Presentaciones a Congresos

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Procedimiento de sintonizado de tanques resonantes LCC para carga inalambrica de vehículos eléctricos
(IEEE, 2022) Magliola, Nicolas; Cossutta, Pablo M.; Serra, Federico M.
"En este trabajo se propone un procedimiento sistematico para sintonizar tanques resonantes LCC a un valor de frecuencia determinado. El uso de tanques resonantes permite aumentar el rendimiento y potencia transmitida en forma inalambrica para la carga de vehÍculos electricos. El tanque resonante LCC es ampliamente utilizado para carga dinamica, principalmente por su caracteristica de poder conectar varios de estos en paralelo y que cuando no se transmite potencia inalambricamente no circula corriente por el convertidor. Sin embargo, este comportamiento se logra solamente si todos los tanques se encuentran sintonizados a la misma frecuencia. Específicamente, en el procedimiento propuesto se determinan las señales a aplicar y las mediciones a realizar, utilizando simples instrumentos de laboratorio, para obtener sus frecuencias de resonancia. Se brindan las expresiones para calcular el ajuste necesario de los componentes a fin de sintonizar al circuito a una frecuencia de resonancia deseada. Finalmente, se analiza y valida el metodo propuesto mediante una simulación."
Advertise your A/D converter, a SP teaching strategy
(2010-03) Saint-Nom, Roxana
"The goal of this paper is to invite the reader to consider role-playing as a method to train Signal Processing students for professional functions they would undertake in their future careers. Interaction, communication skills and learning purposes of SP concepts are key elements of this approach. An example applied to Analog to Digital converters is detailed, to show the advantages of this technique and the enthusiasm awakened."
Model predictive control of a current source inverter together with its current source
(2016-10) Cossutta, Pablo; Rivera, Marco; Valla, María Inés; Angélico Engelhardt, Mathias; Aguirre, Miguel Pablo
"Over the past years a great amount of research has been done to interconnect different energy sources with the power grid or different types of loads. Current source inverters have proved to be a good option due to its high reliability, fault tolerant capabilities, quasi soft switching and the use of lower capacitor values among others. Most of the current source inverters topologies have a current source as input, which could be implemented with a buck converter, and they are controlled with cascaded linear control (usually PI controller), rotating frame coordinate transformation and a modulation stage. In this paper a predictive control strategy of a current source inverter together with its associated current source is presented. This strategy allows to track not only the output voltages at the load but also the current source within a single controller. The control algorithm makes use of a discrete time model of the whole system so as to predict its future behaviour for each one of the available switching combinations. Each one of the predicted values are used to minimize a set of predefined control goals within a multiple term cost function that includes cost associated with the commutation frequency and the reference tracking. Simulation results show a good behaviour and fast dynamics with a low switching frequency of all the switches involved. These characteristics make the proposed controller a suitable option to use with high power inverters."
Power supply rejection and sensitivity analyses of a peak current source with emitter degeneration
(2022) Ledesma, Francisco Daniel; Dutriez Diaz, Philippe; Scapolla, Franco; Lin, Xi; Gardella, Pablo
"Technology developments are demanding increasingly stringent requirements in terms of Electromagnetic Com patibility (EMC). For IC designers, this implies increasing Power Supply Rejection (PSR) while at the same time reducing the Icc spectrum. This work provides a theoretical analysis of the Peak Current Source with emitter degeneration (PCS-ED), a well known current mirror to achieve high PSR, which gets improved even further by the emitter resistance. The trade-off between the output current and the PSR were analyzed, as well as a sensitivity analysis to quantify the effects of the emitter degeneration. Experimental measurements have been performed to validate the immunity of an off-the-shelf bipolar transistor array from 100kHz up to 1GHz. Results showed that despite the small-signal analyses predicted a considerable improvement, the non-linear effects introduced by the input stage remained as the limiting factor in terms of PSR, leading to similar responses in the Peak Current Source (PCS) and the PCS-ED, despite one having much larger PSR than the other."
