906 resultados para Complex systems prediction
Resumo:
In recent decades, full electric and hybrid electric vehicles have emerged as an alternative to conventional cars due to a range of factors, including environmental and economic aspects. These vehicles are the result of considerable efforts to seek ways of reducing the use of fossil fuel for vehicle propulsion. Sophisticated technologies such as hybrid and electric powertrains require careful study and optimization. Mathematical models play a key role at this point. Currently, many advanced mathematical analysis tools, as well as computer applications have been built for vehicle simulation purposes. Given the great interest of hybrid and electric powertrains, along with the increasing importance of reliable computer-based models, the author decided to integrate both aspects in the research purpose of this work. Furthermore, this is one of the first final degree projects held at the ETSII (Higher Technical School of Industrial Engineers) that covers the study of hybrid and electric propulsion systems. The present project is based on MBS3D 2.0, a specialized software for the dynamic simulation of multibody systems developed at the UPM Institute of Automobile Research (INSIA). Automobiles are a clear example of complex multibody systems, which are present in nearly every field of engineering. The work presented here benefits from the availability of MBS3D software. This program has proven to be a very efficient tool, with a highly developed underlying mathematical formulation. On this basis, the focus of this project is the extension of MBS3D features in order to be able to perform dynamic simulations of hybrid and electric vehicle models. This requires the joint simulation of the mechanical model of the vehicle, together with the model of the hybrid or electric powertrain. These sub-models belong to completely different physical domains. In fact the powertrain consists of energy storage systems, electrical machines and power electronics, connected to purely mechanical components (wheels, suspension, transmission, clutch…). The challenge today is to create a global vehicle model that is valid for computer simulation. Therefore, the main goal of this project is to apply co-simulation methodologies to a comprehensive model of an electric vehicle, where sub-models from different areas of engineering are coupled. The created electric vehicle (EV) model consists of a separately excited DC electric motor, a Li-ion battery pack, a DC/DC chopper converter and a multibody vehicle model. Co-simulation techniques allow car designers to simulate complex vehicle architectures and behaviors, which are usually difficult to implement in a real environment due to safety and/or economic reasons. In addition, multi-domain computational models help to detect the effects of different driving patterns and parameters and improve the models in a fast and effective way. Automotive designers can greatly benefit from a multidisciplinary approach of new hybrid and electric vehicles. In this case, the global electric vehicle model includes an electrical subsystem and a mechanical subsystem. The electrical subsystem consists of three basic components: electric motor, battery pack and power converter. A modular representation is used for building the dynamic model of the vehicle drivetrain. This means that every component of the drivetrain (submodule) is modeled separately and has its own general dynamic model, with clearly defined inputs and outputs. Then, all the particular submodules are assembled according to the drivetrain configuration and, in this way, the power flow across the components is completely determined. Dynamic models of electrical components are often based on equivalent circuits, where Kirchhoff’s voltage and current laws are applied to draw the algebraic and differential equations. Here, Randles circuit is used for dynamic modeling of the battery and the electric motor is modeled through the analysis of the equivalent circuit of a separately excited DC motor, where the power converter is included. The mechanical subsystem is defined by MBS3D equations. These equations consider the position, velocity and acceleration of all the bodies comprising the vehicle multibody system. MBS3D 2.0 is entirely written in MATLAB and the structure of the program has been thoroughly studied and understood by the author. MBS3D software is adapted according to the requirements of the applied co-simulation method. Some of the core functions are modified, such as integrator and graphics, and several auxiliary functions are added in order to compute the mathematical model of the electrical components. By coupling and co-simulating both subsystems, it is possible to evaluate the dynamic interaction among all the components of the drivetrain. ‘Tight-coupling’ method is used to cosimulate the sub-models. This approach integrates all subsystems simultaneously and the results of the integration are exchanged by function-call. This means that the integration is done jointly for the mechanical and the electrical subsystem, under a single integrator and then, the speed of integration is determined by the slower subsystem. Simulations are then used to show the performance of the developed EV model. However, this project focuses more on the validation of the computational and mathematical tool for electric and hybrid vehicle simulation. For this purpose, a detailed study and comparison of different integrators within the MATLAB environment is done. Consequently, the main efforts are directed towards the implementation of co-simulation techniques in MBS3D software. In this regard, it is not intended to create an extremely precise EV model in terms of real vehicle performance, although an acceptable level of accuracy is achieved. The gap between the EV model and the real system is filled, in a way, by introducing the gas and brake pedals input, which reflects the actual driver behavior. This input is included directly in the differential equations of the model, and determines the amount of current provided to the electric motor. For a separately excited DC motor, the rotor current is proportional to the traction torque delivered to the car wheels. Therefore, as it occurs in the case of real vehicle models, the propulsion torque in the mathematical model is controlled through acceleration and brake pedal commands. The designed transmission system also includes a reduction gear that adapts the torque coming for the motor drive and transfers it. The main contribution of this project is, therefore, the implementation of a new calculation path for the wheel torques, based on performance characteristics and outputs of the electric powertrain model. Originally, the wheel traction and braking torques were input to MBS3D through a vector directly computed by the user in a MATLAB script. Now, they are calculated as a function of the motor current which, in turn, depends on the current provided by the battery pack across the DC/DC chopper converter. The motor and battery currents and voltages are the solutions of the electrical ODE (Ordinary Differential Equation) system coupled to the multibody system. Simultaneously, the outputs of MBS3D model are the position, velocity and acceleration of the vehicle at all times. The motor shaft speed is computed from the output