Biomaterials from beer manufacture waste for bone growth scaffolds

Agricultural wastes are a source of renewable raw materials (RRM), with structures that can be tailored for the use envisaged. Here, they have proved to be good replacement candidates for use as biomaterials for the growth of osteoblasts in bone replacement therapies. Their preparation is more cost effective than that of materials presently in use with the added bonus of converting a low-cost waste into a value-added product. Due to their origin these solids are ecomaterials. In this study, several techniques, including X-ray diffraction (XRD), chemical analysis, mercury intrusion porosimetry (MIP), scanning electron microscopy (SEM), and bioassays, were used to compare the biocompatibility and cell growth of scaffolds produced from beer bagasse, a waste material from beer production, with a control sample used in bone and dental regenerative processes.

Reverse logistics systems for waste generated throughout vehicles life-cycle

Waste produced during the service life of automobiles has received much less attention than end-of-life vehicles themselves. In this paper, we deal with the set up of a reverse logistics system for the collection and treatment of use-phase residues. First, the type of waste arising during vehicles? service life is characterized. Data were collected in collaboration with SIGRAUTO, the product stewardship organization in charge of vehicles? recovery in Spain. Next, three organizational models are proposed. The three alternatives are benchmarked and assessed from a double organizational and operational perspective for the particular case of the Madrid region in Spain

Aquaponics: integrating fish feeding rates and ion waste production for strawberry hydroponics

Aquaponics is the science of integrating intensive fish aquaculture with plant production in recirculating water systems. Although ion waste production by fish cannot satisfy all plant requirements, less is known about the relationship between total feed provided for fish and the production of milliequivalents (mEq) of different macronutrients for plants, especially for nutrient flow hydroponics used for strawberry production in Spain. That knowledge is essential to consider the amount of macronutrients available in aquaculture systems so that farmers can estimate how much nutrient needs to be supplemented in the waste water from fish, to produce viable plant growth. In the present experiment, tilapia (Oreochromis niloticus L.) were grown in a small-scale recirculating system at two different densities while growth and feed consumption were noted every week for five weeks. At the same time points, water samples were taken to measure pH, EC25, HCO3 – , Cl – , NH4 + , NO2 – , NO3 – , H2PO4 – , SO4 2– , Na + , K+ , Ca 2+ and Mg 2+ build up. The total increase in mEq of each ion per kg of feed provided to the fish was highest for NO3 - , followed, in decreasing order, by Ca 2+ , H2PO4 – , K+ , Mg 2+ and SO4 2– . The total amount of feed required per mEq ranged from 1.61- 13.1 kg for the four most abundant ions (NO3 – , Ca 2+ , H2PO4 – and K+ ) at a density of 2 kg fish m–3 , suggesting that it would be rather easy to maintain small populations of fish to reduce the cost of hydroponic solution supplementation for strawberries.

Modelling and Control of Stepper Motors for High Accuracy Positioning Systems Used in Radioactive Environments

