Formation Flying with Nonlinear Partial Integrated Guidance and Control

Using the dynamic inversion philosophy, a nonlinear partial integrated guidance and control approach is presented in this paper for formation flying. It is based on the evolving philosophy of integrated guidance and control. However, it also retains the advantages of the conventional guidance then control philosophy by retaining the timescale separation between translational and rotational dynamics explicitly. Simulation studies demonstrate that the proposed technique is effective in bringing the vehicles into formation quickly and maintaining the formation.

Seventeen-Level Inverter Formed by Cascading Flying Capacitor and Floating Capacitor H-Bridges

A multilevel inverter for generating 17 voltage levels using a three-level flying capacitor inverter and cascaded H-bridge modules with floating capacitors has been proposed. Various aspects of the proposed inverter like capacitor voltage balancing have been presented in the present paper. Experimental results are presented to study the performance of the proposed converter. The stability of the capacitor balancing algorithm has been verified both during transients and steady-state operation. All the capacitors in this circuit can be balanced instantaneously by using one of the pole voltage combinations. Another advantage of this topology is its ability to generate all the voltages from a single dc-link power supply which enables back-to-back operation of converter. Also, the proposed inverter can be operated at all load power factors and modulation indices. Additional advantage is, if one of the H-bridges fail, the inverter can still be operated at full load with reduced number of levels. This configuration has very low dv/dt and common-mode voltage variation.

Un entorno de programación multinivel y control modular de robots

En este proyecto final de carrera se van a tratar los aspectos referentes a la ampliación de robots. Para ello se utilizará una placa Arduino que se comunicará con el robot por puerto serie. Esta placa, servirá de plataforma de comunicación entre un PC y el robot, ofreciendo una interfaz del robot anterior con la capacidad de ampliación de la placa Arduino. En el transcurso del proyecto se ha realizado una capa intermedia de código C++ que gestiona el uso de la placa Arduino y del robot iRobot Create a través de la misma. Con objeto de dar también soporte a la programación del robot iRobot Create, se ha elegido un simulador y se le ha dado soporte en la capa anteriormente citada.

Análisis de sensibilidad en los procedimientos de calibración de robots de cinemática paralela Aplicación al mecanismo 5R

[ES]Este proyecto investigador tiene como objetivo el ayudar con la calibración del mecanismo de cinco pares de rotación montado en el taller de Ingeniería Mecánica de la ETSI de Bilbao. En primer lugar se estudiarán los algoritmos de optimización prestando especial atención a la comparativa entre Levenberg-Marquart y Gauss-Newton. Se realizarán estudios en Matlab para concluir cuál de los dos es más eficaz tanto en rapidez como en precisión. El que sea más adecuado se implementará en un programa para la calibración del mecanismo 5R. En segundo lugar se estudiarán los índices de observabilidad. Los estudios que se han realizado sobre ellos hasta ahora son poco concluyentes asique se intentará aclarar su utilidad y determinar cuál es el que conviene utilizar en este caso. Para ello se deberá programar la resolución del problema cinemático inverso. Por último se presentarán los resultados y las conclusiones correspondientes. Se propondrá también un plan de desarrollo de una línea de investigación futura que partirá con este trabajo como base.

Análisis cinemático de robots antropomórficos con cuaterniones duales

[ES]Este documento presenta una teoría de análisis cinemático capaz de unificar posición/orientación describiendo el movimiento de la herramienta de un robot mediante un cuaternión dual que envuelve traslación y rotación. Se desarrolla la cinemática directa de dos robots, uno redundante y otro no redundante a fin de evaluar la validez del método en ambos casos. Por último, se comparan los resultados de dicha teoría con los resultados que ofrece la conocida teoría de las matrices de transformación homogéneas.

Elaboración de una herramienta informática de análisis dinámico para el diseño mecánico de robots 5R

El objeto del proyecto es la creación de una herramienta informática que permita analizar un mecanismo paralelo de 2 g.d.l. Para ello se ha planteado primeramente el tipo de mecanismo a analizar, se han realizado los cálculos necesarios para un mecanismo genérico y por último se han implementado sobre una plataforma informática, con el fin de automatizar los cálculos para distintos datos de entrada. El mecanismo paralelo más sencillo de estudiar es el mecanismo 5R, llamado así por estar formado por 5 pares de rotación. Su construcción similar a un paralelogramo articulado pero con un segmento más, hace de este mecanismo un caso sencillo de estudio con 2 g.d.l. por lo que poseerá un movimiento plano.

Self-adaptive optical systems for long-distance flying optics

The focusing characteristics of long-distance flying optics were studied systemically for TEMmn Gaussian beams. The results show that the ABCD law of parameter q can be extended to Gaussian modes of any order when waist radius w in the imaginary part of parameter q is replaced by Rayleigh range Z(R) of a certain resonator in the equation. The difference between the real focal length and the geometric focal length, defined as Delta f, was calculated for laser applications. A novel self-adaptive optical system was demonstrated for precisely controlling the focusing characteristics of long-distance flying optics, Theoretical analyses and experimental results were consistent. (c) 2006 Optical Society of America.

A modeling approach to identify optimal habitat and suitable fishing grounds for neon flying squid (Ommastrephes bartramii) in the Northwest Pacific Ocean

We developed a habitat suitability index (HSI) model to understand and identify the optimal habitat and potential fishing grounds for neon f lying squid (Ommastrephes bartramii) in the Northwest Pacific Ocean. Remote sensing data, including sea surface temperature, sea surface salinity, sea surface height, and chlorophyll-a concentrations, as well as fishery data from Chinese mainland squid f leets in the main fishing ground (150–165°E longitude) from August to October, from 1999 to 2004, were used. The HSI model was validated by using fishery data from 2005. The arithmetic mean modeling with three of the environmental variables—sea surface temperature, sea surface height anomaly, and chlorophyll- a concentrations—was defined as the most parsimonious HSI model. In 2005, monthly HSI values >0.6 coincided with productive fishing grounds and high fishing effort from August to October. This result implies that the model can reliably predict potential f ishing grounds for O. bartramii. Because spatially explicit fisheries and environmental data are becoming readily available, it is feasible to develop a dynamic, near real-time habitat model for improving the process of identifying potential fishing areas for and optimal habitats of neon flying squid.

New information from fish diets on the importance of glassy flying squid (Hyaloteuthis pelagica) (Teuthoidea: Ommastrephidae) in the epipelagic cephalopod community of the tropical Atlantic Ocean

Squids of the family Ommastrephidae are a vital part of marine food webs and support major fisheries around the world. They are widely distributed in the open ocean, where they are among the most abundant in number and biomass of nektonic epipelagic organisms. In turn, seven of the 11 genera of this family (Dosidicus, Illex, Martialia, Nototodarus, Ommastrephes, Sthenoteuthis, and Todarodes) are heavily preyed upon by top marine predators, i.e., birds, mammals, and fish, and currently support fisheries in both neritic and oceanic waters (Roper and Sweeney, 1984; Rodhouse, 1997). Their commercial importance has made the large ommastrephids the target of many scientific investigations and their biology is consequently reasonably well-known (Nigmatullin et al., 2001; Zuyev et al., 2002; Bower and Ichii, 2005). In contrast, much less information is available on the biology and ecological role of the smaller, unexploited species of ommastrephids (e.g., Eucleoteuthis, Hyaloteuthis, Ornithoteuthis, and Todaropsis).