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Clostridium difficile is an anaerobic spore-forming bacillus that usually causes gastrointestinal disorders in man and other animal species. Most of the strains isolated from animals are toxigenic being the virulent ribotype (RT) 078 predominant in several animal species. Although C. difficile is pathogenic to both humans and animals, there is no direct evidence of zoonosis. Deep genome sequencing...
A complete approach to the visual localization and mapping problem (SLAM) is presented in this work. The presented approach exploits the enhanced capabilities of a system where a human and a robot collaborate in surveying/exploratory tasks. The human is supposed to wear a smart headwear device, which deploys a inertial measurement unit and a camera, Hv. This camera acts as a secondary sensor, and...
A novel approach to the SLAM problem has been tested in an industrial environment within a robotic assistance context. In order to be fully reliable in non-modelled circumstances where the environment cannot be considered as known a priori, a robot assistant must be able to localize and map its environment. The use of a camera sensor to solve localization has several advantages and weaknesses due...
Linear-assisted DC/DC converters are structures that allow to take advantages of the two classic alternatives in the design of power supply systems: Voltage linear regulators (classic NPN topology or LDO-low dropout-) and switching DC/DC converters. This paper shows the proposal of a modified current-mode one-cycle control for linear-assisted DC/DC converters. The modified current-mode one-cycle control...
Ultracapacitors are devices that their behaviour are suitable modelled using fractional(non-integer)-order models, thus for their control the fractional-order control methodology is needed. In this paper, non-integer order control is applied to improve the performance of a buck-boost dc-dc power converter with ultracapacitor-based on state feedback techniques. The approach is based on stabilization...
A novel policy to use the HOHCT validation algorithm is presented. HOHCT was introduced as a batch gating technique to validate data association in delayed initialization monocular SLAM. This new policy does not alter the inherent complexity of the algorithm, which lies in the exponential cost for worst case, but helps to keep it down to the average case-linear or quadratic-, while at the same time...
Open-flow canals are large distributed systems characterized by non-linear, time-varying and dependent with the operating point behavior. These systems can be suitably represented for control by linear parameter varying (LPV) models. In this paper, two ways of obtaining an LPV model for a single reach open canal are proposed and compared: an LPV integrator delay zero (IDZ) model based on hydraulic...
In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV...
Non-speech audio is becoming more attractive to be used as features to mobile robots navigation in industrial environments. In this paper authors present their advances in determining robot's position in indoor spaces using as sound sources industrial machines. A novel model is build to locate the robot under different spaces. An identification process is used to obtain the LPV model and it is validated...
In this paper an LPV non-integer order control Hayami model of an irrigation canal is derived from system identification experiments. This model is physically deduced by the simplification of Saint-Venant equations and experimentally obtained by using the described LPV fractional identification procedure. This procedure consists on the identification of a non-linear order model in each operation point...
In this paper, a novel method for controlling main irrigation canals with variable dynamic parameters is proposed. A non-integer order based gain-scheduling controller for canal systems is presented. This controller takes into account the variations of parameters in each operating point by using a linear parameter variable (LPV) non-integer order model obtained by fractional LPV identification. This...
Linear-assisted DC/DC converters (or linear-switching hybrid DC/DC converters) consist of a voltage linear regulator (classic NPN or nMOS topologies and LDO) connected in parallel with a switching DC/DC converter. In order to control these hybrid structures, different strategies exist, allowing to fix the switching frequency as a function of some parameters of the linear regulator. This article compares...
This paper deals with the fractional modeling of a DC-DC buck-boost converter, suitable in solar-powered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. Although the modeling and design of the controller is carried out for this particular DC-DC converter, it can be easily extended to other kind of switching converter. In addition,...
Non-speech audio is a non-explored characteristic in robot localization but due to its potentiality it can yield a valuable information together with other sensorial systems. In this work, a novel robot localization method is proposed based on audio signal pattern recognition with extracted features from signal identification. To reinforce the localization, avoiding ambiguity and reducing uncertainty,...
Non-speech audio is a non-explored characteristic in robot localization but due to its potentiality it can yield a valuable information together with other sensorial systems. In this work, a novel robot localization method is proposed based on audio signal pattern recognition with extracted features from signal identification. To reinforce the localization, avoiding ambiguity and reducing uncertainty,...
This paper discusses, first, the use of a research project as a didactic material for laboratory practices. The objective of TOLLA project (http://tolla.upc.edu) is to develop ecological models for simulate the behaviour of environmental variables (phytoplankton, zooplankton, nutrients, egestion...) in a set of ponds in the Technical University Campus. This experience will be shifted to the classroom...
There has been increasing research effort in applying control-theoretic approaches to performance management for computer systems such as Web servers, networked, database, and storage systems. Since today's Ethernet networks and applications are sometimes operated under dynamically changing load conditions that introduce a time-varying delay in the networked control systems (NCS), linear control designs...
In this paper, a quasi-linear parameter-varying (quasi-LPV) model for canal control is proposed. This model relates the downstream level with the gate opening and takes into account the non-linearity, the variation of the model parameters and the dependence with the operating point. Thus, this kind of a model represents in a more accurate way the canal behavior than a linear time invariant (LTI) model...
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