GRDCS  Sistemes Distribuïts de Control
http://hdl.handle.net/2117/7275
20240520T21:52:14Z

Track detection in railway sidings based on MEMS gyroscope sensors
http://hdl.handle.net/2117/117437
Track detection in railway sidings based on MEMS gyroscope sensors
Broquetas Ibars, Antoni; Comerón Tejero, Adolfo; Gelonch Bosch, Antonio José; Fuertes Armengol, José Mª; Castro Fernández, José Antonio; Felip, Damià; López Márquez, Miguel Ángel; Pulido, Jose Antonio
The paper presents a twostep technique for realtime track detection in singletrack railway sidings using lowcost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive lowpass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speeddependent cutoff frequency to maximize the signaltonoise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for realtime operation. The detector has been tested with both simulated data and real data acquired in railway campaigns.
20180523T16:47:50Z
Broquetas Ibars, Antoni
Comerón Tejero, Adolfo
Gelonch Bosch, Antonio José
Fuertes Armengol, José Mª
Castro Fernández, José Antonio
Felip, Damià
López Márquez, Miguel Ángel
Pulido, Jose Antonio
The paper presents a twostep technique for realtime track detection in singletrack railway sidings using lowcost MEMS gyroscopes. The objective is to reliably know the path the train has taken in a switch, diverted or main road, immediately after the train head leaves the switch. The signal delivered by the gyroscope is first processed by an adaptive lowpass filter that rejects noise and converts the temporal turn rate data in degree/second units into spatial turn rate data in degree/meter. The conversion is based on the travelled distance taken from odometer data. The filter is implemented to achieve a speeddependent cutoff frequency to maximize the signaltonoise ratio. Although direct comparison of the filtered turn rate signal with a predetermined threshold is possible, the paper shows that better detection performance can be achieved by processing the turn rate signal with a filter matched to the rail switch curvature parameters. Implementation aspects of the track detector have been optimized for realtime operation. The detector has been tested with both simulated data and real data acquired in railway campaigns.

Absolutetype shaft encoding using LFSR sequences with a prescribed length
http://hdl.handle.net/2117/79981
Absolutetype shaft encoding using LFSR sequences with a prescribed length
Fuertes Armengol, José Mª; Balle Pigem, Borja de; Ventura Capell, Enric
Maximallength binary sequences have existed for a long time. They have many interesting properties, and one of them is that, when taken in blocks of n consecutive positions, they form 2n  1 different codes in a closed circular sequence. This property can be used to measure absolute angular positions as the circle can be divided into as many parts as different codes can be retrieved. This paper describes how a closed binary sequence with an arbitrary length can be effectively designed with the minimal possible block length using linear feedback shift registers. Such sequences can be used to measure a specified exact number of angular positions using the minimal possible number of sensors that linear methods allow.
20151126T17:41:12Z
Fuertes Armengol, José Mª
Balle Pigem, Borja de
Ventura Capell, Enric
Maximallength binary sequences have existed for a long time. They have many interesting properties, and one of them is that, when taken in blocks of n consecutive positions, they form 2n  1 different codes in a closed circular sequence. This property can be used to measure absolute angular positions as the circle can be divided into as many parts as different codes can be retrieved. This paper describes how a closed binary sequence with an arbitrary length can be effectively designed with the minimal possible block length using linear feedback shift registers. Such sequences can be used to measure a specified exact number of angular positions using the minimal possible number of sensors that linear methods allow.

Absolute type shaft encoding using LFSR sequences with prescribed length
http://hdl.handle.net/2117/79980
Absolute type shaft encoding using LFSR sequences with prescribed length
Fuertes Armengol, José Mª; Balle, Borja; Ventura Capell, Enric
Maximallength binary sequences have been known for
a long time. They have many interesting properties, one of them
is that when taken in blocks of
n
consecutive positions they form
2
n
°
1 diÆerent codes in a closed circular sequence. This property
can be used for measuring absolute angular positions as the circle
can be divided in as many parts as diÆerent codes can be retrieved.
This paper describes how can a closed binary sequence with arbitrary
length be eÆectively designed with the minimal possible blocklength,
using
linear feedback shift registers
(LFSR). Such sequences can be
used for measuring a speciØed exact number of angular positions,
using the minimal possible number of sensors that linear methods
allow
20151126T17:28:19Z
Fuertes Armengol, José Mª
Balle, Borja
Ventura Capell, Enric
Maximallength binary sequences have been known for
a long time. They have many interesting properties, one of them
is that when taken in blocks of
n
consecutive positions they form
2
n
°
1 diÆerent codes in a closed circular sequence. This property
can be used for measuring absolute angular positions as the circle
can be divided in as many parts as diÆerent codes can be retrieved.
This paper describes how can a closed binary sequence with arbitrary
length be eÆectively designed with the minimal possible blocklength,
using
linear feedback shift registers
(LFSR). Such sequences can be
used for measuring a speciØed exact number of angular positions,
using the minimal possible number of sensors that linear methods
allow

