ABSTRACT This paper presents an enhanced version of the LEON architecture with a performance-moni... more ABSTRACT This paper presents an enhanced version of the LEON architecture with a performance-monitoring unit, including performance counters for different events and a trace buffer. Through this enhancement the user or system engineer is able to obtain information about the cache behavior and the execution path of a whole program or a fragment of code. This development introduces several advantages over simulators, such as allowing tests to be performed directly on the real target in a nonintrusive mode. Taking advantage of this enhancement, a suite of tests for cache characterization and evaluation has been developed. The results of this study can contribute to modeling the behavior of the LEON architecture in areas such as worst-case execution-time estimation and probabilistic analysis. The new features can be very useful during the validation and verification phase of the real-time software, supporting code coverage techniques and reducing the execution-time variability due to hardware effects such as cache and pipelines. The field-programmable gate-array resources employed by the performance-monitoring unit developed in this paper are low, on the order of 3-5%, with the exception of an increase of 37% in the use of embedded memory blocks.
This paper presents an extension to the Palladio Component Model (PCM), together with a new perfo... more This paper presents an extension to the Palladio Component Model (PCM), together with a new performance analysis infrastructure that supports the fixed-priority preemptive scheduling policy. The proposed solution allows modelling and analysing component-based embedded software applications that are defined using a specific pattern in which each component is executed by a task with a specific priority. The infrastructure is also capable of analysing the system performance when the tasks access shared resources, using either immediate priority ceiling, or priority inheritance protocols, in order to avoid the priority inversion problem. The paper shows the set of rules that enable the transformation between an application, compliant with the proposed design pattern, and its corresponding PCM. Finally, a use case example based on a real system, and a set of tests that validates the analysis infrastructure, are provided. This system is the on-board software of a satellite payload that is currently being developed by the Space Research Group of the University of Alcala.
The concept of the compact instrument SIDRA for measurements of energetic charge particle fluxes ... more The concept of the compact instrument SIDRA for measurements of energetic charge particle fluxes and the first results of laboratory tests of the separate units are presented. The SIDRA instrument consists of one detector unit based on the high purity silicon PIN (E, E) and rapid scintillation detectors, of analogue & digital signal processing units, and of one secondary power supply module. Different objectives-scientific and also applied ones such as measurements of absorbed dose rates can be achieved in the outer space with the help of the SIDRA device. Main features and parameters of the device such as weight, dimensions, power consumption as well as some electrical characteristics are presented.
Various combinatorial optimization NP-hard problems can be reduced to finding the minimizer of an... more Various combinatorial optimization NP-hard problems can be reduced to finding the minimizer of an Ising model, which is a discrete mathematical model. It is an intellectual challenge to develop some mathematical tools or algorithms for solving the Ising model. Over the past decades, some continuous approaches or algorithms have been proposed from physical, mathematical or computational views for optimizing the Ising model such as quantum annealing, the coherent Ising machine, simulated annealing, adiabatic Hamiltonian systems, etc.. However, the mathematical principle of these algorithms is far from being understood. In this paper, we reveal the mathematical mechanism of dynamical system algorithms for the Ising model by Morse theory and variational methods. We prove that the dynamical system algorithms can be designed to minimize a continuous function whose local minimum points give all the candidates of the Ising model and the global minimum gives the minimizer of Ising problem. Using this mathematical mechanism, we can easily understand several dynamical system algorithms of the Ising model such as the coherent Ising machine, the Kerr-nonlinear parametric oscillators and the simulated bifurcation algorithm. Furthermore, motivated by the works of C. Conley, we study transit and capture properties of the simulated bifurcation algorithm to explain its convergence by the low energy transit and capture in celestial mechanics. A detailed discussion on 2-spin and 3-spin Ising models is presented as application.
Real-time systems development is a complex process. Due to this fact, the ability to trace the di... more Real-time systems development is a complex process. Due to this fact, the ability to trace the different system events becomes essential in order to verify the correct system behavior and implementation. The POSIX 1003.1q tracing standard provides an interface to handle event data. However, it does not fit well with multilevel software tracing, in which it is necessary to extract events information from different levels, and route it to different tracing tools that are suitable for representing the semantic of the levels. This paper presents an implementation of a multilevel tracing mechanism over the Real Time Ap-plication Interface (RTAI). The goal of this work is to facilitate the validation and verification process of RTAI-based real-time software systems developed with a component based graphical modeling CASE tool, named EDROOM. The EDROOM services library provides tracing information letting the designer to analyze the behavior of the components during the system execution, w...
