Estudio de los riesgos técnicos aplicados al diseño y construcción de cimentaciones para máquinas

En el Código Técnico de la Edificación se define el riesgo como medida del alcance del peligro que representa un evento no deseado para las personas, expresado en términos de probabilidad vinculada a las consecuencias de un evento, también se expresa como Exigencia Básica de Resistencia y Estabilidad, que estas serán las adecuadas para que no se generen riesgos indebidos manteniendo la resistencia y estabilidad frente a las acciones e influencias previsibles durante la construcción y usos previstos de los edificios, y que además, los posibles eventos extraordinarios que puedan producirse no originen consecuencias desproporcionadas respecto a la causa original. Es ahora donde la gestión de riesgos juega un papel muy importante en la sociedad moderna, siendo esta cada vez más exigente con los resultados y calidad de productos y servicios, además de cumplir también con la responsabilidad jurídica que trae la concepción, diseño y construcción de proyectos de gran envergadura como los son la obra civil y edificación. La obra civil destinada al sector industrial debe ser ejecutada con la mayor precisión posible, pues requiere la instalación de complejos equipos y sistemas productivos que pueden producir esfuerzos dinámicos que muchas veces no se consideran en el diseño de los cimientos que lo soportan, razón por la cual interviene la gestión de riesgos para conocer y reducir los posibles riesgos de fallos que se puedan generar y así intentar aproximarse cada vez más al desarrollo de diseños eficientes y confiables, afianzando la exactitud y minimizando errores en la producción y elaboración de piezas, sistemas y equipos de las distintas áreas productivas de la industria. El presente trabajo de investigación se centra en el estudio de los riesgos técnicos existentes en el diseño y ejecución de cimentaciones para maquinarias, mediante la aplicación de varios métodos de investigación, a fin de intentar cubrir los aspectos más importantes que puedan incurrir en una posible causa de fallo de la estructura, evaluando el acoplamiento entre el sistema máquina-cimiento-suelo. Risk is defined, by the Technical Building Code (Código Técnico de la Edificación, CTE) as a measure of the scope of the hazard of an undesired event for people, expressed in terms of probability related to the consequences of an event, also is expressed as a Basic Requirement Strength and Stability these will be appropriate to not cause undue risk maintaining strength and stability against predictable actions and influences during construction and expected uses of the buildings. Nowadays, Risk Management is an important process in modern society, becoming ever more demanding about the results and quality of products and services, and also complies with the legal responsibility that brings the conception, design and construction of large projects as are civil engineering and construction projects. Civil work as a part of industry must be performed as accurately as possible, requiring the installation of sophisticated equipment and production systems which can produce dynamic forces that often are not considered in the design of the foundations, this is the reason why risk management is involved to understand and reduce the risks of failures that may arise and try to move closer to the development of efficient and reliable designs, strengthening the accuracy and minimizing errors in the production and processing of parts, systems and equipments from different production areas of the industry. This paper is a study of existing technical risks in the design and execution of foundations for machinery, through the application of various research methods, in order to try to cover the most important aspects that may produce the failure of the structure, evaluating the union between the machine-foundation system and soil.

Diseño, desarrollo y evaluación de sistemas de traducción automática para reducir las barreras de comunicación de las personas sordas

