Monte Carlo Neutronics and Thermal-hydraulics coupling applied to Fast Reactors

Un escenario habitualmente considerado para el uso sostenible y prolongado de la energía nuclear contempla un parque de reactores rápidos refrigerados por metales líquidos (LMFR) dedicados al reciclado de Pu y la transmutación de actínidos minoritarios (MA). Otra opción es combinar dichos reactores con algunos sistemas subcríticos asistidos por acelerador (ADS), exclusivamente destinados a la eliminación de MA. El diseño y licenciamiento de estos reactores innovadores requiere herramientas computacionales prácticas y precisas, que incorporen el conocimiento obtenido en la investigación experimental de nuevas configuraciones de reactores, materiales y sistemas. A pesar de que se han construido y operado un cierto número de reactores rápidos a nivel mundial, la experiencia operacional es todavía reducida y no todos los transitorios se han podido entender completamente. Por tanto, los análisis de seguridad de nuevos LMFR están basados fundamentalmente en métodos deterministas, al contrario que las aproximaciones modernas para reactores de agua ligera (LWR), que se benefician también de los métodos probabilistas. La aproximación más usada en los estudios de seguridad de LMFR es utilizar una variedad de códigos, desarrollados a base de distintas teorías, en busca de soluciones integrales para los transitorios e incluyendo incertidumbres. En este marco, los nuevos códigos para cálculos de mejor estimación ("best estimate") que no incluyen aproximaciones conservadoras, son de una importancia primordial para analizar estacionarios y transitorios en reactores rápidos. Esta tesis se centra en el desarrollo de un código acoplado para realizar análisis realistas en reactores rápidos críticos aplicando el método de Monte Carlo. Hoy en día, dado el mayor potencial de recursos computacionales, los códigos de transporte neutrónico por Monte Carlo se pueden usar de manera práctica para realizar cálculos detallados de núcleos completos, incluso de elevada heterogeneidad material. Además, los códigos de Monte Carlo se toman normalmente como referencia para los códigos deterministas de difusión en multigrupos en aplicaciones con reactores rápidos, porque usan secciones eficaces punto a punto, un modelo geométrico exacto y tienen en cuenta intrínsecamente la dependencia angular de flujo. En esta tesis se presenta una metodología de acoplamiento entre el conocido código MCNP, que calcula la generación de potencia en el reactor, y el código de termohidráulica de subcanal COBRA-IV, que obtiene las distribuciones de temperatura y densidad en el sistema. COBRA-IV es un código apropiado para aplicaciones en reactores rápidos ya que ha sido validado con resultados experimentales en haces de barras con sodio, incluyendo las correlaciones más apropiadas para metales líquidos. En una primera fase de la tesis, ambos códigos se han acoplado en estado estacionario utilizando un método iterativo con intercambio de archivos externos. El principal problema en el acoplamiento neutrónico y termohidráulico en estacionario con códigos de Monte Carlo es la manipulación de las secciones eficaces para tener en cuenta el ensanchamiento Doppler cuando la temperatura del combustible aumenta. Entre todas las opciones disponibles, en esta tesis se ha escogido la aproximación de pseudo materiales, y se ha comprobado que proporciona resultados aceptables en su aplicación con reactores rápidos. Por otro lado, los cambios geométricos originados por grandes gradientes de temperatura en el núcleo de reactores rápidos resultan importantes para la neutrónica como consecuencia del elevado recorrido libre medio del neutrón en estos sistemas. Por tanto, se ha desarrollado un módulo adicional que simula la geometría del reactor en caliente y permite estimar la reactividad debido a la expansión del núcleo en un transitorio. éste módulo calcula automáticamente la longitud del combustible, el radio de la vaina, la separación de los elementos de combustible y el radio de la placa soporte en función de la temperatura. éste efecto es muy relevante en transitorios sin inserción de bancos de parada. También relacionado con los cambios geométricos, se ha implementado una herramienta que, automatiza el movimiento de las barras de control en busca d la criticidad del reactor, o bien calcula el valor de inserción axial las barras de control. Una segunda fase en la plataforma de cálculo que se ha desarrollado es la simulació dinámica. Puesto que MCNP sólo realiza cálculos estacionarios para sistemas críticos o supercríticos, la solución más directa que se propone sin modificar el código fuente de MCNP es usar la aproximación de factorización de flujo, que resuelve por separado la forma del flujo y la amplitud. En este caso se han estudiado en profundidad dos aproximaciones: adiabática y quasiestática. El método adiabático usa un esquema de acoplamiento que alterna en el tiempo los cálculos neutrónicos y termohidráulicos. MCNP calcula el modo fundamental de la distribución de neutrones y la reactividad al final de cada paso de tiempo, y COBRA-IV calcula las propiedades térmicas en el punto intermedio de los pasos de tiempo. La evolución de la amplitud de flujo se calcula resolviendo las ecuaciones de cinética puntual. Este método calcula la reactividad estática en cada paso de tiempo que, en general, difiere de la reactividad dinámica que se obtendría con la distribución de flujo exacta y dependiente de tiempo. No obstante, para entornos no excesivamente alejados de la criticidad ambas reactividades son similares y el método conduce a resultados prácticos aceptables. Siguiendo esta línea, se ha desarrollado después un método mejorado para intentar tener en cuenta el efecto de la fuente de neutrones retardados en la evolución de la forma del flujo durante el transitorio. El esquema consiste en realizar un