http://hdl.handle.net/2117/3931 Sat, 18 May 2013 12:45:14 GMT 2013-05-18T12:45:14Z webmaster.bupc@upc.edu Universitat Politècnica de Catalunya. Servei de Biblioteques i Documentació no http://hdl.handle.net/2117/18178 Title: Performance evaluation framework (PEF) for real-time embedded control systems Authors: Lozoya Gámez, Rafael Camilo; Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª Abstract: This report presents a performance evaluation framework (PEF) designed to simulate and implement diverse theoretical results on control and resource performance optimization that has recently appeared in the literature Mon, 11 Mar 2013 14:36:28 GMT http://hdl.handle.net/2117/18178 2013-03-11T14:36:28Z Lozoya Gámez, Rafael Camilo; Martí Colom, Pau; Velasco García, Manel; Fuertes Armengol, José Mª no This report presents a performance evaluation framework (PEF) designed to simulate and implement diverse theoretical results on control and resource performance optimization that has recently appeared in the literature http://hdl.handle.net/2117/18144 Title: Design of a hands-on course in networked control systems Authors: Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Marès Martí, Pere; Martí Colom, Pau; Velasco García, Manel; Yépez Castillo, José Gregorio; Torres Guerrero, Gina Abstract: This report presents a hands-on course in networked control systems (NCS) to be integrated in the education of embedded control systems engineers. The course activities have a strong practical component and most of them are ap- plied exercises to be implemented in a NCS setup. The report containts four parts: a) a report that describes the experimental setup, proposing several activities that can be shaped into a course program according to the needs and diverse background of the targeted audience, b) a tentative program ex- ample for master students, c) a user manual to help setting up the hardware and software from a Live CD, and d) a quick guide to start working with the programming environment. Fri, 08 Mar 2013 11:03:59 GMT http://hdl.handle.net/2117/18144 2013-03-08T11:03:59Z Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Marès Martí, Pere; Martí Colom, Pau; Velasco García, Manel; Yépez Castillo, José Gregorio; Torres Guerrero, Gina no This report presents a hands-on course in networked control systems (NCS) to be integrated in the education of embedded control systems engineers. The course activities have a strong practical component and most of them are ap- plied exercises to be implemented in a NCS setup. The report containts four parts: a) a report that describes the experimental setup, proposing several activities that can be shaped into a course program according to the needs and diverse background of the targeted audience, b) a tentative program ex- ample for master students, c) a user manual to help setting up the hardware and software from a Live CD, and d) a quick guide to start working with the programming environment. http://hdl.handle.net/2117/16938 Title: Etude d'un canal d'irrigation MIMO Authors: Chefdor, Nicolas; Bolea Monte, Yolanda; Grau Saldes, Antoni Abstract: Treball de recerca fet per l'alumne Nicolas Chefdor durant la seva estada al laboratori de recerca VIS-ESAII a la UPC. Dirigit pels Dr. Yolanda Bolea i Dr. Antoni Grau. Estada del 1/06/2011-30/09/2011 Fri, 16 Nov 2012 11:44:48 GMT http://hdl.handle.net/2117/16938 2012-11-16T11:44:48Z Chefdor, Nicolas; Bolea Monte, Yolanda; Grau Saldes, Antoni no Treball de recerca fet per l'alumne Nicolas Chefdor durant la seva estada al laboratori de recerca VIS-ESAII a la UPC. Dirigit pels Dr. Yolanda Bolea i Dr. Antoni Grau. Estada del 1/06/2011-30/09/2011 http://hdl.handle.net/2117/16807 Title: Máquinas de soporte vectorial sobre conjuntos de datos no balanceados: propuesta de un nuevo sesgo Authors: Núñez Castro, Haydemar; González Abril, Luis; Angulo Bahón, Cecilio Abstract: En el aprendizaje con conjuntos de datos no balanceados, la máquina de soporte vectorial (SVM) puede exhibir un bajo rendimiento sobre la clase minoritaria ya que, como otras máquinas de aprendizaje, están diseñadas para inducir un modelo de clasificación basado en un error global. Con el fin de mejorar su desempeño en este tipo de problemas, en este trabajo se propone una estrategia de post-procesamiento basada en el cálculo de un nuevo sesgo o umbral que toma en cuenta la proporción de las clases en el conjunto de datos y que permite