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Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

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arXiv 2024年

作者： Chaos, Dictino Chacón, Jesús Lopez-Orozco, Jose Antonio Dormido, Sebastián Department of Computer Science and Automatic Control UNED Juan del Rosal 16 Madrid28040 Spain Department of Computers Architecture and Automatic Control Complutense University Ciudad Universitaria Madrid28040 Spain

This paper describes the design and implementation of a virtual and remote laboratory based on Easy Java Simulations (EJS) and LabVIEW. The main application of this laboratory is to improve the study of sensors in Mobile Robotics, dealing with the problems that arise on the real world experiments. This laboratory allows the user to work from their homes, tele-operating a real robot that takes measurements from its sensors in order to obtain a map of its environment. In addition, the application allows interacting with a robot simulation (virtual laboratory) or with a real robot (remote laboratory), with the same simple and intuitive graphical user interface in EJS. Thus, students can develop signal processing and control algorithms for the robot in simulation and then deploy them on the real robot for testing purposes. Practical examples of application of the laboratory on the inter-university Master of Systems Engineering and automatic control are presented. © 2024, CC BY-NC-ND.

关键词： Laboratories

A Suite of Division Algorithms for Posit Arithmetic

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A Suite of Division Algorithms for Posit Arithmetic

International Conference on Application Specific Systems (ASAP), architectures and Processors

作者： Raul Murillo Alberto A. Del Barrio Guillermo Botella Dept. of Computer Architecture and Automation Faculty of Physics University of Madrid Madrid Spain Dept. of Computer Architecture and Automation Faculty of Computer Science Complutense University of Madrid Madrid Spain

Posit ™ arithmetic is a promising alternative to IEEE 754 floating-point arithmetic due to its higher accuracy, larger dynamic range, and bitwise compatibility. While posit arithmetic has been well studied for basic arithmetic operations, division has received little attention. This paper proposes multiple divider designs for posit arithmetic based on digit recurrence and iterative approximation, and evaluates their performance. ASIC synthesis results show that the proposed designs significantly reduce hardware requirements for 32-bit division units compared to previous works by 1.14 × in area, 1.11× in power, and 1.04×in datapath delay. Moreover, the paper introduces an approximate logarithmic posit division that achieves an 8.8×reduction in area and 29×reduction in energy consumption with negligible degradation of the final results, making it suitable for error-tolerant applications.

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Preliminary Identification of the Dynamics of a Floating Offshore Wind Turbine Barge

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Renewable Energy and Power Quality Journal

Renewable Energy and Power Quality Journal 2023年 21卷 539-544页

作者： Galeote, I. Esteban, S. Santos, M. Dept. of Computer Architecture and Automatics Complutense University of Madrid Faculty of Physics Plaza de Ciencias 1 Madrid28040 Spain Institute of Knowledge Engineering Complutense University of Madrid Spain

Offshore wind turbines have become an increasingly attractive source of renewable energy because of their potential to access and utilize energy from deeper waters with more stable, stronger winds. The goal of this paper is to propose a mathematical model based on transfer functions to identify and study the behavior of the six degrees of freedom of floating turbines. For this purpose, the system has been simulated with OpenFAST for specific environmental conditions. A subset of data has been used to identify transfer functions to obtain a control-oriented model. The model has been progressively validated, extending the preliminary proposed model. The scope and limitations of this methodology have been assessed, as well as the possibilities of extending the present work to include a more functional methodology oriented to system co-design. © 2023, European Association for the Development of Renewable Energy, Environment and Power Quality (EA4EPQ). All rights reserved.

关键词： Transfer functions

Towards an improvement of the forecast of wind resources in europe: application of unsupervised machine learning on future projections of polar vortex

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Towards an improvement of the forecast of wind resources in ...

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

作者： Montes, María Rodríguez Ayarzagüena, Blanca Mata-García, María Guijarro Complutense University of Madrid Spain Dept. Earth Physics and Astrophysics Complutense University of Madrid Spain Dept. Computer Architecture and Automatic Control Complutense University of Madrid Spain

ISBN: (纸本)9781713819462

Studying the impact of climate change on wintertime polar stratosphere is of particular relevance not only for climate knowledge but also for tropospheric projections. Machine learning provides a way to extract information from different climate models and combine the data in a such way that patterns are clearer, so predictions can be inducted. The methods used in this study have been region growing algorithm, K-means and combination of predictions. The final results show three clusters of response trends for the intensity and location of the stratospheric polar night jet. The prediction shows an increase in zonal wind intensity over the 2xCO2 and 4xCO2 concentration points and a decrease in the related latitude. Our methods can be extended for more climate models and simulation periods, and will allow not only to map the behavior of the polar night jet, but other stratospheric and tropospheric features and interactions between them. ©2020 Society for Modeling & Simulation International (SCS)

关键词： Climate models

1-D Spatial Attention in Binarized Convolutional Neural Networks

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1-D Spatial Attention in Binarized Convolutional Neural Netw...

