http://hdl.handle.net/2117/208 2013-05-23T05:45:04Z http://hdl.handle.net/2117/19343 Title: On the design of a UAS flight plan monitoring and edition system Authors: Pastor Llorens, Enric; Santamaria Barnadas, Eduard; Royo Chic, Pablo; López Rubio, Juan; Barrado Muxí, Cristina Abstract: This paper addresses various aspects of the design and development of the pilot interface for the exploitation of highly advanced flight plan capabilities specifically designed for Unmanned Aerial Systems (UAS). This flight plan capabilities are built on top a flexible and reusable hardware/software architecture designed to facilitate the development of UAS-based applications. This flexibility is organized into an user-parameterizable UAS Service Abstraction Layer (USAL). The USAL defines a collection of standard services are their interrelations as a basic starting point for further development by UAS users. Previous research presented the advanced flying capabilities of a UAS as an extension of the Flight Control System (FCS) functionalities. Assuming a UAS with a FCS that ensures safe and stable maneuvers, we complement it with a highly capable flight plan management system. USAL flight plan is characterized by offering semantically much richer constructs than those present in most current UAS autopilots, which rely on simple lists of waypoints. This list of waypoints approach has several important limitations: it is difficult to specify complex trajectories and it does not support constructs such as conditional forks or iterations, small changes may imply having to deal with a considerable amount of waypoints and it provides no mechanism for adapting to mission time circumstances. To address these issues a new flight plan specification mechanism is proposed, that incorporates a leg concept extended to accommodate higher level constructs for specifying iterations and forks. Additional leg types, referred to as parametric leg, are also introduced. The trajectory defined by a parametric leg is automatically generated as a function of mission variables, enabling dynamic behavior and providing a very valuable means for adapting the flight to the mission evolution. Another level of adaption is provided by the conditions governing the decision-making in intersection le- - gs and the finalization of iterative legs. In this work we will focus on the development of the pilot interface for the exploitation of the introduced flight plan capabilities. The interface design requirements address an increase level of automated operation and support to react to unexpected requirements due to mission changes. Therefore, this interaction includes the available mechanisms to update the flight-plan according to UAS mission requirements, skip parts of it, react to operational contingencies, etc. 2013-05-17T14:02:55Z http://hdl.handle.net/2117/19206 Title: Negotiation and learning in distributed MPC of large scale systems Authors: Javalera Rincón, Valeria; Morcego Seix, Bernardo; Puig Cayuela, Vicenç Abstract: A key issue in distributed MPC control of Large Scale Systems (LSS) is how shared variables among the different MPC controller in charge of controlling each system partition (subsystems) are handled. When these connections represent control variables, the distributed control has to be consistent for both subsystems and the optimal value of these variables will have to accomplish a common goal. In order to achieve this, the present work combines ideas from Distributed Artificial Intelligence (DAI), Reinforcement Learning (RL) and Model Predictive Control (MPC) in order to provide an approach based on negotiation, cooperation and learning techniques. Results of the application of this approach to a small drinking water network show that the resulting trajectories of the levels in tanks (control variables) can be acceptable compared to the centralized solution. The application to a real network (the Barcelona case) is currently under development. 2013-05-14T12:34:16Z http://hdl.handle.net/2117/19183 Title: Model and requirements for a multiresolution time series database management system Authors: Llusa Serra, Aleix; Escobet Canal, Teresa; Vila Marta, Sebastià Abstract: In this paper we define a model for multiresolution time series database management systems. The main objective is to store compactly a time series and manage consistently its temporal dimension. It is achieved by extracting diferent resolutions and attributes summaries from the time series. Our work is concerned in putting together two areas of study: time series analysis and database management systems (DBMS). Time series analysis offers a great deal of methodologies and algorithms to process time series data and database field provides software expertise in managing data. Therefore it is of primary relevance that DBMS support time series. 2013-05-13T15:19:06Z http://hdl.handle.net/2117/18996 Title: Flooding management using hybrid model predictive control: Application to the Spanish Ebro River Authors: Romera Formiguera, Juli; Ocampo-Martínez, Carlos; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin Abstract: In this paper, the problem of flooding management using hybrid model predictive control is presented and applied to the Ebro River in Spain. The Ebro River presents flooding episodes in the city of Zaragoza during spring when snow melts in the Pyrenees. To avoid flooding in populated areas, some land outside the city is prepared for flooding. This paper presents a control approach to determine and fix the level of flooding in pre-established zones by controlling side gates that determine the water input to the land to be flooded. Finally, several scenarios are used to validate the performance of the proposed approach 2013-04-26T08:15:14Z http://hdl.handle.net/2117/18909 Title: Effect of wind on operating cost based cruise speed reduction for delay