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63rd IEEE Conference on Decision and Control, CDC 2024

作者： Acuaviva, Antonio Bautista, Jesus Yao, Weijia Jimenez, Juan De Marina, Hector Garcia Universidad Complutense de Madrid Department of Computer Architecture and Automation Spain Department of Computer Engineering Automation and Robotics Granada Spain Hunan University School of Robotics China

ISBN: (纸本)9798350316339

We present a solution for locating the source, or maximum, of an unknown scalar field using a swarm of mobile robots. Unlike relying on the traditional gradient information, the swarm determines an ascending direction to approach the source with arbitrary precision. The ascending direction is calculated from field strength measurements at the robot locations and their relative positions concerning the swarm centroid. Rather than focusing on individual robots, we focus the analysis on the density of robots per unit area to guarantee a more resilient swarm, i.e., the functionality remains even if individuals go missing or are misplaced during the mission. We reinforce the algorithm's robustness by providing sufficient conditions for the swarm shape so that the ascending direction is almost parallel to the gradient. The swarm can respond to an unexpected environment by morphing its shape and exploiting the existence of multiple ascending directions. Finally, we validate our approach numerically with hundreds of robots. The fact that a large number of robots with a generic formation always calculate an ascending direction compensates for the potential loss of individuals. © 2024 IEEE.

关键词： Microrobots

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An integrated framework for the agile development and deployment of low cost remote laboratories

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Multimedia Tools and Applications 2024年 1-21页

作者： Chacón, Jesús Besada-Portas, Eva García-Pérez, Lía López-Orozco, Jose Antonio Department of Computer Architecture and Automation Universidad Complutense de Madrid Plaza de las Ciencias 1 Madrid Madrid28040 Spain

This work proposes a standalone framework, supported by state-of-the-art technologies, to efficiently build Remote Laboratories (RLs) from scratch. Not only does this proposal contribute with a new software infrastructure of RLs, but also with a methodology and an Integrated Development Environment to set up and deploy RLs, to boost developers productivity, and to reduce the RLs time/cost to production. Finally, the new framework, described first in depth from the point of view of its users and later through a study case, can be used as a principle solution for low cost RLs, since its software is completely deployable in single-board computers as the Raspberry Pi. © The Author(s) 2024.

关键词： Remote control

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Control of an Hybrid AC/DC MG Using Raspberry Pi

Control of an Hybrid AC/DC MG Using Raspberry Pi

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International Conference of the TC Electrimacs Committee, ELECTRIMACS 2024

作者： Carrasco-González, David Sarrias-Mena, Raúl Horrillo-Quintero, Pablo Llorens-Iborra, Francisco Fernández-Ramírez, Luis M. Cadiz Spain SURET Research Group Department of Engineering in Automation Electronics and Computer Architecture and Networks ETSI Algeciras Cadiz Spain

ISBN: (纸本)9783031739200

Nowadays, hybrid AC/DC microgrids (HMG) are growing in popularity because of human needs and their benefits. They are composed of the interconnection of a DC microgrid (MG) and an AC MG, and each MG is constituted by generation, energy storage, and consumption technologies. This study develops a new control strategy for an HMG consisting of a DC MG and an AC MG interconnected through a bidirectional power converter. The AC MG is composed of AC loads, a photovoltaic (PV) generator and a battery bank. The DC MG is made up of a hydrogen system, DC loads, wind turbine (WT) and ultracapacitor (UC). The HMG is evaluated under different conditions in an experimental setup constituted by an OPAL-RT 4512 unit and a Raspberry Pi microcontroller. This experimental setup permits to execute the HMG in real time and to validate the results obtained. Finally, the control system developed for this HMG presents a satisfactory behaviour under different working conditions. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Wind turbines

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Reverse-Engineering Optimization Techniques of High-Level Synthesis: Practical Insights into Accelerating Applications with AMD-Xilinx Vitis

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IEEE Transactions on computer-Aided Design of Integrated Circuits and Systems 2025年

作者： Koronis, Jorge Garnica, Oscar Hidalgo, J. Ignacio Davila, Juan Lanchares Spain Department of Computer Architecture and Automation Faculty of Computer Science Universidad Complutense de Madrid Spain

Modern AI applications contain computationally expensive sections. Accelerator cards and tools like AMD Vitis HLS leverage high-level synthesis and hardware (HW) optimizations to create custom HW designs to accelerate ***, the learning curve is steep, even for those with previous knowledge of HW design, due to the complexity of the optimization techniques and limited information on their interactions and HW effects. This paper quantitatively analyzes the interactions of optimization techniques after reverse engineering Vitis' optimization directives, both in isolation and in *** 150 experiments were conducted to investigate three distinct goals: assessing pragma behavior and the rules governing pragma application and optimizations, modeling Vitis HLS latency estimates, and evaluating the impact of optimizations on design space exploration, specifically area and latency. These experiments involve different combinations and placements of optimizations in the loop and function hierarchy of the test bench. Our findings offer guidance on using Vitis pragmas and identify promising configurations for optimizing latency and area. © 1982-2012 IEEE.