Measurement of the sound-absorption coefficient in situ in eggs cartons using the Tone Burst Method
(2010-06) Quintero-Rincón, Antonio
"A typical solution in an enclosed space, such as a room, is that the reduction in sound level is the results from the installation of eggs cartons materials or fruits cartons materials (for example apple, pear or peach tree). The Tone Burst method is used to measure the sound absorption coefficient of a material at any desired angle of incidence. The goal for this paper is demonstrate that these cartons are a myth when they are used like reducer of the sound level in an enclosed space."
Experimental implementation of an electronic load for global maximum power point tracking
(2016-12) Aliaga, Rodrigo; Muñoz, Javier; Cadena, Fausto; Cossutta, Pablo; Aguirre, Miguel Pablo; Morán, Luis
"This work deals with the partial shading effect in the power curve of a PV solar array. Using a semiconductor device - MOSFET or IGBT - as electronic load added to a buck converter, it is possible to scan the power curve of a photovoltaic string and therefore empirically determine its optimum voltage, even in presence of partial shading. The aim of this paper is to give experimental details regarding the laboratory implementation of a proof-of-concept prototype meant to detect the Global Maximum Power Point. Three cases are presented that consider the partial shading effect of a PV string, with disturbances of different sizes and shapes. In the last part a novel exciting signal is presented, which allows to reduce the scanning time of the power curve. The experimental results illustrate the performance of the implemented circuit."
Multilevel current source inverter to improve power quality in a distribution network
(2010-07) Aguirre, Miguel Pablo; Calviño, Laura; Corasaniti, V. Fabián; Valla, María Inés
"This paper deals with the problem of reactive power and harmonics in a standard medium voltage (MV) distribution network. It presents the design of a shunt active filter implemented with a multilevel current source inverter (MCSI) connected to the medium voltage level of a power distribution system. The proposed MCSI is made by identical modules where all inductors carry the same amount of current. The current balance is achieved by a Phase-Shifted Carrier SPWM proper implementation. The performance of proposed active filter is thoroughly simulated with Matlab Simulink. It shows very good behavior in steady state and transient conditions."
Operation of a cryogenic current comparator in presence of mechanical vibrations
(2016-07) Bierzychudek, Marcos E.; Götz, Martin; Schmelzer, Martin
"In measurements with cryogenic current comparators (CCCs), robustness against mechanical distortions is an issue. Sources of distortions are part of the experimental environment, efficient suppression is difficult. In a test setup, we intentionally applied mechanical vibrations to a CCC probe. In the 10 Hz to 3 kHz range, the frequency response of the SQUID detector's output signal was recorded for an integrative and an H ∞ -controller. When applying vibrations at fixed frequency, the stability of the SQUID's locking depended on the chosen controller, but systematic influence on the result of a 12.9 kΩ vs. 100 Ω resistance comparison was not found."
Fault tolerance analysis of a hexarotor with reconfigurable tilted rotors
(2020) Pose, Claudio D.; Giribet, Juan I.; Mas, Ignacio
"Tilted rotors in multirotor vehicles have shown to be useful for different practical reasons. For instance, increasing yaw maneuverability or enabling full position and attitude control of hexarotor vehicles. It has also been proven that a hexagon-shaped multirotor is capable of complete attitude and altitude control under failures of one of its rotors. However, when a rotor fails, the torque that can be reached in the worstcase direction decreases considerably. This work proposes to actively change the tilt angle of the rotors when a failure occurs. This rotor reconfiguration increases the maximum torque that can be achieved in the most stressful direction, reducing maneuverability limitations. Experimental validations are shown, where the proposed reconfigurable tilted rotor is used in order to control a hexarotor vehicle when a failure appears mid-flight. The impact of the delay in the reconfiguration when a failure occurs is also addressed."
