Robot Manipulator Systems: Analysis and Control

Manipulator systems are rather complex and highly nonlinear which makes difficult their analysis and control. Classic system theory is veil known, however it is inadequate in the presence of strong nonlinear dynamics. Nonlinear controllers produce good results [1] and work has been done e. g. relating the manipulator nonlinear dynamics with frequency response [2���5]. Nevertheless, given the complexity of the problem, systematic methods which permit to draw conclusions about stability, imperfect modelling effects, compensation requirements, etc. are still lacking. In section 2 we start by analysing the variation of the poles and zeros of the descriptive transfer functions of a robot manipulator in order to motivate the development of more robust (and computationally efficient) control algorithms. Based on this analysis a new multirate controller which is an improvement of the well known ���computed torque controller��� [6] is announced in section 3. Some research in this area was done by Neuman [7,8] showing tbat better robustness is possible if the basic controller structure is modified. The present study stems from those ideas, and attempts to give a systematic treatment, which results in easy to use standard engineering tools. Finally, in section 4 conclusions are presented.

Optimal feedback control rules sensitive to controlled endogenous risk-aversion

The objective of this paper is to correct and improve the results obtained by Van der Ploeg (1984a, 1984b) and utilized in the theoretical literature related to feedback stochastic optimal control sensitive to constant exogenous risk-aversion (see, Jacobson, 1973, Karp, 1987 and Whittle, 1981, 1989, 1990, among others) or to the classic context of risk-neutral decision-makers (see, Chow, 1973, 1976a, 1976b, 1977, 1978, 1981, 1993). More realistic and attractive, this new approach is placed in the context of a time-varying endogenous risk-aversion which is under the control of the decision-maker. It has strong qualitative implications on the agent's optimal policy during the entire planning horizon.

Epidemiology and Anthropology: an integrated approach dealing with bio-socio-cultural aspects as strategy for the control of endemic diseases

The control of endemic diseases has not attained the desired level of effectiveness in spite of the use of modern efficient thecnologies. The classic interventionist approach for the control of schistosomiasis is centered on systemic control of the snail hosts combined to large scale medical treatment and is usually carried out without social preocupation due to the assisted communities. It is easy to understand the interest and the ethical compromise of public health research while producing studies in which the biological and social determinants as well as the cultural components should be considered and also encompass the historical dimensions and symbolic representations. In face of the recent political decision in favor of decentralizations of health administration to municipal level, we suggest, in the present paper, an integrated approach for the epidemiological diagnosis of an endemic situation at local level. Theoretical and methodological aspects from both, epidemiology and anthropology are discussed. Epidemiological methods can be used to detect the dependent variables (those related to the human infection) and the independent variables (demographic, economic, sanitary and social). Another methodological approach of anthropological /etnographic nature can be conducted in order to make an articulation of the knowledge on the various dimensions or determinant levels of the disease. Mutual comprehension, between researchers and the people under investigation, on the dynamic transmission process would be relevant for a joint construction, at local level, of programmed actions for the control of endemic diseases. This would extend reflections on the health/disease process as a whole.

The tumour suppressor LATS2 interacts with both Signalosome and E3 ubiquitin ligases : implications in control of cell cycle progression

