Artículos (Ingeniería de Sistemas y Automática)

URI permanente para esta colecciónhttps://hdl.handle.net/11441/11342

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Examinando Artículos (Ingeniería de Sistemas y Automática) por Agencia financiadora "Comisión Europea"

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  • Miniatura
    Acceso AbiertoArtículo
    Aerial manipulator with rolling base for inspection of pipe arrays
    (IEEE, 2020) Suárez Fernández-Miranda, Alejandro; Caballero Gómez, Álvaro; Garófano Soldado, Ambar; Sánchez Cuevas, Pedro Jesús; Heredia Benot, Guillermo; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Comisión Europea; Ministerio de Economia, Industria y Competitividad (MINECO). España; Ministerio de Ciencia, Innovación y Universidades (MICINN). España; Universidad de Sevilla. TEP151: Robótica, Visión y Control
    This paper considers the inspection by contact of long arrays of pipe structures in hard-to-reach places, typical of chemical plants or oil and gas industries, presenting the design of a hybrid rolling-aerial platform capable of landing and moving along the pipes without wasting energy in the propellers during the inspection. The presented robot overcomes the limitation in terms of operation time and positioning accuracy in the application of fiying robots to industrial inspection and maintenance tasks. The robot consists of a hexa-rotor platform integrating a rolling base with velocity and direction control, and a 5-DOF (degree of freedom) robotic arm supported by a 1-DOF linear guide system that facilitates the deployment of the arm in the array of pipes to inspect their contour once the platform has landed. Given a set of points to be inspected in different arrays of pipes, the path of the multirotor and the rolling platform is planned with a hybrid RRT(Rapidly-exploring Random Tree) based algorithm that minimizes the energy consumption. The performance of the system is evaluated in an illustrative outdoor scenario with two arrays of pipes, using a laser tracking system to measure the position of the robot from the ground control station.
  • Miniatura
    Acceso AbiertoArtículo
    Event-based state-space model predictive control of a renewable hydrogen-based microgrid for office power demand profiles
    (Elsevier, 2020-02) Castilla Nieto, María del Mar; Bordons Alba, Carlos; Visioli, Antonio; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Ministerio de Economia, Industria y Competitividad (MINECO). España; Comisión Europea; Universidad de Sevilla. TEP116: Automática y Robótica Industrial
    This paper focuses on the design and implementation of an event-based control architecture to manage a renewable-based microgrid. This microgrid has renewable-energy generation and a hybrid energy storage system that uses electricity and hydrogen. The main load of the microgrid is the energy demand of an office. The primary control objective is to satisfy this load using the available renewable generation and stored energy while reducing the amount of energy purchased from the Utility Power Grid and the degradation of the electromechanical storage devices. To do that, the control architecture defined within an event framework, makes use of a set of state-space model predictive controllers which are selected as a function of a variable sampling period. To evaluate the performance of the proposed architecture, simulation tests for a summer day as well as an analytical study is performed. The obtained results show that the use of the event-based control architecture allows a significant reduction of the number of changes in the control action at the expense of an acceptable deterioration of set-point tracking for a microgrid with several types of electrochemical storage.