Experiences on using Arduino for laboratory experiments of Automatic Control and Robotics

The free hardware platforms have become very important in engineering education in recent years. Among these platforms, Arduino highlights, characterized by its versatility, popularity and low price. This paper describes the implementation of four laboratory experiments for Automatic Control and Robotics courses at the University of Alicante, which have been developed based on Arduino and other existing equipment. Results were evaluated taking into account the views of students, concluding that the proposed experiments have been attractive to them, and they have acquired the knowledge about hardware configuration and programming that was intended.

Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home

This paper describes the development of a low-cost mini-robot that is controlled by visual gestures. The prototype allows a person with disabilities to perform visual inspections indoors and in domestic spaces. Such a device could be used as the operator's eyes obviating the need for him to move about. The robot is equipped with a motorised webcam that is also controlled by visual gestures. This camera is used to monitor tasks in the home using the mini-robot while the operator remains quiet and motionless. The prototype was evaluated through several experiments testing the ability to use the mini-robot’s kinematics and communication systems to make it follow certain paths. The mini-robot can be programmed with specific orders and can be tele-operated by means of 3D hand gestures to enable the operator to perform movements and monitor tasks from a distance.

Estudo comparativo de diferentes sistemas de injeção de vapor aplicados à remediação de solos contaminados por diesel

Among the potentially polluting economic activities that compromise the quality of soil and groundwater stations are fuel dealers. Leakage of oil derived fuels in underground tanks or activities improperly with these pollutants can contaminate large areas, causing serious environmental and toxicological problems. The number of gas stations grew haphazardly, without any kind of control, thus the environmental impacts generated by these enterprises grew causing pollution of soil and groundwater. Surfactants using various techniques have been proposed to remedy this kind of contamination. This study presents innovation as the application of different systems containing surfactant in the vapor phase and compares their diesel removal efficiencies of soil containing this contaminant. For this, a system that contains seven injection wells the following vaporized solutions: water, surfactant solution, microemulsion and nanoemulsion, The surfactants used were saponified coconut oil (OCS), in aqueous solution and an ethoxylated alcohol UNTL-90: aqueous solution , and nanoemulsion and microemulsion systems. Among the systems investigated, the nanoemulsion showed the highest efficiency, achieving 88% removal of residual phase diesel, the most ecologically and technically feasible by a system with lower content of active matter

Proteção em sistemas elétricos com geração distribuída utilizando a transformada wavelet

A typical electrical power system is characterized by centr alization of power gene- ration. However, with the restructuring of the electric sys tem, this topology is changing with the insertion of generators in parallel with the distri bution system (distributed gene- ration) that provides several benefits to be located near to e nergy consumers. Therefore, the integration of distributed generators, especially fro m renewable sources in the Brazi- lian system has been common every year. However, this new sys tem topology may result in new challenges in the field of the power system control, ope ration, and protection. One of the main problems related to the distributed generati on is the islanding formation, witch can result in safety risk to the people and to the power g rid. Among the several islanding protection techniques, passive techniques have low implementation cost and simplicity, requiring only voltage and current measuremen ts to detect system problems. This paper proposes a protection system based on the wavelet transform with overcur- rent and under/overvoltage functions as well as infomation of fault-induced transients in order to provide a fast detection and identification of fault s in the system. The propo- sed protection scheme was evaluated through simulation and experimental studies, with performance similar to the overcurrent and under/overvolt age conventional methods, but with the additional detection of the exact moment of the fault.

Critério de correntropia no treinamento de redes fuzzy wavelet neural networks para identificação de sistemas dinâmicos não lineares

The great interest in nonlinear system identification is mainly due to the fact that a large amount of real systems are complex and need to have their nonlinearities considered so that their models can be successfully used in applications of control, prediction, inference, among others. This work evaluates the application of Fuzzy Wavelet Neural Networks (FWNN) to identify nonlinear dynamical systems subjected to noise and outliers. Generally, these elements cause negative effects on the identification procedure, resulting in erroneous interpretations regarding the dynamical behavior of the system. The FWNN combines in a single structure the ability to deal with uncertainties of fuzzy logic, the multiresolution characteristics of wavelet theory and learning and generalization abilities of the artificial neural networks. Usually, the learning procedure of these neural networks is realized by a gradient based method, which uses the mean squared error as its cost function. This work proposes the replacement of this traditional function by an Information Theoretic Learning similarity measure, called correntropy. With the use of this similarity measure, higher order statistics can be considered during the FWNN training process. For this reason, this measure is more suitable for non-Gaussian error distributions and makes the training less sensitive to the presence of outliers. In order to evaluate this replacement, FWNN models are obtained in two identification case studies: a real nonlinear system, consisting of a multisection tank, and a simulated system based on a model of the human knee joint. The results demonstrate that the application of correntropy as the error backpropagation algorithm cost function makes the identification procedure using FWNN models more robust to outliers. However, this is only achieved if the gaussian kernel width of correntropy is properly adjusted.