La principal aportación de esta tesis doctoral ha sido la propuesta y evaluación de un sistema de traducción automática que permite la comunicación entre personas oyentes y sordas. Este sistema está formado a su vez por dos sistemas: un traductor de habla en español a Lengua de Signos Española (LSE) escrita y que posteriormente se representa mediante un agente animado; y un generador de habla en español a partir de una secuencia de signos escritos mediante glosas. El primero de ellos consta de un reconocedor de habla, un módulo de traducción entre lenguas y un agente animado que representa los signos en LSE. El segundo sistema está formado por una interfaz gráfica donde se puede especificar una secuencia de signos mediante glosas (palabras en mayúscula que representan los signos), un módulo de traducción entre lenguas y un conversor texto-habla. Para el desarrollo del sistema de traducción, en primer lugar se ha generado un corpus paralelo de 7696 frases en español con sus correspondientes traducciones a LSE. Estas frases pertenecen a cuatro dominios de aplicación distintos: la renovación del Documento Nacional de Identidad, la renovación del permiso de conducir, un servicio de información de autobuses urbanos y la recepción de un hotel. Además, se ha generado una base de datos con más de 1000 signos almacenados en cuatro sistemas distintos de signo-escritura. En segundo lugar, se ha desarrollado un módulo de traducción automática que integra dos técnicas de traducción con una estructura jerárquica: la primera basada en memoria y la segunda estadística. Además, se ha implementado un módulo de pre-procesamiento de las frases en español que, mediante su incorporación al módulo de traducción estadística, permite mejorar significativamente la tasa de traducción. En esta tesis también se ha mejorado la versión de la interfaz de traducción de LSE a habla. Por un lado, se han incorporado nuevas características que mejoran su usabilidad y, por otro, se ha integrado un traductor de lenguaje SMS (Short Message Service – Servicio de Mensajes Cortos) a español, que permite especificar la secuencia a traducir en lenguaje SMS, además de mediante una secuencia de glosas. El sistema de traducción propuesto se ha evaluado con usuarios reales en dos dominios de aplicación: un servicio de información de autobuses de la Empresa Municipal de Transportes de Madrid y la recepción del Hotel Intur Palacio San Martín de Madrid. En la evaluación estuvieron implicadas personas sordas y empleados de los dos servicios. Se extrajeron medidas objetivas (obtenidas por el sistema automáticamente) y subjetivas (mediante cuestionarios a los usuarios). Los resultados fueron muy positivos gracias a la opinión de los usuarios de la evaluación, que validaron el funcionamiento del sistema de traducción y dieron información valiosa para futuras líneas de trabajo. Por otro lado, tras la integración de cada uno de los módulos de los dos sistemas de traducción (habla-LSE y LSE-habla), los resultados de la evaluación y la experiencia adquirida en todo el proceso, una aportación importante de esta tesis doctoral es la propuesta de metodología de desarrollo de sistemas de traducción de habla a lengua de signos en los dos sentidos de la comunicación. En esta metodología se detallan los pasos a seguir para desarrollar el sistema de traducción para un nuevo dominio de aplicación. Además, la metodología describe cómo diseñar cada uno de los módulos del sistema para mejorar su flexibilidad, de manera que resulte más sencillo adaptar el sistema desarrollado a un nuevo dominio de aplicación. Finalmente, en esta tesis se analizan algunas técnicas para seleccionar las frases de un corpus paralelo fuera de dominio para entrenar el modelo de traducción cuando se quieren traducir frases de un nuevo dominio de aplicación; así como técnicas para seleccionar qué frases del nuevo dominio resultan más interesantes que traduzcan los expertos en LSE para entrenar el modelo de traducción. El objetivo es conseguir una buena tasa de traducción con la menor cantidad posible de frases. ABSTRACT The main contribution of this thesis has been the proposal and evaluation of an automatic translation system for improving the communication between hearing and deaf people. This system is made up of two systems: a Spanish into Spanish Sign Language (LSE – Lengua de Signos Española) translator and a Spanish generator from LSE sign sequences. The first one consists of a speech recognizer, a language translation module and an avatar that represents the sign sequence. The second one is made up an interface for specifying the sign sequence, a language translation module and a text-to-speech conversor. For the translation system development, firstly, a parallel corpus has been generated with 7,696 Spanish sentences and their LSE translations. These sentences are related to four different application domains: the renewal of the Identity Document, the renewal of the driver license, a bus information service and a hotel reception. Moreover, a sign database has been generated with more than 1,000 signs described in four different signwriting systems. Secondly, it has been developed an automatic translation module that integrates two translation techniques in a hierarchical structure: the first one is a memory-based technique and the second one is statistical. Furthermore, a pre processing module for the Spanish sentences has been implemented. By incorporating this pre processing module into the statistical translation module, the accuracy of the translation module improves significantly. In this thesis, the LSE into speech translation interface has been improved. On the one hand, new characteristics that improve its usability have been incorporated and, on the other hand, a SMS language into Spanish translator has been integrated, that lets specifying in SMS language the sequence to translate, besides by specifying a sign sequence. The proposed translation system has been evaluated in two application domains: a bus information service of the Empresa Municipal de Transportes of Madrid and the Hotel Intur Palacio San Martín reception. This evaluation has involved both deaf people and services employees. Objective measurements (given automatically by the system) and subjective measurements (given by user questionnaires) were extracted during the evaluation. Results have been very positive, thanks to the user opinions during the evaluation that validated the system performance and gave important information for future work. Finally, after the integration of each module of the two translation systems (speech- LSE and LSE-speech), obtaining the evaluation results and considering the experience throughout the process, a methodology for developing speech into sign language (and vice versa) into a new domain has been proposed in this thesis. This methodology includes the steps to follow for developing the translation system in a new application domain. Moreover, this methodology proposes the way to improve the flexibility of each system module, so that the adaptation of the system to a new application domain can be easier. On the other hand, some techniques are analyzed for selecting the out-of-domain parallel corpus sentences in order to train the translation module in a new domain; as well as techniques for selecting which in-domain sentences are more interesting for translating them (by LSE experts) in order to train the translation model.