This work aims to integrate SLAM into the path planning based on Control Adjoining Cell Mapping a... more This work aims to integrate SLAM into the path planning based on Control Adjoining Cell Mapping and Reinforcement Learning (CACM-RL) algorithm to give a total autonomy and auto-location to mobile vehicles. This way, the implementation does not depend on any external device (e.g. camera) to perform optimal control and motion planning. SLAM is performed using Particle Filtering based on the information provided by inexpensive ultrasonic sensors and odometry. A real scenario, in where some obstacles have been introduced, is used to demonstrate the efficiency and viability of the proposed technique.
The design concept and first set of results are presented for electronic modules of a laboratory ... more The design concept and first set of results are presented for electronic modules of a laboratory pro totype of the small size satellite instrument SIDRA intended for measurements of charged particle fluxes in outer space. The working prototype consists of a detector assembly based on high purity silicon and fast scin tillation detectors, modules of analogue and digital processing, and a secondary power supply module. The first results are discussed of a Monte Carlo simulation of the instrument with the use of the GEANT4 toolkit and of measurements of the main parameters of charge sensitive pre amplifiers, shapers, and peak detectors. Results of calibration measurements with the use of radioactive sources and beams of accelerated charged particles are presented.
In this work, the results of the calibration of the solid-state detectors and electronic channels... more In this work, the results of the calibration of the solid-state detectors and electronic channels of the SIDRA satelliteborne energetic charged particle spectrometer-telescope breadboard model are presented. The block schemes and experimental equipment used to conduct the thermal vacuum and electromagnetic compatibility tests of the assemblies and modules of the compact satellite equipment are described. The results of the measured thermal conditions of operation of the signal analog and digital processing critical modules of the SIDRA instrument prototype are discussed. Finally, the levels of conducted interference generated by the instrument model in the primary vehicle-borne power circuits are presented.
Introduction: An initial Phase III clinical trial has evaluated the efficacy and safety of biosim... more Introduction: An initial Phase III clinical trial has evaluated the efficacy and safety of biosimilar recombinant human growth hormone (rhGH; Omnitrope Ò , Sandoz) in Spanish children with growth hormone deficiency (GHD). At the end of the study, those patients still growing were Conclusion: This cohort of Spanish patients with GHD showed a positive response to rhGH treatment, achieving adult height within the local normal ranges. In addition, rhGH treatment was well tolerated, with no new or additional safety concerns.
International Journal of Advanced Robotic Systems, 2012
This work aims to present a new optimal control scheme based on the CACM-RL technique applied tou... more This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP).The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates implementing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller.
In this paper we present a usability measure adapted to mobile services, which is based on the we... more In this paper we present a usability measure adapted to mobile services, which is based on the well-known theoretical framework defined in the ISO 9241-11 [ISO 9241 (1988)] standard. This measure is then applied to a representative set of services of the ...
Este libro consta de dos partes. Ambas partes pretenden englobar los conocimientos basicos que un... more Este libro consta de dos partes. Ambas partes pretenden englobar los conocimientos basicos que una persona debe adquirir en un primer curso de sistemas operativos. La primera de ellas es una introduccion a los sistemas operativos, en la cual se da una descripcion generica de cada uno de los modulos que componen un sistema operativo actual. La segunda parte es una introduccion al sistema operativo Unix l. Con ello se pretende, con un caso practico, ilustrar todos los conceptos mostrados en la primera parte. Se ha elegido este sistema operativo por su amplia difusion dentro del mundo universitario y por adecuarse perfectamente a los contenidos de esta materia.
Juan Carlos Luengo Patrocinio Teléfonica MóvilesUniversidad de Alcalá Distrito C, Edf. Este 3, P... more Juan Carlos Luengo Patrocinio Teléfonica MóvilesUniversidad de Alcalá Distrito C, Edf. Este 3, Pl. 3ª Ronda Comunicación s/n, 28050 MADRID juancarlos.luengopatrocinio@telefonica.es ... Pedro Concejero Teléfonica Investigación y Desarrollo Emilio Vargas 6, 28043 ...