SUMMARY LATS2 is a member of the Lats tumour suppressor gene family. The human LATS2 gene is located at chromosome 13q11-12, which has been shown to be a hot spot (67%) for LOH in nonsmall cell lung cancer. Both lats mosaic flies and LATS1 deficient mice spontaneously develop tumours, an observation that is explained by the function of LATS1 in suppressing tumourigenesis by negatively regulating cell proliferation by modulating Cdc2/Cyclin A activity. LATS1 also plays a critical role in maintenance of ploidy through its action on the spindle assembly checkpoint. Initial insights into the function of LATS2 reveals that the protein is involved in the G2/M transition of the cell cycle, whereby it controls the phosphorylation status of Cdc25C. The aim of the present study was to identify LATS2 interacting partners that would provide a more thorough understanding of the molecular pathways in which the protein is involved. The yeast two-hybrid system identified a number of candidate genes that interact with LATS2. Most of the interactions were confirmed biochemically by GST-pull down assays that enabled us to demonstrate that LATS2 is an integral component of the Signalosome complex. The Signalosome is thought to be required for the establishment of functional Cullin-based E3 ubiquitin ligases, the substrate-recognition elements of the ubiquitin-mediated protein proteolytic pathway. The findings that LATS2 also interacts with all of the components of the E3 enzymes allows us to postulate that LATS2 is probably involved in the regulation of this Signalosome-E3 super-complex. In addition, the discovery that LATS2 associates with multiple protein kinases localised at the cellular membrane and in various signalling cascades supports the idea that LATS2 functions as an integrator of signals which allows it to monitor the activity of these pathways and translate these signals through its action on the Signalosome. Furthermore, the observation that a kinase-dead LATS2 mutant arrests at the G2/M phase of the cell cycle, demonstrates that the protein, through the action of its kinase domain, is crucial for progression through the cell cycle, an action in accordance to its proposed role as a regulator of E3 ubiquitin ligases. The findings presented herein provide evidence that LATS2 associates with the Signalosome-E3 ubiquitin ligases super-complex which governs protein stability. Any alteration of the protein would have a strong impact on pathways that modulate cell proliferation, as shown by its implication in tumourigenesis. RESUME LATS2 est un membre de la famille de g��nes suppresseurs de tumeurs LATS. Le g��ne humain LATS2 est situ�� sur le chromosome 13q11-12, une r��gion qui s'est av��r��e ��tre un point sensible (67%) dans la perte d'h��t��rozigosit�� (LOH) notamment pour le cancer du poumon. Le fait que des tumeurs se d��veloppent spontan��ment chez les souris qui sont d��ficientes pour le g��ne LATS1 ainsi que dans des cellules mutantes pour LATS chez la Drosophile, est expliqu�� Par la fonction de LATS1, qui est de supprimer l'apparition de tumeurs en r��primant la prolif��ration cellulaire �� travers sa capacit�� �� r��guler l'activit�� de Cdc2/Cyciine A. LATS1 joue ��galement un r��le important au niveau du maintient de la plo��die de la cellule, au travers de son action sur les points de contr��le de l'assemblage du fuseau mitotique. Les premi��res ��tudes du g��ne LATS2 indiquent que la prot��ine est, par son contr��le des r��actions de phosphorylation de la Cdc25C, impliqu��e dans la transition 021M. Le but de cette ��tude ��tait d'identifier les prot��ines qui interagissent avec LATS2, en vue d'obtenir une compr��hension plus approfondie des m��canismes mol��culaires dans lesquels LATS2 se trouve engag��e. Le syst��me de double-hybride chez la levure a permis l'identification d'un grand nombre de g��nes qui interagissent avec LATS2. La plupart des interactions ont ��t�� confirm��es par GST ��pull clown��, une technique in vitro qui a permis de d��montrer que LATS2 est un composant int��gral du Signalosome. Ce complexe est suppos�� r��guler l'activit�� des E3 ubiquitine-rigases, les ��l��ments responsables du recrutement des substrats qui doivent ��tre recycl��s par la voie de d��gradation ubiquitine-d��pendante. Les r��sultats obtenus indiquent ��galement que LATS2 interagit avec tous les composants des enzymes E3, ce qui nous permet de soumettre l'id��e selon laquelle la prot��ine LATS2 est en fait impliqu��e dans la r��gulation du complexe Signalosorne-E3. De plus, la d��couverte que LATS2 se trouve associ��e �� plusieurs prot��ines kinases localis��es au niveau de la membrane cellulaire, ainsi que dans diverses voies de transduction, confirment l'id��e que LATS2 fonctionne en tant que mol��cule qui int��gre les signaux en provenance de ces diff��rentes voies cellulaires. De ce fait, il lui serait possible de coordonner la destruction des prot��ines au moyen du complexe Signalosome, permettant ainsi de r��primer l'activit�� des voies de signalisation. En outre, l'introduction d'une mutation dans le domaine kinase de LATS2 r��sulte en l'arr��t du cycle cellulaire en G2/M, ce qui montre que la prot��ine, au travers de son domaine kinase, est cruciale pour le bon fonctionnement du cycle cellulaire, ceci en accord avec son r��le propos�� comme r��gulateur des E3 ubiquitine-ligases. Les r��sultats pr��sent��s dans ce manuscrit d��montrent que la prot��ine LATS2 se trouve associ��e au complexe Signalosome-E3 qui r��gule la d��gradation des prot��ines. La moindre modification de la prot��ine engendrerait des r��percussions importantes au niveau des voies de transduction qui contr��lent fa prolif��ration ceilulaire, ce qui atteste du r��le d��terminant que joue LAT32 dans la tumorig��n��se.