Hybrid Stepper Motors are widely used in open-loop position applications. They are the choice of actuation for the collimators in the Large Hadron Collider, the largest particle accelerator at CERN. In this case the positioning requirements and the highly radioactive operating environment are unique. The latter forces both the use of long cables to connect the motors to the drives which act as transmission lines and also prevents the use of standard position sensors. However, reliable and precise operation of the collimators is critical for the machine, requiring the prevention of step loss in the motors and maintenance to be foreseen in case of mechanical degradation. In order to make the above possible, an approach is proposed for the application of an Extended Kalman Filter to a sensorless stepper motor drive, when the motor is separated from its drive by long cables. When the long cables and high frequency pulse width modulated control voltage signals are used together, the electrical signals difer greatly between the motor and drive-side of the cable. Since in the considered case only drive-side data is available, it is therefore necessary to estimate the motor-side signals. Modelling the entire cable and motor system in an Extended Kalman Filter is too computationally intensive for standard embedded real-time platforms. It is, in consequence, proposed to divide the problem into an Extended Kalman Filter, based only on the motor model, and separated motor-side signal estimators, the combination of which is less demanding computationally. The efectiveness of this approach is shown in simulation. Then its validity is experimentally demonstrated via implementation in a DSP based drive. A testbench to test its performance when driving an axis of a Large Hadron Collider collimator is presented along with the results achieved. It is shown that the proposed method is capable of achieving position and load torque estimates which allow step loss to be detected and mechanical degradation to be evaluated without the need for physical sensors. These estimation algorithms often require a precise model of the motor, but the standard electrical model used for hybrid stepper motors is limited when currents, which are high enough to produce saturation of the magnetic circuit, are present. New model extensions are proposed in order to have a more precise model of the motor independently of the current level, whilst maintaining a low computational cost. It is shown that a significant improvement in the model It is achieved with these extensions, and their computational performance is compared to study the cost of model improvement versus computation cost. The applicability of the proposed model extensions is demonstrated via their use in an Extended Kalman Filter running in real-time for closed-loop current control and mechanical state estimation. An additional problem arises from the use of stepper motors. The mechanics of the collimators can wear due to the abrupt motion and torque profiles that are applied by them when used in the standard way, i.e. stepping in open-loop. Closed-loop position control, more specifically Field Oriented Control, would allow smoother profiles, more respectful to the mechanics, to be applied but requires position feedback. As mentioned already, the use of sensors in radioactive environments is very limited for reliability reasons. Sensorless control is a known option but when the speed is very low or zero, as is the case most of the time for the motors used in the LHC collimator, the loss of observability prevents its use. In order to allow the use of position sensors without reducing the long term reliability of the whole system, the possibility to switch from closed to open loop is proposed and validated, allowing the use of closed-loop control when the position sensors function correctly and open-loop when there is a sensor failure. A different approach to deal with the switched drive working with long cables is also presented. Switched mode stepper motor drives tend to have poor performance or even fail completely when the motor is fed through a long cable due to the high oscillations in the drive-side current. The design of a stepper motor output fillter which solves this problem is thus proposed. A two stage filter, one devoted to dealing with the diferential mode and the other with the common mode, is designed and validated experimentally. With this ?lter the drive performance is greatly improved, achieving a positioning repeatability even better than with the drive working without a long cable, the radiated emissions are reduced and the overvoltages at the motor terminals are eliminated.

Plaster reinforcement with fibers obtained from the recycle of construction and demolition waste

The main objective of this research is to study the feasibility of recycling fibres from construction and demolition waste (C&DW) as an alternative material to chopped glass fibres which are used today as reinforcing elements in the prefabricated plaster. To do this, sets of samples are made with rockwool and different percentages of combinations between water / plaster. These series are repeated by changing the additive E glass fibre length of 25mm to make a comparative analysis with respect to the series infused with rockwool.

Plaster reinforcement with fibers by mineral wool obtained from the recycle of construction and demolition waste

The use of mineral wool is becoming more widespread due to increased acoustic and thermal demands of Spanish Technical Building Code. This increase affects both in rehabilitation and new construction projects. Therefore, waste generation of this type of insulating material is having more importance. The main objective of this research is to study the possibility of recycling fiber obtained from mineral wool of the C&DW as an alternative material to chopped glass fibers that are currently used as reinforcing elements in the prefabricated plaster. To achieve this objective, series are made of plaster E-35 additived with rock wool residue and glass wool residue at different rates of addition. These series are repeated by changing the additive by E fiberglass (length of 25mm) to make a comparative analysis with respect to the series additived with mineral wool waste. All the series are subjected to the test to determine Shore C surface hardness and mechanical testing to determine the compressive and flexural strength. From the results it can be concluded that: with rock wool residue, increases Shore C hardness up to 15% with respect to the glass fiber and 9% with respect to the glass wool, with a percentage of addition 2%. With rock wool residue, weight is decreased by 5% with respect to the glass fiber and 4% with respect to the glass wool waste, with an addition percentage of 4%. For an addition rate of 4%, results in the flexural strength test with fiberglass are 85% higher than those obtained with glass wool residue. However, for a percentage of 1% addition, the results obtained with glass wool residue are 35% higher than those obtained with fiberglass. For an addition rate of 3% results in the compressive strength test with fiberglass are 54% lower than those obtained with rock wool waste and 70% lower than those obtained with glass wool waste. Comparing the two mineral wools, it can be concluded that up to 3% of the addition, the glass wool series results obtained are 10% higher than those additived with rock wool. However, higher percentages of addition show that the results obtained with rock wool are 35% higher than those obtained with glass wool. The general conclusion is that the series additived with mineral wool from C&DW show better results in tests than the ones used nowadays as plaster reinforcement.

