Diseño y realización de una base de datos para el control de inventario del Museo Historia de la Informática

El objetivo principal de este proyecto es la realización de un sistema, que permita a través de alguna herramienta accesible a cualquier usuario, poder interactuar con una base de datos que contenga un catálogo bien documentado de los objetos disponibles en el Museo Histórico de la Informática (MHI) perteneciente a la Escuela Técnica Superior de Ingenieros Informáticos (ETSIINF) de la Universidad Politécnica de Madrid (UPM). Hasta el momento, no existía inventario alguno, por lo que la contribución del trabajo que aquí se presenta, supone un gran avance en la organización de los fondos del Museo. Ello contribuirá al desarrollo del objetivo principal del MHI, que es la difusión de la historia de la informática, mediante un medio de los más usados hoy en día, internet. El trabajo realizado se presenta a lo largo de 10 capítulos. En los que se muestran, el análisis del problema, los requisitos y las distintas alternativas posibles de solución, así como la solución adoptada y su desarrollo, tanto en el diseño de la base de datos como de sitio Web que hace posible la visualización e interacción de la información. En el primer capítulo, se puede encontrar una breve introducción del proyecto. Se indican los objetivos, la motivación y el alcance del mismo. En el segundo capítulo, se muestran los requisitos del problema, se analizan las tecnologías, herramientas y lenguajes disponibles para diseñar bases de datos, y se propone la elección de una de las tecnologías, teniendo en cuenta las limitaciones del entorno en el cual se va a implantar la solución. En el tercer capítulo, se diseña la solución propuesta para el sistema. Primero se muestra el diseño de bajo nivel, que serán los cimientos y posteriormente se explica el diseño de alto nivel. Finalmente, se introduce el conjunto de pruebas que el sistema tendrá que pasar para garantizar su correcto funcionamiento. El cuarto capítulo, muestra todas las tecnologías, herramientas, lenguajes y plantillas utilizadas para la implementación de la WEB. Mientras que en el capítulo cinco, se pueden ver los resultados de las pruebas realizadas. En el capítulo seis, se evalúan los costes económicos de realización de proyecto y se presenta la agenda de actividades y tareas llevadas a cabo para su desarrollo. El séptimo capítulo, resume las contribuciones técnicas del proyecto tratadas en los capítulos anteriores, así como las conclusiones personales. Mientras que, el capítulo ocho, apunta una serie de trabajos futuros que se podrían realizarse utilizando como base este proyecto. El capítulo nueve contiene las referencias de la información que se han consultado y que se citan en el texto, y el décimo complementa este proceso de información, incluyendo un glosario de términos técnicos. El contenido de la memoria concluye con el manual de usuario para la administración de la base de datos, que se incluye en forma de anexo.---ABSTRACT---The main goal of this project is the development of a system that would allow through some accessible tool for any user to interact with a database that contains a well-documented objects available in the Computer History Museum's (MHI) catalog, which belongs to the School of Computer Engineers (ETSIINF) of the Polytechnic University of Madrid (UPM). So far, there was no inventory, so the contribution of the work presented here, is a breakthrough in the organization of the Museum's collections. This will contribute to the development of the main goal of the MHI, which is the diffusion of computer history, by means of the most used today, internet. The work is presented along 10 chapters. Which show the analysis of the problem, requirements, the different possible solutions and the solution adopted and its development, both in the design of the database and Web site, which enables the visualization and interaction of the information. In the first chapter, a brief introduction of the project is found. Objectives, motivation and scope of the project are specified. In the second chapter, the requirements of the problem are shown. Technologies, tools and languages available to design databases are analysed, and the choice of a technology is proposed, taking into account the limitations of the environment in which it will to implement the solution. In the third chapter, the proposed system solution is designed. First, low-level design, which will be the foundation of the project, is shown, and then the high-level design is explained. Finally, test suite, which the system will have to past to ensure their proper functioning, are introduced. The fourth chapter shows all technologies, tools, languages and templates used to implement the WEB. While in chapter five, the results of the tests are shown. The economic costs of development the project are evaluated in chapter six, and the schedule of activities and tasks carried out for this development are shown. The seventh chapter summarizes the technical contributions of the project discussed in previous chapters, as well as personal conclusions. While the eighth chapter, suggests future works that could be made, based on this project. Ninth chapter contains references to information that have been consulted and cited in the text, and the tenth chapter includes a glossary of technical terms, to complement that process of information. Finally an annex includes a user manual for managing the database.

