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arXiv 2020年

作者： Yao, Weijia de Marina, Héctor Garcia Lin, Bohuan Cao, Ming University of Groningen Netherlands The Department of Computer Architecture and Automatic Control The Faculty of Physics Universidad Complutense de Madrid Madrid28040 Spain

In robot navigation tasks, such as UAV highway traffic monitoring, it is important for a mobile robot to follow a specified desired path. However, most of the existing path-following navigation algorithms cannot guarantee global convergence to desired paths or enable following self-intersected desired paths due to the existence of singular points where navigation algorithms return unreliable or even no solutions. One typical example arises in vector-field guided path-following (VF-PF) navigation algorithms. These algorithms are based on a vector field, and the singular points are exactly where the vector field diminishes. Conventional VF-PF algorithms generate a vector field of the same dimensions as those of the space where the desired path lives. In this paper, we show that it is mathematically impossible for conventional VF-PF algorithms to achieve global convergence to desired paths that are self-intersected or even just simple closed (precisely, homeomorphic to the unit circle). Motivated by this new impossibility result, we propose a novel method to transform self-intersected or simple closed desired paths to non-self-intersected and unbounded (precisely, homeomorphic to the real line) counterparts in a higher-dimensional space. Corresponding to this new desired path, we construct a singularity-free guiding vector field on a higher-dimensional space. The integral curves of this new guiding vector field is thus exploited to enable global convergence to the higher-dimensional desired path, and therefore the projection of the integral curves on a lower-dimensional subspace converge to the physical (lower-dimensional) desired path. Rigorous theoretical analysis is carried out for the theoretical results using dynamical systems theory. In addition, we show both by theoretical analysis and numerical simulations that our proposed method is an extension combining conventional VF-PF algorithms and trajectory tracking algorithms. Finally, to show the practical value of

关键词： Mobile robots

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Big+Open Data: Some applications for a Smartcity

Big+Open Data: Some applications for a Smartcity

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

作者： Victoria Lopez Guadalupe Miñana Oscar Sánchez Beatriz González Gabriel Valverde R. Caro Dept. Computer Architecture and Automatics Complutense University Madrid Spain Dept. Statistics and O. R Complutense University Madrid Spain

The way of thinking on Big Data, Open Data and their use by organizations or individuals has been a trending topic over the last few years. Big Data deals with collecting, storing, analyzing and putting data in value. Big, medium and small enterprises want to include information technologies in their management and decision processes. At the same time, movements about rights on public data have increased their presence and force. Data from governments must be open. Every day, more and more cities and countries are opening their data. Open Data has emerged as a new paradigm for the public service provision model with a special role in Smart City. The main goal of Big and Open Data in a Smart City is to develop systems which can be useful for citizens. In this work we analyze how both private enterprises and governments manage to improve their data value by combining private and public datasets and we give some examples of our work in this area.

关键词： Bioinformatics Genomics Education Wireless application protocol Visualization Europe

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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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Acceleration and energy consumption optimization in cascading classifiers for face detection on low-cost ARM *** asymmetric architectures

arXiv

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arXiv 2024年

作者： Corpas, Alberto Costero, Luis Botella, Guillermo Igual, Francisco D. García, Carlos Rodríguez, Manuel Dept. of Architecture and Computer Technology ETSIIT University of Granada Granada18071 Spain Dept. Computer Architecture and Automation Complutense University of Madrid Madrid28040 Spain

This paper proposes a mechanism to accelerate and optimize the energy consumption of a face detection software based on Haar-like cascading classifiers, taking advantage of the features of low-cost Asymmetric Multicore Processors (AMPs) with limited power budget. A modelling and task scheduling/allocation is proposed in order to efficiently make use of the existing features on *** ARM processors, including: (I) source-code adaptation for parallel computing, which enables code acceleration by applying the OmpSs programming model, a task-based programming model that handles data-dependencies between tasks in a transparent fashion;(II) different OmpSs task allocation policies which take into account the processor asymmetry and can dynamically set processing resources in a more efficient way based on their particular features. The proposed mechanism can be efficiently applied to take advantage of the processing elements existing on low-cost and low-energy multi-core embedded devices executing object detection algorithms based on cascading classifiers. Although these classifiers yield the best results for detection algorithms in the field of computer vision, their high computational requirements prevent them from being used on these devices under real-time requirements. Finally, we compare the energy efficiency of a heterogeneous architecture based on asymmetric multicore processors with a suitable task scheduling, with that of a homogeneous symmetric architecture. Copyright © 2024, The Authors. All rights reserved.

关键词： Energy efficiency

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Virtual and Remote Robotic Laboratory Using EJS, MATLAB and LabVIEW

arXiv

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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

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Applications of neural-based spot market prediction for cloud computing

Applications of neural-based spot market prediction for clou...