Assessing construction and demolition waste on masonry works to avoid future generation

The difficulty of dealing with construction and demolition waste (CDW) on construction sites is not new and continues to be a significant environmental problem. Currently the CDW collection system in Spain is done in a decentralized manner by each sub-contracted company, being necessary to implement effective waste management measures ensuring a correct management and minimization. During the last years several measures have been launched in order to improve and encourage the reuse and recycling of CDW. A widespread solution for CDW recovery is using them as a landscaping aggregate or for road bases and sub-bases. However, measures encouraging onsite prevention still need to be enhanced. This paper studies the major work stage generating CDW and analyses the categories of CDW produced during its execution. For this, several real building sites have been analysed in order to quantify the estimation of CDW generated. Results of this study show that a significant contributor to the CDW generation on building construction sites in Spain are the masonry works. Finally, a Best Practices Manual (BPM) is proposed containing several strategies on masonry works aimed not only at CDW prevention, but also at improving their management and minimization. The use of this BPM together with the Study and Plan of CDW management --required by law--, promotes the environmental management of the company, favouring the cohesion of the construction process organization at all stages giving rise to establishing responsibilities in the field of waste and providing a greater control over the process. Keywords: construction and demolition waste, management, masonry works, good practice measures, prevention.

Evaluation of reactivity monitoring techniques at the Yalina – Booster subcritical facility

