Experimental Modeling and Control Strategies on an Open Mobile Robot Platform PRIM

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system

Predictive motion control of a mirosot mobile robot

This paper discusses predictive motion control of a MiRoSoT robot. The dynamic model of the robot is deduced by taking into account the whole process - robot, vision, control and transmission systems. Based on the obtained dynamic model, an integrated predictive control algorithm is proposed to position precisely with either stationary or moving obstacle avoidance. This objective is achieved automatically by introducing distant constraints into the open-loop optimization of control inputs. Simulation results demonstrate the feasibility of such control strategy for the deduced dynamic model

Mobile robot experimental modeling and control strategies using sensor fusion

This research work deals with the problem of modeling and design of low level speed controller for the mobile robot PRIM. The main objective is to develop an effective educational, and research tool. On one hand, the interests in using the open mobile platform PRIM consist in integrating several highly related subjects to the automatic control theory in an educational context, by embracing the subjects of communications, signal processing, sensor fusion and hardware design, amongst others. On the other hand, the idea is to implement useful navigation strategies such that the robot can be served as a mobile multimedia information point. It is in this context, when navigation strategies are oriented to goal achievement, that a local model predictive control is attained. Hence, such studies are presented as a very interesting control strategy in order to develop the future capabilities of the system. In this context the research developed includes the visual information as a meaningful source that allows detecting the obstacle position coordinates as well as planning the free obstacle trajectory that should be reached by the robot

A Gain Scheduling Model Predictive Controller for Blood Glucose Control in Type 1 Diabetes

This paper presents a control strategy for blood glucose(BG) level regulation in type 1 diabetic patients. To design the controller, model-based predictive control scheme has been applied to a newly developed diabetic patient model. The controller is provided with a feedforward loop to improve meal compensation, a gain-scheduling scheme to account for different BG levels, and an asymmetric cost function to reduce hypoglycemic risk. A simulation environment that has been approved for testing of artificial pancreas control algorithms has been used to test thecontroller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model–patient mismatch and errors in mealestimation

Plagas de los espacios verdes urbanos: bases para su control integrado

En España, las plagas de los espacios verdes urbanos suponen cada año un notable esfuerzo de control y la aplicación de plaguicidas es la estrategia de control empleada casi exclusivamente, con los subsiguientes riesgos que conlleva para las personas, animales y el medio ambiente. El control integrado es una alternativa pero requiere, para poder ser aplicada, un conocimiento profundo de las especies-plaga implicadas, de su biología, dinámica de poblaciones, daños, metodologías de muestreo y posibles sistemas de control. Esta información es difícil de encontrar en España debido a que existen pocos trabajos publicados sobre plagas de zonas verdes urbanas llevados a cabo de una forma sistematizada y a medio o largo plazo. En el presente artículo se analizan los condicionantes del control integrado de plagas en espacios verdes urbanos y se presenta un ejemplo, a partir de los estudios llevados a cabo en la ciudad de Lleida durante el período 2001-2003, de cómo la información básica necesaria para la implementación de posibles programas de control integrado puede ser obtenida.

Fenología, dinámica poblacional y daños de Eucallipterus tiliae Linnaeus (Horn., Aphididae) en tilos ornamentales de la ciudad de Lleida

La fenología y la dinámica poblacional del pulgón del tilo Eucallipterus tiliae Linnaeus han sido estudiadas en parques y jardines de la ciudad de Lleida durante el periodo 2002-2003 en árboles no tratados y en árboles sometidos a tratamiento químico convencional. Los primeros individuos aparecen a comienzos de primavera (abril) y las densidades de población crecen exponencialmente hasta alcanzarse un máximo a finales de mayo. Inmediatamente después del máximo poblacional se produce un descenso brusco de la población hasta la práctica desaparición de los pulgones del árbol. En otoño se detectan machos y hembras ovíparas que hacen la puesta. Esta especie pasa el invierno en forma de huevo. Durante el periodo de mayor abundancia, los pulgones produjeron gran cantidad de melaza causando daños estéticos a los árboles y molestias a los ciudadanos. Estos efectos negativos del pulgón se produjeron a pesar de la estrategia de control utilizada: la aplicación sistemática de insecticidas. El análisis de esta estrategia mostró un número excesivo de tratamientos y una falta de sincronización con la dinámica del pulgón, lo que pone de manifiesto que la estrategia de control de E. tiliae en Lleida puede ser mejorada. Se registró la presencia de diversos enemigos naturales asociados a E. tiliae, principalmente coccinélidos y parasitoides (Hym., Braconidae, Aphidiinae). Sin embargo, no parece que la abundancia de éstos fuera la suficiente para mantener las poblaciones de pulgones por debajo de los niveles considerados molestos.