关键词： Reverse engineering

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Distributed Control for a Microgrid Cluster: Implementation and Experimental Validation 24

Distributed Control for a Microgrid Cluster: Implementation ...

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24th EEEIC International Conference on Environment and Electrical Engineering and 8th I and CPS Industrial and Commercial Power Systems Europe, EEEIC/I and CPS Europe 2024

作者： Carrasco-Gonzalez, David Sarrias-Mena, Raúl Horrillo-Quintero, Pablo Hosseini, Ehsan Llorens-Iborra, Francisco Fernández-Ramírez, Luis M. University of Cadiz Suret Research Group Department of Electrical Engineering Algeciras Spain University of Cadiz Suret Research Group Department of Engineering in Automation Electronics and Computer Architecture and Networks Algeciras Spain

ISBN: (纸本)9798350355185

In response to growing energy demands and concerns about climate change, microgrid clusters (MGCs) are gaining widespread attention. Their ability to integrate technologies for energy consumption, generation, and storage in AC, DC or a compound of both offer a high degree of flexibility and resiliency. This research introduces a new control strategy for an MGC composed of two MGs interconnected to a local grid via a point of common coupling. The first one is a DC MG comprising an ultracapacitor (UC), wind turbine (WT), DC loads and hydrogen system. The second is an AC MG with a battery bank, AC loads and photovoltaic (PV) generator. The control strategy employs local controllers for each device and distributed control via two control agents, coordinating the power distribution among the energy storage systems (ESSs) of the MGC. This system is tested and validated on a real-time experimental setup, using two Raspberry Pi microcontrollers and an OPAL-RT unit, under different working conditions. The results obtained in this work show that the control strategy implemented in the MGC works correctly. © 2024 IEEE.

关键词： Windmill

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Simulation, Optimization and Control of Trajectories of ASVs Performing Hacbs Monitoring Missions in Lentic Waters

Simulation, Optimization and Control of Trajectories of ASVs...

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2023 Winter Simulation Conference, WSC 2023

作者： González-Calvin, Alfredo García-Perez, Lía Risco-Martín, José L. Besada-Portas, Eva Universidad Complutense de Madrid Department of Computer Architecture and Automation Calle Prof. José García Santesmases 9 Madrid28040 Spain

ISBN: (纸本)9798350369663

Harmful Algaeand Cyanobacteria Blooms (HACBs) are dangerous dynamic processes for the users/inhabitants of the hydric resources. Their development and contingency plans can be anticipated by using Autonomous Surface Vehicles (ASVs) equipped with a self-driven system capable of deciding how to displace the ASV and its multi-parametric probe to take measurements in the 3D locations of the water body where the HACB is likely to occur. This paper presents a new self-driven system for that purpose, consistent on 1) an offline trajectory planner for the ASV that exploits the information provided by a commercial HACBs simulator to optimize, in turn, the ASV horizontal and probe vertical displacements;and 2) a guidance and control system specially designed for making the ASV follow the planned trajectories. The paper also presents a comprehensive set of simulations to evaluate our proposal's performance and adjust its parameters. © 2023 IEEE.

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A NOVEL REAL-TIME DEVS SIMULATION architecture WITH HARDWARE-IN-THE-LOOP CAPABILITIES

A NOVEL REAL-TIME DEVS SIMULATION ARCHITECTURE WITH HARDWARE...

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2024 Annual Modeling and Simulation Conference, ANNSIM 2024

作者： Fernández-Sebastián, Óscar Cárdenas, Román Arroba, Patricia Risco-Martín, José L. Department of Computer Architecture and Automation Universidad Complutense de Madrid Spain Department of Electronic Engineering Universidad Politécnica de Madrid Spain Center for Computational Simulation Universidad Politécnica de Madrid Spain

ISBN: (纸本)9781713899310

Advanced Modelling and Simulation (M&S) techniques, including Digital Twins (DTs) and Hardware-In-the-Loop (HIL) simulation, are essential for the design and operation of today’s complex systems. Despite these advances, there remains a gap between the simulation methods used in design and those used in implementation. This paper introduces a Real-Time (RT) simulation framework that connects models using the Discrete-Event System Specification (DEVS) with external systems, improving implementation and operation. The Python xDEVS tool has been enhanced to introduce a new suite of real-time simulation components and a DEVS-based communication interface, facilitating adaptable communication protocols. The framework demonstrates its capability to integrate both DEVS and non-DEVS systems and establish effective communication through various experiments, ranging from RT simulation of DEVS models to complex multi-component systems. This tool has significant potential in supporting real and incremental system implementations through HIL techniques, making a valuable contribution to complex system design and operation. © 2024 Society for Modeling & Simulation International (SCS).