La gestión de los residuos radiactivos de vida larga producidos en los reactores nucleares constituye uno de los principales desafíos de la tecnología nuclear en la actualidad. Una posible opción para su gestión es la transmutación de los nucleidos de vida larga en otros de vida más corta. Los sistemas subcríticos guiados por acelerador (ADS por sus siglas en inglés) son una de las tecnologías en desarrollo para logar este objetivo. Un ADS consiste en un reactor nuclear subcrítico mantenido en un estado estacionario mediante una fuente externa de neutrones guiada por un acelerador de partículas. El interés de estos sistemas radica en su capacidad para ser cargados con combustibles que tengan contenidos de actínidos minoritarios mayores que los reactores críticos convencionales, y de esta manera, incrementar las tasas de trasmutación de estos elementos, que son los principales responsables de la radiotoxicidad a largo plazo de los residuos nucleares. Uno de los puntos clave que han sido identificados para la operación de un ADS a escala industrial es la necesidad de monitorizar continuamente la reactividad del sistema subcrítico durante la operación. Por esta razón, desde los años 1990 se han realizado varios experimentos en conjuntos subcríticos de potencia cero (MUSE, RACE, KUCA, Yalina, GUINEVERE/FREYA) con el fin de validar experimentalmente estas técnicas. En este contexto, la presente tesis se ocupa de la validación de técnicas de monitorización de la reactividad en el conjunto subcrítico Yalina-Booster. Este conjunto pertenece al Joint Institute for Power and Nuclear Research (JIPNR-Sosny) de la Academia Nacional de Ciencias de Bielorrusia. Dentro del proyecto EUROTRANS del 6º Programa Marco de la UE, en el año 2008 se ha realizado una serie de experimentos en esta instalación concernientes a la monitorización de la reactividad bajo la dirección del CIEMAT. Se han realizado dos tipos de experimentos: experimentos con una fuente de neutrones pulsada (PNS) y experimentos con una fuente continua con interrupciones cortas (beam trips). En el caso de los primeros, experimentos con fuente pulsada, existen dos técnicas fundamentales para medir la reactividad, conocidas como la técnica del ratio bajo las áreas de los neutrones inmediatos y retardados (o técnica de Sjöstrand) y la técnica de la constante de decaimiento de los neutrones inmediatos. Sin embargo, varios experimentos han mostrado la necesidad de aplicar técnicas de corrección para tener en cuenta los efectos espaciales y energéticos presentes en un sistema real y obtener valores precisos de la reactividad. En esta tesis, se han investigado estas correcciones mediante simulaciones del sistema con el código de Montecarlo MCNPX. Esta investigación ha servido también para proponer una versión generalizada de estas técnicas donde se buscan relaciones entre la reactividad el sistema y las cantidades medidas a través de simulaciones de Monte Carlo. El segundo tipo de experimentos, experimentos con una fuente continua e interrupciones del haz, es más probable que sea empleado en un ADS industrial. La versión generalizada de las técnicas desarrolladas para los experimentos con fuente pulsada también ha sido aplicada a los resultados de estos experimentos. Además, el trabajo presentado en esta tesis es la primera vez, en mi conocimiento, en que la reactividad de un sistema subcrítico se monitoriza durante la operación con tres técnicas simultáneas: la técnica de la relación entre la corriente y el flujo (current-to-flux), la técnica de desconexión rápida de la fuente (source-jerk) y la técnica del decaimiento de los neutrones inmediatos. Los casos analizados incluyen la variación rápida de la reactividad del sistema (inserción y extracción de las barras de control) y la variación rápida de la fuente de neutrones (interrupción larga del haz y posterior recuperación). ABSTRACT The management of long-lived radioactive wastes produced by nuclear reactors constitutes one of the main challenges of nuclear technology nowadays. A possible option for its management consists in the transmutation of long lived nuclides into shorter lived ones. Accelerator Driven Subcritical Systems (ADS) are one of the technologies in development to achieve this goal. An ADS consists in a subcritical nuclear reactor maintained in a steady state by an external neutron source driven by a particle accelerator. The interest of these systems lays on its capacity to be loaded with fuels having larger contents of minor actinides than conventional critical reactors, and in this way, increasing the transmutation rates of these elements, that are the main responsible of the long-term radiotoxicity of nuclear waste. One of the key points that have been identified for the operation of an industrial-scale ADS is the need of continuously monitoring the reactivity of the subcritical system during operation. For this reason, since the 1990s a number of experiments have been conducted in zero-power subcritical assemblies (MUSE, RACE, KUCA, Yalina, GUINEVERE/FREYA) in order to experimentally validate these techniques. In this context, the present thesis is concerned with the validation of reactivity monitoring techniques at the Yalina-Booster subcritical assembly. This assembly belongs to the Joint Institute for Power and Nuclear Research (JIPNR-Sosny) of the National Academy of Sciences of Belarus. Experiments concerning reactivity monitoring have been performed in this facility under the EUROTRANS project of the 6th EU Framework Program in year 2008 under the direction of CIEMAT. Two types of experiments have been carried out: experiments with a pulsed neutron source (PNS) and experiments with a continuous source with short interruptions (beam trips). For the case of the first ones, PNS experiments, two fundamental techniques exist to measure the reactivity, known as the prompt-to-delayed neutron area-ratio technique (or Sjöstrand technique) and the prompt neutron decay constant technique. However, previous experiments have shown the need to apply correction techniques to take into account the spatial and energy effects present in a real system and thus obtain accurate values for the reactivity. In this thesis, these corrections have been investigated through simulations of the system with the Monte Carlo code MCNPX. This research has also served to propose a generalized version of these techniques where relationships between the reactivity of the system and the measured quantities are obtained through Monte Carlo simulations. The second type of experiments, with a continuous source with beam trips, is more likely to be employed in an industrial ADS. The generalized version of the techniques developed for the PNS experiments has also been applied to the result of these experiments. Furthermore, the work presented in this thesis is the first time, to my knowledge, that the reactivity of a subcritical system has been monitored during operation simultaneously with three different techniques: the current-to-flux, the source-jerk and the prompt neutron decay techniques. The cases analyzed include the fast variation of the system reactivity (insertion and extraction of a control rod) and the fast variation of the neutron source (long beam interruption and subsequent recovery).

Risk of Leaching in Soils Amended by Compost and digestate from Municipal Solid Waste

New European directives have proposed the direct application of compost and digestate produced from municipal solid wastes as organic matter sources in agricultural soils. Therefore information about phosphorus leaching from these residues when they are applied to the soil is increasingly mportant. Leaching experiments were conducted to determine the P mobility in compost and digestate mixtures, supplying equivalent amounts to 100 kg P ha?1 to three different types of soils. The tests were performed in accordance with CEN/TS 14405:2004 analyzing the maximum dissolved reactive P and the kinetic rate in the leachate. P biowaste fractionation indicated that digestate has a higher level of available P than compost has. In contrast, P losses in leaching experiments with soil-compost mixtureswere higher than in soil-digestate mixtures. For bothwastes, therewas no correlation between disolved reactive P lost and the water soluble P.The interaction between soil and waste, the long experimentation time, and the volume of leachate obtained caused the waste?s wettability to become an influential parameter in P leaching behavior. The overall conclusion is that kinetic data analysis provides valuable information concerning the sorption mechanism that can be used for predicting the large-scale behavior of soil systems.