vehicle speed considering the wheel radius, the gear reduction ratio and the transmission efficiency. This motor shaft speed, somehow available from MBS3D model, is then introduced in the differential equations corresponding to the electrical subsystem. In this way, MBS3D and the electrical powertrain model are interconnected and both subsystems exchange values resulting as expected with tight-coupling approach.When programming mathematical models of complex systems, code optimization is a key step in the process. A way to improve the overall performance of the integration, making use of C/C++ as an alternative programming language, is described and implemented. Although this entails a higher computational burden, it leads to important advantages regarding cosimulation speed and stability. In order to do this, it is necessary to integrate MATLAB with another integrated development environment (IDE), where C/C++ code can be generated and executed. In this project, C/C++ files are programmed in Microsoft Visual Studio and the interface between both IDEs is created by building C/C++ MEX file functions. These programs contain functions or subroutines that can be dynamically linked and executed from MATLAB. This process achieves reductions in simulation time up to two orders of magnitude. The tests performed with different integrators, also reveal the stiff character of the differential equations corresponding to the electrical subsystem, and allow the improvement of the cosimulation process. When varying the parameters of the integration and/or the initial conditions of the problem, the solutions of the system of equations show better dynamic response and stability, depending on the integrator used. Several integrators, with variable and non-variable step-size, and for stiff and non-stiff problems are applied to the coupled ODE system. Then, the results are analyzed, compared and discussed. From all the above, the project can be divided into four main parts: 1. Creation of the equation-based electric vehicle model; 2. Programming, simulation and adjustment of the electric vehicle model; 3. Application of co-simulation methodologies to MBS3D and the electric powertrain subsystem; and 4. Code optimization and study of different integrators. Additionally, in order to deeply understand the context of the project, the first chapters include an introduction to basic vehicle dynamics, current classification of hybrid and electric vehicles and an explanation of the involved technologies such as brake energy regeneration, electric and non-electric propulsion systems for EVs and HEVs (hybrid electric vehicles) and their control strategies. Later, the problem of dynamic modeling of hybrid and electric vehicles is discussed. The integrated development environment and the simulation tool are also briefly described. The core chapters include an explanation of the major co-simulation methodologies and how they have been programmed and applied to the electric powertrain model together with the multibody system dynamic model. Finally, the last chapters summarize the main results and conclusions of the project and propose further research topics. In conclusion, co-simulation methodologies are applicable within the integrated development environments MATLAB and Visual Studio, and the simulation tool MBS3D 2.0, where equation-based models of multidisciplinary subsystems, consisting of mechanical and electrical components, are coupled and integrated in a very efficient way.
Resumo:
Los retos y oportunidades a los que se enfrentan las organizaciones y administraciones de las primeras décadas del siglo XXI se caracterizan por una serie de fuerzas perturbadoras como la globalización, el avance de las tecnologías emergentes y el desequilibrio económico, que están actuando como impulsores de la transformación del mercado. La acción conjunta de estos factores está obligando a todas las empresas industriales a tener que trabajar con mayores y más exigentes niveles de productividad planteándose continuamente como mejorar y lograr satisfacer los requerimientos de los clientes. De esta situación surge la necesidad de volver a plantearse de nuevo ¿quién es el cliente?, ¿qué valora el cliente? y ¿cómo se pueden generan beneficios sostenibles? La aplicación de esta reflexión a la industria naval militar marca los objetivos a los que esta tesis doctoral busca dar respuesta. El primer objetivo, de carácter general, consiste en la definición de un modelo de negocio sostenible para la industria naval militar del 2025 que se adapte a los requisitos del cliente y al nuevo escenario político, económico, social, tecnológico y ambiental que rodea esta industria. El segundo objetivo, consecuencia del modelo general, trata de desarrollar una metodología para ejecutar programas de apoyo al ciclo de vida del “buque militar”. La investigación se estructura en cuatro partes: en la primera se justifica, por un lado, la necesidad del cambio de modelo y por otro se identifican los factores estructurantes para la definición del modelo. La segunda parte revisa la literatura existente sobre uno de los aspectos básicos para el nuevo modelo, el concepto Producto-Servicio. La tercera parte se centra totalmente en la industria naval militar estudiando los aspectos concretos del sector y, en base al trabajo de campo realizado, se identifican los puntos que más valoran las Marinas de Guerra y como estas gestionan al buque militar durante todo su ciclo de vida. Por último se presentan los principios del modelo propuesto y se desarrollan los pilares básicos para la ejecución de proyectos de Apoyo al Ciclo de Vida (ACV). Como resultado de la investigación, el modelo propuesto para la industria naval militar se fundamenta en once principios: 1. El buque militar (producto de alto valor añadido) debe ser diseñado y construido en un astillero del país que desarrolla el programa de defensa. 2. El diseño tiene que estar orientado al valor para el cliente, es decir, se tiene que diseñar el buque militar para que cumpla su misión, eficaz y eficientemente, durante toda su vida operativa, asegurando la seguridad del buque y de las personas y protegiendo el medio ambiente de acuerdo con las regulaciones vigentes. 3. La empresa debe suministrar soluciones integrales de apoyo al ciclo de vida al producto. 4. Desarrollar y mantener las capacidades de integración de sistemas complejos para todo el ciclo de vida del buque militar. 5. Incorporar las tecnologías digitales al producto, a los procesos, a las personas y al propio modelo de negocio. 6. Desarrollar planes de actuación con el cliente domestico a largo plazo. Estos planes tienen que estar basados en tres premisas: (i) deben incluir el ciclo de vida completo, desde la fase de investigación y desarrollo hasta la retirada del buque del servicio; (ii) la demanda debe ser sofisticada, es decir las exigencias del cliente, tanto desde la óptica de producto como de eficiencia, “tiran” del contratista y (iii) permitir el mantenimiento del nivel tecnológico y de las capacidades industriales de la compañía a futuro y posicionarla para que pueda competir en el mercado de exportación. 7. Impulsar el sector militar de exportación mediante una mayor actividad comercial a nivel internacional. 8. Fomentar la multilocalización ya que representa una oportunidad de crecimiento y favorece la exportación posibilitando el suministro de soluciones integrales en el país destino. 