ajustar la función aprendida por la SVM para mejorar su desempeño sobre la clase minoritaria. Esta solución no supone la entonación de nuevos parámetros ni la modificación del problema de optimización estándar para entrenar la SVM. Los resultados obtenidos de la experimentación sobre 23 conjuntos de datos con diferentes grados de desbalance, muestran que efectivamente se logra mejorar las clasificaciones sobre la clase minoritaria, medidas en función de g-media y la sensibilidad. Mon, 29 Oct 2012 10:10:20 GMT http://hdl.handle.net/2117/16807 2012-10-29T10:10:20Z Núñez Castro, Haydemar; González Abril, Luis; Angulo Bahón, Cecilio no En el aprendizaje con conjuntos de datos no balanceados, la máquina de soporte vectorial (SVM) puede exhibir un bajo rendimiento sobre la clase minoritaria ya que, como otras máquinas de aprendizaje, están diseñadas para inducir un modelo de clasificación basado en un error global. Con el fin de mejorar su desempeño en este tipo de problemas, en este trabajo se propone una estrategia de post-procesamiento basada en el cálculo de un nuevo sesgo o umbral que toma en cuenta la proporción de las clases en el conjunto de datos y que permite ajustar la función aprendida por la SVM para mejorar su desempeño sobre la clase minoritaria. Esta solución no supone la entonación de nuevos parámetros ni la modificación del problema de optimización estándar para entrenar la SVM. Los resultados obtenidos de la experimentación sobre 23 conjuntos de datos con diferentes grados de desbalance, muestran que efectivamente se logra mejorar las clasificaciones sobre la clase minoritaria, medidas en función de g-media y la sensibilidad. http://hdl.handle.net/2117/12709 Title: Phase-Locked Loop using a comb filter with fractional delay Authors: Griñó Cubero, Robert; Mughal, Umair Najeeb Abstract: A Phase Locked Loop is a feedback system combining a Voltage Controlled Oscillator and a Phase Comparator These are connected so that the oscillator maintains a constant phase angle relative to a reference signal. Phase locked loops can be used, for example to generate stable output frequency signals from a fixed frequency signal. A Comb Filter is a kind of Notch Filter (Non Recursive Filter) that is normally used to remove the harmonic terms from a particular signal. In this Design, a PLL is implemented using a Comb Filter because the main frequencies that are considered noise in the PLL loop are the harmonics of the fundamental frequency. There are 2 objectives of this project report, 1. Implementing Comb Filter Using Fractional Delay 2. Comparision of Frame Based and Typical Discrete Sample Based Implementation of a Comb Filter Mon, 06 Jun 2011 11:14:49 GMT http://hdl.handle.net/2117/12709 2011-06-06T11:14:49Z Griñó Cubero, Robert; Mughal, Umair Najeeb no A Phase Locked Loop is a feedback system combining a Voltage Controlled Oscillator and a Phase Comparator These are connected so that the oscillator maintains a constant phase angle relative to a reference signal. Phase locked loops can be used, for example to generate stable output frequency signals from a fixed frequency signal. A Comb Filter is a kind of Notch Filter (Non Recursive Filter) that is normally used to remove the harmonic terms from a particular signal. In this Design, a PLL is implemented using a Comb Filter because the main frequencies that are considered noise in the PLL loop are the harmonics of the fundamental frequency. There are 2 objectives of this project report, 1. Implementing Comb Filter Using Fractional Delay 2. Comparision of Frame Based and Typical Discrete Sample Based Implementation of a Comb Filter http://hdl.handle.net/2117/12449 Title: Path planning with pose SLAM Authors: Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria Abstract: The probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps (BRMs). The original BRM algorithm assumes a known model of the environment from which probabilistic sampling generates a roadmap. In our work, the roadmap is built on-line by the Pose SLAM algorithm. The result is a hybrid BRM-Pose SLAM method that devises optimal navigation strategies on-line by searching for the path with lowest accumulated uncertainty for the robot pose. The method is validated over synthetic data and standard SLAM datasets. Tue, 03 May 2011 09:44:15 GMT http://hdl.handle.net/2117/12449 2011-05-03T09:44:15Z Valencia Carreño, Rafael; Andrade-Cetto, Juan; Porta Pleite, Josep