ESA's medium-class Solar Orbiter mission is conceived to perform a close-up study of our Sun and ... more ESA's medium-class Solar Orbiter mission is conceived to perform a close-up study of our Sun and its inner heliosphere to better understand the behaviour of our star. The mission will provide the clues to discover how the Sun creates and controls the solar wind and thereby affects the environments of all the planets. The spacecraft is equipped with a comprehensive suite of instruments. The Energetic Particle Detector (EPD) is one of the in-situ instruments on-board Solar Orbiter. EPD is composed of five different sensors, all of them sharing the Instrument Control Unit or ICU that is the sole interface with the spacecraft. This paper emphasises on how the hardware/software co-design approach can lead to a decrease in software complexity and highlights the versatility of the toolset that supports the development process. Following a model-driven engineering approach, these tools are capable of generating the high-level code of the software application, as well as of facilitating its configuration control and its deployment on the hardware platforms used in the different stages of the development process. Moreover, the use of the Leon2ViP virtual platform, with fault injection capabilities, allows an early software-before-hardware verification and validation and also a hardware-software co-simulation. The adopted solutions reduce development time without compromising the whole process reliability that is essential to the EPD success.
ExoMars is a European led exploration mission to Mars including a rover that is planned for launc... more ExoMars is a European led exploration mission to Mars including a rover that is planned for launch near 2013. EDRES (Environnement de Développement pour la Robotique d'Exploration Spatiale) is the result of thirteen years of software development for autonomous rovers at CNES. It consists of a collection of algorithms, applications and tools covering the majority of the functions required for autonomous movement generation and execution for exploration rovers. EDRES has been built to serve as a workshop for the creation of new algorithms, tools or applications. Related to the early developments in the navigation OBSW, TCPsi under contract from Astrium UK and in cooperation with ESA, CNES and the University of Alcalá has undertaken a project that focuses on the assessment of the flight suitability of heritage code developed by CNES, encompassing its ability to run on the flight processor, its performance and its flight-worthiness in terms of issues such as compliance with flight ...
ABSTRACT This paper presents an enhanced version of the LEON architecture with a performance-moni... more ABSTRACT This paper presents an enhanced version of the LEON architecture with a performance-monitoring unit, including performance counters for different events and a trace buffer. Through this enhancement the user or system engineer is able to obtain information about the cache behavior and the execution path of a whole program or a fragment of code. This development introduces several advantages over simulators, such as allowing tests to be performed directly on the real target in a nonintrusive mode. Taking advantage of this enhancement, a suite of tests for cache characterization and evaluation has been developed. The results of this study can contribute to modeling the behavior of the LEON architecture in areas such as worst-case execution-time estimation and probabilistic analysis. The new features can be very useful during the validation and verification phase of the real-time software, supporting code coverage techniques and reducing the execution-time variability due to hardware effects such as cache and pipelines. The field-programmable gate-array resources employed by the performance-monitoring unit developed in this paper are low, on the order of 3-5%, with the exception of an increase of 37% in the use of embedded memory blocks.
This paper presents an extension to the Palladio Component Model (PCM), together with a new perfo... more This paper presents an extension to the Palladio Component Model (PCM), together with a new performance analysis infrastructure that supports the fixed-priority preemptive scheduling policy. The proposed solution allows modelling and analysing component-based embedded software applications that are defined using a specific pattern in which each component is executed by a task with a specific priority. The infrastructure is also capable of analysing the system performance when the tasks access shared resources, using either immediate priority ceiling, or priority inheritance protocols, in order to avoid the priority inversion problem. The paper shows the set of rules that enable the transformation between an application, compliant with the proposed design pattern, and its corresponding PCM. Finally, a use case example based on a real system, and a set of tests that validates the analysis infrastructure, are provided. This system is the on-board software of a satellite payload that is currently being developed by the Space Research Group of the University of Alcala.
The concept of the compact instrument SIDRA for measurements of energetic charge particle fluxes ... more The concept of the compact instrument SIDRA for measurements of energetic charge particle fluxes and the first results of laboratory tests of the separate units are presented. The SIDRA instrument consists of one detector unit based on the high purity silicon PIN (E, E) and rapid scintillation detectors, of analogue & digital signal processing units, and of one secondary power supply module. Different objectives-scientific and also applied ones such as measurements of absorbed dose rates can be achieved in the outer space with the help of the SIDRA device. Main features and parameters of the device such as weight, dimensions, power consumption as well as some electrical characteristics are presented.
