Hiord: A type-free higher-order logic programming language with predicate abstraction

A new formalism, called Hiord, for defining type-free higherorder logic programming languages with predicate abstraction is introduced. A model theory, based on partial combinatory algebras, is presented, with respect to which the formalism is shown sound. A programming language built on a subset of Hiord, and its implementation are discussed. A new proposal for defining modules in this framework is considered, along with several examples.

Estudio de calidad de codificaci��n utilizando los perfiles 10 Bits del est��ndar H.264

Desde los inicios de la codificaci��n de v��deo digital hasta hoy, tanto la se��al de video sin comprimir de entrada al codificador como la se��al de salida descomprimida del decodificador, independientemente de su resoluci��n, uso de submuestreo en los planos de diferencia de color, etc. han tenido siempre la caracter��stica com��n de utilizar 8 bits para representar cada una de las muestras. De la misma manera, los est��ndares de codificaci��n de v��deo imponen trabajar internamente con estos 8 bits de precisi��n interna al realizar operaciones con las muestras cuando a��n no se han transformado al dominio de la frecuencia. Sin embargo, el est��ndar H.264, en gran auge hoy en d��a, permite en algunos de sus perfiles orientados al mundo profesional codificar v��deo con m��s de 8 bits por muestra. Cuando se utilizan estos perfiles, las operaciones efectuadas sobre las muestras todav��a sin transformar se realizan con la misma precisi��n que el n��mero de bits del v��deo de entrada al codificador. Este aumento de precisi��n interna tiene el potencial de permitir unas predicciones m��s precisas, reduciendo el residuo a codificar y aumentando la eficiencia de codificaci��n para una tasa binaria dada. El objetivo de este Proyecto Fin de Carrera es estudiar, utilizando las medidas de calidad visual objetiva PSNR (Peak Signal to Noise Ratio, relaci��n se��al ruido de pico) y SSIM (Structural Similarity, similaridad estructural), el efecto sobre la eficiencia de codificaci��n y el rendimiento al trabajar con una cadena de codificaci��n/descodificaci��n H.264 de 10 bits en comparaci��n con una cadena tradicional de 8 bits. Para ello se utiliza el codificador de c��digo abierto x264, capaz de codificar video de 8 y 10 bits por muestra utilizando los perfiles High, High 10, High 4:2:2 y High 4:4:4 Predictive del est��ndar H.264. Debido a la ausencia de herramientas adecuadas para calcular las medidas PSNR y SSIM de v��deo con m��s de 8 bits por muestra y un tipo de submuestreo de planos de diferencia de color distinto al 4:2:0, como parte de este proyecto se desarrolla tambi��n una aplicaci��n de an��lisis en lenguaje de programaci��n C capaz de calcular dichas medidas a partir de dos archivos de v��deo sin comprimir en formato YUV o Y4M. ABSTRACT Since the beginning of digital video compression, the uncompressed video source used as input stream to the encoder and the uncompressed decoded output stream have both used 8 bits for representing each sample, independent of resolution, chroma subsampling scheme used, etc. In the same way, video coding standards force encoders to work internally with 8 bits of internal precision when working with samples before being transformed to the frequency domain. However, the H.264 standard allows coding video with more than 8 bits per sample in some of its professionally oriented profiles. When using these profiles, all work on samples still in the spatial domain is done with the same precision the input video has. This increase in internal precision has the potential of allowing more precise predictions, reducing the residual to be encoded, and thus increasing coding efficiency for a given bitrate. The goal of this Project is to study, using PSNR (Peak Signal to Noise Ratio) and SSIM (Structural Similarity) objective video quality metrics, the effects on coding efficiency and performance caused by using an H.264 10 bit coding/decoding chain compared to a traditional 8 bit chain. In order to achieve this goal the open source x264 encoder is used, which allows encoding video with 8 and 10 bits per sample using the H.264 High, High 10, High 4:2:2 and High 4:4:4 Predictive profiles. Given that no proper tools exist for computing PSNR and SSIM values of video with more than 8 bits per sample and chroma subsampling schemes other than 4:2:0, an analysis application written in the C programming language is developed as part of this Project. This application is able to compute both metrics from two uncompressed video files in the YUV or Y4M format.