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2013 IEEE 7th International Conference on Intelligent Data Acquisition and Advanced Computing Systems, IDAACS 2013

作者： Wallace, Richard M. Turchenko, Volodymyr Sheikhalishahi, Mehdi Turchenko, Iryna Shults, Vladyslav Vazquez-Poletti, José Luis Grandinetti, Lucio Dept. of Computer Arch. and Automation Complutense University Madrid Spain Innovative Computing Lab University of Tennessee Knoxville United States Italy Dept. of Info. Comp. Sys. and Control Ternopil National Economic University Ternopil Ukraine

ISBN: (纸本)9781479914265

Advances in service-oriented architectures (SOA), virtualization, high-speed networks, and cloud computing has resulted in attractive pay-as-you-go services. Job scheduling on these systems results in commodity bidding for computing time. This bidding is institutionalized by Amazon for its Elastic Cloud Computing (EC2) environment and bidding methods exist for other cloud-computing vendors as well as multi-cloud and cluster computing brokers such as SpotCloud. Commodity bidding for computing has resulted in complex spot price models that have ad-hoc strategies to provide demand for excess capacity. In this paper we will discuss vendors who provide spot pricing and bidding and present a predictive model for future spot prices based on neural networking giving users a high confidence on future prices aiding bidding on commodity computing. © 2013 IEEE.

关键词： Information services

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

Renewable Energy and Power Quality Journal

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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

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FPGA based architecture for Robust Optical Flow Computation

FPGA based Architecture for Robust Optical Flow Computation

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Southern Conference on Programmable Logic

作者： Guillermo Botella Eduardo Ros Manuel Rodriguez Antonio Garcia Esther Andres M. Carmen Molina Encarnacion Castillo Luis Parrilla Department of Computer Architecture and Automation Universidad Carlos III De Madrid Spain Dept. of Computer Architecture and Automation Universidad Complutense de Madrid Dept. of Computer Architecture Dept. of Electronics University of Granada Dept. of Electronics University of Granada Spain

ISBN: (纸本)9781424419920

Motion Computation, also called Optical Flow, consists of measuring the motion of an entity attending to the modulus (how fast) and the phase (direction) of its movement. There are a plethora of different models and algorithms whereas none of them cover all problems associated to the real world. Our contribution presents a novel customizable architecture, including resource usage and performance, of a neuromorphic robust optical flow adjustable platform, although its main drawback is the elevated computational complexity. Bioinspiration and robustness properties of the final system provides an extended set of applications fields.

关键词： Optical computing Field programmable gate arrays computer architecture Robustness Image motion analysis Biomedical optical imaging Fluid flow measurement Motion measurement Phase measurement Neuromorphics

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Modular framework to model critical events in stroke patients 51

Modular framework to model critical events in stroke patient...

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51st Summer computer Simulation Conference, SCSC 2019, Held at the Summer Simulation Conference, SummerSim 2019

作者： Henares, Kevin Risco-Martín, José L. Hermida, Román Roselló, Gemma Reig Cárdenas, Román Dept. of Computer Architecture and Automation Complutense University of Madrid Calle Prof. José García Santesmases 9 Madrid28040 Spain Stroke Care Unit Hospital Universitario de La Princesa Madrid Calle de Diego de León 62 Madrid28006 Spain Universidad Politécnica de Madrid ETSI Telecomunicación Avenida Complutense 30 Madrid28040 Spain

Several of the major causes of death in the world are related to neurological diseases, like strokes, sclerosis, or Parkinson’s. As a consequence, extraordinary amounts of clinical information are collected. With proper Modeling and Simulation (MS) techniques, predictive models can be defined to help physicians in their diagnoses. We have come to the conclusion that the implementation of an abstract MS methodology to facilitate the processing and modeling of the collected data would be of great help. In this paper, we focus on the development of such an abstract framework, mainly aimed at facilitating and automating the process of data collection and predictive and diagnose models. As a use case, we show how this methodology is applied to determine the stroke type and exitus (i.e. probability of death) of stroke patients in the early stages of their episodes. The best models are evaluated and constantly updated to generate these predictions. © 2019 Society for Modeling & Simulation International (SCS).

关键词： Diagnosis

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FPGA-Based Acceleration of Block Matching Motion Estimation Techniques

FPGA-Based Acceleration of Block Matching Motion Estimation ...

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International Conference on Field Programmable Logic and Applications

作者： Diego Gonz´lez Guillermo Botella Soumak Mokheerje Uwe Meyer-Base Computer Architecture Department Complutense University of Madrid Madrid Spain Dept. Electrical and Computer Engineering Florida State University Tallahassee Florida USA

This paper focuses on the hardware acceleration of Block Matching motion estimation techniques (Search reduction family) suitable for the standard H.264/AVC MPEG-4 part 10 video compression. Many representative motion estimation search algorithms are explained here. As hardware, the well known Altera DE2 platform with a Cyclone II EP2C35F672C6 is used with a soft core NIOS II processor. C2H compiler which permits us to speed up the system at least two magnitude order is used to accelerate our source code. The paper shows the results in terms of performance and resources needed. This is the starting point to accelerate motion estimation algorithms using many strategies considering an ad-hoc motion estimation processor.

关键词： Acceleration Hardware Motion estimation Field programmable gate arrays Throughput Transform coding Educational institutions

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