Automatitzaci�� integral d'un habitatge

En aquest projecte discutirem i aprovarem la viabilitat d'implementar una automatitzaci�� integral d'un habitatge utilitzant les tecnologies dom��tiques existents a l'actualitat. La idea inicial ��s substituir tots els elements que integren la construcci�� (il��luminaci��, climatitzaci��, parts m��bils,...) per dispositius dom��tics i implementar un software de visualitzaci�� sobre aparells m��bils (smartphones, tablets) que ens permeti un control total sobre l'habitacle. S���avaluar�� quina ��s la soluci�� de mercat que millor s���adapta al projecte i s���implementar�� integrant-la posteriorment als sistemes de visualitzaci�� i control.

Formulation and Implementation of Air Quality Control Pogrammes : Patterns of Interest Consideration

This article investigates some central aspects of the relationships between programme structure and implementation of sulphur dioxide air quality control policies. Previous implementation research, primarily adopting American approaches, has neglected the connections between the processes of programme formulation and implementation. 'Programme', as the key variable in implementation studies, has been defined too narrowly. On the basis of theoretical and conceptual reflections and provisional empirical results from studies in France, Italy, England, and the Federal Republic of Germany, the authors demonstrate that an integral process analysis using a more extended programme concept is necessary if patterns of interest recognition in policies are to be discovered. Otherwise, the still important question of critical social science cannot be answered, namely, what is the impact of special interests upon implementation processes.

The role of population movement in the epidemiology and control of schistosomiasis in Brazil: a preliminary typology of population movement

This paper examines recent developments in migration studies. It reviews literature related to the potential role of internal population movement in the occurrence of schistosomiasis in Brazil and modifies Prothero's typology of population movement for use in Brazil. This modified classification system may contribute to a better understanding of schistosome transmission as well as improved research and control programs. The results of this study indicate that population movement in Brazil primarily involves economically-motivated rural-urban and interregional movement. However, several movement patterns have become increasingly important in recent years as a result of changing socioeconomic and urbanisation dynamics. These patterns include urban-urban, intracity and urban-rural movement as well as the movement of environmental refugees and tourists. Little is known about the epidemiological significance of these patterns. This paper also highlights the role of social networks in the decision to migrate and to settle. Prothero's classic population movement typology categorises movement as either one-way migrations or circulations and examines them along spatial and temporal scales. However, the typology must be modified as epidemiological information about new patterns becomes available. This paper identifies areas that require further research and offers recommendations that can improve the measurement and spatial analysis of the relationship between population movement and schistosomiasis.

La alimentaci��n equilibrada y actividad f��sica, claves en la promoci��n de la salud desde una perspectiva integral

Bolet��n semanal para profesionales sanitarios de la Secretar��a General de Salud P��blica y Participaci��n Social de la Consejer��a de Salud

Applications of the hexanic fraction of Agave sisalana Perrine ex Engelm (Asparagaceae): control of inflammation and pain screening

The present study evaluated the anti-inflammatory and analgesic properties of Agave sisalana Perrine in classic models of inflammation and pain. The hexanic fraction of A. sisalana (HFAS) was obtained by acid hydrolysis followed by hexanic reflux. Anti-inflammatory properties were examined in three acute mouse models (xylene ear oedema, hind paw oedema and pleurisy) and a chronic mouse model (granuloma cotton pellet). The antinociceptive potential was evaluated in chemical (acetic-acid) and thermal (tail-flick and hot-plate test) models of pain. When given orally, HFAS (5, 10, 25 and 50 mg/kg) reduced ear oedema (p < 0.0001; 52%, 71%, 62% and 42%, respectively). HFAS also reduced hind paw oedema at doses of 10 mg/kg and 25 mg/kg (p < 0.05; 42% and 58%, respectively) and pleurisy at doses of 10 mg/kg and 25 mg/kg (41% and 50%, respectively). In a chronic model, HFAS reduced inflammation by 46% and 58% at doses of 10 mg/kg and 25 mg/kg, respectively. Moreover, this fraction showed analgesic properties against the abdominal writhing in an acetic acid model (at doses of 5-25 mg/kg) with inhibitory rates of 24%, 54% and 48%. The HFAS also showed an increased latency time in the hot-plate (23% and 28%) and tail-flick tests (61% and 66%) for the 25 mg/kg and 50 mg/kg doses, respectively. These results suggest that HFAS has anti-inflammatory and analgesic properties.