Nuevo "sistema de desexcitación rápida para máquinas síncronas con excitación brushless" (HSBDS) en un generador de 15 MVA

Las máquinas síncronas con excitación indirecta sin escobillas (tipo brushless) presentan el problema de que no es posible acceder al devanado de campo para desexcitar la máquina. Esto provoca que, a pesar de la operación correcta del sistema de protecciones, la lenta constante de tiempo de desexcitación pueda producir graves daños en el caso de un cortocircuito interno. En este documento se presentan las pruebas de un novedoso sistema de desexcitación rápida para este tipo de máquinas en un generador de 15 MVA. La desexcitación se consigue introduciendo una resistencia en el circuito de campo, obteniendo una respuesta dinámica similar a la que se consigue en las máquinas con excitación estática. La principal aportación de este estudio es la adaptación del método a máquinas de tamaño industrial y las diversas pruebas realizadas en un generador de 15 MVA validando el correcto funcionamiento de este sistema. Synchronous machines with brushless excitation have the disadvantage that the field winding is no accessible for the de-excitation. This means that, despite the proper operation of the protection system, the slow de-excitation time constant may produce severe damage in the event of an internal short circuit. In this paper the test in a 15 MVA generator of a novel high-speed de-excitation system for brushless synchronous machines is presented. The de-excitation is achieved by inserting a resistance in the field circuit, obtaining a dynamic response similar to that archived in machines with static excitation. The main novelty of this paper is the use of this method in a industrial size machine. This system has been validated through experimental tests on a 15 MVA generator, with satisfactory results.

Medida de distancia semántica en grafos UNL

El trabajo que se presenta a continuación desarrolla un modelo para calcular la distancia semántica entre dos oraciones representadas por grafos UNL. Este problema se plantea en el contexto de la traducción automática donde diferentes traductores pueden generar oraciones ligeramente diferentes partiendo del mismo original. La medida de distancia que se propone tiene como objetivo proporcionar una evaluación objetiva sobre la calidad del proceso de generación del texto. El autor realiza una exploración del estado del arte sobre esta materia, reuniendo en un único trabajo los modelos propuestos de distancia semántica entre conceptos, los modelos de comparación de grafos y las pocas propuestas realizadas para calcular distancias entre grafos conceptuales. También evalúa los pocos recursos disponibles para poder experimentar el modelo y plantea una metodología para generar los conjuntos de datos que permitirían aplicar la propuesta con el rigor científico necesario y desarrollar la experimentación. Utilizando las piezas anteriores se propone un modelo novedoso de comparación entre grafos conceptuales que permite utilizar diferentes algoritmos de distancia entre conceptos y establecer umbrales de tolerancia para permitir una comparación flexible entre las oraciones. Este modelo se programa utilizando C++, se alimenta con los recursos a los que se ha hecho referencia anteriormente, y se experimenta con un conjunto de oraciones creado por el autor ante la falta de otros recursos disponibles. Los resultados del modelo muestran que la metodología y la implementación pueden conducir a la obtención de una medida de distancia entre grafos UNL con aplicación en sistemas de traducción automática, sin embargo, la carencia de recursos y de datos etiquetados con los que validar el algoritmo requieren un esfuerzo previo importante antes de poder ofrecer resultados concluyentes.---ABSTRACT---The work presented here develops a model to calculate the semantic distance between two sentences represented by their UNL graphs. This problem arises in the context of machine translation where different translators can generate slightly different sentences from the same original. The distance measure that is proposed aims to provide an objective evaluation on the quality of the process involved in the generation of text. The author carries out an exploration of the state of the art on this subject, bringing together in a single work the proposed models of semantic distance between concepts, models for comparison of graphs and the few proposals made to calculate distances between conceptual graphs. It also assesses the few resources available to experience the model and presents a methodology to generate the datasets that would be needed to develop the proposal with the scientific rigor required and to carry out the experimentation. Using the previous parts a new model is proposed to compute differences between conceptual graphs; this model allows the use of different algorithms of distance between concepts and is parametrized in order to be able to perform a flexible comparison between the resulting sentences. This model is implemented in C++ programming language, it is powered with the resources referenced above and is experienced with a set of sentences created by the author due to the lack of other available resources. The results of the model show that the methodology and the implementation can lead to the achievement of a measure of distance between UNL graphs with application in machine translation systems, however, lack of resources and of labeled data to validate the algorithm requires an important effort to be done first in order to be able to provide conclusive results.

Método para la Construcción Automática de Ontologías Basado en Patrones Lingüísticos

