Design and Development of a Remotely Operated Underwater Multi-Robot Manipulator Controller

For the scientific and commercial utilization of Ocean resources, the role of intelligent underwater robotic systems are of great importance. Scientific activities like Marine Bio-technology, Hydrographic mapping, and commercial applications like Marine mining, Ocean energy, fishing, aquaculture, cable laying and pipe lining are a few utilization of ocean resources. As most of the deep undersea exploration are beyond the reachability of divers and also as the use of operator controlled and teleoperated Remotely Operated Vehicles (ROVs) and Diver Transport Vehicles (DTVs) turn out to be highly inefficient, it is essential to have a fully automated system capable providing stable control and communication links for the unstructured undersea environment.

Site Controller: A System for Computer-Aided Civil Engineering and Construction

A revolution\0\0\0 in earthmoving, a $100 billion industry, can be achieved with three components: the GPS location system, sensors and computers in bulldozers, and SITE CONTROLLER, a central computer system that maintains design data and directs operations. The first two components are widely available; I built SITE CONTROLLER to complete the triangle and describe it here. SITE CONTROLLER assists civil engineers in the design, estimation, and construction of earthworks, including hazardous waste site remediation. The core of SITE CONTROLLER is a site modelling system that represents existing and prospective terrain shapes, roads, hydrology, etc. Around this core are analysis, simulation, and vehicle control tools. Integrating these modules into one program enables civil engineers and contractors to use a single interface and database throughout the life of a project.

Geometric Structure of the Adaptive Controller of the Human Arm

The objects with which the hand interacts with may significantly change the dynamics of the arm. How does the brain adapt control of arm movements to this new dynamic? We show that adaptation is via composition of a model of the task's dynamics. By exploring generalization capabilities of this adaptation we infer some of the properties of the computational elements with which the brain formed this model: the elements have broad receptive fields and encode the learned dynamics as a map structured in an intrinsic coordinate system closely related to the geometry of the skeletomusculature. The low--level nature of these elements suggests that they may represent asset of primitives with which a movement is represented in the CNS.

Interpretation of wind components as compositional variables

The classical statistical study of the wind speed in the atmospheric surface layer is made generally from the analysis of the three habitual components that perform the wind data, that is, the component W-E, the component S-N and the vertical component, considering these components independent. When the goal of the study of these data is the Aeolian energy, so is when wind is studied from an energetic point of view and the squares of wind components can be considered as compositional variables. To do so, each component has to be divided by the module of the corresponding vector. In this work the theoretical analysis of the components of the wind as compositional data is presented and also the conclusions that can be obtained from the point of view of the practical applications as well as those that can be derived from the application of this technique in different conditions of weather

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 the controller. The simulation results show a good controller performance in fasting conditions and meal disturbance rejection, and robustness against model–patient mismatch and errors in meal estimation

Elmer and the wind.

Elmer, el favorito de todos los elefantes, vive una aventura fantástica. En la selva, sopla un fuerte viento que no detiene a Elmer y a su primo Wilbur de practicar sus habituales trucos. En este caso, Elmer hace creer a los demás elefantes, que el fuerte viento reinante le ha hecho volar por el aire cómo si fuera un pájaro.

Wind to flight.

Anima a los niños a disfrutar de la ciencia y ver la relevancia que tiene para sus vidas. Examina la naturaleza de la energía eólica y cómo es utilizada porlas semillas,las nubes,los pájaros, los insectos, y las máquinas voladoras. Vincula el viento con conceptos básicos de la ciencia, con la tecnología y la industria. Incluye experimentos. Recomendado como libro de lectura en el currículo de Naturaleza.

I wonder why the wind blows : and other questions about our planet.

Pertenece a una colección qué plantea algunas preguntas sobre como funciona la Tierra. Se repasa: la composición interna del planeta, la formación de los continentes, de los volcanes, y de las cuevas subterráneas, de las nubes y de los ríos.

Wind and water power.

Explica las formas tradicionales de utilizar el viento y la fuerza hidráulica como fuente de energía. Se presentan soluciones y alternativas, y se hace énfasis en hacer conscientes a los jóvenes de las medidas que deben tomarse para asegurar que el mundo sigue siendo para las generaciones futuras.

Dielmo 3D Viewer based on NASA World Wind

Partiendo de la versión Java del software libre NASA World Wind, DIELMO ha desarrollado el software Dielmo 3D Viewer que permite la creación de escenarios virutales en 3D que se convierten en clientes IDE y que permiten un mejor conocimiento del territorio, tratando la tercera dimensión con el máximo rigor

Evaluating the performance of external fault ridethrough solutions used in wind farms with fixed speed induction generators when facing unbalanced faults

Na sequência da integração da energia eólica em larga escala foram estabelecidos códigos de rede pelos vários operadores de sistema, exigindo que os parques eólicos permaneçam em serviço durante e após a ocorrência de defeitos na rede a montante. Nos parques eólicos equipados com sistemas de velocidade constante este requisito pode ser assegurado pela instalação, no ponto de interligação à rede, de equipamento de compensação dinâmica de potência reactiva, controlado como fonte de tensão, sendo as funções de controlo baseadas em medidas efectuadas no ponto de interligação relativamente às componentes directas da tensão e da corrente. Como a adopção deste tipo de soluções externas é adequada ao funcionamento do sistema em regime equilibrado, este artigo foca a avaliação do desempenho da solução no caso da ocorrência de defeitos assimétricos. Os resultados obtidos através das simulações dinâmicas evidenciam o aparecimento de sobre tensões nas fases não afectadas pelo defeito que poderão colocar o parque eólico fora de serviço.