An LMI approach to H∞ synchronization of second-order neutral master-slave systems

The H∞ synchronization problem of the master and slave structure of a second-order neutral master-slave systems with time-varying delays is presented in this paper. Delay-dependent sufficient conditions for the design of a delayed output-feedback control are given by Lyapunov-Krasovskii method in terms of a linear matrix inequality (LMI). A controller, which guarantees H∞ synchronization of the master and slave structure using some free weighting matrices, is then developed. A numerical example has been given to show the effectiveness of the method

Robust control of structures subject to uncertain disturbances and actuator dynamics

The objective the present research is try to find some control design strategies, which must be effective and closed to the real operation conditions. As a novel contribution to structural control strategies, the theories of Interval Modal Arithmetic, Backstepping Control and QFT (Qualitative Feedback Theory) will be studied. The steps to follow are to develop first new controllers based on the above theories and then to implement the proposed control strategies to different kind of structures. The report is organized as follows. The Chapter 2 presents the state-of-the-art on structural control systems. The chapter 3 presents the most important open problems found in field of structural control. The exploratory work made by the author, research proposal and working plan are given in the Chapter 4

Between-year variation in population sex ratio increases with complexity of the breeding system in Hymenoptera.

While adaptive adjustment of sex ratio in the function of colony kin structure and food availability commonly occurs in social Hymenoptera, long-term studies have revealed substantial unexplained between-year variation in sex ratio at the population level. In order to identify factors that contribute to increased between-year variation in population sex ratio, we conducted a comparative analysis across 47 Hymenoptera species differing in their breeding system. We found that between-year variation in population sex ratio steadily increased as one moved from solitary species, to primitively eusocial species, to single-queen eusocial species, to multiple-queen eusocial species. Specifically, between-year variation in population sex ratio was low (6.6% of total possible variation) in solitary species, which is consistent with the view that in solitary species, sex ratio can vary only in response to fluctuations in ecological factors such as food availability. In contrast, we found significantly higher (19.5%) between-year variation in population sex ratio in multiple-queen eusocial species, which supports the view that in these species, sex ratio can also fluctuate in response to temporal changes in social factors such as queen number and queen-worker control over sex ratio, as well as factors influencing caste determination. The simultaneous adjustment of sex ratio in response to temporal fluctuations in ecological and social factors seems to preclude the existence of a single sex ratio optimum. The absence of such an optimum may reflect an additional cost associated with the evolution of complex breeding systems in Hymenoptera societies.

Integració de la posició GPS per fer el control del moviment d'un robot

L’objectiu d’aquest treball és fer un estudi dels diferents tipus de sistemes de posicionament global que hi ha en el mercat, elegir un mòdul receptor assequible per poder analitzar-lo i veure si disposa de les característiques adequades per integrar-lo en un robot autònom d’exploració del projecte Sant Bernardo. S’hauran de fer les anàlisis de la precisió del mòdul en les diferents direccions cardinals, es a dir Nord, Sud, Est, Oest i altura i veure la diferència d’error que hi ha en cada una, veure si la precisió varia molt en diferents situacions, com en cel obert, en sotabosc, costat i interior edificis. A més a més s’haurà de mirar la repetibilitat, la diferencia d’error amb diferentnombre de satèl•lits connectats i si disposa de suficient velocitat de processat per a podar corregir la posició del robot en moviment. Un cop analitzades les característiques del mòdul receptor elegit, es decidirà si aquest ésadequat per fer les correccions de posició del robot, o s’haurà d’adquirir un mòdul de característiques superiors i per tant molt més car per a dura a terme adequadament la correcció de la posició

Manipulator control board

The Mechatronics Research Centre (MRC) owns a small scale robot manipulator called aMini-Mover 5. This robot arm is a microprocessor-controlled, six-jointed mechanical armdesigned to provide an unusual combination of dexterity and low cost.The Mini-Mover-5 is operated by a number of stepper motors and is controlled by a PCparallel port via a discrete logic board. The manipulator also has an impoverished array ofsensors.This project requires that a new control board and suitable software be designed to allow themanipulator to be controlled from a PC. The control board will also provide a mechanism forthe values measured using some sensors to be returned to the PC.On this project I will consider: stepper motor control requirements, sensor technologies,power requirements, USB protocols, USB hardware and software development and controlrequirements (e.g. sample rates).In this report we will have a look at robots history and background, as well as we willconcentrate how stepper motors and parallel port work

Control de glicèmia en pacients crítics mitjançant CGMS

L’estudi que es realitza en aquest projecte/treball final de carrera queda englobat dins del grup de recerca MICE (Modal Intervals Control and Engeneering), el qual realitzainvestigacions entorn al control de glucèmia. Aquest grup de recerca vinculat a la Universitat de Girona col•labora amb l’Hospital Universitari Dr. Josep Trueta de Girona. La temàtica principal tractarà de realitzar el control de glucèmia en pacients crítics, que es troben ingressats en la unitat de cures intensives de qualsevol hospital. Com a conseqüència d’aquesta problemàtica, s’ha implementat en un entorn virtual, un pacient el qual simula la situació d’un pacient real en la unitat de cures intensives. El model emprat per a la obtenció del model de pacient virtual és el desenvolupat per Chase et al. (2005), el qual mitjançant variables com l’alimentació enteral i la sensibilitat insulínica, es podien realitzar assajos reals per a validar protocols de control ‘in silico’ per posteriorment realitzar assajos amb població real

Estado del arte de los gestores de ventanas en GNU/Linux

Proyecto que recoge el estado del arte de los gestores de ventanas de GNU/Linux, incorporando un análisis y comparativa de los principales gestores de ventanas.