La tesis que se presenta tiene como propósito la construcción automática de ontologías a partir de textos, enmarcándose en el área denominada Ontology Learning. Esta disciplina tiene como objetivo automatizar la elaboración de modelos de dominio a partir de fuentes información estructurada o no estructurada, y tuvo su origen con el comienzo del milenio, a raíz del crecimiento exponencial del volumen de información accesible en Internet. Debido a que la mayoría de información se presenta en la web en forma de texto, el aprendizaje automático de ontologías se ha centrado en el análisis de este tipo de fuente, nutriéndose a lo largo de los años de técnicas muy diversas provenientes de áreas como la Recuperación de Información, Extracción de Información, Sumarización y, en general, de áreas relacionadas con el procesamiento del lenguaje natural. La principal contribución de esta tesis consiste en que, a diferencia de la mayoría de las técnicas actuales, el método que se propone no analiza la estructura sintáctica superficial del lenguaje, sino que estudia su nivel semántico profundo. Su objetivo, por tanto, es tratar de deducir el modelo del dominio a partir de la forma con la que se articulan los significados de las oraciones en lenguaje natural. Debido a que el nivel semántico profundo es independiente de la lengua, el método permitirá operar en escenarios multilingües, en los que es necesario combinar información proveniente de textos en diferentes idiomas. Para acceder a este nivel del lenguaje, el método utiliza el modelo de las interlinguas. Estos formalismos, provenientes del área de la traducción automática, permiten representar el significado de las oraciones de forma independiente de la lengua. Se utilizará en concreto UNL (Universal Networking Language), considerado como la única interlingua de propósito general que está normalizada. La aproximación utilizada en esta tesis supone la continuación de trabajos previos realizados tanto por su autor como por el equipo de investigación del que forma parte, en los que se estudió cómo utilizar el modelo de las interlinguas en las áreas de extracción y recuperación de información multilingüe. Básicamente, el procedimiento definido en el método trata de identificar, en la representación UNL de los textos, ciertas regularidades que permiten deducir las piezas de la ontología del dominio. Debido a que UNL es un formalismo basado en redes semánticas, estas regularidades se presentan en forma de grafos, generalizándose en estructuras denominadas patrones lingüísticos. Por otra parte, UNL aún conserva ciertos mecanismos de cohesión del discurso procedentes de los lenguajes naturales, como el fenómeno de la anáfora. Con el fin de aumentar la efectividad en la comprensión de las expresiones, el método provee, como otra contribución relevante, la definición de un algoritmo para la resolución de la anáfora pronominal circunscrita al modelo de la interlingua, limitada al caso de pronombres personales de tercera persona cuando su antecedente es un nombre propio. El método propuesto se sustenta en la definición de un marco formal, que ha debido elaborarse adaptando ciertas definiciones provenientes de la teoría de grafos e incorporando otras nuevas, con el objetivo de ubicar las nociones de expresión UNL, patrón lingüístico y las operaciones de encaje de patrones, que son la base de los procesos del método. Tanto el marco formal como todos los procesos que define el método se han implementado con el fin de realizar la experimentación, aplicándose sobre un artículo de la colección EOLSS “Encyclopedia of Life Support Systems” de la UNESCO. ABSTRACT The purpose of this thesis is the automatic construction of ontologies from texts. This thesis is set within the area of Ontology Learning. This discipline aims to automatize domain models from structured or unstructured information sources, and had its origin with the beginning of the millennium, as a result of the exponential growth in the volume of information accessible on the Internet. Since most information is presented on the web in the form of text, the automatic ontology learning is focused on the analysis of this type of source, nourished over the years by very different techniques from areas such as Information Retrieval, Information Extraction, Summarization and, in general, by areas related to natural language processing. The main contribution of this thesis consists of, in contrast with the majority of current techniques, the fact that the method proposed does not analyze the syntactic surface structure of the language, but explores his deep semantic level. Its objective, therefore, is trying to infer the domain model from the way the meanings of the sentences are articulated in natural language. Since the deep semantic level does not depend on the language, the method will allow to operate in multilingual scenarios, where it is necessary to combine information from texts in different languages. To access to this level of the language, the method uses the interlingua model. These formalisms, coming from the area of machine translation, allow to represent the meaning of the sentences independently of the language. In this particular case, UNL (Universal Networking Language) will be used, which considered to be the only interlingua of general purpose that is standardized. The approach used in this thesis corresponds to the continuation of previous works carried out both by the author of this thesis and by the research group of which he is part, in which it is studied how to use the interlingua model in the areas of multilingual information extraction and retrieval. Basically, the procedure defined in the method tries to identify certain regularities at the UNL representation of texts that allow the deduction of the parts of the ontology of the domain. Since UNL is a formalism based on semantic networks, these regularities are presented in the form of graphs, generalizing in structures called linguistic patterns. On the other hand, UNL still preserves certain mechanisms of discourse cohesion from natural languages, such as the phenomenon of the anaphora. In order to increase the effectiveness in the understanding of expressions, the method provides, as another significant contribution, the definition of an algorithm for the resolution of pronominal anaphora limited to the model of the interlingua, in the case of third person personal pronouns when its antecedent is a proper noun. The proposed method is based on the definition of a formal framework, adapting some definitions from Graph Theory and incorporating new ones, in order to locate the notions of UNL expression and linguistic pattern, as well as the operations of pattern matching, which are the basis of the method processes. Both the formal framework and all the processes that define the method have been implemented in order to carry out the experimentation, applying on an article of the "Encyclopedia of Life Support Systems" of the UNESCO-EOLSS collection.