cálculo cuasiestacionario por cada paso de tiempo con MCNP. La simulación cuasiestacionaria se basa EN la aproximación de fuente constante de neutrones retardados, y consiste en dar un determinado peso o importancia a cada ciclo computacial del cálculo de criticidad con MCNP para la estimación del flujo final. Ambos métodos se han verificado tomando como referencia los resultados del código de difusión COBAYA3 frente a un ejercicio común y suficientemente significativo. Finalmente, con objeto de demostrar la posibilidad de uso práctico del código, se ha simulado un transitorio en el concepto de reactor crítico en fase de diseño MYRRHA/FASTEF, de 100 MW de potencia térmica y refrigerado por plomo-bismuto. ABSTRACT Long term sustainable nuclear energy scenarios envisage a fleet of Liquid Metal Fast Reactors (LMFR) for the Pu recycling and minor actinides (MAs) transmutation or combined with some accelerator driven systems (ADS) just for MAs elimination. Design and licensing of these innovative reactor concepts require accurate computational tools, implementing the knowledge obtained in experimental research for new reactor configurations, materials and associated systems. Although a number of fast reactor systems have already been built, the operational experience is still reduced, especially for lead reactors, and not all the transients are fully understood. The safety analysis approach for LMFR is therefore based only on deterministic methods, different from modern approach for Light Water Reactors (LWR) which also benefit from probabilistic methods. Usually, the approach adopted in LMFR safety assessments is to employ a variety of codes, somewhat different for the each other, to analyze transients looking for a comprehensive solution and including uncertainties. In this frame, new best estimate simulation codes are of prime importance in order to analyze fast reactors steady state and transients. This thesis is focused on the development of a coupled code system for best estimate analysis in fast critical reactor. Currently due to the increase in the computational resources, Monte Carlo methods for neutrons transport can be used for detailed full core calculations. Furthermore, Monte Carlo codes are usually taken as reference for deterministic diffusion multigroups codes in fast reactors applications because they employ point-wise cross sections in an exact geometry model and intrinsically account for directional dependence of the ux. The coupling methodology presented here uses MCNP to calculate the power deposition within the reactor. The subchannel code COBRA-IV calculates the temperature and density distribution within the reactor. COBRA-IV is suitable for fast reactors applications because it has been validated against experimental results in sodium rod bundles. The proper correlations for liquid metal applications have been added to the thermal-hydraulics program. Both codes are coupled at steady state using an iterative method and external files exchange. The main issue in the Monte Carlo/thermal-hydraulics steady state coupling is the cross section handling to take into account Doppler broadening when temperature rises. Among every available options, the pseudo materials approach has been chosen in this thesis. This approach obtains reasonable results in fast reactor applications. Furthermore, geometrical changes caused by large temperature gradients in the core, are of major importance in fast reactor due to the large neutron mean free path. An additional module has therefore been included in order to simulate the reactor geometry in hot state or to estimate the reactivity due to core expansion in a transient. The module automatically calculates the fuel length, cladding radius, fuel assembly pitch and diagrid radius with the temperature. This effect will be crucial in some unprotected transients. Also related to geometrical changes, an automatic control rod movement feature has been implemented in order to achieve a just critical reactor or to calculate control rod worth. A step forward in the coupling platform is the dynamic simulation. Since MCNP performs only steady state calculations for critical systems, the more straight forward option without modifying MCNP source code, is to use the flux factorization approach solving separately the flux shape and amplitude. In this thesis two options have been studied to tackle time dependent neutronic simulations using a Monte Carlo code: adiabatic and quasistatic methods. The adiabatic methods uses a staggered time coupling scheme for the time advance of neutronics and the thermal-hydraulics calculations. MCNP computes the fundamental mode of the neutron flux distribution and the reactivity at the end of each time step and COBRA-IV the thermal properties at half of the the time steps. To calculate the flux amplitude evolution a solver of the point kinetics equations is used. This method calculates the static reactivity in each time step that in general is different from the dynamic reactivity calculated with the exact flux distribution. Nevertheless, for close to critical situations, both reactivities are similar and the method leads to acceptable practical results. In this line, an improved method as an attempt to take into account the effect of delayed neutron source in the transient flux shape evolutions is developed. The scheme performs a quasistationary calculation per time step with MCNP. This quasistationary simulations is based con the constant delayed source approach, taking into account the importance of each criticality cycle in the final flux estimation. Both adiabatic and quasistatic methods have been verified against the diffusion code COBAYA3, using a theoretical kinetic exercise. Finally, a transient in a critical 100 MWth lead-bismuth-eutectic reactor concept is analyzed using the adiabatic method as an application example in a real system.