9. Reforzar la diplomacia institucional como palanca para la exportación. 10. Potenciar el liderazgo tecnológico tanto en producto como en procesos con políticas activas de I + D+ i. 11. Reforzar la capacidad de financiación con soluciones innovadoras. El segundo objetivo de esta tesis se centra en el desarrollo de soluciones integrales de Apoyo al Ciclo de Vida (ACV). La metodología planteada trata de minimizar la brecha entre capacidades y necesidades a lo largo de la vida operativa del barco. Es decir, el objetivo principal de los programas de ACV es que la unidad conserve durante toda su vida operativa, en términos relativos a las tecnologías existentes, las capacidades equivalentes a las que tendrá cuando entre en servicio. Los ejes de actuación para conseguir que un programa de Apoyo al Ciclo de Vida cumpla su objetivo son: el diseño orientado al valor, la ingeniería de Apoyo al Ciclo de Vida, los proyectos de refresco de tecnología, el mantenimiento Inteligente y los contratos basados en prestaciones. ABSTRACT On the first decades of the 21st century, organizations and administrations face challenges and come across opportunities threatened by a number of disruptive forces such as globalization, the ever-changing emerging technologies and the economic imbalances acting as drivers of the market transformation. This combination of factors is forcing all industrial companies to have more and higher demanding productivity levels, while bearing always in mind how to improve and meet the customer’s requirements. In this situation, we need to question ourselves again: Who is the customer? What does the customer value? And how can we deliver sustainable economic benefits? Considering this matter in a military naval industry framework sets the goals that this thesis intends to achieve. The first general goal is the definition of a new sustainable business model for the 2025 naval industry, adapted to the customer requirements and the new political, economic, social, technological and environmental scenario. And the second goal that arises as a consequence of the general model develops a methodology to implement “warship” through life support programs. The research is divided in four parts: the first one justifies, on the one hand, the need to change the existing model and, on the other, identifies the model structural factors. On the second part, current literature regarding one of the key issues on the new model (the Product-Service concept) is reviewed. Based on field research, the third part focuses entirely on military shipbuilding, analyzing specific key aspects of this field and identifying which of them are valued the most by Navies and how they manage through life cycles of warships. Finally, the foundation of the proposed model is presented and also the basic grounds for implementing a Through Life Support (TLS) program are developed. As a result of this research, the proposed model for the naval industry is based on eleven (11) key principles: 1. The warship (a high added value product) must be designed and built in a shipyard at the country developing the defense program. 2. Design must be customer value oriented, i.e.warship must be designed to effectively fulfill its mission throughout its operational life, ensuring safety at the ship and for the people and protecting the environment in accordance with current regulations. 3. The industry has to provide integrated Through Life Support solutions. 4. Develop and maintain integrated complex systems capabilities for the entire warship life cycle. 5. Introduce the product, processes, people and business model itself to digital technologies. 6. Develop long-term action plans with the domestic customer. These plans must be based on three premises: (i) the complete life cycle must be included, starting from the research and development stage throughout the ship’s disposal; (ii) customer demand has to be sophisticated, i.e. customer requirements, both from the efficiency and product perspective, "attract" the contractor and (iii) technological level and manufacturing capabilities of the company in the future must be maintained and a competitive position on the export market has to be achieved. 7. Promote the military exporting sector through increased international business. 8. Develop contractor multi-location as it entails an opportunity for growth and promote export opportunities providing integrated solutions in the customer's country. 9. Strengthen institutional diplomacy as a lever for export. 10. Promote technological leadership in both product and processes with active R & D & I policies (Research & Development & Innovation) 11. Strengthen financing capacity through innovative solutions. The second goal of this thesis is focused on developing integrated Through Life Support (TLS) solutions. The proposed methodology tries to minimize the gap between needs and capabilities through the ship operational life. It means, the main TLS program objective is to maintain the ship’s performance and capabilities during operational life, in relative terms to current technologies, equivalent to those the ship had when it entered service. The main actions to fulfill the TLS program objectives are: value-oriented design, TLS engineering, technology updating projects, intelligent maintenance and performance based contracts.
Resumo:
La tesis aborda el estudio de la casa patio y su relación con todas las escalas del proyecto, dentro del ámbito de la vivienda colectiva desarrollada en Madrid desde el comienzo de la década de los cincuenta hasta principio de los sesenta. Se investiga su vínculo con la ciudad a partir de la configuración de la trama y los espacios públicos, la organización de la casa en torno a un vacío y las relaciones espaciales entre el patio exterior y las estancias interiores. Mediante el análisis de los diferentes ejemplos existentes de casas con patio en el contexto señalado, se realiza la selección de los casos de estudio de esta investigación. Los proyectos analizados se organizan a partir del trabajo desarrollado por los arquitectos Francisco Javier Sáenz de Oíza y Antonio Vázquez de Castro, liderando equipos más amplios y como representantes de la construcción definitiva de un verdadero lenguaje moderno en la arquitectura española. Cada uno de los proyectos, estructurados en dos apartados para cada uno de los autores, muestran de forma particular, la evolución de las herramientas arquitectónicas empleadas, a partir de la casa patio, en las distintas escalas de trabajo. En los proyectos de Oíza, se analiza en primer lugar la definición de un modelo mínimo y racional de vivienda con patio en el poblado de absorción de Fuencarral “A” (1956) y con el prototipo del concurso de vivienda experimental (1956). A continuación se estudia, en el Poblado Dirigido de Entrevías (1956), la construcción de la ciudad horizontal a partir del patio como elemento estructurante de las tramas urbanas. Las obras de Vázquez de Castro muestran inicialmente la incorporación del patio como una estancia privada más de la casa con la definición de un modelo tipológico en “L” en el Poblado Dirigido de Caño Roto (1956). Finalmente, se analiza el desarrollo de nuevas y complejas estructuras urbanas en forma de tapiz en el proyecto de la Unidad Vecinal de