Hybrid Approach Combining Machine Learning and a Rule-Based Expert System for Text Categorization

This paper discusses a novel hybrid approach for text categorization that combines a machine learning algorithm, which provides a base model trained with a labeled corpus, with a rule-based expert system, which is used to improve the results provided by the previous classifier, by filtering false positives and dealing with false negatives. The main advantage is that the system can be easily fine-tuned by adding specific rules for those noisy or conflicting categories that have not been successfully trained. We also describe an implementation based on k-Nearest Neighbor and a simple rule language to express lists of positive, negative and relevant (multiword) terms appearing in the input text. The system is evaluated in several scenarios, including the popular Reuters-21578 news corpus for comparison to other approaches, and categorization using IPTC metadata, EUROVOC thesaurus and others. Results show that this approach achieves a precision that is comparable to top ranked methods, with the added value that it does not require a demanding human expert workload to train

Engineering analysis of ITER In-Vessel Viewing System guide tube

The In Vessel Viewing System (IVVS) will be one of the essential machine diagnostic systems at ITER to provide information about the status of in-vessel and plasma facing components and to evaluate the dust inside the Vacuum Vessel. The current design consists of six scanning probes and their deployment systems, which are placed in dedicated ports at the divertor level. These units are located in resident guiding tubes 10 m long, which allow the IVVS probes to go from their storage location to the scanning position by means of a simple straight translation. Moreover, each resident tube is supported inside the corresponding Vacuum Vessel and Cryostat port extensions, which are part of the primary confinement barrier. As the Vacuum Vessel and the Cryostat will move with respect to each other during operation (especially during baking) and during incidents and accidents (disruptions, vertical displacement events, seismic events), the structural integrity of the resident tube and the surrounding vacuum boundaries would be compromised if the required flexibility and supports are not appropriately assured. This paper focuses on the integration of the present design of the IVVS into the Vacuum Vessel and Cryostat environment. It presents the adopted strategy to withstand all the main interfacing loads without damaging the confinement barriers and the corresponding analysis supporting it.

VHDL-based system design of a cognitive sensorimotor loop (CSL) for haptic Human-Machine Interaction (HMI)

This document is a summary of the Bachelor thesis titled “VHDL-Based System Design of a Cognitive Sensorimotor Loop (CSL) for Haptic Human-Machine Interaction (HMI)” written by Pablo de Miguel Morales, Electronics Engineering student at the Universidad Politécnica de Madrid (UPM Madrid, Spain) during an Erasmus+ Exchange Program at the Beuth Hochschule für Technik (BHT Berlin, Germany). The tutor of this project is Dr. Prof. Hild. This project has been developed inside the Neurobotics Research Laboratory (NRL) in close collaboration with Benjamin Panreck, a member of the NRL, and another exchange student from the UPM Pablo Gabriel Lezcano. For a deeper comprehension of the content of the thesis, a deeper look in the document is needed as well as the viewing of the videos and the VHDL design. In the growing field of automation, a large amount of workforce is dedicated to improve, adapt and design motor controllers for a wide variety of applications. In the specific field of robotics or other machinery designed to interact with humans or their environment, new needs and technological solutions are often being discovered due to the existing, relatively unexplored new scenario it is. The project consisted of three main parts: Two VHDL-based systems and one short experiment on the haptic perception. Both VHDL systems are based on a Cognitive Sensorimotor Loop (CSL) which is a control loop designed by the NRL and mainly developed by Dr. Prof. Hild. The CSL is a control loop whose main characteristic is the fact that it does not use any external sensor to measure the speed or position of the motor but the motor itself. The motor always generates a voltage that is proportional to its angular speed so it does not need calibration. This method is energy efficient and simplifies control loops in complex systems. The first system, named CSL Stay In Touch (SIT), consists in a one DC motor system controller by a FPGA Board (Zynq ZYBO 7000) whose aim is to keep contact with any external object that touches its Sensing Platform in both directions. Apart from the main behavior, three features (Search Mode, Inertia Mode and Return Mode) have been designed to enhance the haptic interaction experience. Additionally, a VGA-Screen is also controlled by the FPGA Board for the monitoring of the whole system. This system has been completely developed, tested and improved; analyzing its timing and consumption properties. The second system, named CSL Fingerlike Mechanism (FM), consists in a fingerlike