Avaliação sistemática de uma abordagem para integração de funcionalidades em sistemas web clonados

The software product line engineering brings advantages when compared with the traditional software development regarding the mass customization of the system components. However, there are scenarios that to maintain separated clones of a software system seems to be an easier and more flexible approach to manage their variabilities of a software product line. This dissertation evaluates qualitatively an approach that aims to support the reconciliation of functionalities between cloned systems. The analyzed approach is based on mining data about the issues and source code of evolved cloned web systems. The next step is to process the merge conflicts collected by the approach and not indicated by traditional control version systems to identify potential integration problems from the cloned software systems. The results of the study show the feasibility of the approach to perform a systematic characterization and analysis of merge conflicts for large-scale web-based systems.

Controle de mobilidade infraestruturado e orientado à qualidade para maximização de admissões em sistemas WiNeMO: uma abordagem definida por software

The spread of wireless networks and growing proliferation of mobile devices require the development of mobility control mechanisms to support the different demands of traffic in different network conditions. A major obstacle to developing this kind of technology is the complexity involved in handling all the information about the large number of Moving Objects (MO), as well as the entire signaling overhead required to manage these procedures in the network. Despite several initiatives have been proposed by the scientific community to address this issue they have not proved to be effective since they depend on the particular request of the MO that is responsible for triggering the mobility process. Moreover, they are often only guided by wireless medium statistics, such as Received Signal Strength Indicator (RSSI) of the candidate Point of Attachment (PoA). Thus, this work seeks to develop, evaluate and validate a sophisticated communication infrastructure for Wireless Networking for Moving Objects (WiNeMO) systems by making use of the flexibility provided by the Software-Defined Networking (SDN) paradigm, where network functions are easily and efficiently deployed by integrating OpenFlow and IEEE 802.21 standards. For purposes of benchmarking, the analysis was conducted in the control and data planes aspects, which demonstrate that the proposal significantly outperforms typical IPbased SDN and QoS-enabled capabilities, by allowing the network to handle the multimedia traffic with optimal Quality of Service (QoS) transport and acceptable Quality of Experience (QoE) over time.

Escala diagramática e influência de sistemas de produção na ocorrência do crestamento gomoso da melancia

CHAPTER 1 - The gummy stem blight, caused by the fungus D. bryoniae, is a disease commonly found in watermelon cultivated in several countries. In Brazil, there are numerous studies related to the disease, but there are not uniform methods for quantifying of disease severity in the field. Thus, we developed a diagrammatic scale based on scanned photos of watermelon leaves infected with D. bryoniae. The scale developed showed levels of 0; 10; 20; 45; 65 and 90% of severity. The scale validation was divided into two parts: initially, 10 evaluators (half with experienced and other half without experience) estimated the disease severity based on the initial observation of 100 photos of watermelon leaves with symptoms of the disease at different severity levels. Before, the same evaluators estimated the disease severity with the support of the scale prepared from the Quant program. Data were analyzed using linear regression and were obtained angular, linear, and correlation coefficients. Based on these data, we determined the accuracy and precision of the evaluations. The correlation coefficients (R2) ranged from 0.88 - 0.97 for the experienced evaluators and from 0.55 - 0.95 for the inexperienced evaluators. The average angular coefficient (A) for inexperienced evaluators was 20.42 and 8.61 with and without the support of diagrammatic scale, respectively. Experienced evaluators showed values of average linear coefficient of 5.30 and 1.68 with and without the support of diagrammatic scale, respectively. The absolute errors analysis indicated that the use of diagrammatic scale contributed to minimize the flaws in the severity levels estimation. The diagrammatic scale proposed shown adequate for gummy stem blight severity evaluation in watermelon. CHAPTER 2 - The gummy stem blight (Didymella bryoniae) is a disease that affects the productivity of watermelon leading to losses over 40%. This study aimed to evaluate the efficiency of different production systems in control of gummy stem blight in watermelon for to establish efficient methods to combat the disease. There were applied the following treatments: conventional tillage (T1), integrated management (T2) and organic management (T3). In T1 and T2 were applied mineral fertilization and T3 was used bovine manure. There was application of fungicides and insecticides in commercial dose in T1 and T2, being after soil chemical analysis in T2. Disease severity was assessed by grading scale. The experimental design was randomized blocks. The severity of gummy stem blight has increased substantially during the fruit formation. Watermelon plants grown with integrated management (T2) showed lower levels of disease severity, while plants in organic management (T3) exhibited higher levels of severity. We conclude that management based on judicious accompaniments in field represents best way to achieve the phytosanitary aspect adequate for cultivation of watermelon in Tocantins.