Maria no mobile robots PARAULES AUTOR: Path Planning, SLAM The probabilistic belief networks that result from standard feature-based simultaneous localization and map building (SLAM) approaches cannot be directly used to plan trajectories. The reason is that they produce a sparse graph of landmark estimates and their probabilistic relations, which is of little value to find collision free paths for navigation. In contrast, we argue in this paper that Pose SLAM graphs can be directly used as belief roadmaps (BRMs). The original BRM algorithm assumes a known model of the environment from which probabilistic sampling generates a roadmap. In our work, the roadmap is built on-line by the Pose SLAM algorithm. The result is a hybrid BRM-Pose SLAM method that devises optimal navigation strategies on-line by searching for the path with lowest accumulated uncertainty for the robot pose. The method is validated over synthetic data and standard SLAM datasets. http://hdl.handle.net/2117/12297 Title: Evaluación de Modelos Ocultos de Markov y Dinámica Simbólica de la HRV:Pacientes con Cardiomiopatia Isquemica Authors: Palacios Muñoz, Manuel; Vallverdú Ferrer, Montserrat Abstract: En este trabajo se presenta la descripción de la técnica no lineal de la dinámica simbólica, que transforma una serie de tiempo en un conjunto de observaciones, y se desarrolla una nueva metodología de análisis de la variabilidad del ritmo cardiaco a través de esta transformación simbólica, mediante modelos ocultos de Markov. Se ilustra el funcionamiento de la nueva metodología propuesta en registros reales, sobre una de las bases de datos utilizada en esta tesis. Finalmente se presentan los resultados de la evaluación cuantitativa de la nueva metodología propuesta, así como la discusión de los resultados y las conclusiones. Thu, 07 Apr 2011 11:49:15 GMT http://hdl.handle.net/2117/12297 2011-04-07T11:49:15Z Palacios Muñoz, Manuel; Vallverdú Ferrer, Montserrat no En este trabajo se presenta la descripción de la técnica no lineal de la dinámica simbólica, que transforma una serie de tiempo en un conjunto de observaciones, y se desarrolla una nueva metodología de análisis de la variabilidad del ritmo cardiaco a través de esta transformación simbólica, mediante modelos ocultos de Markov. Se ilustra el funcionamiento de la nueva metodología propuesta en registros reales, sobre una de las bases de datos utilizada en esta tesis. Finalmente se presentan los resultados de la evaluación cuantitativa de la nueva metodología propuesta, así como la discusión de los resultados y las conclusiones. http://hdl.handle.net/2117/12013 Title: Estudi de la transformació de l'espai de color RGB a l'espai de color HSV Authors: Grau Gotés, Mª Ángela; Grau Sánchez, Miguel; Montseny Masip, Eduard; Sobrevilla Frisón, Pilar Abstract: S’apliquen les tècniques clàssiques de propagació de l’error a la transformació de l’espai de color RGB en l’espai de color HSV a un conjunt de 1098 imatges test. El conjunt d’imatges test són 183 paletes de color i sis nivells d’il·luminació diferents. Els resultats que es presenten indiquen com varien la mitjana i la variància per la transformació. Tue, 22 Mar 2011 10:51:28 GMT http://hdl.handle.net/2117/12013 2011-03-22T10:51:28Z Grau Gotés, Mª Ángela; Grau Sánchez, Miguel; Montseny Masip, Eduard; Sobrevilla Frisón, Pilar no S’apliquen les tècniques clàssiques de propagació de l’error a la transformació de l’espai de color RGB en l’espai de color HSV a un conjunt de 1098 imatges test. El conjunt d’imatges test són 183 paletes de color i sis nivells d’il·luminació diferents. Els resultats que es presenten indiquen com varien la mitjana i la variància per la transformació. http://hdl.handle.net/2117/11543 Title: Audio localization for mobile robots Authors: de Guillebon, Thibaut; Grau Saldes, Antoni; Bolea Monte, Yolanda Abstract: The department of the University for which I worked is developing a project based on the interaction with robots in the environment. My work was to define an audio system for the robot. This audio system that I have to realize consists on a mobile head which is able to follow the sound in its environment. This subject was treated as a research problem, with the liberty to find and develop different solutions and make them evolve in the chosen way. Fri, 25 Feb 2011 10:59:41 GMT http://hdl.handle.net/2117/11543 2011-02-25T10:59:41Z de Guillebon, Thibaut; Grau Saldes, Antoni; Bolea