mechanical system controlled by two DC motors (Each controlling one part of the finger). The behavior is similar to the first system but in a more complex structure. This system was optional and not part of the original objectives of the thesis and it could not be properly finished and tested due to the lack of time. The haptic perception experiment was an experiment conducted to have an insight into the complexity of human haptic perception in order to implement this knowledge into technological applications. The experiment consisted in testing the capability of the subjects to recognize different objects and shapes while being blindfolded and with their ears covered. Two groups were done, one had full haptic perception while the other had to explore the environment with a plastic piece attached to their finger to create a haptic handicap. The conclusion of the thesis was that a haptic system based only on a CSL-based system is not enough to retrieve valuable information from the environment and that other sensors are needed (temperature, pressure, etc.) but that a CSL-based system is very useful to control the force applied by the system to interact with haptic sensible surfaces such as skin or tactile screens. RESUMEN. Este documento es un resumen del proyecto fin de grado titulado “VHDL-Based System Design of a Cognitive Sensorimotor Loop (CSL) for Haptic Human-Machine Interaction (HMI)” escrito por Pablo de Miguel, estudiante de Ingeniería Electrónica de Comunicaciones en la Universidad Politécnica de Madrid (UPM Madrid, España) durante un programa de intercambio Erasmus+ en la Beuth Hochschule für Technik (BHT Berlin, Alemania). El tutor de este proyecto ha sido Dr. Prof. Hild. Este proyecto se ha desarrollado dentro del Neurorobotics Research Laboratory (NRL) en estrecha colaboración con Benjamin Panreck (un miembro del NRL) y con Pablo Lezcano (Otro estudiante de intercambio de la UPM). Para una comprensión completa del trabajo es necesaria una lectura detenida de todo el documento y el visionado de los videos y análisis del diseño VHDL incluidos en el CD adjunto. En el creciente sector de la automatización, una gran cantidad de esfuerzo está dedicada a mejorar, adaptar y diseñar controladores de motor para un gran rango de aplicaciones. En el campo específico de la robótica u otra maquinaria diseñada para interactuar con los humanos o con su entorno, nuevas necesidades y soluciones tecnológicas se siguen desarrollado debido al relativamente inexplorado y nuevo escenario que supone. El proyecto consta de tres partes principales: Dos sistemas basados en VHDL y un pequeño experimento sobre la percepción háptica. Ambos sistemas VHDL están basados en el Cognitive Sesnorimotor Loop (CSL) que es un lazo de control creado por el NRL y cuyo desarrollador principal ha sido Dr. Prof. Hild. El CSL es un lazo de control cuya principal característica es la ausencia de sensores externos para medir la velocidad o la posición del motor, usando el propio motor como sensor. El motor siempre genera un voltaje proporcional a su velocidad angular de modo que no es necesaria calibración. Este método es eficiente en términos energéticos y simplifica los lazos de control en sistemas complejos. El primer sistema, llamado CSL Stay In Touch (SIT), consiste en un sistema formado por un motor DC controlado por una FPGA Board (Zynq ZYBO 7000) cuyo objetivo es mantener contacto con cualquier objeto externo que toque su plataforma sensible en ambas direcciones. Aparte del funcionamiento básico, tres modos (Search Mode, Inertia Mode y Return Mode) han sido diseñados para mejorar la interacción. Adicionalmente, se ha diseñado el control a través de la FPGA Board de una pantalla VGA para la monitorización de todo el sistema. El sistema ha sido totalmente desarrollado, testeado y mejorado; analizando su propiedades de timing y consumo energético. El segundo sistema, llamado CSL Fingerlike Mechanism (FM), consiste en un mecanismo similar a un dedo controlado por dos motores DC (Cada uno controlando una falange). Su comportamiento es similar al del primer sistema pero con una estructura más compleja. Este sistema no formaba parte de los objetivos iniciales del proyecto y por lo tanto era opcional. No pudo ser plenamente desarrollado debido a la falta de tiempo. El experimento de percepción háptica fue diseñado para profundizar en la percepción háptica humana con el objetivo de aplicar este conocimiento en aplicaciones tecnológicas. El experimento consistía en testear la capacidad de los sujetos para reconocer diferentes objetos, formas y texturas en condiciones de privación del sentido del oído y la vista. Se crearon dos grupos, en uno los sujetos tenían plena percepción háptica mientras que en el otro debían interactuar con los objetos a través de una pieza de plástico para generar un hándicap háptico. La conclusión del proyecto fue que un sistema háptico basado solo en sistemas CSL no es suficiente para recopilar información valiosa del entorno y que debe hacer uso de otros sensores (temperatura, presión, etc.). En cambio, un sistema basado en CSL es idóneo para el control de la fuerza aplicada por el sistema durante la interacción con superficies hápticas sensibles tales como la piel o pantallas táctiles.