Costa Rica (1961). Los ejemplos, antes descritos, protagonizan un proceso delimitado desde la importación y adaptación de los modelos de vivienda europeos producidos en el periodo de entreguerras, con un significativo retraso; hasta la apuesta por sistemas complejos como el “mat-building”, en diálogo directo, con los proyectos de las nuevas corrientes arquitectónicas internacionales de principios de los sesenta. El estudio y análisis de los ejemplos se realiza mediante la disección pormenorizada de cada uno de ellos, en los sistemas arquitectónicos que establecen la relación del patio con las tres escalas objeto de estudio: la ciudad, la casa y la estancia. Para ello se realiza una reconstrucción de los proyectos mediante la elaboración de una nueva documentación gráfica a partir de los planos y fotografías originales. Finalmente, a partir de los temas arquitectónicos más significativos extraídos del análisis de los casos de estudio y organizados en función de las distintas escalas de proyecto, se realiza una comparación transversal, a modo de conclusiones, respecto a otros ejemplos de similares características del panorama internacional de casas con patio. De esta forma se produce una síntesis sobre los distintos mecanismos que sirvieron para construir, a partir de la tradición del patio en la casa, la vivienda moderna. ABSTRACT The thesis deals the study of the house with courtyard and its relation with all the scales of the project inside the ambience of the collective housing developed in Madrid from the beginning of the fifties up to beginning of the sixties. This document investigates its link with the city from the configuration of the weave and the public spaces, the organization of the house around a void and the spatial relations between the exterior courtyard and the interior spaces. The selection of the case studies of this research is made Through the analysis of the different existing examples of courtyard houses in this defined context. The analyzed projects are organized from the work developed by the architects Francisco Javier Sáenz de Oíza and Antonio Vázquez de Castro, leading wider teams and as representatives of the definitive construction of a real modern language in the Spanish architecture. Each of the projects, structured in two sections to each one of the authors, show in a particular way, the evolution of the architectural tools employed, from the house with courtyard, at different scales of work. In the projects of Oiza, it´s analyced the definition of a minimum and rational model of a house with courtyard in the absorption village of Fuencarral “A” (1956) and with the experimental housing contest prototype (1956). Next, in “el Poblado Dirigido de Entrevías” (1956), the construction of the horinzontal city with the courtyard as a structuring element of the urban weave will be studied. The works of Vázquez de Castro initially show the incorporation of the courtyard as another private area of the house with the typological model definition as an “L” in El Poblado Dirigido de Caño Roto (1956). Finally, the thesis analyzes the development of new and complex urban structures with a mat-building shape in the project of Unidad Vecinal de Costa Rica (1961). The examples described above, starring a process delimited from the import and the adaptation of european housing models produced in the interwar period, with a significant delay; until the opt for complex systems such as the “mat-building”, in direct dialog, with the projects of the new architectural international flows of the beginning of the sixties. The study and analysis of the examples is made by the dissection of them, in the architectural systems that establish the relation of the courtyard with the three scales of the study: the city, the house and the stay. To reach this objetive this document reconstructs the projects making a new graphic documentation from the original maps and photos. Finally, from the most important architectural issues drawn from the analysis of the case studies and organised by the different scales of project, as conclussions, a cross comparison of similar examples of houses with courtyard around the world is made. This produces a synthesis about the different mechanisms that served to build, from the tradition of the courtyard in the house, the modern housing.
Resumo:
Desde los comienzos de la enseñanza, siempre se han buscado formas innovadoras para transmitir el conocimiento de profesor a alumno. Desde recursos materiales hasta sistemas de enseñanza complejos, todos juegan un papel esencial en el aprendizaje del alumno. Durante el siglo XVII comienzan a desarrollarse nuevas corrientes de enseñanza cuyo objetivo era el aprendizaje ameno del individuo. Hoy en día pueden utilizarse multitud de medios para desarrollar estos métodos pedagógicos, entre ellos, los juegos interactivos. Con el boom de la tecnología y el desarrollo de las tecnologías de la información, los tutores encuentran en los dispositivos electrónicos todo un apoyo para realizar esta tarea, lo cual viene acompañado de una revolución inminente en la enseñanza. El objetivo de este proyecto es la creación de un videojuego educativo que permita tanto aprender más fácilmente a los alumnos como evaluar los conocimientos adquiridos por éstos a los profesores. Se ha creado Ludomática, un videojuego de tipo juego de mesa donde los jugadores tendrán que utilizar sus conocimientos en determinados temas para ganar la partida. El videojuego puede ser configurado con distintas preguntas del tema que se desee y en tres niveles de dificultad. Además, cuenta con la posibilidad de configurar el número de jugadores, de preguntas y de puntuación máxima, con objeto de crear partidas más o menos largas. Ludomática se constituye como una herramienta educativa completa y personalizable, además de atractiva, mediante la cual los profesores pueden innovar su forma de enseñanza y los alumnos pueden aprender divirtiéndose---ABSTRACT---Since the beginning of teaching, professors have always looked for innovative ways to transmit knowledge from teacher to student. From material resources to teaching complex systems, they all play a vital role in student learning. The development of new forms of education aimed to create enjoyable ways to teach started during the XVII century. Nowadays, It’s easy to find multiple elements to develop this pedagogical methods, including interactive games. Because of the “tech boom” and the rise of the Information and Communication Technologies, teachers can have a lot of support in electronic devices to carry out this task, which comes with an inminent revolution of teaching. The objective of this project is to create an educational video game that allows not only learn much more easily for students, but also evaluate the knowledge acquired by these for teachers. Ludomática has been created as a board videogame where players have to use their knowledge in specific topics to win the game. The game can be configured with different questions of the topic desired and three difficulty levels. It also has the ability to set the number of players, questions and maximum score, in order to control the duration of the game. Ludomática constitutes a complete and customizable educational tool, also attractive, whereby teachers can innovate their teaching forms and students can learn while having fun.