Posibilidades del motor 3D de la Nintendo DS

La consola port��til Nintendo DS es una plataforma de desarrollo muy presente entre la comunidad de desarrolladores independientes, con una extensa y nutrida escena homebrew. Si bien las capacidades 2D de la consola est��n muy aprovechadas, dado que la mayor parte de los esfuerzos de los creadores amateur est��n enfocados en este aspecto, el motor 3D de ��sta (el que se encarga de representar en pantalla modelos tridimensionales) no lo est�� de igual manera. Por lo tanto, en este proyecto se tiene en vista determinar las capacidades gr��ficas de la Nintendo DS. Para ello se ha realizado una biblioteca de funciones en C que permite aprovechar las posibilidades que ofrece la consola en el terreno 3D y que sirve como herramienta para la comunidad homebrew para crear aplicaciones 3D de forma sencilla, dado que se ha dise��ado como un sistema modular y accesible. En cuanto al proceso de renderizado se han sacado varias conclusiones. En primer lugar se ha determinado la posibilidad de asignar varias componentes de color a un mismo v��rtice (color material reactivo a la iluminaci��n, color por v��rtice directo y color de textura), tanto de forma independiente como simult��neamente, pudi��ndose utilizar para aplicar diversos efectos al modelo, como iluminaci��n pre-calculada o simulaci��n de una textura mediante color por v��rtice, ahorrando en memoria de video. Por otro lado se ha implementado un sistema de renderizado multi-capa, que permite realizar varias pasadas de render, pudiendo, de esta forma, aplicar al modelo una segunda textura mezclada con la principal o realizar un efecto de reflexi��n esf��rica. Uno de los principales avances de esta herramienta con respecto a otras existentes se encuentra en el apartado de animaci��n. El renderizador desarrollado permite por un lado animaci��n por transformaci��n, consistente en la animaci��n de mallas o grupos de v��rtices del modelo mediante el movimiento de una articulaci��n asociada que determina su posici��n y rotaci��n en cada frame de animaci��n. Por otro lado se ha implementado un sistema de animaci��n por muestreo de v��rtices mediante el cual se determina la posici��n de ��stos en cada instante de la animaci��n, generando frame a frame las poses que componen el movimiento (siendo este ��ltimo m��todo necesario cuando no se puede animar una malla por transformaci��n). Un mismo modelo puede contener diferentes esqueletos, animados independientemente entre s��, y cada uno de ellos tener definidas varias costumbres de animaci��n que correspondan a movimientos contextuales diferentes (andar, correr, saltar, etc). Adem��s, el sistema permite extraer cualquier articulaci��n para asociar su transformaci��n a un objeto est��tico externo y que ��ste siga el movimiento de la animaci��n, pudiendo as��, por ejemplo, equipar un objeto en la mano de un personaje. Finalmente se han implementado varios efectos ��tiles en la creaci��n de escenas tridimensionales, como el billboarding (tanto esf��rico como cil��ndrico), que restringe la rotaci��n de un modelo para que ��ste siempre mire a c��mara y as�� poder emular la apariencia de un objeto tridimensional mediante una imagen plana, ahorrando geometr��a, o emplearlo para realizar efectos de part��culas. Por otra parte se ha implementado un sistema de animaci��n de texturas por subim��genes que permite generar efectos de movimiento mediante im��genes, sin necesidad de transformar geometr��a. ABSTRACT. The Nintendo DS portable console has received great interest within the independent developers��� community, with a huge homebrew scene. The 2D capabilities of this console are well known and used since most efforts of the amateur creators has been focused on this point. However its 3D engine (which handles with the representation of three-dimensional models) is not equally used. Therefore, in this project the main objective is to assess the Nintendo DS graphic capabilities. For this purpose, a library of functions in C programming language has been coded. This library allows the programmer to take advantage of the possibilities that the 3D area brings. This way the library can be used by the homebrew community as a tool to create 3D applications in an easy way, since it has been designed as a modular and accessible system. Regarding the render process, some conclusions have been drawn. First, it is possible to assign several colour components to the same vertex (material colour, reactive to the illumination, colour per vertex and texture colour), independently and simultaneously. This feature can be useful to apply certain effects on the model, such as pre-calculated illumination or the simulation of a texture using colour per vertex, providing video memory saving. Moreover, a multi-layer render system has been implemented. This system allows the programmer to issue several render passes on the same model. This new feature brings the possibility to apply to the model a second texture blended with the main one or simulate a spherical reflection effect. One of the main advances of this tool over existing ones consists of its animation system. The developed renderer includes, on the one hand, transform animation, which consists on animating a mesh or groups of vertices of the model by the movement of an associated joint. This joint determines position and rotation of the mesh at each frame of the animation. On the other hand, this tool also implements an animation system by vertex sampling, where the position of vertices is determined at every instant of the animation, generating the poses that build up the movement (the latter method is mandatory when a mesh cannot be animated by transform). A model can contain multiple skeletons, animated independently, each of them being defined with several animation customs, corresponding to different contextual movements (walk, run, jump, etc). Besides, the system allows extraction of information from any joint in order to associate its transform to a static external object, which will follow the movement of the animation. This way, any object could be equipped, for example, on the hand of a character. Finally, some useful effects for the creation of three-dimensional scenes have been implemented. These effects include billboarding (both spherical and cylindrical), which constraints the rotation of a model so it always looks on the camera's direction. This feature can provide the ability to emulate the appearance of a three-dimensional model through a flat image (saving geometry). It can also be helpful in the implementation of particle effects. Moreover, a texture animation system using sub-images has also been implemented. This system allows the generation of movement by using images as textures, without having to transform geometry.