GesRetail : software de gesti��n integral

El proyecto surge con el fin de crear una aplicaci��n que responda a las necesidades de gesti��n y control de las actividades que se desarrollan en empresas minoristas dedicadas al sector de la electr��nica de consumo. Este tipo de establecimientos aunque est��n muy especializados y proporcionan un trato excelente al p��blico, suelen tener deficiencias t��cnicas a la hora de gestionar y controlar su negocio. Muchos de ellos carecen de programas inform��ticos adaptados a sus necesidades, e incluso en alg��n caso no disponen de ninguno por el alto coste que les supone. Dicho software tiene dos objetivos: por un lado atender las necesidades de este sector y por otro que el desembolso de la adquisici��n e implantaci��n del mismo sea asequible. Para conseguir este ��ltimo objetivo se utilizar�� software libre.

TECTONICS OF THE HELVETIC NAPPE SYSTEM (W SWITZERLAND): CONTROL OF STRAIN LOCALIZATION AND BASEMENT-COVER DEFORMATION. Insights from models based on continuum mechanics

The Helvetic nappe system in Western Switzerland is a stack of fold nappes and thrust sheets em-placed at low grade metamorphism. Fold nappes and thrust sheets are also some of the most common features in orogens. Fold nappes are kilometer scaled recumbent folds which feature a weakly deformed normal limb and an intensely deformed overturned limb. Thrust sheets on the other hand are characterized by the absence of overturned limb and can be defined as almost rigid blocks of crust that are displaced sub-horizontally over up to several tens of kilometers. The Morcles and Doldenhom nappe are classic examples of fold nappes and constitute the so-called infra-Helvetic complex in Western and Central Switzerland, respectively. This complex is overridden by thrust sheets such as the Diablerets and Wildh��rn nappes in Western Switzerland. One of the most famous example of thrust sheets worldwide is the Glariis thrust sheet in Central Switzerland which features over 35 kilometers of thrusting which are accommodated by a ~1 m thick shear zone. Since the works of the early Alpine geologist such as Heim and Lugeon, the knowledge of these nappes has been steadily refined and today the geometry and kinematics of the Helvetic nappe system is generally agreed upon. However, despite the extensive knowledge we have today of the kinematics of fold nappes and thrust sheets, the mechanical process leading to the emplacement of these nappe is still poorly understood. For a long time geologist were facing the so-called 'mechanical paradox' which arises from the fact that a block of rock several kilometers high and tens of kilometers long (i.e. nappe) would break internally rather than start moving on a low angle plane. Several solutions were proposed to solve this apparent paradox. Certainly the most successful is the theory of critical wedges (e.g. Chappie 1978; Dahlen, 1984). In this theory the orogen is considered as a whole and this change of scale allows thrust sheet like structures to form while being consistent with mechanics. However this theoiy is intricately linked to brittle rheology and fold nappes, which are inherently ductile structures, cannot be created in these models. When considering the problem of nappe emplacement from the perspective of ductile rheology the problem of strain localization arises. The aim of this thesis was to develop and apply models based on continuum mechanics and integrating heat transfer to understand the emplacement of nappes. Models were solved either analytically or numerically. In the first two papers of this thesis we derived a simple model which describes channel flow in a homogeneous material with temperature dependent viscosity. We applied this model to the Morcles fold nappe and to several kilometer-scale shear zones worldwide. In the last paper we zoomed out and studied the tectonics of (i) ductile and (ii) visco-elasto-plastic and temperature dependent wedges. In this last paper we focused on the relationship between basement and cover deformation. We demonstrated that during the compression of a ductile passive margin both fold nappes and thrust sheets can develop and that these apparently different structures constitute two end-members of a single structure (i.e. nappe). The transition from fold nappe to thrust sheet is to first order controlled by the deformation of the basement. -- Le syst��me des nappes helv��tiques en Suisse occidentale est un empilement de nappes de plis et de nappes de charriage qui se sont mis en place �� faible grade m��tamorphique. Les nappes de plis et les nappes de charriage sont parmi les objets g��ologiques les plus communs dans les orog��nes. Les nappes de plis sont des plis couch��s d'��chelle kilom��trique caract��ris��s par un flanc normal faiblement d��for-m��, au contraire de leur flanc inverse, intens��ment d��form��. Les nappes de charriage, �� l'inverse se caract��risent par l'absence d'un flanc inverse bien d��fini. Elles peuvent ��tre d��finies comme des blocs de cro��te terrestre qui se d��placent de mani��re presque rigide qui sont d��plac��s sub-horizontalement jusqu'�� plusieurs dizaines de kilom��tres. La nappe de Mordes et la nappe du Doldenhorn sont des exemples classiques de nappes de plis et constitue le complexe infra-helv��tique en Suisse occidentale et centrale, respectivement. Ce complexe repose sous des nappes de charriages telles les nappes des Diablerets et du Widlh��rn en Suisse occidentale. La nappe du Glariis en Suisse centrale se