Resumo:
This document is a summary of the Bachelor thesis titled “VHDL-Based System Design of a Cognitive Sensorimotor Loop (CSL) for Haptic Human-Machine Interaction (HMI)” written by Pablo de Miguel Morales, Electronics Engineering student at the Universidad Politécnica de Madrid (UPM Madrid, Spain) during an Erasmus+ Exchange Program at the Beuth Hochschule für Technik (BHT Berlin, Germany). The tutor of this project is Dr. Prof. Hild. This project has been developed inside the Neurobotics Research Laboratory (NRL) in close collaboration with Benjamin Panreck, a member of the NRL, and another exchange student from the UPM Pablo Gabriel Lezcano. For a deeper comprehension of the content of the thesis, a deeper look in the document is needed as well as the viewing of the videos and the VHDL design. In the growing field of automation, a large amount of workforce is dedicated to improve, adapt and design motor controllers for a wide variety of applications. In the specific field of robotics or other machinery designed to interact with humans or their environment, new needs and technological solutions are often being discovered due to the existing, relatively unexplored new scenario it is. The project consisted of three main parts: Two VHDL-based systems and one short experiment on the haptic perception. Both VHDL systems are based on a Cognitive Sensorimotor Loop (CSL) which is a control loop designed by the NRL and mainly developed by Dr. Prof. Hild. The CSL is a control loop whose main characteristic is the fact that it does not use any external sensor to measure the speed or position of the motor but the motor itself. The motor always generates a voltage that is proportional to its angular speed so it does not need calibration. This method is energy efficient and simplifies control loops in complex systems. The first system, named CSL Stay In Touch (SIT), consists in a one DC motor system controller by a FPGA Board (Zynq ZYBO 7000) whose aim is to keep contact with any external object that touches its Sensing Platform in both directions. Apart from the main behavior, three features (Search Mode, Inertia Mode and Return Mode) have been designed to enhance the haptic interaction experience. Additionally, a VGA-Screen is also controlled by the FPGA Board for the monitoring of the whole system. This system has been completely developed, tested and improved; analyzing its timing and consumption properties. The second system, named CSL Fingerlike Mechanism (FM), consists in a fingerlike mechanical system controlled by two DC motors (Each controlling one part of the finger). The behavior is similar to the first system but in a more complex structure. This system was optional and not part of the original objectives of the thesis and it could not be properly finished and tested due to the lack of time. The haptic perception experiment was an experiment conducted to have an insight into the complexity of human haptic perception in order to implement this knowledge into technological applications. The experiment consisted in testing the capability of the subjects to recognize different objects and shapes while being blindfolded and with their ears covered. Two groups were done, one had full haptic perception while the other had to explore the environment with a plastic piece attached to their finger to create a haptic handicap. The conclusion of the thesis was that a haptic system based only on a CSL-based system is not enough to retrieve valuable information from the environment and that other sensors are needed (temperature, pressure, etc.) but that a CSL-based system is very useful to control the force applied by the system to interact with haptic sensible surfaces such as skin or tactile screens. RESUMEN. Este documento es un resumen del proyecto fin de grado titulado “VHDL-Based System Design of a Cognitive Sensorimotor Loop (CSL) for Haptic Human-Machine Interaction (HMI)” escrito por Pablo de Miguel, estudiante de Ingeniería Electrónica de Comunicaciones en la Universidad Politécnica de Madrid (UPM Madrid, España) durante un programa de intercambio Erasmus+ en la Beuth Hochschule für Technik (BHT Berlin, Alemania). El tutor de este proyecto ha sido Dr. Prof. Hild. Este proyecto se ha desarrollado dentro del Neurorobotics Research Laboratory (NRL) en estrecha colaboración con Benjamin Panreck (un miembro del NRL) y con Pablo Lezcano (Otro estudiante de intercambio de la UPM). Para una comprensión completa del trabajo es necesaria una lectura detenida de todo el documento y el visionado de los videos y análisis del diseño VHDL incluidos en el CD adjunto. En el creciente sector de la automatización, una gran cantidad de esfuerzo está dedicada a mejorar, adaptar y diseñar controladores de motor para un gran rango de aplicaciones. En el campo específico de la robótica u otra maquinaria diseñada para interactuar con los humanos o con su entorno, nuevas necesidades y soluciones tecnológicas se siguen desarrollado debido al relativamente inexplorado y nuevo escenario que supone. El proyecto consta de tres partes principales: Dos sistemas basados en VHDL y un pequeño experimento sobre la percepción háptica. Ambos sistemas VHDL están basados en el Cognitive Sesnorimotor Loop (CSL) que es un lazo de control creado por el NRL y cuyo desarrollador principal ha sido Dr. Prof. Hild. El CSL es un lazo de control cuya principal característica es la ausencia de sensores externos para medir la velocidad o la posición del motor, usando el propio motor como sensor. El motor siempre genera un voltaje proporcional a su velocidad angular de modo que no es necesaria calibración. Este método es eficiente en términos energéticos y simplifica los lazos de control en sistemas complejos. El primer sistema, llamado CSL Stay In Touch (SIT), consiste en un sistema formado por un motor DC controlado por una FPGA Board (Zynq ZYBO 7000) cuyo objetivo es mantener contacto con cualquier objeto externo que toque su plataforma sensible en ambas direcciones. Aparte del funcionamiento básico, tres modos (Search Mode, Inertia Mode y Return Mode) han sido diseñados para mejorar la interacción. Adicionalmente, se ha diseñado el control a través de la FPGA Board de una pantalla VGA para la monitorización de todo el sistema. El sistema ha sido totalmente desarrollado, testeado y mejorado; analizando su propiedades de timing y consumo energético. El segundo sistema, llamado CSL Fingerlike Mechanism (FM), consiste en un mecanismo similar a un dedo controlado por dos motores DC (Cada uno controlando una falange). Su comportamiento es similar al del primer sistema pero con una estructura más compleja. Este sistema no formaba parte de los objetivos iniciales del proyecto y por lo tanto era opcional. No pudo ser plenamente desarrollado debido a la falta de tiempo. El experimento de percepción háptica fue diseñado para profundizar en la percepción háptica humana con el objetivo de aplicar este conocimiento en aplicaciones tecnológicas. El experimento consistía en testear la capacidad de los sujetos para reconocer diferentes objetos, formas y texturas en condiciones de privación del sentido del oído y la vista. Se crearon dos grupos, en uno los sujetos tenían plena percepción háptica mientras que en el otro debían interactuar con los objetos a través de una pieza de plástico para generar un hándicap háptico. La conclusión del proyecto fue que un sistema háptico basado solo en sistemas CSL no es suficiente para recopilar información valiosa del entorno y que debe hacer uso de otros sensores (temperatura, presión, etc.). En cambio, un sistema basado en CSL es idóneo para el control de la fuerza aplicada por el sistema durante la interacción con superficies hápticas sensibles tales como la piel o pantallas táctiles.