Analysis of advanced European nuclear fuel cycle scenarios including transmutation and economic estimates

Four European fuel cycle scenarios involving transmutation options (in coherence with PATEROS and CPESFR EU projects) have been addressed from a point of view of resources utilization and economic estimates. Scenarios include: (i) the current fleet using Light Water Reactor (LWR) technology and open fuel cycle, (ii) full replacement of the initial fleet with Fast Reactors (FR) burning U?Pu MOX fuel, (iii) closed fuel cycle with Minor Actinide (MA) transmutation in a fraction of the FR fleet, and (iv) closed fuel cycle with MA transmutation in dedicated Accelerator Driven Systems (ADS). All scenarios consider an intermediate period of GEN-III+ LWR deployment and they extend for 200 years, looking for long term equilibrium mass flow achievement. The simulations were made using the TR_EVOL code, capable to assess the management of the nuclear mass streams in the scenario as well as economics for the estimation of the levelized cost of electricity (LCOE) and other costs. Results reveal that all scenarios are feasible according to nuclear resources demand (natural and depleted U, and Pu). Additionally, we have found as expected that the FR scenario reduces considerably the Pu inventory in repositories compared to the reference scenario. The elimination of the LWR MA legacy requires a maximum of 55% fraction (i.e., a peak value of 44 FR units) of the FR fleet dedicated to transmutation (MA in MOX fuel, homogeneous transmutation) or an average of 28 units of ADS plants (i.e., a peak value of 51 ADS units). Regarding the economic analysis, the main usefulness of the provided economic results is for relative comparison of scenarios and breakdown of LCOE contributors rather than provision of absolute values, as technological readiness levels are low for most of the advanced fuel cycle stages. The obtained estimations show an increase of LCOE ? averaged over the whole period ? with respect to the reference open cycle scenario of 20% for Pu management scenario and around 35% for both transmutation scenarios. The main contribution to LCOE is the capital costs of new facilities, quantified between 60% and 69% depending on the scenario. An uncertainty analysis is provided around assumed low and high values of processes and technologies.

