Control Automático

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Active noise hybrid time-varying control for motorcycle helmets
(2010-05) Castañé-Selga, Rosa; Sánchez-Peña, Ricardo
"Recent noise at work regulations in the EU (2003) have been established to prevent noise induced hearing loss (NIHL). This imposes better performance results to traditional feedback active noise control (ANC) in motorcycle helmets, which suffer from well known limitations. Here two new ideas are applied to this problem. First, an hybrid (feedforward/feedback) linear time invariant (LTI) controller is designed for a motorcycle helmet ANC, which improves the resulting attenuation. This is achieved by adding an extra pair of microphones which measure the external noise that is then used as the feedforward input signal. In addition and to increase even more the resulting performance, the air velocity is measured in real-time and used as the parameter which schedules a linear parameter varying (LPV) feedback (FB) controller. This is combined with the previous feedforward (FF) controller, resulting in a time-varying hybrid controller. Both hybrid, LTI and LPV controllers are designed using linear matrix inequality (LMI)-based optimization. Two experiments have been carried out to measure the relation between external noise spectra and velocity: a wind tunnel test and a freeway ride experience. The resulting controllers are tested in a simulation which uses actual data obtained from the freeway experiment. The resulting attenuations in this motivating study seem promising for future controller tests to be performed in real-time, with the adequate hardware."
Advances in alkaline water electrolyzers: a review
(2019-06) David, Martín Rafael; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo
"The renewed concern for the care of the environment has led to lower emissions of greenhouse gases without sacrificing modern comforts. Widespread proposal focuses on energy produced from renewable sources and its subsequent storage and transportation based on hydrogen. Currently, this gas applies to the chemical industry and its production is based on fossil fuels. The introduction of this energy vector requires the development of environmental-friendly methods for obtaining it. In this paper, existing techniques are just presented and the main focus is made on electrolysis, a mature procedure. In turn, some developed proposals as previous steps to the hydrogen economy are presented. Finally, some lines of research to improve alkaline electrolysis technology are commented."
Application of robust control to a cryogenic current comparator
(2016-07) Bierzychudek, Marcos E.; Götz, Martin; Sánchez-Peña, Ricardo; Tonina, Alejandra; Iuzzolino, Ricardo; Drung, Dietmar
"We describe the design and implementation of an H ∞ controller for PTB's 14-bit cryogenic current comparator (CCC). Measurement results obtained using either the newly implemented digital H ∞ controller or the conventional analog integrator are consistent. In a wide frequency range, the system's noise figure is improved when using the new controller."
Application of robust control to a cryogenic current comparator
(2017-06) Bierzychudek, Marcos E.; Götz, Martin; Sánchez-Peña, Ricardo; Iuzzolino, Ricardo; Drung, Dietmar
"This paper describes the implementation of a digital robust controller in a cryogenic current comparator. The controller was designed applying H∞ control theory and it was programmed in a home-made digital unit. Experimental comparisons of the new robust controller with the conventional analog integrator have showed a significant improvement of stability robustness and noise rejection in the system."
Applied LPV Control with Full Block Multipliers and Regional Pole Placement
(2010-05) Sánchez-Peña, Ricardo; Ghersin, Alejandro S.
"A formulation of an LPV control problem with regional pole placement constraints is presented, which is suitable for the application of a Full Block S-Procedure. It is demonstrated that improved bounds can be obtained on the induced 𝐿2 norm of closed loop systems, while satisfying pole placement constraints. An application consisting in the 6 degrees of freedom (DOF) control of a space vehicle is developed as an example, with hardware in the loop (HIL) simulation. This shows that the method is appealing from the practical point of view, considering that the synthesized control law can be implemented satisfactorily in standard flight control systems. Conclusions with remarks towards the practical use of the method are presented as well."