Resumo:
La tesis aborda el estudio de la Central lechera CLESA, uno de los edificios industriales de Alejandro de la Sota más significativos de la década de los años cincuenta en España. Las centrales lecheras fueron abordadas por Sota en distintas ocasiones entre 1955 y 1969, siendo CLESA la única de todas ellas que llega a construirse. Se trata de uno de los exponentes más brillantes de la arquitectura moderna industrial española de la posguerra, incluido en "La arquitectura de la industria, REGISTRO DOCOMOMO IBÉRICO”1 entre la veintena de edificios seleccionados de la arquitectura madrileña de este periodo. Plantea una solución singular para alcanzar la diafanidad exigida en la implantación del proceso de producción. La estructura de las naves se realiza con hormigón pretensado, siendo uno de los pioneros en la utilización de esta técnica. La hipótesis de partida considera la realidad del proyecto construido como respuesta desde la arquitectura a un programa industrial resuelto con sencillez, que partiendo de una economía de recursos que le es inherente, consigue desde la coherencia del planteamiento, soluciones donde la complejidad espacial constituye una respuesta eficaz y del máximo interés. Los objetivos de esta tesis son contribuir a un conocimiento riguroso del edificio, que permita descubrir la particularidad de su entramado espacial y el interés de las soluciones adoptadas en su configuración final, en aras de contrastar su calidad arquitectónica. El edificio de la Central Lechera CLESA, si bien es un edificio muy conocido, lo es de una manera superficial. Aparece en numerosas publicaciones, en muchas ocasiones formando parte de un relato extenso de la obra de su autor. El libro monográfico publicado en 2007 por la Fundación Alejandro de la Sota, cuya edición está a cargo de Teresa Couceiro, es la única publicación específica sobre él. Tras una breve introducción, en la que se destaca la intensa dedicación de Sota a esta obra, reúne una colección de planos, fotografías y croquis, junto a la memoria del proyecto. Ofrece una visión fragmentada, que permite vislumbrar el interés de esta obra, pero no facilita comprenderla en su integridad. Es importante destacar la publicación de CLESA en el libro editado por Pronaos (1989), que incluye una selección, realizada por el autor, de plantas, alzados y secciones que corresponden al proyecto construido junto a fotografías de la obra terminada, además de un breve texto tan conciso como esclarecedor. Sobre Alejandro de la Sota se han escrito, tesis doctorales, numerosos artículos, varios libros así como realizado exposiciones que recogen su obra global, reflejados en este documento en las consiguientes bibliografías específicas. Cabe destacar la exposición realizada en la sede del COAM en 2014, con ocasión de su centenario, que el edificio CLESA protagoniza en cierto modo, por su riesgo de desaparición.2 La tesis se estructura en cuatro capítulos: descripción, análisis, síntesis y conclusiones. El primer capítulo contempla la descripción del edificio objeto de la tesis, con una introducción que nos sitúa en el contexto histórico, económico, cultural y social en el que se desarrolla el encargo, proyecto y obra de la central lechera. La descripción propiamente dicha del conjunto industrial, partiendo del encargo de la central lechera al autor del proyecto, pasando por el anteproyecto, el proyecto visado y llegando a la obra realizada. Se compara el proyecto visado, la obra terminada y la CLESA publicada, así como el devenir del edificio. La segunda parte corresponde al análisis, en primer lugar desde el programa como planteamiento general, estudiando las circulaciones, relaciones espaciales, geométricas, esqueléticas, geográficas -parte a parte- que integran el conjunto de la central. La estructura, introducción explicativa de las soluciones adoptadas por Alejandro de la Sota; análisis del sistema esquelético del edificio por partes, operaciones geométricas y espaciales. Construcción, análisis de la materialización de la obra, sistemas constructivos empleados en cerramientos, cubiertas, lucernarios; de lo general a lo particular, estudiando los sistemas. Finalmente a través de la pequeña escala se compendian elementos singulares que forman parte de sistemas complejos, como las múltiples escaleras, barandillas, carpinterías, miradores. Se recapitula en una síntesis que configura un todo con la suma de las partes, mediante la utilización de recursos de enlace de esa arquitectura aditiva, como es el módulo, los recorridos y los enlaces visuales. El capítulo final de Conclusiones contrasta la hipótesis de partida de la tesis en cuanto a una arquitectura de espacios máximos con recursos mínimos. Recoge también diversas reflexiones como la dialéctica entre el espacio fragmentado y el espacio único; crecimiento expansivo o inclusivo; imagen singular y representación; escala doméstica y escala industrial; renuncias estructurales o limitaciones de medios. Quizás, el mayor interés de esta tesis reside los dibujos realizados en axonométrica del complejo CLESA, que han permitido restituir y reconstruir idealmente la fábrica al inicio de su actividad. Teniendo en cuenta su posible desaparición total o parcial, esta restitución cobra relevancia como testimonio de lo que fue. ABSTRACT The thesis deals with the study of CLESA's Dairy Plant, one of the most significant industrial buildings of the Decade of the fifties in Spain, by Alejandro de la Sota. The Dairies were addressed by Sota at various occasions between 1955 and 1969, being the CLESA plant the only one that is has been built. This is one of the most brilliant exponents of Spanish industrial post-war modern architecture, included in "The architecture industry, IBERIAN DOCOMOMO RECORD"3 between the score of selected buildings of Madrid architecture of this period. It poses a singular solution to achieve the openness of the space required in the implementation of the manufacturing process. The structure of the nave is done with prestressed concrete, being one of the pioneers in the use of this technique. The initial hypothesis considers the reality of the project built from the architecture in response to an industrial program solved with simplicity, that from a resource economy that is inherent, gets from the consistency of the approach, solutions where the space complexity is an effective response of great interest. The objectives of this thesis are to contribute to a rigorous knowledge of the building, which allows to discover the particularity of its