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Modelling and control of a Flexible Floating Boom: First Approach

IFAC-PapersOnLine 2017年第1期50卷 13108-13113页

作者： Gapingsi, G.E. Korbas, R. Santos, M. Computer Architecture and Automatic Control Department Computer Science Faculty Complutense University of Madrid C/ Profesor García Santesmases 9 Madrid28040 Spain

Floating booms are useful tools in the marine world, especially for marine demarcation where some kind of contamination of sea, ocean or coastal water is present. In this work we have developed a mathematical model for a flexible floating boom which is hooked on two boats (unmanned surface vehicles). It is meant to be used for oil spill containment in marine areas. In order to simplify the model and to make possible its computer simulation, we have adopted a quasi-static approximation where we assume that the inertial forces are small compared to the drag forces applied to the boom. The simulation of this mathematical model has allowed the analysis of the behavior of the floating boom. Based on this knowledge, we have designed a control system which allows us to maintain the flexible floating boom in a specific configuration by controlling its shape. For that purpose, the control approach deals with the speed of the two ends of the floating boom. The results obtained with the implemented control system are encouraging, considering the model is a simplified discrete one and the control effort is reasonable. © 2017

关键词： Marine pollution control systems Drag Knowledge based systems Models Oil spills Unmanned surface vehicles control approach Floating boom Inertial forces Knowledge based control Modelling and controls Quasistatic approximations Simulation Spill containment

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A new open-source and smart-device accessible remote control laboratory

A new open-source and smart-device accessible remote control...

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Experiment@ International Conference (exp.at)

作者： Julin Bermúdez-Ortega Eva Besada-Portas José A. López-Orozco Jesús M. de la Cruz Department of Computer Architecture and Automatic Control Complutense University of Madrid Madrid Spain

ISBN: (纸本)9781538608111

In this paper we show a new remote lab software architecture for automatic control Education. This architecture is based on *** and Easy Java/JavaScript Simulations, which make it lightweight and accessible from smart devices like smartphones or tablets. It is easily adaptable to different types of controllers and experiments, as the existing labs at the university complutense of madrid show.

关键词： Graphical user interfaces Servers computer architecture Open source software Education Computational modeling Web pages

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Ground-tested control architecture for distributed aircraft fuel management

Ground-tested control architecture for distributed aircraft ...

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Conference on Digital Avionics Systems (DASC)

作者： Carlos C. Insaurralde Jose M. Giron-Sierra School of Science and Engineering Teesside University Middlesbrough United Kingdom Department of Computer Architecture & Automatic Control Complutense Universidad of Madrid Madrid Spain

ISBN: (纸本)9781509025244

The SmarFuel project aims to develop a new generation of AFMS (Aircraft Fuel Management System). It proposes a Distributed Avionics control architecture (DACA) based on networked Smart Fuel Components (SFCs). This decentralized solution (opposite to conventionally-centralized approaches) reduces avionics wiring whilst the AFMS is fault tolerant. The DACA is realized by distributing the control system through microcontrollers embedded in SFCs and across a fieldbus. Thus, SFCs are able to implement advanced functions such as auto-calibration. The AFMS operation modes considered are three: pressure refueling, engine supply, and fuel transfer. The operation sequence of AFMS events is not fixed which makes the SFC decision-making process critical. The above DACA for AFMS was already realized and evaluated successfully in laboratory prototypes. This paper presents experimental results from verification and validation tests of the DACA realization carried out in a real-scaled helicopter rig. These ground experiments are based on the above fuel system operations. This paper also presents a verification tool for the SFC state machines. Conclusions and future research directions are also discussed.

关键词： Fuels Software Valves Cascading style sheets Aerospace electronics Helicopters Testing

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Symbolic Regression for Marine Vehicles Identification ∗

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IFAC-PapersOnLine 2015年第16期48卷 210-216页

作者： D. Moreno-Salinas E. Besada-Portas J.A. López-Orozco D. Chaos J.M. de la Cruz J. Aranda Departament of Computer Science and Automatic Control National University Distance Education (UNED) Madrid Spain Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid (UCM) Madrid Spain

The mathematical models used in simulation must be reliable and trustworthy enough to describe the real systems with an appropriate accuracy. This simulation process is specially important in marine environment due to the changing environmental conditions, to the cost of the infrastructure needed to carry out tests, and to the need of calibration, dep.oyment and recovery of the marine systems. If a reliable mathematical model of the vehicle is available, a part of the experimental tests can be avoided. In this paper we present a system identification technique based on genetic programming, the symbolic regression, to be applied on marine systems. In this sense, we show that it is possible to obtain a mathematical model of a ship for control purposes without the need of describing or knowing the model structure in advance, i.e., the identification itself provides the model structure that better describes the system. Thus, we can define a reliable black-box model that is computed in a simple way and where no many experimental data are needed. The model obtained is tested with additional data and manoeuvres to show its good performance and prediction ability.

关键词： Autonomous vehicles marine systems identification symbolic regression genetic programming

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Reaching a consensus on access detection by a decision system 2

Reaching a consensus on access detection by a decision syste...

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2014 2nd IEEE International Conference on Progress in Informatics and Computing, PIC 2014

作者： Guevara, Cesar Santos, Matilde Martin, Jose Antonio Lopez, Victoria Dep. Computer Architecture and Automatic Control Complutense University of Madrid Madrid Spain

ISBN: (纸本)9781479920334

Classification techniques based on Artificial Intelligence are computational tools that have been applied to detection of intrusions (IDS) with encouraging results. They are able to solve problems related to information security in an efficient way. The intrusion detection implies the use of huge amount of information. For this reason heuristic methodologies have been proposed. In this paper, decision trees, Naive Bayes, and supervised classifying systems UCS, are combined to improve the performance of a classifier. In order to validate the system, a scenario based on real data of the NSL-KDD99 dataset is used. © 2014 IEEE.