Evaluating a Speech Communication System for deaf people

This paper describes the development of an Advanced Speech Communication System for Deaf People and its field evaluation in a real application domain: the renewal of Driver’s License. The system is composed of two modules. The first one is a Spanish into Spanish Sign Language (LSE: Lengua de Signos Española) translation module made up of a speech recognizer, a natural language translator (for converting a word sequence into a sequence of signs), and a 3D avatar animation module (for playing back the signs). The second module is a Spoken Spanish generator from sign-writing composed of a visual interface (for specifying a sequence of signs), a language translator (for generating the sequence of words in Spanish), and finally, a text to speech converter. For language translation, the system integrates three technologies: an example-based strategy, a rule-based translation method and a statistical translator. This paper also includes a detailed description of the evaluation carried out in the Local Traffic Office in the city of Toledo (Spain) involving real government employees and deaf people. This evaluation includes objective measurements from the system and subjective information from questionnaires. Finally, the paper reports an analysis of the main problems and a discussion about possible solutions.

Relational and Allegorical Semantics for Constraint Logic Programming

El cálculo de relaciones binarias fue creado por De Morgan en 1860 para ser posteriormente desarrollado en gran medida por Peirce y Schröder. Tarski, Givant, Freyd y Scedrov demostraron que las álgebras relacionales son capaces de formalizar la lógica de primer orden, la lógica de orden superior así como la teoría de conjuntos. A partir de los resultados matemáticos de Tarski y Freyd, esta tesis desarrolla semánticas denotacionales y operacionales para la programación lógica con restricciones usando el álgebra relacional como base. La idea principal es la utilización del concepto de semántica ejecutable, semánticas cuya característica principal es el que la ejecución es posible utilizando el razonamiento estándar del universo semántico, este caso, razonamiento ecuacional. En el caso de este trabajo, se muestra que las álgebras relacionales distributivas con un operador de punto fijo capturan toda la teoría y metateoría estándar de la programación lógica con restricciones incluyendo los árboles utilizados en la búsqueda de demostraciones. La mayor parte de técnicas de optimización de programas, evaluación parcial e interpretación abstracta pueden ser llevadas a cabo utilizando las semánticas aquí presentadas. La demostración de la corrección de la implementación resulta extremadamente sencilla. En la primera parte de la tesis, un programa lógico con restricciones es traducido a un conjunto de términos relacionales. La interpretación estándar en la teoría de conjuntos de dichas relaciones coincide con la semántica estándar para CLP. Las consultas contra el programa traducido son llevadas a cabo mediante la reescritura de relaciones. Para concluir la primera parte, se demuestra la corrección y equivalencia operacional de esta nueva semántica, así como se define un algoritmo de unificación mediante la reescritura de relaciones. La segunda parte de la tesis desarrolla una semántica para la programación lógica con restricciones usando la teoría de alegorías—versión categórica del álgebra de relaciones—de Freyd. Para ello, se definen dos nuevos conceptos de Categoría Regular de Lawvere y _-Alegoría, en las cuales es posible interpretar un programa lógico. La ventaja fundamental que el enfoque categórico aporta es la definición de una máquina categórica que mejora e sistema de reescritura presentado en la primera parte. Gracias al uso de relaciones tabulares, la máquina modela la ejecución eficiente sin salir de un marco estrictamente formal. Utilizando la reescritura de diagramas, se define un algoritmo para el cálculo de pullbacks en Categorías Regulares de Lawvere. Los dominios de las tabulaciones aportan información sobre la utilización de memoria y variable libres, mientras que el estado compartido queda capturado por los diagramas. La especificación de la máquina induce la derivación formal de un juego de instrucciones eficiente. El marco categórico aporta otras importantes ventajas, como la posibilidad de incorporar tipos de datos algebraicos, funciones y otras extensiones a Prolog, a la vez que se conserva el carácter 100% declarativo de nuestra semántica. ABSTRACT The calculus of binary relations was introduced by De Morgan in 1860, to be greatly developed by Peirce and Schröder, as well as many others in the twentieth century. Using different formulations of relational structures, Tarski, Givant, Freyd, and Scedrov have shown how relation algebras can provide a variable-free way of formalizing first order logic, higher order logic and set theory, among other formal systems. Building on those mathematical results, we develop denotational and operational semantics for Constraint Logic Programming using relation algebra. The idea of executable semantics plays a fundamental role in this work, both as a philosophical and technical foundation. We call a semantics executable when program execution can be carried out using the regular theory and tools that define the semantic universe. Throughout this work, the use of pure algebraic reasoning is the basis of denotational and operational results, eliminating all the classical non-equational meta-theory associated to traditional semantics for Logic Programming. All algebraic reasoning, including execution, is performed in an algebraic way, to the point we could state that the denotational semantics of a CLP program is directly executable. Techniques like optimization, partial evaluation and abstract interpretation find a natural place in our algebraic models. Other properties, like correctness of the implementation or program transformation are easy to check, as they are carried out using instances of the general equational theory. In the first part of the work, we translate Constraint Logic Programs to binary relations in a modified version of the distributive relation algebras used by Tarski. Execution is carried out by a rewriting system. We prove adequacy and operational equivalence of the semantics. In the second part of the work, the relation algebraic approach is improved by using allegory theory, a categorical version of the algebra of relations developed by Freyd and Scedrov. The use of allegories lifts the semantics to typed relations, which capture the number of logical variables used by a predicate or program state in a declarative way. A logic program is interpreted in a _-allegory, which is in turn generated from a new notion of Regular Lawvere Category. As in the untyped case, program translation coincides with program interpretation. Thus, we develop a categorical machine directly from the semantics. The machine is based on relation composition, with a pullback calculation algorithm at its core. The algorithm is defined with the help of a notion of diagram rewriting. In this operational interpretation, types represent information about memory allocation and the execution mechanism is more efficient, thanks to the faithful representation of shared state by categorical projections. We finish the work by illustrating how the categorical semantics allows the incorporation into Prolog of constructs typical of Functional Programming, like abstract data types, and strict and lazy functions.

Designing a high performance parallel logic programming system

Compilation techniques such as those portrayed by the Warren Abstract Machine(WAM) have greatly improved the speed of execution of logic programs. The research presented herein is geared towards providing additional performance to logic programs through the use of parallelism, while preserving the conventional semantics of logic languages. Two áreas to which special attention is given are the preservation of sequential performance and storage efficiency, and the use of low overhead mechanisms for controlling parallel execution. Accordingly, the techniques used for supporting parallelism are efficient extensions of those which have brought high inferencing speeds to sequential implementations. At a lower level, special attention is also given to design and simulation detail and to the architectural implications of the execution model behavior. This paper offers an overview of the basic concepts and techniques used in the parallel design, simulation tools used, and some of the results obtained to date.