Fault tolerant control of an hexacopter with a tilted-rotor configuration
(2020) Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio
"Recientemente, han surgido algunos trabajos reportando las ventajas de volar con multicópteros con rotores inclinados, es decir, rotores que no apunten en la dirección de la vertical del vehículo. En particular, se demostró que para lograr un vehículo hexa-rotor capaz de tolerar fallas en uno de sus rotores es necesario que éstos estén inclinados. Hasta el momento, las validaciones experimentales de estos resultados han considerado fallas parciales en los rotores. Más precisamente, se han analizado casos en los cuales uno de los rotores pierde capacidad de empuje. Sin embargo, los resultados teóricos admiten una falla total de los rotores, es decir, que uno de los rotores se detenga completamente. En este trabajo validamos experimentalmente la falla total de un rotor y mostramos cómo un vehículo hexa-rotor es capaz de mantener su capacidad de maniobra ante la pérdida total de uno de sus rotores."
Robust tracking control for non-holonomic wheeled mobile robots in a leader-follower formation with time-gap separation
(2020-12) Baquero-Suárez, Mauro; Mas, Ignacio; Giribet, Juan I.
"This work addresses the design and validation of a time-gap synchronized leader-follower formation scheme for wheeled mobile multi-robot systems. This scheme generates reference trajectories for each robot through the estimation via observer of the delayed behavior of its predecessor. A second goal of this paper is the precise and efficient tracking of these references to achieve the desired movement of the chained formation. Therefore, a robust two-stage controller is proposed, where the angular velocity of lateral wheels is regulated in a first stage by a torque controller, with velocity references provided by a tracking controller that commands the robot’s pose in a second stage. The outlined theory is validated through successful results in simulations of multi-body dynamic models, integrating ADAMS and MATLAB."
Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation
(2020-10) Baquero-Suárez, Mauro; Mas, Ignacio; Giribet, Juan I.
"In this work, concepts of cluster space approach are extended through a novel formulation, namely Tree Organization Method (TOM), to systematically arrange formations of mobile robots. TOM consists in analyzing the =-robot cluster as an open kinematic chain with multiple branches, where robots remain linked as they move according to this virtual mechanism, by ensuring the specified formation’s geometry during all the navigation time.TOMallows to easily generate synchronized reference trajectories for all robots involved in the formation, and this formulation is applied to the particular case of an arranged 7-robot cluster tasked to transport 3 spheres along a predefined trajectory. This scenario is recreated in a realistic cooperative simulation interfacing MSC ADAMS and MATLAB, where multi-body dynamic modeling, cluster specification under TOM and robust tracking controllers are developed for this multi-robot application."
Predictive control of a 27-level asymmetric multilevel current source inverter
(2018-10) Muñoz, Javier; Soto, Bairon; Villalón, Ariel; Rivera, Marco; Cossutta, Pablo; Aguirre, Miguel Pablo
"In this work a study of a 27-level asymmetric multilevel current source inverter is developed. The presented structure is composed by three current source inverters that together are in a 9:3:1 ratio to produce a current waveform with multiple levels. A model predictive control scheme is developed for tracking the references for the output AC voltages, and to keep the asymmetric ratio between the DC currents even during transient conditions. Furthermore, an extra control goal is included in order to reduce the commutations of the inverter, and therefore reduce the power losses. In order to apply the predictive controller, the equations of the model to be analyzed are obtained systematically for continuous and discrete time domains. Simulations are carried out to validate the proposal and the integrity of the predictive control strategy."
Cluster space LPV control of robot formations
(2018-10) Ghersin, Alejandro S.; Giribet, Juan I.; Mas, Ignacio
"Within the Cluster Space robot formation control scheme, a new approach is presented where a cascaded control scheme is proposed. On one hand, a simple secondary (inner) loop is used to control the formation’s velocity in Robot Space, while on the other hand a quasi-LPV (Linear Parameter Varying) approach is employed for the design of the main (outer) control loop where the geometry and kinematics of the problem are captured by the LPV formulation. Certain aspects of the design such as stability are tackled, and the use of parameter-dependent weighting functions is discussed through a design example tested in simulations in order to illustrate the use of the method."