关键词： Decision trees

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Reaching a Consensus on Access Detection by a Decision System

Reaching a Consensus on Access Detection by a Decision Syste...

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2014 IEEE International Conference on Progress in Informatics and Computing

作者： César Guevara Matilde Santos José AntonioMartín Victoria López Dep. Computer Architecture and Automatic Control Complutense University of Madrid

Classification techniques based on Artificial Intelligence are computational tools that have been applied todetection of intrusions(IDS) with encouraging results. They are able tosolve problems related toinformation security in an efficient way. The intrusion detection implies the use of huge amount of information. For this reason heuristic methodologies have been proposed. In this paper, decision trees, Naive Bayes, and supervised classifying systems UCS, are combined toimprove the performance of a classifier. In order tovalidate the system, a scenariobased on real data of the NSL-KDD99 datasetis used.

关键词： artificial intelligence heuristic methodologies intrusion detection(IDS) decision trees supervised classifying system UCS naive Bayes

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Model correction mechanishm for nonlinear time variant systems as support to predictive control strategies 19

Model correction mechanishm for nonlinear time variant syste...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Pérez-Castro, A. Sánchez, J. Guzmán, J.L. Dep. of Computer Science and Automatic Control National Distance Education University Madrid Spain Dep. of Computer Science University of Almería Almería Spain

ISBN: (纸本)9783902823625

This work presents a strategy to estimate and to correct dynamics variations in nonlinear time variant systems. This correction is carried out by estimating the internal parameters of the process and determining the differences with an available nonlinear model of the system. The proposed approach has a double functionality;on the one hand, it allows a better performance of using nonlinear models for control purposes, like for nonlinear predictive controllers;and on the other hand, it can be used as a diagnosis mechanism since it provides relevant information about the current state of the system. Thus, in order to use this technique with nonlinear time variant systems, a nonlinear model predictive control strategy has been used. The estimator proposed within the framework of this work is similar to the Moving Horizon Estimation strategy. Experimental results on a real tank process are presented to show the main properties of the proposed architecture. © IFAC. © Copyright IFAC 2014.

关键词： Model predictive control

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Reaching a consensus on access detection by a decision system

Reaching a consensus on access detection by a decision syste...

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IEEE International Conference on Progress in Informatics and Computing (PIC)

作者： Cesar Guevara Matilde Santos Jose Antonio Martin Victoria Lopez Dep. Computer Architecture and Automatic Control Complutense University of Madrid Madrid Spain

关键词： Intrusion detection Databases Decision trees Classification algorithms Artificial intelligence computers

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Model correction mechanishm for nonlinear time variant systems as support to predictive control strategies

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IFAC Proceedings Volumes 2014年第3期47卷 5975-5980页

作者： A. Pérez-Castro J. Sanchez J.L. Guzman Dep. of Computer Science and Automatic Control National Distance Education University Madrid Spain Dep. of Computer Science University of Almería Almería Spain

This work presents a strategy to estimate and to correct dynamics variations in nonlinear time variant systems. This correction is carried out by estimating the internal parameters of the process and determining the differences with an available nonlinear model of the system. The proposed approach has a double functionality; on the one hand, it allows a better performance of using nonlinear models for control purposes, like for nonlinear predictive controllers; and on the other hand, it can be used as a diagnosis mechanism since it provides relevant information about the current state of the system. Thus, in order to use this technique with nonlinear time variant systems, a nonlinear model predictive control strategy has been used. The estimator proposed within the framework of this work is similar to the Moving Horizon Estimation strategy. Experimental results on a real tank process are presented to show the main properties of the proposed architecture.

关键词： Modeling Model Predictive control Nonlinear Model Predictive control System diagnosis Nonlinear time variant models Moving Horizon Estimation

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Author's retrospective for: Biomedical image analysis on a cooperative cluster of GPUs and multicores 25

Author's retrospective for: Biomedical image analysis on a c...

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25th ACM International Conference on Supercomputing, ICS 2014

作者： Hartley, Timothy D. R. Çatalyürek, Ümit V. Ruiz, Antonio Igual, Francisco Mayo, Rafael Ujaldon, Manuel Intel Corporation Software and Services Group HillsboroOR United States Dept. Biomedical Informatics Ohio State University ColumbusOH43210 United States Computer Architecture Dept. University of Malaga Malaga Spain Computer Architecture and Automatic Control Dept. Univ. Complutense of Madrid Madrid Spain Dept. of Computer Eng. and Computer Science University Jaume I Castellon Spain

ISBN: (纸本)9781450328401

The last six years has seen Moore's Law continue to produce incredible gains in computational power. Indeed, the November, 2007 list of the top ten fastest supercomputers in the world contained no machines with acceleration of any kind. The same list six years later has four of the ten fastest supercomputers using accelerators, including the top two machines [3] . And the ten greenest supercomputers in November 2013 are using NVIDIA GPUs [1]. This heterogeneity of processing units is present from the top of the computational power spectrum down to the bottom, where GPU hardware coupled with novel CUDA and OpenCL programming paradigms have brought significant performance gains to consumer-grade applications. Copyright © 2014 by the Association for Computing Machinery, Inc. (ACM).

关键词： Graphics processing unit

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