Abstract
In this paper we describe the design of a dual polarized packaged patch antenna for 5G communications with improved isolation and bandwidth for Ka-band. The results were validated using FEM and Momentum co-simulations in ADS. The novelty of the approach is the use of parasitic elements in the same layer to circumvent bandwidth limitations, thereby reducing the layer count in contrast to previous designs, combined with a differential feeding technique for improved isolation and radiation pattern stability, albeit at the expense of an increased complexity in the matching process. A peak gain of 5 dBi, isolation above 40 dB and a radiation efficiency of 60% were obtained. © 2019 IEEE.

Abstract

Abstract
The effects of optimal dimensioning and integration of distributed generation (DG) on an electricity distribution system (DS) from a probabilistic viewpoint is presented in this paper, as a new contribution to earlier studies. The proposed methodology pays special attention to preventing reverse power flow at substation as a consequence of excessive integration of renewable energy based DG. As the analysis of large amounts of data typically measured on an annual basis could be exhausting from a computational perspective, a methodology based on estimating the potential of wind and solar resources is applied; from this procedure, those months of highest renewable potential are selected so that indirectly those situations with probability of reverse power flow at substation are considered. After this, time series of load demand per node and phase are generated using typical profiles and the corresponding peak-load expected. Finally, all this information is introduced on an optimization algorithm based on a genetic algorithm in order to minimize the net present cost over the project lifetime, obtaining the type and number of photovoltaic (PV) panels and wind turbines (WTs) to be installed. This approach allows integrating detailed mathematical models of DG related to PV and wind generation, including specific factors frequently reported by the manufacturers such as temperature coefficients, nominal operating cell temperature, particular WT power curves, and variable efficiency of power converter, among other characteristics. The proposed method is illustrated by studying a DS supposed to be located in Zaragoza, Spain, with 35 nodes under unbalanced conditions, with residential as well as small, medium, and large commercial electricity demands. Focusing our attention on the month of February, due to its high renewable potential, the proposed technique was applied resulting in a system mainly based on wind energy of at least 40% of the substation capacity. This model could be used to perform the renewable energy integration analysis on DS, starting from typical load profiles, hourly estimations of solar and wind resources, and data frequently provided by PV panels and WT manufacturers.

Abstract
The use of mobile robots is growing every day. Path planning algorithms are needed to allow the coordination of several robots, and make them travel with the least cost and without collisions. With this emerged the interest in studying some path planning algorithms, in order to better understand the operation of each one when applied in this type of robots. The objective of this paper is to present a state of the art survey of some algorithms of path planning for mobile robots. A brief introduction on mobile robots and trajectory planning algorithms is made. After, the basis of each algorithm is explained, their relative advantages and disadvantages are presented and are mentioned areas of application for each of them. This study was developed in order to implement some of these algorithms in the near future, with the objective to find out their relative advantages and disadvantages, and in which situations their implementation is more adequate.

Abstract
DBS surgery is considered for Parkinson's Disease patients when motor complications and consequent quality of life is no longer acceptable on optimal medical therapy prescribed by neurologists. Within the operating room, the electrode placement with the best clinical outcome for the patient is quantitatively assessed via the wrist rigidity assessment. A subjective scale is used, influenced by the neurologists' perception and experience. Our research group has previously designed a novel, comfortable and wireless system aiming to tackle this subjectivity. This system comprised a gyroscope sensor in a textile band, placed in the patients' hand, which communicated its measurement to a Smartphone via Bluetooth. During the wrist rigidity evaluation exam, a signal descriptor was computed from angular velocity (omega) and a polynomial mathematical model was used to classify the signals using a quantitative scale of rigidity improvement. In this present work, we aim to develop models that consider the 3-gyroscope-axes to acquire the omega and the cogwheel rigidity. Our results showed that y-gyroscope-axis remains the best way to classify the rigidity reduction, showing an accuracy of 78% and a mean error of 3.5%. According to previous results, the performance was similar and the decrease of samples to extract the omega features did not compromise system performance. The cogwheel rigidity did not improve the previous model and other gyroscope-axis beyond the y-axis decreased system performance.

Abstract
This paper provides virtual inertia and mechanical power-based double synchronous controller (DSC) for power converters based on the d- and q-components of the converter current to assure the stable operation of the grid with the penetration of large-scale renewable energy resources (RERs). The DSC is projected based on emulating both the inertia and mechanical power variables of the synchronous generators (SGs), and its performance is compared with a non-synchronous controller (NSC) that is without these emulations. The main contributions of the DSC are providing a large margin of stability for the power grid with a wide area of low and high values of virtual inertia, also improving significantly power grid stability (PGS) with changing properly the embedded virtual variables of inertia, mechanical power, and also mechanical power error. Also, decoupling features of the proposed DSC in which both d and q components are completely involved with the characteristics of SGs as well as the relationship between the interfaced converter and dynamic models of SGs are other important contributions of the DSC over the existing control methods. Embedding some coefficients for the proposed DSC to show its robustness against the unknown intrinsic property of parameters is another contribution in this paper. Moreover, several transfer functions are achieved and analyzed that confirm a more stable performance of the emulated controller in comparison with the NSC for power-sharing characteristics. Simulation results confirm the superiority of the proposed DSC in comparison with other existing control techniques, e.g., the NSC techniques.