Monte, Yolanda no The department of the University for which I worked is developing a project based on the interaction with robots in the environment. My work was to define an audio system for the robot. This audio system that I have to realize consists on a mobile head which is able to follow the sound in its environment. This subject was treated as a research problem, with the liberty to find and develop different solutions and make them evolve in the chosen way. http://hdl.handle.net/2117/7320 Title: Graphical user interface for the URUS project Authors: Trulls Fortuny, Eduard Abstract: The aim of this report is twofold. First, to present the Graphical User Interface (GUI) developed at IRI for monitoring robotic experiments in the context of the EU project URUS, its capabilities and intended use, and its place within the communications workflow, based around middleware YARP. Second, to introduce the GIS map, extended by us to full 3D, of the experimental area, known as Barcelona Robot Lab, a 10.000 m2 section of the Campus Nord at UPC, Barcelona, Spain; this 3D map is extensively used in the GUI but has been found useful out of its scope. Wed, 19 May 2010 12:12:12 GMT http://hdl.handle.net/2117/7320 2010-05-19T12:12:12Z Trulls Fortuny, Eduard no The aim of this report is twofold. First, to present the Graphical User Interface (GUI) developed at IRI for monitoring robotic experiments in the context of the EU project URUS, its capabilities and intended use, and its place within the communications workflow, based around middleware YARP. Second, to introduce the GIS map, extended by us to full 3D, of the experimental area, known as Barcelona Robot Lab, a 10.000 m2 section of the Campus Nord at UPC, Barcelona, Spain; this 3D map is extensively used in the GUI but has been found useful out of its scope. http://hdl.handle.net/2117/7175 Title: Modelling and decentralized model predictive control of drinking water networks: the Barcelona case study Authors: Fambrini, Valentina; Ocampo-Martínez, Carlos Abstract: In this report, MPC strategies have been designed and tested for the global centralized and decentralized control of drinking water networks. Test have been performed in order to highlight the advantages of having a partition of a complex network in several subsystems. Despite the possible suboptimal solution of the optimization problems from the global point of view, the clear gain related to the computation times and loads has been demonstrated by means of the simulations and test developed here. The high correlation between system elements, i.e., the strong coupling of the network, makes impossible to have independent subsystems to be controlled by using a set of decoupled MPC controllers. Moreover, the necessity of a hierarchy scheme is discussed and interesting results are obtained from the mixture of techniques giving rise to a control law sharing decentralized and hierarchical features. Wed, 12 May 2010 07:46:28 GMT http://hdl.handle.net/2117/7175 2010-05-12T07:46:28Z Fambrini, Valentina; Ocampo-Martínez, Carlos no In this report, MPC strategies have been designed and tested for the global centralized and decentralized control of drinking water networks. Test have been performed in order to highlight the advantages of having a partition of a complex network in several subsystems. Despite the possible suboptimal solution of the optimization problems from the global point of view, the clear gain related to the computation times and loads has been demonstrated by means of the simulations and test developed here. The high correlation between system elements, i.e., the strong coupling of the network, makes impossible to have independent subsystems to be controlled by using a set of decoupled MPC controllers. Moreover, the necessity of a hierarchy scheme is discussed and interesting results are obtained from the mixture of techniques giving rise to a control law sharing decentralized and hierarchical features. http://hdl.handle.net/2117/7101 Title: Development of a Simulation Environment for Water Drinking Networks: Application to the Validation of a Centralized MPC Controller for the Barcelona Case Study Authors: Caini, Elena; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela Abstract: In this report, MPC strategies have been designed and tested for the global centralized control of a drinking water network. Test have been implemented by using a