Toward new controller design paradigms in networked control systems
http://hdl.handle.net/2117/27568
Toward new controller design paradigms in networked control systems
Torres Guerrero, Gina; Velasco García, Manel; Martí Colom, Pau; Fuertes Armengol, José Mª
One of the main concerns in the design of networked control systems (NCS’s) is the inherent delays induced by the networking infrastructure. Rather than considering delays as a threat, delays may be considered as an opportunity for novel controller design procedures, where delays become a design parameter. The benefits may range from easier and cheaper implementations to improved performance. To enable procedures where the explicit specification of a delay may be profitable, al ternative models for a discretetime LTI system with an arbitrary delay used for controller design must be investigated. This paper presents a modeling effort different than the common approach of extending the statespace model with new state variables. The new model is also capable of representing the same system with a delay but using a statespace modeling structure that keeps the original system order. The focus of the paper is to show that both models are equivalent. A direct consequence is that it will be possible to design a controller for a system without delay in such a way that the closed loop system behaves like having a delay. In other words, a relation between desired control performance (via e.g. closedloop system poles), controller, and delay is established, which provides a new design criterion for NCS
20150424T10:22:11Z
Torres Guerrero, Gina
Velasco García, Manel
Martí Colom, Pau
Fuertes Armengol, José Mª
One of the main concerns in the design of networked control systems (NCS’s) is the inherent delays induced by the networking infrastructure. Rather than considering delays as a threat, delays may be considered as an opportunity for novel controller design procedures, where delays become a design parameter. The benefits may range from easier and cheaper implementations to improved performance. To enable procedures where the explicit specification of a delay may be profitable, al ternative models for a discretetime LTI system with an arbitrary delay used for controller design must be investigated. This paper presents a modeling effort different than the common approach of extending the statespace model with new state variables. The new model is also capable of representing the same system with a delay but using a statespace modeling structure that keeps the original system order. The focus of the paper is to show that both models are equivalent. A direct consequence is that it will be possible to design a controller for a system without delay in such a way that the closed loop system behaves like having a delay. In other words, a relation between desired control performance (via e.g. closedloop system poles), controller, and delay is established, which provides a new design criterion for NCS

Developing professional skills at tertiary level: A model to integrate competencies across the curriculum
http://hdl.handle.net/2117/25103
Developing professional skills at tertiary level: A model to integrate competencies across the curriculum
Sánchez Carracedo, Fermín; Soler Cervera, Antonia; López Álvarez, David; Martín Escofet, Carme; Ageno Pulido, Alicia; Belanche Muñoz, Luis Antonio; Cabré Garcia, José M.; Cobo Valeri, Erik; Farré Cirera, Rafael; García Almiñana, Jordi; Marès Martí, Pere
In the context of the European Higher Education Area, curriculum design needs to be based on the defined competencies of each degree programs, including both domain specific and professional competencies. In this educational context, developing students’ professional skills poses a new challenge we need to face. The present work proposes a model to globally develop professional skills in an Engineering degree program. Based on competency maps, this model allows careful analysis, revision and iteration for an effective integration of professional skills. We define each competency in terms of “dimensions” (or subskills), which are further defined according to threelevel objectives. Competency maps are built showing the specific graded objectives, which allows to integrate them most finely into degree subjects. A global competency map is also designed including the objectives to be achieved throughout the degree. This global map becomes a useful tool for curriculum designers and coordinators. It allows them to optimize the workload, and to make adjustments most effectively, helping students develop the defined competencies as a global comprehensive experience. To illustrate our model, we explain how it has been implemented to integrate “Communication skills” into subjects, and how the model has been applied to assess “Appropriate attitude towards work” skills.
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20141219T10:26:59Z
Sánchez Carracedo, Fermín
Soler Cervera, Antonia
López Álvarez, David
Martín Escofet, Carme
Ageno Pulido, Alicia
Belanche Muñoz, Luis Antonio
Cabré Garcia, José M.
Cobo Valeri, Erik
Farré Cirera, Rafael
García Almiñana, Jordi
Marès Martí, Pere
In the context of the European Higher Education Area, curriculum design needs to be based on the defined competencies of each degree programs, including both domain specific and professional competencies. In this educational context, developing students’ professional skills poses a new challenge we need to face. The present work proposes a model to globally develop professional skills in an Engineering degree program. Based on competency maps, this model allows careful analysis, revision and iteration for an effective integration of professional skills. We define each competency in terms of “dimensions” (or subskills), which are further defined according to threelevel objectives. Competency maps are built showing the specific graded objectives, which allows to integrate them most finely into degree subjects. A global competency map is also designed including the objectives to be achieved throughout the degree. This global map becomes a useful tool for curriculum designers and coordinators. It allows them to optimize the workload, and to make adjustments most effectively, helping students develop the defined competencies as a global comprehensive experience. To illustrate our model, we explain how it has been implemented to integrate “Communication skills” into subjects, and how the model has been applied to assess “Appropriate attitude towards work” skills.

