ABSTRACT En este trabajo se analiza el diseño e implementación de un sistema electrónico, en base a FPGAs, que proporciona información de la posición y velocidad de una carretilla industrial. Estas se deducen a partir del cómputo de las... more
ABSTRACT En este trabajo se analiza el diseño e implementación de un sistema electrónico, en base a FPGAs, que proporciona información de la posición y velocidad de una carretilla industrial. Estas se deducen a partir del cómputo de las revoluciones de los ejes de las ruedas, dotados de encoders a tal efecto. La tarjeta desarrollada permite el manejo de hasta cuatro ejes distintos, cuyos datos de velocidad y posición pueden ser leídos desde dos puertos completamente independientes.
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Person re-identification is a challenging task when there exist strong appearance changes for different viewpoints of the person captured by a distributed camera network. To better solve this issue a multi-view oriented model of the... more
Person re-identification is a challenging task when there exist strong appearance changes for different viewpoints of the person captured by a distributed camera network. To better solve this issue a multi-view oriented model of the person has been proposed. In this paper, we analyze the camera calibration parameters required to be used in the oriented people re-identification and propose a method to retrieve those values to be used in the capture of people perspectives with different known orientations respect to the camera. Usually, individual camera calibration parameters on a large distributed camera network are not available. A self-calibration method through the usage of short-term trackers of multiple persons is proposed. Only two extrinsic camera calibration parameters are required. Experimental results based on the processing of different public datasets demonstrate the effectiveness of our approach.
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El trabajo presentado refleja la estructura de una practica de la asignatura laboratorios de sistemas electronicos de control discreto. La practica se ha planificado para que integre diferentes aspectos considerados basicos en la... more
El trabajo presentado refleja la estructura de una practica de la asignatura laboratorios de sistemas electronicos de control discreto. La practica se ha planificado para que integre diferentes aspectos considerados basicos en la formacion de un disenador de sistemas de control: a)manejo de herramientas software que faciliten el diseno y simulacion de controladores, b)construccion de la arquitectura hardware que permite aplicar directamente a un proceso real de algoritmos de control validados mediante simulacion. El objetivo del sistema es el control en lazo cerrado de la velocidad angular de un motor de continua con encorder optico.
Research Interests: Physics and Humanities
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This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking nonlinear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are... more
This article presents an aperiodic control solution for the remote guidance of a convoy of intelligent vehicles tracking nonlinear trajectories. To accomplish this, it is assumed that the longitudinal and lateral stability problems are decoupled. A centralized self-triggered consensus controller ensures convoy stability, thus maintaining the desired distance between vehicles while also achieving a significant reduction in the number of times the channel is accessed. In addition, a decentralized self-triggered controller is designed for each follower to track nonlinear trajectories. With this self-triggered approach, each vehicle monitors its own state only at precise instants. The main contribution of this proposal is to reduce the wireless channel load while preserving the tracking performance of the convoy.
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Presents the basis and results of the application of advanced digital control techniques to the drive and trajectory tracking systems of a wheelchair for the disabled. The adaptive optimal control of the differential drive of the vehicle... more
Presents the basis and results of the application of advanced digital control techniques to the drive and trajectory tracking systems of a wheelchair for the disabled. The adaptive optimal control of the differential drive of the vehicle contributes to improve the guidance system safety and reliability. Furthermore, the incorporation of an optimal controller in order to minimise the location error
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This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby... more
This paper describes the theoretical and practical foundations for remote control of a mobile robot for nonlinear trajectory tracking using an external localisation sensor. It constitutes a classical networked control system, whereby event-based techniques for both control and state estimation contribute to efficient use of communications and reduce sensor activity. Measurement requests are dictated by an event-based state estimator by setting an upper bound to the estimation error covariance matrix. The rest of the time, state prediction is carried out with the Unscented transformation. This prediction method makes it possible to select the appropriate instants at which to perform actuations on the robot so that guidance performance does not degrade below a certain threshold. Ultimately, we obtained a combined event-based control and estimation solution that drastically reduces communication accesses. The magnitude of this reduction is set according to the tracking error margin of ...
