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arXiv 2025年

作者： Xie, Peng Betz, Johannes Raimondo, Davide M. Alanwar, Amr TUM School of Computation Information and Technology Department of Computer Engineering Technical University of Munich Heilbronn74076 Germany TUM School of Engineering and Design Department of Autonomous Vehicles Systems Technical University of Munich Garching85748 Germany School of Automatic Control Department of Engineering and Architecture University of Trieste Via Valerio 10 Trieste34127 Italy

Hybrid systems play a crucial role in modeling real-world applications where discrete and continuous dynamics interact, including autonomous vehicles, power systems, and traffic networks. Safety verification for these systems requires determining whether system states can enter unsafe regions under given initial conditions and uncertainties—a question directly addressed by reachability analysis. However, hybrid systems present unique difficulties because their state space is divided into multiple regions with distinct dynamic models, causing traditional data-driven methods to produce inadequate over-approximations of reachable sets at region boundaries where dynamics change abruptly. This paper introduces a novel approach using hybrid zonotopes for data-driven reachability analysis of piecewise affine systems. Our method addresses the boundary transition problem by developing computational algorithms that calculate the family of set models guaranteed to contain the true system trajectories. Additionally, we extend and evaluate three methods for set-based estimation that account for input-output data with measurement noise. © 2025, CC BY.

关键词： Convergence of numerical methods

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Modelling and control of a Flexible Floating Boom: First Approach

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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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automatic detection of vehicles in outdoor parking lots from zenith perspective using neural networks

Automatic detection of vehicles in outdoor parking lots from...

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2020 Summer computer Simulation Conference, SCSC 2020, Held at the 2020 Summer Simulation Multi-Conference, SummerSim 2020

作者： García, Juan Manuel Carrera Piorno, Joaquín Recas Mata-Garcia, María Guijarro Department of Computer Architecture and Automatic Control Faculty of Computer Science Universidad Complutense de Madrid Spain

ISBN: (纸本)9781713819462

Nowadays there are a variety of methods to assist parking users in finding free sites in parking lots. However, there is no automatic system that takes into account the size of the car looking for a space or whether the cars adjacent to the free spaces are correctly parked. This paper presents a new method for detecting and calculating the area of vehicles in images taken from a zenith plane using computer vision and machine learning techniques that will help to create a vehicle-oriented search algorithm dedicated to finding the optimal spaces for vehicles entering an outdoor parking lot based on its characteristics. Results with scaled-down and real vehicles show that this new method can detect the area of the vehicles in an image with an average accuracy of 97.98%. ©2020 Society for Modeling & Simulation International (SCS)

关键词： Vehicles

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Hybrid heuristic and mathematical programming in oil pipelines networks: Use of immigrants

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2005年第1期6卷 9-19页

作者： DE LA CRUZ J.M HERRáN-GONZáLEZ A RISCO-MARTíN J.L ANDRéS-TORO B Department of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid SpainDepartment of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid SpainDepartment of Computer Science Engineering C.E.S. Felipe II (U.C.M.) 28300 Aranjuez SpainDepartment of Computer Architecture and Automatic Control Complutense University of Madrid 28040 Madrid Spain

We solve the problem of petroleum products distribution through oil pipelines networks. This problem is modelled and solved using two techniques: A heuristic method like a multiobjective evolutionary algorithm and Mathematical Programming. In the multiobjective evolutionary algorithm, several objective functions are defined to express the goals of the solutions as well as the preferences among them. Some constraints are included as hard objective functions and some are evaluated through a repairing function to avoid infeasible solutions. In the Mathematical Programming approach the multiobjective optimization is solved using the Constraint Method in Mixed Integer Linear Programming. Some constraints of the mathematical model are nonlinear, so they are linearized. The results obtained with both methods for one concrete network are presented. They are compared with a hybrid solution, where we use the results obtained by Mathematical Programming as the seed of the evolutionary algorithm.

关键词： MOEA MILP Hybrid algorithm Constraints

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Knowledge-Based Decision System for Sizing Grid-Connected Photovoltaic Arrays

Knowledge-Based Decision System for Sizing Grid-Connected Ph...