Estudo comparativo de dois conversores Boost quadrático com comutação suave monochaveados para aplicação de rastreamento de máxima potência em sistemas fotovoltaicos

This paper makes a comparative study of two Soft Single Switched Quadratic Boost Converters (SSS1 and SSS2) focused on Maximum Power Point Tracking (MPPT) of a PV array using Perturb and Observe (P&O) algorithm. The proposed converters maintain the static gain characteristics and dynamics of the original converter with the advantage of considerably reducing the switching losses and Electromagnetic Interference (EMI). It is displayed the input voltage Quadratic Boost converter modeling; qualitative and quantitative analysis of soft switching converters, defining the operation principles, main waveforms, time intervals and the state variables in each operation steps, phase planes of resonant elements, static voltage gain expressions, analysis of voltage and current efforts in semiconductors and the operational curves at 200 W to 800 W. There are presented project of PI, PID and PID + Notch compensators for MPPT closed-loop system and resonant elements design. In order to analyze the operation of a complete photovoltaic system connected to the grid, it was chosen to simulate a three-phase inverter using the P-Q control theory of three-phase instantaneous power. Finally, the simulation results and experimental with the necessary comparative analysis of the proposed converters will be presented.

Calidad y docencia universitaria en la sociedad del control. Aproximaciones analíticas

La presente comunicación pretende situar el análisis en torno a la universidad como objeto de análisis y de reflexión, considerando algunos ejes que nos permitan cuestionar (cuestionarnos) ciertas prácticas en relación con las políticas de evaluación de calidad universitaria - específicamente el Programa de Incentivos a la investigación- que se introdujeron en los sistemas de educación superior a partir de las reformas iniciadas en los años '90, en el marco de la consolidación de lo que algunos autores denominan el Estado Evaluador. En este marco, orientado por los ejes de calidad, desempeño y transparencia, se favoreció la creación de programas e instrumentos de evaluación que afectaron profundamente las dinámicas de la cotidianeidad de la docencia universitaria. El propósito de este trabajo reside en presentar algunas reflexiones acerca de los resultados de dichas estrategias de evaluación en la docencia universitaria que, desde la perspectiva aquí planteada, no solo no mejoran la calidad de la educación universitaria. sino que se constituyen en una serie de renovadas tecnologías de disciplinamiento y control que demarcarían nuevas zonas de inclusión /exclusión en el ámbito de la docencia universitaria

Calidad y docencia universitaria en la sociedad del control. Aproximaciones analíticas

La presente comunicación pretende situar el análisis en torno a la universidad como objeto de análisis y de reflexión, considerando algunos ejes que nos permitan cuestionar (cuestionarnos) ciertas prácticas en relación con las políticas de evaluación de calidad universitaria - específicamente el Programa de Incentivos a la investigación- que se introdujeron en los sistemas de educación superior a partir de las reformas iniciadas en los años '90, en el marco de la consolidación de lo que algunos autores denominan el Estado Evaluador. En este marco, orientado por los ejes de calidad, desempeño y transparencia, se favoreció la creación de programas e instrumentos de evaluación que afectaron profundamente las dinámicas de la cotidianeidad de la docencia universitaria. El propósito de este trabajo reside en presentar algunas reflexiones acerca de los resultados de dichas estrategias de evaluación en la docencia universitaria que, desde la perspectiva aquí planteada, no solo no mejoran la calidad de la educación universitaria. sino que se constituyen en una serie de renovadas tecnologías de disciplinamiento y control que demarcarían nuevas zonas de inclusión /exclusión en el ámbito de la docencia universitaria