space lattice and the interest of the solutions adopted in its final configuration, in order to contrast its architectural quality. The building of the Central Lechera CLESA, despite it is a well known building, is in a superficial way. It appears in several publications, often as part of an extensive account of the work of its author. The monograph published in 2007 by the Foundation Alejandro de la Sota, whose edition is run by Teresa Couceiro, is the only specific publication about it. After a brief introduction, in which Sota's intense dedication to this work stands out, it brings together a collection of drawings, photographs and sketches, along with the project report. It offers a fragmented view, which enable to glimpse the interest of this work, but not helps to understand it in full. It is important to highlight the publication of CLESA in the book edited by Pronaos (1989), which includes a selection made by the author of plants, elevations and sections corresponding to the project built, next to photographs of the finished construction, in addition to a brief text as concise as enlightening. About Alejandro de la Sota have been written doctoral thesis, numerous articles, several books as well as held exhibitions collecting his global work, which have been reflected in this document in the resulting specific bibliographies. It should be noted the exhibition in COAM headquarters in 2014, on the occasion of its Centennial, where the building CLESA has a leading role, in a certain way, because of its risk of disappearance.4 The thesis is structured in four chapters: description, analysis, synthesis, and conclusions. The first chapter provides the description of the building object of this thesis. Includes an introduction that puts us in the historic, economic, cultural and social context in which it is developed the commission, the project and construction of the dairy building. The description itself of the industrial complex, starts with the order of the dairy to the author of the project, moves through the draft, the visa project and reaches the completion of the work. The visa project, CLESA's finished and published work, as well as the future of the building is compared. The second part corresponds to the analysis, first from the program as a general approach, studying the circulations, geometric, spatial, skeletal, geographical relations - bit by bit - comprising the manufacturing plant ("la central"). The structure, explanatory introduction of the solutions adopted by Alejandro de la Sota; analysis of the skeletal system of the building by parts, geometric and spatial operations. Construction, analysis of the realization of the work, constructive systems used in the building enclosures, roofs, skylights; from the general to the particular and studying the systems. Finally through small scale unique elements that are part of complex systems, such as multiple stairs, railings, carpentry, viewpoints are summarized. It is recapitulated in a synthesis which forms a whole with the sum of the parts, using linking resources that belongs to the additive architecture, such as the module, tours and visual links The final chapter of Conclusions contrast the hypothesis of the thesis regarding the maximum space architecture with minimal resources. It also includes various reflections as the dialectic between the fragmented space and the single space; expansive or inclusive growth; unique image and representation; domestic and industrial scale; structural abandonment or limitation of means. Perhaps the greatest interest of this thesis lies in the axonometric drawings made of the CLESA complex, which ideally have allowed to restore and rebuild the factory back to the beginning of its activity. Considering its potential full or partial disappearance, such recovery becomes relevant as a testimonial evidence of what it was.
Resumo:
A complexidade do ambiente em que vivem as organizações nos dias de hoje exige Sistemas de Informações (SIs) eficientes, que sirvam como apoio à tomada de decisão por parte dos gestores, em especial no que diz respeito às questões ligadas à Tecnologia da Informação (TI) diante dos novos paradigmas de gestão enfrentados pelas Pequenas e Médias Empresas (PMEs). Este trabalho tem como objetivo geral a avaliação da percepção dos gestores das PMEs brasileiras, quanto ao impacto do uso da TI como elemento de melhoria dos processos financeiros das organizações. Para que tal objetivo fosse alcançado, foram desenvolvidos e estudados os seguintes objetivos específicos: verificar de que forma a TI é percebida como útil nas pequenas e médias empresas, em especial na automação de rotinas financeiras de tesouraria e fluxo de caixa; verificar se a automação de rotinas financeiras com a utilização da TI subsidia os processos de tomada de decisão em tais empresas e, ainda, verificar se sua utilização é vista como uma vantagem estratégica. Em seu levantamento bibliográfico, este trabalho apresenta conceitos relacionados a Competição, Pequena e Média Empresa, Estratégia e Gestão de Competência. Esses conceitos foram encontrados na literatura e em artigos na imprensa especializada. Na pesquisa empírica realizada, este trabalho procurou, através de estudos de casos múltiplos em 5 empresas, aprofundar as questões relativas à percepção dos gestores em relação à TI utilizada nos procedimentos financeiros implantados nas organizações que dirigem. O planejamento da amostra foi feito de maneira a permitir não só a análise individual de cada respondente como também a análise das organizações onde atuavam. As conclusões a que este estudo chegou são: a) os gestores têm a percepção de que a utilização de TI nas rotinas financeiras e de fluxo de caixa é imprescindível, pois a automação é necessária para a manutenção e a agilização dos processos de relacionamento com clientes e fornecedores; b) a TI pode subsidiar processos de tomada de decisão estruturada, especificamente as decisões que tratam de rotinas financeiras. Outro aspecto que fica claro na percepção dos gestores é que a dependência da empresa aos SIs aumenta com o crescimento da empresa e, conseqüentemente, com o volume de informações com que os gestores têm de lidar; c) na percepção dos gestores, a utilização de TI nos processos financeiros das PMEs é importante, mas eles não são os determinantes da vantagem estratégica da organização. Os estudos permitiram duas outras observações importantes: d) as estruturas organizacionais das empresas estudadas eram pertinentes aos itens de TI que possuíam; e) há diferença de visão entre gestores e subordinados. A conclusão deste estudo, que responde ao objetivo geral, é que, na percepção dos gestores, a TI tem um impacto positivo como elemento de melhoria dos processos financeiros das organizações, porém não é o fator que define a vantagem estratégica das organizações: há outros aspectos que devem ser avaliados, e a construção de sistemas complexos que abrangem outras áreas da organização é necessária.(AU)