LTI ODEvalued neural networks
http://hdl.handle.net/2117/24573
LTI ODEvalued neural networks
Velasco García, Manel; Martín Rull, Enric Xavier; Angulo Bahón, Cecilio; Martí Colom, Pau
A dynamical version of the classical McCulloch & Pitts’ neural model is introduced in this paper. In this new approach, artificial neurons are characterized by: i) inputs in the form of differentiable continuoustime signals, ii) linear timeinvariant ordinary differential equations (LTI ODE) for connection weights, and iii) activation functions evaluated in the frequency domain. It will be shown that this new characterization of the constitutive nodes in an artificial neural network, namely LTI ODEvalued neural network (LTI ODEVNN), allows solving multiple problems at the same time using a single neural structure. Moreover, it is demonstrated that LTI ODEVNNs can be interpreted as complexvalued neural networks (CVNNs). Hence, research on this topic can be applied in a straightforward form. Standard boolean functions are implemented to illustrate the operation of LTI ODEVNNs. Concluding the paper, several future research lines are highlighted, including the need for developing learning algorithms for the newly introduced LTI ODEVNNs.
20141106T13:02:53Z
Velasco García, Manel
Martín Rull, Enric Xavier
Angulo Bahón, Cecilio
Martí Colom, Pau
A dynamical version of the classical McCulloch & Pitts’ neural model is introduced in this paper. In this new approach, artificial neurons are characterized by: i) inputs in the form of differentiable continuoustime signals, ii) linear timeinvariant ordinary differential equations (LTI ODE) for connection weights, and iii) activation functions evaluated in the frequency domain. It will be shown that this new characterization of the constitutive nodes in an artificial neural network, namely LTI ODEvalued neural network (LTI ODEVNN), allows solving multiple problems at the same time using a single neural structure. Moreover, it is demonstrated that LTI ODEVNNs can be interpreted as complexvalued neural networks (CVNNs). Hence, research on this topic can be applied in a straightforward form. Standard boolean functions are implemented to illustrate the operation of LTI ODEVNNs. Concluding the paper, several future research lines are highlighted, including the need for developing learning algorithms for the newly introduced LTI ODEVNNs.

Mixing local and distributed reactive power control for balancing inverters' effort in gridconnected photovoltaic systems
http://hdl.handle.net/2117/24370
Mixing local and distributed reactive power control for balancing inverters' effort in gridconnected photovoltaic systems
Velasco García, Manel; Martí Colom, Pau; Camacho Santiago, Antonio; Miret Tomàs, Jaume; Castilla Fernández, Miguel
Reactive power control methods have been proven to be a successful technique for maintaining voltages of photovoltaic (PV) distributed generators (DG) within the admissible limits without enforcing to reduce the production of active power. Usually the control goal is achieved at the expenses of stressing PV inverters unequally. As a consequence, inverters deteriorate at different velocities. This paper presents a mixed local and distributed control strategy that aims at balancing the effort posed by each inverter while achieving the control goal. The local control is a droplike method that locates inverters' voltages within the permissible voltage levels. Simultaneously, the distributed control, making use of a communication infrastructure, is in charge of driving the DG system to the point where all connected inverters inject the same current, thus balancing the stress between them.
20141015T08:37:53Z
Velasco García, Manel
Martí Colom, Pau
Camacho Santiago, Antonio
Miret Tomàs, Jaume
Castilla Fernández, Miguel
Reactive power control methods have been proven to be a successful technique for maintaining voltages of photovoltaic (PV) distributed generators (DG) within the admissible limits without enforcing to reduce the production of active power. Usually the control goal is achieved at the expenses of stressing PV inverters unequally. As a consequence, inverters deteriorate at different velocities. This paper presents a mixed local and distributed control strategy that aims at balancing the effort posed by each inverter while achieving the control goal. The local control is a droplike method that locates inverters' voltages within the permissible voltage levels. Simultaneously, the distributed control, making use of a communication infrastructure, is in charge of driving the DG system to the point where all connected inverters inject the same current, thus balancing the stress between them.