International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： HyunJin Kim Jungwoo Shin Wansoo Kim Alberto A. Del Barrio School of EEE Dankook University Republic of Korea VOOM AI LAB LINE Plus Corporation Dept. of Computer Architecture and System Eng. Complutense University of Madrid Madrid ES

This paper proposes a structure called SPBNet for enhancing binarized convolutional neural networks (BCNNs) using a low-cost 1-D spatial attention structure. Attention blocks can compensate for the performance drop in BCNNs. However, the hardware overhead of complex attention blocks can be a significant burden in BCNNs. The proposed attention block consists of low-cost 1-D height-wise and width-wise 1-D convolutions, It has the attention bias to adjust the effects of attended features in ×0.5−×1.5. In experiments, the proposed block used in ResNet18-based BCNNs improves Top-1 accuracy up to 2.7% over a baseline ReActNet on the CIFAR100 dataset. Notably, without using teacher-student training, the proposed structure can show comparable performance as the baseline ReActNetA using teacher-student training.

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Efficient micro data centres deployment for mobile healthcare monitoring systems in IoT urban scenarios

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arXiv 2023年

作者： Henares, Kevin Risco-Martín, José L. Ayala, José L. Hermida, Román Dept. of Computer Architecture and Automation Complutense University of Madrid Calle Prof. José García Santesmases 9 Madrid28040 Spain

In the last decade, the Internet of Things paradigm has caused an exponential increase in the number of connected devices. This trend brings the Internet closer to everyday activities and enables data collection that can be used to create and improve a great variety of services and applications. Despite its great benefits, this paradigm also comes with several challenges. More powerful storage and processing capabilities are required to service all these devices. Additionally, the need to deploy and manage the infrastructure to efficiently support these resources continues to pose a challenge. Modeling and simulation can help to design and analyze these scenarios, providing flexible and powerful mechanisms to study and compare different strategies and infrastructures. In this scenario, Micro Data Centers (MDCs) can be used as an effective way of reducing overwhelmed Cloud Data Center infrastructures. This paper explores an M&S methodology to study the overall power consumption of a healthcare IoT scenario. The patients wear non-intrusive monitoring devices that periodically generate tasks to be executed in MDCs. We extract the layout of existing urban infrastructures, simulate the monitored population's behavior, and compare the power consumption of several data center configurations. © 2023, CC BY-SA.

关键词： Internet of things

The DEVStone Metric: Performance Analysis of DEVS Simulation Engines

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arXiv 2023年

作者： Cárdenas, Román Henares, Kevin Arroba, Patricia Risco-Martín, José L. Wainer, Gabriel A. Integrated Systems Laboratory Universidad Politécnica de Madrid Madrid Spain Dept. of Systems and Computer Engineering Carleton University OttawaON Canada Dpt. of Computer Architecture and Automation Universidad Complutense de Madrid Madrid Spain Center for Computational Simulation Universidad Politécnica de Madrid Madrid Spain

The DEVStone benchmark allows us to evaluate the performance of discrete-event simulators based on the DEVS formalism. It provides model sets with different characteristics, enabling the analysis of specific issues of simulation engines. However, this heterogeneity hinders the comparison of the results among studies, as the results obtained on each research work depend on the chosen subset of DEVStone models. We define the DEVStone metric based on the DEVStone synthetic benchmark and provide a mechanism for specifying objective ratings for DEVS-based simulators. This metric corresponds to the average number of times that a simulator can execute a selection of 12 DEVStone models in one minute. The variety of the chosen models ensures we measure different particularities provided by DEVStone. The proposed metric allows us to compare various simulators and to assess the impact of new features on their performance. We use the DEVStone metric to compare some popular DEVS-based simulators. © 2023, CC BY-SA.

关键词： Discrete event simulation

Unit testing platform to verify devs models

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Unit testing platform to verify devs models

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

ISBN: (纸本)9781713819462

The natural progression from classic Model-Based Systems Engineering (MBSE) methodologies to Modeling and Simulation-Based Systems Engineering (M&SBSE) brings the need for more flexible and powerful validation tools. Completing the structure and descriptions of static models with self-diagnosis greatly facilitates the development, implementation, and validation of complex models. However, current simulation development environments and libraries often lack providing complete tools to validate these complex models straightforwardly and with the proper level of detail. In this article, we tackle this issue transferring one of the traditional software testing methods, unit testing, to the modeling and simulation field. To this end, we integrate a unit-testing method to the DEVS methodology, allowing the specification of expected states, outcomes, and behaviors of the simulation modules in an XML-based syntax, in all the levels of the hierarchical design. As a result, this methodology enables the generation of powerful and easy-readable verification files. ©2020 Society for Modeling & Simulation International (SCS)

关键词： Systems engineering

Securing isosceles triangular formations under heterogeneous sensing and mixed constraints

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arXiv 2021年

作者： Chan, Nelson P.K. Jayawardhana, Bayu de Marina, Hector Garcia Engineering and Technology Institute Groningen University of Groningen Nijenborgh 4 Groningen9747AG Netherlands Department of Computer Architecture and Automatic Control Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local information, each robot employs the popular gradient-based control law to attain the assigned individual task(s). In the current work, robots are assigned either distance and signed area task(s) or bearing task(s). We provide a sufficient condition on the gain ratio RAd between the signed area and the distance control term such that the desired formation shape, an isosceles triangle, is reached from all feasible starting positions. Numerical simulations are provided to support the theoretical *** Codes 93D99 © 2021, CC BY-NC-SA.

关键词： Robots