Various combinatorial optimization NP-hard problems can be reduced to finding the minimizer of an... more Various combinatorial optimization NP-hard problems can be reduced to finding the minimizer of an Ising model, which is a discrete mathematical model. It is an intellectual challenge to develop some mathematical tools or algorithms for solving the Ising model. Over the past decades, some continuous approaches or algorithms have been proposed from physical, mathematical or computational views for optimizing the Ising model such as quantum annealing, the coherent Ising machine, simulated annealing, adiabatic Hamiltonian systems, etc.. However, the mathematical principle of these algorithms is far from being understood. In this paper, we reveal the mathematical mechanism of dynamical system algorithms for the Ising model by Morse theory and variational methods. We prove that the dynamical system algorithms can be designed to minimize a continuous function whose local minimum points give all the candidates of the Ising model and the global minimum gives the minimizer of Ising problem. Using this mathematical mechanism, we can easily understand several dynamical system algorithms of the Ising model such as the coherent Ising machine, the Kerr-nonlinear parametric oscillators and the simulated bifurcation algorithm. Furthermore, motivated by the works of C. Conley, we study transit and capture properties of the simulated bifurcation algorithm to explain its convergence by the low energy transit and capture in celestial mechanics. A detailed discussion on 2-spin and 3-spin Ising models is presented as application.
Real-time systems development is a complex process. Due to this fact, the ability to trace the di... more Real-time systems development is a complex process. Due to this fact, the ability to trace the different system events becomes essential in order to verify the correct system behavior and implementation. The POSIX 1003.1q tracing standard provides an interface to handle event data. However, it does not fit well with multilevel software tracing, in which it is necessary to extract events information from different levels, and route it to different tracing tools that are suitable for representing the semantic of the levels. This paper presents an implementation of a multilevel tracing mechanism over the Real Time Ap-plication Interface (RTAI). The goal of this work is to facilitate the validation and verification process of RTAI-based real-time software systems developed with a component based graphical modeling CASE tool, named EDROOM. The EDROOM services library provides tracing information letting the designer to analyze the behavior of the components during the system execution, w...
This work aims to integrate SLAM into the path planning based on Control Adjoining Cell Mapping a... more This work aims to integrate SLAM into the path planning based on Control Adjoining Cell Mapping and Reinforcement Learning (CACM-RL) algorithm to give a total autonomy and auto-location to mobile vehicles. This way, the implementation does not depend on any external device (e.g. camera) to perform optimal control and motion planning. SLAM is performed using Particle Filtering based on the information provided by inexpensive ultrasonic sensors and odometry. A real scenario, in where some obstacles have been introduced, is used to demonstrate the efficiency and viability of the proposed technique.
The design concept and first set of results are presented for electronic modules of a laboratory ... more The design concept and first set of results are presented for electronic modules of a laboratory pro totype of the small size satellite instrument SIDRA intended for measurements of charged particle fluxes in outer space. The working prototype consists of a detector assembly based on high purity silicon and fast scin tillation detectors, modules of analogue and digital processing, and a secondary power supply module. The first results are discussed of a Monte Carlo simulation of the instrument with the use of the GEANT4 toolkit and of measurements of the main parameters of charge sensitive pre amplifiers, shapers, and peak detectors. Results of calibration measurements with the use of radioactive sources and beams of accelerated charged particles are presented.
In this work, the results of the calibration of the solid-state detectors and electronic channels... more In this work, the results of the calibration of the solid-state detectors and electronic channels of the SIDRA satelliteborne energetic charged particle spectrometer-telescope breadboard model are presented. The block schemes and experimental equipment used to conduct the thermal vacuum and electromagnetic compatibility tests of the assemblies and modules of the compact satellite equipment are described. The results of the measured thermal conditions of operation of the signal analog and digital processing critical modules of the SIDRA instrument prototype are discussed. Finally, the levels of conducted interference generated by the instrument model in the primary vehicle-borne power circuits are presented.