Design of ESD protections for ECG applications
(2020-02) Gardella, Pablo; Baez, Eduardo; Cesaretti, Juan Manuel
"This paper presents the design of Electrostatic Discharge (ESD) protections for a remote Electroencephalograph (ECG). Design and layout guidelines are analyzed to improve the ESD robustness of a Grounded-Gate NMOS (GGNMOS) cell based on a single well CMOS-only process. Experimental validation is done by means of a Time Domain Reflectometry (TDR) technique known as Transmission Line Pulse (TLP) testing. The silicon implementation of the proposed design passes ±3700V in the Human-Body Model (HBM)."
Validación de un sistema de posicionamiento ultrasónico para Interiores
(2019-11) Presenza, Francisco; Pose, Claudio D.; Mas, Ignacio; Giribet, Juan I.
"En el presente trabajo se contrastan dos sistemas comerciales de posicionamiento en interiores para robots móviles. En primer lugar, el sistema OptiTrack, con tecnología de captura de movimiento por imágenes, que posee alta confiabilidad y es utilizado como referencia. En segundo lugar, el sistema Marvelmind, con tecnología de ultrasonido y costo reducido. Es de especial interés estudiar la capacidad de estos sistemas para localizar múltiples vehículos. Para ello, se realizaron ensayos de posicionamiento con vehículos de diferente tipo, empleando ambos sistemas de manera simultánea. Se presentan los resultados obtenidos en los ensayos y algunas recomendaciones para su uso."
Trajectory following with a MAV under rotor fault conditions
(2019-09) Pose, Claudio D.; Presenza, Francisco; Mas, Ignacio; Giribet, Juan I.
"Lately, a novel multirotor aerial vehicle capable of handling single rotor failures was presented. When a rotor fails, physically reconfiguring one of the remaining rotors of an hexarotor allows to compensate for maneuverability limitations. In this work, experimental results show the performance of the vehicle in a trajectory-following task in both nominal and fault conditions."
Sistema de control para un robot aerodeslizante
(2019-11) Pecker Marcosig, Ezequiel; Presenza, Francisco; Giribet, Juan I.; Mas, Ignacio
"En este trabajo se presenta la construcción de un robot aerodeslizante, y la implementación del sistema de medición y control utilizando ROS (Robot Operating System). Este vehículo fue diseñado para el estudio de estrategias de control híbrido en sistemas ciber-físicos. Para comprobar el funcionamiento de esta plataforma se cerró el lazo utilizando una estrategia de control simple (PID). Se presentan los resultados experimentales preliminares obtenidos para el seguimiento de referencias."
Multi-UAV specification and control with a single pilot-in-the-loop
(2019-09) Moreno, Patricio; Esteva, Santiago; Mas, Ignacio; Giribet, Juan I.
"This work presents a multi-unmanned aerial vehicle formation implementing a trajectory following controller based on the cluster-space robot coordination method. The controller is augmented with a feed-forward input from a control station operator. This teleoperation input is generated by means of a remote control, as a simple way of modifying the trajectory or taking over control of the formation during flight. The cluster-space formulation presents a simple specification of the system’s motion and, in this work, the operator benefits from this capability to easily evade obstacles by means of controlling the cluster parameters in real time. The proposed augmented controller is tested in a simulated environment first, and then deployed for outdoor field experiments. Results are shown in different scenarios using a cluster of three autonomous unmanned aerial vehicles."
Diseño, construcción, simulación 3D y control LPV de un cuadricóptero de forma variante
(2019-11) Ghersin, Alejandro S.; Giribet, Juan I.; Pose, Claudio D.; Mas, Ignacio
"En este trabajo se propone el diseño lineal de parámetros variantes (LPV) para el control de un cuadricóptero cuyos brazos pueden moverse respecto del eje vertical del vehículo, cambiando su forma de acuerdo a requerimientos de misión. El trabajo presenta el desarrollo del simulador multicuerpo y del algoritmo de control junto con una introducción al método LPV, mostrando con su utilización. Además, se presenta una explicación detallada del prototipo construido hasta el momento para las pruebas."

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