Calidad y docencia universitaria en la sociedad del control. Aproximaciones analíticas

La presente comunicación pretende situar el análisis en torno a la universidad como objeto de análisis y de reflexión, considerando algunos ejes que nos permitan cuestionar (cuestionarnos) ciertas prácticas en relación con las políticas de evaluación de calidad universitaria - específicamente el Programa de Incentivos a la investigación- que se introdujeron en los sistemas de educación superior a partir de las reformas iniciadas en los años '90, en el marco de la consolidación de lo que algunos autores denominan el Estado Evaluador. En este marco, orientado por los ejes de calidad, desempeño y transparencia, se favoreció la creación de programas e instrumentos de evaluación que afectaron profundamente las dinámicas de la cotidianeidad de la docencia universitaria. El propósito de este trabajo reside en presentar algunas reflexiones acerca de los resultados de dichas estrategias de evaluación en la docencia universitaria que, desde la perspectiva aquí planteada, no solo no mejoran la calidad de la educación universitaria. sino que se constituyen en una serie de renovadas tecnologías de disciplinamiento y control que demarcarían nuevas zonas de inclusión /exclusión en el ámbito de la docencia universitaria

Intervención cognitivo-conductual para el control de ansiedad ante la biopsia insicional en pacientes con cáncer de mama

Oncological patients are submitted to invasive exams in order to obtain an accurate diagnosis; these procedures may cause maladaptative reactions (fear, anxiety and pain). Particularly in breast cancer, the most common diagnose technique is the incisional biopsy. Most of the patients are unaware about the procedure and for that reason they may focus their thoughts on possible events such as pain, bleeding, the anesthesia, or the later surgical wound care. Anxiety and pain may provoke physiological, behavioral and emotional complications, and because of this reason, the Behavioral Medicine trained psychologist takes an active role before and after the biopsy. The aim of this study was to evaluate the effect of a cognitive-behavioral program to reduce anxiety in women submitted to incisional biopsy for the first time. There were 10 participants from the Hospital Juárez de México, Oncology service; all of them were treated as external patients. The intervention program focused in psycho-education and passive relaxation training using videos, tape-recorded instructions and pamphlets. Anxiety measures were performed using the IDARE-State inventory, and a visual-analogue scale of anxiety (EEF-A), and the measurement of blood pressure and heart rate). Data were analyzed both intrasubject and intersubject using the Wilcoxon test (p≤0.05). The results show a reduction in anxiety (as in punctuation as in ranges) besides, a reduction in the EEF-A.

Análisis de algunos aspectos técnicos relacionados con la integración de energías renovables en sistemas eléctricos pequeños y aislados

Programa de doctorado: Sistemas Inteligentes y Aplicaciones Numéricas en Ingeniería. La fecha de publicación es la fecha de lectura

Trasporte eléctrico y magnetismo en sistemas electrodo - aislante - electrodo: hacia el desarrollo de dispositivos del tipo juntura tunel.