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This paper describes the design, measurement methodology, and experimental validation of an electronic system for monitoring the electrical discontinuity in rails of double-track railway lines in order to detect the rail breakage. The... more
This paper describes the design, measurement methodology, and experimental validation of an electronic system for monitoring the electrical discontinuity in rails of double-track railway lines in order to detect the rail breakage. The electronic system is based on an emitter node and on the two receiver nodes. The three nodes, together with the four rails to be analyzed, constitute the electrical circuits, whose currents are measured in both the emission and reception nodes. These nodes can communicate through a data network between them, as well as with a remote center that controls and synchronizes the electronic systems along the railway line. The electronic subsystem associated with the emitter node transmits an encoded signal to the rails, modulated by an 800-Hz carrier. A set of eight currents are measured, one per rail at each end of the section defined between the emitter and the receiver, with a maximum length of 7 km. The evaluation of electrical discontinuities in each section is carried out by means of the relative imbalances that can appear between the eight measured currents, according to possible breakages. The method of measurement is characterized by a high immunity to noise. The results presented here are based on a railway line prototype, which implements the electrical propagation models and coupling between the four rails in the double track. This model allows the proposed electronic system and measurement methodology to be successfully verified.
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Person re-identification is a challenging task when there exist strong appearance changes for different viewpoints of the person captured by a distributed camera network. To better solve this issue a multi-view oriented model of the... more
Person re-identification is a challenging task when there exist strong appearance changes for different viewpoints of the person captured by a distributed camera network. To better solve this issue a multi-view oriented model of the person has been proposed. In this paper, we analyze the camera calibration parameters required to be used in the oriented people re-identification and propose a method to retrieve those values to be used in the capture of people perspectives with different known orientations respect to the camera. Usually, individual camera calibration parameters on a large distributed camera network are not available. A self-calibration method through the usage of short-term trackers of multiple persons is proposed. Only two extrinsic camera calibration parameters are required. Experimental results based on the processing of different public datasets demonstrate the effectiveness of our approach.
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In this paper the authors deal with the problem of variable channel delays in a tele-robotics context. Considering the effect of time-varying network delays, a novel self-triggered strategy has been designed to adjust the triggering... more
In this paper the authors deal with the problem of variable channel delays in a tele-robotics context. Considering the effect of time-varying network delays, a novel self-triggered strategy has been designed to adjust the triggering condition to the observed tracking error. This adaptive self-triggered approach has been implemented on the trajectory tracking of two P3-DX mobile robots remotely controlled through the widespread WLAN IEEE 802.11g standard. Taking into account the maximum channel delay, results show that this solution achieves a good tracking performance with a high reduction of the network occupancy.
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Hands-on experimentation has widely demonstrated its efficacy in engineering training, especially in control formation, since experimentation using computer-aided control system design (CACSD) tools is essential for future engineers. In... more
Hands-on experimentation has widely demonstrated its efficacy in engineering training, especially in control formation, since experimentation using computer-aided control system design (CACSD) tools is essential for future engineers. In this context, this article describes a case study for Control Engineering formation, based on a new lab practice for the linear and angular velocity control for a commercial P3-DX robot platform, to teach industrial control. This lab proposal includes all the stages involved in the design of a real control system, from plant identification from an open-loop test to real experimentation of the designed control system. The lab practices proposed have a twofold objective: First, it is an interdisciplinary approach that allows students to put into practice the skills from other subjects in the curriculum, facilitating the integration of knowledge. In addition, it allows increasing the motivation of the students by working with a complex and realistic plant. The proposal has been evaluated through the grades of the students, as well as the perception of both students and instructors, and the results obtained allow to confirm the benefits of the proposal.
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sensors
El trabajo presentado refleja la estructura de una practica de la asignatura laboratorios de sistemas electronicos de control discreto. La practica se ha planificado para que integre diferentes aspectos considerados basicos en la... more
El trabajo presentado refleja la estructura de una practica de la asignatura laboratorios de sistemas electronicos de control discreto. La practica se ha planificado para que integre diferentes aspectos considerados basicos en la formacion de un disenador de sistemas de control: a)manejo de herramientas software que faciliten el diseno y simulacion de controladores, b)construccion de la arquitectura hardware que permite aplicar directamente a un proceso real de algoritmos de control validados mediante simulacion. El objetivo del sistema es el control en lazo cerrado de la velocidad angular de un motor de continua con encorder optico.