absorption Authors: Delgado Muñoz, Luis; Prats Menéndez, Xavier Abstract: En route speed reduction can be used for air traffic flow management (ATFM), e.g., delaying aircraft while airborne or realizing metering at an arrival fix. In previous publications, the authors identified the flight conditions that maximize the airborne delay without incurring extra fuel consumption with respect to the nominal (not delayed) flight. In this paper, the effect of wind on this strategy is studied, and the sensitivity to wind forecast errors is also assessed. A case study done in Chicago O’Hare airport (ORD) is presented, showing that wind has a significant effect on the airborne delay that can be realized and that, in some cases, even tailwinds might lead to an increase in the maximum amount of airborne delay. The values of airborne delay are representative enough to suggest that this speed reduction technique might be useful in a real operational scenario. Moreover, the speed reduction strategy is more robust than nominal operations against fuel consumption in the presence of wind forecast uncertainties. 2013-04-22T08:53:55Z http://hdl.handle.net/2117/18862 Title: Multidisciplinary study of tutoring using virtual characters and second life Authors: Amante García, Beatriz; Campo Sud, David del; Martínez Martínez, María del Rosario Abstract: In this article we present the planning and methodology followed in order to apply virtual tutoring sessions in different subjects and universities. The Second Life environment, together with the Voki speaking avatars will be employed. It is a multidisciplinary study that includes personal and collective tutoring sessions, answering key questions through animated avatars, virtual labs, and posters exhibition for peer-evaluation. From a survey run among the students it is concluded that most of them are willing to learn and try this kind of tutoring sessions, but at the same time some feel skeptical about its utility 2013-04-18T10:23:24Z http://hdl.handle.net/2117/18715 Title: Quasi-LPV modeling, identification and control of a twin rotor MIMO system Authors: Rotondo, Damiano; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç Abstract: This paper describes the quasi-linear parameter varying (quasi-LPV) modeling, identification and control of a Twin Rotor MIMO System (TRMS). The non-linear model of the TRMS is transformed into a quasi-LPV system and approximated in a polytopic way. The unknown model parameters have been calibrated by means of the non-linear least squares identification approach and validated against real data. Finally, an LPV state observer and state-feedback controller have been designed using an LPV pole placement method based on LMI regions. The effectiveness and performance of the proposed control approach have been proved both in simulation and on the real set-up. 2013-04-09T08:02:32Z http://hdl.handle.net/2117/18544 Title: Self-video recording for the integration and assessment of generic competencies Authors: Masip Álvarez, Albert; Hervada Sala, Carme; Pàmies Gómez, Teresa; Arias Pujol, Antoni; Jaen Fernandez, Carles; Rodríguez Sorigué, M. Cristina; Romero Durán, David; Nejjari Akhi-Elarab, Fatiha; Álvarez del Castillo, María Dolores; Roca Lefler, Marta; Hernández Farràs, Jorge; Montferrer Liñan, Raul Abstract: This document presents the use of a self-video-recording service for the integration and assessment of certain generic competences (oral and written communication, teamwork and third (English) language) in all degree programs related to the Industrial area at the Terrassa School of Engineering (EET). The resulting service allows to carry out the assessment through active and collaborative learning methodologies using ICT as a support, becoming an educational resource where students are encouraged to evaluate their own activity, individually and in groups (co-evaluation), and with which the faculty can enhance certain sections of the syllabus while also evaluating generic competences. This paper outlines the rationale and design of the system based on self-recording-video that assists work on some generic competences. A preliminary experience has taken place and it has been carried out by volunteer students and some professors from the promoting team. It consisted of following all steps to obtain the video-recording as a result and fulfil the further assessment. Preparing the defence of the final project career, explaining the way a problem is faced are examples of use of the service endowed to assist the assessment of some generic competences. A good number of students and professors have participated in this preliminary experiment carried out on some subjects and in which oral effective communication will be assessed. A specific rubric for the assessment of generic competences has been used both for students and faculty. There is a summary of qualitative feedback from both students and instructors, and where several issues related to improving the self-assessment and self-video-recording system, are discussed. Finally, a survey is proposed, whose results will be helpful for its improvement. 2013-04-02T14:02:57Z http://hdl.handle.net/2117/18501 Title: C3 in UAS as a means for secondary navigation Authors: Ramírez Alcántara, Jorge; Salazar Hernández, Dagoberto José; Prats Menéndez, Xavier; Barrado Muxí, Cristina Abstract: Unmanned Air Systems (UAS) navigate using Global Navigation Satellite Systems (GNSS), but GNSS vulnerability precludes its use as the only means of navigation and requires a secondary means of navigation. A differentiating characteristic of UAS is their periodic communications with the ground station. This paper analyses the adequacy of employing UAS Command, Control and Communications (C3) as a secondary means of navigation. With no additional infrastructure, an Extended Kalman Filter (EKF) is used to process C3 messages and to obtain the positions of the UAS. Navigation accuracy and integrity are calculated in a scenario with three UAS. The obtained results meet the International Civil Aviation Organization (ICAO) Performance-Based Navigation (PBN) requirements. 