The ARG algorithm: clinical trials in Argentina
(2019) Colmegna, Patricio; Garelli, Fabricio; De Battista, Hernán; Bianchi, Fernando D.; Sánchez-Peña, Ricardo
"The objective of this work is to present a brief review of the control design problem for glucose regulation in T1DM. In particular, control-oriented models, and robust and time-varying controllers will be mentioned. Characteristics of diabetes in general and T1DM in particular in the context of Latin America will be described. Finally, the Automatic Regulation of Glucose (ARG) algorithm will be presented, including in silico and clinical results."
Artificial pancreas: clinical study in Latin America without premeal insulin boluses
(2018-09) Sánchez-Peña, Ricardo; Colmegna, Patricio; Garelli, Fabricio; De Battista, Hernán; García Violini, Demián; Moscoso-Vásquez, Marcela; Rosales, Nicolás; Fushimi, Emilia; Campos-Náñez, Enrique; Breton, Marc; Beruto, Valeria; Scibona, Paula; Rodriguez, Cintia; Giunta, Javier; Simonovich, Ventura; Belloso, Waldo H.; Cherñavvsky, Daniel; Grosembacher, Luis
"Background: Emerging therapies such as closed-loop (CL) glucose control, also known as artificial pancreas (AP) systems, have shown significant improvement in type 1 diabetes mellitus (T1DM) management. However, demanding patient intervention is still required, particularly at meal times. To reduce treatment burden, the automatic regulation of glucose (ARG) algorithm mitigates postprandial glucose excursions without feedforward insulin boluses. This work assesses feasibility of this new strategy in a clinical trial. Methods: A 36-hour pilot study was performed on five T1DM subjects to validate the ARG algorithm. Subjects wore a subcutaneous continuous glucose monitor (CGM) and an insulin pump. Insulin delivery was solely commanded by the ARG algorithm, without premeal insulin boluses. This was the first clinical trial in Latin America to validate an AP controller. Results: For the total 36-hour period, results were as follows: average time of CGM readings in range 70-250 mg/dl: 88.6%, in range 70-180 mg/dl: 74.7%, <70 mg/dl: 5.8%, and <50 mg/dl: 0.8%. Results improved analyzing the final 15-hour period of this trial. In that case, the time spent in range was 70-250 mg/dl: 94.7%, in range 70-180 mg/dl: 82.6%, <70 mg/dl: 4.1%, and <50 mg/dl: 0.2%. During the last night the time spent in range was 70-250 mg/dl: 95%, in range 70-180 mg/dl: 87.7%, <70 mg/dl: 5.0%, and <50 mg/dl: 0.0%. No severe hypoglycemia occurred. No serious adverse events were reported. Conclusions: The ARG algorithm was successfully validated in a pilot clinical trial, encouraging further tests with a larger number of patients and in outpatient settings."
Artificial Pancreas: first clinical trials in Argentina
(2017-07) Sánchez-Peña, Ricardo; Colmegna, Patricio; Grosembacher, Luis; Breton, Marc; De Battista, Hernán; Garelli, Fabricio; Belloso, Waldo H.; Campos-Náñez, Enrique; Simonovich, Ventura; Beruto, Valeria; Scibona, Paula; Cherñavvsky, Daniel
"The first clinical trials using an Artificial Pancreas (AP) in Latin America have been defined in 2 stages. The first stage was carried out in November 2016 with the UVA controller (developed by the Center for Diabetes Technology and already clinically tested), and the second will be performed during the first semester of 2017 with the ARG (Automatic Regulation of Glucose) algorithm (developed by ITBA, UNQ, and UNLP in Argentina). Both tests are based on the DiAs (Diabetes Assistant) from the UVA, and are performed in the HIBA on 5 patients with Type 1 Diabetes Mellitus (T1DM), for 36 hours. For the first stage, Open-Loop (OL) insulin boluses were applied before meals and patient's physical activity was included. On the other hand, for the second stage, patients will not be involved in physical activity, but no OL insulin boluses will be injected before meals. In this work, experimental results from the first stage with the UVA controller, and preliminary results with the ARG control algorithm tested on the UVA/Padova simulator are presented. Due to the final paper deadline, the experimental results from the second stage are not included here, but will be presented at the IFAC World Congress."