Yield, nutrient utilization and soil properties in a melon crop amended with wine-distillery waste

In Spain, large quantities of wine are produced every year (3,339,700 tonnes in 2011) (FAO, 2011) with the consequent waste generation. During the winemaking process, solid residues like grape stalks are generated, as well as grape marc and wine lees as by-products. According to the Council Regulation (EC) 1493/1999 on the common organization of the wine market, by-products coming from the winery industry must be sent to alcohol-distilleries to generate exhausted grape marc and vinasses. With an adequate composting treatment, these wastes can be applied to soils as a source of nutrients and organic matter. A three-year field experiment (2011, 2012 and 2013) was carried out in Ciudad Real (central Spain) to study the effects of wine-distillery waste compost application in a melon crop (Cucumis melo L.). Melon crop has been traditionally cultivated in this area with high inputs of water and fertilizers, but no antecedents of application of winery wastes are known. In a randomized complete block design, four treatments were compared: three compost doses consisted of 6.7 (D1), 13.3 (D2) and 20 t compost ha-1 (D3), and a control treatment without compost addition (D0). The soil was a shallow sandy-loam (Petrocalcic Palexeralfs) with a depth of 0.60 m and a discontinuous petrocalcic horizon between 0.60 and 0.70 m, slightly basic (pH 8.4), poor in organic matter (0.24%), rich in potassium (410 ppm) and with a medium level of phosphorus (22.1 ppm). During each growing period four harvests were carried out and total and marketable yield (fruits weighting <1 kg or visually rotten were not considered), fruit average weight and fruit number per plant were determined. At the end of the crop cycle, four plants per treatment were sampled and the nutrient content (N, P and K) was determined. Soil samplings (0-30 cm depth) were carried before the application of compost and at the end of each growing season and available N and P, as well as exchangeable K content were analyzed. With this information, an integrated analysis was carried out with the aim to evaluate the suitability of this compost as organic amendment.

Desulfurization of pyrolysis fuel produced from waste lube oils, tyres and plastics

Sulphur compounds remaining in petroleum fractions from topping, hydroskimming or deep conversion processes are a growing concern for oil refiners since in the lapse of a few years the sulphur specification for motor fuels has dropped from 500 mg/kg to 10 mg/kg in most European countries. This increasingly stringent regulation has forced refineries to greatly improve their hydrodesulfurization units, increasing the desulfurization rates and thus consuming huge amounts of hydrogen.

Impact of a value chain approach on the sustainability of solid waste management in Mukuru Kwa njenga informal settlements Nairobi, Kenya

En un mundo altamente urbanizado, la gestión de residuos sólidos es un problema primordial en toda ciudad. Las ciudades de paises en desarrollo deben además afrontar retos que no afectan a las ciudades de paises desarrollados. En los paises en desarrollo muchas municipalidades sufren un crecimiento descontrolado de los asentamientos informales sin planificación urbana que hace muy complicada una adecuada gestión de los residuos sólidos urbanos, situación que se agrava al no contar estas con suficientes recursos económicos para llevar a cabo su responsabilidad en cuanto a provisión del sevicio básico de recogida de residuos. La provisión de servicio de recogida de residuos por parte de SHGs (grupos de ayuda comunitarios) en estos asentamientos informales puede ayudar a resolver algunos de estos problemas. Para que esta oportunidad sea completamente explotada, los ingresos de estos grupos deben ser garantizados, teniendo en cuenta que la sostenibilidad de estos grupos depende enteramente de ello. Este estudio pretende averiguar cómo un enfoque de cadena de valor puede mejorar la sostenibilidad de la gestión de residuos sólidos, permitiendo asegurar los ingresos de los recolectores informales de residuos. El estudio propondrá después de analizado el actual sistema, mejoras que permitan desarrollar un medio ambiente saludable en los asentamientos informales donde se desarrolla el estudio. Para alcanzar este objetivo, se ha desarrollado una investigación específica en Nairobi (Kenia) en el asentamiento precario de Mukuru Kwa Njenga, analizando los distintos aspectos relevantes que tienen influencia en una gestión integrada de residuos sólidos y las relaciones entre los distintos actores que tienen influencia en la misma.