2013-03-22T13:25:04Z http://hdl.handle.net/2117/18494 Title: Simplified Femto-satellite Operations for Disaster Management Missions Authors: Tristancho Martínez, Joshua; Gutierrez Cabello, Jorge Luis Abstract: The reduction in size of satellites is reaching at the range of femto-satellites, i.e. satellites less than 100 grams in mass. One of the key points to achieve such a reduc tion is to simplify the design of the satellite, bu t also to simplify their mission operation. In the present work, a sim plified method for responsive femto-satellite opera tions is presented which is able to deal with the main types of disaster management tasks. Then, a mission is e asy to program using a few default functionalities in everyone of a cooperative satellite swarm giving a list of coor dinates. The protocol is able to update the list for adaptive mi ssions which are based on coordinates. This feature would allow an easy control for the first responders when they are in the field in the beginning of an emergency. The se satellites could send real-time pictures to the first responde rs agents, without the need of a complex ground sta tion infrastructure, until the help arrives 2013-03-22T12:53:17Z http://hdl.handle.net/2117/18476 Title: Experiences of simulation use in industrial projects Authors: Fonseca Casas, Pau; Casanovas Garcia, Josep; Montero García, Jordi; Guasch Petit, Antonio Abstract: This paper presents experiences obtained from our involvement in the development of industrial simulation projects. Some important, common questions are covered, such as the need to define model behavior using a conceptual model, the problem of choosing the appropriate tool to code the model, and the validation and verification process required. As we will see, the scope of applicability of simulation is broad and the tools are therefore diverse. A clear understanding of the objectives of the simulation, the client’s aims and the resources at our disposal are key issues that often determine the success of a simulation project. 2013-03-22T10:34:19Z http://hdl.handle.net/2117/18424 Title: Application of predictive control strategies to the management of complex networks in the urban water cycle Authors: Ocampo-Martínez, Carlos; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela; Quevedo Casín, Joseba Jokin Abstract: The management of the urban water cycle (UWC) is a subject of increasing interest because of its social, economic, and environmental impact. The most important issues include the sustainable use of limited resources and the reliability of service to consumers with adequate quality and pressure levels, as well as the urban drainage management to prevent flooding and polluting discharges to the environment. 2013-03-19T18:02:56Z http://hdl.handle.net/2117/18419 Title: On the design of UAS horizontal separation maneuvers Authors: Pastor Llorens, Enric; Pérez Batlle, Marcos; Royo Chic, Pablo; Cuadrado Santolaria, Raúl; Barrado Muxí, Cristina; Prats Menéndez, Xavier Abstract: This paper studies the separation maneuvers that an Unmanned Air System (UAS) may execute to avoid breaching the separation safety margins imposed in each type of airspace, namely 3 NM, 5 NM, and 10 NM. The UAS was assumed under the control of its Pilot in Command, with available information about its surrounding traffic through ADS-B or ADS-C, and most likely under the supervision of an ATCo. A number of UAS separation maneuvers have been identified that may guarantee the desired levels of separation if executed with the right parameters and enough anticipation. This paper focuses on identification of the most suitable maneuver for any separation conflict geometry and performance envelop. The conflict geometry is modeled to take into account the speed of both vehicles (the UAS and the intruder), the conflict angle, the turning limitations of the UAS, the reaction time of the pilot, and the communication latency. 2013-03-19T16:55:26Z http://hdl.handle.net/2117/18418 Title: A taxonomy of UAS separation maneuvers and their automated execution Authors: Pérez Batlle, Marcos; Pastor Llorens, Enric; Royo Chic, Pablo; Prats Menéndez, Xavier; Barrado Muxí, Cristina Abstract: This paper proposes to create a taxonomy of separation conflicts between Unmanned Aerial Systems (UAS) and intruding aircrafts to facilitate its insertion in non-segregated airspace. The classification is created according to the relative speeds, angular geometry, initial intent, etc. A catalog of separation maneuvers that best fit each scenario is introduced and evaluated through a real-time simulation environment. This advisory mechanism will benefit both the UAS pilot and the ATCo in order to negotiate the best suited separation maneuver. Eventually, the same strategy can be employed as an autonomous separation system on-board a UAS that suffers a lost-link contingency, alleviating its negative impact in the airspace. 2013-03-19T16:41:40Z http://hdl.handle.net/2117/18403 Title: Spherical Rover for lunar and planetary exploration Authors: Gutierrez Cabello, Jorge Luis; Tristancho Martínez, Joshua Abstract: Historically, planetary and lunar rovers have been wheeled-driven. While this is usually seen as an advantage –due to the flight experience– in some cases, the unavoidable presence of gears and mobile parts can be a significant hazard to the mission. The abrasive lunar regolith has been the origin of substantial problems with the Apollo rovers. Here we propose a completely different scheme: a spherical rover in which all the moving parts are protected from the environment by an external spherical shell 2013-03-19T13:28:17Z