Medida de distancia sem��ntica en grafos UNL

El trabajo que se presenta a continuaci��n desarrolla un modelo para calcular la distancia sem��ntica entre dos oraciones representadas por grafos UNL. Este problema se plantea en el contexto de la traducci��n autom��tica donde diferentes traductores pueden generar oraciones ligeramente diferentes partiendo del mismo original. La medida de distancia que se propone tiene como objetivo proporcionar una evaluaci��n objetiva sobre la calidad del proceso de generaci��n del texto. El autor realiza una exploraci��n del estado del arte sobre esta materia, reuniendo en un ��nico trabajo los modelos propuestos de distancia sem��ntica entre conceptos, los modelos de comparaci��n de grafos y las pocas propuestas realizadas para calcular distancias entre grafos conceptuales. Tambi��n eval��a los pocos recursos disponibles para poder experimentar el modelo y plantea una metodolog��a para generar los conjuntos de datos que permitir��an aplicar la propuesta con el rigor cient��fico necesario y desarrollar la experimentaci��n. Utilizando las piezas anteriores se propone un modelo novedoso de comparaci��n entre grafos conceptuales que permite utilizar diferentes algoritmos de distancia entre conceptos y establecer umbrales de tolerancia para permitir una comparaci��n 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 metodolog��a y la implementaci��n pueden conducir a la obtenci��n de una medida de distancia entre grafos UNL con aplicaci��n en sistemas de traducci��n autom��tica, 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.

Exploraci��n y evaluaci��n de mecanismos para la captura de la posici��n y postura de personas en entornos reales

El presente trabajo consiste en el estudio de la viabilidad en el uso de tres posibles opciones orientadas a la captura de la posici��n y la postura de personas en entornos reales, as�� como el dise��o e implementaci��n de un prototipo de captura en cada uno de ellos. Tambi��n se incluye una comparativa con el fin de destacar los pros y los contras de cada soluci��n. Una de las alternativas para llevarlo a cabo consiste en un sistema de tracking ��ptico por infrarrojos de alta calidad y precisi��n, como es Optitrack; la segunda se basa en una soluci��n de bajo coste como es el perif��rico Kinect de Microsoft y la tercera consiste en la combinaci��n de ambos dispositivos para encontrar un equilibrio entre precisi��n y econom��a, tomando los puntos fuertes de cada uno para contrarrestar sus debilidades. Uno de los puntos importantes del trabajo es que el uso de los prototipos de captura est�� orientado a entornos de trabajo reales (en concreto en la captura de los movimientos del personal que trabaja en un quir��fano), as�� que han sido necesarias pruebas para minimizar el efecto de las fuentes de luz en los sistemas de infrarrojos, el estudio de los dispositivos para determinar el n��mero de personas que son capaces de capturar a la vez sin que esto afecte a su rendimiento y el nivel de invasi��n de los dispositivos en los trabajadores (marcadores para el tracking), adem��s de los mecanismos apropiados para minimizar el impacto de las oclusiones utilizando m��todos de interpolaci��n y ayud��ndose del conocimiento del contexto, las restricciones de movimiento del cuerpo humano y la evoluci��n en el tiempo. Se han desarrollado conocimientos en el funcionamiento y configuraci��n dispositivos como el sistema de captura Optitrack de Natural Point y el sistema de detecci��n de movimiento Kinect desarrollado por Microsoft. Tambi��n se ha aprendido el funcionamiento del entorno de desarrollo y motor de videojuegos multiplataforma hom��nimos Unity y del lenguaje de programaci��n C# que utiliza dicho entorno para sus scripts de control, as�� como los protocolos de comunicaci��n entre los distintos sistemas que componen los prototipos como son VRPN y NatNet.---ABSTRACT---This project is about a viability study in the use of three possible options, oriented towards the capture of the position and view of people in a real environment, as well as the design and implementation of a capturing prototype in each of them. A comparative study is also included, in order to emphasise the pros and cons of each solution. One of the alternatives consists of an optical tracking system via high quality and precision infrareds, like Optitrack; the second is based on a low cost solution, such as Microsoft���s Kinect peripheral, and the third consists on a combination of both devices to find a balance between precision and price, taking the strong points of each of the mechanisms to make up for the weaknesses. One of the important parts of this project is that the use of the capturing prototypes is directed towards real life work situations (specifically towards the capturing of the movements of surgery personnel), so various tests have been necessary in order to minimize the effect of light sources in infrared systems, the study of the devices to determine the number of people that they are capable of capturing simultaneously without affecting their performance and the invasion level of the devices towards the workers (tracking markers), as well as the mechanisms adopted to minimize the impact of the occlusions using interpolation methods and with help of the knowledge of the surroundings, the human movement restrictions and the passing of time. Knowledge has been developed on the functioning and configuration of the devices such as Natural Point���s Optitrak capturing system, and the Kinect movement detection system developed by Microsoft. We have also learned about the operating of the development and incentive environment of multiplatform videogames of namesake Unity and of C# programming language, which uses said environment for its control scripts, as well as communication protocols between the different systems that make up prototypes like VRPN and NatNet.

