Unidad Ejecutora Doble Dependencia - Universidad Nacional de San Juan, Facultad de Ingeniería - Consejo Nacional de Investigaciones Científicas y Técnicas

Publicaciones

Publicaciones y divulgación científica. Se presenta el progreso de la ciencia e investigaciones desarrolladas en nuestros laboratorios. La mayoría de los trabajos obtenidos en investigación se encuentran disponibles.

Publicaciones 2020

Revista Internacional con Referato

Control for cooperative transport of a bar-shaped payload with rotorcraft UAVs including a landing stage on mobile robots

Autores
Gimenez, J.; Salinas, L.; Gandolfo, D.; Rosales, C.; Carelli, R.;


Resumen:
This paper considers the cooperative transport problem of a cable-suspended rigid bar with two rotorcraft UAVs considering collision avoidance, weight distribution, and wind perturbations. The proposal is based on null-space theory and includes a landing stage where the load is settled down on a formation of ground robots. Therefore, a variable formation is considered according to the task phase. In order to simulate the proposal in a realistic environment, very complete dynamic models for UAVs, ground robots, and load are considered. An adaptation stage is incorporated to link the control actions with the inputs required by the dynamic models. Theoretical bounds for the errors are studied under the assumption that perfect velocity tracking is not fulfilled.

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Fermentation monitoring by Bayesian states estimators. Application to red wines elaboration.

Autores
, M.; , M.; Rossomando, F.; Amicarelli, A.; Scaglia, G.;


Resumen:
Winemakers must understand all chemical aspects involved and make the right decisions to obtain a highquality product. In a winemaking process, the tracking and control of certain variables are keys to achievea proper fermentation. This paper presents state estimators design based on Gaussian processes, for on-linealcoholic fermentation monitoring in red wines. For this study, 18 fermentations of three different varietals,Cabernet Sauvignon, Malvec and Tannat, were analyzed to train and validate the estimators. Samples weretaken from Merced del Estero, a San Juan industrial winery. Then, cell concentration was determined byneubauer chamber count, while ethanol and total sugars concentrations by infrared absorption spectroscopy.Results show a suitable prediction of cell and ethanol content when only substrate measurement is available.Furthermore, the proposed estimator is compared with a competitive approach (neural network) to highlightthe suitability of Bayesian theory for this type of application. This paper provides a reliable monitoring tool,with low computational and economic cost to facilitate the work of winemakers.

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Congreso Nacional con Referato

Optimal growth rate control strategy for delta-endotoxins production.

Autores
Aguirre Zapata, E.; MORALES, H.; di Sciascio, F.; Amicarelli, A.;


Resumen:
Biotechnology is the area of science that aims to generate technology-based solutions through the use of living organisms. In this sense, in areas such as agriculture, applications such as the production of bioinsecticides have emerged that seek to replace the harmful use of chemical insecticides for the care of the environment and the health of the final consumers of the products. The bacterium Bacillus thuringiensis has become in recent years as one of the most widely used solutions for the production of δ -endotoxins that turn out to be harmful to some invertebrates such as larvae, which are present in numerous crops Considering the above, some research has focused on the knowledge of this bacterium and the development of mathematical models for different tasks such as control and estimation of variables. In this work, we present the design and simulation of a growth rate control for the production of δ -endotoxins, by implementing two coupled NMPC controllers for the control of µ growth rate and concentration of dissolved oxygen CDO. The proposed controller coupled with an Unscented Kalman Filter, allows to optimally control the growth rate of the cells, resulting in a significant increase in the concentration of total cells (biomass) in the reactor and therefore in a higher production of δ-endotoxins.

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Purity and Supersaturation model based estimators for sugar crystallization last stages

Autores
MORALES, H.; Aguirre Zapata, E.; di Sciascio, F.; Amicarelli, A.;


Resumen:
En este trabajo se desarrollaron estimadores basados en modelo para determinar la sobresaturación y pureza de las masas en la segunda y tercera etapa de la cristalización de la sacarosa en la industria azucarera. La sobresaturación constituye la variable fundamental a monitorear y controlar en estosprocesos, mientras que la pureza ofrece información de la calidad de las masas cocidas. Los estimadores se validaron mediante simulación en diferentes condiciones del proceso, contrastando los resultados con modelos teóricos y datos del proceso. Los resultados obtenidos evidenciaron la efectividad de lo estimadores propuestos.

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