Sistema de simulación de escenarios de ciclos avanzados de combustible nuclear en transición = Simulation system for advanced fuel cycle transition scenarios

El estudio de los ciclos del combustible nuclear requieren de herramientas computacionales o "códigos" versátiles para dar respuestas al problema multicriterio de evaluar los actuales ciclos o las capacidades de las diferentes estrategias y escenarios con potencial de desarrollo en a nivel nacional, regional o mundial. Por otra parte, la introducción de nuevas tecnologías para reactores y procesos industriales hace que los códigos existentes requieran nuevas capacidades para evaluar la transición del estado actual del ciclo del combustible hacia otros más avanzados y sostenibles. Brevemente, esta tesis se centra en dar respuesta a las principales preguntas, en términos económicos y de recursos, al análisis de escenarios de ciclos de combustible, en particular, para el análisis de los diferentes escenarios del ciclo del combustible de relativa importancia para España y Europa. Para alcanzar este objetivo ha sido necesaria la actualización y el desarrollo de nuevas capacidades del código TR_EVOL (Transition Evolution code). Este trabajo ha sido desarrollado en el Programa de Innovación Nuclear del CIEMAT desde el año 2010. Esta tesis se divide en 6 capítulos. El primer capítulo ofrece una visión general del ciclo de combustible nuclear, sus principales etapas y los diferentes tipos utilizados en la actualidad o en desarrollo para el futuro. Además, se describen las fuentes de material nuclear que podrían ser utilizadas como combustible (uranio y otros). También se puntualizan brevemente una serie de herramientas desarrolladas para el estudio de estos ciclos de combustible nuclear. El capítulo 2 está dirigido a dar una idea básica acerca de los costes involucrados en la generación de electricidad mediante energía nuclear. Aquí se presentan una clasificación de estos costos y sus estimaciones, obtenidas en la bibliografía, y que han sido evaluadas y utilizadas en esta tesis. Se ha incluido también una breve descripción del principal indicador económico utilizado en esta tesis, el “coste nivelado de la electricidad”. El capítulo 3 se centra en la descripción del código de simulación desarrollado para el estudio del ciclo del combustible nuclear, TR_EVOL, que ha sido diseñado para evaluar diferentes opciones de ciclos de combustibles. En particular, pueden ser evaluados las diversos reactores con, posiblemente, diferentes tipos de combustibles y sus instalaciones del ciclo asociadas. El módulo de evaluaciones económica de TR_EVOL ofrece el coste nivelado de la electricidad haciendo uso de las cuatro fuentes principales de información económica y de la salida del balance de masas obtenido de la simulación del ciclo en TR_EVOL. Por otra parte, la estimación de las incertidumbres en los costes también puede ser efectuada por el código. Se ha efectuado un proceso de comprobación cruzada de las funcionalidades del código y se descrine en el Capítulo 4. El proceso se ha aplicado en cuatro etapas de acuerdo con las características más importantes de TR_EVOL, balance de masas, composición isotópica y análisis económico. Así, la primera etapa ha consistido en el balance masas del ciclo de combustible nuclear actual de España. La segunda etapa se ha centrado en la comprobación de la composición isotópica del flujo de masas mediante el la simulación del ciclo del combustible definido en el proyecto CP-ESFR UE. Las dos últimas etapas han tenido como objetivo validar el módulo económico. De este modo, en la tercera etapa han sido evaluados los tres principales costes (financieros, operación y mantenimiento y de combustible) y comparados con los obtenidos por el proyecto ARCAS, omitiendo los costes del fin del ciclo o Back-end, los que han sido evaluado solo en la cuarta etapa, haciendo uso de costes unitarios y parámetros obtenidos a partir de la bibliografía. En el capítulo 5 se analizan dos grupos de opciones del ciclo del combustible nuclear de relevante importancia, en términos económicos y de recursos, para España y Europa. Para el caso español, se han simulado dos grupos de escenarios del ciclo del combustible, incluyendo estrategias de reproceso y extensión de vida de los reactores. Este análisis se ha centrado en explorar las ventajas y desventajas de reprocesado de combustible irradiado en un país con una “relativa” pequeña cantidad de reactores nucleares. Para el grupo de Europa se han tratado cuatro escenarios, incluyendo opciones de transmutación. Los escenarios incluyen los reactores actuales utilizando la tecnología reactor de agua ligera y ciclo abierto, un reemplazo total de los reactores