Resumo:
A complexidade do ambiente em que vivem as organizações nos dias de hoje exige Sistemas de Informações (SIs) eficientes, que sirvam como apoio à tomada de decisão por parte dos gestores, em especial no que diz respeito às questões ligadas à Tecnologia da Informação (TI) diante dos novos paradigmas de gestão enfrentados pelas Pequenas e Médias Empresas (PMEs). Este trabalho tem como objetivo geral a avaliação da percepção dos gestores das PMEs brasileiras, quanto ao impacto do uso da TI como elemento de melhoria dos processos financeiros das organizações. Para que tal objetivo fosse alcançado, foram desenvolvidos e estudados os seguintes objetivos específicos: verificar de que forma a TI é percebida como útil nas pequenas e médias empresas, em especial na automação de rotinas financeiras de tesouraria e fluxo de caixa; verificar se a automação de rotinas financeiras com a utilização da TI subsidia os processos de tomada de decisão em tais empresas e, ainda, verificar se sua utilização é vista como uma vantagem estratégica. Em seu levantamento bibliográfico, este trabalho apresenta conceitos relacionados a Competição, Pequena e Média Empresa, Estratégia e Gestão de Competência. Esses conceitos foram encontrados na literatura e em artigos na imprensa especializada. Na pesquisa empírica realizada, este trabalho procurou, através de estudos de casos múltiplos em 5 empresas, aprofundar as questões relativas à percepção dos gestores em relação à TI utilizada nos procedimentos financeiros implantados nas organizações que dirigem. O planejamento da amostra foi feito de maneira a permitir não só a análise individual de cada respondente como também a análise das organizações onde atuavam. As conclusões a que este estudo chegou são: a) os gestores têm a percepção de que a utilização de TI nas rotinas financeiras e de fluxo de caixa é imprescindível, pois a automação é necessária para a manutenção e a agilização dos processos de relacionamento com clientes e fornecedores; b) a TI pode subsidiar processos de tomada de decisão estruturada, especificamente as decisões que tratam de rotinas financeiras. Outro aspecto que fica claro na percepção dos gestores é que a dependência da empresa aos SIs aumenta com o crescimento da empresa e, conseqüentemente, com o volume de informações com que os gestores têm de lidar; c) na percepção dos gestores, a utilização de TI nos processos financeiros das PMEs é importante, mas eles não são os determinantes da vantagem estratégica da organização. Os estudos permitiram duas outras observações importantes: d) as estruturas organizacionais das empresas estudadas eram pertinentes aos itens de TI que possuíam; e) há diferença de visão entre gestores e subordinados. A conclusão deste estudo, que responde ao objetivo geral, é que, na percepção dos gestores, a TI tem um impacto positivo como elemento de melhoria dos processos financeiros das organizações, porém não é o fator que define a vantagem estratégica das organizações: há outros aspectos que devem ser avaliados, e a construção de sistemas complexos que abrangem outras áreas da organização é necessária.(AU)
Resumo:
Increasingly, studies of genes and genomes are indicating that considerable horizontal transfer has occurred between prokaryotes. Extensive horizontal transfer has occurred for operational genes (those involved in housekeeping), whereas informational genes (those involved in transcription, translation, and related processes) are seldomly horizontally transferred. Through phylogenetic analysis of six complete prokaryotic genomes and the identification of 312 sets of orthologous genes present in all six genomes, we tested two theories describing the temporal flow of horizontal transfer. We show that operational genes have been horizontally transferred continuously since the divergence of the prokaryotes, rather than having been exchanged in one, or a few, massive events that occurred early in the evolution of prokaryotes. In agreement with earlier studies, we found that differences in rates of evolution between operational and informational genes are minimal, suggesting that factors other than rate of evolution are responsible for the observed differences in horizontal transfer. We propose that a major factor in the more frequent horizontal transfer of operational genes is that informational genes are typically members of large, complex systems, whereas operational genes are not, thereby making horizontal transfer of informational gene products less probable (the complexity hypothesis).
Resumo:
Submitted ACKNOWLEDGMENTS T. B. acknowledges the financial support from SERB, Department of Science and Technology (DST), India [Project Grant No.: SB/FTP/PS-005/2013]. D. G. acknowledges DST, India, for providing support through the INSPIRE fellowship. J. K. acknowledges Government of the Russian Federation (Agreement No. 14.Z50.31.0033 with Institute of Applied Physics RAS).
Resumo:
Peer reviewed
Resumo:
5 figures Acknowledgments This work was partially supported by the NNSFC (Grant Nos. 11305062, 11135001), the DFG/FAPESP (Grant No. IRTG 1740/TRP 2011/50151-0), and Government of the Russian Federation (Agreement No. 14.Z50.31.0033 with Institute of Applied Physics RAS). All data for this paper is properly cited and referred to in the reference list.
Resumo:
7 pages, 4 figures Acknowledgement We are grateful to M. Riedl and G. Ansmann for fruitful discussions and critical comments on earlier versions of the manuscript. This work was supported by the Volkswagen Foundation (Grant Nos. 88461, 88462, 88463, 85390, 85391 and 85392).
Resumo:
Acknowledgments This work is supported by National Science Foundation of China (Grant No. 61573064, 61074116 and 11547188), the Youth Scholars Program of Beijing Normal University (grant No. 2014NT38), and the Fundamental Research Funds for the Central Universities Beijing Nova Programme, China. XYY acknowledges the support from the National Natural Science Foundation of China (Grant No. 61304177) and the Fundamental Research Funds of BJTU (Grant No. 2015RC042).
Resumo:
Peer reviewed