Freedom of choice as control over outcomes

As interactions between individuals are introduced into the freedom of choice literature by the mean of game forms, new issues appear. In particular, in this paper it is argued that individuals face uncertainty with respect to outcomes as they lose the control they implicitely exert over options in the opportunity set framework. A criterion is proposed as to compare alternative game forms in terms of the control they offer to individuals. The CardMin criterion suggests that any game form should be judged on the basis of the strategy offering the lowest number of pairwise different outcomes. An axiomatic characterization is provided in the case of two individuals.

Agriculture, technological change and environmental sustainability: Looking for a win-win water policy strategy

This paper analyses the effects that technological changes in agriculture would have on environmental, social and economic indicators. Specifically, our study is focused on two alternative technological improvements: the modernization of water transportation systems versus the increase in the total factor productivity of agriculture. Using a computable general equilibrium model for the Catalan economy, our results suggest that a water policy that leads to greater economic efficiency is not necessarily optimal if we consider social or environmental criteria. Moreover, improving environmental sustainability depends less on the type of technological change than on the institutional framework in which technological change occurs. Keywords: agricultural technological changes, computable general equilibrium model, economic impact, water policy

Important role of ventromedial hypothalamic carnitine palmitoyltransferase-1a in the control of food intake

Carnitine palmitoyltransferase-1 (CPT-1) liver isoform or CPT-1a is implicated in CNS control of food intake. However, the exact brain nucleus site(s) in mediating this action of CPT-1a has not been identified. In this report, we assess the role of CPT-1a in hypothalamic ventromedial nucleus (VMN). We stereotaxically injected an adenoviral vector containing CPT-1a coding sequence into the VMN of rats to induce overexpression and activation of CPT-1a. The VMN-selective activation of CPT-1a induced orexigenic effect, suggesting CPT-1a in the VMN is involved in the central control of feeding. Intracerebroventricular administration of etomoxir, a CPT-1 inhibitor, decreases food intake. Importantly, in the animals with VMN-overexpression of a CPT-1a mutant that antagonizes the CPT-1 inhibition by etomoxir, the anorectic response to etomoxir was attenuated. This suggests that VMN is involved in mediating the anorectic effect of central inhibition of CPT-1a. In contrast, Arc overexpression of the mutant did not alter etomoxir-induced inhibition of food intake, suggesting that Arc CPT-1a does not play significant roles in this anorectic action. Furthermore, in the VMN, CPT-1a appears to act downstream of hypothalamic malonyl-CoA action of feeding. Finally, we show that in the VMN, CPT-1 activity altered in concert with fasting and refeeding states, supporting a physiological role of CPT-1a in mediating the control of feeding. Taking together, CPT-1a in the hypothalamic VMN appears to play an important role in the central control of food intake. VMN-selective modulation of CPT-1a activity may therefore be a promising strategy in controlling food intake and maintaining normal body weight.

Control biológico de Panonychus ulmi (Koch) mediante ácaros fitoseidos en plantaciones de control integrado de manzano en Cataluña

Se ha aplicado el Control Integrado de Plagas en unas 40 parcelas comerciales de manzano de Girona y de Lleida desde 1991 a 1993 con el objetivo de controlar biológicamente la araña roja (P. ulmi) mediante ácaros Phytoseiidae. Así mismo, se ha evaluado la estrategia de control de esta plaga, se han evaluado los factores principales que pueden influir en el éxito del control biológico y se ha diseñado una estrategia de defensa sencilla. En la mayoría de los casos, el control biológico se ha debido a la acción de Amblyseius andersoni o a la acción combinada de A. andersoni y A. californicus. A. andersoni impide el desarrollo de poblaciones elevadas de araña roja y la aparición de daños por decoloración. En las parcelas de Girona se ha producido la sustitución paulatina de A. californicus por A. andersoni. Los factores determinantes del éxito del control biológico fueron el nivel de actividad de P. ulmi y la presencia de A. andersoni, lo que plantea nuevas cuestiones relativas a cómo se puede favorecer la implantación de esta especie en parcelas comerciales. Finalmente, se propone una estrategia de defensa sencilla, basada en la época de aparición de la plaga y de los fitoseidos y en la relación que se establece entre ambas poblaciones durante el ciclo vegetativo.