distingue par un d��placement de plus de 35 kilom��tres qui s'est effectu�� �� la faveur d'une zone de cisaillement basale ��paisse de seulement 1 m��tre. Aujourd'hui la g��om��trie et la cin��matique des nappes alpines fait l'objet d'un consensus g��n��ral. Malgr�� cela, les processus m��caniques par lesquels ces nappes se sont mises en place restent mal compris. Pendant toute la premi��re moiti�� du vingti��me si��cle les g��ologues les g��ologues ont ��t�� confront��s au ��paradoxe m��canique��. Celui-ci survient du fait qu'un bloc de roche haut de plusieurs kilom��tres et long de plusieurs dizaines de kilom��tres (i.e., une nappe) se fracturera de l'int��rieur plut��t que de se d��placer sur une surface frictionnelle. Plusieurs solutions ont ��t�� propos��es pour contourner cet apparent paradoxe. La solution la plus populaire est la th��orie des prismes d'accr��tion critiques (par exemple Chappie, 1978 ; Dahlen, 1984). Dans le cadre de cette th��orie l'orog��ne est consid��r�� dans son ensemble et ce simple changement d'��chelle solutionne le paradoxe m��canique (la fracturation interne de l'orog��ne correspond aux nappes). Cette th��orie est ��troitement li�� �� la rh��ologie cassante et par cons��quent des nappes de plis ne peuvent pas cr��er au sein d'un prisme critique. Le but de cette th��se ��tait de d��velopper et d'appliquer des mod��les bas��s sur la th��orie de la m��ca-nique des milieux continus et sur les transferts de chaleur pour comprendre l'emplacement des nappes. Ces mod��les ont ��t�� solutionn��s de mani��re analytique ou num��rique. Dans les deux premiers articles pr��sent��s dans ce m��moire nous avons d��riv�� un mod��le d'��coulement dans un chenal d'un mat��riel homog��ne dont la viscosit�� d��pend de la temp��rature. Nous avons appliqu�� ce mod��le �� la nappe de Mordes et �� plusieurs zone de cisaillement d'��chelle kilom��trique provenant de diff��rents orog��nes a travers le monde. Dans le dernier article nous avons consid��r�� le probl��me �� l'��chelle de l'orog��ne et avons ��tudi�� la tectonique de prismes (i) ductiles, et (ii) visco-��lasto-plastiques en consid��rant les transferts de chaleur. Nous avons d��montr�� que durant la compression d'une marge passive ductile, a la fois des nappes de plis et des nappes de charriages peuvent se d��velopper. Nous avons aussi d��montr�� que nappes de plis et de charriages sont deux cas extr��mes d'une m��me structure (i.e. nappe) La transition entre le d��veloppement d'une nappe de pli ou d'une nappe de charriage est contr��l�� au premier ordre par la d��formation du socle. -- Le syst��me des nappes helv��tiques en Suisse occidentale est un emblement de nappes de plis et de nappes de cha��nage qui se sont mis en place �� faible grade m��tamoiphique. Les nappes de plis et les nappes de charriage sont parmi les objets g��ologiques les plus communs dans les orog��nes. Les nappes de plis sont des plis couch��s d'��chelle kilom��trique caract��ris��s par un flanc normal faiblement d��form��, au contraire de leur flanc inverse, intens��ment d��form��. Les nappes de charriage, �� l'inverse se caract��risent par l'absence d'un flanc inverse bien d��fini. Elles peuvent ��tre d��finies comme des blocs de cro��te terrestre qui se d��placent de mani��re presque rigide qui sont d��plac��s sub-horizontalement jusqu'�� plusieurs dizaines de kilom��tres. La nappe de Morcles and la nappe du Doldenhorn sont des exemples classiques de nappes de plis et constitue le complexe infra-helv��tique en Suisse occidentale et centrale, respectivement. Ce complexe repose sous des nappes de charriages telles les nappes des Diablerets et du Widlh��rn en Suisse occidentale. La nappe du Glar��s en Suisse centrale est certainement l'exemple de nappe de charriage le plus c��l��bre au monde. Elle se distingue par un d��placement de plus de 35 kilom��tres qui s'est effectu�� �� la faveur d'une zone de cisaillement basale ��paisse de seulement 1 m��tre. La g��om��trie et la cin��matique des nappes alpines fait l'objet d'un consensus g��n��ral parmi les g��ologues. Au contraire les processus physiques par lesquels ces nappes sont mises en place reste mal compris. Les s��diments qui forment les nappes alpines se sont d��pos��s �� l'��re secondaire et �� l'��re tertiaire sur le socle de la marge europ��enne qui a ��t�� ��tir�� durant l'ouverture de l'oc��an T��thys. Lors de la fermeture de la T��thys, qui donnera naissance aux Alpes, le socle et les s��diments de la marge europ��enne ont ��t�� d��form��s pour former les nappes alpines. Le but de cette th��se ��tait de d��velopper et d'appliquer des mod��les bas��s sur la th��orie de la m��canique des milieux continus et sur les transferts de chaleur pour comprendre l'emplacement des nappes. Ces mod��les ont ��t�� solutionn��s de mani��re analytique ou num��rique. Dans les deux premiers articles pr��sent��s dans ce m��moire nous nous sommes int��ress��s �� la localisation de la d��formation �� l'��chelle d'une nappe. Nous avons appliqu�� le mod��le d��velopp�� �� la nappe de Morcles et �� plusieurs zones de cisaillement provenant de diff��rents orog��nes �� travers le monde. Dans le dernier article nous avons ��tudi�� la relation entre la d��formation du socle et la d��fonnation des s��diments. Nous avons d��montr�� que nappe de plis et nappes de charriages constituent les cas extr��mes d'un continuum. La transition entre nappe de pli et nappe de charriage est intrins��quement li�� �� la d��formation du socle sur lequel les s��diments reposent.

