the productive and carcass results. The weight of the main lean cuts (ham, shoulder and loin chop) was significantly higher in 0% and 5% vs 15% and 25%.The diet 25% was the worst of all. By contrast the performance of ham and loin chop was higher in pigs fed with diets 25% and 15%, that those who ate diets with 5% and 0% (P < 0.001); the results of shoulder performance were reversed, being greater in pigs feed with diets 0% and 5% (P < 0.001). Polynomial regression equations were obtained to estimate the percentage of NV and GEC more favorable from the point of view of production, and orthogonal contrasts between treatments.

Loose Coupling Based Reference Scheme for Shop Floor-Control-System/Production-Equipment Integration.

Acoplamiento del sistema informático de control de piso de producción (SFS) con el conjunto de equipos de fabricación (SPE) es una tarea compleja. Tal acoplamiento involucra estándares abiertos y propietarios, tecnologías de información y comunicación, entre otras herramientas y técnicas. Debido a la turbulencia de mercados, ya sea soluciones personalizadas o soluciones basadas en estándares eventualmente requieren un esfuerzo considerable de adaptación. El concepto de acoplamiento débil ha sido identificado en la comunidad de diseño organizacional como soporte para la sobrevivencia de la organización. Su presencia reduce la resistencia de la organización a cambios en el ambiente. En este artículo los resultados obtenidos por la comunidad de diseño organizacional son identificados, traducidos y organizados para apoyar en la solución del problema de integración SFS-SPE. Un modelo clásico de acoplamiento débil, desarrollado por la comunidad de estudios de diseño organizacional, es resumido y trasladado al área de interés. Los aspectos claves son identificados para utilizarse como promotores del acoplamiento débil entre SFS-SPE, y presentados en forma de esquema de referencia. Así mismo, este esquema de referencia es presentado como base para el diseño e implementación de una solución genérica de acoplamiento o marco de trabajo (framework) de acoplamiento, a incluir como etapa de acoplamiento débil entre SFS y SPE. Un ejemplo de validación con varios conjuntos de equipos de fabricación, usando diferentes medios físicos de comunicación, comandos de controlador, lenguajes de programación de equipos y protocolos de comunicación es presentado, mostrando un nivel aceptable de autonomía del SFS. = Coupling shop floor software system (SFS) with the set of production equipment (SPE) becomes a complex task. It involves open and proprietary standards, information and communication technologies among other tools and techniques. Due to market turbulence, either custom solutions or standards based solutions eventually require a considerable effort of adaptation. Loose coupling concept has been identified in the organizational design community as a compensator for organization survival. Its presence reduces organization reaction to environment changes. In this paper the results obtained by the organizational de sign community are identified, translated and organized to support the SFS-SPE integration problem solution. A classical loose coupling model developed by organizational studies community is abstracted and translated to the area of interest. Key aspects are identified to be used as promoters of SFS-SPE loose coupling and presented in a form of a reference scheme. Furthermore, this reference scheme is proposed here as a basis for the design and implementation of a generic coupling solution or coupling framework, that is included as a loose coupling stage between SFS and SPE. A validation example with various sets of manufacturing equipment, using different physical communication media, controller commands, programming languages and wire protocols is presented, showing an acceptable level of autonomy gained by the SFS.

Control remoto de presentaciones mediante Raspberry PI y Android

Este proyecto fin de carrera trata de mejorar los sistemas actuales de control en la visualización de diapositivas. La solución adoptada constará de un sistema con modelo cliente-servidor. El servidor formado por un mini ordenador, en este caso una Raspberry Pi, que estará conectado al proyector de video. Este servidor se mantendrá a la espera de recibir una conexión entrante vía Bluetooth. Una vez se realice la conexión interpretará los comandos mandados por el cliente a través de una API con formato JSON y realizará las acciones indicadas para el control de la presentación. El cliente será una aplicación móvil para dispositivos Android. A través de ella el profesor accederá al servidor escaneando un código QR que será proyectado y una vez conectado enviará los comandos de control de la presentación, tales como abrir una presentación, avanzar y retroceder diapositiva, etc. La solución final deberá ser eficiente, sencilla de utilizar y con un bajo coste para resultar atractiva y ser así útil en el mundo real. Para ello se contará con valores añadidos como el poder iniciar la presentación desde el dispositivo móvil, el mostrar las notas de la diapositiva actual o contar con un temporizador para permitir un mejor control sobre el tiempo disponible para la presentación. ABSTRACT. This final project pursues the improvement of the current presentation control systems. The solution it provides is based on a server-client architecture. The server will be a mini PC, a Raspberry Pi model in this case, that will be connected to a video projector or a screen monitor. This server will remain idle waiting for an incoming Bluetooth connection. Once the connection is accepted the server will parse the commands sent by the client through a JSON API and will execute them accordingly to control the system. The client we decided to develop is an Android application. The speaker will be able to connect with the server by scanning a QR code that will be generated and displayed into the projector or screen monitor. Once the connection is accepted the client will sent the commands to control the slides, such as opening a presentation, move forward and backwards, etc. The adopted solution must be efficient, easy to use and with low cost to be appealing and useful to the real world. To accomplish the task this project will count with improvements over the current systems, such as the possibility to open a presentation from the smartphone, the visualization of the current slide notes from the mobile phone and a countdown timer to have a better control over the available time for the presentation.