Automatic glucose control during meals and exercise in type 1 diabetes: proof-of-concept in silico tests using a switched LPV approach
(2021) Colmegna, Patricio; Bianchi, Fernando D.; Sánchez-Peña, Ricardo
"Keeping the blood glucose levels within the safe range during meals and exercise still represents a major hurdle not only for patients with type 1 diabetes (T1D), but also for Artificial Pancreas (AP) systems. One of the reasons a fully (autonomous) closed-loop solution has not been released onto the market yet is the slow action of current insulin analogs. To partially overcome this limitation, the authors have previously designed a switched control strategy equipped with an insulin-on-board (IOB) safety loop that mitigates meal-related glucose excursions without carbohydrate counting. In this paper, a similar strategy based on a Linear Parameter-Varying (LPV) control law has been adapted to safely handle also exercise challenges with minimum user intervention. In silico results using the UVA/Padova simulator evidence that the proposed closedloop scheme is feasible under moderate-intense exercise bouts by effectively and safely reducing the risk of hypoglycemia."
Automatic regulatory control in type 1 diabetes without carbohydrate counting
(2018-05) Colmegna, Patricio; Garelli, Fabricio; De Battista, Hernán; Sánchez-Peña, Ricardo
"A new approach to automatically regulate the glucose level in type 1 diabetes is presented in this work. This is the so-called Automatic Regulation of Glucose (ARG) algorithm, which is based on a switched Linear Quadratic Gaussian (LQG) inner controller, combined with an outer sliding mode safety loop with Insulin on Board (IOB) constraints. In silico and in vivo results without feedforward insulin boluses delivered at meal times indicate that safe blood glucose control can be achieved by the proposed controller. This controller is simple to migrate to well-known hardware platforms, and intuitive to tune using a priori clinical information."
Classification based on dynamic mode decomposition applied to brain recognition of context
(2021-09) Martínez, Sebastián; Silva, Azul; García Violini, Demián; Piriz, Joaquin; Belluscio, Mariano; Sánchez-Peña, Ricardo
"Local Field Potentials (LFPs) are easy to access electrical signals of the brain that represent the summation in the extracellular space, of currents originated within the neurons. As such, LFPs could contain infor mation about ongoing computations in neuronal circuits and could potentially be used to design brain machine interface algorithms. However how brain computations could be decoded from LFPs is not clear. Within this context, a methodology for signal classification is proposed in this study, particularly based on the Dynamic Mode Decomposition method, in conjunction with binary clustering routines based on supervised learning. Note that, although the classification methodology is presented here in the context of a biological problem, it can be applied to a broad range of applications. Then, as a case-study, the proposed method is validated with the classification of LFP-based brain cognitive states. All the analysis, signals, and results shown in this study consider real data measured in the hippocampus, in rats perform ing exploration tasks. Consequently, it is shown that, using the measured LFP, the method infers which context was the animal exploring. Thus, evidence on the spatial codification in LFP signals is consequently provided, which still is an open question in neuroscience."
Closed-loop in neuroscience: can a brain be controlled?
(2018) García Violini, Demián; Bertone-Cueto, Nicolás I.; Martínez, Sebastián; Chiesa Docampo, Franco; de la Fuente, Verónica; Belluscio, Mariano; Piriz, Joaquín; Sánchez-Peña, Ricardo
"An experimental setup capable of stimulating, inhibiting, sensing, processing and analyzing a iological system is presented. The experimental setup is based on open-source, open hardware commercial devices. It can be applied to record and control neuronal activity, for example to stablish causal links between neurons and behavior in a closed-loop fashion. Cells or group of cells can be triggered by acoustical, electrical or light impulses. This last case is based on a technique defined as optogenetics. The latter is used in an example that reads and controls neuronal activity of a population of neurons in laboratory rats forcing them to transition between neuronal states, illustrates the system developed in this work. Index Terms—Optogenetics, closed-loop, automatic control, open-source, open-hardware."
Complexity reduction of piecewise affine linear parameter varying controllers
(2024-05-03) Bianchi, Fernando D.; Sánchez-Peña, Ricardo S.
