Ingeniería de Sistemas y Automática

URI permanente para esta comunidadhttps://hdl.handle.net/11441/11341

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Mostrando 1 - 3 de 3

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.
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.
Modeling and under-actuated control of stabilization before take-off phase for flapping-wing robots
(Springer, 2023) Feliu-Talegon, Daniel; Nekoo, Saeed Rafee; Suárez Fernández-Miranda, Alejandro; Acosta Rodríguez, José Ángel; Ollero Baturone, Aníbal; Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática; Comisión Europea; Ministerio de Ciencia e Innovación (MICIN). España; Universidad de Sevilla. TEP151: Robótica, Visión y Control.
This work studies a stabilization problem of flapping-wing flying robots (FWFRs) before a take-off phase while a robot is on a branch. The claw of the FWFR grasps the branch with enough friction to hold the system steady in a stationary condition. Before the take-off, the claw opens itself and the friction between the claw and branch vanishes. At that moment, the mechanical model turns into an under-actuated multi-link (serial configuration) robotic system where the first joint can rotate freely without any friction as opposed to rotation. The stabilization and balancing are the crucial tasks before take-off. This work explores a new methodology to control an under-actuated lightweight manipulator for its future adaptation to FWFR to improve the stabilization performance before take-off. The setup tries to mimic the birds with two-link legs, a body link, and 2-DoF (degrees of freedom) arms, being all active links except the first passive one. In contrast to common arms, the lightweight-design restriction limits the frame size and requires micromotors. With all of these constraints, control design is a challenge, hence, the system is categorized: a) the leg subsystem (under-actuated), including the two first links, and b) the body and arm subsystem (fully actuated) with the rest of links. The fully-actuated links are controlled by feedback linearization and the under-actuated part with active disturbance rejection control (ADRC) for estimation and rejection of the coupling between both subsystems. The mechanical design, modeling, and control of the proposed system are reported in this work. Experimental results have been also proposed to present a proof of concept for this modeling and control approach.

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