Introduction: An initial Phase III clinical trial has evaluated the efficacy and safety of biosim... more Introduction: An initial Phase III clinical trial has evaluated the efficacy and safety of biosimilar recombinant human growth hormone (rhGH; Omnitrope Ò , Sandoz) in Spanish children with growth hormone deficiency (GHD). At the end of the study, those patients still growing were Conclusion: This cohort of Spanish patients with GHD showed a positive response to rhGH treatment, achieving adult height within the local normal ranges. In addition, rhGH treatment was well tolerated, with no new or additional safety concerns.
International Journal of Advanced Robotic Systems, 2012
This work aims to present a new optimal control scheme based on the CACM-RL technique applied tou... more This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP).The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates implementing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller.
In this paper we present a usability measure adapted to mobile services, which is based on the we... more In this paper we present a usability measure adapted to mobile services, which is based on the well-known theoretical framework defined in the ISO 9241-11 [ISO 9241 (1988)] standard. This measure is then applied to a representative set of services of the ...
Este libro consta de dos partes. Ambas partes pretenden englobar los conocimientos basicos que un... more Este libro consta de dos partes. Ambas partes pretenden englobar los conocimientos basicos que una persona debe adquirir en un primer curso de sistemas operativos. La primera de ellas es una introduccion a los sistemas operativos, en la cual se da una descripcion generica de cada uno de los modulos que componen un sistema operativo actual. La segunda parte es una introduccion al sistema operativo Unix l. Con ello se pretende, con un caso practico, ilustrar todos los conceptos mostrados en la primera parte. Se ha elegido este sistema operativo por su amplia difusion dentro del mundo universitario y por adecuarse perfectamente a los contenidos de esta materia.
Juan Carlos Luengo Patrocinio Teléfonica MóvilesUniversidad de Alcalá Distrito C, Edf. Este 3, P... more Juan Carlos Luengo Patrocinio Teléfonica MóvilesUniversidad de Alcalá Distrito C, Edf. Este 3, Pl. 3ª Ronda Comunicación s/n, 28050 MADRID juancarlos.luengopatrocinio@telefonica.es ... Pedro Concejero Teléfonica Investigación y Desarrollo Emilio Vargas 6, 28043 ...
ESA's medium-class Solar Orbiter mission is conceived to perform a close-up study of our Sun and ... more ESA's medium-class Solar Orbiter mission is conceived to perform a close-up study of our Sun and its inner heliosphere to better understand the behaviour of our star. The mission will provide the clues to discover how the Sun creates and controls the solar wind and thereby affects the environments of all the planets. The spacecraft is equipped with a comprehensive suite of instruments. The Energetic Particle Detector (EPD) is one of the in-situ instruments on-board Solar Orbiter. EPD is composed of five different sensors, all of them sharing the Instrument Control Unit or ICU that is the sole interface with the spacecraft. This paper emphasises on how the hardware/software co-design approach can lead to a decrease in software complexity and highlights the versatility of the toolset that supports the development process. Following a model-driven engineering approach, these tools are capable of generating the high-level code of the software application, as well as of facilitating its configuration control and its deployment on the hardware platforms used in the different stages of the development process. Moreover, the use of the Leon2ViP virtual platform, with fault injection capabilities, allows an early software-before-hardware verification and validation and also a hardware-software co-simulation. The adopted solutions reduce development time without compromising the whole process reliability that is essential to the EPD success.
ExoMars is a European led exploration mission to Mars including a rover that is planned for launc... more ExoMars is a European led exploration mission to Mars including a rover that is planned for launch near 2013. EDRES (Environnement de Développement pour la Robotique d'Exploration Spatiale) is the result of thirteen years of software development for autonomous rovers at CNES. It consists of a collection of algorithms, applications and tools covering the majority of the functions required for autonomous movement generation and execution for exploration rovers. EDRES has been built to serve as a workshop for the creation of new algorithms, tools or applications. Related to the early developments in the navigation OBSW, TCPsi under contract from Astrium UK and in cooperation with ESA, CNES and the University of Alcalá has undertaken a project that focuses on the assessment of the flight suitability of heritage code developed by CNES, encompassing its ability to run on the flight processor, its performance and its flight-worthiness in terms of issues such as compliance with flight ...
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Papers by Sebastián Prieto