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En la actualidad, el estudio y análisis de los sistemas de control automático representan un campo de aplicación bastante extendido, esto debido a las imperantes necesidades por mejorar los procesos productivos, optimizar los recursos e incluso para predecir comportamientos, desde entornos educativos, investigativos o industriales, hasta entornos económicos, sociales y demás. En efecto, esto ha impulsado a los desarrolladores a buscar herramientas o alternativas que permitan aumentar las capacidades de cómputo al momento de desarrollar un sistema de control automático. Ahora bien, la instrumentación industrial desde hace muchos años viene comandada por los Autómatas Programables (PLC), dispositivos útiles e ideales para ejecutar las tareas de control de una planta, independientemente de la escala. El presente documento presenta el diseño e implementación de un controlador PID en una planta didáctica conformada con equipos industriales, haciendo uso de OPC y algunos conceptos de la teoría de control. Mediante la herramienta computacional MATLAB se realiza la identificación de la planta obteniendo su función de transferencia, y haciendo uso de algunas herramientas disponibles en este software, se determinan los parámetros de sintonía de un controlador tipo PID, para posteriormente sintonizar la estrategia de control implementada en un autómata programable de gama alta.

Relatório lab 7,8,9

This paper implements Simultaneous Localization and Mapping (SLAM) technique to construct a map of a given environment. A Real Time Appearance Based Mapping (RTAB-Map) approach was taken for accomplishing this task. Initially, a 2d occupancy grid and 3d octomap was created from a provided simulated environment. Next, a personal simulated environment was created for mapping as well. In this appearance based method, a process called Loop Closure is used to determine whether a robot has seen a location before or not. In this paper, it is seen that RTAB-Map is optimized for large scale and long term SLAM by using multiple strategies to allow for loop closure to be done in real time and the results depict that it can be an excellent solution for SLAM to develop robots that can map an environment in both 2d and 3d.

This paper explores the relationship between ethnic fractionalization and social capital between 1990-2005. First, using data from 1990, 1997 and 2005 we test for time differences in the impact of ethnic fractionalization on social capital. Subsequently, we examine U.S. data for evidence consistent with the proposed outcomes in the conflict, contact, or hunker-down theses discussed in Putnam (2007). Putnam (2007) examines what happens to “trust" or “social capital" when individuals of different ethnicity are introduced into social, political and/or economic groups over time. Using an instrumental variable (IV) estimator, we find little evidence of heterogeneity in the impact of ethnic fractionalization on social capital over our period of analysis. In addition, using both fixed effect and IV estimators, we reject the contact hypothesis, but find evidence consistent with the outcomes predicted in both the conflict hypothesis and Putnam’s hunker-down hypothesis, in inter-ethnic relations. Due to data limitations, we are unable to test directly which of these two thesis are more relevant for the U.S experience. However, we provide suggestive evidence in support of the conflict hypothesis over the hunker-down hypothesis. Our results suggest that between 1990-2005, as communities in the U.S became more diverse, there was a tendency for social capital to decline.

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Algebra Linear