La presente tesis es un estudio dedicado a la optimización y desarrollo de sistemas del tipo juntura túnel. La metodología utilizada para la realización de la tesis consistió, en primer lugar, en la optimización de las componentes independientes de la juntura túnel: electrodo y barrera aislante. Posteriormente se optimizaron los procesos de fabricación para el desarrollo y caracterización de dispositivos del tipo juntura túnel en su forma final. En la primera parte de la tesis se analizan detalladamente los resultados obtenidos de la caracterización eléctrica y topografica de barreras aislantes en sistemas electrodo - barrera. Los sistemas bicapas estudiados, GdBa_2Cu_3_7/SrTiO_3, Nb/Ba_0,05Sr_0,95TiO_3 y YBa_2Cu_3O_7/SrTiO_3, fueron caracterizados utilizando un microscopio de fuerza atómica en modo conductor. Se propuso un modelo fenomenológico basado en los resultados experimentales, que permitió la obtención de parámetros críticos para el desarrollo de dispositivos del tipo juntura túnel con nuevas funcionalidades. La información obtenida de la caracterización de los sistemas bicapas (homogeneidad de crecimiento, baja densidad de defectos y de pinholes) indican un muy buen control de los parámetros de crecimiento de las barreras. Por otro lado, se obtuvo un buen comportamiento aislante para espesores mayores a 2 nm sin la presencia de pinholes en la barrera. La similitud en la estequiometría de las barreras (SrTiO_3) permitió comparar los distintos sistemas estudiados en términos de conductividad eléctrica. Se verificó que el modelo fenomenológico permite comparar la conductividad eléctrica de los sistemas mediante uno de los parámetros definidos en el modelo fenomenológico (obtenido de los ajustes lineales de las curvas I(V)). De los 3 sistemas estudiados, las bicapas GdBa_2Cu_3O_7/SrTiO_3 presentaron un mayor valor de longitud de atenuación de los portadores de carga a través de la barrera y una muy baja densidad de defectos superficiales. Las bicapas YBa_2Cu_3O_7/SrTiO_3 y Nb/Ba_0,05Sr_0,95TiO_3 permitieron validar el modelo fenomenológico propuesto para el análisis de la respuesta corriente - voltaje obtenida con el microscopio de fuerza atómica en modo conductor. La segunda parte de la tesis abarca conceptos de magnetismo y microfabricación para el desarrollo de junturas túnel magnéticas. Durante la caracterización de las películas ferromagnéticas individuales de Co_90Fe_10 (CoFe) se logró aumentar valor del campo coercitivo de films de 10 nm de espesor al incrementar la temperatura de depósito. Esto se debe a un aumento del tamaño de grano de los films. El aumento de la temperatura del sustrato durante el crecimiento influye en la morfología y las propiedades magnéticas de los films de CoFe favoreciendo la formación de granos y la pérdida del eje preferencial de magnetización. Estos resultados permitieron la fabricación de sistemas Co_90Fe_10/M_gO/Co_90Fe_10 con distintas orientaciones relativas accesibles con campo magnético para el estudio del acople magnético entre los films de CoFe. La caracterización eléctrica de estos sistemas, particularmente la respuesta corriente - voltaje obtenida con el microscopio de fuerza atómica en modo conductor, indicó que las propiedades de transporte eléctrico de las junturas presentan un alto grado de reproducibilidad. Se analizó además la inuencia del sustrato utilizado en la corriente túnel que atraviesa la barrera aislante. Por otro lado, se discuten los fenómenos relacionados a la optimización de las propiedades magnéticas de electrodos ferromagnéticos para la fabricación de junturas túnel Co_90Fe_10/MgO/Co_90Fe_10 y Co_90Fe_10/MgO /Fe_20Ni_80. En particular, se estudió el acople magnético entre capas ferromagnéticas y la inuencia del sustrato utilizado para el crecimiento de las tricapas. La optimización de los electrodos magnéticos involucró el análisis de la inuencia de la presencia de un aislante entre dos capas magnéticas en el acople de los electrodos. Se logró el desacople de films de 10 nm de Co_90Fe_10 y Fe_20Ni_80 separados por un espaciador de MgO de 2 nm. Finalmente se detallan los pasos para la fabricación de una red de junturas túnel magnéticas y su caracterización eléctrica a bajas temperaturas. El sistema estudiado fue la tricapa Co_90Fe_10 (10 nm)/M_gO (8 nm)/ Fe_20Ni_80 (10 nm) crecido sobre un sustrato de M_gO. La caracterización eléctrica confirmó la buena calidad de la junturas fabricadas. Las junturas obtenidas presentaron un comportamiento altamente resistivo (~ MΩ). Las mediciones de la corriente túnel en función de la temperatura permitieron descartar la presencia de pinholes en la barrera. El transporte de los portadores de carga es por efecto túnel a través de la barrera aislante. Las curvas de conductancia diferencial permitieron calcular el valor medio de la altura de la barrera de potencial (φ = 3.1 eV) a partir del modelo de Brinkman. Los resultados obtenidos en cada uno de los capítulos se complementan y son relevantes para la optimización de junturas túnel, debido a que brindan información crítica para su correcto funcionamiento. En la presente tesis se lograron obtener los primeros avances para la fabricación de arreglos de junturas túnel que permitan el desarrollo de dispositivos.