Soporte de redes activas para un servicio integrado de multipunto fiable con control de congestión

Las limitaciones de las tecnologías de red actuales, identificadas en la Agencia de Proyectos de Investigación Avanzados para la Defensa (DARPA) durante 1995, han originado recientemente una propuesta de modelo de red denominado Redes Activas. En este modelo, los nodos proporcionan un entorno de ejecución sobre el que se ejecuta el código asociado a cada paquete. El objetivo es disponer de una tecnología de red que permita que nuevos servicios de red sean desarrollados e instalados rápidamente sin modificar los nodos de la red. Un servicio de red que se puede beneficiar de esta tecnología es la transmisión de datos en multipunto con diferentes grados fiabilidad. Las propuestas actuales de servicios de multipunto fiable proporcionan una solución específica para cada clase de aplicaciones, y los protocolos existentes extremo a extremo sufren de limitaciones técnicas relacionadas con una fiabilidad limitada, y con la ausencia de mecanismos de control de congestión efectivos. Esta tesis realiza propuestas originales conducentes a solucionar parte de las limitaciones actuales en el ámbito de Redes Activas y multipunto fiable con control de congestión. En primer lugar, se especificará un servicio genérico de multipunto fiable que, basándose en los requisitos de una serie de aplicaciones consideradas relevantes, proporcione diferentes clases de sesiones y grados de fiabilidad. Partiendo de la definición del servicio genérico especificado, se diseñará un protocolo de comunicaciones sobre la tecnología de Redes Activas que proporcione dicho servicio. El protocolo diseñado estará dotado de un mecanismo de control de congestión para que la fuente ajuste dinámicamente el tráfico inyectado a las condiciones de carga de la red. En esta tesis se pretende también profundizar en el estudio y análisis de la tecnología de Redes Activas, experimentando con dicha tecnología para proporcionar una realimentación a sus diseñadores. Dicha experimentación se realizará en tres ámbitos: el de los servicios y protocolos que puede soportar, el del modelo y arquitectura de las Redes Activas y el de las plataformas de ejecución disponibles. Como aportación adicional de este trabajo, se validarán los objetivos anteriores mediante una implementación piloto de las entidades de protocolo y de su interfaz de servicio sobre uno de los entornos de ejecución disponibles. Abstract The limitations of current networking technologies identified in the Defense Advance Research Projects Agency (DARPA) along 1995 have led to a recent proposal of a new network model called Active Networks. In this model, the nodes provide an execution environment over which the code used to process each packet is executed. The objective is a network technology that allows the fast design and deployment of new network services without requiring the modification of the network nodes. One network service that could benefit from this technology is the transmission of multicast data with different types of loss tolerance. The current proposals for reliable multicast services provide specific solutions for each application class, and existing end-to-end protocols suffer from technical drawbacks related to limited reliability and lack of an effective congestion control mechanism. This thesis contains original proposals that aim to solve part of the current drawbacks in the scope of Active Networks and reliable multicast with congestion control. Firstly, a generic reliable multicast network service will be specified. This service will be designed from the requirements of a relevant set of applications, and will provide different session classes and different types of reliability. Then, a network protocol based on Active Network technology will be designed such that it provides the specified network service. This protocol will incorporate a congestion control mechanism capable of performing an automatic adjustment of the traffic injected by the source to the available network capacity. This thesis will also contribute to a deeper study and analysis of Active Network technology, by experimenting with the technology in order to provide feedback to its designers. This experimentation will be done attending to three different scopes: support of Active Network for services and protocols, Active Network model and architecture, and currently available Active Network execution environments. As an additional contribution of this work, the previous objectives will be validated through a prototype implementation of the protocol entities and the service interface based on one of the current execution environments.

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.

New methods for the estimation of Takagi-Sugeno model based extended Kalman filter and its applications to optimal control for nonlinear systems

This paper describes new approaches to improve the local and global approximation (matching) and modeling capability of Takagi–Sugeno (T-S) fuzzy model. The main aim is obtaining high function approximation accuracy and fast convergence. The main problem encountered is that T-S identification method cannot be applied when the membership functions are overlapped by pairs. This restricts the application of the T-S method because this type of membership function has been widely used during the last 2 decades in the stability, controller design of fuzzy systems and is popular in industrial control applications. The approach developed here can be considered as a generalized version of T-S identification method with optimized performance in approximating nonlinear functions. We propose a noniterative method through weighting of parameters approach and an iterative algorithm by applying the extended Kalman filter, based on the same idea of parameters’ weighting. We show that the Kalman filter is an effective tool in the identification of T-S fuzzy model. A fuzzy controller based linear quadratic regulator is proposed in order to show the effectiveness of the estimation method developed here in control applications. An illustrative example of an inverted pendulum is chosen to evaluate the robustness and remarkable performance of the proposed method locally and globally in comparison with the original T-S model. Simulation results indicate the potential, simplicity, and generality of the algorithm. An illustrative example is chosen to evaluate the robustness. In this paper, we prove that these algorithms converge very fast, thereby making them very practical to use.