actuales con reactores rápidos que queman combustible U-Pu MOX y dos escenarios del ciclo del combustible con transmutación de actínidos minoritarios en una parte de los reactores rápidos o en sistemas impulsados por aceleradores dedicados a transmutación. Finalmente, el capítulo 6 da las principales conclusiones obtenidas de esta tesis y los trabajos futuros previstos en el campo del análisis de ciclos de combustible nuclear. ABSTRACT The study of the nuclear fuel cycle requires versatile computational tools or “codes” to provide answers to the multicriteria problem of assessing current nuclear fuel cycles or the capabilities of different strategies and scenarios with potential development in a country, region or at world level. Moreover, the introduction of new technologies for reactors and industrial processes makes the existing codes to require new capabilities to assess the transition from current status of the fuel cycle to the more advanced and sustainable ones. Briefly, this thesis is focused in providing answers to the main questions about resources and economics in fuel cycle scenario analyses, in particular for the analysis of different fuel cycle scenarios with relative importance for Spain and Europe. The upgrade and development of new capabilities of the TR_EVOL code (Transition Evolution code) has been necessary to achieve this goal. This work has been developed in the Nuclear Innovation Program at CIEMAT since year 2010. This thesis is divided in 6 chapters. The first one gives an overview of the nuclear fuel cycle, its main stages and types currently used or in development for the future. Besides the sources of nuclear material that could be used as fuel (uranium and others) are also viewed here. A number of tools developed for the study of these nuclear fuel cycles are also briefly described in this chapter. Chapter 2 is aimed to give a basic idea about the cost involved in the electricity generation by means of the nuclear energy. The main classification of these costs and their estimations given by bibliography, which have been evaluated in this thesis, are presented. A brief description of the Levelized Cost of Electricity, the principal economic indicator used in this thesis, has been also included. Chapter 3 is focused on the description of the simulation tool TR_EVOL developed for the study of the nuclear fuel cycle. TR_EVOL has been designed to evaluate different options for the fuel cycle scenario. In particular, diverse nuclear power plants, having possibly different types of fuels and the associated fuel cycle facilities can be assessed. The TR_EVOL module for economic assessments provides the Levelized Cost of Electricity making use of the TR_EVOL mass balance output and four main sources of economic information. Furthermore, uncertainties assessment can be also carried out by the code. A cross checking process of the performance of the code has been accomplished and it is shown in Chapter 4. The process has been applied in four stages according to the most important features of TR_EVOL. Thus, the first stage has involved the mass balance of the current Spanish nuclear fuel cycle. The second stage has been focused in the isotopic composition of the mass flow using the fuel cycle defined in the EU project CP-ESFR. The last two stages have been aimed to validate the economic module. In the third stage, the main three generation costs (financial cost, O&M and fuel cost) have been assessed and compared to those obtained by ARCAS project, omitting the back-end costs. This last cost has been evaluated alone in the fourth stage, making use of some unit cost and parameters obtained from the bibliography. In Chapter 5 two groups of nuclear fuel cycle options with relevant importance for Spain and Europe are analyzed in economic and resources terms. For the Spanish case, two groups of fuel cycle scenarios have been simulated including reprocessing strategies and life extension of the current reactor fleet. This analysis has been focused on exploring the advantages and disadvantages of spent fuel reprocessing in a country with relatively small amount of nuclear power plants. For the European group, four fuel cycle scenarios involving transmutation options have been addressed. Scenarios include the current fleet using Light Water Reactor technology and open fuel cycle, a full replacement of the initial fleet with Fast Reactors burning U-Pu MOX fuel and two fuel cycle scenarios with Minor Actinide transmutation in a fraction of the FR fleet or in dedicated Accelerator Driven Systems. Finally, Chapter 6 gives the main conclusions obtained from this thesis and the future work foreseen in the field of nuclear fuel cycle analysis.