MMonCa: A flexible and powerful new Kinetic Monte Carlo simulator

Kinetic Monte Carlo (KMC) is a widely used technique to simulate the evolution of radiation damage inside solids. Despite de fact that this technique was developed several decades ago, there is not an established and easy to access simulating tool for researchers interested in this field, unlike in the case of molecular dynamics or density functional theory calculations. In fact, scientists must develop their own tools or use unmaintained ones in order to perform these types of simulations. To fulfil this need, we have developed MMonCa, the Modular Monte Carlo simulator. MMonCa has been developed using professional C++ programming techniques and has been built on top of an interpreted language to allow having a powerful yet flexible, robust but customizable and easy to access modern simulator. Both non lattice and Lattice KMC modules have been developed. We will present in this conference, for the first time, the MMonCa simulator. Along with other (more detailed) contributions in this meeting, the versatility of MMonCa to study a number of problems in different materials (particularly, Fe and W) subject to a wide range of conditions will be shown. Regarding KMC simulations, we have studied neutron-generated cascade evolution in Fe (as a model material). Starting with a Frenkel pair distribution we have followed the defect evolution up to 450 K. Comparison with previous simulations and experiments shows excellent agreement. Furthermore, we have studied a more complex system (He-irradiated W:C) using a previous parametrization [1]. He-irradiation at 4 K followed by isochronal annealing steps up to 500 K has been simulated with MMonCa. The He energy was 400 eV or 3 keV. In the first case, no damage is associated to the He implantation, whereas in the second one, a significant Frenkel pair concentration (evolving into complex clusters) is associated to the He ions. We have been able to explain He desorption both in the absence and in the presence of Frenkel pairs and we have also applied MMonCa to high He doses and fluxes at elevated temperatures. He migration and trapping dominate the kinetics of He desorption. These processes will be discussed and compared to experimental results. [1] C.S. Becquart et al. J. Nucl. Mater. 403 (2010) 75

Interfaz gr��fica y fase de pruebas de software de v��deo forense (Sistema de codificaci��n DV)

El presente proyecto fin de carrera, realizado por el ingeniero t��cnico en telecomunicaciones Pedro M. Matamala Lucas, es la fase final de desarrollo de un proyecto de mayor magnitud correspondiente al software de v��deo forense SAVID. El prop��sito del proyecto en su totalidad es la creaci��n de una herramienta inform��tica capacitada para realizar el an��lisis de ficheros de v��deo, codificados y comprimidos por el sistema DV ���Digital Video-. El objetivo del an��lisis, es aportar informaci��n acerca de si la cinta magn��tica presenta indicios de haber sido manipulada con una edici��n posterior a su grabaci��n original, adem��s, de mostrar al usuario otros datos de inter��s como las especificaciones t��cnicas de la se��al de v��deo y audio. Por lo tanto, se facilitar�� al usuario, analista de v��deo forense, informaci��n que le ayude a valorar la originalidad del contenido del soporte que es sujeto del an��lisis. El objetivo espec��fico de esta fase final, es la creaci��n de la interfaz de usuario del software, que informa tanto del c��digo binario de los sectores significativos, como de su interpretaci��n tras el an��lisis. Tambi��n permitir�� al usuario el reporte de los resultados, adem��s de otras funcionalidades que le permitan la navegaci��n por los sectores del c��digo que han sido modificados como efecto colateral de la edici��n de la cinta magn��tica original. Otro objetivo importante del proyecto ha sido la investigaci��n de metodolog��as y t��cnicas de desarrollo de software para su posterior implementaci��n, buscando con esto, una mayor eficiencia en la gesti��n del tiempo y una mayor calidad de software con el fin de garantizar su evoluci��n y sostenibilidad en el futuro. Se ha hecho hincapi�� en las metodolog��as ��giles que han ido ganando relevancia en el sector de las tecnolog��as de la informaci��n en las ��ltimas d��cadas, sustituyendo a metodolog��as cl��sicas como el desarrollo en cascada. Su flexibilidad durante el ciclo de vida del software, permite obtener mejores resultados cuando las especificaciones no est��n del todo definidas, ajust��ndose de este modo a las condiciones del proyecto. Resumiendo las especificaciones t��cnicas del software, C++ es el lenguaje de programaci��n orientado a objetos con el que se ha desarrollado, utiliz��ndose la tecnolog��a MFC -Microsoft Foundation Classes- para la implementaci��n. Es un proyecto MFC de tipo cuadro de dialogo,creado, compilado y publicado, con la herramienta de desarrollo integrado Microsoft Visual Studio 2010. La arquitectura con la que se ha estructurado es la arquet��pica de tres capas, compuesta por la interfaz de usuario, capa de negocio y capa de acceso a datos. Se ha visto necesario configurar el proyecto con compatibilidad con CLR ���Common Languages Runtime- para poder implementar la funcionalidad de creaci��n de reportes. Acompa��ando a la aplicaci��n inform��tica, se presenta la memoria del proyecto y sus anexos correspondientes a los documentos EDRF ���Especificaciones Detalladas de Requisitos funcionales-, EIU ���Especificaciones de Interfaz de Usuario , DT -Dise��o T��cnico- y Gu��a de Usuario. SUMMARY. This dissertation, carried out by the telecommunications engineer Pedro M. Matamala Lucas, is in its final stage and is part of a larger project for the software of forensic video called SAVID. The purpose of the entire project is the creation of a software tool capable of analyzing video files that are coded and compressed by the DV -Digital Video- System. The objective of the analysis is to provide information on whether the magnetic tape shows signs of having been tampered with after the editing of the original recording, and also to show the user other relevant data and technical specifications of the video signal and audio. Therefore the user, forensic video analyst, will have information to help assess the originality of the content of the media that is subject to analysis. The specific objective of this final phase is the creation of the user interface of the software that provides information about the binary code of the significant sectors and also its interpretation after analysis. It will also allow the user to report the results, and other features that will allow browsing through the sections of the code that have been modified as a secondary effect of the original magnetic tape being tampered. Another important objective of the project is the investigation of methodologies and software development techniques to be used in deployment, with the aim of greater efficiency in time management and enhanced software quality in order to ensure its development and maintenance in the future. Agile methodologies, which have become important in the field of information technology in recent decades, have been used during the execution of the project, replacing classical methodologies such as Waterfall Development. The flexibility, as the result of using by agile methodologies, during the software life cycle, produces better results when the specifications are not fully defined, thus conforming to the initial conditions of the project. Summarizing the software technical specifications, C + + the programming language ��� which is object oriented and has been developed using technology MFC- Microsoft Foundation Classes for implementation. It is a project type dialog box, created, compiled and released with the integrated development tool Microsoft Visual Studio 2010. The architecture is structured in three layers: the user interface, business layer and data access layer. It has been necessary to configure the project with the support CLR -Common Languages Runtime ��� in order to implement the reporting functionality. The software application is submitted with the project report and its annexes to the following documents: Functional Requirements Specifications - Detailed User Interface Specifications, Technical Design and User Guide.