Some methodological issues in the design of CIAO - A generic, parallel concurrent constraint system

We informally discuss several issues related to the parallel execution of logic programming systems and concurrent logic programming systems, and their generalization to constraint programming. We propose a new view of these systems, based on a particular definition of parallelism. We argüe that, under this view, a large number of the actual systems and models can be explained through the application, at different levéis of granularity, of only a few basic principies: determinism, non-failure, independence (also referred to as stability), granularity, etc. Also, and based on the convergence of concepts that this view brings, we sketch a model for the implementation of several parallel constraint logic programming source languages and models based on a common, generic abstract machine and an intermedíate kernel language.

A system for automatically generating documentation for (C)LP programs

We describe lpdoc, a tool which generates documentation manuals automatically from one or more logic program source files, written in ISO-Prolog, Ciao, and other (C)LP languages. It is particularly useful for documenting library modules, for which it automatically generates a rich description of the module interface. However, it can also be used quite successfully to document full applications. A fundamental advantage of using lpdoc is that it helps maintaining a true correspondence between the program and its documentation, and also identifying precisely to what version of the program a given printed manual corresponds. The quality of the documentation generated can be greatly enhanced by including within the program text assertions (declarations with types, modes, etc.) for the predicates in the program, and machine-readable comments. One of the main novelties of lpdoc is that these assertions and comments are written using the Ciao system assertion language, which is also the language of communication between the compiler and the user and between the components of the compiler. This allows a significant synergy among specification, documentation, optimization, etc. A simple compatibility library allows conventional (C)LP systems to ignore these assertions and comments and treat normally programs documented in this way. The documentation can be generated in many formats including texinfo, dvi, ps, pdf, info, html/css, Unix nroff/man, Windows help, etc., and can include bibliographic citations and images. lpdoc can also generate “man” pages (Unix man page format), nicely formatted plain ascii “readme” files, installation scripts useful when the manuals are included in software distributions, brief descriptions in html/css or info formats suitable for inclusion in on-line indices of manuals, and even complete WWW and info sites containing on-line catalogs of documents and software distributions. The lpdoc manual, all other Ciao system manuals, and parts of this paper are generated by lpdoc.

Some methodological issues in the design of CIAO, a generic, parallel concurrent constraint system

We informally discuss several issues related to the parallel execution of logic programming systems and concurrent logic programming systems, and their generalization to constraint programming. We propose a new view of these systems, based on a particular definition of parallelism. We argüe that, under this view, a large number of the actual systems and models can be explained through the application, at different levéis of granularity, of only a few basic principies: determinism, non-failure, independence (also referred to as stability), granularity, etc. Also, and based on the convergence of concepts that this view brings, we sketch a model for the implementation of several parallel constraint logic programming source languages and models based on a common, generic abstract machine and an intermedíate kernel language.

The ciao prolog system

Ciao is a public domain, next generation multi-paradigm programming environment with a unique set of features: Ciao offers a complete Prolog system, supporting ISO-Prolog, but its novel modular design allows both restricting and extending the language. As a result, it allows working with fully declarative subsets of Prolog and also to extend these subsets (or ISO-Prolog) both syntactically and semantically. Most importantly, these restrictions and extensions can be activated separately on each program module so that several extensions can coexist in the same application for different modules. Ciao also supports (through such extensions) programming with functions, higher-order (with predicate abstractions), constraints, and objects, as well as feature terms (records), persistence, several control rules (breadth-first search, iterative deepening, ...), concurrency (threads/engines), a good base for distributed execution (agents), and parallel execution. Libraries also support WWW programming, sockets, external interfaces (C, Java, TclTk, relational databases, etc.), etc. Ciao offers support for programming in the large with a robust module/object system, module-based separate/incremental compilation (automatically -no need for makefiles), an assertion language for declaring (optional) program properties (including types and modes, but also determinacy, non-failure, cost, etc.), automatic static inference and static/dynamic checking of such assertions, etc. Ciao also offers support for programming in the small producing small executables (including only those builtins used by the program) and support for writing scripts in Prolog. The Ciao programming environment includes a classical top-level and a rich emacs interface with an embeddable source-level debugger and a number of execution visualization tools. The Ciao compiler (which can be run outside the top level shell) generates several forms of architecture-independent and stand-alone executables, which run with speed, efficiency and executable size which are very competive with other commercial and academic Prolog/CLP systems. Library modules can be compiled into compact bytecode or C source files, and linked statically, dynamically, or autoloaded. The novel modular design of Ciao enables, in addition to modular program development, effective global program analysis and static debugging and optimization via source to source program transformation. These tasks are performed by the Ciao preprocessor ( ciaopp, distributed separately). The Ciao programming environment also includes lpdoc, an automatic documentation generator for LP/CLP programs. It processes Prolog files adorned with (Ciao) assertions and machine-readable comments and generates manuals in many formats including postscript, pdf, texinfo, info, HTML, man, etc. , as well as on-line help, ascii README files, entries for indices of manuals (info, WWW, ...), and maintains WWW distribution sites.