This work analyzes the design and implementation of piecewise affine (PWA) Linear Parameter Varying (LPV) controllers. PWA-LPV models can be employed to describe complex nonlinear or time-varying systems with the aim of control design. The complexity of a PWA-LPV controller depends on the number of local models used to describe the plant. Here we propose a methodology to reduce this number and thus simplify the design and implementation complexity of the resulting controller without a significant performance degradation. The methodology is illustrated by an academic example and a more realistic wind turbine control application.
Control no-híbrido de glucemia ensayado en pacientes ambulatorios con Diabetes Tipo 1
(2022-07) Garelli, Fabricio; Fushimi, Emilia; Rosales, Nicolás; Arambarri, Delfina; Serafini, María Cecilia; De Battista, Hernán; Grosembacher, Luis; Sánchez-Peña, Ricardo
"En este trabajo se presenta la experiencia argentina en el problema de regulación de los niveles de glucosa en sangre para pacientes con Diabetes Mellitus Tipo 1 (insulino-dependientes), denominado Páncreas Artificial. El grupo de trabajo ha realizado 3 pruebas clínicas, las primeras en Latinoamérica. Las dos primeras fueron concretadas en 2016 y 2017, ambas en el Hospital Italiano de Buenos Aires (HIBA) con 5 pacientes adultos durante 36 hs. En la segunda de ellas se utilizó un nuevo algoritmo de control de lazo cerrado puro (sin bolo prandial), llamado ARG (Automatic Regulation of Glucose) y basado en un control LQG conmutado en combinación con una capa de seguridad llamada SAFE (Safety Auxiliary Feedback Element). Más recientemente y en plena pandemia de COVID-19 se llevó a cabo la primera prueba ambulatoria, realizada en 2021 en un hotel con 5 pacientes durante 6 días. En esta tercera prueba además, se utilizó una plataforma desarrollada por la Universidad Nacional de La Plata (UNLP), denominada InsuMate. Ésta conecta el celular con la bomba de insulina y el monitor de glucosa, aloja el algoritmo de control y permite el monitoreo remoto de múltiples pacientes. Los resultados obtenidos sugieren que el uso del algoritmo ARG en forma ambulatoria es factible, seguro y eficaz en comparación con la terapia usual. Asimismo, la plataforma InsuMate resultó ser intuitiva y sencilla para los usuarios, tanto médicos como pacientes participantes del ensayo, logrando un tiempo de funcionamiento del lazo cerrado superior al 95 %."
Control-oriented linear parameter-varying model for glucose control in type 1 diabetes
(2016) Colmegna, Patricio; Sánchez-Peña, Ricardo; Gondhalekar, Ravi
"The contribution of this paper is a controller design oriented model of insulin-glucose dynamics in Type 1 Diabetes Mellitus (T1DM). The novelty of the proposed model is to more effectively include the time-varying nature, and also the inter-patient variability, associated with the glucose control problem. Importantly, this is achieved in a manner that straightforwardly facilitates well-known and standard controller synthesis procedures. In that way, an average Linear Parameter-Varying (LPV) model that captures the dynamics from the insulin delivery input to the subcutaneous-glucose concentration output is constructed based on the Universities of Virginia (UVA)/Padova metabolic simulator. In addition, a system-oriented reinterpretation of the classical ad-hoc 1800 rule is applied to adapt the model’s gain."
Control-oriented model with intra-patient variations for an artificial pancreas
(2020) Moscoso-Vásquez, Marcela; Colmegna, Patricio; Rosales, Nicolás; Garelli, Fabricio; Sánchez-Peña, Ricardo
"In this work, a low-order model designed for glucose regulation in Type 1 Diabetes Mellitus (T1DM) is obtained from the UVA/Padova metabolic simulator. It captures not only the nonlinear behavior of the glucose-insulin system, but also intrapatient variations related to daily insulin sensitivity (SI) changes. To overcome the large inter-subject variability, the model can also be personalized based on a priori patient information. The structure is amenable for linear parameter varying (LPV) controller design, and represents the dynamics from the subcutaneous insulin input to the subcutaneous glucose output. The eficacy of this model is evaluated in comparison with a previous control-oriented model which in turn is an improvement of previous models. Both models are compared in terms of their open- and closed-loop differences with respect to the UVA/Padova model. The proposed model outperforms previous T1DM control oriented models, which could potentially lead to more robust and reliable controllers for glycemia regulation."