Activity based costing, time-driven activity based costing and lean accounting: differences among three accounting systems' approach to manufacturing

Choosing an appropriate accounting system for manufacturing has always been a challenge for managers. In this article we try to compare three accounting systems designed since 1980 to address problems of traditional accounting system. In the first place we are going to present a short overview on background and definition of three accounting systems: Activity Based costing, Time-Driven Activity Based Costing and Lean Accounting. Comparisons are made based on the three basic roles of information generated by accounting systems: financial reporting, decision making, and operational control and improvement. The analysis in this paper reveals how decisions are made over the value stream in the companies using Lean Accounting while decisions under the ABC Accounting system are taken at individual product level, and finally we will show how TD-ABC covers both product and process levels for decision making. In addition, this paper shows the importance of nonfinancial measures for operational control and improvement under the Lean Accounting and TD-ABC methods whereas ABC relies mostly on financial measures in this context.

Behaviour Driven Development for Multi-Agent Systems

This paper presents a testing methodology to apply Behaviour Driven Development (BDD) techniques while developing Multi-Agent Systems (MAS), so called BEhavioural Agent Simple Testing (BEAST) methodology. It is supported by the developed open source framework (BEAST Tool) which automatically generates test cases skeletons from BDD scenarios specifications. The developed framework allows testing MASs based on JADE or JADEX platforms and offers a set of configurable Mock Agents which allow the execution of tests while the system is under development. BEAST tool has been validated in the development of a MAS for fault diagnosis in FTTH (Fiber To The Home) networks.

Ontology driven description and engineering of autonomous systems: application to process system engineering

Autonomous systems refer to systems capable of operating in a real world environment without any form of external control for extended periods of time. Autonomy is a desired goal for every system as it improves its performance, safety and profit. Ontologies are a way to conceptualize the knowledge of a specific domain. In this paper an ontology for the description of autonomous systems as well as for its development (engineering) is presented and applied to a process. This ontology is intended to be applied and used to generate final applications following a model driven methodology.

Towards model-driven engineering for mixed-criticality systems: multiPARTES approach

Mixed criticality systems emerges as a suitable solution for dealing with the complexity, performance and costs of future embedded and dependable systems. However, this paradigm adds additional complexity to their development. This paper proposes an approach for dealing with this scenario that relies on hardware virtualization and Model-Driven Engineering (MDE). Hardware virtualization ensures isolation between subsystems with different criticality levels. MDE is intended to bridge the gap between design issues and partitioning concerns. MDE tooling will enhance the functional models by annotating partitioning and extra-functional properties. System partitioning and subsystems allocation will be generated with a high degree of automation. System configuration will be validated for ensuring that the resources assigned to a partition are sufficient for executing the allocated software components and that time requirements are met.

An ontology-driven communication architecture for spontaneous interoperability in Home Automation systems

Current solutions to the interoperability problem in Home Automation systems are based on a priori agreements where protocols are standardized and later integrated through specific gateways. In this regards, spontaneous interoperability, or the ability to integrate new devices into the system with minimum planning in advance, is still considered a major challenge that requires new models of connectivity. In this paper we present an ontology-driven communication architecture whose main contribution is that it facilitates spontaneous interoperability at system model level by means of semantic integration. The architecture has been validated through a prototype and the main challenges for achieving complete spontaneous interoperability are also evaluated.

Communication: Transition State Theory for dissipative systems without a dividing surface

Transition state theory is a central cornerstone in reaction dynamics. Its key step is the identification of a dividing surface that is crossed only once by all reactive trajectories. This assumption is often badly violated, especially when the reactive system is coupled to an environment. The calculations made in this way then overestimate the reaction rate and the results depend critically on the choice of the dividing surface. In this Communication, we study the phase space of a stochastically driven system close to an energetic barrier in order to identify the geometric structure unambiguously determining the reactive trajectories, which is then incorporated in a simple rate formula for reactions in condensed phase that is both independent of the dividing surface and exact.

Adaptive fuzzy knowledge-based systems for control metabots' mobility on virtual environments

The confluence of three-dimensional (3D) virtual worlds with social networks imposes on software agents, in addition to conversational functions, the same behaviours as those common to human-driven avatars. In this paper, we explore the possibilities of the use of metabots (metaverse robots) with motion capabilities in complex virtual 3D worlds and we put forward a learning model based on the techniques used in evolutionary computation for optimizing the fuzzy controllers which will subsequently be used by metabots for moving around a virtual environment.