Hammer: an Android based application for end-user industrial robot programming

This paper presents a novel tablet based end-user interface for industrial robot programming (called Hammer). This application makes easier to program tasks for industrial robots like polishing, milling or grinding. It is based on the Scratch programming language, but specifically design and created for Android OS. It is a visual programming concept that allows non-skilled programmer operators to create programs. The application also allows to monitor the tasks while it is being executed by overlapping real time information through augmented reality. The application includes a teach pendant screen that can be customized according to the operator needs at every moment.

Implementaci��n de efectos de audio en la tarjeta Raspberry Pi B+

Este proyecto consiste en el dise��o e implementaci��n de un procesador digital de efectos de audio en tiempo real orientado a instrumentos el��ctricos tales como guitarras, bajos, teclados, etc. El procesador est�� basado en la tarjeta Raspberry Pi B+, ordenador de placa reducida de bajo coste, desarrollado en Reino unido y cuyo lanzamiento tuvo lugar en el a��o 2012. En primer lugar, ha sido necesario lograr que la tarjeta asuma la funcionalidad de un procesador de audio en tiempo real. Para ello se ha instalado un sistema operativo Linux orientado a Raspberry (Raspbian) y se ha hecho uso de Pure Data (Pd): lenguaje de programaci��n gr��fico que fue desarrollado en los a��os 90 por Miller Puckette con intenci��n de ser enfocado a la creaci��n de eventos multimedia y de m��sica por computador. El papel que desempe��a Pd es de capa intermedia entre el hardware y el software ya que se encarga de tomar bloques de N muestras del convertidor anal��gico/digital y encaminarlas a trav��s del flujo de se��al dise��ado gr��ficamente. En segundo lugar, se han implementado diferentes efectos de audio de distintas caracter��sticas. As�� pues, se encuentran efectos basados en retardos, filtros digitales y procesadores de din��mica. Concretamente, los efectos implementados son los siguientes: delay, flanger, vibrato, reverberador de Schroeder, filtros (paso bajo, paso alto y paso banda), ecualizador param��trico y compresor y expansor de din��mica. Estos efectos han sido implementados en lenguaje C de acuerdo con la API de Pd. Con esto se ha conseguido obtener un objeto por cada efecto, el cual es ���instanciado��� en Pd pudiendo ejecutarlo en tiempo real. En este proyecto se expone la problem��tica que supone cada paso del dise��o proponiendo soluciones v��lidas. Adem��s se incluye una gu��a paso a paso para configurar la tarjeta y lograr realizar un bypass de se��al y un efecto simple partiendo desde cero. ABSTRACT. This project involves the design and implementation of a digital real-time audio processor for electrical instruments (guitars, basses, keyboards, etc.). The processor is based on the Raspberry Pi B + card: low cost computer, developed in UK in 2012. First, it was necessary to make the cards assume the functionality of a real time audio processor. A Linux operating system called Raspberry (Raspbian) was installed. In this Project is used Pure Data (Pd): a graphical programming language developed in the 90s by Miller Puckette intending to be focused on creating multimedia and computer music events. The role of Pd is an intermediate layer between the hardware and the software. It is responsible for taking blocks of N samples of the analog/digital converter and route it through the signal flow. Secondly, it is necessary to implemented the different audio effects. There are delays based effects, digital filter and dynamics effects. Specifically, the implemented effects are: delay, flanger, vibrato, Schroeder reverb, filters (lowpass, highpass and bandpass), parametric equalizer and compressor and expander dynamics. These effects have been implemented in C language according to the Pd API. As a result, it has been obtained an object for each effect, which is instantiated in Pd. In this Project, the problems of every step are exposed with his corresponding solution. It is inlcuded a step-by-step guide to configure the card and achieve perform a bypass signal process and a simple effect.