Effects of biochar prepared from organic waste on soil properties

Biochar is a carbon-rich solid obtained by the thermal decomposition of organic matter under a limited supply of oxygen and at relatively low temperatures. Biochar can be prepared from the pyrolysis of different organic feed- stocks, such as wood and biomass crops, agricultural by-products, different types of waste or paper industry waste materials . The pyrolysis procedure of waste, i.e. sewage sludge, has mainly two advantages, firstly, it removes pathogens from waste and, secondly, biochar can reduce the leaching of heavy metals present in raw sewage sludge. This trend of the use of waste material as feedstocks to the preparation of biochar is increasing in the last years due to industrial development and economic growth imply an increase in waste generation. The application of biochar may have positive effects on soil physical properties as water holding capacity and structure or on soil biological activity and soil quality. Also, biochar can be used to remove water pollutants and can be used in multiple ways in soil remediation due to its adsorption of pesticides or metals. Also, biochar contribute to carbon sequestration due to carbon stability of biochar materials. The objective of this presentation is to review the positive effects of the biochar prepared from organic waste on soil properties.

Factors impacting the market share of Construction and Demolition (C&D) Waste recycling solutions

Current EU Directives force the Member States to assure by 2020 that 70% of the Construction and Demolition (C&D) waste is recovered instead of landfilled. While some countries have largely achieved this target, others still have a long way to go. For better understanding the differences arising from local disparities, six factors related to technical, economic, legislative and environmental aspects have been identified as crucial influences in the market share of C&D waste recycling solutions. These factors are able to identify the causes that limit the recycling rate of a certain region. Moreover, progress towards an efficient waste management can vary through the improvement of a single factor. This study provides the background for further fine-tuning the factors and their combination into a mathematical model for assessing the market share of C&D recycling solutions.

Proprioceptive force estimation and control for teleoperation in radioactive environments