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7th International Conference on Intelligent Systems and Knowledge Engineering, ISKE 2012

作者： Mikati, Monir Santos, Matilde ÅF Technology Lindholmspiren 9 41756 Gothenburg Sweden Department of Computer Architecture and Automatic Control Universidad Complutense de Madrid 28040 Madrid Spain

In this paper we have developed a methodology and a numerical model for sizing photovoltaic (PV) arrays for grid-connected power consumers. The decision variables proposed are the PV contribution to the power demand and a transfer factor. The latter is a new index that we have defined, and it constitutes key knowledge for decision making when aiming to reduce power transfers between a local power system and the electric grid. The developed model generates days of solar irradiance and calculates PV power output for commercial PV modules. Sizing diagrams are presented that illustrate how the PV capacity, for a specific location and a local power demand, affects the PV contribution to the demand and the power trades with grid. For the particular simulation conditions studied, the sizing diagrams show PV contribution saturation levels and global transfer factor minimums. © Springer-Verlag Berlin Heidelberg 2014.

关键词： Solar energy

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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, deployment 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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Delta-V genetic optimisation of a trajectory from Earth to Saturn with fly-by in Mars

Delta-V genetic optimisation of a trajectory from Earth to S...

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IEEE Congress on Evolutionary Computation

作者： Zotes, Fernando Alonso Peñas, Matilde Santos Universidad Nacional de Educación a Distancia 28040-Madrid Spain Department of Computer Architecture and Automatic Control Facultad de Informatica Universidad Complutense de Madrid 28040-Madrid Spain

ISBN: (纸本)9781424469109

The aim of this article is to analyse the results obtained when using a genetic algorithm (GA) to optimise the interplanetary trajectory of a spacecraft. The desired trajectory should visit Saturn, after performing a gravitational assistance or fly-by in planet Mars. The GA tunes a set of variables, in order to achieve the mission purpose while satisfying the constraints and minimizing the delta-V of the mission. Due to the complexity of the implemented models and the lack of analytical solutions, an alternative non-traditional algorithm provided by soft-computing techniques such as GA is necessary to achieve an optimum solution. The positions of planets as provided by Jet Propulsion Laboratory have been considered. A variable mutation rate has been implemented that broadens the search area whenever the population becomes uniform. The results are very useful from the point of view of mission analysis and therefore can be used as an initial guess for further optimizations. They can also be the first step for a more refined analysis and time-consuming simulations based on more complex models of orbital perturbations. © 2010 IEEE.

关键词： Orbits

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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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Automated visual inspection to assembly of frontal airbag sensors of automobiles

Automated visual inspection to assembly of frontal airbag se...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： J. Fernandez D. Benchetrit D. Gachet Automatic Control and Computer Architecture Department Universidad Europea de Madrid Madrid Spain

ISBN: (纸本)0780372417

This paper describes an automatic quality control system that supervises through three CCD cameras the assembly of automobile airbag sensors. The main characteristics that can be detected are position, angle and geometric parameters of epoxy resin to fix the accelerator sensor. The system can inspect 12000 pieces/hour and now it is at full production in a multinational automobile component factory at Madrid.

关键词： Inspection Sensor phenomena and characterization Automobiles Quality control Charge coupled devices Charge-coupled image sensors Assembly systems Sensor systems Epoxy resins Production systems

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Distributed formation maneuver control by manipulating the complex Laplacian

arXiv

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arXiv 2020年

作者： de Marina, Hector Garcia Department of Computer Architecture Automatic Control Faculty of Physics Universidad Complutense Madrid Spain

This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges from the local interactions among the agents. These collective motions can be exploited to solve problems such as the shaped consensus (the rendezvous with a particular shape), the enclosing of a target, or translations with controlled speed and heading to assist mobile robots in area coverage, escorting, and traveling missions, respectively. The designed steady-state collective motions correspond to rotations around the centroid, translations, and scalings of a reference shape. The proposed modification of the weights relocates one of the Laplacian's zero eigenvalues while preserving its associated eigenvector that constructs the desired shape. For example, such relocation on the imaginary or real axis induces rotational and scaling motions, respectively. We will show how to satisfy a sufficient condition to guarantee the global convergence to the desired shape and motions. Finally, we provide simulations and comparisons with other maneuvering techniques. Copyright © 2020, The Authors. All rights reserved.

关键词： Laplace transforms

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