Co-simulation Methodologies for Hybrid and Electric Vehicle Dynamics

In recent decades, full electric and hybrid electric vehicles have emerged as an alternative to conventional cars due to a range of factors, including environmental and economic aspects. These vehicles are the result of considerable efforts to seek ways of reducing the use of fossil fuel for vehicle propulsion. Sophisticated technologies such as hybrid and electric powertrains require careful study and optimization. Mathematical models play a key role at this point. Currently, many advanced mathematical analysis tools, as well as computer applications have been built for vehicle simulation purposes. Given the great interest of hybrid and electric powertrains, along with the increasing importance of reliable computer-based models, the author decided to integrate both aspects in the research purpose of this work. Furthermore, this is one of the first final degree projects held at the ETSII (Higher Technical School of Industrial Engineers) that covers the study of hybrid and electric propulsion systems. The present project is based on MBS3D 2.0, a specialized software for the dynamic simulation of multibody systems developed at the UPM Institute of Automobile Research (INSIA). Automobiles are a clear example of complex multibody systems, which are present in nearly every field of engineering. The work presented here benefits from the availability of MBS3D software. This program has proven to be a very efficient tool, with a highly developed underlying mathematical formulation. On this basis, the focus of this project is the extension of MBS3D features in order to be able to perform dynamic simulations of hybrid and electric vehicle models. This requires the joint simulation of the mechanical model of the vehicle, together with the model of the hybrid or electric powertrain. These sub-models belong to completely different physical domains. In fact the powertrain consists of energy storage systems, electrical machines and power electronics, connected to purely mechanical components (wheels, suspension, transmission, clutch���). The challenge today is to create a global vehicle model that is valid for computer simulation. Therefore, the main goal of this project is to apply co-simulation methodologies to a comprehensive model of an electric vehicle, where sub-models from different areas of engineering are coupled. The created electric vehicle (EV) model consists of a separately excited DC electric motor, a Li-ion battery pack, a DC/DC chopper converter and a multibody vehicle model. Co-simulation techniques allow car designers to simulate complex vehicle architectures and behaviors, which are usually difficult to implement in a real environment due to safety and/or economic reasons. In addition, multi-domain computational models help to detect the effects of different driving patterns and parameters and improve the models in a fast and effective way. Automotive designers can greatly benefit from a multidisciplinary approach of new hybrid and electric vehicles. In this case, the global electric vehicle model includes an electrical subsystem and a mechanical subsystem. The electrical subsystem consists of three basic components: electric motor, battery pack and power converter. A modular representation is used for building the dynamic model of the vehicle drivetrain. This means that every component of the drivetrain (submodule) is modeled separately and has its own general dynamic model, with clearly defined inputs and outputs. Then, all the particular submodules are assembled according to the drivetrain configuration and, in this way, the power flow across the components is completely determined. Dynamic models of electrical components are often based on equivalent circuits, where Kirchhoff���s voltage and current laws are applied to draw the algebraic and differential equations. Here, Randles circuit is used for dynamic modeling of the battery and the electric motor is modeled through the analysis of the equivalent circuit of a separately excited DC motor, where the power converter is included. The mechanical subsystem is defined by MBS3D equations. These equations consider the position, velocity and acceleration of all the bodies comprising the vehicle multibody system. MBS3D 2.0 is entirely written in MATLAB and the structure of the program has been thoroughly studied and understood by the author. MBS3D software is adapted according to the requirements of the applied co-simulation method. Some of the core functions are modified, such as integrator and graphics, and several auxiliary functions are added in order to compute the mathematical model of the electrical components. By coupling and co-simulating both subsystems, it is possible to evaluate the dynamic interaction among all the components of the drivetrain. ���Tight-coupling��� method is used to cosimulate the sub-models. This approach integrates all subsystems simultaneously and the results of the integration are exchanged by function-call. This means that the integration is done jointly for the mechanical and the electrical subsystem, under a single integrator and then, the speed of integration is determined by the slower subsystem. Simulations are then used to show the performance of the developed EV model. However, this project focuses more on the validation of the computational and mathematical tool for electric and hybrid vehicle simulation. For