A Visual AGV-Urban Car using Fuzzy Control

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors

Non-linear Control of an Autonomous Ground Vehicle

In this paper, in order to select a speed controller for a specific non-linear autonomous ground vehicle, proportional-integral-derivative (PID), Fuzzy, and linear quadratic regulator (LQR) controllers were designed. Here, in order to carry out the tuning of the above controllers, a multicomputer genetic algorithm (MGA) was designed. Then, the results of the MGA were used to parameterize the PID, Fuzzy and LQR controllers and to test them under laboratory conditions. Finally, a comparative analysis of the performance of the three controllers was conducted.

Design of envelope amplifier based on interleaved multiphase buck converter with minimum time control for RF application

In this paper, an interleaved multiphase buck converter with minimum time control strategy for envelope amplifiers in high efficiency RF power amplifiers is proposed. The solution for the envelope amplifier is to combine the proposed converter with a linear regulator in series. High efficiency of envelope amplifier can be obtained through modulating the supply voltage of the linear regulator. Instead of tracking the envelope, the buck converter has discrete output voltage that corresponding to particular duty cycles which achieve total ripple cancellation. The transient model for minimum time control is explained, and the calculation of transient times that are pre-calculated and inserted into a lookup table is presented. The filter design trade-off that limits capability of envelope modulation is also discussed. The experimental results verify the fast voltage transient obtained with a 4-phase buck prototype.

Multiphase Buck Converter with Minimum Time Control Strategy for RF Envelope Modulation

Power amplifier supplied with constant supply voltage has very low efficiency in the transmitter. A DC-DC converter in series with a linear regulator can be used to obtain voltage modulation. Since this converter should be able to change the output voltage very fast, a multiphase buck converter with a minimum time control strategy is proposed. To modulate supply voltage of the envelope amplifier, the multiphase converter works with some particular duty cycle (i/n, i=1, 2 ... n, n is the number of phase) to generate discrete output voltages, and in these duty cycles the output current ripple can be completely cancelled. The transition times for the minimum time are pre-calculated and inserted in a look-up table. The theoretical background, the system model that is necessary in order to calculate the transition times and the experimental results obtained with a 4-phase buck prototype are given

A methodology for granularity-based control of parallelism in logic programs

Several types of parallelism can be exploited in logic programs while preserving correctness and efficiency, i.e. ensuring that the parallel execution obtains the same results as the sequential one and the amount of work performed is not greater. However, such results do not take into account a number of overheads which appear in practice, such as process creation and scheduling, which can induce a slow-down, or, at least, limit speedup, if they are not controlled in some way. This paper describes a methodology whereby the granularity of parallel tasks, i.e. the work available under them, is efficiently estimated and used to limit parallelism so that the effect of such overheads is controlled. The run-time overhead associated with the approach is usually quite small, since as much work is done at compile time as possible. Also,a number of run-time optimizations are proposed. Moreover, a static analysis of the overhead associated with the granularity control process is performed in order to decide its convenience. The performance improvements resulting from the incorporation of grain size control are shown to be quite good, specially for systems with medium to large parallel execution overheads.

Secure access control by means of human stress detection

This paper proposes a stress detection system based on fuzzy logic and the physiological signals heart rate and galvanic skin response. The main contribution of this method relies on the creation of a stress template, collecting the behaviour of previous signals under situations with a different level of stress in each individual. The creation of this template provides an accuracy of 99.5% in stress detection, improving the results obtained by current pattern recognition techniques like GMM, k-NN, SVM or Fisher Linear Discriminant. In addition, this system can be embedded in security systems to detect critical situations in accesses as cross-border control. Furthermore, its applications can be extended to other fields as vehicle driver state-of-mind management, medicine or sport training.

On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV.

Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y Actuación

Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales, ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementación de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructura ósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs

Artificial cognitive control system based on the shared circuits model of sociocognitive capacities. A first approach

sharedcircuitmodels is presented in this work. The sharedcircuitsmodelapproach of sociocognitivecapacities recently proposed by Hurley in The sharedcircuitsmodel (SCM): how control, mirroring, and simulation can enable imitation, deliberation, and mindreading. Behavioral and Brain Sciences 31(1) (2008) 1–22 is enriched and improved in this work. A five-layer computational architecture for designing artificialcognitivecontrolsystems is proposed on the basis of a modified sharedcircuitsmodel for emulating sociocognitive experiences such as imitation, deliberation, and mindreading. In order to show the enormous potential of this approach, a simplified implementation is applied to a case study. An artificialcognitivecontrolsystem is applied for controlling force in a manufacturing process that demonstrates the suitability of the suggested approach

Physical data acquisition and PWM signal generation using a microcontroller allowing control for DC motor rotation speed

El objetivo de este proyecto es diseñar un sistema capaz de controlar la velocidad de rotación de un motor DC en función del valor de temperatura obtenido de un sensor. Para ello se generará con un microcontrolador una señal PWM, cuyo ciclo de trabajo estará en función de la temperatura medida. En lo que respecta a la fase de diseño, hay dos partes claramente diferenciadas, relativas al hardware y al software. En cuanto al diseño del hardware puede hacerse a su vez una división en dos partes. En primer lugar, hubo que diseñar la circuitería necesaria para adaptar los niveles de tensión entregados por el sensor de temperatura a los niveles requeridos por ADC, requerido para digitalizar la información para su posterior procesamiento por parte del microcontrolador. Por tanto hubo que diseñar capaz de corregir el offset y la pendiente de la función tensión-temperatura del sensor, a fin de adaptarlo al rango de tensión requerido por el ADC. Por otro lado, hubo que diseñar el circuito encargado de controlar la velocidad de rotación del motor. Este circuito estará basado en un transistor MOSFET en conmutación, controlado mediante una señal PWM como se mencionó anteriormente. De esta manera, al variar el ciclo de trabajo de la señal PWM, variará de manera proporcional la tensión que cae en el motor, y por tanto su velocidad de rotación. En cuanto al diseño del software, se programó el microcontrolador para que generase una señal PWM en uno de sus pines en función del valor entregado por el ADC, a cuya entrada está conectada la tensión obtenida del circuito creado para adaptar la tensión generada por el sensor. Así mismo, se utiliza el microcontrolador para representar el valor de temperatura obtenido en una pantalla LCD. Para este proyecto se eligió una placa de desarrollo mbed, que incluye el microcontrolador integrado, debido a que facilita la tarea del prototipado. Posteriormente se procedió a la integración de ambas partes, y testeado del sistema para comprobar su correcto funcionamiento. Puesto que el resultado depende de la temperatura medida, fue necesario simular variaciones en ésta, para así comprobar los resultados obtenidos a distintas temperaturas. Para este propósito se empleó una bomba de aire caliente. Una vez comprobado el funcionamiento, como último paso se diseñó la placa de circuito impreso. Como conclusión, se consiguió desarrollar un sistema con un nivel de exactitud y precisión aceptable, en base a las limitaciones del sistema. SUMMARY: It is obvious that day by day people’s daily life depends more on technology and science. Tasks tend to be done automatically, making them simpler and as a result, user life is more comfortable. Every single task that can be controlled has an electronic system behind. In this project, a control system based on a microcontroller was designed for a fan, allowing it to go faster when temperature rises or slowing down as the environment gets colder. For this purpose, a microcontroller was programmed to generate a signal, to control the rotation speed of the fan depending on the data acquired from a temperature sensor. After testing the whole design developed in the laboratory, the next step taken was to build a prototype, which allows future improvements in the system that are discussed in the corresponding section of the thesis.

Automatic lateral control for unmanned vehicles via genetic algorithms

It is known that the techniques under the topic of Soft Computing have a strong capability of learning and cognition, as well as a good tolerance to uncertainty and imprecision. Due to these properties they can be applied successfully to Intelligent Vehicle Systems; ITS is a broad range of technologies and techniques that hold answers to many transportation problems. The unmannedcontrol of the steering wheel of a vehicle is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle; to reach it, information about the car state while a human driver is handling the car is taken and used to adjust, via iterative geneticalgorithms an appropriated fuzzy controller. To evaluate the obtained controllers, it will be considered the performance obtained in the track following task, as well as the smoothness of the driving carried out.