A policy-driven architecture for supporting joint degrees through e-learning services

En un mercado de educación superior cada vez más competitivo, la colaboración entre universidades es una efectiva estrategia para acceder al mercado global. El desarrollo de titulaciones conjuntas es un importante mecanismo para fortalecer las colaboraciones académicas y diversificar los conocimientos. Las titulaciones conjuntas están siendo cada vez más implementadas en las universidades de todo el mundo. En Europa, el proceso de Bolonia y el programa Erasmus, están fomentado el reconocimiento de titulaciones conjuntas y dobles y promoviendo la colaboración entre las instituciones académicas. En el imparable proceso de la globalización y convergencia educativa, el uso de sistemas de e-learning para soportar cursos tanto semipresencial como online es una tendencia en crecimiento. Dado que los sistemas de e-learning soportan una amplia variedad de cursos, es necesario encontrar una solución adecuada que permita a las universidades soportar y gestionar las titulaciones conjuntas a través de sus sistemas de e-learning en conformidad con los acuerdos de colaboración establecidos por las universidades participantes. Esta tesis doctoral abordará las siguientes preguntas de investigación: 1. ¿Qué factores deben tenerse en cuenta en la implementación y gestión de titulaciones conjuntas? 2. ¿Cómo pueden los sistemas actuales de e-learning soportar el desarrollo de titulaciones conjuntas? 3. ¿Qué otros servicios y sistemas necesitan ser adaptados por las universidades interesadas en participar en una titulación conjunta a través de sus sistemas de e-learning? La implementación de titulaciones conjuntas a través de sistemas de e-learning es compleja e implica retos técnicos, administrativos, culturales, financieros, jurídicos y de seguridad. Esta tesis doctoral propone una serie de contribuciones que pueden ayudar a resolver algunos de los retos identificados. En primer lugar se ha elaborado un modelo conceptual que incluye la información del contexto de las titulaciones conjuntas que es relevante para la implementación de estas titulaciones en los sistemas de e-learning. Después de definir el modelo conceptual, se ha propuesto una arquitectura basada en políticas para la implementación de titulaciones interinstitucionales a través de sistemas de e-learning de acuerdo a los términos estipulados en los acuerdos de colaboración que son firmados por las universidades participantes. El autor se ha centrado en el componente de gestión de flujos de trabajo de esta arquitectura. Por último y con el fin de permitir la interoperabilidad de repositorios de objetos educativos, los componentes básicos a implementar han sido identificados y validados. El uso de servicios multimedia en educación es una tendencia creciente, proporcionando servicios de e-learning que permiten mejorar la comunicación y la interacción entre profesores y alumnos. Dentro de estos servicios, nos hemos centrado en el uso de la videoconferencia y la grabación de clases como servicios adecuados para el desarrollo de cursos impartidos en escenarios de educación colaborativos. Las contribuciones han sido validadas en proyectos de investigación de ámbito nacional y europeo en los que el autor ha participado. Abstract In an increasingly competitive higher education market, collaboration between universities is an effective strategy for gaining access to the global market. The development of joint degrees is an important mechanism for strengthening academic research collaborations and diversifying knowledge. Joint degrees are becoming increasingly implemented in universities around the world. In Europe, the Bologna process and the Erasmus programme have encouraged both the global recognition of joint and double degrees and promoted close collaboration between academic institutions. In the unstoppable process of globalization and educational convergence, the use of e-learning systems for supporting both blended and online courses is becoming a growing trend. Since e-learning systems covers a wide range of courses, it becomes necessary to find a suitable solution that enables universities to support and manage joint degrees through their e-learning systems in accordance with the collaboration agreements established by the universities involved. This dissertation will address the following research questions: 1. What factors need to be considered in the implementation and management of joint degrees? 2. How can the current e-learning systems support the development of joint degrees? 3. What other services and systems need to be adapted by universities interested in participating in a joint degree through their e-learning systems? The implementation of joint degrees using e-learning systems is complex and involves technical, administrative, security, cultural, financial and legal challenges. This dissertation proposes a series of contributions to help solve some of the identified challenges. One of the cornerstones of this proposal is a conceptual model of all the relevant issues related to the support of joint degrees by means of e-learning systems. After defining the conceptual model, this dissertation proposes a policy-driven architecture for implementing inter-institutional degree collaborations through e-learning systems as stipulated by a collaboration agreement signed by two universities. The author has focused on the workflow management component of this architecture. Finally, the building blocks for achieving interoperability of learning object repositories have been identified and validated. The use of multimedia services in education is a growing trend, providing rich e-learning services that improve the communication and interaction between teachers and students. Within these e-learning services, we have focused on the use of videoconferencing and lecture recording as the best-suited services to support collaborative learning scenarios. The contributions have been validated within national and European research projects that the author has been involved in.