this purpose, a detailed study and comparison of different integrators within the MATLAB environment is done. Consequently, the main efforts are directed towards the implementation of co-simulation techniques in MBS3D software. In this regard, it is not intended to create an extremely precise EV model in terms of real vehicle performance, although an acceptable level of accuracy is achieved. The gap between the EV model and the real system is filled, in a way, by introducing the gas and brake pedals input, which reflects the actual driver behavior. This input is included directly in the differential equations of the model, and determines the amount of current provided to the electric motor. For a separately excited DC motor, the rotor current is proportional to the traction torque delivered to the car wheels. Therefore, as it occurs in the case of real vehicle models, the propulsion torque in the mathematical model is controlled through acceleration and brake pedal commands. The designed transmission system also includes a reduction gear that adapts the torque coming for the motor drive and transfers it. The main contribution of this project is, therefore, the implementation of a new calculation path for the wheel torques, based on performance characteristics and outputs of the electric powertrain model. Originally, the wheel traction and braking torques were input to MBS3D through a vector directly computed by the user in a MATLAB script. Now, they are calculated as a function of the motor current which, in turn, depends on the current provided by the battery pack across the DC/DC chopper converter. The motor and battery currents and voltages are the solutions of the electrical ODE (Ordinary Differential Equation) system coupled to the multibody system. Simultaneously, the outputs of MBS3D model are the position, velocity and acceleration of the vehicle at all times. The motor shaft speed is computed from the output vehicle speed considering the wheel radius, the gear reduction ratio and the transmission efficiency. This motor shaft speed, somehow available from MBS3D model, is then introduced in the differential equations corresponding to the electrical subsystem. In this way, MBS3D and the electrical powertrain model are interconnected and both subsystems exchange values resulting as expected with tight-coupling approach.When programming mathematical models of complex systems, code optimization is a key step in the process. A way to improve the overall performance of the integration, making use of C/C++ as an alternative programming language, is described and implemented. Although this entails a higher computational burden, it leads to important advantages regarding cosimulation speed and stability. In order to do this, it is necessary to integrate MATLAB with another integrated development environment (IDE), where C/C++ code can be generated and executed. In this project, C/C++ files are programmed in Microsoft Visual Studio and the interface between both IDEs is created by building C/C++ MEX file functions. These programs contain functions or subroutines that can be dynamically linked and executed from MATLAB. This process achieves reductions in simulation time up to two orders of magnitude. The tests performed with different integrators, also reveal the stiff character of the differential equations corresponding to the electrical subsystem, and allow the improvement of the cosimulation process. When varying the parameters of the integration and/or the initial conditions of the problem, the solutions of the system of equations show better dynamic response and stability, depending on the integrator used. Several integrators, with variable and non-variable step-size, and for stiff and non-stiff problems are applied to the coupled ODE system. Then, the results are analyzed, compared and discussed. From all the above, the project can be divided into four main parts: 1. Creation of the equation-based electric vehicle model; 2. Programming, simulation and adjustment of the electric vehicle model; 3. Application of co-simulation methodologies to MBS3D and the electric powertrain subsystem; and 4. Code optimization and study of different integrators. Additionally, in order to deeply understand the context of the project, the first chapters include an introduction to basic vehicle dynamics, current classification of hybrid and electric vehicles and an explanation of the involved technologies such as brake energy regeneration, electric and non-electric propulsion systems for EVs and HEVs (hybrid electric vehicles) and their control strategies. Later, the problem of dynamic modeling of hybrid and electric vehicles is discussed. The integrated development environment and the simulation tool are also briefly described. The core chapters include an explanation of the major co-simulation methodologies and how they have been programmed and applied to the electric powertrain model together with the multibody system dynamic model. Finally, the last chapters summarize the main results and conclusions of the project and propose further research topics. In conclusion, co-simulation methodologies are applicable within the integrated development environments MATLAB and Visual Studio, and the simulation tool MBS3D 2.0, where equation-based models of multidisciplinary subsystems, consisting of mechanical and electrical components, are coupled and integrated in a very efficient way.