Research Interests: Physics and Humanities
El trabajo muestra las soluciones sensoriales, de comunicaciones y control, al guiado remoto de robots en entornos inteligentes derivadas del proyecto ALCOR. En este tipo de aplicaciones la optimización de los recursos compartidos,... more
El trabajo muestra las soluciones sensoriales, de comunicaciones y control, al guiado remoto de robots en entornos inteligentes derivadas del proyecto ALCOR. En este tipo de aplicaciones la optimización de los recursos compartidos, especialmente los relacionados con la autonomía energética y con la utilización del canal inalámbrico, sigue siendo un reto. Las principales aportaciones del proyecto son: a) desarrollo de unidades sensoriales basadas en infrarrojos con precisión centimétrica en la localización de la fuente emisora y tiempos de respuesta de milisegundos; b) soluciones de comunicación inalámbrica que mejoran el enrutamiento de información y la homogeneización en el tráfico de red; y c) soluciones de control y estimación basadas en eventos con mecanismos independientes de actuación sobre la unidad móvil y de petición de medidas al módulo sensorial. Para las pruebas experimentales se ha utilizado el robot comercial P3-DX.
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In recent years, indoor localization systems have been the object of significant research activity and of growing interest for their great expected social impact and their impressive business potential. Application areas include tracking... more
In recent years, indoor localization systems have been the object of significant research activity and of growing interest for their great expected social impact and their impressive business potential. Application areas include tracking and navigation, activity monitoring, personalized advertising, Active and Assisted Living (AAL), traceability, Internet of Things (IoT) networks, and Home-land Security. In spite of the numerous research advances and the great industrial interest, no canned solutions have yet been defined. The diversity and heterogeneity of applications, scenarios, sensor and user requirements, make it difficult to create uniform solutions. From that diverse reality, a main problem is derived that consists in the lack of a consensus both in terms of the metrics and the procedures used to measure the performance of the different indoor localization and navigation proposals. This paper introduces the general lines of the EvAAL benchmarking framework, which is aimed at...
Research Interests: Engineering, Computer Science, Analytical Chemistry, Benchmarking, Medicine, and 9 moreIndoor Navigation, Sensors, Performance Evaluation, Indoor Localization, Pedestrian Dead-Reckoning, Electrical And Electronic Engineering, active and assisted living, Pedestrian dead reckoning (PDR), and Smartphone sensors
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The lateral and longitudinal oscillations in a platoon of vehicles depend, fundamentally, on how the reference trajectory of the followers is generated and how the lateral and longitudinal control is designed. In this paper new algorithms... more
The lateral and longitudinal oscillations in a platoon of vehicles depend, fundamentally, on how the reference trajectory of the followers is generated and how the lateral and longitudinal control is designed. In this paper new algorithms are presented to reduce some of these problems. One of them takes charge in generating the reference trajectory of the followers by means of a series of points, where the separation distance between them is based on the kinematics of the vehicle, the trajectory curvature, and on the permissible distance error. The other one, the lateral control algorithm, takes charge of following the desired trajectory (the generated one). This algorithm is based on the "look-ahead distance" strategy. In addition, this paper presents simulation results for these algorithms and the comparison of the proposed lateral control with other published one.
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In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless... more
In this paper, we report the design of an aperiodic remote formation controller applied to nonholonomic robots tracking nonlinear, trajectories using an external positioning sensor network. Our main objective is to reduce wireless communication with external sensors and robots while guaranteeing formation stability. Unlike most previous work in the field of aperiodic control, we design a self-triggered controller that only updates the control signal according to the variation of a Lyapunov function, without taking the measurement error into account. The controller is responsible for scheduling measurement requests to the sensor network and for computing and sending control signals to the robots. We design two triggering mechanisms: centralized, taking into account the formation state and decentralized, considering the individual state of each unit. We present a statistical analysis of simulation results, showing that our control solution significantly reduces the need for communicat...