De la farola urbana hacia un elemento urbano multifuncional
http://hdl.handle.net/2117/24181
De la farola urbana hacia un elemento urbano multifuncional
Ruiz, Fèlix; Farré, Josep; Martí Colom, Pau; Martínez Antúnez, Nora Isabel; Llorens García, Ariadna
Se està produciendo un cambio de paradigma, un cambio de concepto de la farola tradicional, transformándose en otra cosa diferente, en el nodo urbano. Esto supone un nuevo paso en la línea de las smart cities. Los autores de este artículo nos describen cómo funcionan estas nuevas farolas
20140929T08:06:12Z
Ruiz, Fèlix
Farré, Josep
Martí Colom, Pau
Martínez Antúnez, Nora Isabel
Llorens García, Ariadna
Se està produciendo un cambio de paradigma, un cambio de concepto de la farola tradicional, transformándose en otra cosa diferente, en el nodo urbano. Esto supone un nuevo paso en la línea de las smart cities. Los autores de este artículo nos describen cómo funcionan estas nuevas farolas

Holistic indices for productivity control assessment, applied to the comparative analysis of PID and fuzzy controllers within an Isasmelt furnace
http://hdl.handle.net/2117/23378
Holistic indices for productivity control assessment, applied to the comparative analysis of PID and fuzzy controllers within an Isasmelt furnace
Ojeda Sarmiento, Juan Manuel; Fuertes Armengol, José Mª; Griful Ponsati, Eulàlia
This research aims to contribute to the analysis of control performance assessment in extractive metallurgy. Productivitybased indices are proposed in addition to current measuring techniques. Such criteria are employed to compare conventional PID and fuzzybased controllers in copper smelting. This process is mathematically modeled in order to be simulated. The comparison confirms a better performance of the fuzzy controller in dealing with the molten bath temperature within an Isasmelt furnace. In normal operating conditions (online tests), the proposed controller achieves a consistent mean square relative error reduction of 72% between measured values and the temperature setpoint and standard deviation of approximately 60% (from 27.8 degrees C to 11.1 degrees C). The productivity criteria establish a lower consumption of raw materials (13%) and energy supply (29%).
20140702T09:23:03Z
Ojeda Sarmiento, Juan Manuel
Fuertes Armengol, José Mª
Griful Ponsati, Eulàlia
This research aims to contribute to the analysis of control performance assessment in extractive metallurgy. Productivitybased indices are proposed in addition to current measuring techniques. Such criteria are employed to compare conventional PID and fuzzybased controllers in copper smelting. This process is mathematically modeled in order to be simulated. The comparison confirms a better performance of the fuzzy controller in dealing with the molten bath temperature within an Isasmelt furnace. In normal operating conditions (online tests), the proposed controller achieves a consistent mean square relative error reduction of 72% between measured values and the temperature setpoint and standard deviation of approximately 60% (from 27.8 degrees C to 11.1 degrees C). The productivity criteria establish a lower consumption of raw materials (13%) and energy supply (29%).

El Node urbà : Canvi de concepte del fanal cap a element urbà multifuncional en smart cities
http://hdl.handle.net/2117/23284
El Node urbà : Canvi de concepte del fanal cap a element urbà multifuncional en smart cities
Ruiz, Fèlix; Farré, Josep; Martí Colom, Pau; Martínez Antúnez, Nora Isabel; Llorens García, Ariadna
20140620T10:16:27Z
Ruiz, Fèlix
Farré, Josep
Martí Colom, Pau
Martínez Antúnez, Nora Isabel
Llorens García, Ariadna