Data-driven fault diagnosis and robust control: application to PEM fuel cell systems
(2018-08) Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Bianchi, Fernando D.; Ingimundarson, Ari
"A data-driven methodology that includes the unfalsified control concept in the framework of fault diagnosis and isolation (FDI) and fault-tolerant control (FTC) is presented. The selection of the appropriate controller from a bank of controllers in a switching supervisory control setting is performed by using an adequate FDI outcome. By combining simultaneous online performance assessment of multiple controllers with the fault diagnosis decision from structured hypothesis tests, a diagnosis statement regarding what controller is most suitable to deal with the current (nominal or faulty) mode of the plant is obtained. Switching strategies that use the diagnosis statement are also proposed. This approach is applied to a nonlinear experimentally validated model of the breathing system of a polymer electrolyte membrane fuel cell. The results show the effectiveness of this FDI–fault-tolerant control data-driven methodology."
Distributed data-driven UAV formation control via evolutionary games: experimental results
(2021-07) Barreiro-Gomez, Julian; Mas, Ignacio; Giribet, Juan I.; Moreno, Patricio; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Quijano, Nicanor
"This work proposes a novel data-driven distributed formation-control approach based on multi-population evolutionary games, which is structured in a leader-follower scheme. The methodology considers a time-varying communication graph that describes how the multiple agents share information to each other. We present stability guarantees for configurations given by time-varying interaction networks, making the proposed method suitable for real-world problems where communication constraints change along the time. Additionally, the proposed formation controller allows for an agent to leave or enter the group without the need to modify the behaviors of other agents in the group. This game-theoretical approach is evaluated through numerical simulations and real outdoors experimental results using a fleet of aerial autonomous vehicles, showing the control performance."
Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games
(2016-12) Barreiro-Gomez, Julian; Mas, Ignacio; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo; Quijano, Nicanor
"This paper presents a control technique based on distributed population dynamics under time-varying communication graphs for a multi-agent system structured in a leader-follower fashion. Here, the leader agent follows a particular trajectory and the follower agents should track it in a certain organized formation manner. The tracking of the leader can be performed in the position coordinates x, y, and z, and in the yaw angle φ. Additional features are performed with this method: each agent has only partial knowledge of the position of other agents and not necessarily all agents should communicate to the leader. Moreover, it is possible to integrate a new agent into the formation (or for an agent to leave the formation task) in a dynamical manner. In addition, the formation configuration can be changed along the time, and the distributed population-games-based controller achieves the new organization goal accommodating conveniently the information-sharing graph in function of the communication range capabilities of each UAV. Finally, several simulations are presented to illustrate different scenarios, e.g., formation with time-varying communication network, and time-varying formation."
Dynamic modelling of alkaline self-pressurized electrolyzers: a phenomenological-based semiphysical approach
(2020-09) David, Martín Rafael; Álvarez, Hernán; Ocampo-Martínez, Carlos; Sánchez-Peña, Ricardo
"This paper proposes a phenomenological based semiphysical model (PBSM) for a self-pressurized alkaline electrolyzer. The model, based on mass and energy balances, represents the dynamic behaviour of hydrogen and oxygen production using electrolysis. The model allows to anticipate operational variables as dynamic responses in the concentrations of the electrolytic cell, and variations in both, level and pressure, at the gas separation chambers due to the change in electric current. The model parameters have been adjusted based on experimental measurements taken from an available prototype and through a suitable identification process. Simulation results replicate the current dynamic response of the experimental self-pressurized electrolyzer assembly. This model proves to be useful in the improvement of the control of gas production rate in this kind of assemblies, both as a validated simulation platform and as a source of reduced order models for model-based control design."

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