Implementaci�� d'un sistema integral d'impressi�� a l'empresa LaRoba

L'objectiu del projecte ��s implementar una soluci�� integral de gesti�� d'impressi�� que proporcioni a l'empresa LaRoba un perfecte control sobre els dispositius i un estalvi substancial en els costos globals derivats de la impressi�� de documents.

Gesti�� integral del manteniment : fonaments i aplicaci�� de la metodologia RCM

El Manteniment ent��s com a tal t�� pocs anys d'exist��ncia. Els automatismes, la robotitzaci��, la complexitat de les m��quines, la seva informatitzaci�� i control, i la millora tecnol��gica dels materials i dels equips fins a l��mits desconeguts, entre d'altres, han anat dotant a aquest servei d'una import��ncia cada vegada m��s creixent en el m��n empresarial. La Gesti�� ��ptima del Manteniment, l'objectiu principal d'aquest treball, ��s el conjunt de t��cniques i sistemes que permeten prevenir les averies, efectuar revisions programades, lubricacions i reparacions efucaces, donant al mateix temps normes i procediements de funcionament als usuaris del sistema productiu, per tal de contribuir i aportar riquesa a l'empresa. Aquest ��rgan busca el m��s convenient per a les m��quines, amb l'objectiu d'allargar la seva vida ��til de la forma m��s rendible possible.

Control system for forced-air cooling of horticultural products

This work is a study of the implementation of a classical controller using a tuning method referred to as IMC (Internal Model Control) and aimed at the reduction of electrical energy consumption by the appropriate relation between energy consumption and the cooling time with forced air. The supervisory system installed was able to manipulate the variable of frequency of the signal power of the exhaust fan engine (forced air module), to accelerate or decelerate the loss of heat from the product to be cooled by airflow variation that passes through the mass of the produce. The results demonstrated a reduction in energy consumption from 64% and an increase of only 8% in the cooling time to the system using PI/IMC (Proportional - Integral with IMC) tuning method compared with the system in its operating nominal condition. This PI/IMC control may be implemented directly in a frequency converter, without the need to purchase a computer or PLC (programmable logic controller) to run the dedicated application, increasing its economical viability.