software tool called PLIO, which allows the user to select the simulation parameters as well as the demands episodes in order to obtain the desired results. Additionally, this report describes the implementation of a MATLAB-based simulator of a plant model related to the Barcelona drinking water network. Several simulations and test have been done and conclusions from the obtained results are outlined and discussed. Fri, 30 Apr 2010 13:26:47 GMT http://hdl.handle.net/2117/7101 2010-04-30T13:26:47Z Caini, Elena; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela no In this report, MPC strategies have been designed and tested for the global centralized control of a drinking water network. Test have been implemented by using a software tool called PLIO, which allows the user to select the simulation parameters as well as the demands episodes in order to obtain the desired results. Additionally, this report describes the implementation of a MATLAB-based simulator of a plant model related to the Barcelona drinking water network. Several simulations and test have been done and conclusions from the obtained results are outlined and discussed. http://hdl.handle.net/2117/7048 Title: On the role of virtual laboratories in an undergraduate power electronics introductory course Authors: Biel Solé, Domingo; Vento Maldonado, Jorge; Costa Castelló, Ramon Thu, 22 Apr 2010 10:05:02 GMT http://hdl.handle.net/2117/7048 2010-04-22T10:05:02Z Biel Solé, Domingo; Vento Maldonado, Jorge; Costa Castelló, Ramon no http://hdl.handle.net/2117/6505 Title: Modelling approaches for predictive control of large-scale sewage systems Authors: Ocampo-Martínez, Carlos; Puig Cayuela, Vicenç Abstract: In this report, model predictive control (MPC) of large-scale sewage systems is addressed considering different modelling approaches that include several inherent continuous/discrete phenomena (overflows in sewers and tanks) and elements (weirs) in the system that result in distinct behaviour depending on the dynamic state ( flow/volume) of the network. These behaviours can not be neglected nor can be modelled by a pure linear representation. In order the MPC controller takes into account these phenomena and elements, a modelling approach based on piece-wise linear functions is proposed and compared against a hybrid modelling approach previously reported by the authors. Control performance results and associated computation times of the closed-loop scheme considering both modelling approaches are compared by using a real case study based on the Barcelona sewer network. Mon, 01 Mar 2010 09:16:36 GMT http://hdl.handle.net/2117/6505 2010-03-01T09:16:36Z Ocampo-Martínez, Carlos; Puig Cayuela, Vicenç no In this report, model predictive control (MPC) of large-scale sewage systems is addressed considering different modelling approaches that include several inherent continuous/discrete phenomena (overflows in sewers and tanks) and elements (weirs) in the system that result in distinct behaviour depending on the dynamic state ( flow/volume) of the network. These behaviours can not be neglected nor can be modelled by a pure linear representation. In order the MPC controller takes into account these phenomena and elements, a modelling approach based on piece-wise linear functions is proposed and compared against a hybrid modelling approach previously reported by the authors. Control performance results and associated computation times of the closed-loop scheme considering both modelling approaches are compared by using a real case study based on the Barcelona sewer network. http://hdl.handle.net/2117/6434 Title: Reducció de variables en problemes de control predictiu amb restriccions d'igualtat Authors: Joseph Duran, Bernat; Ocampo-Martínez, Carlos Description: En el següent document es mostra una técnica per utilitzar les restriccions d'igualtat associades a un problema de control predictiu per tal de reduir el nombre de variables que intervenen en aquest problema. Primerament fem un repàs de les notacions i desenvolupament del problema estàndard per veure, després, que mitjançant un canvi lineal el nou problema, amb un nombre inferior de variables, té una estructura completament anàloga. Alguns resultats de temps de computació mostren, en la última secció, la utilitat del mètode. Mon, 22 Feb 2010 13:12:51 GMT http://hdl.handle.net/2117/6434 2010-02-22T13:12:51Z Joseph Duran, Bernat; Ocampo-Martínez, Carlos no