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Research Interests: Engineering and ROBOT
The aim of this paper is to propose and compare two multivariable current controllers of voltage source converters (VSCs) connected to the grid through an LCL filter. The first proposal is a linear quadratic (LQ) servocontroller, which... more
The aim of this paper is to propose and compare two multivariable current controllers of voltage source converters (VSCs) connected to the grid through an LCL filter. The first proposal is a linear quadratic (LQ) servocontroller, which uses a full-order estimator to obtain the full state vector. The second proposal is based on the internal model control (IMC). The behavior
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ABSTRACT This paper covers the use of an adaptive sampling strategy on a sensor network for the estimation of the pose of a remotely controlled mobile robot. The more measurements can be taken, the better the estimation becomes, but if... more
ABSTRACT This paper covers the use of an adaptive sampling strategy on a sensor network for the estimation of the pose of a remotely controlled mobile robot. The more measurements can be taken, the better the estimation becomes, but if some level of uncertainty is tolerable, the amount of measurements can be significantly reduced. The proposed adaptive sampling technique is triggered by the estimation error covariance matrix, computed by Kalman filter algorithms. This sampling strategy leads to the minimum amount of measurements needed to achieve a certain estimation accuracy, reducing the load on important resources such as computational power and network communications. An example of use is given as the pose estimation of a wheeled robot remotely controlled. A network of camera sensors provides pose measurements allowing the application of an Unscented Kalman Filter estimator in the remote centre.
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Page 1. Optimized design of a back-to-back NPC converter to be used as interface for renewable energies Emilio J. Bueno1), Santiago Cobreces2), Francisco J. Rodríguez3), Álvaro Hernández4), Felipe Espinosa5), Raúl Mateos6 ...
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Abstract - This work presents some methods to reduce false alarms in railway obstacle detection. The sensorial system is based on one barrier of infrared emitters and another of receivers, placed on opposing sides of the railway. Obstacle... more
Abstract - This work presents some methods to reduce false alarms in railway obstacle detection. The sensorial system is based on one barrier of infrared emitters and another of receivers, placed on opposing sides of the railway. Obstacle detection is achieved by the ...
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Abstract This paper describes the perception and guidance system of a commercial industrial fork-lift truck for applications in industrial environments. A distributed control system was used, where communication between the various nodes... more
Abstract This paper describes the perception and guidance system of a commercial industrial fork-lift truck for applications in industrial environments. A distributed control system was used, where communication between the various nodes making it up is ...
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... LPLs are simple A4 sized paper sheets, about 2Ix30cm; with a black and white pattern printed on them (figure 5). Positioning is performed by using the geometric constrains of the four black circles printed on it. Location is known... more
... LPLs are simple A4 sized paper sheets, about 2Ix30cm; with a black and white pattern printed on them (figure 5). Positioning is performed by using the geometric constrains of the four black circles printed on it. Location is known using the landmark vertical barcodes. ...
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Presents the basis and results of the application of advanced digital control techniques to the drive and trajectory tracking systems of a wheelchair for the disabled. The adaptive optimal control of the differential drive of the vehicle... more
Presents the basis and results of the application of advanced digital control techniques to the drive and trajectory tracking systems of a wheelchair for the disabled. The adaptive optimal control of the differential drive of the vehicle contributes to improve the guidance system safety and reliability. Furthermore, the incorporation of an optimal controller in order to minimise the location error
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Page 1. AbstractIn this paper authors present a novel method for platoon formation and control in linear as well as non-linear trajectories. Tracking stability and string-stability are achieved through a decentralized overlapping ...
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ABSTRACT A communications system, based on DSPs, between two distant sub-systems in communications environments on railways using the telephone channel is described in this paper. Due to the conditions of the environment where it has to... more
ABSTRACT A communications system, based on DSPs, between two distant sub-systems in communications environments on railways using the telephone channel is described in this paper. Due to the conditions of the environment where it has to function, high reliability in communications and minimum response time were important design requirements. Another of the requirements imposed was that the system should be capable of detecting faults in transmission. This communications system has been developed by the authors within a research project financed by the company LOGITEL and is operating at the present time.
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This work involves the control of a wheelchair using a new model of radial base function (RBF) recurrent neural networks. The proposed architecture is made up of two blocks, each with one neural network: one to identify the physical... more
This work involves the control of a wheelchair using a new model of radial base function (RBF) recurrent neural networks. The proposed architecture is made up of two blocks, each with one neural network: one to identify the physical system (plant)the identifier, and ...