A medida que se incrementa la energía de los aceleradores de partículas o iones pesados como el CERN o GSI, de los reactores de fusión como JET o ITER, u otros experimentos científicos, se va haciendo cada vez más imprescindible el uso de técnicas de manipulación remota para la interacción con el entorno sujeto a la radiación. Hasta ahora la tasa de dosis radioactiva en el CERN podía tomar valores cercanos a algunos mSv para tiempos de enfriamiento de horas, que permitían la intervención humana para tareas de mantenimiento. Durante los primeros ensayos con plasma en JET, se alcanzaban valores cercanos a los 200 μSv después de un tiempo de enfriamiento de 4 meses y ya se hacía extensivo el uso de técnicas de manipulación remota. Hay una clara tendencia al incremento de los niveles de radioactividad en el futuro en este tipo de instalaciones. Un claro ejemplo es ITER, donde se esperan valores de 450 Sv/h en el centro del toroide a los 11 días de enfriamiento o los nuevos niveles energéticos del CERN que harán necesario una apuesta por niveles de mantenimiento remotos. En estas circunstancias se enmarca esta tesis, que estudia un sistema de control bilateral basado en fuerza-posición, tratando de evitar el uso de sensores de fuerza/par, cuyo contenido electrónico los hace especialmente sensitivos en estos ambientes. El contenido de este trabajo se centra en la teleoperación de robots industriales, que debido a su reconocida solvencia y facilidad para ser adaptados a estos entornos, unido al bajo coste y alta disponibilidad, les convierte en una alternativa interesante para tareas de manipulación remota frente a costosas soluciones a medida. En primer lugar se considera el problema cinemático de teleoperación maestro-esclavo de cinemática disimilar y se desarrolla un método general para la solución del problema en el que se incluye el uso de fuerzas asistivas para guiar al operador. A continuación se explican con detalle los experimentos realizados con un robot ABB y que muestran las dificultades encontradas y recomendaciones para solventarlas. Se concluye el estudio cinemático con un método para el encaje de espacios de trabajo entre maestro y esclavo disimilares. Posteriormente se mira hacia la dinámica, estudiándose el modelado de robots con vistas a obtener un método que permita estimar las fuerzas externas que actúan sobre los mismos. Durante la caracterización del modelo dinámico, se realizan varios ensayos para tratar de encontrar un compromiso entre complejidad de cálculo y error de estimación. También se dan las claves para modelar y caracterizar robots con estructura en forma de paralelogramo y se presenta la arquitectura de control deseada. Una vez obtenido el modelo completo del esclavo, se investigan diferentes alternativas que permitan una estimación de fuerzas externas en tiempo real, minimizando las derivadas de la posición para minimizar el ruido. Se comienza utilizando observadores clásicos del estado para ir evolucionando hasta llegar al desarrollo de un observador de tipo Luenberger-Sliding cuya implementación es relativamente sencilla y sus resultados contundentes. También se analiza el uso del observador propuesto durante un control bilateral simulado en el que se compara la realimentación de fuerzas obtenida con las técnicas clásicas basadas en error de posición frente a un control basado en fuerza-posición donde la fuerza es estimada y no medida. Se comprueba como la solución propuesta da resultados comparables con las arquitecturas clásicas y sin embargo introduce una alternativa para la teleoperación de robots industriales cuya teleoperación en entornos radioactivos sería imposible de otra manera. Finalmente se analizan los problemas derivados de la aplicación práctica de la teleoperación en los escenarios mencionados anteriormente. Debido a las condiciones prohibitivas para todo equipo electrónico, los sistemas de control se deben colocar a gran distancia de los manipuladores, dando lugar a longitudes de cable de centenares de metros. En estas condiciones se crean sobretensiones en controladores basados en PWM que pueden ser destructivas para el sistema formado por control, cableado y actuador, y por tanto, han de ser eliminadas. En este trabajo se propone una solución basada en un filtro LC comercial y se prueba de forma extensiva que su inclusión no produce efectos negativos sobre el control del actuador. ABSTRACT As the energy on the particle accelerators or heavy ion accelerators such as CERN or GSI, fusion reactors such as JET or ITER, or other scientific experiments is increased, it is becoming increasingly necessary to use remote handling techniques to interact with the remote and radioactive environment. So far, the dose rate at CERN could present values near several mSv for cooling times on the range of hours, which allowed human intervention for maintenance tasks. At JET, they measured values close to 200 μSv after a cooling time of 4 months and since then, the remote handling techniques became usual. There is a clear tendency to increase the radiation levels in the future. A clear example is ITER, where values of 450 Sv/h are expected in the centre of the torus after 11 days of cooling. Also, the new energetic levels of CERN are expected to lead to a more advanced remote handling means. In these circumstances this thesis is framed, studying a bilateral control system based on force-position, trying to avoid the use of force/torque sensors, whose electronic content makes them very sensitive in these environments. The contents of this work are focused on teleoperating industrial robots, which due its well-known reliability, easiness to be adapted to these environments, cost-effectiveness and high availability, are considered as an interesting alternative to expensive custom-made solutions for remote handling tasks. Firstly, the kinematic problem of teloperating master and slave with dissimilar kinematics is analysed and a new general approach for solving this issue is presented. The solution includes using assistive forces in order to guide the human operator. Coming up next, I explain with detail the experiments accomplished with an ABB robot that show the difficulties encountered and the proposed solutions. This section is concluded with a method to match the master’s and slave’s workspaces when they present dissimilar kinematics. Later on, the research studies the dynamics, with special focus on robot modelling with the purpose of obtaining a method that allows to estimate external forces acting on them. During the characterisation of the model’s parameters, a set of tests are performed in order to get to a compromise between computational complexity and estimation error. Key points for modelling and characterising robots with a parallelogram structure are also given, and the desired control architecture is presented. Once a complete model of the slave is obtained, different alternatives for external force estimation are review to be able to predict forces in real time, minimizing the position differentiation to minimize the estimation noise. The research starts by implementing classic state observers and then it evolves towards the use of Luenberger- Sliding observers whose implementation is relatively easy and the results are convincing. I also analyse the use of proposed observer during a simulated bilateral control on which the force feedback obtained with the classic techniques based on the position error is compared versus a control architecture based on force-position, where the force is estimated instead of measured. I t is checked how the proposed solution gives results comparable with the classical techniques and however introduces an alternative method for teleoperating industrial robots whose teleoperation in radioactive environments would have been impossible in a different way. Finally, the problems originated by the practical application of teleoperation in the before mentioned scenarios are analysed. Due the prohibitive conditions for every electronic equipment, the control systems should be placed far from the manipulators. This provokes that the power cables that fed the slaves devices can present lengths of hundreds of meters. In these circumstances, overvoltage waves are developed when implementing drives based on PWM technique. The occurrence of overvoltage is very dangerous for the system composed by drive, wiring and actuator, and has to be eliminated. During this work, a solution based on commercial LC filters is proposed and it is extensively proved that its inclusion does not introduce adverse effects into the actuator’s control.