Autonomous vehicle control systems for safe crossroads

This article presents a cooperative manoeuvre among three dual mode cars – vehicles equipped with sensors and actuators, and that can be driven either manually or autonomously. One vehicle is driven autonomously and the other two are driven manually. The main objective is to test two decision algorithms for priority conflict resolution at intersections so that a vehicle autonomously driven can take their own decision about crossing an intersection mingling with manually driven cars without the need for infrastructure modifications. To do this, the system needs the position, speeds, and turning intentions of the rest of the cars involved in the manoeuvre. This information is acquired via communications, but other methods are also viable, such as artificial vision. The idea of the experiments was to adjust the speed of the manually driven vehicles to force a situation where all three vehicles arrive at an intersection at the same time.

Implementation of an event driven scheme for visualizing parallel execution of logic programs

This article presents in an informal way some early results on the design of a series of paradigms for visualization of the parallel execution of logic programs. The results presented here refer to the visualization of or-parallelism, as in MUSE and Aurora, deterministic dependent and-parallelism, as in Andorra-I, and independent and-parallelism as in &-Prolog. A tool has been implemented for this purpose and has been interfaced with these systems. Results are presented showing the visualization of executions from these systems and the usefulness of the resulting tool is briefly discussed.

Towards data-aware cost-driven adaptation for service orchestrations.

Several activities in service oriented computing, such as automatic composition, monitoring, and adaptation, can benefit from knowing properties of a given service composition before executing them. Among these properties we will focus on those related to execution cost and resource usage, in a wide sense, as they can be linked to QoS characteristics. In order to attain more accuracy, we formulate execution costs / resource usage as functions on input data (or appropriate abstractions thereof) and show how these functions can be used to make better, more informed decisions when performing composition, adaptation, and proactive monitoring. We present an approach to, on one hand, synthesizing these functions in an automatic fashion from the definition of the different orchestrations taking part in a system and, on the other hand, to effectively using them to reduce the overall costs of non-trivial service-based systems featuring sensitivity to data and possibility of failure. We validate our approach by means of simulations of scenarios needing runtime selection of services and adaptation due to service failure. A number of rebinding strategies, including the use of cost functions, are compared.

A segment-swapping approach for executing trapped computations

We consider the problem of supporting goal-level, independent andparallelism (IAP) in the presence of non-determinism. IAP is exploited when two or more goals which will not interfere at run time are scheduled for simultaneous execution. Backtracking over non-deterministic parallel goals runs into the wellknown trapped goal and garbage slot problems. The proposed solutions for these problems generally require complex low-level machinery which makes systems difficult to maintain and extend, and in some cases can even affect sequential execution performance. In this paper we propose a novel solution to the problem of trapped nondeterministic goals and garbage slots which is based on a single stack reordering operation and offers several advantages over previous proposals. While the implementation of this operation itself is not simple, in return it does not impose constraints on the scheduler. As a result, the scheduler and the rest of the run-time machinery can safely ignore the trapped goal and garbage slot problems and their implementation is greatly simplified. Also, standard sequential execution remains unaffected. In addition to describing the solution we report on an implementation and provide performance results. We also suggest other possible applications of the proposed approach beyond parallel execution.