Towards reusability and tailorability in collaborative learning systems using IMS-LD and grid services

CSCL applications are complex distributed systems that posespecial requirements towards achieving success in educationalsettings. Flexible and efficient design of collaborative activitiesby educators is a key precondition in order to provide CSCL tailorable systems, capable of adapting to the needs of eachparticular learning environment. Furthermore, some parts ofthose CSCL systems should be reused as often as possible inorder to reduce development costs. In addition, it may be necessary to employ special hardware devices, computational resources that reside in other organizations, or even exceed thepossibilities of one specific organization. Therefore, theproposal of this paper is twofold: collecting collaborativelearning designs (scripting) provided by educators, based onwell-known best practices (collaborative learning flow patterns) in a standard way (IMS-LD) in order to guide the tailoring of CSCL systems by selecting and integrating reusable CSCL software units; and, implementing those units in the form of grid services offered by third party providers. More specifically, this paper outlines a grid-based CSCL system having these features and illustrates its potential scope and applicability by means of a sample collaborative learning scenario.

Control de posició del robot wifibot

Aquest projecte pretén presentar de forma clara i detallada l’estructura i el funcionament del robot així com dels components que el conformen. Aquesta informació és de vital importància a l’hora de desenvolupar aplicacions per al robot. Un cop descrites les característiques del robot s’analitzaran les eines necessàries i/o disponibles per poder desenvolupar programari per cada nivell de la forma més senzilla i eficient possible. Posteriorment s’analitzaran els diferents nivells de programació i se’n contrastaran els avantatges i els inconvenients de cada un. Aquest anàlisi es començarà fent pel nivell més alt i anirà baixant amb la intenció de no entrar en nivells més baixos del necessari. Baixar un nivell en la programació suposa haver de crear aplicacions sempre compatibles amb els nivells superiors de forma que com més es baixa més augmenta la complexitat. A partir d’aquest anàlisi s’ha arribat a la conclusió que per tal d’aprofitar totes les prestacions del robot és precís arribar a programar en el nivell més baix del robot. Finalment l’objectiu és obtenir una sèrie de programes per cada nivell que permetin controlar el robot i fer-lo seguir senzilles trajectòries

L'accessibilitat dels webs de les universitats catalanes

L'estudi vol detectar quin és el grau d'accessibilitat dels webs de les universitats catalanes. Els indicadors utilitzats són els presents en el nivell de prioritat 1 de les Pautes d'accessibilitat al contingut del web, versió 1.0 -WCAG- del World-Wide WebConsortium, acompanyats per altres de complementaris. Com a principal resultat s¿obté que només una de les 43 pàgines analitzades compleix els llindars d'accessibilitat.

Growth of unstable interfaces in disordered media

The effects of a disordered medium in the growth of unstable interfaces are studied by means of two local models with multiplicative and additive quenched disorder, respectively. For short times and large pushing the multiplicative quenched disorder is equivalent to a time-dependent noise. In this regime, the linear dispersion relation contains a destabilizing contribution introduced by the noise. For long times, the interface always gets pinned. We model the systematics of the pinned shapes by means of an effective nonlinear model. These results show good agreement with numerical simulations. For the additive noise we find numerically that a depinning transition occurs.

Physiology of GLP-1--lessons from glucoincretin receptor knockout mice.

GLP-1 has both peripheral and central actions, as this hormone is secreted by gut endocrine cells and brainstem neurons projecting into the hypothalamus and other brain regions. GLP-1 has multiple regulatory functions participating in the control of glucose homeostasis, beta-cell proliferation and differentiation, food intake, heart rate and even learning. GLP-1 action depends on binding to a specific G-coupled receptor linked to activation of the adenylyl cyclase pathway. Analysis of mice with inactivation of the GLP-1 receptor gene has provided evidence that absence of GLP-1 action in the mouse, despite this hormone potent physiological effects when administered in vivo, only leads to mild abnormalities in glucose homeostasis without any change in body weight. However, a critical role for this hormone and its receptor was demonstrated in the function of the hepatoportal vein glucose sensor, in contrast to that of the pancreatic beta-cells, although absence of both GLP-1 and GIP receptors leads to a more severe phenotype characterized by a beta-cell-autonomous defect in glucose-stimulated insulin secretion. Together, the studies of these glucoincretin receptor knockout mice provide evidence that these hormones are part of complex regulatory systems where multiple redundant signals are involved.

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Mobile Robot Local Predictive Control under Perception Constraints

This research extends a previously developed work concerning about the use of local model predictive control in mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The platformused is a differential driven robot with a free rotating wheel. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are also introduced. In this sense, monocular image data provide an occupancy grid where safety trajectories are computed by using goal attraction potential fields

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