Digital signage application : developing a public venue multimedia touch-screen

La se��alizaci��n digital o digital signage es una tecnolog��a de comunicaciones digital que se est�� usando en los ��ltimos a��os para reemplazar a la antigua publicidad impresa. Esta tecnolog��a mejora la presentaci��n y promoci��n de los productos anunciados, as�� como facilita el intercambio de informaci��n gracias a su colocaci��n en lugares p��blicos o al aire libre. Las aplicaciones con las que cuenta este nuevo m��todo de publicidad son muy variadas, ya que pueden variar desde ambientes privados en empresas, hasta lugares p��blicos como centros comerciales. Aunque la primera y principal utilidad de la se��alizaci��n digital es la publicidad para que el usuario sienta una necesidad de adquirir productos, tambi��n la posibilidad de ofrecer m��s informaci��n sobre determinados art��culos a trav��s de las nuevas tecnolog��as es muy importante en este campo. La aplicaci��n realizada en este proyecto es el desarrollo de un programa en Adobe Flash a trav��s de lenguaje de programaci��n XML. A trav��s de una pantalla t��ctil, el usuario de un museo puede interactivamente acceder a un men�� en el que aparecen los diferentes estilos de arte en un determinado tiempo de la historia. A trav��s de una l��nea de tiempo se puede acceder a informaci��n sobre cada objeto que est�� expuesto en la exhibici��n. Adem��s se pueden observar im��genes de los detalles m��s importantes del objeto que no pueden ser vistos a simple vista, ya que no est�� permitido manipularlos. El empleo de la pantalla interactiva sirve para el usuario de la exhibici��n como una herramienta extra para recabar informaci��n sobre lo que est�� viendo, a trav��s de una tecnolog��a nueva y f��cil de usar para todo el mundo, ya que solo se necesita usar las propias manos. La facilidad de manejo en aplicaciones como estas es muy importante, ya que el usuario final puede no tener conocimientos tecnol��gicos por lo que la informaci��n debe darse claramente. Como conclusi��n, se puede decir que digital signage es un mercado que est�� en expansi��n y que las empresas deben invertir en el desarrollo de contenidos, ya que las tecnolog��as avanzan aunque el digital signage no lo haga, y este sector podr��a ser muy ��til en un futuro no muy lejano, ya que la informaci��n que es capaz de transmitir al espectador en todos los lugares es mucho m��s v��lida y ��til que la proporcionada por un simple p��ster impreso en una valla publicitaria. Abstract The Digital signage is a digital communications technology being used in recent years to replace the old advertising printed. This technology improves the presentation and promotion of the advertised products, and makes easy the exchange of information with its placement in public places or outdoors. The applications that account this new method of advertising are several; they can range from private rooms in companies, to public places like malls. Although the first major utility of Digital signage is the advertising that makes the user feel and need of purchasing products. In addition, the chance of providing more information about certain items through new technologies is very important in this field. The application made in this project is the development of a program in Adobe Flash via XML programming language. Through a touch-screen, a museum user can interactively access a menu in which different styles of art in a particular time in history appears. Through a timeline you can access to information about each object that is exposed on display. Also you can see pictures of the most important details of the object that can not be seen with the naked eye, since it is not allowed to manipulate it. The use of the interactive screen serves to the user exhibition as an extra tool to gather information about what is seeing through a new technology and easy to use for everyone, since only need to use one���s own hands. The ease of handling in applications such as this is very important as the end user may not have expertise technology so the information should be clearly. As conclusion, one can say digital signage is an expansion market and companies must invest in content development, as although digital technologies advance digital signage does not, and this sector could be very useful in a near future, because information that is able of transmitting the everywhere viewer is much more valid and useful than that provided by a simple printed poster on a billboard.

Independent AND-parallel implementation of narrowing

We present a parallel graph narrowing machine, which is used to implement a functional logic language on a shared memory multiprocessor. It is an extensi��n of an abstract machine for a purely functional language. The result is a programmed graph reduction machine which integrates the mechanisms of unification, backtracking, and independent and-parallelism. In the machine, the subexpressions of an expression can run in parallel. In the case of backtracking, the structure of an expression is used to avoid the reevaluation of subexpressions as far as possible. Deterministic computations are detected. Their results are maintained and need not be reevaluated after backtracking.

A technique for recursive invariance detection and selective program specialization

This paper presents a technique for achieving a class of optimizations related to the reduction of checks within cycles. The technique uses both Program Transformation and Abstract Interpretation. After a ��rst pass of an abstract interpreter which detects simple invariants, program transformation is used to build a hypothetical situation that simpli��es some predicates that should be executed within the cycle. This transformation implements the heuristic hypothesis that once conditional tests hold they may continu�� doing so recursively. Specialized versions of predicates are generated to detect and exploit those cases in which the invariance may hold. Abstract interpretation is then used again to verify the truth of such hypotheses and con��rm the proposed simpli��cation. This allows optimizations that go beyond those possible with only one pass of the abstract interpreter over the original program, as is normally the case. It also allows selective program specialization using a standard abstract interpreter not speci��cally designed for this purpose, thus simplifying the design of this already complex module of the compiler. In the paper, a class of programs amenable to such optimization is presented, along with some examples and an evaluation of the proposed techniques in some application ��reas such as floundering detection and reducing run-time tests in automatic logic program parallelization. The analysis of the examples presented has been performed automatically by an implementation of the technique using existing abstract interpretation and program transformation tools.

Task granularity analysis in logic programs

While logic programming languages offer a great deal of scope for parallelism, there is usually some overhead associated with the execution of goals in parallel because of the work involved in task creation and scheduling. In practice, therefore, the "granularity" of a goal, i.e. an estimate of the work available under it, should be taken into account when deciding whether or not to execute a goal concurrently as a sep��rate task. This paper describes a method for estimating the granularity of a goal at compile time. The runtime overhead associated with our approach is usually quite small, and the performance improvements resulting from the incorporation of grainsize control can be quite good. This is shown by means of experimental results.

Towards data-aware resource analysis for service orchestrations

Compile-time program analysis techniques can be applied to Web service orchestrations to prove or check various properties. In particular, service orchestrations can be subjected to resource analysis, in which safe approximations of upper and lower resource usage bounds are deduced. A uniform analysis can be simultaneously performed for different generalized resources that can be directiy correlated with cost- and performance-related quality attributes, such as invocations of partners, network traffic, number of activities, iterations, and data accesses. The resulting safe upper and lower bounds do not depend on probabilistic assumptions, and are expressed as functions of size or length of data components from an initiating message, using a finegrained structured data model that corresponds to the XML-style of information structuring. The analysis is performed by transforming a BPEL-like representation of an orchestration into an equivalent program in another programming language for which the appropriate analysis tools already exist.