关键词： Hardware-in-the-loop simulation

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Development of an Interface for Digital Neuromorphic Hardware Based on an FPGA

Development of an Interface for Digital Neuromorphic Hardwar...

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UNIfied Conference of International Workshop on Defence Applications of Multi-Agent Systems, DAMAS 2023, International Conference on Maintenance Engineering, IncoME-V 2023, International conference on the Efficiency and Performance Engineering Network, TEPEN 2023

作者： Harmann, René Sohlbach, Lukas Perez-Peña, Fernando Schmidt, Karsten Department of Computer Science and Engineering Frankfurt University of Applied Sciences Nibelungenplatz 1 Frankfurt60318 Germany Department of Automation Electronics and Computer Architecture and Networks School of Engineering University of Cadiz Avda. de la Universidad 10 Puerto Real11519 Spain

ISBN: (纸本)9783031494208

Exploring and understanding the functioning of the human brain is one of the greatest challenges for current research. Neuromorphic engineering tries to address this challenge by abstracting biological mechanisms and translating them into technology. Via the abstraction process and experiments with the resulting technical system, an attempt is made to obtain information about the biological counterpart. One subsection of Neuromorphic Engineering (NE) is Spiking Neural Networks (SNN), which describe the structures of the human brain more and more closely than Artificial Neural Networks (ANN). Together with their dedicated hardware, SNNs provide a good platform for developing new algorithms for information processing. In the context of these neuromorphic hardware platforms, this paper aims to develop an interface for a digital hardware platform (SPINN-3 Development Board) to enable the use of industrial or conventional sensors and thus create new approaches for experimental research. The basis for this endeavor is a Field Programmable Gate Array (FPGA), which is placed as a gateway between the sensors and the neuromorphic hardware. Overall, the developed system provides a robust solution for a wide variety of investigations related to neuromorphic hardware and SNNs. Furthermore, the solution also offers suitable possibilities to monitor all processes within the system in order to obtain suitable measurements, which can be examined in search of meaningful results. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Neural networks

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Simulation, Optimization and Control of Trajectories of ASVS Performing HACBS Monitoring Missions in Lentic Waters 23

Simulation, Optimization and Control of Trajectories of ASVS...

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Proceedings of the Winter Simulation Conference

作者： Alfredo González-Calvin Lía García-Perez José L. Risco-Martín Eva Besada-Portas Department of Computer Architecture and Automation Universidad Complutense de Madrid Madrid SPAIN

ISBN: (纸本)9798350369663

Harmful Algaeand Cyanobacteria Blooms(HACBs)are dangerous dynamic processes for the users/inhabitants of the hydric resources. Their development and contingency plans can be anticipated by using Autonomous Surface Vehicles (ASVs) equipped with a self-driven system capable of deciding how to displace the ASV and its multi-parametric probe to take measurements in the 3D locations of the water body where the HACB is likely to occur. This paper presents a new self-driven system for that purpose, consistent on 1) an offline trajectory planner for the ASV that exploits the information provided by a commercial HACBs simulator to optimize, in turn, the ASV horizontal and probe vertical displacements; and 2) a guidance and control system specially designed for making the ASV follow the planned trajectories. The paper also presents a comprehensive set of simulations to evaluate our proposal's performance and adjust its parameters.

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Deep Learning For Predicting Cerebral Metabolism Changes Along The Alzheimer’s Disease Continuum 15

Deep Learning For Predicting Cerebral Metabolism Changes Alo...

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15th International Multi-Conference on Complexity, Informatics and Cybernetics, IMCIC 2024

作者： García-Gutiérrez, Fernando Hernández-Lorenzo, Laura Cabrera-Martín, María Nieves Matias-Guiu, Jordi A. Ayala, José L. Department of Computer Architecture and Automation Complutense University of Madrid Madrid28040 Spain Department of Nuclear Medicine Hospital Clinico San Carlos IdISSC Madrid28040 Spain Department of Neurology Hospital Clinico San Carlos IdISSC Madrid28040 Spain

ISBN: (纸本)9781950492787

In recent years, there has been a significant increase in the application of Artificial Intelligence (AI) techniques in Alzheimer’s disease (AD). However, current research primarily focuses on differentiating clinical phenotypes based on cross-sectional designs. In this study, we hypothesize that modeling additional aspects of the disease, such as variations in brain metabolism measured by [18F]-fluorodeoxyglucose positron emission tomography (FDG-PET), is possible, and can provide valuable insights into AD progression. For this purpose, we first identified the brain regions with the most pronounced brain hypometabolism in AD. Subsequently, Deep Learning (DL) models, based on feed-forward networks (FFNs) and convolutional neural networks (CNNs), were used to model variations in brain metabolism. Our findings demonstrated the feasibility of predicting trends in brain metabolism along the AD continuum. Overall, this study introduces a novel dimension to predictive modeling in AD, highlighting the relevance of predicting variations in brain metabolism. © IMCIC 2024. All rights reserved.

关键词： Neuroimaging

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